WO2017113291A1

WO2017113291A1 - Automatic polishing system

Info

Publication number: WO2017113291A1
Application number: PCT/CN2015/100113
Authority: WO
Inventors: 马朋巍
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2015-12-31
Filing date: 2015-12-31
Publication date: 2017-07-06
Also published as: CN107735219A

Abstract

An automatic polishing system comprises a frame (7). A feed station (3) and a polishing station (4) adjacent to the feed station are disposed on the frame (7). Feed mechanisms (31) for supplying at least two polishing media and a discharging mechanism (32) for discharging the polishing media are disposed on the feed station (3). A polishing platform (41) for fixing a workpiece to be polished is disposed on the polishing station (4). One side of the polishing station is provided with a polishing robot (1) for taking the polishing media out of the cylindrical feed mechanisms (31) and polishing the workpiece on the polishing platform. In the invention, at least two feed mechanisms are used to supply different polishing media, respectively, and the discharging mechanism (32) cooperates with the polishing robot to realize replacement of the polishing media in a polishing process, so that polishing of a workpiece that otherwise requires polishing multiple times can be completed by polishing once using the automatic polishing system, thereby improving polishing efficiency, and accordingly increasing production efficiency of a product.

Description

Automatic grinding system

Technical field

The invention relates to the field of industrial robots, and in particular to an automatic grinding system.

Background technique

At present, the grinding and polishing of the surface of the workpiece is mostly done by manual hand-held working tools, and it is difficult to ensure the shape and position accuracy of the surface of the workpiece and the physical properties of the surface. Especially in the current manual work, it is difficult to ensure the consistency of the surface processing quality of the workpiece, and the manual work efficiency is low, the labor cost is high, the working environment is poor, the work is boring, and the mobility of the personnel is strong, which greatly restricts the development of the enterprise.

Chinese patent document CN201410123106.0 discloses a free-form surface robot grinding system, which comprises a worktable, a robot and a control cabinet, a grinding tool, a pneumatic spindle, a connecting piece, a pneumatic control cabinet and a system control cabinet, etc., the program is called by different The system parameters and procedures control the robot to drive the compliant mechanism and the grinding tool to achieve the robot grinding along a specific trajectory. The technical solution is suitable for occasions where a large working surface needs to be polished to meet the surface quality requirements. The above patented technology has the following technical defects:

(1) When the surface quality of the workpiece is high, it is difficult to achieve a grinding of a grinding medium.

(2) When loading and unloading workpieces and replacing the grinding media, it takes time and effort, and the robot needs to suspend work, which affects work efficiency.

(3) Manual operation such as loading and unloading the workpiece and replacing the grinding medium is within the working range of the robot, which affects the safety of the operator.

Summary of the invention

The embodiment of the invention provides an automatic grinding system capable of supplying different grinding media by providing at least two feeding mechanisms, and a discharging mechanism for replacing the grinding medium in the grinding process with the grinding robot, which can be polished once In the middle, automatic replacement of a variety of grinding media for grinding, thereby improving the grinding efficiency, thereby improving product production efficiency.

In view of this, the first aspect of the embodiments of the present invention provides an automatic grinding system, which may include: a frame, a feeding station and a grinding station adjacent to the feeding station, and a feeding station Available for supply a feeding mechanism for at least two kinds of grinding media and a discharging mechanism for removing the grinding medium, the polishing station is provided with a polishing table for fixing the workpiece to be polished, and one side of the grinding station is provided for the mechanism from the feeding cylinder A grinding robot that removes the grinding media and polishes the workpiece on the sanding table.

In some embodiments of the invention, the sanding robot includes a robot body and a sander coupled to the end of the robot body, the bottom of the sander being provided with a chassis for mounting the grinding media.

In some embodiments of the present invention, the sanding medium is sandpaper, the feeding mechanism comprises a sandpaper cylinder, the bottom of the sandpaper cylinder is provided with a lifting plate, and the bottom of the sandpaper cylinder is provided with a sand feeding mechanism for driving the lifting plate.

In some embodiments of the invention, the sandpaper is a back flocked sandpaper and the back flocked sandpaper is self-adhesive to the chassis.

In some embodiments of the invention, a sandpaper cartridge is further provided with a photosensor for detecting the state of the sandpaper within the sandpaper cartridge.

In some embodiments of the invention, the robot body end is also provided with a liquid outlet tube.

In some embodiments of the invention, the sanding robot is a six-axis robot, and the sander and the outlet tube are coupled to the hand of the robot body.

In some embodiments of the invention, the discharge mechanism is located between at least two supply mechanisms, and the discharge mechanism includes a sandpaper clip for gripping sandpaper.

