CN111823104A

CN111823104A - Automatic polishing burring equipment of robot

Info

Publication number: CN111823104A
Application number: CN202010756276.8A
Authority: CN
Inventors: 吕理营
Original assignee: Dongguan Shanghongbo Industry Co ltd
Current assignee: Dongguan Shanghongbo Industry Co ltd
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2020-10-27

Abstract

The invention discloses automatic robot polishing and deburring equipment, which relates to the field of polishing equipment and comprises a case, wherein a polishing robot is arranged on a working platform of the case, an automatic sand changing mechanism and a workpiece platform are arranged on one side of the polishing robot, the workpiece platform comprises a support, a first hollow rotary platform, a second hollow rotary platform and a self-centering chuck, a collecting hopper and a collecting device are arranged under the second hollow rotary platform, a polishing tool assembly is arranged on one side, away from the workpiece platform, of the automatic sand changing mechanism, a base plane sand belt grinding device, an inner curved surface grinding head grinding device, a side edge grinding sand disc device and an outer curved surface grinding disc grinding device are arranged on a positioning bracket through a quick changing device, and a square notch matched with the quick changing device is arranged on the positioning bracket. Polishing robot, polishing tool subassembly, work piece platform are mutually supported and are polished different positions on the work piece, can release polishing space coordinate by the at utmost, polish to each angle of product.

Description

Automatic polishing burring equipment of robot

Technical Field

The invention relates to the field of polishing equipment, in particular to automatic robot polishing and deburring equipment.

Background

Polishing refers to a process of reducing the roughness of a workpiece surface by mechanical, chemical, or electrochemical actions to obtain a bright, flat surface. The method is to carry out modification processing on the surface of a workpiece by using a polishing tool and abrasive particles or other polishing media. During polishing, the polishing tool rotating at high speed presses against the workpiece, so that the abrasive material rolls and cuts the surface of the workpiece in a trace manner, thereby obtaining a bright processed surface. In the polishing operation, it is sometimes necessary to polish a product having a complicated curved surface to remove burrs. In the prior art, various polishing devices are usually manually held for polishing, so that the efficiency is low, the labor intensity of workers is high, even if some polishing devices are arranged, the multidirectional polishing is difficult, and dead angles exist.

Disclosure of Invention

The invention aims to provide a robot automatic polishing and deburring device to solve the problems in the background technology.

In order to achieve the purpose, the invention adopts the following technical scheme: the robot automatic polishing and deburring equipment comprises a machine case, wherein a working platform is arranged in the machine case, a polishing robot is arranged on the working platform, an automatic sand-changing mechanism for changing sand paper and a workpiece platform for clamping and machining a workpiece are arranged on one side of the polishing robot, the workpiece platform comprises a support, a first hollow rotary platform, a second hollow rotary platform and a self-centering chuck, the support is provided with the first hollow rotary platform, a turntable of the first hollow rotary platform is provided with the second hollow rotary platform, the turntable of the second hollow rotary platform is provided with the self-centering chuck, a collecting hopper is arranged under the second hollow rotary platform on the working platform, the lower end of the collecting hopper is connected with a collecting device, a polishing tool assembly is arranged on one side, away from the workpiece platform, of the automatic sand-changing mechanism and comprises a positioning support, a bottom grinding seat plane sand belt device and an inner curved surface grinding head device, The side grinding plate device, the outer curved surface grinding plate device and the quick change device are sequentially arranged on the positioning bracket along a straight line, and the base grinding plane abrasive belt device, the inner curved surface grinding head device, the side grinding plate device and the outer curved surface grinding plate device are sequentially arranged on the positioning bracket, and the base grinding plane abrasive belt device, the inner curved surface grinding head device, the side grinding plate device and the outer curved surface grinding plate device are all arranged on the positioning bracket through the quick change device, four stations are arranged on the positioning bracket, and a square notch matched with the quick change device is arranged on each station. Polishing robot and polishing tool subassembly are mutually supported and are polished different positions on the work piece, and first cavity rotary platform and second cavity rotary platform rotate the angle that corresponds respectively according to polishing technology, and first cavity rotary platform and the cooperation of second cavity rotary platform make work piece multi-angle rotating, and the cooperation polishing robot carries out the polishing operation, can release polishing space coordinate by the at utmost, polishes to each angle of product.

