CN211540720U

CN211540720U - Robot polisher station

Info

Publication number: CN211540720U
Application number: CN201922154194.1U
Authority: CN
Inventors: 李家辉; 罗创明
Original assignee: Guangdong Logen Robot Co ltd
Current assignee: Guangdong Logen Robot Co ltd
Priority date: 2019-12-04
Filing date: 2019-12-04
Publication date: 2020-09-22
Anticipated expiration: 2029-12-04

Abstract

The utility model discloses a robot polisher station, which comprises a rotary polisher, a double-push type material rack, an in-line tool magazine and an industrial robot; the rotary polishing device is used for fixing a workpiece, driving the workpiece to rotate and cleaning the polished workpiece; the double-pushing-out type material rack is used for placing a workpiece to be polished, placing the polished workpiece, pushing the polished workpiece out of the dustproof room and pushing the workpiece to be polished into the dustproof room; the in-line tool magazine is used for placing tools for polishing workpieces and arranging the tools orderly; the industrial robot is provided with an electronic shaft floating device and a tool clamp, the electronic shaft floating device is used for clamping and taking a tool required by polishing from the in-line tool magazine, polishing a workpiece placed on the rotary polishing device by using the tool and placing the used tool back into the in-line tool magazine, and the tool clamp is used for clamping and taking the workpiece on the double-push-out material rack and placing the polished workpiece back into the double-push-out material rack.

Description

Robot polisher station

Technical Field

The utility model relates to a burnishing and polishing technical field especially relates to a robot polisher station.

Background

For a workpiece with high precision requirement, the workpiece is primarily processed, and if the hole position on the surface is not further processed, the processing precision and the assembly precision of the product can be directly influenced, so that a qualified product is produced, and the workpiece can meet the requirement of surface smoothness by a plurality of grinding procedures.

At present, a part of companies still adopt a pure manual polishing mode for polishing workpieces, and a worker holds a polishing tool to polish the workpieces, and the manual polishing mode has a series of problems, such as low production efficiency and unstable polishing quality of products, so that the overall polishing quality is uneven, the polishing quality of the workpieces cannot be ensured, and extremely fine dust can be generated in the polishing process, the processing environment is severe, and the physical health of the worker is damaged.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model aims to provide a robot grinding machine station, it adopts industrial robot to carry out full-automatic grinding to the work piece, can effectively improve the quality of grinding and improve production efficiency.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a robot polisher station comprises a rotary polisher device, a double-push type material rack, an in-line tool magazine and an industrial robot;

the rotary polishing device is used for fixing a workpiece, driving the workpiece to rotate and cleaning the polished workpiece;

the double-pushing-out type material rack is used for placing a workpiece to be polished, placing the polished workpiece, pushing the polished workpiece out of the dustproof room and pushing the workpiece to be polished into the dustproof room;

the in-line tool magazine is used for placing tools for polishing workpieces and arranging the tools orderly;

the industrial robot is provided with an electronic shaft floating device and a tool clamp, the electronic shaft floating device is used for clamping and taking a tool required by polishing from the in-line tool magazine, polishing a workpiece placed on the rotary polishing device by using the tool and placing the used tool back into the in-line tool magazine, and the tool clamp is used for clamping and taking the workpiece on the double-push-out material rack and placing the polished workpiece back into the double-push-out material rack;

the industrial robot is used for moving the electronic shaft floating device to the in-line tool magazine and the rotary polishing device, and the industrial robot is used for moving the tool clamp to the double-push-out type material rack and the rotary polishing device.

Further, the rotary polishing device comprises a workbench frame and a polishing workbench, a workbench frame main board is arranged on the workbench frame, a waterproof shield is arranged on the workbench frame main board, the polishing workbench is arranged in the waterproof shield, the polishing workbench comprises a rotary polishing workbench, a workpiece placing station and a workpiece clamping device for clamping workpieces are arranged on the rotary polishing workbench, the workpiece clamping device comprises a first positioning plate, a second positioning plate, a first clamping cylinder, a second clamping cylinder, a first clamping plate and a second clamping plate, the first clamping cylinder and the first positioning plate are respectively arranged on the left side and the right side of the workpiece placing station, the second clamping cylinder and the second positioning plate are respectively arranged in front of and behind the workpiece placing station, and a first clamping cylinder piston rod is arranged on the first clamping cylinder, the first clamping cylinder piston rod is connected with the first clamping plate, a second clamping cylinder piston rod is arranged on the second clamping cylinder, and the second clamping cylinder piston rod is connected with the second clamping plate; the first clamping cylinder is used for driving a piston rod of the first clamping cylinder to move left and right so as to drive the first clamping plate to compress or loosen a workpiece, the second clamping cylinder is used for driving a piston rod of the second clamping cylinder to move back and forth so as to drive the second clamping plate to compress or loosen the workpiece, a rotating motor is arranged at the bottom of the rotary polishing workbench and used for driving the rotary polishing workbench to rotate.

Further, the rotary polishing device also comprises a visual system, the visual system is arranged at the top of the polishing workbench and used for judging the position of the workpiece, the outline of the workpiece and the position of the hole site of the workpiece, the visual system comprises a support, a camera fixing frame, a linear sliding table motor, a camera and a camera lamp, the linear sliding table is arranged on the support and connected with the linear sliding table, the camera and the camera lamp are both arranged on the camera fixing frame, the linear sliding table is connected with the linear sliding table motor and driven by the linear sliding table motor to do linear motion, so as to drive the camera fixing frame, the camera and the camera lamp to do linear motion, the workbench frame main board is provided with an ultrasonic cleaning device which is arranged at one side of the waterproof shield, the ultrasonic cleaning device is used for cleaning a polished workpiece and comprises an ultrasonic fixing table and an ultrasonic cleaning machine, wherein the ultrasonic cleaning machine is arranged on the ultrasonic fixing table, and an ultrasonic workpiece positioning plate used for placing the workpiece is arranged in the ultrasonic cleaning machine.

Further, the double-pushing-type material rack comprises a material rack main board, a material rack and a material rack air cylinder are arranged on the material rack main board, the material rack comprises a guide component, an upper supporting plate, a lower supporting plate and a tray for placing a workpiece, the tray is arranged on the upper supporting plate, a material rack air cylinder sliding block is arranged on the material rack air cylinder, and the material rack air cylinder sliding block is connected with the upper supporting plate through a connecting component; the guide assembly comprises an upper guide assembly and a lower guide assembly, one end of the upper guide assembly is connected with the upper supporting plate, and the other end of the upper guide assembly is connected with the lower supporting plate; the material rack air cylinder is used for driving the material rack air cylinder sliding block to move back and forth so as to drive the tray and the upper supporting plate to move back and forth on the upper guide assembly; one end of the lower guide assembly is connected with the lower support plate, and the other end of the lower guide assembly is connected with the rack main board of the material rack; the lower supporting plate moves back and forth under the action of external force, so that the tray, the upper supporting plate and the upper guide assembly are driven to move back and forth on the lower guide assembly.

Further, the upper guide assembly comprises a first upper guide assembly and a second upper guide assembly;

the first upper guide assembly comprises a first left support, a first guide rail support plate, a first right support, a first slider cover plate, a first guide rail organ cover, a first left buffer plate, a first right buffer plate and a first linear guide rail;

the first left support and the first right support are respectively arranged on the lower support plate, a first left positioning block and a first right positioning block which limit the position of the first slider cover plate are respectively arranged at two ends of the lower support plate, one end of the first guide rail support plate is connected with the first left support, the other end of the first guide rail support plate is connected with the first right support, the first linear guide rail is arranged on the first guide rail support plate, the first slider cover plate and the first guide rail organ cover are both sleeved on the first linear guide rail and the first guide rail support plate, the first slider cover plate is connected with the upper support plate, a first left buffer plate and a first right buffer plate are respectively arranged at two sides of the first slider cover plate, one end of the first guide rail organ cover is connected with the first right support, and the other end of the first guide rail organ cover is connected with the first slider cover plate;

the second upper guide assembly comprises a second left support, a second guide rail support plate, a second right support, a second slider cover plate, a second guide rail organ cover, a second left buffer plate, a second right buffer plate and a second linear guide rail;

the second left support and the second right support are respectively arranged on the lower support plate, a second left positioning block and a second right positioning block which limit the position of a second slider cover plate are respectively arranged at two ends of the lower support plate, one end of a second guide rail support plate is connected with the second left support, the other end of the second guide rail support plate is connected with the second right support, the second guide rail support plate is provided with the second linear guide rail, the second slider cover plate and a second guide rail organ cover are respectively sleeved on the second linear guide rail and the second guide rail support plate, the second slider cover plate is connected with the upper support plate, a second left buffer plate and a second right buffer plate are respectively arranged at two sides of the second slider cover plate, one end of the second guide rail organ cover is connected with the second right support, and the other end of the second guide rail organ cover is connected with the second slider cover plate;