In some embodiments of the invention, the sanding station includes a sump having at least one clamp for securing the workpiece to be abraded.

In some embodiments of the invention, the exterior of the automatic sanding system is further provided with a safety fence;

There are two clamps in the liquid collection tank. The two clamps are respectively located inside and outside the safety fence, and the frame is further provided with a rotating mechanism for rotating the clamp.

In some embodiments of the invention, the bottom of the frame at the bottom of the sanding station is further provided with a liquid circulation mechanism for collecting liquid from the sump and supplying the water outlet.

In some embodiments of the invention, a control box for controlling the automatic sanding system is also provided on one side of the supply station, and a button box for controlling the automatic sanding system is also provided on the safety fence.

It can be seen from the above technical solutions that the embodiment of the present invention has the following advantages: at least two feeding mechanisms used in the automatic grinding system of the embodiment of the present invention respectively supply different grinding media, and the grinding robot is used to polish the grinding process. The medium is replaced by a discharge mechanism, and in one grinding, the robot first equips the first grinding medium from a feeding mechanism for one-stage grinding. Then, the first grinding medium is removed in the unloading mechanism, and the second grinding medium is equipped on the other feeding mechanism for the second stage grinding. If the workpiece is polished, more grinding stage is needed, and the grinding medium can be replaced. Grinding, automatic replacement of a plurality of grinding media for grinding, so that the polished workpiece requiring multiple grinding is completed by the automatic grinding system of the embodiment of the invention in one time, thereby improving the grinding efficiency and thereby improving the production efficiency of the product.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

1 is a view showing an embodiment of an automatic sanding system according to an embodiment of the present invention;

2 is a view showing another embodiment of an automatic sanding system according to an embodiment of the present invention;

3 is a diagram of another embodiment of an automatic sanding system in accordance with an embodiment of the present invention.

The components in the above figures are as follows:

1. Grinding robot, 11, base, 111, rotary table, 12, first mechanical arm, 13, second mechanical arm, 131, first rotating support, 132, rotating arm, 133, second rotating support, 134 , third drive mechanism, 14, floating mechanism, 15, grinding machine, 151, chassis, 16, liquid outlet pipe, 17, first drive mechanism, 18, second drive mechanism, 2, control box, 3, feeder Position, 31, feeding mechanism, 311, sandpaper tube, 312, sand supply mechanism, 313, position sensor, 32, unloading mechanism, 321, sandpaper clip, 4, grinding station, 41, grinding table, 42, collecting liquid Slot, 43, fixture, 44, rotating mechanism, 5, safety fence, 6, button box, 61, green illuminated button, 62, yellow illuminated button, 63, emergency stop button, 7, frame, 8, liquid circulation mechanism .

detailed description

The embodiment of the invention provides an automatic grinding system for automatically grinding the different grinding media by automatically replacing different grinding media, thereby improving the production efficiency of the product.

In order to make those skilled in the art better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. However, the described embodiments are merely a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

The details are described below separately.

The terms "first", "second", "third", "fourth", etc. (if present) in the specification and claims of the present invention and the above figures are used to distinguish similar objects without being used for Describe a specific order or order. It is to be understood that the data so used may be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than what is illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or modules is not necessarily limited to Those steps or modules may include other steps or modules not explicitly listed or inherent to such processes, methods, products or devices.

1 and FIG. 2, FIG. 1 is a view showing an embodiment of an automatic sanding system according to an embodiment of the present invention, and FIG. 2 is a view showing another embodiment of an automatic sanding system according to an embodiment of the present invention, which may include a frame. 7. The frame is provided with a feeding station and a grinding station 4 adjacent to the feeding station 3, and the feeding station is provided with a feeding mechanism 31 for supplying at least two kinds of grinding media and for removing the sanding The discharge mechanism 32 of the medium is provided with a sanding table 41 for fixing the workpiece to be polished, and one side of the grinding station is provided with a grinding device for removing the grinding medium from the feeding mechanism and grinding the workpiece on the polishing table. Robot 1.

It can be seen that at least two feeding mechanisms used in the automatic grinding system of the embodiment of the present invention respectively supply different grinding media, and the grinding robot is used to realize the replacement and unloading mechanism of the grinding medium in the grinding process, which can be used in one grinding. The robot first equips the first grinding medium from a feeding mechanism for one-stage grinding, then removes the first grinding medium in the unloading mechanism, and equips the second grinding medium on the other feeding mechanism for the second stage. Grinding, if the workpiece is polished, more grinding stage is needed, and the grinding medium can be continuously replaced for grinding, and automatic grinding of a plurality of grinding media is performed for grinding, so that the workpiece to be polished which needs multiple grinding is automatically polished by the embodiment of the present invention. One-time completion, improve grinding efficiency, and thus improve product production efficiency.

