CN116061053A - Flexible polisher of manipulator - Google Patents

Flexible polisher of manipulator Download PDF

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Publication number
CN116061053A
CN116061053A CN202310163951.XA CN202310163951A CN116061053A CN 116061053 A CN116061053 A CN 116061053A CN 202310163951 A CN202310163951 A CN 202310163951A CN 116061053 A CN116061053 A CN 116061053A
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CN
China
Prior art keywords
manipulator
mobile phone
positioning
jig base
middle frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202310163951.XA
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Chinese (zh)
Inventor
汪福安
颜怀寒
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Jiuchuang Precision Technology Co ltd
Original Assignee
Shenzhen Jiuchuang Precision Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Jiuchuang Precision Technology Co ltd filed Critical Shenzhen Jiuchuang Precision Technology Co ltd
Priority to CN202310163951.XA priority Critical patent/CN116061053A/en
Publication of CN116061053A publication Critical patent/CN116061053A/en
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/007—Weight compensation; Temperature compensation; Vibration damping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/04—Headstocks; Working-spindles; Features relating thereto
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/06—Work supports, e.g. adjustable steadies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
    • B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The application belongs to the technical field of polishing equipment, discloses a flexible polisher of manipulator, it includes the mount table, is used for installing the manipulator of abrasive paper and is used for placing the workstation of cell-phone center, manipulator fixed mounting is in the mount table, the workstation is provided with the adjustment subassembly that is used for adjusting cell-phone center angle, the manipulator is provided with mount pad, the pressure sensor of monitoring abrasive paper to cell-phone center pressure and control of manipulator operation's controller, the controller with the pressure sensor electricity is connected and is used for judging in order to control the manipulator to pressure sensor's signal of telecommunication, mount pad fixed mounting in the manipulator is kept away from the one end of mount table, pressure sensor is located between mount pad and the abrasive paper. The mobile phone center frame polishing force adjusting device has the effect of adjusting polishing force of sand paper on the mobile phone center frame according to the difference of single mobile phone center frame, so that polishing quality is improved.

Description

Flexible polisher of manipulator
Technical Field
The application belongs to the technical field of polishing equipment, and relates to a flexible polisher of manipulator.
Background
At present, the full-automatic polishing of the mechanical arm gradually replaces the manual polishing and the semiautomatic polishing of a special polishing machine, and the semiautomatic polishing machine has been widely applied to various polishing industries, such as the automobile industry, the 3C industry and the like. The full-automatic grinding of the manipulator not only ensures the stability of grinding quality, but also greatly improves the production efficiency, and especially for dry grinding application, the full-automatic grinding of the manipulator greatly reduces the labor intensity and improves the working environment.
The existing manipulator polishing modes generally have two types: first, the manipulator hand-held tool is close to fixed cell-phone center and polishes, and second, the manipulator hand-held cell-phone center is close to fixed tool and polishes. In the related technical means for polishing the mobile phone middle frame, the mobile phone middle frame is polished at all angles by adjusting the positions of the mobile phone middle frame and the abrasive paper, so that an R angle and a required surface are polished. When the mechanical hand tool is used for polishing an R angle and a required surface, the polishing program parameters which are generally set are consistent, the defect problem of a single mobile phone center and the damage of polishing consumables are not considered, and the polishing force of the mobile phone center is improperly controlled. Resulting in poor targeting to a single cell phone midframe.
Disclosure of Invention
In order to improve the defect that the pertinence of the manipulator to polishing force is poor in the polishing process of a single mobile phone middle frame, the application provides a manipulator flexible polisher.
The application provides a flexible polisher of manipulator adopts following technical scheme:
the utility model provides a flexible polisher of manipulator, includes the mount pad, is used for installing the manipulator of abrasive paper and is used for placing the workstation of cell-phone center, manipulator fixed mounting is in the mount pad, the workstation is provided with the adjustment subassembly that is used for adjusting cell-phone center angle, the manipulator is provided with mount pad, the pressure sensor of monitoring abrasive paper to cell-phone center pressure and control the controller of manipulator operation, the controller with the pressure sensor electricity is connected and is used for judging in order to control the manipulator to pressure sensor's signal of telecommunication, mount pad fixed mounting in the manipulator is kept away from the one end of mount pad, pressure sensor is located between mount pad and the abrasive paper.