the lower guide assembly comprises a first lower guide assembly and a second lower guide assembly;

the first lower guide assembly comprises a third left support, a third guide rail support plate, a third right support, a third slider cover plate, a third guide rail organ cover, a third left buffer plate, a third right buffer plate and a third linear guide rail;

the third left support and the third right support are respectively arranged on the rack main board, one end of a third guide rail supporting plate is connected with the third left support, the other end of the third guide rail supporting plate is connected with the third right support, the third guide rail supporting plate is provided with the third linear guide rail, a third slider cover plate and a third guide rail organ cover are respectively sleeved on the third linear guide rail and the third guide rail supporting plate, the third slider cover plate is connected with the lower supporting plate, the third left buffer plate and the third right buffer plate are respectively arranged on two sides of the third slider cover plate, one end of the third guide rail organ cover is connected with the third right support, and the other end of the third guide rail organ cover plate is connected with the third slider cover plate;

the second lower guide assembly comprises a fourth left support, a fourth guide rail support plate, a fourth right support, a fourth slider cover plate, a fourth guide rail organ cover, a fourth left buffer plate, a fourth right buffer plate and a fourth linear guide rail;

the fourth left support and the fourth right support are respectively arranged on the rack main board, one end of a fourth guide rail supporting plate is connected with the fourth left support, the other end of the fourth guide rail supporting plate is connected with the fourth right support, the fourth guide rail supporting plate is provided with the fourth linear guide, a fourth slider cover plate and a fourth guide rail organ cover are respectively sleeved on the fourth linear guide and the fourth guide rail supporting plate, the fourth slider cover plate is connected with the lower supporting plate, the fourth left buffer plate and the fourth right buffer plate are respectively arranged on two sides of the fourth slider cover plate, one end of the fourth guide rail organ cover plate is connected with the fourth right support, and the other end of the fourth guide rail organ cover plate is connected with the fourth slider cover plate.

Furthermore, the electronic shaft floating device comprises an electric main shaft device, an upper layer floating mechanism, a middle layer driving mechanism and a bottom layer driving mechanism which are sequentially arranged from top to bottom; the electric spindle device is connected with the upper floating mechanism, the top of the middle driving mechanism is connected with the upper floating mechanism, the bottom of the middle driving mechanism is connected with the bottom driving mechanism, the bottom driving mechanism is used for driving the middle driving mechanism to move back and forth so as to drive the upper floating mechanism and the electric spindle device to move back and forth, and the middle driving mechanism is used for driving the upper floating mechanism to move left and right so as to drive the electric spindle device to move left and right.

Further, the bottom driving mechanism comprises a first linear motor base, a first fixed limiting block, a first linear motor, a first connecting block, a first left linear guide rail, a first right linear guide rail and a first scale grating, the first linear motor, the first left linear guide rail and the first right linear guide rail are all arranged on the first linear motor base, a first linear motor sliding block is arranged on the first linear motor, the first connecting block is connected with the first linear motor sliding block, the top of the first connecting block is connected with the middle layer driving mechanism, the first left linear guide rail and the first right linear guide rail are respectively arranged on two sides of the first linear motor, the first fixed limiting block is arranged on one side of the first linear motor base, and the first scale grating is arranged on the other side of the first linear motor base;

the middle-layer driving mechanism comprises a second linear motor base, a second fixed limiting block, a second linear motor, a second connecting block, a second left linear guide rail, a second right linear guide rail, a second scale grating, a second floating limiting block, a second mounting plate, a second left sliding block, a second right sliding block and a second grating scale reading head support;

the second linear motor, the second left linear guide rail and the second right linear guide rail are all arranged on the second linear motor base, a second linear motor sliding block is arranged on the second linear motor, the second connecting block is connected with the second linear motor sliding block, the top of the second connecting block is connected with the upper floating mechanism, the second left linear guide rail and the second right linear guide rail are respectively arranged on two sides of the second linear motor, the second fixed limiting block is arranged on one side of the second linear motor base, and the second scale grating is arranged on the other side of the second linear motor base;

one end of the second mounting plate is connected with the first connecting block, the other end of the second mounting plate is connected with the second linear motor base, a second left sliding block matched with the first left linear guide rail and a second right sliding block matched with the first right linear guide rail are arranged on the second mounting plate, a second floating limiting block is arranged on one side of the second mounting plate, a second grating ruler reading head support is arranged on the other side of the second mounting plate, a second grating ruler reading head is arranged on the second grating ruler reading head support, and the second grating ruler reading head is used for reading the value of the grating of the first ruler;

the upper-layer floating mechanism comprises a third floating limiting block, a third mounting plate, a third left sliding block, a third right sliding block and a third grating scale reading head support, the top of the third mounting plate is connected with the electric spindle device, the bottom of the third mounting plate is connected with the second connecting block, the third mounting plate is provided with the third left sliding block matched with the second left linear guide rail and the third right sliding block matched with the second right linear guide rail, one side of the third mounting plate is provided with the third floating limiting block, the other side of the third mounting plate is provided with the third grating scale reading head support, the third grating scale reading head support is provided with a third grating scale reading head, and the third grating scale reading head is used for reading the numerical value of the grating of the second scale;

the electric spindle device comprises an electric spindle and a lock shaft ring, the lock shaft ring comprises an electric spindle placing ring and an electric spindle mounting plate, the electric spindle placing ring is connected with the electric spindle mounting plate, the electric spindle is mounted in the electric spindle placing ring through a threaded connecting piece, and the electric spindle mounting plate is connected with a third mounting plate.

Furthermore, a plurality of fixed cutter devices are placed in the in-line tool magazine, each fixed cutter device comprises a fixing piece and a driving piece, each fixing piece comprises a plurality of pressing blocks and a fixing seat, each fixing seat is provided with a shaft hole, a plurality of pressing block grooves communicated with the shaft hole and a plurality of positioning grooves used for placing cutting edges of the cutters, the fixing seats extend outwards to form placing grooves used for placing tool handles of the cutters, the positioning grooves and the pressing block grooves are arranged at intervals, each pressing block is provided with a supporting column and a pressing plate connected with the supporting column, each supporting column is provided with a driving pin hole and a fixing pin hole, the supporting column of each pressing block is installed in the corresponding pressing block groove through the fixing pin hole, the pressing plate of each pressing block is located outside the pressing block groove, each driving piece is provided with a driving cylinder and a driving shaft, and each driving cylinder is; the driving shaft is assembled in the shaft hole and can move along the length direction of the shaft hole; the support column of the pressing block is connected with the driving shaft through the driving pin hole, and the driving piece is used for driving the driving shaft to do reciprocating motion along the length direction of the shaft hole; the driving shaft is used for driving the pressing block to rotate by taking the fixed pin hole of the supporting column as a circle center so as to enable the pressing plate to move at a first position and a second position; the first position is that the pressing plate is pressed on the positioning groove; the second position is that the pressure plate is away from the positioning groove.

Further, the in-line tool magazine still includes bearing frame and unsteady joint, be equipped with linear bearing in the drive shaft, the bearing frame is installed between mounting and driving piece, linear bearing fixed mounting is in the bearing frame, unsteady joint one end is connected with the cylinder, and its other end and drive shaft connection, the downthehole drive shaft of axle is equipped with first round pin hole, be equipped with second round pin hole in the briquetting groove, the first round pin hole of drive shaft is through the round pin jogged joint of the support column of first round pin and briquetting, the second round pin hole in briquetting groove is through the support column fixed round pin jogged joint of second round pin and briquetting.

Further, the tool clamp is connected with the electronic shaft floating device and comprises a pneumatic finger, a left clamping plate and a right clamping plate, a left clamping jaw and a right clamping jaw are arranged on the pneumatic finger, the left clamping plate is connected with the left clamping jaw, and the right clamping plate is connected with the right clamping jaw.

Compared with the prior art, the beneficial effects of the utility model reside in that, rotatory grinding device is used for fixed work piece, drive the work piece after the work piece rotates and the washing is polished, two push-out work or material rest are used for placing the work piece of treating polishing, place the work piece after polishing, the work piece that will polish is released outside the dustproof room and will be treated polishing pushes away to the dustproof room in, the in-line tool magazine is used for placing the cutter that the work piece was used of polishing and puts the cutter neatly, industrial robot is last to be provided with electron axle floating installation and frock clamp, electron axle floating installation is used for taking the required cutter of polishing from the interior clamp of in-line tool magazine, use the cutter to polish and put back the in-line tool magazine in placing the work piece after using in rotatory grinding device, frock clamp is used for pressing from both sides the work piece of double push-out work or material rest and puts back two push-out work. The industrial robot is used for moving the electronic shaft floating device to the in-line tool magazine and the rotary polishing device, and the industrial robot is used for moving the tool clamp to the double-push-out type material rack and the rotary polishing device; the utility model discloses an industrial robot carries out full-automatic polishing to the work piece, can effectively improve the quality of polishing and improve production efficiency.