Optionally, the grinding robot comprises a robot body and a sander 15 connected to the end of the robot body, and the bottom of the sander is provided with a chassis 151 for mounting the grinding medium.

Among them, the grinding machine can be a pneumatic grinding machine, and the bottom of the grinding machine is provided with a chassis for mounting a grinding medium, and the chassis can be installed with a plurality of different grinding media.

Optionally, the grinding medium is sandpaper, the feeding mechanism comprises a sandpaper cylinder 311, a lifting plate is arranged at the bottom of the sandpaper cylinder, and a sand feeding mechanism 312 for driving the lifting plate is arranged at the bottom of the sandpaper cylinder.

Optionally, the sandpaper is a back flocking sandpaper, and the back flocking sandpaper is self-adhesive to the chassis.

Among them, the sandpaper may include coarse sanding paper, fine sanding paper and polishing sandpaper, and most of the sanded workpieces need to be sanded sequentially by using these three kinds of sandpaper. If these three kinds of sandpaper are used, the feeding mechanism in this embodiment can be set to Three, corresponding to the three kinds of sandpaper, the sandpaper is the back flocking sandpaper.

It can be understood that the feeding mechanism is a sandpaper cylinder, and the sandpaper cylinder can stack a plurality of sandpaper. When the polishing robot moves to the sandpaper cylinder, the sandpaper is pushed to the end of the grinding robot by the lifting plate disposed at the bottom of the sandpaper cylinder. On the chassis of the sander, the installation process of the sandpaper is completed, wherein the sand supply mechanism can be a motor or a cylinder.

Optionally, the sandpaper cylinder is further provided with a photoelectric sensor 313 for detecting the state of the sandpaper in the sandpaper cylinder.

It can be understood that the photoelectric sensor on the sandpaper cylinder is mainly for detecting the state of the sandpaper in the sandpaper cylinder. In the embodiment of the invention, the sandpaper state includes a sandpaper state and a sandless paper state, and the photoelectric sensor can be arranged in various ways, and the photoelectric sensor is generally The transmitting end and the receiving end are included, wherein the transmitting end can be disposed at the top of the sandpaper tube, or can be disposed on the inner side wall of the sandpaper tube, and the receiving end is disposed at the bottom of the sandpaper tube to ensure the light between the transmitting end and the receiving end is ensured The sandpaper in the sandpaper cylinder is cut off. When the receiving end can receive the emitted light from the emitting end, it indicates that the sandpaper cylinder is in a state of no sandpaper. When the receiving end can not receive the emitted light from the emitting end, the sandpaper cylinder is marked as having a sandpaper state. In view of the fact that the sandpaper cylinder is also provided with a lifting plate, it is preferable to arrange the emitting end on the top of the sandpaper cylinder and the receiving end on the lifting plate or the bottom of the sandpaper cylinder.

Optionally, a liquid outlet tube is further disposed at the end of the robot body.

Wherein, the liquid in the liquid discharge pipe is a grinding liquid, and the grinding liquid washes off the polished workpiece and the grinding debris on the sandpaper on the one hand, and cools the grounded workpiece, that is, the chassis on the other hand, the most common One type of grinding fluid is water. In addition, the chassis is a snap-on chassis for easy integration with sandpaper.

Optionally, the grinding robot is a six-axis robot, and the grinding machine and the outlet pipe are connected to the hand of the robot body.

For example, the grinding robot includes a base 11 on which a rotating table 111 is provided, which is live on the rotating table. The first mechanical arm 12 is movably connected, the free end of the first mechanical arm is movably connected to the second mechanical arm 13, the free end of the second mechanical arm is connected with a sanding machine, and the bottom of the grinding machine is provided with a chassis for mounting the grinding medium, The free end of the two robot arms is also provided with a discharge pipe 16. Wherein, the first mechanical arm is connected to the rotating table with a first driving mechanism 17 for driving the movement of the first mechanical arm, and the second mechanical arm is connected with the first mechanical arm for driving the movement of the second mechanical arm. Two drive mechanism 18. The second mechanical arm includes a first rotating support 131 movably coupled to the first mechanical arm, and the rotating support 132 is operatively coupled to the rotating support 132. The second rotating support 133 is hinged at the end of the rotating arm, and the second rotating branch A floating mechanism 14 is connected to the seat, and a sanding machine is connected to the floating mechanism. The first rotating support is provided with a third driving mechanism 134 for driving the rotation of the rotating arm, and the second rotating bearing is provided with a driving driving floating mechanism for rotating. The fourth drive mechanism.

