CN113843672A

CN113843672A - Plate surface finish grinding device for robot machining

Info

Publication number: CN113843672A
Application number: CN202010594340.7A
Authority: CN
Inventors: 李绘波; 赵智怀
Original assignee: Kunshan Huating Precision Machinery Co ltd
Current assignee: Kunshan Huating Precision Machinery Co ltd
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2021-12-28

Abstract

The invention discloses a plate surface finish grinding device for robot machining, which belongs to the technical field of robot machining equipment and comprises a base, wherein collecting boxes are fixed at the left end and the right end of the base respectively, a plate to be machined is placed on the base, a vacuum adsorption disc is arranged on the upper side of the base, the lower surface of sponge abrasive paper is attached to the upper surface of the plate to be machined, an air pump for vacuum adsorption is arranged on the upper side of the vacuum adsorption disc, two groups of air cylinders are fixed on the rear side of the upper surface of the base, the output end of each air cylinder is connected with a driving mechanism for driving the vacuum adsorption disc to move left and right, and two symmetrically arranged chip collecting mechanisms are fixed at the two ends of the vacuum adsorption disc respectively, so that the sponge abrasive paper can be driven to move left and right to fully polish the upper surface of the plate to be machined, and simultaneously, the chips can be collected in the polishing process due to the arrangement of the chip collecting mechanisms, need not artifical clearance, great improvement the efficiency that panel was polished.

Description

Plate surface finish grinding device for robot machining

Technical Field

The invention relates to the technical field of robot processing equipment, in particular to a plate surface fine grinding device for robot processing.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings. At present, international robot scholars divide robots into two types from application environments: industrial robots in manufacturing environments and service and humanoid robots in non-manufacturing environments.

From the application environment, robots are also classified into two major categories, namely industrial robots and special robots by robots experts in China. This is consistent with international classification. Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots oriented to the industrial field. Special robots are then advanced robots, other than industrial robots, for non-manufacturing industries and serving humans, comprising: service robots, underwater robots, entertainment robots, military robots, agricultural robots, and the like. In special robots, some branches develop rapidly and have the tendency of independent system formation, such as service robots, underwater robots, military robots, micro-operation robots and the like.

Since the robot is a mechanical device with high precision, the machining precision of the robot needs to be ensured when the robot is machined. In the process of machining by the robot, the outer surface of the plate needs to be finely ground, the fine grinding method in the prior art is to grind the plate by manually holding fine grinding equipment, and the grinding mode is low in working efficiency, manual operation is needed, and the labor intensity is high.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a plate surface fine grinding device for robot machining, the scheme can drive sponge sand paper to move left and right to fully grind the upper surface of a plate to be machined, and meanwhile, as a fragment collecting mechanism is arranged, fragments can be collected in the grinding process, manual cleaning is not needed, and the plate grinding efficiency is greatly improved.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

A panel surface finish grinding device for robot machining comprises a base, collecting boxes are fixed at the left end and the right end of the base, the height of each collecting box is higher than that of the base, a panel to be machined is placed on the base, the length of the panel to be machined is the same as that of the base, a vacuum adsorption disc is arranged on the upper side of the base, an abrasive paper adsorption groove is formed in the lower side wall of the vacuum adsorption disc, sponge abrasive paper is arranged inside the abrasive paper adsorption groove and matched with the abrasive paper adsorption groove, the lower surface of the sponge abrasive paper is attached to the upper surface of the panel to be machined, the width of the sponge abrasive paper is the same as that of the panel to be machined, an air pump for vacuum adsorption is arranged on the upper side of the vacuum adsorption disc, two groups of air cylinders are fixed on the rear side of the upper surface of the base, and the output end of each air cylinder is connected with a driving mechanism for driving the vacuum adsorption disc to move left and right, and the driving mechanism is in driving connection with the vacuum adsorption disc, and the two ends of the vacuum adsorption disc are both fixed with the symmetrically arranged chip collecting mechanisms. When using the correct grinding device, to treat that processing panel places on the base, the collecting box that utilizes both sides treats processing panel and carries on spacingly, utilize the air pump to adsorb sponge abrasive paper, it moves down to sponge abrasive paper and treats processing panel contact to drive the vacuum adsorption dish through control cylinder, it controls to remove about actuating mechanism drives the vacuum adsorption dish, thereby it carries out abundant polishing to drive the upper surface of treating processing panel to remove about the sponge abrasive paper, simultaneously owing to set up piece collection mechanism and can collect the piece at the in-process of polishing, need not artifical clearance, great improvement the efficiency that panel was polished, after polishing the completion, take off and treat that processing panel puts into another and treat processing panel and continue to polish.

