CN106346337B - Automatic polishing device and method - Google Patents
Automatic polishing device and method Download PDFInfo
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- CN106346337B CN106346337B CN201510412296.2A CN201510412296A CN106346337B CN 106346337 B CN106346337 B CN 106346337B CN 201510412296 A CN201510412296 A CN 201510412296A CN 106346337 B CN106346337 B CN 106346337B
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
An automatic polishing apparatus and method, the automatic polishing apparatus comprising: a grinding tool clamped at the end of the mechanical arm; the working table is provided with a feeding station, a polishing station and a receiving station which are arranged in sequence; the material tank is arranged on the feeding station, and a plurality of workpieces to be polished are placed in the material tank side by side; the clamping structure clamps the workpiece to move from the feeding station to the polishing station and from the polishing station to the receiving station; the clamping structure is arranged on the polishing station and clamps the workpiece for polishing by a polishing tool; and the control unit controls the mechanical arm, the clamping structure and the clamping structure to act. The automatic polishing device and the method provided by the invention realize automatic polishing of workpieces, improve the working efficiency, and the polishing force and angle of each workpiece are consistent through polishing by the automatic polishing device, so that the problems of low manual polishing working efficiency and workpiece surface polishing difference in the prior art are solved.
Description
[ technical field ] A method for producing a semiconductor device
The present invention relates to a polishing apparatus and method, and more particularly, to an automatic polishing apparatus and method.
[ background of the invention ]
In the production process of die casting workpieces, grinding is usually needed to process joint lines and burrs on the surfaces of the die casting workpieces, and the surfaces of the workpieces meet the appearance requirements better through the manufacturing process.
At present, the surface of a workpiece is polished by a worker holding a file with one hand and a workpiece with the other hand and then manually polishing off a joint line and burrs on the surface of the workpiece. On one hand, however, manual polishing has high working strength, and workers are easy to fatigue, so that the working efficiency is low; on the other hand, different operation methods and forces of each worker can cause different surface polishing of each workpiece.
In view of the above, there is a need to develop an automatic polishing device and method to solve the above-mentioned problems of low efficiency of manual polishing and the difference of polishing on the surface of a workpiece.
[ summary of the invention ]
Therefore, the present invention is directed to an automatic polishing device and method, which can solve the problems of low efficiency of manual polishing and the difference of polishing on the surface of a workpiece.
In order to achieve the above object, the automatic polishing apparatus of the present invention, which is used in cooperation with a robot arm to polish a workpiece, includes:
a grinding tool clamped at the end of the mechanical arm;
the working table is provided with a feeding station, a polishing station and a receiving station which are arranged in sequence;
the material tank is arranged on the feeding station, and a plurality of workpieces to be polished are placed in the material tank side by side;
the clamping structure clamps the workpiece to move from the feeding station to the polishing station and from the polishing station to the receiving station;
the clamping structure is arranged on the polishing station and clamps the workpiece for polishing by a polishing tool;
and the control unit controls the mechanical arm, the clamping structure and the clamping structure to act.
Optionally, a slideway is arranged at the material receiving station and is connected with a material receiving box for collecting the polished workpieces.
Optionally, the tail end of the material groove is provided with a positioning structure, and the workpiece to be polished is corrected and positioned.
Optionally, the positioning structure includes a positioning groove and a positioning cylinder, the positioning groove is disposed at the tail end of the material tank, the workpiece moves from the material tank to the positioning groove, and the positioning cylinder is disposed on one side of the positioning groove to push the workpiece.
Optionally, the clamping structure comprises a first chuck and a second chuck, the first chuck and the second chuck are arranged at different angles, the first chuck clamps the workpiece to move from the feeding station to the polishing station, and the second chuck clamps the workpiece to move from the polishing station to the receiving station.
