CN113601356A

CN113601356A - Automatic polishing system

Info

Publication number: CN113601356A
Application number: CN202110950189.0A
Authority: CN
Inventors: 毕辉; 林澍钿; 郑志发; 李孟平; 张文城; 李杰诚; 陈海源; 黄其灿
Original assignee: Julun Guangzhou Robot And Intelligence Manufacturing Co ltd; Giant Wheel Guangzhou Intelligent Equipment Co ltd
Current assignee: Julun Guangzhou Robot And Intelligence Manufacturing Co ltd; Giant Wheel Guangzhou Intelligent Equipment Co ltd
Priority date: 2021-06-01
Filing date: 2021-08-18
Publication date: 2021-11-05

Abstract

The invention relates to an automatic polishing system which comprises a protection room, a robot, a polishing device, a clamp frame and a conveying device, wherein a clamp is placed on the clamp frame; the conveying device comprises a rack, and a conveying mechanism, a positioning mechanism and a grabbing mechanism which are all arranged on the rack; the conveying mechanism comprises a blanking conveying assembly and a loading conveying assembly; the positioning mechanism is positioned at the discharge end of the feeding conveying assembly; the positioning mechanism is used for driving the luggage rack to lift and leave the feeding conveying assembly; the grabbing mechanism comprises a clamping jaw, a lifting device and a driving device. The automatic feeding of processing system through conveyor realization luggage rack, the robot can snatch the luggage rack fast, then through the cooperation back of parts such as grinding device, accomplishes the burnishing and polishing of luggage rack and rethread conveyor realization automatic unloading, only need put in or take off the luggage rack at conveyor's feed end, just can accomplish the unloading of luggage rack, and the degree of difficulty and the robot that reduce the unloading snatch speed improve processing system's work efficiency.

Description

Automatic polishing system

Technical Field

The invention relates to the field of luggage rack processing equipment, in particular to an automatic grinding system.

Background

At present, the luggage rack is manufactured by mainly using special section profiles as processing raw materials through the processes of stretch bending, failure, saw cutting, drilling and paint baking, and different luggage rack products are manufactured according to different vehicle types. In the production process of the luggage rack, the luggage rack needs to be processed, and the luggage rack is polished after being grabbed by a mechanical arm in some existing processing modes.

If the publication number is 'CN 207415068U', Chinese patent documents with publication date of 2018, 5 and 29 disclose a luggage rack grinding and polishing system, which comprises a protection room, a workpiece positioning component, a robot, a rough polishing component, a semi-finishing polishing component, a rough polishing component and a finish polishing component, wherein the workpiece positioning component is arranged in the protection room; the protective house is externally provided with a monitoring part which can control the robot to clamp the positioning frame component and drive a workpiece arranged on the positioning frame component to be sequentially connected with the rough polishing component, the semi-finishing component, the rough polishing component, the finishing component and the workpiece positioning part, so that the workpiece can complete the feeding process, the rough polishing process, the semi-finishing process, the finishing polishing process, the rough polishing process, the finishing polishing process and the discharging process at one time, and the workpiece positioning part, the robot, the rough polishing component, the semi-finishing component, the rough polishing component and the finishing polishing component are respectively connected with the monitoring part.

In the technical scheme, the whole polishing system is lack of an important ring, the feeding and discharging conveying of the luggage rack are lack of automation, the loading and discharging are carried out by manually operating the positioning frame assembly, the luggage rack is fixed on the positioning assembly to realize the loading of the luggage rack, the loading and discharging of the luggage rack are difficult to operate, the working efficiency of the polishing system is low, and complete automatic polishing processing cannot be realized.

Disclosure of Invention

The invention aims to solve the problem of low working efficiency of the polishing system in the prior art, and provides an automatic polishing system which is used for completing automatic conveying and feeding and automatic conveying and discharging of a luggage rack, so that a manipulator can quickly and continuously grab the luggage rack to be processed, and the working efficiency of the polishing system is improved.

In order to solve the technical problems, the invention adopts the technical scheme that: an automatic polishing system comprises a protection room, a robot, a polishing device, a clamp frame and a conveying device, wherein the robot, the polishing device, the clamp frame and the conveying device are all arranged in the protection room; one end of the conveying device is positioned outside the protection room, and the other end of the conveying device is positioned in the protection room; the conveying device comprises a rack, a conveying mechanism, a positioning mechanism and a grabbing mechanism, wherein the conveying mechanism is arranged on the rack and used for conveying the luggage rack, the positioning mechanism is used for fixing the position of the luggage rack, and the grabbing mechanism is used for grabbing the luggage rack; the conveying mechanism comprises a blanking conveying assembly and a loading conveying assembly provided with a positioning fixture block, and the conveying directions of the loading conveying assembly and the blanking conveying assembly are opposite; the positioning mechanism is arranged at the discharge end of the feeding conveying assembly; the positioning mechanism is used for driving the luggage rack to lift and leave the feeding conveying assembly; the grabbing mechanism is arranged above the positioning mechanism and comprises a clamping jaw, a lifting device for driving the clamping jaw to lift and a driving device for driving the clamping jaw to rotate; the clamping jaw is used for clamping the luggage rack on the positioning mechanism.

