CN115890454A - Driven polishing device and method - Google Patents

Abstract

The invention provides a driven polishing device and a method, wherein the driven polishing device comprises an adapter plate fixed on a manipulator, a material taking and placing module and a limiting module, wherein the material taking and placing module and the limiting module are arranged on the adapter plate; the material taking and placing module comprises a lifting cylinder, an ejector rod arranged at the end part of the lifting cylinder, and a mouth supporting tool and a rotating tool which are positioned above the ejector rod; the lifting cylinder is used for driving the ejector rod to move up and down so as to control the inward contraction or outward expansion of the nozzle supporting tool through the ejector rod; the limiting module comprises a limiting cylinder and a limiting tool arranged at the end part of the limiting cylinder, and the limiting cylinder is used for driving the limiting tool to limit the rotating tool; the workpiece to be polished is limited outside the mouth supporting tool, the mechanical arm drives the workpiece to be polished to move to the polishing equipment, and the workpiece to be polished is driven by the polishing equipment to rotate and polish in the rotating tool. The invention can improve the unstable phenomenon of the removal amount in the polishing process.

Description

Driven polishing device and method

technical field

The present invention relates to the technical field of polishing, and more specifically, to a driven polishing device and method.

Background technique

With the continuous development of intelligent electronic products, more and more intelligent products have entered people's lives, such as smart wearables, communications, and smart homes. With the popularity of such products, people's attention to products The appearance style requirements are also getting higher and higher, such as the high-gloss C-angle around the frame screen in smart watches, etc. Such features must be polished to achieve a high-gloss effect.

However, the current mainstream polishing solution is manual polishing. Because the angle of the polishing part is relatively special, the requirements for the polishing personnel are also high. Sometimes there will be some products that are not polished in place or over-polished (excessive removal). If it is repaired, it will be scrapped. It can be seen that the existing polishing method is not only time-consuming and laborious, but also has the risk of scrapping, which limits the production capacity and greatly affects the processing efficiency of the product.

Contents of the invention

In view of the above problems, the purpose of the present invention is to provide a driven polishing device and method to solve the problems of the existing polishing methods that the polishing amount is difficult to control, resulting in low product qualification rate and poor consistency of polishing quality.

The driven polishing device provided by the present invention includes an adapter plate fixed on the manipulator, a pick-and-place module and a limit module arranged on the adapter plate; wherein, the pick-and-place module includes a lifting cylinder, which is arranged on the The ejector rod at the end of the lifting cylinder, as well as the supporting nozzle tooling and rotating tooling located above the ejector rod; the lifting cylinder is used to drive the ejector rod to move up and down, so as to control the retraction or outward expansion of the supporting nozzle tooling through the ejector rod; the limit module includes The limit cylinder and the limit tooling set at the end of the limit cylinder, the limit cylinder is used to drive the limit tool to limit the rotation of the tool; the workpiece to be polished is limited on the outside of the support nozzle tool, and the manipulator drives the workpiece to be polished to move To the polishing equipment, the polishing equipment drives the workpiece to be polished to perform driven rotary polishing in the rotary tooling.

In addition, an optional technical solution is that a cylinder pull stud is arranged at the end of the lifting cylinder, and the lower end of the ejector rod is floatingly connected with the cylinder pull stud; and a support block is also arranged between the cylinder pull stud and the lower end of the ejector rod , the lower end of the ejector rod is in point contact with the support block.

In addition, an optional technical solution is to also include an annular limiting plate; wherein, a horizontally extending limiting portion is provided at the lower end of the push rod, and the annular limiting plate is sleeved on the upper side of the limiting portion; the annular limiting plate It is fixedly connected with the cylinder pull stud by bolts.

In addition, an optional technical solution is that the rotary tooling includes a bearing fixing plate, a bearing sleeve connected to the bearing fixing plate, and a thrust bearing arranged in the bearing sleeve; wherein, the supporting nozzle tooling is fixed to the thrust bearing through the bearing fixing plate Connection, the tooling of the mouth support can be rotated under the action of the thrust bearing.