Through adopting above-mentioned technical scheme, place the cell-phone center on adjusting part, thereby start the manipulator and make abrasive paper be close to the cell-phone center peripheral wall and polish, thereby pressure sensor real-time supervision abrasive paper is polished pressure to the cell-phone center and then is converted into corresponding electrical signal, the electrical signal is transmitted to the controller by pressure sensor, the controller discerns the electrical signal and judges, thereby adjust the pressure between abrasive paper to the cell-phone center, distance and angle between manipulator and the cell-phone center are controlled, according to the difference nature of single cell-phone center, adjust the size of abrasive paper to the cell-phone center dynamics of polishing, thereby promote the quality of polishing.
Optionally, the adjustment subassembly includes loading platform, rotatory seat and the first driving piece of drive rotatory seat motion that rises, first driving piece with loading platform all fixed mounting in the workstation, loading platform with the cooperation of sliding of workstation, rotatory seat that rises with loading platform rotates and the cooperation of sliding.
Through adopting above-mentioned technical scheme, the rotatory seat that rises and falls of first driving piece drive to angle and distance between adjustment manipulator and the cell-phone center, position and dynamics that the adjustment abrasive paper was polished to the cell-phone center then, rotatory seat cooperation manipulator makes abrasive paper more nimble to polishing of cell-phone center.
Optionally, the rotatory seat that goes up and down is provided with the support that is used for dodging abrasive paper and the tool seat that is used for reinforcing the fixed center of cell-phone, the support is located the tool seat with between the rotatory seat that goes up and down, just the one end of support with rotatory seat fixed connection that goes up and down, the other end and tool seat fixed connection.
Through adopting above-mentioned technical scheme, the support makes and has certain distance between tool seat and the rotatory seat that rises, and rotatory seat that rises drives tool seat motion in order to adjust the relative position of manipulator and cell-phone center, and the manipulator of being convenient for drives abrasive paper and carries out the omnidirectional to the cell-phone center and polish.
Optionally, the jig base is provided with a first positioning block and a second positioning block for positioning an inner frame of the mobile phone middle frame, the first positioning block and the second positioning block are fixedly connected with the jig base, and the length direction of the first positioning block is perpendicular to the length direction of the second positioning block.
Through adopting above-mentioned technical scheme, the first locating piece carries out the joint with the inside casing of cell-phone center, and the second locating piece carries out the joint with the remaining inside casing of cell-phone center, carries out the location of different orientation and different positions to cell-phone center through first locating piece and second locating piece, has strengthened the stability that cell-phone center is located the tool seat, has reduced the slip between cell-phone center and the abrasive paper, has promoted the abrasive paper quality of polishing of cell-phone center.
Optionally, the tool seat is provided with the inclined plane of being convenient for abrasive paper and polishes, the high position end of inclined plane is located more closely the center of tool seat, the low position end of inclined plane is located the periphery of tool seat, the inclined plane is followed the center of tool seat and is gradually to peripheral transition.
Through adopting above-mentioned technical scheme, the inclined plane dodges the abrasive paper of installation on to the manipulator, and the abrasive paper of being convenient for polishes the outline of cell-phone center, reduces the wearing and tearing of abrasive paper at the in-process of polishing to the tool seat simultaneously.
Optionally, still include the aircraft bonnet, the aircraft bonnet encloses and locates the workstation with the perisporium of mount table, the aircraft bonnet is provided with the crossbeam, the crossbeam is provided with the clamp plate that is used for compressing tightly the cell-phone center and drives the clamp plate orientation the second driving piece of tool seat motion, the clamp plate with have the material passageway of putting of holding the cell-phone center between the tool seat.