In the technical scheme, the feeding conveying assembly runs towards the interior of the protection room, and the discharging conveying assembly runs towards the exterior of the protection room. Staff or other can realize snatching the device (like the arm) of luggage rack outside the guard house, put into the luggage rack on the location fixture block on the material loading conveyor components, the polished surface of luggage rack up this moment, material loading conveyor components carries the luggage rack to discharge end one side, positioning mechanism with luggage rack jack-up, makes the luggage rack break away from conveying mechanism. The lifting device of the grabbing mechanism drives the clamping jaw to descend to the luggage rack, then the lifting device resets after the luggage rack is clamped by the clamping jaw, the driving device drives the clamping jaw to rotate 90 degrees, the polishing surface of the luggage rack can face one side of the clamping jaw, and the inner cavity surface of the luggage rack can face the robot. The clamp frame is connected with a clamp used for grabbing the luggage rack, and the robot grabs the luggage rack on the clamping jaw through the clamp. After the robot grabs the luggage rack, the robot drives the luggage rack to move to the grinding device, and the luggage rack is made to move on the grinding device through the designed running path of the robot, so that the polishing of the luggage rack is completed. After the luggage rack is polished, the robot places the luggage rack on the blanking conveying assembly, the blanking conveying assembly conveys the luggage rack to the outside of the protection room, and finally, the luggage rack is only required to be taken down from the blanking conveying assembly to complete blanking. Wherein, material loading conveyor components can be conveying chain and drive conveying chain moving motor, and the setting of location fixture block is on the conveying chain. The blanking conveying component can be a blanking conveying belt and a motor for driving the blanking conveying belt to run, and the blanking conveying belt can be positioned above the conveying chain. The lifting device can be a cylinder, a hydraulic cylinder and other mechanisms. The driving device can be a rotary cylinder, a motor, a steering engine and other mechanisms.

Preferably, the positioning mechanism further comprises a moving plate connected with the rack in a sliding manner, a pushing device for driving the moving plate to move, a first positioning assembly and a second positioning assembly, the first positioning assembly and the second positioning assembly respectively comprise a positioning bolt, a limiting fixture block and a lifting device, the positioning bolt and the limiting fixture block can be mounted on a connecting plate, and the lifting device drives the connecting plate to ascend; the first positioning assembly and the second positioning assembly are both arranged on the moving plate; and a detection assembly is arranged on one side of the feeding end of the feeding conveying assembly and is used for detecting a fabrication hole of the luggage rack. The luggage rack is divided into a left part and a right part, and the structures of the left part and the right part are slightly different, such as the position of a fabrication hole and the curved surface of the surface, if the left part and the right part are not distinguished, the subsequent polishing processing is influenced. And the first positioning assembly and the second positioning assembly are respectively used for positioning the left piece and the right piece, and the difference between the first positioning assembly and the second positioning assembly is that the positions of the positioning bolts are different. The principle of positioning is as follows: whether the luggage rack according to current processing is a left part or a right part, promote the movable plate motion through thrust unit for correspond locating component and be located the station, when the luggage rack was carried to the discharge end by material loading conveying component, hoisting device drove the connecting plate and rises, feasible location bolt and spacing fixture block rise, the luggage rack falls into spacing fixture block, the location bolt inserts the fabrication hole of luggage rack, the realization is to the location of luggage rack, so that snatch snatching of mechanism. And in order to avoid that the right piece is misplaced when the left piece is machined, so that the system cannot operate, the detection assembly can be a detection bolt capable of being inserted into the fabrication hole or an infrared sensor capable of sensing the fabrication hole. If the fabrication hole of setting for the left part can be sensed by infrared sensor or can be inserted by the detection bolt, then prove this luggage rack is right part when infrared sensor and detection bolt can't detect the fabrication hole, about this warning staff has misplaced the luggage rack.

Preferably, the conveying device further comprises a width adjusting mechanism, the width adjusting mechanism is positioned on two sides of the rack and comprises a sliding table module and a baffle plate, and the sliding table module and the baffle plate are mounted on the rack; the sliding table module comprises a sliding strip and a pushing mechanism for pushing the sliding strip to do linear motion, and the baffle is installed on the sliding strip. In order to avoid that the worker is placing the luggage rack to conveying mechanism on, the position deviation is too big, leads to the unable normal detection effect that realizes of detecting element, makes the slide bar move to the position that is close to the center through pushing mechanism, and the width of both sides baffle is in suitable scope, and this scope can enough ensure that the luggage rack is placed the back detecting element wantonly and also can be normal detection, also can not lead to the luggage rack to be difficult to place because of the scope is too little simultaneously. According to the different sizes of luggage rack, adjust width adjustment mechanism, make the device can be used for the luggage rack transport of different models. The pushing mechanism can be in an electric mode or a manual mode, the electric mode can be an electric push rod or a combination of a screw rod and a motor, and the manual mode can be a manual push rod or a combination of a screw rod and a hand wheel.

Preferably, an adjusting cylinder for pushing the baffle to move on the sliding strip is arranged on the sliding strip of the width adjusting mechanism on one side. In order to facilitate the staff material loading, the distance between the baffle of both sides is greater than the length of luggage rack, therefore the luggage rack may have left inclined to one side or to the right inclined to one side problem, this problem leads to positioning mechanism to be difficult to accomplish the location, the fabrication hole of luggage rack is perhaps unable to be aimed at to the location bolt, carry out the secondary through the adjustment cylinder to the baffle and remove, the baffle promotes the luggage rack to the baffle laminating with the opposite side, realize the standardization of luggage rack position, ensure that the location bolt can insert to the fabrication hole.

