CN215240011U

CN215240011U - Tail end polishing mechanism and polishing equipment

Info

Publication number: CN215240011U
Application number: CN202120679607.2U
Authority: CN
Inventors: 谭谱生; 邱小亮
Original assignee: Peitian Robot Technology Co Ltd
Current assignee: Peitian Robot Technology Co Ltd
Priority date: 2021-04-02
Filing date: 2021-04-02
Publication date: 2021-12-21
Anticipated expiration: 2031-04-02

Abstract

The embodiment of the application discloses terminal grinding machanism and equipment of polishing can realize the automatic tool setting function of equipment of polishing, and have higher tool setting precision. The application discloses terminal grinding machanism includes: the device comprises a base, a first grinding assembly, a first transfer assembly and a first pair of cutter assemblies; the base is used for providing a mounting foundation; the first grinding assembly is used for realizing the grinding function; the slidable end of the first transfer assembly is connected with the first grinding assembly and used for triggering the first pair of cutter assemblies to generate a target position signal when the slidable end of the first transfer assembly moves due to the interference of the first grinding assembly.

Description

Tail end polishing mechanism and polishing equipment

Technical Field

The embodiment of the utility model provides a relate to smart machine technical field, especially a terminal grinding machanism and equipment of polishing.

Background

In the prior art, portal frame type grinding equipment occupies a large area, is heavy and does not realize an automatic tool setting function. Before a workpiece is ground by using grinding equipment, an experienced operator is required to perform tool setting between a grinding head of the grinding equipment and the workpiece, wherein the tool setting refers to aligning and coinciding a working coordinate point of a working point of the grinding head in a system coordinate system of the current grinding equipment with a reference coordinate point in a reference coordinate system of the workpiece, so that the workpiece can be ground according to the system coordinate system of the grinding equipment. It can be seen that the key points of the tool setting process are as follows: the reference point in the reference coordinate system of the workpiece and the working coordinate point in the system coordinate system of the grinding equipment are associated, so that the workpiece in the reference coordinate system can be brought into the system coordinate system, and the grinding equipment can install the system coordinate system of the grinding equipment to accurately process the workpiece.

At present, the tool setting work of a polishing head of polishing equipment is generally carried out manually by an experienced operator, namely, the operator operates the polishing equipment to command the polishing head to move, then whether a working coordinate point of a working point of the polishing head coincides with a reference coordinate point of a workpiece is observed and judged by using a visual inspection method, and after the operator feels the coincidence, an alignment instruction is issued to a system coordinate system of the polishing equipment, so that the alignment coincidence of the working coordinate point of the working point of the polishing head of the system coordinate system in the current polishing equipment and the reference coordinate point in the reference coordinate system of the workpiece is completed. Therefore, the manual tool setting method mainly depends on the experience of operators, is poor in reliability and easy to make mistakes, large errors may exist in the tool setting process, and the quality of products formed by workpieces is affected by tool setting with the large errors.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a terminal grinding machanism and equipment of polishing, can realize the automatic tool setting function of equipment of polishing, and have higher tool setting precision.

This application first aspect provides a terminal grinding machanism, includes: the device comprises a base, a first grinding assembly, a first transfer assembly and a first pair of cutter assemblies;

the mounting surface of the base is matched and connected with the tail end of the mechanical arm, and the first transfer component is mounted on the first surface of the base;

the first sanding assembly comprising: the first polishing head is fixedly arranged on an output shaft of the first driving motor;

the first transfer assembly includes: the sensor mounting block comprises a first linear slide rail, a first load-carrying mounting block, a first guide rod, a first extension spring and a first sensor mounting block, wherein the first surface of the base is fixedly connected with the first sliding end of the first linear slide rail, the second sliding end of the first linear slide rail is fixedly connected with the first load-carrying mounting block, a first driving motor is fixedly mounted at the lower end of the first load-carrying mounting block, the output shaft of the first driving motor faces downwards vertically, the upper end of the first load-carrying mounting block faces upwards vertically and is fixedly mounted with the first guide rod, the first guide rod can be connected with the first sensor mounting block in a sliding and penetrating manner, the first sensor mounting block is connected with the base, the first end of the first extension spring is connected with the first sensor mounting block, and the second end of the first extension spring is connected with the upper end of the first load-carrying mounting block, the first extension spring is in a stretched state;

the first pair of knife assemblies comprises: the first sensor and the first sensor trigger structure are fixedly arranged on the first sensor mounting block, the first sensor trigger structure is fixedly arranged on the first load-transferring mounting block, and the first sensor trigger structure and the first sensor are in a matched state to be triggered, so that when the first grinding head is collided to cause the first load-transferring mounting block to upwards compress the first extension spring, the first sensor trigger structure triggers the first sensor to generate a target position signal.