It can be understood that the grinding robot of the embodiment of the present invention includes two mechanical arms, which is one of the industrial robots, and the first mechanical arm can be rotated on the rotating table of the base, and the first mechanical arm and The joints on the second robot arm are all movable and can be arbitrarily moved, so that the grinding robot can be adjusted into a plurality of postures, and the grinding machine is disposed at the free end of the second robot arm, and is movable relative to the second robot arm. In addition, in order to enable the first mechanical arm and the second mechanical arm to be movable as a whole, a first driving mechanism is provided to drive the movement of the first mechanical arm, and a second driving mechanism is provided to drive the movement of the second mechanical arm, the first driving mechanism and the second driving mechanism. Each may be a cylinder or a device that generates a driving force such as a motor. Wherein, the rotating table cooperates with the first mechanical arm and the second mechanical arm to achieve stereo omnidirectional movement, so the second mechanical arm first sets a rotating arm, and the end of the rotating arm is provided with a second rotating support, the rotating branch The seat drive is connected to the floating mechanism, so that the manipulator structure is a six-axis manipulator, so that the floating mechanism can realize three-dimensional omnidirectional movement, and can grind any part of the workpiece to be polished.

Optionally, the unloading mechanism is located between the at least two feeding mechanisms, and the discharging mechanism comprises a sandpaper clip 321 for gripping the sandpaper.

For example, when sandpaper is loaded, the grinding robot drives the sander to the corresponding feeding station, and the feeding mechanism pushes the sandpaper out to the chassis of the sander, and the sandpaper is self-adhered to the chassis of the sander to complete the sandpaper loading. When unloading sandpaper, the grinding robot drives the sander to run to the unloading mechanism. The jig of the unloading mechanism clamps the edge of the sandpaper, and the grinding robot is separated from the unloading mechanism to tear the sandpaper off the chassis of the sander to complete the unloading of the sandpaper.

It can be understood that the discharge mechanism is located between at least two feeds for quick unloading plus Since the robot movement also takes a certain time, it is possible to reduce the time for installing the sandpaper by setting the path of the sandpaper for the robot.

Optionally, the polishing table comprises a sump 42, and the sump is provided with at least one clamp 43 for fixing the workpiece to be polished.

It will be appreciated that the sump is used to concentrate the flushed and cooled liquid.

Optionally, the exterior of the automatic grinding system is further provided with a safety fence 5, and two clamps are arranged in the liquid collection tank, the two clamps are respectively located inside and outside the safety fence, and the frame is further provided with a rotation mechanism 44 for rotating the clamp. .

It can be understood that the button box disposed on the safety fence facilitates manual control of the automatic grinding system and improves safety. The rotating mechanism on the frame is used to drive the rotation of the clamp, and the center of the movement of the clamp is not the center of the clamp, whether it is a The clamp is also more than two clamps, which are distributed around the center of rotation. When the rotating mechanism rotates, more than two clamps can be driven to rotate around the center, and different working positions are set according to different positions of rotation. In addition, there are two clamps in the liquid collection tank. The two clamps are respectively located inside and outside the safety fence. Each time only the external fixture is loaded, and then rotated 180 degrees to reach the grinding position, and the polished workpiece is also rotated 180. Degrees can be removed from the outside of the safety fence to improve safety.

For example, when there is only one fixture, the center of rotation is one end of the clamp, when turning a certain position for feeding, it continues to rotate 180 degrees to reach the grinding position; when there are two clamps, the center of rotation is two clamps In the middle position, the rotating mechanism can drive the two clamps to rotate around the intermediate position, so that one fixture feeding can not affect the grinding of the polished workpiece on the other fixture. It can be seen that when two clamps are used, the loading is performed by rotating 180 degrees each time. When three clamps are used, the loading is performed every time by 120 degrees, and when four clamps are used, the loading is performed by rotating 90 degrees each time.

Optionally, a liquid circulation mechanism 8 for collecting liquid in the sump and supplying the water outlet pipe is further disposed at the bottom of the frame at the bottom of the polishing table.

It can be understood that the liquid in the liquid discharge pipe usually uses water, and the liquid from the liquid discharge pipe flows through the liquid collecting tank to the liquid circulation mechanism, and can be re-supply to give a water pipe through a simple filtering process, and the liquid circulation is greatly reduced. Waste of water.