Preferably, the clamp comprises a mounting frame and clamping components fixed on two sides of the mounting frame; a quick connector assembly used for being connected with the robot is arranged on the mounting frame; the clamping components comprise a fixed plate, a first clamping finger, a second clamping finger, a first clamping finger driving device and a second clamping finger driving device, wherein the first clamping finger and the second clamping finger are arranged on the fixed plate respectively; the first clamping finger and the second clamping finger are both connected with the fixing plate in a sliding mode, the first clamping finger driving device and the second clamping finger driving device respectively drive the first clamping finger and the second clamping finger to move in opposite directions, the direction of mutual separation means that the first clamping finger moves towards the left, and then the second clamping finger moves towards the right. The gripper is placed on a gripper frame and when the robot needs to mount the gripper, the gripper can be connected to the robot by means of a quick coupling assembly, which is prior art and will not be described in detail here. The luggage rack is provided with a cavity, when the luggage rack is clamped through the clamp, the first clamping finger and the second clamping finger extend into the cavity of the luggage rack, the first clamping finger driving device drives the first clamping finger to move towards the inner wall of the luggage rack, the second clamping finger driving device drives the second clamping finger to move towards the inner wall of the other side of the luggage rack, so that the first clamping finger and the second clamping finger respectively press the inner walls of two sides of the luggage rack, the luggage rack is clamped, the first clamping finger and the second clamping finger are in a profiling design and can be attached to the inner wall of the luggage rack, the first clamping finger and the second clamping finger are only attached to the inner wall of the luggage rack, the outer surface of the luggage rack cannot be contacted with a polishing surface, and polishing of the outer surface of the luggage rack cannot be affected. The positioning rod used for positioning can be further arranged on the mounting frame, when the clamp moves towards the direction of the luggage rack, the positioning rod firstly contacts the inner bottom surface of the luggage rack, and in the state, the clamping assembly starts to clamp the luggage rack, so that excessive movement of the robot is avoided.

Preferably, a slide rail is arranged on the fixed plate, and the first clamping finger and the second clamping finger are respectively connected with the slide rail in a sliding manner through a first slide block and a second slide block; the first clamping finger driving device and the second clamping finger driving device are both air cylinders, an air cylinder rod of the first clamping finger driving device is connected with the first sliding block, and an air cylinder rod of the second clamping finger driving device is connected with the second sliding block. The first clamping finger driving device drives the first sliding block to drive the first clamping finger to move along the sliding rail, the second clamping finger driving device drives the second sliding block to drive the second clamping finger to move along the sliding rail, and the first clamping finger and the second clamping finger can move rapidly. The first clamping finger driving device and the second clamping finger driving device can also be air inflation devices which respectively push the first sliding block and the second sliding block to move along the sliding rail, specifically, one end of the sliding rail is inflated, the other end of the sliding rail is deflated, and the first sliding block or the second sliding block is pushed to move through the inflated air pressure.

Preferably, the grinding device comprises a plurality of groups of polishing components, and each polishing component comprises a cabinet, a plurality of polishing mechanisms connected with the cabinet in a sliding manner, and servo motors respectively driving the polishing mechanisms to move; the polishing mechanism comprises a mounting plate, a polishing wheel set and a driving motor, wherein the mounting plate is connected with the cabinet in a sliding manner; the polishing wheel set and the driving motor are both arranged on the mounting plate; the driving motor is electrically connected with a controller used for detecting current, and the servo motor is electrically connected with the controller. The polishing of the luggage rack is divided into multiple stages from rough polishing to fine polishing in sequence, the polishing devices can set the number of the polishing assemblies according to needs, and each polishing assembly can also be provided with a plurality of polishing mechanisms and servo motors, so that the polishing assemblies can realize at least one stage of polishing. Taking four levels of grinding as an example, the luggage rack is subjected to rough grinding, semi-fine grinding and fine grinding, if each polishing component is provided with two polishing mechanisms and a servo motor corresponding to the two polishing mechanisms, two polishing components are required to be arranged; if each polishing component is provided with one polishing mechanism and a servo motor corresponding to the polishing mechanism, four polishing components are required to be arranged, and each polishing mechanism corresponds to different grinding precision. When the luggage rack is polished, each polishing wheel set is provided with a certain feeding amount according to the polishing precision, the feeding amount exceeds a threshold value in the process of polishing the luggage rack, the load of a driving motor can be increased, the current of the driving motor is increased, a controller can control a servo motor to rotate according to received current information, and a polishing mechanism is driven to move towards the direction far away from the luggage rack. And when the feeding amount is lower than the threshold value, the load of the driving motor can be reduced, so that the current of the driving motor is reduced, the controller can control the servo motor to rotate according to the received current information, and the polishing mechanism is driven to move towards the direction close to the luggage rack. The change of the feeding amount is fed back through the current of the driving motor, and then the polishing mechanism is controlled to move through the servo motor, so that the polishing mechanism can finish the grinding and polishing of the luggage rack according to the set feeding amount, and the polishing precision of the luggage rack is better controlled.