Optionally, the first chuck is vertically arranged on a first clamping cylinder, the second chuck is vertically arranged on a second clamping cylinder, the first clamping cylinder and the second clamping cylinder are fixed on a connecting plate, the connecting plate is connected with a first displacement cylinder and a second displacement cylinder, the first displacement cylinder controls the first chuck and the second chuck to move back and forth in the horizontal direction, and the second displacement cylinder controls the first chuck and the second chuck to move left and right in the horizontal direction.
Optionally, the clamping structure includes two clamping cylinders, the two clamping cylinders are respectively connected to the clamping plates, and the two clamping plates are oppositely disposed to clamp the workpiece.
Optionally, an accommodating groove is formed between the two clamping plates for accommodating the workpiece, a through hole is formed in the bottom of the accommodating groove, and the through hole is connected with a scrap box for collecting scraps.
Optionally, a servo motor is arranged on the clamping plate, and the servo motor rotates the workpiece.
Optionally, two or more polishing tools are arranged on the mechanical arm, each polishing tool is arranged at a different angle, and workpieces in two or more automatic polishing devices are sequentially polished.
In addition, the invention also provides an automatic grinding method which is applied to the automatic grinding device and comprises the following steps:
a plurality of workpieces to be polished are placed in the material groove side by side;
the clamping structure clamps the workpiece to be polished to move from the feeding station to the polishing station;
a polishing tool clamped at the end part of the mechanical arm polishes the workpiece;
the clamping structure clamps the polished workpiece and moves the polished workpiece from the polishing station to the receiving station.
Compared with the prior art, according to the automatic polishing device and the automatic polishing method, the workpieces to be polished are placed in the material groove side by side, the clamping structure clamps the workpieces to be polished and the polished workpieces, the polishing tool clamped by the end of the mechanical arm polishes the workpieces, the workpieces are polished automatically, the work efficiency is improved, the automatic polishing device polishes the workpieces, the force and the angle for polishing each workpiece are consistent, and therefore the problems that in the prior art, the manual polishing work efficiency is low, and the workpiece surface polishing difference is caused are solved.
[ description of the drawings ]
Fig. 1 is a schematic structural view illustrating a first angle of the automatic polishing apparatus in a first working state according to the present invention.
Fig. 2 is a schematic structural view of the automatic polishing apparatus according to the present invention in a first working state and a second angle.
Fig. 3 is a schematic structural diagram of the automatic polishing apparatus according to the third embodiment of the present invention in the first working state.
Fig. 4 is a schematic structural diagram illustrating a second working state of the automatic polishing apparatus according to the present invention.
Fig. 5 is a schematic structural diagram illustrating a third operating state of the automatic polishing apparatus according to the present invention.
Fig. 6 is a schematic structural diagram illustrating a fourth operating state of the automatic polishing apparatus according to the present invention.
FIG. 7 is a flow chart showing the steps of the automatic polishing method of the present invention.
[ detailed description ] embodiments
Referring to fig. 1, 2 and 3, fig. 1 is a schematic view illustrating a first angle structure of an automatic polishing apparatus according to the present invention in a first working state, fig. 2 is a schematic view illustrating a second angle structure of the automatic polishing apparatus according to the present invention in the first working state, and fig. 3 is a schematic view illustrating a third angle structure of the automatic polishing apparatus according to the present invention in the first working state.
In a preferred embodiment, the automatic polishing apparatus of the present invention is adapted to a robot 10 to polish a workpiece 11, wherein the robot 10 can be a six-axis robot, and can rotate and move at any angle, and the automatic polishing apparatus comprises:
a grinding tool 12 clamped to an end of the robot arm 10, wherein the grinding tool 12 may be a file, but is not limited thereto;
a working table 13 having a feeding station, a polishing station and a receiving station which are arranged in sequence;
the material groove 14 is arranged on the feeding station, and a plurality of workpieces 11 to be polished are placed in the material groove 14 side by side;
the clamping structure 15 is used for clamping the workpiece 11 to move from the feeding station to the polishing station and from the polishing station to the receiving station;
the clamping structure 16 is arranged on the polishing station and is used for clamping the workpiece 11 for polishing by the polishing tool 12;
and a control unit for controlling the actions of the mechanical arm 10, the clamping structure 15 and the clamping structure 16, wherein the control unit can be a programmable logic controller.