Further, automatic sand changing mechanism is including trading sand support, waste sand carton, shovel board, micro cylinder, holder, clamping part, the workstation is close to being equipped with and trades sand support and waste sand carton, trade sand support upper end level and be equipped with the shovel board, the one end that the sand support was kept away from to the shovel board is equipped with the sharp portion that is used for shoveling down abrasive paper, shovel board below is equipped with micro cylinder, micro cylinder's piston rod sets up and is connected with the holder towards the shovel board, the terminal surface is equipped with the piston rod matched with screw hole with micro cylinder under the holder, the holder up end inlays and is equipped with the clamping part with shovel board matched with. Through polishing robot drive burnishing tool subassembly translation, shovel sand paper down through sharp portion on the shovel board, the sand paper that shovels down falls into in the waste sand carton.

Furthermore, the abrasive belt device for grinding the plane of the base comprises an abrasive belt support, an abrasive belt machine and a first free combat machine, wherein the abrasive belt support comprises a first fixing plate and a second fixing plate which are arranged in parallel, the abrasive belt machine is arranged on the first fixing plate, the end part of the abrasive belt machine penetrates through the second fixing plate, the first free combat machine is arranged at one end, far away from the abrasive belt machine, of the second fixing plate, and the end part of the first free combat machine penetrates through the first fixing plate. The abrasive belt machine is a handheld device, and the abrasive belt machine on the abrasive belt bracket is used for grinding and polishing the surface of the base of the workpiece.

Further, grind interior curved surface bistrique device includes clamping part, lower clamping part, circular air mill, go up the clamping part lower extreme and can dismantle and be connected with lower clamping part, go up the clamping part and offer the upper groove that the opening is decurrent, lower clamping part offers the ascending low groove of opening, and the upper groove forms the installation cavity with the low groove amalgamation, is equipped with circular air mill in the installation cavity. A circular air mill is installed through the upper clamping portion and the lower clamping portion, and the grinding head of the circular air mill is used for grinding the inner curved surface of the workpiece.

Further, grind side abrasive disc device includes brushless motor, clamping device, circular abrasive disc, spacing post, and brushless motor's output shaft has the clamping device, and the clamping device is equipped with circular abrasive disc, and brushless motor's four ends are equipped with the circular recess, are equipped with spacing post in the circular recess, spacing post lower extreme and brushless motor fixed connection, spacing post upper end and quick change device fixed connection. The clamping device and the circular sand table are driven to rotate through the brushless motor, and the polishing robot polishes the side edge of the workpiece through the circular sand table.

Further, grind outer curved surface mill device includes outer curved surface support, pneumatic polisher, second free combat machine, and the outer curved surface support includes first mounting panel and the second mounting panel of mutual parallel arrangement, is equipped with pneumatic polisher on the first mounting panel, is equipped with the second free combat machine on the second mounting panel, and first mounting panel is run through to second free combat machine one end. And polishing the outer curved surface of the workpiece through a pneumatic polishing machine.

Further, the quick-change device comprises a supporting plate, a robot quick-change connector, limiting plates, positioning pins and rubber cushion blocks, the robot quick-change connector is arranged on the upper end face of the supporting plate, the limiting plates are vertically connected to the middle portions of the two long side edges of the supporting plate, the positioning pins are arranged at the two ends of the lower end face of the supporting plate, positioning recesses matched with the positioning pins are arranged on each station, and the rubber cushion blocks are arranged on the lower end face of the supporting plate. The friction force is enhanced through the rubber cushion block, so that the positioning pin is heightened, and the positioning pin is convenient to be matched with the positioning recess.