Drawings

The following detailed description of embodiments of the invention is provided with reference to the accompanying drawings, in which:

fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the rotary polishing device of the present invention.

Fig. 3 is a schematic structural view of the polishing workbench, the ultrasonic cleaning device and the waterproof shield.

Fig. 4 is a schematic structural view of the polishing table of the present invention.

Fig. 5 is a schematic structural view of the ultrasonic cleaning apparatus of the present invention.

Fig. 6 is a schematic structural diagram of the vision system of the present invention.

Fig. 7 is a schematic structural diagram of the dual push-out rack of the present invention.

Fig. 8 is the structural schematic diagram of work or material rest frame mainboard and work or material rest cylinder.

Fig. 9 is a schematic structural diagram of the guide assembly according to the present invention.

Fig. 10 is a schematic structural view of a first upper guide assembly according to the present invention.

Fig. 11 is a schematic structural view of a second upper guide assembly according to the present invention.

Fig. 12 is a schematic structural view of the first lower guiding assembly according to the present invention.

Fig. 13 is a schematic structural view of a second lower guide assembly according to the present invention.

Fig. 14 is a schematic structural diagram of the electronic shaft floating device according to the present invention.

Fig. 15 is a schematic structural diagram of the upper floating mechanism, the middle driving mechanism and the bottom driving mechanism according to the present invention.

Fig. 16 is a schematic structural diagram of a bottom driving mechanism according to the present invention.

Fig. 17 is a schematic structural diagram of a middle layer driving mechanism according to the present invention.

Fig. 18 is a schematic structural diagram of the upper floating mechanism according to the present invention.

Fig. 19 is a schematic structural view of the electric spindle device according to the present invention.

Fig. 20 is a top view of the in-line tool magazine of the present invention.

Fig. 21 is a view in the direction B of fig. 20.

Fig. 22 is a view in the direction C of fig. 20.

Fig. 23 is a schematic structural diagram of the fixed cutter device according to the present invention.

Fig. 24 is a partially enlarged view of a region D of fig. 23.

Fig. 25 is a cross-sectional view taken in the direction E-E of fig. 24.

Fig. 26 is a cross-sectional view in the direction a-a of fig. 23.

In the figure: 1-rotary polishing device, 2-double-push-out material rack, 3-in-line tool magazine, 4-industrial robot, 5-electronic shaft floating device, 11-workbench frame, 12-polishing workbench, 13-vision system, 14-ultrasonic cleaning device, 16-water pumping bucket, 111-workbench machine rack main board, 112-waterproof shield, 113-spray gun support, 114-spray gun, 121-rotary polishing workbench, 122-workpiece placing station, 123-rotary motor, 124-first positioning board, 125-second positioning board, 126-first clamping cylinder, 127-second clamping cylinder, 128-first clamping board, 129-second clamping board, 1210-rotary waterproof cover, 131-support, 132-camera fixing rack, 133-linear sliding table, 134-linear sliding table motor, 135-camera, 136-camera lamp, 141-ultrasonic fixing table, 142-ultrasonic cleaning machine, 143-ultrasonic workpiece positioning plate, 151-grinding fluid fixing frame, 152-grinding fluid placing cup, 21-material rack main board, 22-material rack, 23-material rack air cylinder, 24-upper guide component, 25-lower guide component, 211-front cover, 212-rear cover, 213-front cover fixing plate, 214-front cover adjusting plate, 215-front cover positioning plate, 216-nylon plate, 221-upper support plate, 222-lower support plate, 223-tray, 231-material rack air cylinder slide block, 241-first upper guide component, 242-second upper guide component, 251-first lower guide component, 252-a second lower guide assembly, 281-a cylinder connecting plate, 282-a cylinder push plate, 283-a sensing piece, 284-a sensor fixing plate, 285-a first proximity switch, 286-a second proximity switch, 2211-an upper supporting plate connecting through hole, 2411-a first left support, 2412-a first guide rail supporting plate, 2413-a first right support, 2414-a first slider cover plate, 2415-a first guide rail organ cover, 2416-a first left positioning block, 2417-a first right positioning block, 2418-a first linear guide rail, 2421-a second left support, 2422-a second guide rail supporting plate, 2423-a second right support, 2424-a second slider cover plate, 2425-a second guide rail cover, 2426-a second linear guide rail, 2511-a third left support, 2512-a third guide rail supporting plate, 2513-third right support, 2514-third slide block cover plate, 2515-third guide rail organ cover, 2516-third left buffer plate, 2517-third right buffer plate, 2518-third linear guide rail, 2521-fourth left support, 2522-fourth guide rail support plate, 2523-fourth right support, 2524-fourth cover plate slide block, 2525-fourth guide rail organ cover, 2526-fourth left buffer plate, 2527-fourth right buffer plate, 2528-fourth linear guide rail, 24151-first left buffer plate, 24152-first right buffer plate, 24251-second left buffer plate, 24252-second right buffer plate, 31-press block, 32-positioning groove, 33-shaft hole, 34-placing groove, 35-fixing seat, 36-bearing seat, 37-driving shaft, 38-floating joint, 35-fixing seat, 36-bearing seat, 37-driving shaft, 39-driving cylinder, 310-linear bearing, 311-fixed cutter device, 312-tool magazine frame, 313-top end isolation plate, 314-isolation door, 315-side isolation plate, 316-vertical plate, 317-connecting plate, 318-groove, 319-pressing block groove, 320-fixed pin hole, 321-driving pin hole, 322-pressing plate, 323-supporting column, 324-second pin hole, 325-first pin hole, 326-second pin, 327-first pin, 51-bottom layer driving mechanism, 52-middle layer driving mechanism, 53-upper layer floating mechanism, 54-electric spindle device, 55-robot flange, 56-shell, 511-first linear motor base, 512-first fixed limiting block, 513-first linear motor, 514-a first connecting block, 515-a first left linear guide rail, 516-a first right linear guide rail, 517-a first scale grating, 5121-a first left fixed limiting block, 5122-a first right fixed limiting block, 5131-a first linear motor sliding block, 521-a second linear motor base, 522-a second fixed limiting block, 523-a second linear motor, 524-a second connecting block, 525-a second left linear guide rail, 526-a second right linear guide rail, 527-a second scale grating, 528-a second floating limiting block, 529-a second mounting plate, 5210-a second left sliding block, 5211-a second right sliding block, 5212-a second grating scale reading head bracket, 5213-a second grating scale reading head, 5221-a second left fixed limiting block, 5222-a second right fixed limiting block, 5231-second linear motor slider, 531-third floating stopper, 532-third mounting plate, 533-third left slider, 534-third right slider, 535-third grating ruler reading head bracket, 536-third grating ruler reading head, 541-electric spindle, 542-lock collar, 5421-electric spindle placing ring, and 5422-electric spindle mounting plate.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" 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 is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, 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 meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1-26, a robotic grinder station includes a rotary grinder assembly 1, a dual push stack 2, an in-line tool magazine 3, an industrial robot 4, and a control system. Preferably, the rotary polishing device 1, the double-push type stack 2, the in-line tool magazine 3, the industrial robot 4 and the control system are disposed in a dust-proof room. Preferably, the industrial robot 4 is a Sena model M-710IC/70 industrial robot.

As shown in fig. 2-6, the rotary polishing device 1 is used for fixing a workpiece, driving the workpiece to rotate, and cleaning the polished workpiece; the double-pushing-out type material rack 2 is used for placing a workpiece to be polished, placing the workpiece after polishing, pushing the polished workpiece out of the dustproof room and pushing the workpiece to be polished into the dustproof room.

Specifically, the in-line tool magazine 3 is used to place tools for grinding workpieces and to put the tools in order.

Specifically, an electronic shaft floating device 5 and a tooling fixture are arranged on the industrial robot 4, the electronic shaft floating device 5 is used for clamping and taking a tool required for polishing from the in-line tool magazine 3, polishing a workpiece placed on the rotary polishing device 1 by using the tool and placing the used tool back into the in-line tool magazine 3, and the tooling fixture is used for clamping and taking the workpiece on the double push-out type material rack 2 and placing the polished workpiece back into the double push-out type material rack 2.

Specifically, the industrial robot 4 is used to move the electronic axis floating device 5 to the inline tool magazine 3 and the rotary polishing device 1, and the industrial robot 4 is used to move the tooling fixture to the double push-out stack 2 and the rotary polishing device 1.