Optionally, please refer to FIG. 3. FIG. 3 is a diagram of another embodiment of an automatic sanding system according to an embodiment of the present invention. One side of the feeding station is further provided with a control box 2 for controlling the automatic grinding system, and an automatic grinding system. There is also a safety fence on the outside, and a button box 6 for controlling the automatic sanding system is also provided on the safety fence. It can be understood that all control systems are set in the control box to facilitate the debugging of the automatic grinding system. The safety fence outside the automatic grinding system can isolate the operator from the automatic grinding system and improve safety. The fixtures are located inside and outside the safety fence respectively. The rotation mechanism can realize the loading outside the safety fence, so that the material can be loaded during the work process, and the production efficiency is improved while ensuring safety.

Generally, the button box 6 is composed of an emergency stop button 63, a yellow illuminated button 62, and a green illuminated button 61; an emergency stop button 63 is used for safe and fault emergency processing, and a yellow illuminated button 62 is used for loading request operation and The green lighted button 61 is used for the loading completion confirmation operation and the indication;

Generally, the grinding robot realizes the automatic sandpaper polishing according to the basic process of sanding, sanding and sanding. When the position sensor has a signal, the sandpaper is used up. At this time, the yellow illuminated button lights up, prompting the operator to install the sandpaper. After the manual sandpaper is finished, press the green light button, input the “loading completion” signal to the grinding robot, and polish. The robot can load and unload the sandpaper according to the normal process; similarly, after the manual unloading of the finished product and the loading of the blank, the green illuminated button 61 needs to be pressed, and the “loading completion” signal is input to the grinding robot, and the grinding robot finishes the work of one station. After that, the rotating mechanism of the grinding table is swung by 180°, the grinding robot starts the grinding operation of another station, and the unloading of the finished product is manually started, and the blank is loaded.

A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

In the several embodiments provided by the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, may be located in one place. Or it can be distributed to multiple network elements. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the embodiments are modified, or the equivalents of the technical features are replaced by the equivalents of the technical solutions of the embodiments of the present invention.

Claims

An automatic sanding system, comprising: a frame, a feeding station and a grinding station adjacent to the feeding station, wherein the feeding station is provided with at least a supply station a feeding mechanism for two kinds of grinding media and a discharging mechanism for removing the grinding medium, wherein the grinding station is provided with a grinding table for fixing the workpiece to be polished, and one side of the grinding station is provided for A grinding robot that takes out the grinding medium from the supply cylinder mechanism and polishes the workpiece on the polishing table.
The automatic sanding system according to claim 1, wherein the sanding robot comprises a robot body and a sander connected to an end of the robot body, and a bottom of the sander is provided with a chassis on which a grinding medium is mounted.
The automatic sanding system according to claim 2, wherein the sanding medium is sandpaper, the feeding mechanism comprises a sandpaper cylinder, the bottom of the sandpaper cylinder is provided with a lifting plate, and the bottom of the sandpaper cylinder is provided with a driving platform. The sand supply mechanism for the movement of the lifting plate.
The automatic sanding system according to claim 3, wherein the sandpaper is a back flocking sandpaper, and the back flocking sandpaper is self-adhesive to the chassis.
The automatic sanding system according to claim 3, wherein the top of the sandpaper cylinder is further provided with a photoelectric sensor for detecting the state of the sandpaper in the sandpaper cylinder.
The automatic sanding system according to claim 2, wherein the end of the robot body is further provided with a liquid discharge pipe.
The automatic sanding system according to claim 6, wherein the sanding robot is a six-axis robot, and the sander and the liquid discharge pipe are coupled to a hand of the robot body.
The automatic sanding system of claim 1 wherein said discharge mechanism is located between said at least two supply mechanisms, said discharge mechanism comprising a sandpaper clip for gripping said sandpaper.
The automatic sanding system according to any one of claims 1 to 8, wherein the polishing table comprises a sump, and at least one jig for fixing the workpiece to be ground is provided in the sump .
The automatic sanding system according to claim 9, wherein the exterior of the automatic sanding system is further provided with a safety fence;

Two clamping fixtures are disposed in the liquid collecting tank, and the two clamps are respectively located in the safety fence Internal and external, the frame is further provided with a rotating mechanism for driving the jig to rotate.
The automatic sanding system according to claim 9, wherein said frame is located at a bottom of said sanding table and further provided with a liquid circulation mechanism for collecting the liquid in said sump and supplying the water outlet pipe.
The automatic sanding system according to claim 10, characterized in that: one side of the feeding station is further provided with a control box for controlling the automatic sanding system, and the safety fence is further provided for controlling the automatic The button box for the grinding system.