Through adopting above-mentioned technical scheme, the second driving piece starts, and drive clamp plate orientation tool seat motion for put the material passageway and diminish gradually, make clamp plate and lie in the cell-phone center on the tool seat and contact each other and support the pressure, thereby fix the cell-phone center, promote the effect of polishing of cell-phone center.
Optionally, the pressing plate is provided with a plurality of positioning rods, and the positioning rods are in sliding fit with the pressing plate; the positioning rod is in a positioning state and a retraction state, and is in a positioning state when penetrating through the inner frame of the middle frame of the mobile phone; when the positioning rod is in contact with and is pressed against the inner frame plate of the middle frame of the mobile phone, the positioning rod is in a retracted state.
By adopting the technical scheme, the second driving piece drives the pressing plate to move towards the jig seat, and part of the positioning rods positioned right above the inner frame of the mobile phone middle frame penetrate through the inner frame to be pressed against the jig seat, and at the moment, the part of the positioning rods are in a positioning state to finish positioning of the mobile phone middle frame; in addition, the positioning rods of which the parts are positioned right above the inner frame of the middle frame of the mobile phone are in contact with and are pressed against the inner frame plate of the middle frame of the mobile phone, the positioning state is converted into the retraction state, the positioning rods in the positioning state are matched with the middle frame of the mobile phone to position the middle frame of the mobile phone, and the positioning rods are provided with the fixing of the middle frames of the mobile phones which are matched with different models.
Optionally, the jig seat is provided with a holding groove for holding the locating lever, and the locating lever when being in the locating state is kept away from the one end of clamp plate is located in the holding groove.
Through adopting above-mentioned technical scheme, when the locating lever is in the locate mode, the inside casing of cell-phone center is worn to establish by locating lever one end is located the holding tank, and the locating lever is with the inside casing joint of cell-phone center, and the holding tank has strengthened the installation stability of reference column, further promotes the stability of cell-phone center.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the polishing pressure of the sand paper to the middle frame of the mobile phone is monitored in real time through the pressure sensor, and then the sand paper is converted into corresponding electric signals, the electric signals are transmitted to the controller through the pressure sensor, the controller is used for identifying and judging the electric signals, so that the pressure of the sand paper to the middle frame of the mobile phone is adjusted, the distance and the angle between the manipulator and the middle frame of the mobile phone are controlled, and the polishing force of the sand paper to the middle frame of the mobile phone is adjusted according to the difference of the middle frames of the single mobile phone.
2. The first positioning block is clamped with the inner frame of the middle mobile phone frame, the second positioning block is clamped with the rest inner frames of the middle mobile phone frame, and the middle mobile phone frame is positioned in different directions and at different positions through the first positioning block and the second positioning block, so that the stability of the middle mobile phone frame on the jig base is enhanced, the sliding between the middle mobile phone frame and the abrasive paper is reduced, and the polishing quality of the abrasive paper to the middle mobile phone frame is improved.
3. The second driving piece drives the pressing plate to move towards the jig seat, and part of the positioning rod positioned right above the inner frame of the middle frame of the mobile phone penetrates through the inner frame to be pressed against the jig seat, and the part of the positioning rod is positioned in a positioning state to finish positioning the middle frame of the mobile phone; in addition, the positioning rods of which the parts are positioned right above the inner frame of the middle frame of the mobile phone are in contact with and are pressed against the inner frame plate of the middle frame of the mobile phone, the positioning state is converted into the retraction state, the positioning rods in the positioning state are matched with the middle frame of the mobile phone to position the middle frame of the mobile phone, and the positioning rods are provided with the fixing of the middle frames of the mobile phones which are matched with different models.
Drawings
Fig. 1 is a schematic overall structure of embodiment 1 of the present application.
Fig. 2 is a schematic view showing the structure of the adjusting unit according to embodiment 1 of the present application.
Fig. 3 is a schematic view showing the structure of the adjusting member according to embodiment 2 of the present application.