Specifically, the rotary polishing device 1, the double-push-out type material rack 2, the in-line tool magazine 3, the industrial robot 4, the electronic shaft floating device 5 and the tool clamp are respectively connected with the control system.

Specifically, rotatory grinding device 1 includes workstation frame 11 and grinding table 12, be provided with workstation frame mainboard 111 on the workstation frame 11, be provided with waterproof guard shield 112 on the workstation frame mainboard 111, grinding table 12 set up in the waterproof guard shield 112, grinding table 12 is including rotatory grinding table 121, be provided with the work piece on the rotatory grinding table 121 and place station 122 and be used for pressing from both sides the work piece clamping device of tight work piece. The embodiment can effectively prevent the workpiece from splashing liquid to pollute the environment in the grinding process by arranging the waterproof shield 112.

Specifically, the workpiece clamping device comprises a first positioning plate 124, a second positioning plate 125, a first clamping cylinder 126, a second clamping cylinder 127, a first clamping plate 128 and a second clamping plate 129, wherein the first clamping cylinder 126 and the first positioning plate 124 are respectively arranged on the left side and the right side of the workpiece placing station 122, the second clamping cylinder 127 and the second positioning plate 125 are respectively arranged in front of and behind the workpiece placing station 122, a first clamping cylinder piston rod is arranged on the first clamping cylinder 126, the first clamping cylinder piston rod is connected with the first clamping plate 128, a second clamping cylinder piston rod is arranged on the second clamping cylinder 127, and the second clamping cylinder piston rod is connected with the second clamping plate 129; the first clamping cylinder 126 is used for driving a piston rod of the first clamping cylinder to move left and right so as to drive the first clamping plate 128 to compress or loosen a workpiece, the second clamping cylinder 127 is used for driving a piston rod of the second clamping cylinder to move back and forth so as to drive the second clamping plate 129 to compress or loosen the workpiece, a rotating motor 123 is arranged at the bottom of the rotary polishing workbench 121, and the rotating motor 123 is used for driving the rotary polishing workbench 121 to rotate. Preferably, the first clamping cylinder 126, the second clamping cylinder 127 and the rotating motor 123 are respectively connected with the control system.

Specifically, the rotary polishing device 1 further comprises a vision system 13, the vision system 13 is disposed at the top of the polishing table 12, the vision system 13 is configured to determine a position of the workpiece, an outline of the workpiece, and a position of a hole of the workpiece, the vision system 13 includes a bracket 131, a camera fixing frame 132, a linear sliding table 133, a linear sliding table motor 134, a camera 135, and a camera lamp 136, the linear sliding table 133 is mounted on the bracket 131, the camera fixing frame 132 is connected to the linear sliding table 133, the camera 135 and the camera lamp 136 are both mounted on the camera fixing frame 132, the linear sliding table 133 is connected to the linear sliding table motor 134, the linear sliding table 133 is driven by the linear sliding table motor 134 to perform linear motion, so as to drive the camera fixing frame 132, the camera 135, and the camera lamp 136 to perform linear motion, the linear slide motor 134 and the camera 135 are connected to the control system, respectively. After the workpiece is clamped by the workpiece clamping device, the vision system 13 is used for judging the position of the workpiece, the outline of the workpiece and the position of the hole site of the workpiece, and then feeding back the information to the industrial robot 4 through the control system, so that the industrial robot 4 can accurately reach the position of the workpiece to be polished to polish the workpiece, and the processing quality of the workpiece is improved.

Specifically, an ultrasonic cleaning device 14 is arranged on the workbench frame main board 111, the ultrasonic cleaning device 14 is arranged on one side of the waterproof shield 112, the ultrasonic cleaning device 14 is used for cleaning the polished workpiece, the ultrasonic cleaning device 14 comprises an ultrasonic fixing table 141 and an ultrasonic cleaning machine 142, the ultrasonic cleaning machine 142 is arranged on the ultrasonic fixing table 141, an ultrasonic workpiece positioning plate 143 for placing the workpiece is arranged in the ultrasonic cleaning machine 142, and the ultrasonic cleaning machine 142 is connected with the control system.

Specifically, a grinding fluid fixing frame 151 is arranged on one side of the waterproof shield 112, a grinding fluid placing cup 152 and an alarm for placing grinding fluid are arranged on the grinding fluid fixing frame 151, a weighing sensor is arranged at the bottom of the grinding fluid placing cup 152, and the weighing sensor and the alarm are respectively connected with the control system. The operating personnel can set up the numerical value that weighing sensor can respond to as required by self, and when the weight that cup 152 was placed to the lapping liquid was less than the numerical value of settlement, weighing sensor can feed back information to control system to the control alarm sends the police dispatch newspaper, thereby reminds operating personnel to place the cup 152 interior interpolation lapping liquid toward the lapping liquid. Preferably, three slurry placement cups 152 are provided.

Specifically, rotatory grinding device 1 still includes spray gun support 113 and spray gun 114, spray gun support 113 set up in on the waterproof guard 112, spray gun 114 set up in spray gun support 113 is last, the nozzle of spray gun 114 with grinding table 12 aims at, and the work piece needs spray gun 114 to spray water to grinding table 12 at the in-process of polishing, can make grinding table 12 cool down effectively, prevents that the work piece is overheated and prevents the diffusion of flying upward and the dust of the in-process abrasive dust of polishing.

Specifically, be provided with the mainboard delivery port on the workstation frame mainboard 111, be provided with on the waterproof guard shield 112 with the waste water delivery port that the mainboard delivery port corresponds, the below of mainboard delivery port is provided with the waste water barrel that is used for splendid attire waste water, and the work piece can produce a lot of waste water at the in-process of polishing, and waste water flows to the waste water barrel behind waste water delivery port and mainboard delivery port.

Specifically, the bottom of the rotary polishing workbench 121 is provided with a rotary waterproof cover 1210, the rotary motor 123 is arranged in the rotary waterproof cover 1210, and the rotary waterproof cover 1210 is used for protecting the rotary motor 123 and preventing liquid from splashing to the rotary motor 123 during polishing of a workpiece, so that the polishing efficiency of the workpiece is affected and the service life of the rotary motor 123 is reduced.

Specifically, a water pumping barrel 16 is arranged on one side of the workbench frame 11, cooling water is placed in the water pumping barrel 16, and the water pumping barrel 16 is communicated with the spray gun 114 through a pipeline.

Specifically, two polishing work tables 12 are arranged in the waterproof shield 112, two spray gun supports 113 and two spray guns 114 are correspondingly arranged, the rotary polishing device 1 is provided with the two polishing work tables 12, the structure is compact, two polishing processes can be completed, and the polishing efficiency is effectively improved.

The working principle of the rotary grinding device 1 is as follows:

the workpiece is placed to the workpiece placing station 122 of the polishing workbench 12, the first clamping cylinder 126 pushes the first clamping plate 128 to compress the workpiece, the second clamping cylinder 127 pushes the second clamping plate 129 to compress the workpiece, after the workpiece is compressed, relative displacement does not occur in the polishing process, the camera 135 in the vision system 13 identifies the hole position and the outline position of the workpiece, the identified information is fed back to the control system, the industrial robot 4 is controlled to accurately reach the position of the workpiece to be polished to polish the workpiece, the processing precision of the workpiece is effectively improved, the industrial robot 4 moves the grinding tool to the grinding fluid placing cup 152 to pick up grinding fluid, the grinding fluid can play a role in cooling and chip removal, a weighing sensor is arranged below the grinding fluid placing cup 152, when the weight of the grinding fluid placing cup 152 is lower than a set value, the weighing sensor feeds back the information to the control system, thereby control the siren and send out the police dispatch newspaper, thereby remind operating personnel to place the cup 152 in adding the lapping liquid toward the lapping liquid, then open rotating electrical machines 123, rotating electrical machines 123 drives rotatory workstation 121 that polishes rotatoryly, thereby guarantee that the mesopore grinding volume is even in the process of polishing, the work piece is at the in-process of polishing, spray gun 114 can be followed and is drawn water to the work piece water spray in the pump barrel 16 next door, prevent that the work piece from being overheated at the in-process of polishing, and prevent effectively that the in-process abrasive dust from flying upward and the diffusion of dust, the work piece can produce a lot of waste water at the in-process of polishing, waste water flows to the waste water bucket in through waste water outlet and mainboard delivery port, the back that the work piece polished, industrial robot 4 work piece clamp is got and is put and.

As shown in fig. 7 to 14, the double-pushing-out type stack 2 includes a stack rack main plate 21, a stack 22 and a stack cylinder 23 are disposed on the stack rack main plate 21, the stack 22 includes a guide assembly, an upper support plate 221, a lower support plate 222, and a tray 223 for placing a workpiece, the tray 223 is disposed on the upper support plate 221, and preferably, the stack cylinder 23 is a rodless cylinder.