Furthermore, the depth of the sand paper adsorption groove is 2-3mm, and the thickness of the sponge sand paper is 5-7 mm. The depth of abrasive paper adsorption tanks is 2-3mm, and the thickness of sponge abrasive paper is 5-7mm for the abrasive paper adsorption tanks can effectively fix a position sponge abrasive paper, avoids sponge abrasive paper to produce the skew.

Furthermore, the driving mechanism comprises a fixed seat and a mounting bracket for positioning the fixed seat, the mounting bracket is connected with the output end of the air cylinder, a driving wheel which is concentrically arranged is embedded in the fixed seat and is rotationally connected with the fixed seat, a speed reduction motor for driving the driving wheel to rotate is mounted on the back surface of the fixed seat and is fixed on the mounting bracket, a vertically arranged transmission rod is arranged on the front side of the driving wheel, a fixed rotating shaft is fixed at the center of the top end of the front surface of the fixed seat, the top end of the transmission rod is rotationally connected with the fixed rotating shaft, an eccentric shaft which is perpendicular to the driving wheel is fixed on the front surface of the driving wheel, a first waist-shaped hole and a second waist-shaped hole are formed in the transmission rod, the eccentric shaft is clamped in the eccentric shaft, a sliding seat is slidably connected with the bottom end of the fixed seat, and a fixed transmission rod is fixed at the center of the front surface of the sliding seat, the fixed transmission rod is inserted in the second waist-shaped hole, the bottom end of the sliding seat is connected with a connecting rod, and the sliding seat is connected with the vacuum adsorption disc through the connecting rod. When the driving mechanism works, the speed reduction motor is started to drive the driving wheel to rotate, the eccentric shaft is driven to rotate in the rotating process of the driving wheel, and the driving wheel drives the sliding seat to perform slow reciprocating motion left and right in the rotating process of the driving wheel due to the arrangement of the transmission rod, the fixed rotating shaft and the fixed transmission rod, so that the vacuum adsorption disc is driven to perform slow reciprocating motion left and right, and the driving of the vacuum adsorption disc is realized, and the working stability is high.

Furthermore, the outer diameter of the eccentric shaft is matched with the width of the first waist-shaped hole, and the outer diameter of the fixed transmission rod is matched with the width of the second waist-shaped hole.

Furthermore, a T-shaped sliding groove is formed in the side wall, close to the sliding seat, of the fixed seat, a T-shaped sliding block is fixed to the side wall, close to the fixed seat, of the sliding seat, and the T-shaped sliding block is clamped inside the T-shaped sliding groove. Utilize T shape slider and T shape spout to realize the sliding connection between sliding seat and the fixing base, can also realize firm the connection when simple structure, guarantee the steady work of device.