Wherein, receive material station department and be equipped with slide 18, slide 18 connects and receives the material case 17, and work piece 11 after polishing slides to receiving the material case 17 from slide 18 in, collects work piece 11 after polishing, is equipped with the protective layer in the slide 18 and protects work piece 11 not by the fish tail, the protective layer can be the bubble cotton.
The workpieces 11 in the material tank 14 may be placed irregularly, for example, the material tank 14 may be vibrated horizontally by a vibration plate, and there may be positional deviation. Therefore, in order to facilitate the subsequent clamping structure 15 to clamp the workpiece 11, the tail end of the material groove 14 is provided with a positioning structure 19 for correcting and positioning the workpiece 11 to be polished, the positioning structure 19 comprises a positioning groove 20 and a positioning cylinder 21, the positioning groove 20 is arranged at the tail end of the material groove 14, the workpiece 11 moves from the material groove 14 to the positioning groove 20, and the positioning cylinder 21 is arranged at one side of the positioning groove 20 to push the workpiece 11 so as to adjust the position of the workpiece 11.
The clamping structure 15 comprises a first clamping head 22 and a second clamping head 23, the first clamping head 22 and the second clamping head 23 are arranged at different angles, the first clamping head 22 clamps the workpiece 11 to be polished to move from the feeding station to the polishing station, and the second clamping head 23 clamps the workpiece 11 after polishing to move from the polishing station to the receiving station, so that time can be saved.
The first chuck 22 is vertically arranged on the first clamping cylinder 24, that is, the first clamping cylinder 24 vertically pushes the first chuck 22 to move, the second chuck 23 is vertically arranged on the second clamping cylinder 25, that is, the second clamping cylinder 25 vertically pushes the second chuck 22 to move, the first clamping cylinder 24 and the second clamping cylinder 25 are fixed on the connecting plate 26, the connecting plate 26 is connected with the first displacement cylinder 27 and the second displacement cylinder 28, the first displacement cylinder 27 controls the first chuck 22 and the second chuck 23 to move back and forth in the horizontal direction, and the second displacement cylinder 28 controls the first chuck 22 and the second chuck 23 to move left and right in the horizontal direction.
The clamping structure 16 comprises two clamping cylinders 29, the two clamping cylinders 29 are respectively connected with clamping plates 30, and the two clamping plates 30 are oppositely arranged to clamp the workpiece 11.
Wherein, be equipped with holding tank 31 between two grip blocks 30 and supply work piece 11 to locate wherein, holding tank 31 prevents that the material bits from flying in disorder when polishing work piece 11, and holding tank 31 bottom is equipped with the through-hole, and the material bits case 32 of collecting the material bits is connected to the through-hole.
The clamping plate 30 is connected with a servo motor 33, and the servo motor 33 rotates the workpiece 11 to enable the grinding tool 12 to grind the other surface of the workpiece 11.
Wherein, two or more than two grinding tools 12 are arranged on the mechanical arm 10, each grinding tool 12 is arranged at different angles, and the workpieces 11 in the two or more than two automatic grinding devices are ground in sequence.