Specifically, a rack cylinder slider 231 is arranged on the rack cylinder 23, and the rack cylinder slider 231 is connected with the upper support plate 221 through a connecting component; the guide assembly comprises an upper guide assembly 24 and a lower guide assembly 25, one end of the upper guide assembly 24 is connected with the upper support plate 221, and the other end is connected with the lower support plate 222; the material rack cylinder 23 is used for driving the material rack cylinder slide block 231 to move back and forth, so as to drive the tray 223 and the upper support plate 221 to move back and forth on the upper guide assembly 24; one end of the lower guide assembly 25 is connected with the lower support plate 222, and the other end is connected with the rack main plate 21; the lower support plate 222 moves back and forth by an external force, thereby moving the tray 223, the upper support plate 221 and the upper guide assembly 24 back and forth on the lower guide assembly 25.

Specifically, the upper guide assembly 24 includes a first upper guide assembly 241 and a second upper guide assembly 242.

Specifically, the first upper guide assembly 241 includes a first left support 2411, a first guide rail support plate 2412, a first right support 2413, a first slider cover plate 2414, a first guide rail organ cover 2415, a first left buffer plate 24151, a first right buffer plate 24152, and a first linear guide rail 2418.

Specifically, the first left support 2411 and the first right support 2413 are respectively disposed on the lower support plate 222, one end of the first guide rail support plate 2412 is connected to the first left support 2411, the other end is connected to the first right support 2413, the first linear guide rail 2418 is disposed on the first guide rail support plate 2412, the first slider cover plate 2414 and the first guide rail organ cover 2415 are both sleeved on the first linear guide rail 2418 and the first guide rail support plate 2412, and the first slider cover plate 2414 and the first guide rail organ cover 2415 are disposed to effectively protect the first linear guide rail 2418 from dust contamination and to prolong the service life of the first linear guide rail 2418.

Specifically, the first slider cover plate 2414 is connected to the upper support plate 221, a first left buffer plate 24151 and a first right buffer plate 24152 are respectively disposed on two sides of the first slider cover plate 2414, one end of the first guide rail organ cover 2415 is connected to the first right support 2413, and the other end is connected to the first slider cover plate 2414. Specifically, a first left positioning block 2416 and a first right positioning block 2417 for limiting the position of the first slider cover plate 2414 are respectively disposed at two ends of the lower support plate 222. Preferably, the first left buffer plate 24151 and the first right buffer plate 24152 are made of acrylic rubber, which has a good buffering effect, and when the first slider cover plate 2414 is in contact with the first left buffer plate 24151 and the first right buffer plate 24152, the first left buffer plate 24151 and the first right buffer plate 24152 play a good buffering effect.

Specifically, the second upper guide assembly 242 includes a second left support 2421, a second rail support plate 2422, a second right support 2423, a second slider cage 2424, a second rail organ cage 2425, a second left bumper 24251, a second right bumper 24252, and a second linear rail 2426.

Specifically, the second left support 2421 and the second right support 2423 are respectively disposed on the lower support plate 222, one end of the second guide rail support plate 2422 is connected to the second left support 2421, the other end of the second guide rail support plate 2423 is connected to the second right support 2423, the second linear guide 2426 is disposed on the second guide rail support plate 2422, the second slider cover plate 2424 and the second guide rail organ cover 2425 are both sleeved on the second linear guide 2426 and the second guide rail support plate 2422, and the second slider cover plate 2424 and the second guide rail organ cover 2425 are disposed to effectively protect the second linear guide 2426 from dust pollution and prolong the service life of the second linear guide 2426.

Specifically, the second slider housing plate 2424 is connected to the upper support plate 221, a second left buffer plate 24251 and a second right buffer plate 24252 are respectively disposed on two sides of the second slider housing plate 2424, one end of the second guide rail organ housing 2425 is connected to the second right support 2423, and the other end of the second guide rail organ housing 2425 is connected to the second slider housing plate 2424; specifically, a second left positioning block and a second right positioning block for limiting the position of the second slider housing plate 2424 are respectively disposed at two ends of the lower support plate 222. Preferably, the second left and

right buffer plates

24251 and 24252 are made of acrylic rubber, which has a good buffering function, and the second left and

right buffer plates

24251 and 24252 play a good buffering function when the second slider housing plate 2424 is in contact with the second left and

right buffer plates

24251 and 24252.

Specifically, the lower guide assembly 25 includes a first lower guide assembly 251 and a second lower guide assembly 252.

Specifically, the first lower guide assembly 251 includes a third left support 2511, a third rail support plate 2512, a third right support 2513, a third slider cover plate 2514, a third rail organ cover 2515, a third left buffer plate 2516, a third right buffer plate 2517 and a third linear rail 2518;

specifically, the third left support 2511 and the third right support 2513 are respectively disposed on the rack main board 211, one end of the third guide rail support plate 2512 is connected to the third left support 2511, the other end of the third guide rail support plate 2512 is connected to the third right support 2513, the third linear guide rail 2518 is disposed on the third guide rail support plate 2512, the third slider cover plate 2514 and the third guide rail organ cover 2515 are both sleeved on the third linear guide rail 2518 and the third guide rail support plate 2512, and the third slider cover plate 2514 and the third guide rail organ cover 2515 are disposed to effectively protect the third linear guide rail 2518 from dust pollution and prolong the service life of the third linear guide rail 2518.

Specifically, the third slider cover plate 2514 is connected to the lower support plate 222, the third left buffer plate 2516 and the third right buffer plate 2517 are respectively disposed on two sides of the third slider cover plate 2514, one end of the third guide rail organ cover 2515 is connected to the third right support 2513, and the other end of the third guide rail organ cover 2514 is connected to the third slider cover plate 2514.

Specifically, the second lower guide assembly 252 includes a fourth left support block 2521, a fourth rail support plate 2522, a fourth right support block 2523, a fourth slider housing plate 2524, a fourth rail organ housing 2525, a fourth left bumper plate 2526, a fourth right bumper plate 2527, and a fourth linear rail 2528.

Specifically, the fourth left support 2521 and the fourth right support 2523 are respectively disposed on the rack main board 211, one end of the fourth rail support plate 2522 is connected to the fourth left support 2521, and the other end is connected to the fourth right support 2523, the fourth linear rail 2528 is disposed on the fourth rail support plate 2522, the fourth slider cover plate 2524 and the fourth rail organ cover 2525 are both sleeved on the fourth linear rail 2528 and the fourth rail support plate 2522, and the fourth slider cover plate 2524 and the fourth rail organ cover 2525 are disposed to effectively protect the fourth linear rail 2528 from dust pollution and to improve the service life of the fourth linear rail 2528.

Specifically, the fourth slider housing plate 2524 is connected to the lower support plate 222, the fourth left buffer plate 2526 and the fourth right buffer plate 2527 are respectively disposed on two sides of the fourth slider housing plate 2524, and one end of the fourth rail organ housing 2525 is connected to the fourth right support 2523, and the other end is connected to the fourth slider housing plate 2524.

Specifically, a tray workpiece placing station for placing workpieces is arranged on the tray 223, and an upper supporting plate connecting through hole 2211 is arranged on the upper supporting plate 221.

Specifically, an air cylinder connecting plate 281 is arranged on the rack air cylinder sliding block 231, an air cylinder pushing plate 282 is arranged on the de-air cylinder connecting plate 281, and the air cylinder pushing plate 282 is used for being inserted into the upper supporting plate connecting through hole 2211, so that the rack air cylinder sliding block 231 is connected with the upper supporting plate 221.

Specifically, one side of the air cylinder connecting plate 281 is provided with an induction sheet 283, one side of the rack air cylinder 23 is provided with an inductor fixing plate 284, and the inductor fixing plate 284 is provided with a first proximity switch 285, preferably, the first proximity switch 285 is used for inducing the induction sheet 283 of the air cylinder connecting plate 281.

Specifically, one side of the rack main board 21 is provided with a front cover 211, the other side of the rack main board is provided with a rear cover 212, a front cover fixing plate 213 and a second proximity switch 286 are arranged on the front cover 211, a front cover adjusting plate 214 is arranged on one side of the front cover fixing plate 213, a front cover positioning plate 215 is arranged on the front cover fixing plate 213, and a nylon plate 216 is arranged on one side of the front cover positioning plate 215. Preferably, the second proximity switch 286 is used for sensing the sensing piece 283 of the cylinder connecting plate 281, the nylon plate 216 has a good buffering function, and the nylon plate 216 has a good buffering function when the upper supporting plate 221 contacts the nylon plate 216.

Specifically, the rack cylinder 23, the first proximity switch 285 and the second proximity switch 286 are respectively connected with the control system.