Further, the polishing tool subassembly is including the emery wheel frame that is used for stacking the circular emery paper of self-adhesion, the first emery paper support that is used for stacking the square emery paper of self-adhesion, the second emery paper support, push pedal, the jacking cylinder that are used for stacking the self-adhesion emery paper, one side that keeps away from the locating support in polishing robot on the workstation is equipped with polisher material loading station, is equipped with emery wheel frame, first emery paper support, second emery paper support on the polishing tool material loading station, all is equipped with the push pedal in the emery wheel frame, first emery paper support, the second emery paper support, all is equipped with the jacking cylinder under the emery wheel frame, first emery paper support, the second emery paper support, and the piston rod and the push pedal of jacking cylinder are connected. The circular abrasive paper of self-adhesion is pasted on grinding the pneumatic polisher of outer curved surface mill device, and the self-adhesion abrasive paper strip is pasted on first free combat machine and second free combat machine, and the square abrasive paper of self-adhesion is used for pasting on the abrasive band machine of grinding base plane abrasive band device, promotes the push pedal through the jacking and rises, promotes the abrasive paper in abrasive band frame, first abrasive paper support, the second abrasive paper support through the push pedal and rises to predetermined height, is convenient for change abrasive paper.

Furthermore, the case is provided with a dust exhaust pipe, the dust exhaust pipe is connected with an outdoor pipeline dust collector, and the dust exhaust pipe is communicated with the outdoor pipeline dust collector through a PVC pipeline. The outdoor pipeline dust collector is used for exhausting air, dust is pumped to the outdoor, and better dust removal treatment is facilitated outdoors.

Further, the collecting device comprises a collecting box, an air draft device and a filtering plate, the upper end of the collecting box is connected with a collecting hopper, the side face of the collecting box is connected with the air draft device, and the filtering plate is fixed in the collecting box. Dust is adsorbed by a filter screen on the filter cartridge.

The invention has the beneficial effects that: polishing robot and polishing tool subassembly are mutually supported and are polished different positions on the work piece, and first cavity rotary platform and second cavity rotary platform rotate the angle that corresponds respectively according to polishing technology, and first cavity rotary platform and the cooperation of second cavity rotary platform make work piece multi-angle rotating, and the cooperation polishing robot carries out the polishing operation, can release polishing space coordinate by the at utmost, polishes to each angle of product.

Drawings

The figures further illustrate the invention, but the examples in the figures do not constitute any limitation of the invention.

Fig. 1 is a schematic structural diagram of a robot automatic polishing and deburring device provided in an embodiment of the present invention;

fig. 2 is a schematic view illustrating an assembly of a quick-change device and a positioning bracket according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of a sanding belt device for grinding a flat surface of a base according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an inner curved surface grinding head device according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a side grinding plate device according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of an outer curved surface grinding disc device according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a workpiece stage according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a workpiece according to one embodiment of the present invention;

fig. 9 is a schematic structural diagram of an automatic sand-changing mechanism according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a polishing tool assembly according to one embodiment of the present invention.

The labels in the figure are: the machine box 1, the working platform 2, the polishing robot 3, the workpiece platform 4, the support 41, the first hollow rotary platform 42, the second hollow rotary platform 43, the self-centering chuck 44, the automatic sand-changing mechanism 5, the sand-changing support 51, the waste sand paper box 52, the shovel plate 53, the micro cylinder 54, the clamp 55, the clamp 56, the polishing tool assembly 6, the sand disc frame 61, the first sand paper support 62, the second sand paper support 63, the push plate 64, the jacking cylinder 65, the positioning support 7, the bottom seat flat sand belt device 8, the sand belt support 81, the sand belt machine 82, the first scattering machine 83, the inner curved surface grinding head device 9, the upper clamp 91, the lower clamp 92, the circular air mill 93, the side grinding disc device 10, the brushless motor 101, the clamp 102, the circular sand disc 103, the limit column 104, the outer curved surface grinding disc device 11, the outer curved surface support 111, the pneumatic grinding machine 112, the second scattering machine 113, the self-centering chuck 44, the automatic sand-changing mechanism 5, the sand-, Quick change device 12, collecting bucket 13.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

It will be understood that when an element is referred to as being "secured to" or "disposed on" 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.

In the present invention, unless otherwise specified, the terms of orientation such as "upper, lower, left, right" used herein generally refer to the upper, lower, left, and right directions as shown in fig. 1. "inner and outer" refer to the inner and outer portions of a particular contour. "distal and proximal" refer to distal and proximal relative to a component.