Preferably, the polishing wheel set can be a grinding wheel, and the driving motor drives the grinding wheel to rotate. But more preferred scheme is that the polishing wheelset includes a driving wheel, a driven wheel and a sand belt, wherein the driving wheel is mounted on the mounting plate, the sand belt is connected with the driving wheel and the driven wheel, and the driving motor drives the driving wheel to rotate. The driving motor drives the driving wheel to rotate in a belt transmission mode, and the driven wheel can tension the abrasive belt, so that the abrasive belt can polish and polish the luggage rack. Because the grinding tool is a consumable and needs to be frequently replaced, in the scheme, the grinding tool can be continuously operated only by detaching the old abrasive belt and replacing the old abrasive belt with a new abrasive belt, and the grinding tool is more convenient to replace compared with grinding tools in the form of an abrasive wheel and the like.

Preferably, the polishing wheel set further comprises a tension adjusting mechanism mounted on the mounting plate; the tensioning adjusting mechanism comprises a fixed frame, a driving air cylinder arranged on the fixed frame and a roller frame connected with an air cylinder rod of the driving air cylinder; the driven wheel is mounted on the roller carrier. When the abrasive belt needs to be replaced, the cylinder is driven to move, the roller carrier is driven to move towards the driving wheel, the distance between the driven wheel and the driving wheel is reduced, and the abrasive belt is detached after the abrasive belt is loosened. After new abrasive belts are arranged on the driving wheel and the driven wheel, the driving cylinder drives the roller carrier to reset, the driven wheel enables the abrasive belts to be tensioned again, the abrasive belts are replaced quickly, the tension degree does not need to be adjusted again when the abrasive belts are replaced every time, and replacement and maintenance are more convenient.

Preferably, a rack is arranged on the mounting plate, and a gear meshed with the rack is mounted on an output shaft of the servo motor. The servo motor drives the gear to rotate, so that the rack drives the mounting plate to move back and forth, the servo motor controls the movement direction and amplitude of the polishing mechanism according to the change of the current of the driving motor, the movement of the rack is linear movement, the output torque of the servo motor can be converted into the movement of the polishing mechanism more quickly, and the corresponding speed of the polishing mechanism is improved.

Compared with the prior art, the invention has the beneficial effects that: the automatic feeding that the system of processing passes through conveyor realization luggage rack stops at fixed position, the robot can snatch the luggage rack fast, then the cooperation back through parts such as grinding device, accomplish the burnishing and polishing of luggage rack, after the burnishing and polishing is accomplished to the luggage rack, the automatic unloading of luggage rack is realized to rethread conveyor, only need put in or take off the luggage rack at conveyor's feed end, just can accomplish the unloading of luggage rack, reduce the degree of difficulty and the robot of the unloading of luggage rack and snatch the speed of luggage rack, the work efficiency of system of processing is improved.

Drawings

Fig. 1 is a schematic diagram of an automated sanding system of the present invention.

FIG. 2 is a schematic view of the structure of the conveyor of the present invention;

FIG. 3 is a schematic structural view of the grasping mechanism of the present invention;

FIG. 4 is a schematic structural view of the positioning mechanism of the present invention;

FIG. 5 is a schematic structural view of the width adjustment mechanism of the present invention;

FIG. 6 is a schematic view of the construction of the clamp of the present invention;

FIG. 7 is a schematic structural view of the clamping assembly of the present invention;

FIG. 8 is a schematic diagram of the construction of the polishing assembly of the present invention;

FIG. 9 is a rear view of the polishing assembly of the present invention;

FIG. 10 is a schematic view of the buffing wheel assembly of the present invention;

fig. 11 is a partially enlarged view of a position a of fig. 8.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "long", "short", etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the drawings, it is only for convenience of description and simplicity of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.

The technical scheme of the invention is further described in detail by the following specific embodiments in combination with the attached drawings:

example 1

Fig. 1 to 3 show an embodiment of an automatic polishing system, which includes a protection room 1, and a robot 2, a polishing device 3, a clamp frame 5 on which a clamp 4 is placed, and a conveying device 6, which are all installed in the protection room 1; one end of the conveying device 6 is positioned outside the protection room 1, and the other end is positioned in the protection room 1; the conveying device 6 comprises a frame 601, a conveying mechanism 602, a positioning mechanism 603 and a grabbing mechanism 604, wherein the conveying mechanism 602 is arranged on the frame 601 and used for conveying the luggage racks; the conveying mechanism 602 comprises an unloading conveying assembly 6021 and a loading conveying assembly 6022 provided with a positioning fixture block 6221, wherein the conveying directions of the loading conveying assembly 6022 and the unloading conveying assembly 6021 are opposite; the positioning mechanism 603 is arranged at the discharge end of the feeding conveying assembly 6022; the positioning mechanism 603 is used for driving the luggage rack to lift and leave the feeding conveying assembly 6022; the grabbing mechanism 604 is arranged above the positioning mechanism 603, and comprises a clamping jaw 6041, a lifting device 6042 for driving the clamping jaw 6041 to lift and a driving device 6043 for driving the clamping jaw 6041 to rotate; the clamp jaws 6041 are used to clamp the roof rack on the positioning mechanism 603.