Specifically, the double-pushing-out type material rack 2 is provided with the guide assembly and the material rack air cylinder 23, the guide assembly can effectively increase the pushing distance of the material rack air cylinder 23, the space can be saved while the feeding is met, the material rack main board 21 and the material rack 22 can be arranged in a dustproof room, the walking of workers and the transportation of articles cannot be affected, when the workers need to feed materials, the material rack air cylinder 23 pushes the tray 223 forwards to the outside of the dustproof room, and after the workers finish feeding, the material rack air cylinder 23 retracts the tray 223 to the inside of the dustproof room from the outside of the dustproof room, so that the double-pushing-out type material rack is very convenient.

Specifically, the double push-out type rack 2 is provided with two racks 22 and two rack cylinders 23, which can effectively increase the stock amount.

The working process of the double push-out type stack 2 includes a push-out process and a retraction process, wherein,

the push-out process is as follows: a worker puts a workpiece on the tray 223, inserts the cylinder push plate 282 into the upper support plate connecting through hole 2211, starts the rack cylinder 23, the rack cylinder 23 drives the rack cylinder slide block 231 to move forward, so as to drive the tray 223 and the upper support plate 221 to move forward, the upper support plate 221 drives the first slider cover plate 2414 to move on the first linear guide 2418 and drives the second slider cover plate 2424 to move on the second linear guide 2426 in the process of moving forward, the lower support plate 222 and the lower guide assembly 25 keep still, when the first slider cover plate 2414 and the second slider cover plate 2424 reach the extreme positions, namely the first right positioning block 2417 of the first slider cover plate 2414 is in contact with the first right buffer plate 52, the second right positioning block of the second slider cover plate 2414 is in contact with the second right buffer plate 24252, the first slider cover plate 2414 and the first linear guide 2418 do not relatively displace any more, and the second slider cover plate 2424 and the second linear guide 2426 do not relatively displace any more, at this time, the rack cylinder 23 drives the rack cylinder slider 231 to move forward, so as to drive the tray 223, the upper support plate 221, the first upper guide assembly 241 and the second upper guide assembly 242 to move forward, the first upper guide assembly 241 drives the third slider cover plate 2514 to move on the third linear guide rail 2518 and drives the fourth slider cover plate 2524 to move on the fourth linear guide rail 2528 in the process of moving forward, and when the second proximity switch 286 senses the sensing piece 283 of the cylinder connecting plate 281, a signal is sent to the control system, and the control system controls the rack cylinder 23 to stop moving.

The withdrawal process is as follows: inserting the cylinder push plate 282 into the upper support plate connecting through hole 2211, activating the rack cylinder 23, the rack cylinder 23 driving the rack cylinder slide block 231 to move backward, thereby driving the tray 223 and the upper support plate 221 to move backward, the upper support plate 221 driving the first slide block cover plate 2414 to move on the first linear guide 2418 and the second slide block cover plate 2424 to move on the second linear guide 2426 during the backward movement, the lower support plate 222 and the lower guide assembly 25 remaining stationary, when the first slide block cover plate 2414 and the second slide block cover plate 2424 reach the limit position, namely the first left positioning block 2416 of the first slide block cover plate 2414 contacts with the first left buffer plate 24151, the second left buffer plate 24251 of the second slide block cover plate 2424 contacts with the second right buffer plate 24252, the first slide block cover plate 2414 no longer displaces relative to the first linear guide 2418, the second slide block cover plate 2424 no longer displaces relative to the second linear guide 2426, at this time, the rack cylinder 23 drives the rack cylinder slider 231 to move backwards, so as to drive the tray 223, the upper support plate 221, the first upper guide component 241 and the second upper guide component 242 to move backwards, the first upper guide component 241 drives the third slider housing plate 2514 to move on the third linear guide rail 2518 and drives the fourth slider housing plate 2524 to move on the fourth linear guide rail 2528 in the process of moving backwards, and when the first proximity switch 285 senses the sensing piece 283 of the cylinder connecting plate 281, a signal is sent to the control system, and the control system controls the rack cylinder 23 to stop moving.

As shown in fig. 14 to 19, the electronic shaft floating device 5 includes an electric spindle device 54, an upper layer floating mechanism 53, a middle layer driving mechanism 52 and a bottom layer driving mechanism 51, which are sequentially arranged from top to bottom; the electric spindle device 54 is connected with the upper floating mechanism 53, the top of the middle driving mechanism 52 is connected with the upper floating mechanism 53, the bottom of the middle driving mechanism 52 is connected with the bottom driving mechanism 51, the bottom driving mechanism 51 is used for driving the middle driving mechanism 52 to move back and forth so as to drive the upper floating mechanism 53 and the electric spindle device 54 to move back and forth, and the middle driving mechanism 52 is used for driving the upper floating mechanism 53 to move left and right so as to drive the electric spindle device 54 to move left and right.

Specifically, the bottom driving mechanism 51 includes a first linear motor base 511, a first fixed stopper 512, a first linear motor 513, a first connecting block 514, a first left linear guide 515, a first right linear guide 516, and a first scale grating 517, the first linear motor 513, the first left linear guide 515 and the first right linear guide 516 are all disposed on the first linear motor base 511, the first linear motor 513 is provided with a first linear motor sliding block 5131, the first connecting block 514 is connected with the first linear motor sliding block 5131, the top of the first connecting block 514 is connected to the middle driving mechanism 52, the first left linear guide 515 and the first right linear guide 516 are respectively disposed at both sides of the first linear motor 513, the first fixed limiting block 512 is disposed on one side of the first linear motor base 511, and the first scale grating 517 is disposed on the other side. Preferably, the first fixed limiting block 512 includes a first left fixed limiting block 5121 and a first right fixed limiting block 5122.

Specifically, the middle driving mechanism 52 includes a second linear motor base 521, a second fixed limit block 522, a second linear motor 523, a second connecting block 524, a second left linear guide 525, a second right linear guide 526, a second scale grating 527, a second floating limit block 528, a second mounting plate 529, a second left slider 5210, a second right slider 5211, and a second grating scale head support 5212;

specifically, the second linear motor 523, the second left linear guide 525 and the second right linear guide 526 are all disposed on the second linear motor base 521, a second linear motor slider 5231 is disposed on the second linear motor 523, the second connection block 524 is connected to the second linear motor slider 5231, the top of the second connection block 524 is connected to the upper floating mechanism 53, the second left linear guide 525 and the second right linear guide 526 are disposed on two sides of the second linear motor 523 respectively, the second fixed limiting block 522 is disposed on one side of the second linear motor base 521, and the second scale grating 527 is disposed on the other side of the second linear motor base 521. Preferably, the second fixed stopper 522 includes a second left fixed stopper 5221 and a second right fixed stopper 5222.

Specifically, the second linear motor 523 is installed perpendicularly to the first linear motor 513 at 90 degrees.

Specifically, one end of the second mounting plate 529 is connected to the first connecting block 514, the other end of the second mounting plate is connected to the second linear motor base 521, a second left slider 5210 matched with the first left linear guide 515 and a second right slider 5211 matched with the first right linear guide 516 are arranged on the second mounting plate 529, the second floating limiting block 528 is arranged on one side of the second mounting plate 529, the second grating scale reading head support 5212 is arranged on the other side of the second mounting plate, a second grating scale reading head 5213 is arranged on the second grating scale reading head support 5212, and the second grating scale reading head 5213 is used for reading the value of the first scale grating 517. Preferably, the second left slider 5210 is adapted to move on the first left linear guide 515, the second right slider 5211 is adapted to move on the first right linear guide 516, and the first left fixed stopper 5121, the first right fixed stopper 5122, and the second floating stopper 528 mounted on the second mounting plate 529 are adapted to limit the forward and backward movement ranges of the middle layer floating mechanism 52 and the upper layer floating mechanism 53.

Specifically, the upper floating mechanism 53 includes a third floating stop block 531, a third mounting plate 532, a third left slider 533, a third right slider 534, and a third raster scale reading head bracket 535, the top of the third mounting plate 532 is connected to the electric spindle unit 54, the bottom of the third mounting plate 532 is connected to the second connection block 524, the third mounting plate 532 is provided with a third left slider 533 matching with the second left linear guide 525 and a third right slider 534 matching with the second right linear guide 526, one side of the third mounting plate 532 is provided with the third floating stopper 531, and the other side is provided with the third grating ruler reading head bracket 535, a third raster scale head 536 is disposed on the third raster scale head carriage 535, the third scale reading head 536 is used to read the value of the second scale grating 527. Preferably, the third left slider 533 is configured to move on the second left linear guide 525, the third right slider 534 is configured to move on the second right linear guide 526, and the second left fixed stopper 5221, the second right fixed stopper 5222 and the third floating stopper 531 mounted on the third mounting plate 532 are configured to limit the range of left and right movement of the third mounting plate 532.