In addition, an optional technical solution is that a limit hole matching the limit tool is provided on the bearing fixing plate.

In addition, an optional technical solution is that the limit tooling includes an adapter plate fixed at the end of the limit cylinder, a stepped pin limited in the adapter plate, and a spring sleeved outside the stepped pin; the size of the stepped pin is smaller than The size of the limit hole, the step pin is used to insert into the limit hole under the action of the limit cylinder and the spring, so as to limit the bearing fixing plate.

In addition, an optional technical solution is to include a radial bearing arranged in the middle of the ejector rod; wherein, the inner ring of the radial bearing fits with the ejector rod to limit the rotation of the ejector rod.

In addition, an optional technical solution is to include four heightened columns fixed on the adapter plate and a cylinder fixing plate fixed on the heightening columns; wherein, the bearing sleeve and the lifting cylinder are respectively fixed on the upper and lower sides of the cylinder fixing plate. sides.

In addition, an optional technical solution is that the lifting cylinder adopts a thin cylinder, and the limit cylinder adopts a biaxial cylinder.

On the other hand, the present invention also provides a driven polishing method, using any one of the above-mentioned driven polishing devices to perform polishing operations on the workpiece to be polished; the method includes: the lift cylinder and the jack in the loading and unloading module in the initial state The rod is retracted, and the tooling of the supporting nozzle is in the state of retracting; the manipulator drives the driven polishing device to move to the discharge area. After the polished workpiece is set on the outside of the tooling of the supporting nozzle, the upgraded cylinder drives the ejector rod to eject, and the tooling of the supporting nozzle expands outward. And the workpiece to be polished is stretched to limit; the manipulator drives the driven polishing device to move to the polishing equipment, and tilts the preset angle, the polishing equipment rotates and drives the workpiece to be polished and the supporting tooling to be driven to rotate and polish; after the polishing is completed, The limit cylinder in the limit module drives the limit tool to move upward, and stops the support tool through the limit tool; the lifting cylinder and the ejector rod are retracted, and the support tool is retracted to remove the polished workpiece. Finish the polishing job.

Using the above-mentioned driven polishing device and method, the device is fixed on the manipulator, the polishing angle can be adjusted by the manipulator, and the polishing system is powered by the high-speed rotating polishing wheel. The elastic contact between the product and the polishing wheel generates sliding friction, so that the product follows the polishing process. The wheel rotates, and there will be a speed difference between the two during the rotation. The speed difference will cause the product to slip on the surface of the polishing wheel, and the dynamic removal during the polishing process is realized. In this process, it is only necessary to ensure that the manipulator Applying a stable pressure to the polishing wheel can improve the phenomenon of unstable removal during the polishing process. The structure is simple, the polishing angle is flexible and adjustable, and it can ensure the consistency and qualified rate of product polishing.

To the accomplishment of the above and related ends, one or more aspects of the invention include the features hereinafter described in detail. The following description and accompanying drawings detail certain exemplary aspects of the invention. These aspects are indicative, however, of but a few of the various ways in which the principles of the invention may be employed. Furthermore, the invention is intended to include all such aspects and their equivalents.

Description of drawings

Other objects and results of the present invention will become clearer and easier to understand by referring to the following description in conjunction with the accompanying drawings, and with a more comprehensive understanding of the present invention. In the attached picture:

1 is a perspective view of a driven polishing device according to an embodiment of the present invention;

2 is a cross-sectional view of a driven polishing device according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a partial structure of a driven polishing device according to an embodiment of the present invention;

FIG. 4 is a second schematic diagram of a partial structure of a driven polishing device according to an embodiment of the present invention;

FIG. 5 is a flowchart of a driven polishing method according to an embodiment of the present invention.