The working principle or working process of the embodiment is as follows: the feeding conveyor assembly 6022 is operated in the direction of the inside of the protection room 1, and the discharging conveyor assembly 6021 is operated in the direction of the outside of the protection room 1. A worker or other devices (such as a mechanical arm) capable of grabbing the luggage rack is arranged outside the protection room 1, the luggage rack is placed on a positioning clamping block 6221 on the feeding conveying assembly 6022, the polishing surface of the luggage rack faces upwards at the moment, the feeding conveying assembly 6022 conveys the luggage rack to one side of the discharging end, and the positioning mechanism 603 jacks up the luggage rack to enable the luggage rack to be separated from the conveying mechanism 602. The lifting device 6042 of the grabbing mechanism 604 drives the clamping jaw 6041 to descend to the luggage rack, then the lifting device 6042 resets after the luggage rack is clamped by the clamping jaw 6041, the driving device 6043 drives the clamping jaw 6041 to rotate 90 degrees, the polishing surface of the luggage rack can face one side of the clamping jaw 6041, and the inner cavity surface of the luggage rack can face the robot 2. The clamp 4 for grabbing the luggage rack is connected to the clamp frame 5, and the robot 2 grabs the luggage rack on the clamping jaw 6041 through the clamp 4. After the robot 2 grabs the luggage rack, the luggage rack is driven to move to the grinding device 3, and the luggage rack is made to move on the grinding device 3 through designing the running path of the robot 2, so that the polishing of the luggage rack is completed. After the luggage rack is polished, the robot 2 places the luggage rack on the blanking conveying assembly 6021, the blanking conveying assembly 6021 conveys the luggage rack out of the protective room 1, and finally, the luggage rack is taken down from the blanking conveying assembly 6021 to finish blanking. The feeding conveying assembly 6022 may be a conveying chain and a motor for driving the conveying chain to operate, and the positioning fixture block 6221 is disposed on the conveying chain. The blanking conveying assembly 6021 may be a blanking conveying belt and a motor driving the blanking conveying belt to operate, and the blanking conveying belt may be located above the conveying chain. The lifting device 6042 may be a pneumatic cylinder, a hydraulic cylinder, or the like. The driving device 6043 can be a rotary cylinder, a motor, a steering engine, etc.

The beneficial effects of this embodiment: the automatic feeding that system of processing passes through conveyor 6 and realizes the luggage rack stops at fixed position, robot 2 can snatch the luggage rack fast, then after the cooperation through parts such as grinding device 3, accomplish the burnishing and polishing of luggage rack, after the burnishing and polishing is accomplished to the luggage rack, the automatic unloading of luggage rack is realized to rethread conveyor 6, only need put in or take off the luggage rack at conveyor 6's feed end, just can accomplish the unloading of luggage rack, reduce the degree of difficulty of the unloading of luggage rack and the speed that robot 2 snatchs the luggage rack, system of processing's work efficiency is improved.

Example 2

An embodiment 2 of the automatic grinding system is different from the embodiment 1 in that a conveying device 6 is further defined.

In the present embodiment, the positioning mechanisms 603 are located on two sides of the feeding and conveying assembly 6022; as shown in fig. 4, the positioning mechanism 603 includes a moving plate 6031 slidably connected to the frame 601, a pushing device 6032 for driving the moving plate 6031 to move, a first positioning assembly 6033 and a second positioning assembly 6034, where the first positioning assembly 6033 and the second positioning assembly 6034 each include a positioning pin 6035, a limit block 6036 and a lifting device 6037, the positioning pin 6035 and the limit block 6036 are mounted on a connecting plate, and the lifting device 6037 drives the connecting plate to ascend; the first positioning assembly 6033 and the second positioning assembly 6034 are both mounted on the moving plate 6031; a detection assembly 6222 is arranged at one side of the feeding end of the feeding conveying assembly 6022, and the detection assembly 6222 is used for detecting the fabrication hole of the luggage rack. The luggage rack is divided into a left part and a right part, and the structures of the left part and the right part are slightly different, such as the position of a fabrication hole and the curved surface of the surface, if the left part and the right part are not distinguished, the subsequent polishing processing is influenced. And the first and

second alignment groups

6033 and 6034 are used to align the left and right pieces, respectively, which differ by the position of the alignment pins 6035. The principle of positioning is as follows: whether the luggage rack according to current processing is a left part or a right part, promote the motion of movable plate 6031 through thrust unit 6032, make and correspond locating component and be located the station, when the luggage rack is carried to the discharge end by material loading conveying component 6022, hoisting device 6037 drives the connecting plate and rises, make location bolt 6035 and spacing fixture block 6036 rise, the luggage rack falls into spacing fixture block 6036 in, location bolt 6035 inserts the fabrication hole of luggage rack, the location to the luggage rack is realized, so that snatch of mechanism 604. To avoid the system being unable to operate due to the right piece being misplaced while the left piece is being machined, the detecting element 6222 is an infrared sensor capable of sensing the process hole. If the fabrication hole that sets for the left part can be sensed by infrared sensor and gone into, then when infrared sensor can't detect the fabrication hole, prove this luggage rack is right part to this reminds staff to put the left and right parts of luggage rack in mistake.

As shown in fig. 2 and 5, the conveying device 6 further includes a width adjusting mechanism 605, and the width adjusting mechanism 605 is located at two sides of the frame 601 and includes a sliding table module 6051 and a baffle 6052 mounted on the frame 601; the slide table module 6051 includes a slide bar 6511 and a pushing mechanism 6512 for pushing the slide bar 6511 to move linearly, and the baffle 6052 is mounted on the slide bar 6511. In order to avoid that the detection assembly 6222 cannot normally realize the detection function due to too large position deviation when the worker places the baggage rack on the conveying mechanism 602, the sliding bar 6511 is moved to a position close to the center by the pushing mechanism 6512, and the width of the two side baffles 6052 is in a proper range, which can ensure that the detection assembly 6222 can normally detect the baggage rack after the baggage rack is randomly placed, and cannot cause that the baggage rack is difficult to place due to too small range. The width adjustment mechanism 605 is adjusted according to the different sizes of the baggage racks, so that the device can be used for conveying baggage racks of different models. The pushing mechanism 6512 is in this embodiment in a manual form, which may be a manual push rod or a combination of a lead screw and a hand wheel.