Optionally, the base is strip, just the cross section of base is the polygon, still includes: a visual positioning assembly;

the visual positioning component is arranged on the second surface of the base;

the visual positioning assembly comprises: the camera, the camera fixing frame, the second linear slide rail and the second load-carrying installation block;

the second face of the base is fixedly connected with the first sliding end of the second linear sliding rail, the second sliding end of the second linear sliding rail is fixedly connected with the second load-carrying installation block, the second load-carrying installation block is fixedly provided with the camera fixing frame, the second load-carrying installation block is connected with the base, and the camera fixing frame is installed in a matched mode on the camera, so that a lens of the camera is vertically downward.

Optionally, the method further includes: a light source, a light source holder;

the light source is annular, and the light source passes through light source mount fixed mounting in the second moves and carries the installation piece lower extreme to make the camera through the ring centre bore of light source is down looked a view.

Optionally, the method further includes: a third polishing component, a third transfer component and a third tool setting component;

the third shifting component is arranged on the third surface of the base;

the third grinding assembly includes: the third polishing head is fixedly arranged on an output shaft of the third driving motor;

the third transfer unit includes: a third linear slide rail, a third load-transferring installation block, a third guide rod, a third extension spring and a third sensor installation block, wherein a third surface of the base is fixedly connected with a first sliding end of the third linear slide rail, a second sliding end of the third linear slide rail is fixedly connected with the third load-transferring installation block, a third driving motor is fixedly installed at the lower end of the third load-transferring installation block, an output shaft of the third driving motor faces downwards vertically, the third guide rod is fixedly installed at the upper end of the third load-transferring installation block upwards vertically, the third guide rod can be connected with the third sensor installation block in a sliding and penetrating manner, the third sensor installation block is connected with the base, a first end of the third extension spring is connected with the third sensor installation block, and a second end of the third extension spring is connected with the upper end of the third load-transferring installation block, the third extension spring is in a stretched state;

the third pair of cutter assemblies includes: third sensor, third sensor trigger structure, third sensor fixed mounting be in third sensor installation piece, third sensor trigger structure fixed mounting be in the third moves carries the installation piece, and makes third sensor trigger structure with the third sensor is in the complex state of waiting to trigger, so that work as the third head of polishing is contradicted and is caused the third moves and carries the installation piece upwards compress when the third extension spring, third sensor trigger structure triggers the third sensor produces the target position signal.

Optionally, the first sensor and the third sensor are both laser displacement sensors, and the first sensor trigger structure and the third sensor trigger structure are both reflecting plates.

Optionally, the first sensor is a laser displacement sensor, and the first sensor trigger structure is a reflecting plate;

the third sensor is a groove-shaped photoelectric sensor, and the third sensor trigger structure is a light screen.

Optionally, the method further includes: the device comprises a first linear motion device, a first floating joint, a second linear motion device, a second floating joint, a third linear motion device and a third floating joint;

the first sensor mounting block is fixedly connected with a first end of the first floating joint, a second end of the first floating joint is fixedly connected with an output shaft of the first linear motion device, and the first linear motion device is fixedly connected with the base;

the second load-moving installation block is fixedly connected with a first end of the second floating joint, a second end of the second floating joint is fixedly connected with an output shaft of the second linear motion device, and the second linear motion device is fixedly connected with the base;

the third sensor mounting block is fixedly connected with a first end of the third floating joint, a second end of the third floating joint is fixedly connected with an output shaft of the third linear motion device, and the third linear motion device is fixedly connected with the base.

Optionally, the first linear slide rail, the second linear slide rail and the third linear slide rail are all cross roller guide rails.

Optionally, the method further includes: the first air blowing pipe, the first air blowing pipe fixing structure, the third air blowing pipe and the third air blowing pipe fixing structure;

the first air blowing pipe is arranged at the lower end of the first transfer mounting block through the first air blowing pipe fixing structure;

and the third air blowing pipe is arranged at the lower end of the third transfer mounting block through the third air blowing pipe fixing structure.

