CN112847025A - Polishing equipment and polishing method thereof - Google Patents

Abstract

The invention provides a polishing device, which relates to the technical field of grinding and comprises: the paper tearing machine comprises a robot, a tooling clamping table, a paper tearing mechanism and a placing frame; the robot comprises a manipulator, a polishing mechanism and a clamping mechanism, wherein the polishing mechanism and the clamping mechanism are arranged on the manipulator; the tool clamping table is used for receiving and placing a workpiece to be polished transferred by the clamping mechanism; the paper tearing mechanism comprises an embedding assembly and a jacking assembly, and the manipulator can move to enable the sand paper of the sand paper assembly at the side part of the manipulator to be inserted between the embedding assembly and the jacking assembly and move and withdraw along the sand paper tearing direction; the sand paper placing mechanisms with the number equivalent to that of the sand paper assemblies are arranged on the placing frame; the abrasive paper component after being torn away from the abrasive paper is driven by the manipulator to move into the corresponding abrasive paper placing mechanism, and can be attached and fixed on the abrasive paper component in a manner of pressing and jacking in the abrasive paper placing mechanism. Through using the equipment of polishing to avoid the drawback of artifical change abrasive paper, improve grinding efficiency, and grind the precision big. The application further provides a polishing method.

Description

Polishing equipment and polishing method thereof

Technical Field

The invention relates to the technical field of grinding, in particular to grinding equipment and a grinding method thereof.

Background

At present, the common polishing mode of workpiece polishing is manual polishing, but the manual polishing wastes time and labor, and the polishing quality is not stable enough due to different technologies and experiences of processing workers. The problems of potential safety hazards, high labor cost, unstable product quality and the like caused by the traditional manual polishing operation obviously make the manual polishing operation not suitable for the long-term development of enterprises.

Automatic sanding machines follow, but abrasive elements such as sandpaper, which are worn by the sanding apparatus while sanding the product, are replaced periodically, traditionally manually. And the manual change is deposited consuming time longer, and appear irregular change operation easily and lead to polishing the quality unusual, influence the effect of polishing, cause the product to rework and scrap phenomenons such as.

Disclosure of Invention

The invention discloses polishing equipment and a polishing method thereof, and aims to solve the problems of poor operability and automation degree of the polishing equipment.

The invention adopts the following scheme:

the application provides equipment of polishing for the processing of polishing of work piece sealing face includes: the paper tearing machine comprises a robot, a tooling clamping table, a paper tearing mechanism and a placing frame; the robot comprises a manipulator, a grinding mechanism and a clamping mechanism, wherein the grinding mechanism and the clamping mechanism are arranged on the manipulator, the grinding mechanism is provided with a plurality of sand paper assemblies which are independent and arranged in different directions, and the grinding degree of each sand paper assembly is different; the clamping mechanism is arranged at the end part of the manipulator, the sand paper assemblies are respectively and rotatably arranged at different side parts of the manipulator, and the sand paper can be arranged on the sand paper assemblies in a detachable attaching mode; the tool clamping table is used for receiving and placing a workpiece to be polished, which is transferred by the clamping mechanism, and is provided with a clamping mechanism which is transversely clamped on the workpiece and a limiting mechanism which is longitudinally used for buckling the workpiece on the tool clamping table; the workpiece is limited and fixed on the tool clamping table and can be driven by an external slewing mechanism to rotate along a horizontal axis so as to adjust the position; the paper tearing mechanism comprises an embedding assembly capable of being inserted into the sand paper assembly to separate the sand paper and a jacking assembly matched with the embedding assembly to press and hold the sand paper to be replaced, and the manipulator can move to enable the sand paper of the sand paper assembly at the side part of the manipulator to be inserted between the embedding assembly and the jacking assembly and move and withdraw along the sand paper tearing direction; the sand paper placing mechanisms are arranged on the placing frame, the number of the sand paper placing mechanisms is equal to that of the sand paper assemblies, the sand paper placing mechanisms are arranged on the placing frame at intervals and side by side, and one sand paper placing mechanism can provide sand paper with one specification; the abrasive paper component after being torn away from the abrasive paper is driven by the manipulator to move into the corresponding abrasive paper placing mechanism, and can be attached and fixed on the abrasive paper component in a manner of pressing and jacking in the abrasive paper placing mechanism.