Specifically, the electric spindle device 54 includes an electric spindle 541 and a lock collar 542, the lock collar 542 includes an electric spindle placing ring 5421 and an electric spindle mounting plate 5422, the electric spindle placing ring 5421 is connected with the electric spindle mounting plate 5422, the electric spindle 541 is mounted in the electric spindle placing ring 5421 by a threaded connection, and the electric spindle mounting plate 5422 is connected with the third mounting plate 532. Preferably, a tool for polishing is placed on the electric spindle 541, and the electric spindle 541 adopts a model DGZ-06260/2.5-PWM electric spindle of Hao Zhi corporation.

Specifically, the electronic shaft floating device 5 further includes a housing 56, the upper layer floating mechanism 53, the middle layer driving mechanism 52 and the bottom layer driving mechanism 51 are all disposed in the housing 56, and the electric spindle device 54 is disposed above the housing 56.

Specifically, the first linear motor 513, the second linear motor 523, the second grating scale head 5213 and the third grating scale head 536 are respectively connected to the control system.

Specifically, the electronic shaft floating device 5 further includes a robot flange 55, and one end of the robot flange 55 is connected to the first linear motor base 511, and the other end is connected to the industrial robot 4.

Working principle of the electronic shaft floating device 5:

the first linear motor 513 drives the first linear motor sliding block 5131 and the first connecting block 514 to move back and forth, so as to drive the middle layer driving mechanism 52, the upper layer floating mechanism 53 and the electric spindle device 54 to move back and forth, the second left sliding block 5210 moves on the first left linear guide rail 515, the second right sliding block 5211 moves on the first right linear guide rail 516, the first left linear guide rail 515 and the first right linear guide rail 516 play a guiding role with the second left sliding block 5210 and the second right sliding block 5211 on the second mounting plate 529, the first left fixed limiting block 5121, the first right fixed limiting block 5122 and the second floating limiting block 528 mounted on the second mounting plate 529 are used for limiting the back and forth movement range of the middle layer driving mechanism 52 and the upper layer floating mechanism 53, the second grating scale reading head 5213 is used for reading the value of the first scale grating 517, and then feeding back a signal to the first linear motor 513, thereby controlling the moving distance of the first linear motor 513.

The second linear motor 523 drives the second linear motor block 5231 and the second connecting block 524 to move back and forth, thereby driving the third mounting plate 532 and the electric spindle device 54 to move left and right, the third left slider 533 moves on the second left linear guide 525, the third right slider 534 moves on the second right linear guide 526, the second left linear guide 525 and the second right linear guide 526, and the third left slider 533 and the third right slider 534 on the third mounting plate 532 play a guiding role, the second left fixed stopper 5221, the second right fixed stopper 5222, and the third floating stopper 531 arranged on the third mounting plate 532 are used for limiting the left and right movement range of the third mounting plate 532, the third grating scale reading head 536 is used for reading the value of the second scale grating 527, and then feeds back the signal to the control system and then to the second linear motor 523, thereby controlling the moving distance of the second linear motor 523.

As shown in fig. 20-26, a plurality of fixed tool assemblies 311 are disposed in the in-line tool magazine 3, each fixed tool assembly 311 includes a fixing member and a driving member, the fixing member includes a plurality of pressing blocks 31 and a fixing base 35, the fixing base 35 is provided with a shaft hole 33, a plurality of pressing block slots 319 communicated with the shaft hole 33, and a plurality of positioning slots 32 for placing the cutting edges of the tools, the fixing base 35 extends outward to form a placing slot 34 for placing the tool shanks of the tools, the positioning slots 32 and the pressing block slots 319 are arranged at intervals, the pressing block 31 is provided with a supporting column 323 and a pressing plate 322 connected with the supporting column 323, the supporting column 323 is provided with a driving pin hole 321 and a fixing pin hole 320, the supporting column 323 of each pressing block 31 is installed in a corresponding one of the pressing block slots 319 through the fixing pin hole 320, the pressing plate 322 of the pressing block 31 is located outside the pressing block slots 319, the driving member, the driving cylinder 39 is connected with the driving shaft 37; the driving shaft 37 is assembled in the shaft hole 33 and can move along the length direction of the shaft hole 33; the supporting column 323 of the pressing block 31 is connected with the driving shaft 37 through the driving pin hole 321, and the driving piece is used for driving the driving shaft 37 to reciprocate along the length direction of the shaft hole 33; the driving shaft 37 is used for driving the pressing block 31 to rotate around the fixed pin hole 320 of the supporting column 323, so that the pressing block 322 moves at a first position and a second position; wherein, the first position is that the pressing plate 322 is pressed on the positioning slot 32; the second position is where the platen 322 is clear of the detent 32.

Specifically, the driving shaft 37 in the shaft hole 33 is provided with a first pin hole 325, the pressing block slot 319 is provided with a second pin hole 324 therein, the first pin hole 325 of the driving shaft 37 is connected with the driving pin hole 321 of the supporting column 323 of the pressing block 31 by a first pin 327, and the second pin hole 324 of the pressing block slot 319 is connected with the supporting column 323 of the pressing block 31 by a second pin 326 and the fixing pin hole 320.

Specifically, the fixed cutter device 311 further includes a bearing seat 36, a linear bearing 310 is disposed on the driving shaft 37, the bearing seat 36 is installed between the fixed member and the driving member, and the linear bearing 310 is fixedly installed in the bearing seat 36.

Specifically, when the cutter is placed in the fixed seat 35, the driving cylinder 39 is started, the driving cylinder piston retracts to drive the driving shaft 37 to move in the direction of retracting the driving cylinder piston, the driving shaft 37 drives the pressing block 31 to rotate around the fixed pin hole 320 of the supporting column 323, the pressing plate 322 of the pressing block 31 moves in the opposite direction of the driving shaft 37, so that the cutter formed by connecting the cutter handle and the cutter edge is pressed, the position of the cutter is finely adjusted again in the moving process of the pressing block 31, the cutter accurately enters the positioning groove 32 of the fixed seat 35, then the cutter is completely positioned, and at the moment, the pressing plate 322 is in the first position; when the tool needs to be removed, the driving cylinder 39 is started, the driving cylinder piston extends to drive the driving shaft 37 to move towards the direction in which the driving cylinder piston extends, the driving shaft 37 drives the pressing block 31 to rotate around the fixed pin hole 320 of the supporting column 323, the pressing plate 322 of the pressing block 31 moves towards the opposite direction of the driving shaft 37, so that the tool is loosened, and at the moment, the pressing plate 322 is located at the second position.

Specifically, the in-line tool magazine 3 further includes a tool magazine frame 312 and a fixed tool device 311, the tool magazine frame 312 includes a connecting plate 317, vertical plates 316 and partition plates, the partition plates include a top partition plate 313 installed at the top end of the tool magazine frame 312, side partition plates 315 installed at two sides of the tool magazine frame 312 and a partition door 314 movably installed at the front surface of the tool magazine frame 312, the vertical plates 316 are installed at two sides in the tool magazine frame 312, the connecting plate 317 is bridged between the vertical plates 316 at two sides, and the fixed tool device 311 is installed on the connecting plate 317. The quantity of connecting plate 317 is a plurality of, arranges from top to bottom in proper order along the vertical direction, and each connecting plate 317 is gone up and is installed a corresponding fixed cutter device 311, the surface of riser 316 is equipped with at least one recess 318, connecting plate 317 passes through recess 318 and fixes in riser 316 of both sides in tool magazine frame 312, connecting plate 317 still includes threaded connection spare, fixed cutter device 311 passes through threaded connection spare and installs on connecting plate 317.

Specifically, the two in-line tool magazines 3 are provided, when the tool in one in-line tool magazine 3 needs to be replaced, the tool in the other in-line tool magazine 3 can be directly used, the in-line tool magazine 3 needs to be replaced, and the use work and the replacement work of the two in-line tool magazines 3 are simultaneously carried out without mutual influence.

Specifically, frock clamp with electron axle floating installation 5 is connected, frock clamp includes pneumatic finger, left clamp plate and right clamp plate, pneumatic finger is last to be provided with left clamping jaw and right clamping jaw, left clamp plate with left clamping jaw is connected, right clamp plate with right clamping jaw is connected.