Reference numerals illustrate:
1. a mounting table; 2. a manipulator; 21. a pressure sensor; 22. a mounting base; 23. a controller; 3. a work table; 31. an adjustment assembly; 311. a load-bearing platform; 312. a rotary lifting seat; 313. a first driving member; 314. a bracket; 315. a jig base; 3151. a first positioning block; 3152. a second positioning block; 3153. an inclined plane; 3154. a receiving groove; 4. a hood; 41. a cross beam; 411. a pressing plate; 4111. a positioning rod; 412. a second driving member; 413. a third driving member; 414. and a material placing channel.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings.
The embodiment of the application discloses a flexible polisher of manipulator.
Example 1
Referring to fig. 1, a manipulator flexible sander includes a mounting table 1, a manipulator 2 for mounting sandpaper, a work table 3 for placing a center of a mobile phone, and a hood 4, the hood 4 surrounding the peripheral walls of the work table 3 and the mounting table 1, and the manipulator 2 is fixedly mounted on the mounting table 1 to be stable. In this embodiment, the height of the workbench 3 is higher than that of the mounting table 1, the manipulator 2 is a five-axis manipulator, the movement range is more comprehensive, and the middle frame of the mobile phone to be polished is provided with a plurality of inner frames for avoiding electronic components and inner frame plates for fixing.
The manipulator 2 is provided with a mounting seat 22 for mounting sand paper, a pressure sensor 21 for monitoring the pressure of the sand paper to the middle frame of the mobile phone and a controller 23 (not shown in the figure) for controlling the operation of the manipulator 2, wherein the controller 23 is electrically connected with the pressure sensor 21 and used for judging the electric signal of the pressure sensor 21 to control the manipulator 2, the mounting seat 22 is used for fixing the sand paper, the mounting seat 22 is fixedly arranged at one end, far away from the mounting table 1, of the manipulator 2, and the pressure sensor 21 is positioned between the mounting seat 22 and the sand paper and used for monitoring the pressure applied by the sand paper to the middle frame of the mobile phone, so that the pressure sensor 21 is converted into corresponding electric signals and transmitted to the controller 23. The polishing pressure of the sand paper to the middle frame of the mobile phone is monitored in real time through the pressure sensor 21 and then converted into corresponding electric signals, the electric signals are transmitted to the controller 23 from the pressure sensor 21, and the controller 23 is used for identifying and judging the electric signals, so that the distance between the manipulator 2 and the middle frame of the mobile phone and the pressure between the sand paper and the middle frame of the mobile phone are controlled, the polishing force of the sand paper to the middle frame of the mobile phone is adjusted according to the difference of the middle frames of the single mobile phone, and the polishing quality is improved. The mounting base is used for mounting sand paper in the embodiment, and can also be used for mounting polishing consumables such as scouring pad in other embodiments.
Referring to fig. 2, the table 3 is provided with an adjusting unit 31 for adjusting the angle of the center of the cellular phone. In the present embodiment, the adjustment assemblies 31 are arranged in two groups side by side. The adjusting assembly 31 includes a carrying platform 311, a rotary lifting seat 312, and a first driving member 313 (not shown in the drawings) for driving the rotary lifting seat 312 to move, wherein the first driving member 313 and the carrying platform 311 are fixedly mounted on the workbench 3, the carrying platform 311 is slidably engaged with the workbench 3, and the rotary lifting seat 312 is rotatably engaged with the carrying platform 311. Specifically, the end face of the bearing platform 311 facing the workbench 3 is provided with a sliding block, the end face of the workbench 3 facing the bearing platform 311 is provided with a sliding rail matched with the shape and the size of the sliding block, and the sliding rail and the sliding block are matched in a sliding manner so that the bearing platform 311 and the workbench 3 are in sliding connection. In the present embodiment, the length direction of the bearing platform 311 is the same as the length direction of the sliding rail. The first driving piece 313 drives the rotary lifting seat 312 to rotate and lift, so that the angle and the distance between the manipulator 2 and the mobile phone middle frame are adjusted, the polishing position and the polishing force of the sand paper on the mobile phone middle frame are adjusted, and the rotary lifting seat 312 is matched with the manipulator 2 to enable the sand paper to polish the mobile phone middle frame more flexibly. In the present embodiment, the first driving member 313 is a rotary elevating motor.