This application second aspect provides a equipment of polishing, includes: a gantry-type robotic arm, the end grinding mechanism of the first aspect described above;

and the tail end of the mechanical arm of the portal frame type mechanical arm is connected with the base mounting surface of the tail end polishing mechanism in a matching manner. According to the technical scheme, the embodiment of the application has the following advantages:

the terminal grinding machanism of this application embodiment includes: the device comprises a base, a first grinding assembly, a first transfer assembly and a first pair of cutter assemblies; the mounting surface of the base is used for being matched and connected with the tail end of the mechanical arm, so that the tail end polishing mechanism has a foundation capable of moving controllably within a certain range; wherein the first sanding assembly comprises: the first polishing head is fixedly arranged on an output shaft of the first driving motor, so that the first polishing head has the working capacity of rotary polishing; wherein first year subassembly that moves includes: the first linear slide rail, the first load-carrying installation block, the first guide rod, the first extension spring and the first sensor installation block, wherein the first surface of the base is fixedly connected with the first sliding end of the first linear slide rail, namely the first sliding end of the first linear slide rail is relatively fixed, the second sliding end of the first linear slide rail is fixedly connected with the first load-carrying installation block, namely the second sliding end of the first linear slide rail and the first load-carrying installation block can slide relative to the base, the first driving motor is fixedly arranged at the lower end of the first load-carrying installation block, the output shaft of the first driving motor faces downwards vertically, the upper end of the first load-carrying installation block is vertically and upwards fixedly provided with the first guide rod, the first guide rod can be connected with the first sensor installation block in a sliding and penetrating manner, the first sensor installation block is connected with the base, the first end of the first extension spring is connected with the first sensor installation block, the second end of the first extension spring is connected with the upper end of the first load-carrying installation block, the first extension spring is in a stretched state, so that the first load-carrying installation block and the first sensor installation block are kept at a certain distance and can linearly slide towards the first sensor installation block; wherein the first pair of knife assemblies comprises: the first sensor and the first sensor trigger structure are fixedly arranged on the first sensor installation block, the first sensor trigger structure is fixedly arranged on the first load-moving installation block and is in a matched state to be triggered with the first sensor, so that when the mechanical arm moves downwards and collides with a reference coordinate point of a workpiece, the mechanical arm and the first load-moving installation block can drive a first driving motor, the first driving motor drives the first load-moving installation block to move upwards, the first load-moving installation block moves upwards to enable a first stretching spring in a stretching state to contract, the first load-moving installation block can drive the first sensor trigger structure to move upwards, the first sensor can be triggered by the movement of the two first sensor trigger structures, and the first sensor can generate a target position signal. That is to say, the terminal polishing mechanism according to the embodiment of the present application skillfully utilizes the reaction force generated when the first polishing head is in point contact with the reference coordinate of the workpiece to trigger the target position signal, and then determines that the terminal polishing mechanism is in contact with the workpiece according to the target position signal, that is, at this time, it can be considered that the working coordinate point of the first polishing head coincides with the reference coordinate point of the workpiece, and then an alignment instruction is issued to the system coordinate system of the polishing apparatus, so as to complete the alignment coincidence of the working coordinate point of the polishing head working point of the system coordinate system in the current polishing apparatus and the reference coordinate point in the reference coordinate system of the workpiece. Because the induction accuracy of the sensor is higher than the judgment accuracy of the traditional naked eyes of an operator, the automatic tool setting function of the polishing equipment can be realized, and the tool setting accuracy is higher.

Drawings

FIG. 1 is a schematic structural view of one embodiment of an end grinding mechanism according to the present application;

FIG. 2 is a schematic structural view of another embodiment of an end grinding mechanism according to the present application;

fig. 3 is a schematic structural view of another embodiment of the end grinding mechanism of the present application.