The reference signs include: adapter plate 1, heightening column 2, lifting cylinder 3, cylinder fixing plate 4, limit cylinder 5, limit tooling 6, bearing sleeve 7, nozzle support tooling 8, workpiece to be polished 9, Cylinder pull stud 10, support block 11, annular limit plate 12, ejector rod 13, radial bearing 14, thrust bearing 15, bearing fixing plate 16.

The same reference numerals indicate similar or corresponding features or functions throughout the drawings.

Detailed ways

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that these embodiments may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or element Must be in a particular orientation, be constructed in a particular orientation, and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In order to solve the problems that the amount of polishing existing in the existing manual or mechanical polishing methods is difficult to control, resulting in low product qualification rate and poor consistency of polishing quality, the invention provides a driven polishing device, which includes an adapter plate fixed on the manipulator, a device The pick-and-place material module and the limit module on the adapter plate; wherein, the pick-and-place material module includes a lift cylinder, a push rod arranged at the end of the lift cylinder, and a supporting nozzle tool and a rotary tool located above the lift rod , the lifting cylinder is used to drive the ejector rod to move up and down, so as to control the retraction or expansion of the tooling of the support nozzle through the ejector rod. The limit module includes a limit cylinder and a limit tool set at the end of the limit cylinder. The limit tool is driven to limit the position of the rotary tool, and the workpiece to be polished is limited to the outside of the support tool. The manipulator drives the workpiece to be polished to the polishing equipment, and the polishing equipment drives the workpiece to be polished to rotate in the rotary tool. For polishing, it is only necessary to ensure that the manipulator exerts a stable pressure on the polishing wheel to improve the unstable removal amount during the polishing process. The structure is simple, the polishing angle is flexible and adjustable, and it can ensure the consistency and pass rate of product polishing.

In order to describe the driven polishing device and method in the present invention in detail, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Fig. 1 and Fig. 2 respectively show the three-dimensional schematic structure and the cross-sectional schematic structure of the driven polishing device according to the embodiment of the present invention; Fig. 3 and Fig. 4 respectively show the partial schematic structure of the driven polishing device according to the embodiment of the present invention .

As shown in Figures 1 to 4, the driven polishing device of the embodiment of the present invention includes an adapter plate 1 fixed on the manipulator, a pick-and-place module and a limit module arranged on the adapter plate 1; Wherein, the loading and unloading module further includes a lift cylinder 3, a push rod 13 arranged at the end of the lift cylinder 3, and a mouth support tool 8 and a rotating tool located above the push rod 13; the lift cylinder 3 is used to drive the push rod 13 up and down Move to control the adduction or outward expansion of the support tooling 8 through the push rod 13. When it is adducted, the workpiece 9 to be polished or the workpiece that has been polished can be smoothly removed. Otherwise, when it expands outward, the workpiece to be polished can be removed. The workpiece 9 is tightened to limit; the limit module includes a limit cylinder 5 and a limit tool 6 arranged at the end of the limit cylinder 5, and the limit cylinder 5 is used to drive the limit tool 6 to limit the rotary tool. When the limit is released, the supporting nozzle tooling 8 can rotate; the workpiece 9 to be polished is limited outside the supporting nozzle tooling 8, and the manipulator drives the workpiece 9 to be polished to move to the polishing equipment, and the polishing equipment drives the workpiece 9 to be polished on the rotating tooling The driven rotary polishing is carried out inside, and the specific polishing angle can be flexibly adjusted according to the manipulator.

Specifically, a cylinder pull stud 10 is provided at the end of the lifting cylinder 3, and the lower end of the push rod 13 is floatingly connected with the cylinder pull stud 10; 11. The end of the ejector rod 13 can be set as a dome-shaped structure, so that the lower end of the ejector rod 13 is in point contact with the support block 11, and the friction between the ejector rod 13 and the support block 11 can be reduced during the rotation of the ejector rod 13 , The support block 11 can be made of a material with high wear resistance and low friction coefficient to reduce its frictional resistance to the ejector rod 13 .