The rotary lifting seat 312 is provided with a support 314 for avoiding sand paper and a jig seat 315 for reinforcing a fixed middle frame of the mobile phone, the support 314 is positioned between the jig seat 315 and the rotary lifting seat 312, one end of the support 314 is fixedly connected with the rotary lifting seat 312, and the other end is fixedly connected with the jig seat 315. The support 314 enables a certain distance to be reserved between the jig seat 315 and the rotary lifting seat 312, and the rotary lifting seat 312 drives the jig seat 315 to move so as to adjust the relative position of the manipulator 2 and the mobile phone middle frame, so that the manipulator 2 can conveniently drive sand paper to polish the mobile phone middle frame in an omnibearing manner.
The jig base 315 is provided with a first positioning block 3151 and a second positioning block 3152 for positioning an inner frame of the mobile phone middle frame, the first positioning block 3151 and the second positioning block 3152 are fixedly connected with the jig base 315, and the length direction of the first positioning block 3151 is perpendicular to the length direction of the second positioning block 3152. In this embodiment, the first positioning block 3151 is used for positioning the inner frame located at the edge position of the middle frame of the mobile phone, and the second positioning block 3152 is used for positioning the inner frame located at the center position of the middle frame of the mobile phone. The mobile phone middle frame is positioned in different directions and at different positions through the first positioning block 3151 and the second positioning block 3152, so that the stability of the mobile phone middle frame on the jig seat 315 is enhanced, the sliding between the mobile phone middle frame and the abrasive paper is reduced, and the polishing quality of the abrasive paper to the mobile phone middle frame is improved.
Further, in order to reduce abrasion of the abrasive paper to the jig base 315 during polishing, the jig base 315 is provided with a slope 3153 which is convenient for polishing the abrasive paper, a high-level end of the slope 3153 is located closer to the center of the jig base 315, a low-level end of the slope 3153 is located at the periphery of the jig base 315, and the slope 3153 gradually transits from the center of the jig base 315 to the periphery. The inclined surface 3153 makes avoidance of sandpaper mounted on the robot arm 2.
The implementation principle of the embodiment 1 is as follows: the mobile phone middle frame is placed on the jig base 315, the mobile phone middle frame is fixed through the first positioning block 3151 and the second positioning block 3152, and the manipulator 2 is started to enable sand paper to be close to the mobile phone middle frame so as to polish the peripheral wall of the mobile phone middle frame; the polishing position of the sand paper to the middle frame of the mobile phone is adjusted through the rotary lifting seat 312, meanwhile, the polishing force of the sand paper to the middle frame of the mobile phone is monitored in real time by the pressure sensor 21, and then the sand paper is converted into corresponding electric signals, the electric signals are transmitted to the controller 23 through the pressure sensor 21, the controller 23 recognizes and judges the electric signals, so that the pressure of the sand paper to the middle frame of the mobile phone is adjusted, and the distance and the angle between the manipulator 2 and the middle frame of the mobile phone are controlled.
Example 2
Referring to fig. 3, the difference between this embodiment and embodiment 1 is that the hood 4 is provided with a cross beam 41, the cross beam 41 is provided with a pressing plate 411 for pressing the middle frame of the mobile phone, a second driving member 412 for driving the pressing plate 411 to move toward the jig base 315, and a third driving member 413 for driving the pressing plate 411 to move along the length direction of the cross beam 41, the pressing plate 411 is slidingly matched with the cross beam, and a material placing channel 414 for accommodating the middle frame of the mobile phone is provided between the pressing plate 411 and the jig base 315. In the present embodiment, the second driving member 412 and the third driving member 413 are both motors. Specifically, the output end of the third driving member 413 is provided with a screw rod, the pressing plate 411 is connected with the screw rod through a connecting column, one end of the connecting column, which is far away from the pressing plate 411, is provided with a screw rod nut matched with the screw rod, and the third driving member 413 drives the screw rod to rotate so as to drive the pressing plate 411 to move along the length direction of the cross beam.