Further, the debris collecting mechanism comprises a shell, a horizontally arranged partition plate is fixed inside the shell, an electromagnet is fixed on the lower surface of the partition plate, an opening is formed in the bottom of the shell and penetrates through the opening, a first conducting strip is fixed at the center of the upper surface of the partition plate, two parallel plates are fixed on the inner wall of one side, close to the vacuum adsorption disc, of the shell, a second vertically arranged conducting strip is sleeved on a limiting slide rod, a compression spring is sleeved on the right side of the second conducting strip on the limiting slide rod, a storage battery is fixed on the upper surface of the partition plate, when the first conducting strip is attached to a limiting stop block, the storage battery supplies power to an iron core of the electromagnet, electric telescopic rods are fixed on the collecting boxes on two sides, and an extruding rod which is horizontally arranged is fixed on the side wall, close to the vacuum adsorption disc, of an output end of the electric telescopic rod, one side of the shell, which is close to the extrusion rod, is provided with an extrusion hole matched with the extrusion rod, and when the debris collecting mechanism moves to the maximum stroke position, the extrusion rod extrudes the second conducting strip to shorten the length of the compression spring to the shortest length. In an initial state, the first conducting strip is in contact with the second conducting strip, the storage battery supplies power to the electromagnet, so that the electromagnet generates a magnetic field, the chips generated in the grinding process can be adsorbed and collected, and the chip collecting mechanism performs left-right reciprocating motion along with the vacuum adsorption disc and collects the chips in the moving process, so that the collecting effect is ensured; when the left piece collecting mechanism moves to the left maximum stroke, the extrusion rod is inserted into the shell and extrudes the second conducting strip to the maximum stroke position, when the extrusion rod extrudes the second conducting strip, the second conducting strip is separated from the first conducting strip, the electromagnet is powered off at the moment, the adsorbed pieces on the electromagnet drop to the inside of the collecting box, the automatic cleaning of the adsorbed pieces on the electromagnet is realized, the manual operation is not needed, and the cleaning effect of the piece collecting mechanism is ensured.

Furthermore, the extrusion hole is a hard insulating rod, and the hard insulating rod is a hard plastic rod. The hard plastic rod is made of an insulating material, so that electrification can be avoided when the extrusion hole is in contact with the second conducting strip, and the safety is improved.

Furthermore, an insulating sealing strip is arranged at the contact position of the shell and the electromagnet. The contact department of shell and electro-magnet is equipped with insulating sealing strip, can avoid the piece to get into inside the shell.

Furthermore, a limit stop is fixed on the limit slide rod, and the right side wall of the limit stop is flush with the right side wall of the first conducting strip. Set up limit stop, can carry out spacing the stopping to the second conducting strip, guarantee that the second conducting strip is in vertical state.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) this scheme can realize driving sponge abrasive paper and remove and control the upper surface of treating processing panel and carry out abundant polishing, simultaneously owing to set up piece collection mechanism and can collect the piece at the in-process of polishing, need not artifical clearance, great improvement the efficiency that panel was polished.

(2) The depth of abrasive paper adsorption tanks is 2-3mm, and the thickness of sponge abrasive paper is 5-7mm for the abrasive paper adsorption tanks can effectively fix a position sponge abrasive paper, avoids sponge abrasive paper to produce the skew.

(3) When the driving mechanism works, the speed reduction motor is started to drive the driving wheel to rotate, the eccentric shaft is driven to rotate in the rotating process of the driving wheel, and the driving wheel drives the sliding seat to perform slow reciprocating motion left and right in the rotating process of the driving wheel due to the arrangement of the transmission rod, the fixed rotating shaft and the fixed transmission rod, so that the vacuum adsorption disc is driven to perform slow reciprocating motion left and right, and the driving of the vacuum adsorption disc is realized, and the working stability is high.

(4) Utilize T shape slider and T shape spout to realize the sliding connection between sliding seat and the fixing base, can also realize firm the connection when simple structure, guarantee the steady work of device.

(5) In an initial state, the first conducting strip is in contact with the second conducting strip, the storage battery supplies power to the electromagnet, so that the electromagnet generates a magnetic field, the chips generated in the grinding process can be adsorbed and collected, and the chip collecting mechanism performs left-right reciprocating motion along with the vacuum adsorption disc and collects the chips in the moving process, so that the collecting effect is ensured; when the left piece collecting mechanism moves to the left maximum stroke, the extrusion rod is inserted into the shell and extrudes the second conducting strip to the maximum stroke position, when the extrusion rod extrudes the second conducting strip, the second conducting strip is separated from the first conducting strip, the electromagnet is powered off at the moment, the adsorbed pieces on the electromagnet drop to the inside of the collecting box, the automatic cleaning of the adsorbed pieces on the electromagnet is realized, the manual operation is not needed, and the cleaning effect of the piece collecting mechanism is ensured.