In addition, in order to realize the connection between the push rod 13 and the cylinder pull stud 10, an annular limit plate 12 can also be provided, wherein a limit portion extending horizontally outward is provided at the lower end of the push rod 13, and the annular limit plate 12 It is sleeved on the upper side of the limiting part, and the inner diameter of the annular limiting plate 12 is smaller than the size of the limiting part. The annular limiting plate 12 and the cylinder pull stud 10 are fixedly connected by bolts, and then the ejector rod is realized through the annular limiting plate 12. 13 and the floating connection between the cylinder, rather than directly locking and fixing.

In a specific embodiment of the present invention, the rotary tooling includes a bearing fixing plate 16, a bearing sleeve 7 connected to the bearing fixing plate 16, and a thrust bearing 15 arranged in the bearing sleeve 7; The bearing fixing plate 16 is fixedly connected with the thrust bearing 15, and the mouth support tooling 8 can rotate under the action of the thrust bearing 15; in addition, the lower end of the mouth support tooling 8 can be limited in the inner ring of the thrust bearing 15, and then the thrust bearing 15 The position is limited in the bearing fixing plate 16 and the bearing sleeve 7, when the mouth support tooling 8 is subjected to external force, it can rotate under the action of the thrust bearing 15.

Further, in order to be able to lock the rotation of the mouthpiece tooling 8 through the limiting tooling 6 to facilitate the pick-and-place of the workpiece, a limiting hole matching the limiting tooling 6 can be provided on the bearing fixing plate 16; wherein, The limit tooling 6 includes an adapter plate 1 fixed at the end of the limit cylinder 5, a stepped pin limited in the adapter plate 1 and a spring sleeved outside the stepped pin, wherein the length of the adapter plate 1 extends to the bearing Inside the sleeve 7, and the size of the step pin is smaller than the size of the limit hole, when the limit cylinder 5 drives the limit tool 6 to move upward, the step pin is used to insert into the limit hole under the action of the limit cylinder 5 and the spring , to limit the bearing fixing plate 16, when contacting the limit, the limit cylinder 5 can drive the limit tooling 6 to move downward, and then contact the limit function.

In addition, in order to ensure the position accuracy during the rotation of the push rod 13, a radial bearing 14 can also be arranged on the inner side wall of the bearing sleeve 7, the radial bearing 14 is located in the middle of the push rod 13, and the inner ring of the radial bearing 14 Fitted with the push rod 13, it is used to limit the rotation of the push rod 13.

In another specific embodiment of the present invention, the driven polishing device also includes four heightening columns 2 fixed on the adapter plate 1 and a cylinder fixing plate 4 fixed on the heightening columns 2, wherein the heightening columns 2 can Increase the height of the cylinder fixing plate 4 to prevent interference with the polishing equipment during the swinging process of the manipulator. The cylinder fixing plate 4 and the adapter plate 1 are arranged in parallel, and the bearing sleeve 7 and the lifting cylinder 3 are respectively fixed on the upper and lower sides of the cylinder fixing plate 4 sides.

In addition, the lifting cylinder 3 can be a thin cylinder, and the limit cylinder 5 can be a biaxial cylinder, and the specific cylinder type can be set and adjusted according to application scenarios and requirements.

Corresponding to the above driven polishing device, the present invention also provides a driven polishing method. Specifically, FIG. 5 shows a flow chart of the driven polishing method according to an embodiment of the present invention.