The second driving piece 412 is started to drive the pressing plate 411 to move towards the jig base 315, so that the material placing channel 414 is gradually reduced, the pressing plate 411 and the mobile phone middle frame positioned on the jig base 315 are in contact with each other and are pressed against each other, the mobile phone middle frame is fixed, and the polishing effect of the mobile phone middle frame is improved. The third driving member 413 is activated to drive the platen 411 to move along the length direction of the cross beam 41 to align with the jig base 315 in the vertical direction, and on the other hand, after one of the adjustment assemblies 31 finishes polishing, the platen 411 can be driven by the third driving member 413 to align with the other adjustment assembly 31 side by side, so as to perform subsequent polishing operation.
Further, the pressing plate 411 is provided with a plurality of positioning rods 4111, and the positioning rods 4111 are slidably engaged with the pressing plate 411. In the present embodiment, the positioning bars 4111 are uniformly and in a matrix arrangement. The positioning rod 4111 has a positioning state and a retracted state, and when the positioning rod 4111 is inserted into the inner frame of the middle frame of the mobile phone, the positioning rod 4111 is in the positioning state; when the positioning rod 4111 contacts and presses against the inner frame plate of the middle frame of the mobile phone, the positioning rod 4111 is converted from a positioning state to a retracted state. Specifically, a spring is disposed at an end of the positioning rod 4111 near the pressing plate 411. The jig base 315 is provided with a receiving groove 3154 for receiving the positioning rod 4111, and an end of the positioning rod 4111, which is far away from the pressing plate 411 when in the positioning state, is located in the receiving groove 3154. The second driving piece 412 drives the pressing plate 411 to move towards the jig base 315, a part of positioning rods 4111 positioned right above the inner frame of the middle frame of the mobile phone penetrate through the inner frame and are positioned in the accommodating groove 3154, the positioning rods 4111 are clamped with the inner frame of the middle frame of the mobile phone, and at the moment, the part of positioning rods 4111 are positioned to finish positioning of the middle frame of the mobile phone; in addition, the positioning rods 4111 partially positioned right above the inner frame of the middle frame of the mobile phone are contacted and pressed with the inner frame plate of the middle frame of the mobile phone, then the mobile phone is converted into a retracted state from a positioning state, the positioning rods 4111 in the positioning state are matched with the middle frame of the mobile phone to position the middle frame of the mobile phone, and the positioning rods 4111 are provided with fixing parts which are suitable for middle frames of mobile phones of different models.
The implementation principle of the embodiment 2 is as follows: placing the mobile phone middle frame on the jig base 315, starting the second driving piece 412, driving the pressing plate 411 to move towards the jig base 315, and enabling part of the positioning rods 4111 positioned right above the inner frame of the mobile phone middle frame to penetrate through the inner frame and press against the jig base 315, wherein the part of the positioning rods 4111 are in a positioning state at the moment to finish positioning the mobile phone middle frame; starting the mechanical arm 2 to enable the sand paper to be close to the middle frame of the mobile phone so as to polish the peripheral wall of the middle frame of the mobile phone; the polishing position of the sand paper to the middle frame of the mobile phone is adjusted through the rotary lifting seat 312, meanwhile, the polishing force of the sand paper to the middle frame of the mobile phone is monitored in real time by the pressure sensor 21, and then the sand paper is converted into corresponding electric signals, the electric signals are transmitted to the controller 23 through the pressure sensor 21, the controller 23 recognizes and judges the electric signals, so that the pressure of the sand paper to the middle frame of the mobile phone is adjusted, and the distance and the angle between the manipulator 2 and the middle frame of the mobile phone are controlled.