As shown in fig. 1-10, an automatic robot polishing and deburring apparatus according to an embodiment of the present invention includes a machine box 1, a work platform 2 is disposed in the machine box 1, a polishing robot 3 is disposed on the work platform 2, an automatic sand-changing mechanism 5 for changing sand paper and a work platform 4 for clamping a workpiece to be processed are disposed on one side of the polishing robot 3, the work platform 4 includes a support 41, a first hollow rotary platform 42, a second hollow rotary platform 43 and a self-centering chuck 44, the support 41 is disposed with the first hollow rotary platform 42, a turntable of the first hollow rotary platform 42 is disposed with the second hollow rotary platform 43, a turntable of the second hollow rotary platform 43 is disposed with the self-centering chuck 44, a collecting bucket 13 is disposed on the work platform 2 under the second hollow rotary platform 43, a collecting device is connected to a lower end of the collecting bucket 13, a polishing tool assembly 6 is disposed on a side of the automatic sand-changing mechanism 5 away from the work platform 4, the polishing tool component 6 comprises a positioning support 7, a grinding base plane abrasive belt device 8, a grinding inner curved surface grinding head device 9, a grinding side abrasive disc device 10, a grinding outer curved surface abrasive disc device 11 and a quick-change device 12, wherein the grinding base plane abrasive belt device 8, the grinding inner curved surface grinding head device 9, the grinding side abrasive disc device 10 and the grinding outer curved surface abrasive disc device 11 are sequentially arranged on the positioning support 7 along a straight line, the grinding base plane abrasive belt device 8, the grinding inner curved surface grinding head device 9, the grinding side abrasive disc device 10 and the grinding outer curved surface abrasive disc device 11 are all arranged on the positioning support 7 through the quick-change device 12, four stations are arranged on the positioning support 7, and a square notch matched with the quick-change device 12 is arranged on each station. Polishing robot 3 and polishing tool subassembly 6 are mutually supported and are polished different positions on the work piece, and first cavity rotary platform 42 and second cavity rotary platform 43 rotate the angle that corresponds respectively according to the polishing technology, and first cavity rotary platform 42 and the cooperation of second cavity rotary platform 43 make work piece multi-angle rotating, and the cooperation polishing robot 3 carries out the polishing operation, can release polishing space coordinate by the at utmost, polishes to each angle of product.

As shown in fig. 9, the automatic sand changing mechanism 5 includes a sand changing support 5141, a waste sand paper box 52, a shovel plate 53, a micro cylinder 54, a clamping seat 55, and a clamping portion 56, the work bench is provided with the sand changing support 5141 and the waste sand paper box 52 in a close manner, the upper end of the sand changing support 5141 is horizontally provided with the shovel plate 53, one end of the shovel plate 53, which is far away from the sand changing support 5141, is provided with a sharp portion for shoveling down the sand paper, the micro cylinder 54 is provided below the shovel plate 53, a piston rod of the micro cylinder 54 faces the shovel plate 53 and is connected with the clamping seat 55, the lower end face of the clamping seat 55 is provided with a threaded hole matched with the piston rod of the micro cylinder 54, and the upper end face of the clamping seat 55 is. The polishing tool assembly 6 is driven by the polishing robot 3 to translate, and the sand paper is shoveled by the sharp part on the shovel plate 53 and falls into the waste sand paper box 52.

As shown in fig. 3, the sanding belt device 8 includes a sanding belt bracket 81, a sanding belt machine 82, and a first free combat machine 83, where the sanding belt bracket 81 includes a first fixing plate and a second fixing plate that are parallel to each other, the sanding belt machine 82 is disposed on the first fixing plate, an end of the sanding belt machine 82 penetrates through the second fixing plate, a first free combat machine 83 is disposed at an end of the second fixing plate far away from the sanding belt machine 82, and an end of the first free combat machine 83 penetrates through the first fixing plate. The belt sander 82 is a handheld device, and the sanding machine 82 on the belt bracket 81 is used for sanding and polishing the base surface of the workpiece. The belt sander 82 is comprised of a pneumatic motor and a belt sander. The abrasive belt grinding device consists of a driving wheel, an abrasive belt supporting device, a grinding wheel and self-adhesive square abrasive paper.