Detailed Description

Referring to fig. 1, an embodiment of an end grinding mechanism according to an embodiment of the present application includes: a base 100, a first grinding assembly 110, a first transfer assembly 120, and a first pair of blade assemblies 130. The base 100 of the terminal polishing mechanism according to the embodiment of the present invention is generally in the shape of a strip, and the cross section of the base 100 is polygonal, so that the base 100 may have a plurality of faces; for example, when the base 100 has a rectangular cross-section, the base 100 has a top surface, a bottom surface, and four side surfaces. Taking the example that the cross section of the base 100 is rectangular, the first surface 101 of the base 100 is matched with the first transfer assembly 120, and the first surface 101 of the base 100 is one of four side surfaces; the mounting surface 104 of the base 100 is matched and connected with the tail end of the mechanical arm, and the mounting surface 104 of the base 100 is the other side surface of the four side surfaces; the tail end of the mechanical arm mainly refers to the tail end of the mechanical arm of the portal frame type mechanical arm, and in practical application, the tail end of the mechanical arm of the embodiment of the application can also be the tail end of the mechanical arm of other types of mechanical arms, so that specific limitation is not imposed, and the tail end grinding mechanism is designed to have a foundation capable of moving controllably within a certain range. Wherein the first sanding assembly 110 comprises: the first polishing head 111 and the first driving motor 112, the first polishing head 111 is fixedly arranged on an output shaft of the first driving motor 112, the first polishing head 111 is used for polishing a designated position of a workpiece, and the first driving motor 112 is used for providing power for the first polishing head 111, so that the first polishing head 111 has the working capacity of rotary polishing. Wherein the first transfer assembly 120 comprises: a first linear slide rail, a first transfer mounting block 121, a first guide rod 122, a first extension spring 123 and a first sensor mounting block 124; it will be appreciated that the first linear slide has two sliding ends: a first sliding end and a second sliding end; the first sliding end and the second sliding end are inseparably matched with each other but can linearly slide relatively in a reciprocating way within a certain range, for example, the first linear slide rail is a crossed roller guide rail, so that the sliding precision can be improved. The first surface 101 of the base 100 is fixedly connected to the first sliding end of the first linear sliding rail, so that the first sliding end of the first linear sliding rail is relatively fixed, and the second sliding end of the first linear sliding rail is fixedly connected to the first transfer mounting block 121, so that the first transfer mounting block 121 can slide along with the second sliding end of the first linear sliding rail, the first driving motor 112 is fixedly mounted at the lower end of the first transfer mounting block 121, for example, the lower end of the first transfer mounting block 121 has a first driving motor mounting position adapted to the outer profile of the first driving motor 112, so that the first driving motor 112 can be adapted to the first driving motor mounting position, the first driving motor 112 is fixedly mounted at the first driving motor mounting position by using the first driving motor pressing block 113, and the output shaft of the first driving motor 112 faces vertically downwards, the first driving wire 114 of the first driving motor 112 faces upwards, so that the first sanding head 111 fixedly connected to the output shaft of the first driving motor 112 faces vertically downward. A first guide rod 122 is vertically and upwardly fixedly installed at the upper end of the first transfer installation block 121, and the orientation of the first guide rod 122 is consistent with that of the first linear slide rail; the first guide rod 122 is slidably connected through the first sensor mounting block 124, that is, the first guide rod 122 can slide back and forth in the first sensor mounting block 124; the first sensor mounting block 124 is coupled to the base 100 such that the first sensor mounting block 124 is operatively fixed relative to the base 100. A first end of the first extension spring 123 is connected to the first sensor mounting block 124, a second end of the first extension spring 123 is connected to an upper end of the first transfer mounting block 121, and the first extension spring 123 is in a stretched state, that is, the first transfer mounting block 121 and the second sliding end of the first linear slide rail fixedly connected to the first transfer mounting block 121, the first driving motor 112, the first polishing head 111, the first driving motor press block 113, and other unsprung structures are all suspended by the first extension spring 123 to be held at a certain position of the first sliding end of the first linear slide rail, so that the first transfer mounting block 121 and the first sensor mounting block 124 are kept at a certain distance and can slide linearly toward the first sensor mounting block 121. The first pair of knife assemblies 130 includes: the first sensor 131 and the first sensor triggering structure 132, the first sensor 131 is fixedly installed on the first sensor installation block 124, the first sensor triggering structure 132 is fixedly installed on the first transfer installation block 121, and the first sensor triggering structure 132 and the first sensor 131 are in a matched to-be-triggered state, so that when the first grinding head 111 is abutted to cause the suspended first transfer installation block 121 to compress the first tension spring 123 upwards, the first sensor triggering structure 132 triggers the first sensor 131 to generate a target position signal. That is to say, the terminal polishing mechanism according to the embodiment of the present application skillfully utilizes the reaction force generated when the first polishing head is in point contact with the reference coordinate of the workpiece to trigger the target position signal, and then determines that the terminal polishing mechanism is in contact with the workpiece according to the target position signal, that is, at this time, it can be considered that the working coordinate point of the first polishing head coincides with the reference coordinate point of the workpiece, and then an alignment instruction is issued to the system coordinate system of the polishing apparatus, so as to complete the alignment coincidence of the working coordinate point of the polishing head working point of the system coordinate system in the current polishing apparatus and the reference coordinate point in the reference coordinate system of the workpiece. Because the induction accuracy of the sensor is higher than the judgment accuracy of the traditional naked eyes of an operator, the automatic tool setting function of the polishing equipment can be realized, and the tool setting accuracy is higher.