Referring to fig. 7, fig. 7 is a flow chart illustrating steps of the automatic polishing method according to the present invention. The present invention further provides an automatic polishing method applied to the automatic polishing apparatus, in a preferred embodiment, the automatic polishing method comprises the following steps:
step S101: referring to fig. 1 again, a plurality of workpieces 11 to be polished are placed in the material tank 14 side by side, and in a preferred embodiment, the method further includes the steps that the workpieces 11 are moved from the material tank 14 to the positioning groove 20, the positioning cylinder 21 pushes the workpieces 11, and the positions of the workpieces 11 are corrected;
step S102: referring to fig. 4, which is a schematic structural diagram illustrating a second working state of the automatic polishing apparatus according to the present invention, the clamping structure 15 clamps the workpiece 11 to be polished and moves from the feeding station to the polishing station, in a preferred embodiment, the first displacement cylinder 27 and the second displacement cylinder 28 cooperate with each other to move the first chuck 22 back and forth and left and right in the horizontal direction, and the first clamping cylinder 24 vertically pushes the first chuck 22 to move downward to the feeding station and clamp the workpiece 11 to be polished and move to the polishing station;
step S103: referring to fig. 5, which is a schematic structural diagram illustrating a third working state of the automatic polishing apparatus according to the present invention, the polishing tool 11 clamped at the end of the robot 10 polishes the workpiece 12, that is, the polishing tool 11 moves above the workpiece 12 under the driving of the robot 10, performs a polishing action on the joint line and burr of the workpiece 12, and after one side of the workpiece 12 is polished, the servo motor 33 drives the workpiece 12 to rotate, and continues to polish the other side of the workpiece 12;
step S104: referring to fig. 6, which is a schematic structural diagram illustrating a fourth operating state of the automatic polishing apparatus according to the present invention, the clamping structure 15 clamps the polished workpiece 12 to move from the polishing station to the receiving station, in a preferred embodiment, after polishing of the workpiece 12 is completed, the first displacement cylinder 27, the second displacement cylinder 28, and the second clamping cylinder 25 cooperate to move the second chuck 23, the second chuck 23 moves to the polishing station, the clamped polished workpiece 11 moves to the receiving station, and the polished workpiece 11 slides along the slide 18 to the receiving box 17; the first clamp 22 holds the workpiece 11 to be ground while the second clamp 23 is actuated, and moves from the feed station to the grinding station, and the next cycle is continued.
Compared with the prior art, the automatic polishing device and the method have the advantages that the workpieces 11 to be polished are placed in the material groove 14 side by side, the clamping structures 15 clamp the workpieces 11 to be polished and the polished workpieces 11, the polishing tools 12 clamped at the end parts of the mechanical arms 10 polish the workpieces 11, automatic polishing of the workpieces 11 is achieved, working efficiency is improved, polishing is conducted through the automatic polishing device, force and angles for polishing each workpiece 11 are consistent, and accordingly the problems of low manual polishing working efficiency and workpiece surface polishing difference in the prior art are solved.
It should be noted that the present invention is not limited to the above embodiments, and any simple modification, equivalent change and modification made to the above embodiments by those skilled in the art based on the technical solution of the present invention fall within the protection scope of the present invention.
Claims (6)
1. The utility model provides an automatic grinding device, its and robotic arm cooperation work piece of polishing which characterized in that, automatic grinding device includes:
a grinding tool clamped at the end of the mechanical arm;
the working table is provided with a feeding station, a polishing station and a receiving station which are arranged in sequence;
the material tank is arranged on the feeding station, and a plurality of workpieces to be polished are placed in the material tank side by side;
the clamping structure comprises a first chuck and a second chuck, the first chuck and the second chuck are arranged at different angles, the first chuck clamps the workpiece and moves from the feeding station to the polishing station, the second chuck clamps the workpiece and moves from the polishing station to the receiving station, the first chuck is vertically arranged on a first clamping cylinder, the second chuck is vertically arranged on a second clamping cylinder, the first clamping cylinder and the second clamping cylinder are fixed on a connecting plate, the connecting plate is connected with a first displacement cylinder and a second displacement cylinder, the first displacement cylinder controls the first chuck and the second chuck to move back and forth in the horizontal direction, and the second displacement cylinder controls the first chuck and the second chuck to move left and right in the horizontal direction;
the clamping structure is arranged on the polishing station and clamps the workpiece for polishing by a polishing tool, the clamping structure comprises two clamping cylinders, the two clamping cylinders are respectively connected with a clamping plate, the two clamping plates are oppositely provided with clamping workpieces, the clamping plates are connected with a servo motor, the servo motor rotates the workpieces, a containing groove is arranged between the two clamping plates and is used for the workpieces to be arranged in, the bottom of the containing groove is provided with a through hole, and the through hole is connected with a scrap box for collecting scraps;
and the control unit controls the mechanical arm, the clamping structure and the clamping structure to act.