As shown in fig. 4, the grinding device 9 for grinding the inner curved surface comprises an upper clamping portion 9156, a lower clamping portion 9256 and a circular air mill 93, wherein the lower end of the upper clamping portion 9156 is detachably connected with the lower clamping portion 9256, an upper groove with a downward opening is formed in the upper clamping portion 9156, a lower groove with an upward opening is formed in the lower clamping portion 9256, the upper groove and the lower groove are spliced to form an installation cavity, and the circular air mill 93 is arranged in the installation cavity. The circular air mill 93 is installed through the upper clamping portion 9156 and the lower clamping portion 9256, and the inner curved surface of the workpiece is ground through the grinding head of the circular air mill 93.

As shown in fig. 5, the grinding side abrasive disc device 10 includes a brushless motor 101, a clamp 102, a circular abrasive disc 103, and a limit post 104, wherein an output shaft of the brushless motor 101 is connected with the clamp 102, the clamp 102 is provided with the circular abrasive disc 103, four ends of the brushless motor 101 are provided with circular grooves, the limit post 104 is arranged in the circular groove, a lower end of the limit post 104 is fixedly connected with the brushless motor 101, and an upper end of the limit post 104 is fixedly connected with the quick-change device 12. The clamping device 102 and the circular abrasive disk 103 are driven to rotate by the brushless motor 101, and the polishing robot 3 polishes the side edge of the workpiece through the circular abrasive disk 103.

As shown in fig. 6, the outer curved surface grinding disc grinding device 11 includes an outer curved surface bracket 111, a pneumatic grinding machine 112, and a second scattering machine 113, where the outer curved surface bracket 111 includes a first mounting plate and a second mounting plate that are parallel to each other, the pneumatic grinding machine 112 is disposed on the first mounting plate, the second scattering machine 113 is disposed on the second mounting plate, and one end of the second scattering machine 113 penetrates through the first mounting plate. The outer curved surface of the workpiece is ground by a pneumatic grinder 112.

As shown in fig. 2, the quick-change device 12 includes a support plate, a robot quick-change connector, a limiting plate, a positioning pin and a rubber pad, the robot quick-change connector is arranged on the upper end face of the support plate, the limiting plate is vertically connected to the middle of the two long side edges of the support plate, the positioning pin is arranged at the two ends of the lower end face of the support plate, a positioning recess matched with the positioning pin is arranged on each station, and the rubber pad is arranged on the lower end face. The friction force is enhanced through the rubber cushion block, so that the positioning pin is heightened, and the positioning pin is convenient to be matched with the positioning recess.

As shown in fig. 10, the polishing tool assembly 6 includes a sand table frame 61 for stacking self-adhesive circular sand paper, a first sand paper support 62 for stacking self-adhesive square sand paper, a second sand paper support 63 for stacking self-adhesive sand strips, a push plate 64 and a jacking cylinder 65, a polisher feeding station is arranged on one side of the polishing robot 3 away from the positioning support 7 on the workbench, a sand table frame 61, a first sand paper support 62 and a second sand paper support 63 are arranged on the polishing tool feeding station, the push plate 64 is arranged in each of the sand table frame 61, the first sand paper support 62 and the second sand paper support 63, the jacking cylinder 65 is arranged under each of the sand table frame 61, the first sand paper support 62 and the second sand paper support 63, and a piston rod of the jacking cylinder 65 is connected with the push plate 64. The self-adhesive circular sand paper is adhered to the pneumatic sander 112 of the outer curved surface grinding disc grinding device 11, the self-adhesive sand strips are adhered to the first free combat machine 83 and the second free combat machine 113, the self-adhesive square sand paper is adhered to the sand belt machine 82 of the grinding base plane sand belt device 8, the push plate 64 is pushed to ascend through jacking, the sand paper in the sand disc frame 61, the first sand paper support 62 and the second sand paper support 63 is pushed to ascend to a preset height through the push plate 64, and sand paper replacement is convenient.

The machine case 1 is provided with a dust exhaust pipe, the dust exhaust pipe is connected with an outdoor pipeline dust collector, and the dust exhaust pipe is communicated with the outdoor pipeline dust collector through a PVC pipeline. The outdoor pipeline dust collector is used for exhausting air, dust is pumped to the outdoor, and better dust removal treatment is facilitated outdoors.