As a further improvement, the robot is a multi-shaft manipulator with a mounting part, and the clamping mechanism faces outwards and is arranged on the lower end surface of the mounting part so as to be capable of clamping and transferring workpieces; the configuration of abrasive paper subassembly is in the lateral surface position of installation department, and it includes for pasting fixed binding face mutually with abrasive paper and can drive binding face pivoted driving piece, the driving piece extends the configuration and just roughly is parallel and level with installation department at the lateral surface of installation department.

As a further improvement, the binding surface and the sand paper on the end surface are assembled and fixed in a magic tape binding mode; the sand paper accommodated in the sand paper placing mechanism is consistent with the sand paper on the binding surface.

As a further improvement, a probe assembly is separately arranged on one outer side surface of the mounting part, and the probe assembly and each sand paper assembly are arranged on different sides of the mounting part in a surrounding mode.

As a further improvement, the placing rack is approximately a T-shaped bracket, and each sand paper placing mechanism is transversely arranged at the transverse end of the placing rack; the sand paper placing mechanism comprises an accommodating cylinder with an opening at the bottom and sand paper stacked in the accommodating cylinder in a stacked mode, and each sand paper is limited in the accommodating cylinder in a transverse clamping mode.

As a further improvement, the accommodating cylinder is arranged on a plurality of limiting columns in the circumferential direction of the abrasive paper in a surrounding mode to form a cavity for clamping and accommodating the abrasive paper, and an opening of the accommodating cylinder is arranged in a profiling mode with the abrasive paper and an abrasive paper assembly, so that the manipulator is allowed to move to push the abrasive paper assembly into the cavity with the abrasive paper from bottom to top.

As a further improvement, the paper tearing mechanism is arranged at the vertical end of the placing rack; the embedding assembly is provided with a cutter fixing part which is configured to cut into a position between the sand paper assembly and the sand paper; the tightening component is provided with a movable part which can move in the direction close to or away from the fixed knife part and is matched with the fixed knife part to form a kneading component after being close to the fixed knife part so as to clamp and fix the sandpaper to be replaced.

As a further improvement, the cutting edge of the fixed blade portion is arranged downward in the longitudinal direction, and the movable portion is close to or away from the fixed blade portion in the lateral direction.

As a further improvement, the swing mechanism comprises a rotating assembly and a driven assembly which are opposite to each other, at least one of the rotating assembly and the driven assembly can be arranged on the tool clamping table in a sliding mode along the transverse direction, the clamping mechanisms are respectively arranged on the transmission assembly and the driven assembly, and the rotating assembly can drive the workpiece to rotate along the axis after clamping and fastening the workpiece.

The application further provides a polishing method, which is used for polishing a workpiece by using the polishing equipment, and comprises the following steps:

s1: acquiring an initial position of a workpiece, controlling the manipulator to move above the workpiece, and grabbing and transferring the workpiece to a tool clamping table through the clamping mechanism;

s2: after the workpiece is judged to be transferred in place, the clamping of the clamping mechanism for the workpiece is released, the workpiece is limited and fastened on the tool clamping table under the matching of the clamping mechanism and the limiting mechanism, and the rotating mechanism drives the workpiece to adjust the polishing direction;

s3: the mechanical arm moves to attach the grinding assembly to the workpiece, the sealing surface of the workpiece is ground for multiple times, and the same grinding area is ground by using sand paper assemblies with different grinding degrees according to a cross replacement mode of fine grinding to rough grinding and then fine grinding;

s4: after a grinding area is polished, the manipulator is controlled to move to be close to the paper tearing mechanism, the joint surface between the sand paper component and the sand paper is directly inserted into the embedded component, and the jacking component moves to be close to the embedded component so as to press and pinch the sand paper to be replaced,

s5: the manipulator is driven to withdraw along the tearing direction of the abrasive paper, and the abrasive paper replacement of different abrasive paper components is continued until all the abrasive paper components are replaced with the abrasive paper;

s6: control manipulator removes to the rack, and movable manipulator can press the tight mechanism of placing to abrasive paper in top to making the abrasive paper subassembly, fixes new abrasive paper laminating on the abrasive paper subassembly to it is fixed to continue to carry out the laminating of abrasive paper to different abrasive paper subassemblies in its corresponding abrasive paper placement mechanism.