The working principle of the embodiment is as follows:

a worker puts a workpiece to be polished on a double-push-out type material rack 2, puts a tool required for polishing on an in-line tool magazine 3, starts a material rack cylinder 23, a material rack 22 is pushed to a designated position where the workpiece is taken by an industrial robot 4 through the material rack cylinder 23, a tool clamp arranged on the industrial robot 4 clamps the workpiece from the double-push-out type material rack 2 and then moves the workpiece to a rotary polishing device 1 through the industrial robot 4, the tool clamp puts the workpiece to a workpiece placing station 122, the workpiece is clamped by the workpiece clamping device, the industrial robot 4 moves an electronic shaft floating device 5 to the in-line tool magazine 3 to clamp the tool required for polishing, the electronic shaft floating device 5 carries the tool to a grinding fluid placing cup 152 on the rotary polishing device 1 to dip grinding fluid, the grinding fluid can play a role in cooling and chip removal, and then hole positions of the workpiece are clamped by the tool, The outline position is identified, so that the hole position of the workpiece is polished, the spray gun 114 can pump water from the water pumping barrel 16 beside to spray water to the workpiece, the workpiece is prevented from being overheated in the polishing process, in addition, the flying of abrasive dust and the diffusion of dust in the polishing process are effectively prevented, after the workpiece is polished, a tool clamp arranged on the industrial robot 4 clamps the workpiece to the ultrasonic cleaning machine 142 for cleaning, the tool clamp clamps the cleaned workpiece and puts the workpiece on the material rest 22 of the double-push-out material rest 2, and therefore the workpiece can complete the whole polishing process.

Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes are intended to fall within the scope of the claims.

Claims

1. A robotic polisher station, comprising: the automatic polishing device comprises a rotary polishing device, a double-push-out type material rack, an in-line tool magazine and an industrial robot;

2. The robotic sander station of claim 1, wherein: the rotary polishing device comprises a workbench frame and a polishing workbench, a workbench frame main board is arranged on the workbench frame, a waterproof shield is arranged on the workbench frame main board, the polishing workbench is arranged in the waterproof shield, the polishing workbench comprises a rotary polishing workbench, a workpiece placing station and a workpiece clamping device for clamping workpieces are arranged on the rotary polishing workbench, the workpiece clamping device comprises a first positioning plate, a second positioning plate, a first clamping cylinder, a second clamping cylinder, a first clamping plate and a second clamping plate, the first clamping cylinder and the first positioning plate are respectively arranged on the left side and the right side of the workpiece placing station, the second clamping cylinder and the second positioning plate are respectively arranged in front of and behind the workpiece placing station, and a first clamping cylinder piston rod is arranged on the first clamping cylinder, the first clamping cylinder piston rod is connected with the first clamping plate, a second clamping cylinder piston rod is arranged on the second clamping cylinder, and the second clamping cylinder piston rod is connected with the second clamping plate; the first clamping cylinder is used for driving a piston rod of the first clamping cylinder to move left and right so as to drive the first clamping plate to compress or loosen a workpiece, the second clamping cylinder is used for driving a piston rod of the second clamping cylinder to move back and forth so as to drive the second clamping plate to compress or loosen the workpiece, a rotating motor is arranged at the bottom of the rotary polishing workbench and used for driving the rotary polishing workbench to rotate.

3. The robotic sander station of claim 2, wherein: the rotary polishing device also comprises a visual system, the visual system is arranged at the top of the polishing workbench and used for judging the position of a workpiece, the outline of the workpiece and the position of a hole site of the workpiece, the visual system comprises a support, a camera fixing frame, a linear sliding table motor, a camera and a camera lamp, the linear sliding table is arranged on the support and connected with the linear sliding table, the camera and the camera lamp are both arranged on the camera fixing frame, the linear sliding table is connected with the linear sliding table motor and driven by the linear sliding table motor to do linear motion, so as to drive the camera fixing frame, the camera and the camera lamp to do linear motion, an ultrasonic cleaning device is arranged on a mainboard of the workbench frame and arranged at one side of the waterproof shield, the ultrasonic cleaning device is used for cleaning a polished workpiece and comprises an ultrasonic fixing table and an ultrasonic cleaning machine, wherein the ultrasonic cleaning machine is arranged on the ultrasonic fixing table, and an ultrasonic workpiece positioning plate used for placing the workpiece is arranged in the ultrasonic cleaning machine.

4. The robotic sander station of claim 1, wherein: the double-pushing-type material rack comprises a material rack main board, wherein a material rack and a material rack air cylinder are arranged on the material rack main board, the material rack comprises a guide component, an upper supporting plate, a lower supporting plate and a tray for placing a workpiece, the tray is arranged on the upper supporting plate, a material rack air cylinder sliding block is arranged on the material rack air cylinder, and the material rack air cylinder sliding block is connected with the upper supporting plate through a connecting component; the guide assembly comprises an upper guide assembly and a lower guide assembly, one end of the upper guide assembly is connected with the upper supporting plate, and the other end of the upper guide assembly is connected with the lower supporting plate; the material rack air cylinder is used for driving the material rack air cylinder sliding block to move back and forth so as to drive the tray and the upper supporting plate to move back and forth on the upper guide assembly; one end of the lower guide assembly is connected with the lower support plate, and the other end of the lower guide assembly is connected with the rack main board of the material rack; the lower supporting plate moves back and forth under the action of external force, so that the tray, the upper supporting plate and the upper guide assembly are driven to move back and forth on the lower guide assembly.

5. The robotic sander station of claim 4, wherein: the upper guide assembly comprises a first upper guide assembly and a second upper guide assembly;

6. The robotic sander station of claim 1, wherein: the electronic shaft floating device comprises an electric main shaft device, an upper layer floating mechanism, a middle layer driving mechanism and a bottom layer driving mechanism which are sequentially arranged from top to bottom; the electric spindle device is connected with the upper floating mechanism, the top of the middle driving mechanism is connected with the upper floating mechanism, the bottom of the middle driving mechanism is connected with the bottom driving mechanism, the bottom driving mechanism is used for driving the middle driving mechanism to move back and forth so as to drive the upper floating mechanism and the electric spindle device to move back and forth, and the middle driving mechanism is used for driving the upper floating mechanism to move left and right so as to drive the electric spindle device to move left and right.

7. The robotic sander station of claim 6, wherein: the bottom layer driving mechanism comprises a first linear motor base, a first fixed limiting block, a first linear motor, a first connecting block, a first left linear guide rail, a first right linear guide rail and a first scale grating, the first linear motor, the first left linear guide rail and the first right linear guide rail are all arranged on the first linear motor base, a first linear motor sliding block is arranged on the first linear motor, the first connecting block is connected with the first linear motor sliding block, the top of the first connecting block is connected with the middle layer driving mechanism, the first left linear guide rail and the first right linear guide rail are respectively arranged on two sides of the first linear motor, the first fixed limiting block is arranged on one side of the first linear motor base, and the first scale grating is arranged on the other side of the first linear motor base;

8. The robotic sander station of claim 1, wherein: the tool magazine comprises an in-line tool magazine, a plurality of fixed tool devices, a plurality of positioning devices and a driving piece, wherein each fixed tool device comprises a fixed piece and a fixed seat, each fixed seat is provided with a shaft hole, a plurality of pressing block grooves communicated with the shaft hole and a plurality of positioning grooves used for placing cutting edges of tools, each fixed seat extends outwards to form a placing groove used for placing a tool handle of the tool, the positioning grooves and the pressing block grooves are arranged at intervals, each pressing block is provided with a supporting column and a pressing plate connected with the supporting column, each supporting column is provided with a driving pin hole and a fixing pin hole, the supporting column of each pressing block is installed in the corresponding pressing block groove through the fixing pin hole, the pressing plate of each pressing block is located outside the pressing block groove, each driving piece is provided with a driving cylinder and a driving shaft, and the driving; the driving shaft is assembled in the shaft hole and can move along the length direction of the shaft hole; the support column of the pressing block is connected with the driving shaft through the driving pin hole, and the driving piece is used for driving the driving shaft to do reciprocating motion along the length direction of the shaft hole; the driving shaft is used for driving the pressing block to rotate by taking the fixed pin hole of the supporting column as a circle center so as to enable the pressing plate to move at a first position and a second position; the first position is that the pressing plate is pressed on the positioning groove; the second position is that the pressure plate is away from the positioning groove.

9. The robotic sander station of claim 8, wherein: the in-line tool magazine still includes the bearing frame and floats and connects, be equipped with linear bearing in the drive shaft, the bearing frame is installed between mounting and driving piece, linear bearing fixed mounting is in the bearing frame, it connects one end and cylinder connection to float, its other end and drive shaft connection, the drive shaft in the shaft hole is equipped with first round pin hole, be equipped with second round pin hole in the briquetting groove, the first round pin hole of drive shaft is through the drive round pin jogged joint of the support column of first round pin and briquetting, the second round pin hole in briquetting groove is through the support column fixed round pin jogged joint of second round pin and briquetting.

10. The robotic sander station of claim 1, wherein: the tooling clamp is connected with the electronic shaft floating device and comprises a pneumatic finger, a left clamping plate and a right clamping plate, wherein the pneumatic finger is provided with a left clamping jaw and a right clamping jaw, the left clamping plate is connected with the left clamping jaw, and the right clamping plate is connected with the right clamping jaw.