The collecting device comprises a collecting box, an air draft device and a filtering plate, the upper end of the collecting box is connected with a collecting hopper 13, the side face of the collecting box is connected with the air draft device, and the filtering plate is fixed in the collecting box. Dust is adsorbed by a filter screen on the filter cartridge.

The working principle of the invention is as follows: mounting the corresponding grinding head of the circular air mill 93 and the circular abrasive disc 103 of the pneumatic grinding machine 112 according to the surface roughness of a workpiece material machine in advance, adhering self-adhesive circular abrasive paper on the pneumatic grinding machine 112, adhering self-adhesive abrasive strips on the first free-combat machine 83 and the second free-combat machine 113, and adhering self-adhesive square abrasive paper on the abrasive belt machine 82; clamping the base of the workpiece to the self-centering chuck 44; starting the polishing robot 3, the first hollow rotary platform 42 and the second hollow rotary platform 43, and driving the workpiece to rotate to a preset posture through the first hollow rotary platform 42 and the second hollow rotary platform 43; the polishing robot 3 is connected with the base plane abrasive belt grinding device 8 in a switching mode, the abrasive belt grinding machine 82 of the base plane abrasive belt grinding device 8 is used for polishing and grinding the base of the workpiece, and after the base of the workpiece is polished, the first hollow rotary platform 42 acts to overturn the workpiece so that dust on the base of the workpiece falls into the collecting hopper 13; the polishing robot 3 changes and grinds the inner curved surface grinding head device 9, the grinding head of the circular air mill 93 of the grinding inner curved surface grinding head device 9 is used for polishing the inner curved surface of the workpiece, and after the inner curved surface of the workpiece is polished, the first hollow rotary platform 42 acts to overturn the workpiece so that dust on the base of the workpiece falls into the collecting hopper 13; the polishing robot 3 is connected with the side grinding abrasive disc device 10 in a switching mode, the circular abrasive disc 103 of the side grinding abrasive disc device 10 is used for polishing the side of the workpiece, and the outer curved surface of the workpiece is polished after the side of the workpiece is polished; the polishing robot 3 changes and grinds the outer curved surface grinding disc device 11, the self-adhesive circular sand paper of the pneumatic grinding machine 112 of the outer curved surface grinding disc device 11 is used for polishing the outer curved surface of the workpiece, and the workpiece is taken down after the polishing of the outer curved surface of the workpiece is finished.

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

The above-mentioned embodiments only express several 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. The utility model provides an automatic polishing burring equipment of robot which characterized in that: the automatic sand-changing machine comprises a machine case, wherein a working platform is arranged in the machine case, a polishing robot is arranged on the working platform, an automatic sand-changing mechanism for changing sand paper and a workpiece platform for clamping and machining a workpiece are arranged on one side of the polishing robot, the workpiece platform comprises a support, a first hollow rotary platform, a second hollow rotary platform and a self-centering chuck, the support is provided with the first hollow rotary platform, a turntable of the first hollow rotary platform is provided with the second hollow rotary platform, the turntable of the second hollow rotary platform is provided with the self-centering chuck, a collecting hopper is arranged under the second hollow rotary platform on the working platform, the lower end of the collecting hopper is connected with a collecting device, one side of the automatic sand-changing mechanism, far away from the workpiece platform, is provided with a polishing tool assembly, and the polishing tool assembly comprises a positioning support, a bottom grinding seat plane sand belt device, an inner curved surface grinding device, a, The grinding device comprises an outer curved surface grinding disc device and a quick-change device, wherein a grinding base plane abrasive belt device, an inner curved surface grinding head device, a side grinding edge abrasive disc device and an outer curved surface grinding disc device are sequentially arranged on a positioning bracket along a straight line, the grinding base plane abrasive belt device, the inner curved surface grinding head device, the side grinding edge abrasive disc device and the outer curved surface grinding disc device are all arranged on the positioning bracket through the quick-change device, four stations are arranged on the positioning bracket, and a square notch matched with the quick-change device is arranged on each station.