(6) The hard plastic rod is made of an insulating material, so that electrification can be avoided when the extrusion hole is in contact with the second conducting strip, and the safety is improved.

(7) The contact department of shell and electro-magnet is equipped with insulating sealing strip, can avoid the piece to get into inside the shell.

(8) Set up limit stop, can carry out spacing the stopping to the second conducting strip, guarantee that the second conducting strip is in vertical state.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a schematic view of a connection structure between a fixed seat and a sliding seat according to the present invention;

FIG. 3 is a schematic view of the debris collection mechanism of the present invention;

FIG. 4 is a state diagram of the present invention in operation;

FIG. 5 is an enlarged schematic view at A in FIG. 4;

FIG. 6 is another state diagram of the present invention in operation;

fig. 7 is an enlarged schematic view at B in fig. 6.

The reference numbers in the figures illustrate:

the device comprises a base 1, a collecting box 2, a plate 3 to be processed, an electric telescopic rod 4, an extrusion rod 5, a vacuum adsorption disc 6, a sand paper adsorption groove 7, sponge sand paper 8, an air pump 9, an air cylinder 10, a fixed seat 11, a sliding chute 111T-shaped, a driving wheel 12, a driving rod 13, a fixed rotating shaft 14, a first waist-shaped hole 15, an eccentric shaft 16, a second waist-shaped hole 17, a sliding seat 18, a sliding block 181T-shaped, a fixed driving rod 19, a connecting rod 20, a debris collecting mechanism 21, a shell 211, a partition plate 212, an electromagnet 213, a first conducting plate 214, a limit sliding rod 215, a second conducting plate 216, a compression spring 217, a limit stop 218, a storage battery 219 and an extrusion hole 2110.

Detailed Description

The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-7, a surface finish grinding device for a plate for robot processing comprises a base 1, collecting boxes 2 are fixed at the left and right ends of the base 1, the height of the collecting boxes 2 is higher than that of the base 1, the plate 3 to be processed is placed on the base 1, the length of the plate 3 to be processed is the same as that of the base 1, a vacuum adsorption disc 6 is arranged on the upper side of the base 1, an abrasive paper adsorption groove 7 is formed in the lower side wall of the vacuum adsorption disc 6, sponge abrasive paper 8 is arranged in the abrasive paper adsorption groove 7, the sponge abrasive paper 8 is matched with the abrasive paper adsorption groove 7, the lower surface of the sponge abrasive paper 8 is attached to the upper surface of the plate 3 to be processed, the width of the sponge abrasive paper 8 is the same as that of the plate 3 to be processed, an air pump 9 for vacuum adsorption is arranged on the upper side of the vacuum adsorption disc 6, two sets of air cylinders 10 are fixed on the rear side of the upper surface of the base 1, the output end of each air cylinder 10 is connected with a driving mechanism for driving the vacuum adsorption disc 6 to move left and right, and the driving mechanism is in driving connection with the vacuum adsorption disc 6, and the two ends of the vacuum adsorption disc 6 are both fixed with the symmetrically arranged debris collecting mechanisms 21. When using the correct grinding device, will wait to process panel 3 and place on base 1, it is spacing to utilize collecting box 2 of both sides to treat processing panel 3, utilize air pump 9 to adsorb sponge abrasive paper 8, it moves down to sponge abrasive paper 8 and wait to process panel 3 contact to drive vacuum adsorption dish 6 through control cylinder 10, it removes about actuating mechanism drives vacuum adsorption dish 6 to open, thereby it carries out abundant polishing to drive about sponge abrasive paper 8 to remove the upper surface of treating processing panel 3, simultaneously owing to set up piece collection mechanism 21 and can collect the piece at the in-process of polishing, need not artifical clearance, great improvement the efficiency that the panel was polished, after polishing the completion, it puts into another and waits to process panel 3 and continue to polish to take off to wait to process panel 3 to take off to treat processing panel 3.

The depth of the sand paper adsorption groove 7 is 2-3mm, and the thickness of the sponge sand paper 8 is 5-7 mm. The depth of the sand paper adsorption groove 7 is 2-3mm, and the thickness of the sponge sand paper 8 is 5-7mm, so that the sand paper adsorption groove 7 can effectively position the sponge sand paper 8, and the sponge sand paper 8 is prevented from deviating.