2. The automatic grinding device of claim 1, wherein a chute is provided at the receiving station, the chute is connected to the receiving box, and the chute collects the ground workpiece.
3. The automatic grinding device of claim 1, wherein the tail end of the material groove is provided with a positioning structure for correcting and positioning the workpiece to be ground.
4. The automatic grinding device of claim 3, wherein the positioning structure comprises a positioning groove and a positioning cylinder, the positioning groove is arranged at the tail end of the material groove, the workpiece moves from the material groove to the positioning groove, and the positioning cylinder is arranged at one side of the positioning groove to push the workpiece.
5. The automatic grinding device of claim 1, wherein two or more grinding tools are provided on the robot arm, each of the grinding tools being disposed at a different angle to sequentially grind workpieces in the two or more automatic grinding devices.
6. An automatic grinding method applied to the automatic grinding apparatus according to any one of claims 1 to 5, characterized by comprising the steps of:
a plurality of workpieces to be polished are placed in the material groove side by side;
the first chuck clamps a workpiece to be polished and moves from a feeding station to a polishing station;
a polishing tool clamped at the end part of the mechanical arm polishes the workpiece;
the first chuck clamps the workpiece to move from the feeding station to the polishing station, and the second chuck clamps the polished workpiece to move from the polishing station to the receiving station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510412296.2A CN106346337B (en) | 2015-07-14 | 2015-07-14 | Automatic polishing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510412296.2A CN106346337B (en) | 2015-07-14 | 2015-07-14 | Automatic polishing device and method |
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| Publication Number | Publication Date |
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| CN106346337A CN106346337A (en) | 2017-01-25 |
| CN106346337B true CN106346337B (en) | 2021-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510412296.2A Active CN106346337B (en) | 2015-07-14 | 2015-07-14 | Automatic polishing device and method |
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| CN106956194A (en) * | 2017-03-03 | 2017-07-18 | 常熟市双月机械有限公司 | A kind of grinding machine apparatus of sustainable polishing |
| CN108723953A (en) * | 2017-04-20 | 2018-11-02 | 苏州汉扬精密电子有限公司 | Three axis grinding devices |
| CN107414614B (en) * | 2017-07-26 | 2019-05-14 | 杭州亦侬农业科技有限公司 | A kind of lubricating cup inner wall polish-brush flow-line equipment |
| CN107971880A (en) * | 2017-11-28 | 2018-05-01 | 温岭市奥美特电子有限公司 | A kind of processing technology of die casting aluminum component automatically grinding |
| CN108655911B (en) * | 2018-05-14 | 2020-04-17 | 柳州中科机器人自动化股份有限公司 | Multifunctional robot polishing equipment |
| CN108505100B (en) * | 2018-06-14 | 2023-12-22 | 广东粤盛达自动化科技有限公司 | Intelligent full-automatic upper row production line for profiles and control method thereof |
| CN109227289A (en) * | 2018-09-29 | 2019-01-18 | 嘉善浩辰机械密封有限公司 | A kind of sealing element grinding device |
| CN109333320A (en) * | 2018-10-24 | 2019-02-15 | 武汉理工大学 | A kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot and technique |
| CN110125757B (en) * | 2019-06-11 | 2020-11-13 | 诸暨市鸿畴智能科技有限公司 | Deburring device for lower swing arm casting of automobile |
| CN113118522B (en) * | 2020-01-15 | 2022-10-18 | 汉达精密电子(昆山)有限公司 | Automatic milling thimble seal equipment |
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| CN106346337A (en) | 2017-01-25 |
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