By adopting the technical scheme, the invention can obtain the following technical effects:

the utility model provides an equipment of polishing presss from both sides with automatic clamp through robot control manipulator, places the work piece to and carry out the automatic grinding to the work piece, and can tear and change new abrasive paper automatically to the abrasive paper subassembly of configuration on manipulator under the cooperation of manipulator and tear paper mechanism and abrasive paper placement machine structure, avoid the artifical drawback of changing abrasive paper, improved grinding efficiency, and it is big to grind the precision. The robot grabs the workpiece to the tool clamping table through the clamping mechanism arranged on the manipulator, the clamping mechanism arranged on the tool clamping table can transversely clamp the workpiece, the limiting mechanism can longitudinally lock the workpiece to the clamping table, the workpiece can be driven by the external rotating mechanism to rotate along the horizontal axis direction to adjust the position, the manipulator can further polish the workpiece, the workpiece is in a stable state and can flexibly rotate to adjust the grinding area of the workpiece to be right opposite to one side of the manipulator, and the grinding is convenient and is simple and convenient to operate. In addition, tear paper mechanism in order to press the mode of holding between the fingers tightly, drive the abrasive paper subassembly at the manipulator and make abrasive paper insert the embedding subassembly after, remove to promptly abrasive paper with the embedding subassembly cooperation through the tight subassembly in top to be detained in tearing paper mechanism along tearing the abrasive paper that will treat when withdrawing from the direction at the manipulator, carry out the abrasive paper fast and change, and change abrasive paper to different abrasive paper subassemblies one by one. The sand paper assembly torn away from the sand paper is moved into the corresponding sand paper placing mechanism, the sand paper contained in the sand paper placing mechanism is attached and fixed on the sand paper assembly in a pressing and jacking mode, the sand paper replacement is completed, the operation is simple and convenient, the effect is obvious, the method is different from the existing manual replacement and automatic replacement modes, the obvious difference and uniqueness are realized, and the application range is wide.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic view of a grinding apparatus according to an embodiment of the present invention, shown from a first perspective;

FIG. 2 is a schematic view of a grinding apparatus according to an embodiment of the present invention from a second perspective;

FIG. 3 is an enlarged schematic view at I in FIG. 2;

FIG. 4 is a schematic view of a third perspective of a grinding apparatus according to an embodiment of the present invention;

FIG. 5 is a schematic view of a fourth perspective of a sanding apparatus according to an embodiment of the present invention;

FIG. 6 is an enlarged schematic view at II in FIG. 5;

fig. 7 is a schematic structural view of a placing frame of the grinding device according to the embodiment of the invention;

fig. 8 is a schematic flow chart of a polishing method according to another embodiment of the present invention.

Icon: 1-a robot; 11-a manipulator; 111-a mounting portion; 12-a gripping mechanism; 13-a sandpaper assembly; 131-a binding face; 132-a driver; 14-a probe assembly; 2-a tooling clamping table; 21-a clamping mechanism; 22-a limiting mechanism; 23-a slewing mechanism; 231-a rotating assembly; 232-a driven assembly; 3-a paper tearing mechanism; 31-an embedded component; 311-cutter fixing part; 32-a jacking assembly; 321-a movable part; 4-placing the rack; 41-a sand paper placing mechanism; 411-a receiving cartridge; 412-a restraining post; a-a workpiece.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