The driving mechanism comprises a fixed seat 11 and a mounting bracket for positioning the fixed seat 11, the mounting bracket is connected with the output end of the air cylinder 10, a driving wheel 12 which is concentrically arranged is embedded in the fixed seat 11, the driving wheel 12 is rotatably connected with the fixed seat 11, a speed reduction motor for driving the driving wheel 12 to rotate is mounted on the back surface of the fixed seat 11 and is fixed on the mounting bracket, a vertically arranged transmission rod 13 is arranged on the front side of the driving wheel 12, a fixed rotating shaft 14 is fixed at the center of the top end of the front surface of the fixed seat 11, the top end of the transmission rod 13 is rotatably connected with the fixed rotating shaft 14, an eccentric shaft 16 which is perpendicular to the driving wheel 12 is fixed on the front surface of the driving wheel 12, a first waist-shaped hole 15 and a second waist-shaped hole 17 are arranged on the transmission rod 13, the eccentric shaft 16 is clamped in the eccentric shaft 16, a sliding seat 18 is slidably connected with the bottom end of the fixed seat 11, and a fixed transmission rod 19 is fixed at the center of the front surface of the sliding seat 18, the fixed transmission rod 19 is inserted in the second waist-shaped hole 17, the bottom end of the sliding seat 18 is connected with a connecting rod 20, and the sliding seat 18 is connected with the vacuum adsorption disc 6 through the connecting rod 20. When the driving mechanism works, the speed reduction motor is started to drive the driving wheel 12 to rotate, the driving wheel 12 drives the eccentric shaft 16 to rotate in the rotating process, and due to the arrangement of the transmission rod 13, the fixed rotating shaft 14 and the fixed transmission rod 19, the sliding seat 18 is driven to perform slow reciprocating motion left and right in the rotating process of the driving wheel 12, so that the vacuum adsorption disc 6 is driven to perform slow reciprocating motion left and right, and the high-stability working condition is realized.

The eccentric shaft 16 has an outer diameter matching the width of the first kidney-shaped hole 15 and the fixed transmission rod 19 has an outer diameter matching the width of the second kidney-shaped hole 17.

A T-shaped sliding groove 111 is formed in the side wall, close to the sliding seat 18, of the fixed seat 11, a T-shaped sliding block 181 is fixed to the side wall, close to the fixed seat 11, of the sliding seat 18, and the T-shaped sliding block 181 is clamped inside the T-shaped sliding groove 111. Utilize T shape slider and T shape spout to realize the sliding connection between sliding seat 18 and the fixing base 11, can also realize firm the connection when simple structure, guarantee the steady work of device.

The debris collecting mechanism 21 comprises a shell 211, a horizontally arranged partition plate 212 is fixed in the shell 211, an electromagnet 213 is fixed on the lower surface of the partition plate 212, an opening is formed in the bottom of the shell 211, the electromagnet 213 penetrates through the opening, a first conducting plate 214 is fixed at the center of the upper surface of the partition plate 212, two parallelly arranged 205 are fixed on the inner wall of one side of the shell 211 close to the vacuum adsorption disc 6, a vertically arranged second conducting plate 216 is sleeved on a limit sliding rod 215, a compression spring 217 is sleeved on the right side of the second conducting plate 216 on the limit sliding rod 215, a storage battery 219 is fixed on the upper surface of the partition plate 212, when the first conducting plate 214 is attached to a limit stop 218, the storage battery 219 supplies power to an iron core of the electromagnet 213, electric telescopic rods 4 are fixed on collecting boxes 2 on two sides, and a horizontally arranged extrusion rod 5 is fixed on the side wall of the output end of the electric telescopic rods 4 close to the vacuum adsorption disc 6, the housing 211 has a pressing hole 2110 formed at a side thereof close to the pressing rod 5 for engaging with the pressing rod 5, and when the debris collecting mechanism 21 moves to the maximum stroke position, the pressing rod 5 presses the second conductive plate 216 until the compression spring 217 is shortened to the minimum length. In an initial state, the first conducting strip 214 is in contact with the second conducting strip 216, the storage battery 219 supplies power to the electromagnet 213 to enable the electromagnet 213 to generate a magnetic field, debris generated in the grinding process can be adsorbed and collected, and as the debris collection mechanism 21 reciprocates left and right along with the vacuum adsorption disc 6, the debris collection mechanism 21 collects the debris in the moving process, so that the collection effect is ensured; when the left chip collecting mechanism 21 moves to the left maximum stroke, the extrusion rod 5 is inserted into the shell 211 and extrudes the second conducting strip 216 and extrudes the second conducting strip to the maximum stroke position, when the extrusion rod 5 extrudes the second conducting strip 216, the second conducting strip 216 is separated from the first conducting strip 214, the electromagnet 213 is powered off at the moment, the adsorbed chips on the electromagnet 213 drop to the inside of the collecting box 2, the automatic cleaning of the adsorbed chips on the electromagnet 213 is realized, the manual operation is not needed, and the cleaning effect of the chip collecting mechanism 21 is ensured.