Specifically, the slide bar 6511 of the width adjustment mechanism 605 on one side is provided with an adjustment cylinder 6053 for pushing the baffle 6052 to move on the slide bar 6511. In order to facilitate the loading of workers, the distance between the baffle plates 6052 on the two sides is greater than the length of the luggage rack, so the luggage rack may have the problem of being inclined leftwards or inclined rightwards, the positioning mechanism 603 is difficult to complete positioning due to the problem, the positioning bolt 6035 may not be aligned to the fabrication hole of the luggage rack, the baffle plates 6052 are moved secondarily through the adjusting cylinder 6053, the baffle plates 6052 push the luggage rack to be attached to the baffle plates 6052 on the other side, the standardization of the position of the luggage rack is realized, and the positioning bolt 6035 is ensured to be inserted into the fabrication hole.

Other features, operation principles, and advantageous effects of the present embodiment are consistent with embodiment 1.

Example 3

An embodiment 3 of an automatic grinding system, which is different from the embodiment 1 or the embodiment 2, is further defined with respect to a jig 4 on a jig holder 5.

As shown in fig. 6 to 7, the jig 4 includes a mounting block 401 and a clamp assembly 402 fixed to both sides of the mounting block 401; a quick connector assembly 4011 for connecting with the robot 2 is arranged on the mounting frame 401; clamping assemblies 402 each include a fixing plate 4021, a first clamping finger 4022, a second clamping finger 4023, a first clamping finger driving device 4024 for driving the first clamping finger 4022 to move, and a second clamping finger driving device 4025 for driving the second clamping finger 4023 to move, which are mounted on the fixing plate 4021 (4025 is not shown in the figures, please add); the first clamping finger 4022 and the second clamping finger 4023 are slidably connected to the fixing plate 4021, the first clamping finger driving device 4024 and the second clamping finger driving device 4025 respectively drive the first clamping finger 4022 and the second clamping finger 4023 to move in opposite directions, and the directions away from each other mean that the first clamping finger 4022 moves leftwards and the second clamping finger 4023 moves rightwards. The gripper 4 is placed on a gripper frame 5, and when the robot 2 needs to mount the gripper 4, the gripper 4 can be connected to the robot 2 through a quick connector assembly 4011, the quick connector assembly 4011 being prior art and not described in detail herein. The luggage rack is provided with a cavity, when the luggage rack is clamped through the clamp 4, the first clamping finger 4022 and the second clamping finger 4023 extend into the cavity of the luggage rack, the first clamping finger driving device 4024 drives the first clamping finger 4022 to move towards the inner wall of the luggage rack, the second clamping finger driving device 4025 drives the second clamping finger 4023 to move towards the inner wall of the other side of the luggage rack, so that the first clamping finger 4022 and the second clamping finger 4023 respectively press the inner walls of two sides of the luggage rack, and the luggage rack is clamped, the first clamping finger 4022 and the second clamping finger 4023 are in a profile design and can be attached to the inner wall of the luggage rack, the first clamping finger 4022 and the second clamping finger 4023 are only attached to the inner wall of the luggage rack and cannot contact with the outer surface of the luggage rack (the outer surface is a polished surface), and polishing of the outer surface of the luggage rack are not influenced. The mounting frame 401 can also be provided with a positioning rod for positioning, when the clamp 4 moves towards the luggage rack, the positioning rod firstly contacts the inner bottom surface of the luggage rack, and in this state, the clamping assembly 402 starts to clamp the luggage rack, so that the robot 2 is prevented from moving excessively.

Specifically, a slide rail 4026(4026 is not shown in the drawings, please add), and the first clamping finger 4022 and the second clamping finger 4023 are slidably connected to the slide rail 4026 through a first slider 4221 and a second slider 4231, respectively; the first clamping finger driving device 4024 and the second clamping finger driving device 4025 are both air cylinders, a cylinder rod of the first clamping finger driving device 4024 is connected with the first slider 4221, and a cylinder rod of the second clamping finger driving device 4025 is connected with the second slider 4231. The first clamping finger driving device 4024 drives the first slider 4221 to carry the first clamping finger 4022 along the slide rail 4026, the second clamping finger driving device 4025 drives the second slider 4231 to carry the second clamping finger 4023 along the slide rail 4026, and the first clamping finger 4022 and the second clamping finger 4023 can move rapidly.

Other features, operation principles, and advantageous effects of the present embodiment are consistent with embodiment 1 or embodiment 2.

Example 4

An embodiment 3 of an automatic grinding system, which differs from the above-described embodiments in that the grinding means 3 are further defined as shown in fig. 8-11.