With reference to fig. 1 to 7, the present embodiment provides a grinding apparatus for grinding a sealing surface of a workpiece a, including: robot 1, frock clamp 2, tear paper mechanism 3 and rack 4. The robot 1 includes a robot arm 11, and a sanding mechanism and a clamping mechanism 12 disposed on the robot arm 11, wherein the sanding mechanism has a plurality of sandpaper assemblies 13 disposed independently and in different orientations, and each sandpaper assembly 13 has a different grinding degree. The gripping mechanism 12 is disposed at an end portion of the hand 11, the sandpaper assemblies 13 are rotatably disposed at different side portions of the hand 11, respectively, and the sandpaper can be detachably attached to the sandpaper assemblies 13. The fixture clamping table 2 is used for receiving and placing a workpiece a to be polished, which is transferred by the clamping mechanism 12, and has a clamping mechanism 21 for being clamped on the workpiece a along the transverse direction and a limiting mechanism 22 for buckling the workpiece a on the fixture clamping table 2 along the longitudinal direction. The workpiece A is fixed on the tooling clamping table 2 in a limiting manner and can be driven by an external slewing mechanism 23, so that the workpiece A can rotate along a horizontal axis to adjust the position. The paper tearing mechanism 3 includes an inserting member 31 capable of being inserted into the sandpaper assembly 13 to separate the sandpaper and an abutting member 32 engaging with the inserting member 31 to press and hold the sandpaper to be replaced, and the robot 11 is movable so that the sandpaper of the sandpaper assembly 13 at its side portion is inserted between the inserting member 31 and the abutting member 32 and is moved out in the sandpaper tearing direction. Be equipped with the sandpaper placement machine 41 that equals with sandpaper subassembly 13 figure on rack 4, sandpaper placement machine 41 interval just sets up side by side on rack 4, and a sandpaper placement machine 41 can provide the sandpaper of one of them specification. The sandpaper assembly 13 after being torn off from the sandpaper is driven by the manipulator 11 to move into the corresponding sandpaper placing mechanism 41, and the sandpaper contained in the sandpaper placing mechanism 41 can be attached and fixed to the sandpaper assembly 13 in a pressing and jacking manner.

The equipment of polishing in this embodiment, through 1 control robot 11 of robot with automatic clamp get, place work piece A to and carry out the automatic grinding to work piece A, and can be under the cooperation of manipulator 11 and tear paper mechanism 3 and abrasive paper placement machine 41, tear automatically and change new abrasive paper to the abrasive paper subassembly 13 of configuration on manipulator 11, avoid the manual drawback of changing abrasive paper, improved grinding efficiency, and it is big to grind the precision.

The robot 1 grabs the workpiece a to the tooling clamp table 2 through the clamping mechanism 12 arranged on the manipulator 11, the clamping mechanism 21 arranged on the tooling clamp table 2 can transversely clamp the workpiece a, the limiting mechanism 22 can longitudinally clamp the workpiece a to the clamp table, and the workpiece a can rotate along the horizontal axis direction to adjust the position under the driving of the external rotating mechanism 23, so that the manipulator 11 can further polish the workpiece a, the workpiece a is in a stable state and can flexibly rotate to adjust the grinding area of the workpiece a to be right opposite to one side of the manipulator 11, the grinding is convenient and the operation is simple.

In addition, tear paper mechanism 3 in order to press the mode of pinching, drive abrasive paper subassembly 13 at manipulator 11 and make abrasive paper insert embedding subassembly 31 after, remove to grasping abrasive paper with the cooperation of embedding subassembly 31 through the tight subassembly 32 in top to be detained abrasive paper in tearing paper mechanism 3 along tearing when the orientation withdraws from at manipulator 11, carry out the abrasive paper change fast, and change abrasive paper to different abrasive paper subassemblies 13 one by one. The sandpaper assembly 13 which is torn away from the sandpaper is moved into the corresponding sandpaper placing mechanism 41, the sandpaper accommodated in the sandpaper placing mechanism 41 is attached and fixed on the sandpaper assembly 13 in a pressing and jacking mode, and the replacement of the sandpaper is completed.

In one embodiment, the robot 1 is configured as a multi-axis robot 11 having a mounting portion 111, and the gripping mechanism 12 is disposed facing outward on a lower end surface of the mounting portion 111 so as to be able to grip and transfer the workpiece a. The clamping mechanism 12 may be constructed as a suction cup structure or a magnetic force absorption structure. In addition, the sandpaper assembly 13 is disposed on the outer side surface of the mounting portion 111, and includes a bonding surface 131 for bonding and fixing with the sandpaper and a driving member 132 capable of driving the bonding surface 131 to rotate, and the driving member 132 extends and is disposed on the outer side surface of the mounting portion 111 and is substantially flush with the mounting portion 111. Thereby, the abrasive paper that the laminating was fastened on directly driving binding face 131 through driving piece 132 rotates along the axial of driving piece 132 output for manipulator 11 is followed the direction translation of polishing under robot 1's control, and makes abrasive paper remain throughout and rotate under driving piece 132's drive, grinds often in order to the sealed face to work piece A. It should be noted that the adhesive force of the sandpaper at the abutting surface 131 is at least greater than the frictional force during sanding to ensure proper sanding of the sandpaper assembly 13.