The extrusion hole 2110 is a hard insulating rod, and the hard insulating rod is a hard plastic rod. The hard plastic rod is made of an insulating material, so that electrification can be avoided when the extrusion hole 2110 is in contact with the second conducting strip 216, and safety is improved.

And an insulating sealing strip is arranged at the contact part of the outer shell 211 and the electromagnet 213. The contact position of the outer shell 211 and the electromagnet 213 is provided with an insulating sealing strip, so that the debris can be prevented from entering the inner part of the outer shell 211.

A limit stop 218 is fixed on the limit sliding rod 215, and the right side wall of the limit stop 218 is flush with the right side wall of the first conducting strip 214. The limit stopper 218 is arranged to limit and block the second conductive sheet 216, so as to ensure that the second conductive sheet 216 is in a vertical state.

The above; but are merely preferred embodiments of the invention; the scope of the invention is not limited thereto; any person skilled in the art is within the technical scope of the present disclosure; the technical scheme and the improved concept of the invention are equally replaced or changed; are intended to be covered by the scope of the present invention.

Claims

1. The utility model provides a panel surface finish grinding device for processing of robot, includes base (1), its characterized in that: the vacuum adsorption plate is characterized in that collecting boxes (2) are fixed at the left end and the right end of the base (1), the height of each collecting box (2) is higher than that of the base (1), the base (1) is provided with plates (3) to be processed, the length of each plate (3) to be processed is the same as that of the base (1), a vacuum adsorption plate (6) is arranged on the upper side of the base (1), an abrasive paper adsorption groove (7) is formed in the lower side wall of the vacuum adsorption plate (6), sponge abrasive paper (8) is arranged inside the abrasive paper adsorption groove (7), the sponge abrasive paper (8) is matched with the abrasive paper adsorption groove (7), the lower surface of the sponge abrasive paper (8) is attached to the upper surface of each plate (3) to be processed, the width of the sponge abrasive paper (8) is the same as that of each plate (3) to be processed, an air pump (9) for vacuum adsorption is arranged on the upper side of the vacuum adsorption plate (6), the base (1) upper surface rear side is fixed with two sets of cylinders (10), the output of cylinder (10) is connected with the actuating mechanism who is used for driving vacuum adsorption dish (6) side-to-side movement, and actuating mechanism and vacuum adsorption dish (6) drive connection, the both ends of vacuum adsorption dish (6) all are fixed with the piece collection mechanism (21) that the symmetry set up.

2. A panel surface finish grinding apparatus for robotic machining as claimed in claim 1 wherein: the depth of the sand paper adsorption groove (7) is 2-3mm, and the thickness of the sponge sand paper (8) is 5-7 mm.