The polishing device 3 comprises two groups of polishing components 301, and each polishing component 301 comprises a cabinet 3011, two polishing mechanisms 3012 connected with the cabinet 3011 in a sliding manner, and servo motors 3013 for respectively driving the polishing mechanisms 3012 to move; the polishing mechanism 3012 comprises a mounting plate 3121 connected with the cabinet 3011 in a sliding manner, a polishing wheel set, and a driving motor 3122 for driving the polishing wheel set to rotate; the polishing wheel set and the driving motor 3122 are both mounted on the mounting plate 3121; the driving motor 3122 is electrically connected to a controller for detecting current, and the servo motor 3013 is electrically connected to the controller. Polishing luggage rack divides into multistage from rough to finish grinding in proper order, grinding device 3 can set up the quantity of polishing subassembly 301 as required, and every polishing subassembly 301 also can set up a plurality of polishing mechanism 3012 and servo motor 3013, make polishing subassembly 301 can realize that at least one rank is polished, this embodiment carries out four grades to luggage rack and polishes, luggage rack polishing experiences rough grinding, half finish grinding and finish grinding, every polishing subassembly 301 of this embodiment is provided with two polishing mechanism 3012 and rather than the servo motor 3013 that corresponds, every polishing mechanism 3012 all corresponds different precision of polishing. When the luggage rack is polished, each polishing wheel set is provided with a certain feeding amount according to the polishing precision, the feeding amount exceeds a threshold value in the process of polishing the luggage rack, the load of the driving motor 3122 is increased, the current of the driving motor 3122 is increased, the controller controls the servo motor 3013 to rotate according to the received current information, and the polishing mechanism 3012 is driven to move towards the direction far away from the luggage rack. When the feeding amount is lower than the threshold, the load of the driving motor 3122 is reduced, which results in a reduction in the current of the driving motor 3122, and the controller controls the servo motor 3013 to rotate according to the received current information, and drives the polishing mechanism 3012 to move in a direction close to the baggage rack. The feeding amount is fed back by the current of the driving motor 3122, and then the polishing mechanism 3012 is controlled by the servo motor 3013, so that the polishing mechanism 3012 can finish the polishing of the luggage rack according to the set feeding amount, and the polishing precision of the luggage rack is better controlled.

The polishing wheel set comprises a driving wheel 3123, a driven wheel 3124 and a sanding belt 3125 connecting the driving wheel 3123 and the driven wheel 3124, wherein the driving wheel 3123 is installed on the installation plate 3121, and the driving motor 3122 drives the driving wheel 3123 to rotate. The driving motor 3122 drives the driving wheel 3123 to operate in a belt transmission mode, and the driven wheel 3124 can tension the abrasive belt 3125, so that the abrasive belt 3125 can perform grinding and polishing processing on the luggage rack. Because the grinding tool is a consumable and needs to be frequently replaced, in the scheme, the grinding tool can be continuously operated only by detaching the old abrasive belt and replacing the old abrasive belt with a new abrasive belt, and the grinding tool is more convenient to replace compared with grinding tools in the form of an abrasive wheel and the like.

Further, the polishing wheel set further comprises a tension adjusting mechanism 3126 mounted on the mounting plate 3121; the tension adjusting mechanism 3126 comprises a fixed frame 31261, a driving air cylinder 31262 mounted on the fixed frame 31261, and a roller frame 31263 connected with the air cylinder rod of the driving air cylinder 31262; driven wheel 3124 is mounted to roller frame 31263. When abrasive belt 3125 needs to be replaced, driving cylinder 31262 moves to drive roller frame 31263 to move toward drive wheel 3123, reducing the distance between driven wheel 3124 and drive wheel 3123, loosening abrasive belt 3125, and removing abrasive belt 3125. After new abrasive belt 3125 is installed on drive wheel 3123 and driven wheel 3124, drive cylinder 31262 drives roller frame 31263 and resets, makes abrasive belt 3125 tensioning again from driven wheel 3124, realizes abrasive belt 3125's quick replacement, and change abrasive belt 3125 does not need readjust the rate of tension in addition every time, and it is more convenient to change the maintenance.

In this embodiment, the driving wheel 3123, the driven wheel 3124, the driving motor 3122, and the tension adjusting mechanism 3126 are installed on a frame body, and then the frame body is installed on the installation plate 3121, so that the two are fixed as a whole.

In addition, a rack 3127 is provided on the mounting plate 3121, and a pinion 3131 that meshes with the rack 3127 is mounted on an output shaft of the servo motor 3013. The servo motor 3013 drives the gear 3131 to rotate, so that the rack 3127 drives the mounting plate 3121 to move back and forth, the servo motor 3013 controls the moving direction and amplitude of the polishing mechanism 3012 according to the change of the current of the driving motor 3122, and the movement of the rack 3127 is a linear movement, which can convert the output torque of the servo motor 3013 into the movement of the polishing mechanism 3012 more quickly, and improve the corresponding speed of the polishing mechanism 3012.