In one embodiment, the attaching surface 131 and the sand paper on the end surface thereof are fixed by hook and loop fastening. The sandpaper accommodated in the sandpaper placing mechanism 41 is configured to conform to the sandpaper on the abutting surface 131. All dispose between binding face 131 and the abrasive paper magic subsides and carry out dismantled and assembled bonding fixedly to the abrasive paper of holding in abrasive paper placement machine 41 is disposed towards the tight direction in the top of pressing of abrasive paper subassembly 13 and is pasted with the magic of binding face 131 looks adaptation, fastens with the laminating between the binding face 131 that realizes tearing back abrasive paper from and new abrasive paper.

In a preferred embodiment, the probe unit 14 is separately disposed on one of the outer side surfaces of the mounting portion 111, and the probe unit 14 and each sandpaper unit 13 are annularly disposed on different sides of the mounting portion 111. Therefore, the workpiece A placed on the clamping table is detected and identified through the probe assembly 14 before polishing, a required polishing area is acquired and fed back to the terminal of the robot 1, the robot 1 is beneficial to regulation and control of the manipulator 11, and accurate polishing of the abrasive paper assembly 13 in the polishing area is achieved.

Referring to fig. 5, 6 and 7, the mounting frame 4 is a substantially T-shaped bracket, and each sandpaper mounting mechanism 41 is disposed transversely at a transverse end of the mounting frame 4. The sandpaper placing mechanism 41 includes a receiving cylinder 411 with an opening at the bottom, and sandpaper stacked in the receiving cylinder 411 in a stacked manner, and each sandpaper is confined in the receiving cylinder 411 in a lateral clamping manner. Specifically, the accommodating cylinder 411 is disposed around the plurality of limiting columns 412 around the circumference of the sandpaper to form a chamber for tightly clamping and accommodating the sandpaper, and an opening of the accommodating cylinder is disposed in a shape corresponding to both the sandpaper and the sandpaper assembly 13, so as to allow the robot 11 to move to push the sandpaper assembly 13 into the chamber with the sandpaper from bottom to top. By adopting the arrangement mode, the sandpaper stacked in the accommodating cylinder 411 can be limited above the opening under the transverse clamping of the limiting column 412, and the sandpaper is prevented from falling off. When the sandpaper assembly 13 is tightly pressed from bottom to top along the bottom opening, the sandpaper positioned at the lower layer can be smoothly moved downwards along the arrangement direction of the limiting columns 412 to the outside of the accommodating cylinder 411, so that the efficiency of replacing the sandpaper is greatly improved. It needs to be mentioned, in order to make things convenient for tearing of abrasive paper to leave or change the laminating, the magic is pasted at the abrasive paper back and is constructed for the mode of laminating along the periphery in binding face 131, and wherein, abrasive paper and binding face 131 are the circular form, and the magic is pasted and is corresponded the structure and be the annular form to do benefit to the laminating or tear the operation.

It should be noted that the lateral side of the rack 4 facing the bottom is provided with a color scale sensor (not shown) for obtaining and identifying the color on the sandpaper assembly 13. And when the identified color is judged to be the color of the sand paper, judging that the sand paper is successfully replaced. If the colour of discerning is the colour of the binding face 131 of abrasive paper subassembly 13, in time feed back to robot 1 and remind abrasive paper to change the failure with reporting to the police, play the foolproof effect. In addition, the different sand paper of specification its mesh number is different, and the abrasiveness is also different, does benefit to optional fine grinding or the corase grind to, the mesh number of the sand paper that different sand paper subassemblies 13 used is different for grind the variety more diversified, the sand paper specification in different holding section of thick bamboo 411 is unanimous with the sand paper specification of its corresponding sand paper subassembly 13 from taking.