2. The robotic automated polishing deburring apparatus of claim 1 wherein: automatic trade sand mechanism including trading sand support, waste sand carton, shovel board, micro cylinder, the holder, the clamping part, the workstation is equipped with sand-changing support and waste sand carton by last, trade sand support upper end level and be equipped with the shovel board, the one end that the sand-changing support was kept away from to the shovel board is equipped with the sharp portion that is used for shoveling down abrasive paper, shovel board below is equipped with micro cylinder, micro cylinder's piston rod sets up and is connected with the holder towards the shovel board, terminal surface is equipped with the piston rod matched with screw hole with micro cylinder under the holder, the holder up end inlays and is equipped with the clamping part with shovel board matched with.

3. The robotic automated polishing deburring apparatus of claim 1 wherein: the abrasive belt grinding device comprises an abrasive belt support, an abrasive belt machine and a first free combat machine, wherein the abrasive belt support comprises a first fixing plate and a second fixing plate which are arranged in parallel, the abrasive belt machine is arranged on the first fixing plate, the end part of the abrasive belt machine penetrates through the second fixing plate, the first free combat machine is arranged at one end, far away from the abrasive belt machine, of the second fixing plate, and the end part of the first free combat machine penetrates through the first fixing plate.

4. The robotic automated polishing deburring apparatus of claim 3 wherein: grind interior curved surface bistrique device includes clamping part, lower clamping part, circular air mill, go up the clamping part lower extreme and can dismantle and be connected with lower clamping part, go up the clamping part and offer the upper groove that the opening is decurrent, lower clamping part offers the ascending low groove of opening, and the upper groove constitutes the installation cavity with the low groove amalgamation, is equipped with circular air mill in the installation cavity.

5. The robotic automated polishing deburring apparatus of claim 4 wherein: the side grinding abrasive disc device comprises a brushless motor, a clamp, a circular abrasive disc and a limiting column, wherein an output shaft of the brushless motor is connected with the clamp, the clamp is provided with the circular abrasive disc, four ends of the brushless motor are provided with circular grooves, the limiting column is arranged in each circular groove, the lower end of the limiting column is fixedly connected with the brushless motor, and the upper end of the limiting column is fixedly connected with the quick-change device.

6. The robotic automated polishing deburring apparatus of claim 5 wherein: grind outer curved surface mill device and include outer curved surface support, pneumatic polisher, second free combat machine, the outer curved surface support is equipped with pneumatic polisher including the first mounting panel and the second mounting panel of mutual parallel arrangement on the first mounting panel, is equipped with the second free combat machine on the second mounting panel, and the first mounting panel is run through to the second free combat machine one end.

7. The robotic automated polishing deburring apparatus of claim 1 wherein: the quick-change device comprises a supporting plate, a robot quick-change connector, limiting plates, positioning pins and rubber cushion blocks, wherein the robot quick-change connector is arranged on the upper end face of the supporting plate, the limiting plates are vertically connected to the middle parts of the two long side edges of the supporting plate, the positioning pins are arranged at the two ends of the lower end face of the supporting plate, positioning recesses matched with the positioning pins are arranged on each station, and the rubber cushion blocks are arranged on the lower end face of the.

8. The robotic automated polishing deburring apparatus of claim 6 wherein: polishing tool subassembly is including the sand paper frame that is used for stacking the circular sand paper of self-adhesion, the first sand paper support that is used for stacking the square sand paper of self-adhesion, the second sand paper support, push pedal, the jacking cylinder that are used for stacking the self-adhesion emery paper, one side of keeping away from the locating support in polishing robot on the workstation is equipped with polisher material loading station, is equipped with sand paper frame, first sand paper support, second sand paper support on the polishing tool material loading station, all is equipped with the push pedal in sand paper frame, first sand paper support, the second sand paper support, all is equipped with the jacking cylinder under sand paper frame, first sand paper support, the second sand paper support, and the piston rod and the push pedal of jacking cylinder are connected.

9. The robotic automated polishing deburring apparatus of claim 1 wherein: the machine case is provided with a dust exhaust pipe, the dust exhaust pipe is connected with an outdoor pipeline dust collector, and the dust exhaust pipe is communicated with the outdoor pipeline dust collector through a PVC pipeline.

10. The robotic automated polishing deburring apparatus of claim 1 wherein: the collecting device comprises a collecting box, an air draft device and a filtering plate, the upper end of the collecting box is connected with a collecting hopper, the side face of the collecting box is connected with the air draft device, and the filtering plate is fixed in the collecting box.