The foregoing description is not intended to limit the scope of the present application, in which like reference numerals refer to like elements throughout, and it should be noted that the terms "front", "rear", "left", "right", "upper" and "lower" used in the foregoing description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward or away from the geometric center of a particular element, respectively. Therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims (8)

1. The utility model provides a flexible polisher of manipulator, its characterized in that, including mount table (1), be used for installing manipulator (2) of abrasive paper and be used for placing workstation (3) of cell-phone center, manipulator (2) fixed mounting is in mount table (1), workstation (3) are provided with adjusting component (31) that are used for adjusting cell-phone center angle, manipulator (2) are provided with mount pad (22) of installing abrasive paper, monitor abrasive paper to pressure sensor (21) of cell-phone center pressure and control manipulator (2) moving controller (23), controller (23) with pressure sensor (21) electricity is connected and is used for judging in order to control manipulator (2) to the signal of telecommunication of pressure sensor (21), mount pad (22) fixed mounting in manipulator (2) keep away from one end of mount table (1), pressure sensor (21) are located between mount pad (22) and abrasive paper.
2. The flexible polisher according to claim 1, characterized in that the adjustment assembly (31) comprises a carrying platform (311), a rotary lifting seat (312) and a first driving member (313) for driving the rotary lifting seat (312) to move, the first driving member (313) and the carrying platform (311) are fixedly mounted on the workbench (3), the carrying platform (311) is in sliding fit with the workbench (3), and the rotary lifting seat (312) is in rotating and sliding fit with the carrying platform (311).
3. The flexible polisher according to claim 2, characterized in that the rotary lifting base (312) is provided with a support (314) for avoiding sand paper and a jig base (315) for reinforcing a fixed middle frame of the mobile phone, the support (314) is located between the jig base (315) and the rotary lifting base (312), one end of the support (314) is fixedly connected with the rotary lifting base (312), and the other end is fixedly connected with the jig base (315).
4. A flexible polisher for a manipulator according to claim 3 and characterized in that the jig base (315) is provided with a first positioning block (3151) and a second positioning block (3152) for positioning an inner frame of a middle frame of a mobile phone, the first positioning block (3151) and the second positioning block (3152) are fixedly connected with the jig base (315), and the length direction of the first positioning block (3151) is perpendicular to the length direction of the second positioning block (3152).
5. A flexible polisher for a manipulator according to claim 3, characterised in that the jig base (315) is provided with a bevel (3153) for facilitating sanding, the high end of the bevel (3153) being located closer to the centre of the jig base (315), the low end of the bevel (3153) being located at the periphery of the jig base (315), the bevel (3153) gradually transitioning from the centre of the jig base (315) to the periphery.
6. A manipulator flexible sander according to claim 3, further comprising a hood (4), said hood (4) surrounding the perimeter walls of said table (3) and said mounting table (1), said hood (4) being provided with a cross beam (41), said cross beam (41) being provided with a platen (411) for compressing the center of the mobile phone and a second driving member (412) for driving the platen (411) to move towards said jig base (315), said platen (411) and said jig base (315) having a material-receiving channel (414) for receiving the center of the mobile phone therebetween.
7. A manipulator flexible grinding machine according to claim 6, characterized in that the press plate (411) is provided with a plurality of positioning bars (4111), the positioning bars (4111) being in sliding engagement with the press plate (411); the positioning rod (4111) is in a positioning state and a retraction state, and when the positioning rod (4111) penetrates through the inner frame of the middle frame of the mobile phone, the positioning rod (4111) is in the positioning state; when the positioning rod (4111) is in contact with and abuts against the inner frame plate of the middle frame of the mobile phone, the positioning rod (4111) is in a retracted state.
8. The flexible polisher according to claim 7, characterized in that the jig base (315) is provided with a receiving groove (3154) for receiving a positioning rod (4111), and an end of the positioning rod (4111) in a positioned state, which is far from the platen (411), is located in the receiving groove (3154).
CN202310163951.XA 2023-02-15 2023-02-15 Flexible polisher of manipulator Withdrawn CN116061053A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120588056A (en) * 2025-08-08 2025-09-05 歌尔股份有限公司 Polishing device and polishing method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120588056A (en) * 2025-08-08 2025-09-05 歌尔股份有限公司 Polishing device and polishing method

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Application publication date: 20230505