Referring to fig. 4, 6 and 7, in one embodiment, the paper tearing mechanism 3 is disposed at the vertical end of the placing frame 4. The insert assembly 31 has a knife portion 311, and the knife portion 311 is configured to cut between the sandpaper assembly 13 and the sandpaper. The tightening unit 32 has a movable portion 321, and the movable portion 321 can move in a direction to approach or separate from the fixed blade portion 311, and cooperates with the fixed blade portion 311 to form a kneading member after approaching, so as to clamp and fix the sandpaper to be replaced. Paper tearing mechanism 3 and abrasive paper placing mechanism 41 are arranged at the same placing frame 4, so that the paper tearing stroke and the paper replacing stroke are reduced, the paper tearing stroke and the paper replacing stroke are respectively arranged at the transverse side and the vertical side, the unified regulation and control of the robot 1 are facilitated, and the operation is more convenient and efficient. Specifically, the cutting edge of the fixed blade portion 311 is disposed downward in the longitudinal direction, and the movable portion 321 is disposed closer to or farther from the fixed blade portion 311 in the lateral direction. Thereby, make manipulator 11 remove to the same vertical position of stationary knife portion 311 to drive joint department of binding face 131 and abrasive paper of abrasive paper subassembly 13 from bottom to top and insert to the blade in, consistent with the mode of changing abrasive paper, the loaded down with trivial details operation of being convenient for operate and use, avoid tearing paper, change.

The movable portion 321 may be moved relative to the fixed blade portion 311 by a straight push cylinder, and the movable portion 321 may be disposed on an output shaft of the cylinder so that the cylinder is disposed in a direction toward or away from the fixed blade portion 311, thereby approaching each other to knead sandpaper to be replaced, or separating from each other to avoid a space for allowing sandpaper to be replaced to enter between the movable portion 321 and the fixed blade portion 311.

Referring to fig. 2, fig. 4 and fig. 5, the revolving mechanism 23 includes a rotating assembly 231 and a driven assembly 232 disposed opposite to each other, at least one of the rotating assembly 231 and the driven assembly 232 can be disposed on the tooling clamping table 2 in a sliding manner along the transverse direction, and the clamping mechanism 21 is disposed on the transmission assembly and the driven assembly 232 respectively, and can rotate the workpiece a along the axis under the driving of the rotating assembly 231 after clamping the fastened workpiece a. Both the rotating assembly 231 and the driven assembly 232 are disposed on the tooling chuck 2 in a pivoting support manner. The slewing bearing is a large bearing capable of bearing comprehensive loads, and can simultaneously bear larger axial and radial loads and overturning moments, so that efficient slewing configuration is facilitated. The rotating unit 231 rotates the workpiece a by an external power source. Specifically, the driving source is directly transmitted to the rotating assembly 231 through the gear engagement connection power source, and the driven assembly 232 can follow together to rotate so as to revolve in a single body along the horizontal axis.

Particularly, the rotating assembly 231 and/or the driven assembly 232 which are adjustably arranged on the clamping table can adaptively adjust the placing interval according to the size of the workpiece A, and are suitable for clamping workpieces A with different sizes. The clamping mechanism 21 disposed on one side of the rotating assembly 231 and the driven assembly 232 can clamp and fix the workpiece a along the position adjusting direction by means of a chuck or a jacking limit mode. In order to position and fix the workpiece a with multiple degrees of freedom, a position-limiting mechanism 22 is disposed on one side close to the driven unit 232 or the rotating unit 231 so as to be capable of being engaged with the workpiece a in the longitudinal direction and further clamping and fixing the workpiece a. The limiting mechanism 22 may be constructed as a hinged locking structure, and the workpiece a is further locked after the clamping mechanism 21 is clamped in place. It should be mentioned that the arrangement of the clamping mechanism 21 or the limiting mechanism 22 on the workpiece a is set to be avoided from the polishing area, so as to avoid the interference phenomenon to the polishing work.

With reference to fig. 2 and fig. 8, the present embodiment further provides a polishing method for polishing a workpiece a by using the above polishing apparatus, which includes the following steps:

s1: the initial position of the workpiece A is obtained, the manipulator 11 is controlled to move to the position above the workpiece A, and the workpiece A is grabbed and transferred to the tool clamping table 2 through the clamping mechanism 12.

S2: after the workpiece A is judged to be transferred to the right position, the clamping mechanism 12 is released from grabbing the workpiece A, the workpiece A is limited and fastened on the tool clamping table 2 under the cooperation of the clamping mechanism 21 and the limiting mechanism 22, and the rotating mechanism 23 drives the workpiece A to adjust the polishing direction.