As shown in Figure 5, the driven polishing method of the embodiment of the present invention mainly includes:

S100: In the initial state, the lifting cylinder and the ejector rod in the loading and unloading module are in the retracted state, and the support tooling is in the retracted state;

S200: The manipulator drives the driven polishing device to move to the discharge area. After the workpiece to be polished is set on the outside of the support nozzle tooling, the upgraded cylinder drives the ejector rod to eject, the support nozzle tooling expands outward and the workpiece to be polished is stretched to limit;

S300: The manipulator drives the driven polishing device to move to the polishing equipment, and tilts at a preset angle, the polishing equipment rotates and drives the workpiece to be polished and the supporting tooling to be driven to rotate and polish;

S400: After the polishing is finished, the limit cylinder in the limit module drives the limit tool to move upward, and stops the nozzle support tool through the limit tool;

S500: The lifting cylinder and ejector rod are retracted, and the tooling of the support nozzle is retracted to remove the polished workpiece to complete the polishing operation.

As a specific example, the driven polishing method of the present invention mainly includes:

1. Initial state: the limit cylinder is in the ejected state, and the step pin in the limit module is pushed into the limit hole of the bearing fixing plate. At this time, the lifting cylinder, cylinder pull nail and ejector rod are all retracted. state, the mouth support tooling is not stressed and is in a contracted state;

2. Material retrieving process: the manipulator drives the driven polishing device to run to the material discharging area. When the support tooling contacts the product, the control system sends an action signal to the lifting cylinder, and the lifting cylinder drives the cylinder pull nail to push out the ejector rod. When stretching out, the tension generated by expanding the tooling of the support mouth will hold the product tightly;

3. Driven polishing: the limit cylinder drives the limit tool to retract, the step pin is out of contact with the bearing fixed plate, and the rotating tool releases the limit; after the nozzle support tool tightens the product, the manipulator drives the driven polishing device to the polishing position, Swing to a certain angle to contact the area to be polished with the polishing wheel, and apply a certain pressure; in the process, rely on the generated friction to drive the product to rotate. At this time, the product, the tooling of the nozzle, the inner ring of the thrust bearing 15, and the bearing are fixed. Parts of the structure, such as the plate and the ejector rod, are driven to rotate under the drive of the polishing wheel.

4. Stop polishing: After the polishing of the product, the manipulator drives the driven polishing device out of contact with the polishing wheel. Under the action of inertia, the product will still keep rotating. When the bit module is ejected, because there is a spring at the bottom of the step pin, the step pin and the bearing fixing plate will maintain an elastic contact state at this time. When the bearing fixing plate continues to rotate at a certain angle (less than 360 degrees) to a specific position, the step pin will be under the action of the spring. The bottom is ejected to the limit hole of the bearing fixing plate, and the rotating tooling stops rotating at a specific position at this time, wherein the stop at a specific position can facilitate the next step of picking and unloading operations;

5. Unloading process: The manipulator drives the driven polishing device to run to the unloading area. When the product is transferred to a certain distance above the unloading tray, the control system sends an action signal to the lifting cylinder, and the lifting cylinder drives the cylinder pull nail to withdraw the ejector rod. When the ejector rod retracts, it loses contact with the tooling of the nozzle, the tooling of the nozzle shrinks, and the product falls to the discharge area; thus a polishing cycle ends.

It should be noted that, for the embodiments of the driven polishing method, reference may be made to the description in the above embodiments of the driven polishing device, and details will not be repeated here.

According to the above-mentioned driven polishing device and method of the present invention, the workpiece to be polished is limited to the outside of the support tooling, the manipulator drives the workpiece to be polished to move to the polishing equipment, and the polishing equipment drives the workpiece to be polished to perform driven rotation in the rotary tooling For polishing, just ensure that the manipulator exerts a stable pressure on the polishing wheel, which can improve the phenomenon of unstable removal during the polishing process. The structure is simple, the polishing angle is flexible and adjustable, and it is suitable for polishing operations at special angles. The product is good High rate and strong consistency.

The driven polishing apparatus and method according to the present invention are described above by way of example with reference to the accompanying drawings. However, those skilled in the art should understand that various improvements can be made to the driven polishing device and method proposed in the present invention without departing from the content of the present invention. Therefore, the protection scope of the present invention should be determined by the contents of the appended claims.