Other features, principles of operation, and advantages of the present implementations are consistent with any of the embodiments described above.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An automatic polishing system comprises a protective room (1), a robot (2), a polishing device (3) and a clamp frame (5) with a clamp (4) arranged therein, wherein the robot, the polishing device and the clamp frame are all arranged in the protective room (1), the automatic polishing system is characterized by further comprising a conveying device (6), one end of the conveying device (6) is positioned outside the protective room (1), and the other end of the conveying device is positioned in the protective room (1); the conveying device (6) comprises a rack (601), a conveying mechanism (602) which is arranged on the rack (601) and used for conveying the luggage rack, a positioning mechanism (603) used for fixing the position of the luggage rack and a grabbing mechanism (604) used for grabbing the luggage rack; the conveying mechanism (602) comprises a blanking conveying assembly (6021) and a loading conveying assembly (6022) provided with a positioning clamping block (6221), and the conveying directions of the loading conveying assembly (6022) and the blanking conveying assembly (6021) are opposite; the positioning mechanism (603) is arranged at the discharge end of the feeding conveying assembly (6022); the positioning mechanism (603) is used for driving the luggage rack to lift and leave the feeding conveying assembly (6022); the grabbing mechanism (604) is arranged above the positioning mechanism (603) and comprises a clamping jaw (6041), a lifting device (6042) for driving the clamping jaw (6041) to lift and a driving device (6043) for driving the clamping jaw (6041) to rotate; the clamping jaw (6041) is used for clamping the luggage rack on the positioning mechanism (603).

2. The automatic grinding system according to claim 1, wherein the positioning mechanism (603) comprises a moving plate (6031) slidably connected to the frame (601), a pushing device (6032) for driving the moving plate (6031) to move, a first positioning assembly (6033) and a second positioning assembly (6034), each of the first positioning assembly (6033) and the second positioning assembly (6034) comprises a positioning bolt (6035), a limit block (6036) and a lifting device (6037), and the lifting device (6037) drives the positioning bolt (6035) and the limit block (6036) to ascend; the first positioning assembly (6033) and the second positioning assembly (6034) are both mounted on the moving plate (6031); a detection assembly (6222) is arranged on one side of the feeding end of the feeding conveying assembly (6022), and the detection assembly (6222) is used for detecting the fabrication hole of the luggage rack.

3. The automatic grinding system according to claim 2, characterized in that the conveying device (6) further comprises a width adjusting mechanism (605), the width adjusting mechanism (605) is positioned at two sides of the frame (601), and comprises a sliding table module (6051) and a baffle (6052) which are arranged on the frame (601); slip table module (6051) include slip strip (6511) and promote slip strip (6511) and make rectilinear motion's pushing mechanism (6512), baffle (6052) install in on slip strip (6511).

4. An automatic grinding system according to claim 3, characterized in that the slide bar (6511) of the width adjustment mechanism (605) on one side is provided with an adjusting cylinder (6053) for pushing the baffle (6052) to move on the slide bar (6511).

5. An automatic sharpening system according to claim 1, characterized in that said clamp (4) comprises a mounting frame (401) and clamping assemblies (402) fixed to both sides of said mounting frame (401); a quick joint assembly (4011) used for being connected with the robot (2) is arranged on the mounting frame (401); the clamping assemblies (402) respectively comprise a fixing plate (4021), a first clamping finger (4022) and a second clamping finger (4023) which are arranged on the fixing plate (4021), a first clamping finger driving device (4024) for driving the first clamping finger (4022) to move and a second clamping finger driving device (4025) for driving the second clamping finger (4023) to move; the first clamping finger (4022) and the second clamping finger (4023) are connected with the fixing plate (4021) in a sliding mode, and the first clamping finger driving device (4024) and the second clamping finger driving device (4025) drive the first clamping finger (4022) and the second clamping finger (4023) to move in opposite directions respectively.

6. The automatic grinding system according to claim 5, wherein a sliding rail (4026) is arranged on the fixing plate (4021), and the first clamping finger (4022) and the second clamping finger (4023) are slidably connected with the sliding rail (4026) through a first sliding block (4221) and a second sliding block (4231), respectively; the first clamping finger driving device (4024) and the second clamping finger driving device (4025) are both cylinders, a cylinder rod of the first clamping finger driving device (4024) is connected with the first sliding block (4221), and a cylinder rod of the second clamping finger driving device (4025) is connected with the second sliding block (4231).

7. An automatic grinding system according to claim 1, characterized in that the grinding device (3) comprises a plurality of groups of polishing assemblies (301), the polishing assemblies (301) comprise a cabinet (3011), a plurality of polishing mechanisms (3012) slidably connected with the cabinet (3011), and servo motors (3013) for respectively driving the polishing mechanisms (3012) to move; the polishing mechanism (3012) comprises a mounting plate (3121) connected with the cabinet (3011) in a sliding manner, a polishing wheel set and a driving motor (3122) for driving the polishing wheel set to rotate; the polishing wheel set and the driving motor (3122) are both mounted on the mounting plate (3121); the driving motor (3122) is electrically connected with a controller for detecting current, and the servo motor (3013) is electrically connected with the controller.

8. An automatic sanding system according to claim 7, characterized in that the polishing wheel set comprises a driving wheel (3123) mounted on the mounting plate (3121), a driven wheel (3124) and a sanding belt (3125) connecting the driving wheel (3123) and the driven wheel (3124), the driving motor (3122) driving the driving wheel (3123) in rotation.

9. An automated grinding system according to claim 8, wherein the buffing wheel assembly further comprises a tension adjustment mechanism (3126) mounted on the mounting plate (3121); the tension adjusting mechanism (3126) comprises a fixed frame (31261), a driving air cylinder (31262) mounted on the fixed frame (31261), and a roller frame (31263) connected with an air cylinder rod of the driving air cylinder (31262); the driven wheel (3124) is mounted on the roller frame (31263).

10. An automatic sharpening system according to claim 7, characterized in that the mounting plate (3121) is provided with a rack (3127), and the output shaft of the servo motor (3013) is provided with a gear (3131) engaging with the rack (3127).