S3: the manipulator 11 moves to attach the polishing assembly to the workpiece a, polishes the sealing surface of the workpiece a for multiple times, and polishes the same polishing area by using the sand paper assemblies 13 with different polishing degrees according to a cross-over mode of fine polishing to rough polishing and then fine polishing.

S4: after polishing a polishing area, the manipulator 11 is controlled to move to be close to the paper tearing mechanism 3, by directly inserting the joint surface 131 between the sand paper component 13 and the sand paper into the embedding component 31 and moving to be close to the embedding component 31 at the tightening component 32, so as to press and pinch the sand paper to be replaced,

s5: and driving the mechanical arm 11 to withdraw along the tearing direction of the sandpaper, and continuously replacing the sandpaper of different sandpaper assemblies 13 until all the sandpaper assemblies 13 are replaced with the sandpaper.

S6: control manipulator 11 and remove to rack 4, movable manipulator 11 can press the top tightly to abrasive paper placement machine 41 to making abrasive paper subassembly 13, fixes new abrasive paper laminating on abrasive paper subassembly 13 to it is fixed to continue carrying out the laminating of abrasive paper to different abrasive paper subassemblies 13 in its corresponding abrasive paper placement machine 41.

Wherein after step 6, when the robot 1 determines that it is necessary to continue polishing the same workpiece a, the operation of step 3 is repeated again. When the robot 1 determines that the previous workpiece a has finished the grinding operation and then needs to replace another workpiece a, it returns to step 1 to perform the grinding operation for the next workpiece a. In this embodiment, the robot 1 is used for acquisition and control, so as to ensure the automation of the whole polishing process. The polishing mode from fine polishing to rough polishing and then to fine polishing is adopted, efficient and standard polishing operation is achieved for the same polishing area, and the polishing effect is obvious. And whole the in-process of polishing, tear from or to the change operation of new abrasive paper on abrasive paper subassembly 13 of wearing and tearing abrasive paper, all cooperate each functional mechanism to realize under manipulator 11's control, will be difficult to the loaded down with trivial details process of automatic operation and change simple efficient automation mechanized operation into to reach the full automatization of whole equipment of polishing.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention.

Claims (10)

1. A grinding apparatus for grinding a sealing surface of a workpiece, comprising:

the robot comprises a manipulator, a grinding mechanism and a clamping mechanism, wherein the grinding mechanism and the clamping mechanism are arranged on the manipulator, the grinding mechanism is provided with a plurality of sand paper assemblies which are independent and arranged in different directions, and the grinding degree of each sand paper assembly is different; the clamping mechanism is arranged at the end part of the manipulator, the sand paper assemblies are respectively and rotatably arranged at different side parts of the manipulator, and the sand paper can be arranged on the sand paper assemblies in a detachable attaching mode;

the tool clamping table is used for receiving and placing the workpiece to be polished transferred by the clamping mechanism and is provided with a clamping mechanism which is transversely clamped on the workpiece and a limiting mechanism which is used for longitudinally buckling the workpiece on the tool clamping table; the workpiece is limited and fixed on the tool clamping table and can be driven by an external slewing mechanism to rotate along a horizontal axis so as to adjust the position;

the manipulator can move to enable the sand paper of the sand paper assembly at the side part of the manipulator to be inserted between the embedding assembly and the jacking assembly and move and withdraw along the sand paper tearing direction;

the sand paper placing mechanism is arranged on the placing rack, the number of the sand paper placing mechanisms is equal to that of the sand paper assemblies, the sand paper placing mechanisms are arranged on the placing rack at intervals and side by side, and one sand paper placing mechanism can provide one specification of sand paper; the abrasive paper component after being torn away from the abrasive paper is driven by the manipulator to move into the corresponding abrasive paper placing mechanism, and can be attached and fixed on the abrasive paper component in a manner of pressing and jacking in the abrasive paper placing mechanism.