Claims (10)

1. A driven polishing device, characterized in that it comprises: an adapter plate fixed on the manipulator, a pick-and-place module and a limit module arranged on the adapter plate; wherein, The loading and unloading module includes a lifting cylinder, a push rod arranged at the end of the lifting cylinder, and a nozzle support tool and a rotating tool located above the lift rod; The lifting cylinder is used to drive the ejector rod to move up and down, so as to control the retraction or outward expansion of the support tooling through the ejector rod; The limit module includes a limit cylinder and a limit tool arranged at the end of the limit cylinder, and the limit cylinder is used to drive the limit tool to limit the rotation tool; The workpiece to be polished is limited to the outside of the supporting nozzle tooling, the manipulator drives the workpiece to be polished to the polishing equipment, and the polishing equipment drives the workpiece to be polished to perform driven rotation in the rotary tooling polishing. 2. The driven polishing device according to claim 1, wherein: A cylinder pull stud is provided at the end of the lifting cylinder, and the lower end of the push rod is floatingly connected with the cylinder pull stud; and, A support block is also provided between the cylinder pull stud and the lower end of the push rod, and the lower end of the push rod is in point contact with the support block. 3. The driven polishing device according to claim 2, further comprising an annular limiting plate; wherein, a horizontally extending limiting portion is provided at the lower end of the push rod, and the annular limiting plate covers set on the upper side of the limiting part; The annular limiting plate is fixedly connected to the cylinder pull stud through bolts. 4. The driven polishing device according to claim 1, wherein: The rotary tooling includes a bearing fixing plate, a bearing sleeve connected to the bearing fixing plate, and a thrust bearing arranged in the bearing sleeve; wherein, The nozzle support tool is fixedly connected to the thrust bearing through the bearing fixing plate, and the nozzle support tool can rotate under the action of the thrust bearing. 5. The driven polishing device according to claim 4, wherein: A limit hole matching the limit tool is arranged on the bearing fixing plate. 6. The driven polishing device according to claim 5, wherein: The position-limiting tool includes an adapter plate fixed at the end of the position-limiting cylinder, a stepped pin limited in the adapter plate, and a spring sleeved outside the stepped pin; The size of the step pin is smaller than the size of the limit hole, and the step pin is used to insert into the limit hole under the action of the limit cylinder and the spring, so as to fix the bearing fixing plate. limit. 7. The driven polishing device according to claim 1, further comprising a radial bearing arranged in the middle of the ejector rod; wherein, The inner ring of the radial bearing fits on the push rod, and is used to limit the rotation of the push rod. 8. The driven polishing device according to claim 4, further comprising four heightening columns fixed on the adapter plate and a cylinder fixing plate fixed on the heightening columns; wherein, The bearing sleeve and the lifting cylinder are respectively fixed on the upper and lower sides of the cylinder fixing plate. 9. The driven polishing device of claim 1, wherein: The lifting cylinder adopts a thin cylinder, and the limiting cylinder adopts a biaxial cylinder. 10. A driven polishing method, characterized in that the workpiece to be polished is polished using the driven polishing device according to any one of claims 1 to 9; wherein the method comprises: In the initial state, the lifting cylinder and the ejector rod in the loading and unloading module are in the retracted state, and the support tooling is in the retracted state; The manipulator drives the driven polishing device to move to the discharge area. After the workpiece to be polished is set on the outside of the support tooling, the upgrade cylinder drives the ejector rod out, and the support tooling expands outwards and The workpiece to be polished is stretched and limited; The manipulator drives the driven polishing device to move to the polishing equipment, and tilts at a preset angle, and the polishing equipment rotates and drives the workpiece to be polished and the tooling tool to be driven to rotate and polish; After the polishing is finished, the limit cylinder in the limit module drives the limit tool to move upward, and stops the mouth support tool through the limit tool; The lifting cylinder and the ejector rod are retracted, and the tooling of the supporting nozzle is retracted to remove the polished workpiece to complete the polishing operation.

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