3. A panel surface finish grinding apparatus for robotic machining as claimed in claim 1 wherein: the driving mechanism comprises a fixed seat (11) and a mounting bracket used for positioning the fixed seat (11), the mounting bracket is connected with the output end of a cylinder (10), a driving wheel (12) concentrically arranged is embedded in the fixed seat (11), the driving wheel (12) is rotationally connected with the fixed seat (11), a speed reduction motor used for driving the driving wheel (12) to rotate is mounted at the back of the fixed seat (11), the speed reduction motor is fixed on the mounting bracket, a vertically arranged transmission rod (13) is arranged on the front side of the driving wheel (12), a fixed rotating shaft (14) is fixed at the center of the top end of the front surface of the fixed seat (11), the top end of the transmission rod (13) is rotationally connected with the fixed rotating shaft (14), an eccentric shaft (16) vertically arranged on the driving wheel (12) is fixed on the front surface of the driving wheel (12), a first waist-shaped hole (15) and a second waist-shaped hole (17) are formed in the transmission rod (13), the eccentric shaft (16) is clamped inside the eccentric shaft (16), the bottom end of the fixed seat (11) is connected with a sliding seat (18) in a sliding mode, a fixed transmission rod (19) is fixed to the center of the front surface of the sliding seat (18), the fixed transmission rod (19) is inserted into the second waist-shaped hole (17) in a plugging mode, the bottom end of the sliding seat (18) is connected with a connecting rod (20), and the sliding seat (18) is connected with the vacuum adsorption disc (6) through the connecting rod (20).

4. A panel surface finish grinding apparatus for robotic machining as claimed in claim 1 wherein: the outer diameter of the eccentric shaft (16) is matched with the width of the first waist-shaped hole (15), and the outer diameter of the fixed transmission rod (19) is matched with the width of the second waist-shaped hole (17).

5. A panel surface finish grinding apparatus for robotic machining as claimed in claim 1 wherein: the T-shaped sliding groove (111) is formed in one side wall, close to the sliding seat (18), of the fixed seat (11), a T-shaped sliding block (181) is fixed to one side wall, close to the fixed seat (11), of the sliding seat (18), and the T-shaped sliding block (181) is clamped inside the T-shaped sliding groove (111).

6. A panel surface finish grinding apparatus for robotic machining as claimed in claim 1 wherein: the debris collecting mechanism (21) comprises a shell (211), a horizontally arranged partition plate (212) is fixed inside the shell (211), an electromagnet (213) is fixed on the lower surface of the partition plate (212), an opening is formed in the bottom of the shell (211), the electromagnet (213) penetrates through the opening, a first conducting plate (214) is fixed at the center of the upper surface of the partition plate (212), two parallel conducting plates (205) are fixed on the inner wall of one side, close to the vacuum adsorption disc (6), of the shell (211), a vertically arranged second conducting plate (216) is sleeved on a limiting sliding rod (215), a compression spring (217) is sleeved on the right side, located on the second conducting plate (216), of the limiting sliding rod (215), a storage battery (219) is fixed on the upper surface of the partition plate (212), and when the first conducting plate (214) is attached to a limiting stop block (218), storage battery (219) is the iron core power supply of electro-magnet (213), both sides all be fixed with electric telescopic handle (4) on collecting box (2), the output of electric telescopic handle (4) is fixed with extrusion stem (5) that the level set up on being close to one side lateral wall of vacuum adsorption dish (6), shell (211) are gone up one side that is close to extrusion stem (5) and have been seted up with extrusion stem (5) assorted extrusion hole (2110), when piece collection mechanism (21) removed to the maximum stroke position, extrusion stem (5) extrusion second conducting strip (216) shortened to shortest length to compression spring (217).

7. A panel surface finish grinding apparatus for robotic machining as claimed in claim 1 wherein: the extrusion hole (2110) is a hard insulating rod, and the hard insulating rod is a hard plastic rod.

8. A panel surface finish grinding apparatus for robotic machining as claimed in claim 1 wherein: and an insulating sealing strip is arranged at the contact position of the outer shell (211) and the electromagnet (213).

9. A panel surface finish grinding apparatus for robotic machining as claimed in claim 1 wherein: and a limit stop (218) is fixed on the limit slide bar (215), and the right side wall of the limit stop (218) is flush with the right side wall of the first conducting strip (214).