2. The grinding apparatus according to claim 1, wherein the robot is configured as a multi-axis robot having a mounting portion, and the gripping mechanism is disposed facing outward on a lower end surface of the mounting portion so as to be capable of gripping and transferring the workpiece; the configuration of abrasive paper subassembly is in the lateral surface position of installation department, and it includes for pasting fixed binding face mutually with abrasive paper and can drive binding face pivoted driving piece, the driving piece extends the configuration and just roughly is parallel and level with installation department at the lateral surface of installation department.

3. The sanding device as defined in claim 2, wherein the abutting surface is fixedly assembled with the sandpaper on the end surface thereof by means of hook and loop fastening; wherein the content of the first and second substances,

the sandpaper accommodated in the sandpaper placing mechanism is configured to conform to the sandpaper on the mating surface.

4. An abrading apparatus according to claim 2, wherein a single probe assembly is provided on one of the outer sides of the mounting portion, said probe assembly being provided around the mounting portion on a different side thereof than the respective sandpaper assemblies.

5. The sanding apparatus of claim 1, wherein the holder is a generally T-shaped stand with each sandpaper placement mechanism disposed transversely to a transverse end of the holder; wherein the content of the first and second substances,

the sand paper placing mechanism comprises an accommodating cylinder with an opening at the bottom and sand paper stacked in the accommodating cylinder in a stacked mode, and each sand paper is limited in the accommodating cylinder in a transverse clamping mode.

6. The sanding apparatus of claim 5, wherein the cartridge defines a chamber for retaining the sandpaper by a plurality of posts circumferentially disposed about the sandpaper, the opening of the cartridge being contoured with the sandpaper and the sandpaper assembly to allow the robot to move to push the sandpaper assembly from bottom to top into the chamber with the sandpaper.

7. The abrading apparatus of claim 5, wherein the paper tear mechanism is disposed at a vertical end of the holder; the embedding assembly is provided with a cutter fixing part which is configured to cut into a position between the sand paper assembly and the sand paper; the tightening component is provided with a movable part which can move in the direction close to or away from the fixed knife part and is matched with the fixed knife part to form a kneading component after being close to the fixed knife part so as to clamp and fix the sandpaper to be replaced.

8. The sharpening apparatus of claim 7 wherein the cutting edge of the fixed blade portion is disposed longitudinally downwardly and the movable portion is laterally closer to or farther from the fixed blade portion.

9. The grinding device as claimed in claim 1, wherein the rotating mechanism comprises a rotating component and a driven component which are oppositely arranged, at least one of the rotating component and the driven component can be arranged on the tool clamping table in a sliding manner along a transverse direction, and the clamping mechanisms are respectively arranged on the transmission component and the driven component and can drive the workpiece to rotate along the axis under the driving of the rotating component after clamping the fastened workpiece.

10. A grinding method characterized by grinding a workpiece using the grinding apparatus as claimed in any one of claims 1 to 9, comprising the steps of:

s1: acquiring an initial position of a workpiece, controlling the manipulator to move above the workpiece, and grabbing and transferring the workpiece to a tool clamping table through the clamping mechanism;

s2: after the workpiece is judged to be transferred in place, the clamping of the clamping mechanism for the workpiece is released, the workpiece is limited and fastened on the tool clamping table under the matching of the clamping mechanism and the limiting mechanism, and the rotating mechanism drives the workpiece to adjust the polishing direction;

s3: the mechanical arm moves to attach the grinding assembly to the workpiece, the sealing surface of the workpiece is ground for multiple times, and the same grinding area is ground by using sand paper assemblies with different grinding degrees according to a cross replacement mode of fine grinding to rough grinding and then fine grinding;

s4: after a grinding area is polished, the manipulator is controlled to move to be close to the paper tearing mechanism, the joint surface between the sand paper component and the sand paper is directly inserted into the embedded component, and the jacking component moves to be close to the embedded component so as to press and pinch the sand paper to be replaced,

s5: the manipulator is driven to withdraw along the tearing direction of the abrasive paper, and the abrasive paper replacement of different abrasive paper components is continued until all the abrasive paper components are replaced with the abrasive paper;

s6: control manipulator removes to the rack, and movable manipulator can press the tight mechanism of placing to abrasive paper in top to making the abrasive paper subassembly, fixes new abrasive paper laminating on the abrasive paper subassembly to it is fixed to continue to carry out the laminating of abrasive paper to different abrasive paper subassemblies in its corresponding abrasive paper placement mechanism.

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