Further, referring to fig. 2, the end grinding mechanism according to the embodiment of the present application further includes: a visual positioning component 140. The visual alignment assembly 140 is mounted to the second side 102 of the base 100, the second side 102 of the base 100 being one of four sides. Visual positioning assembly 140 includes: camera 141, camera fixing frame 142, second linear slide rail, second transfer mounting block 143. It will be appreciated that the second linear slide has two sliding ends: a first sliding end and a second sliding end; the first sliding end and the second sliding end are inseparably matched with each other but can linearly slide relatively to each other in a reciprocating way within a certain range, for example, the second linear slide rail is also a crossed roller guide rail. The second surface 102 of the base 100 is fixedly connected to a first sliding end of a second linear slide rail, a second sliding end of the second linear slide rail is fixedly connected to a second transfer mounting block 143, the second transfer mounting block 143 is connected to the base 100, a camera fixing frame 142 is fixedly mounted on the second transfer mounting block 143, and the camera fixing frame 142 is adapted to mount the camera 141, so that the lens 1411 of the camera 141 faces downward vertically. The vision positioning assembly 140 acquires a two-dimensional image about a workpiece through the lens 1411, and then transmits the two-dimensional image to a system of the polishing device for analysis, so that a working coordinate point to be polished can be obtained from the two-dimensional image, and the mechanical arm of the polishing device can direct the first polishing head of the terminal polishing mechanism of the embodiment of the application to move to the working coordinate point to achieve automatic polishing.

Further, the terminal grinding machanism of this application embodiment still includes: a light source 144 and a light source holder 145. The light source 144 is preferably annular, and the light source 144 is fixedly mounted at the lower end of the second transfer mounting block 143 by a light source fixing frame 145, so that the lens 1411 of the camera 141 can be viewed downwards through a central hole of the annular of the light source 144.

Further, the terminal grinding machanism of this application embodiment still includes: a third grinding assembly 150, a third transfer assembly 160, and a third pair of knife assemblies 170. A third transfer unit 160 is mounted on the third surface 103 of the base 100; the third grinding assembly 150 includes: a third polishing head 151, a third driving motor 152, the third polishing head 151 being fixedly installed at an output shaft of the third driving motor 152, the third polishing head 151 being used for polishing a designated position of a workpiece, and the third driving motor 152 being used for providing power to the third polishing head 151, aiming to make the third polishing head 151 have a working capacity of rotary polishing. Wherein the third transfer assembly 160 comprises: a third linear slide rail, a third transfer mounting block 161, a third guide bar 162, a third extension spring 163, and a third sensor mounting block 164, it being understood that the third linear slide rail has two sliding ends: a first sliding end and a second sliding end; the first sliding end and the second sliding end are inseparably matched with each other but can linearly slide relatively to each other in a reciprocating way within a certain range, for example, the third linear slide rail is a crossed roller guide rail. The third surface 103 of the base 100 is fixedly connected to the first sliding end of the third linear sliding rail, so that the first sliding end of the third linear sliding rail is relatively fixed, the second sliding end of the third linear sliding rail is fixedly connected to the third transfer mounting block 161, so that the third transfer mounting block 161 can slide relatively along with the second sliding end of the third linear sliding rail, the third driving motor 152 is fixedly mounted at the lower end of the third transfer mounting block 161, for example, the lower end of the third transfer mounting block 161 has a third driving motor mounting position adapted to the outer contour of the third driving motor 152, so that the third driving motor 152 can be adapted to the third driving motor mounting position, and then the third driving motor pressing block 153 is used to fixedly mount the third driving motor 152 at the third driving motor mounting position, and the output shaft of the third driving motor 152 faces downward vertically. A third guide rod 162 is fixedly installed at the upper end of the third transfer installation block 161 vertically upwards, the third guide rod 162 is slidably connected with the third sensor installation block 164 in a penetrating manner, that is, the third guide rod 162 can slide in the third sensor installation block 164 in a reciprocating manner; the third sensor mounting block 164 is coupled to the base 100 such that the third sensor mounting block 164 is stationary relative to the base 100 during operation. A first end of the third tension spring 163 is connected to the third sensor mounting block 164, a second end of the third tension spring 163 is connected to an upper end of the third transfer mounting block 161, and the third tension spring 163 is in a stretched state, that is, the third transfer mounting block 161 and the second sliding end of the third linear slide rail, the third driving motor 152, the third polishing head 151, the third driving motor press block 153, and other unsprung structures fixedly connected to the third transfer mounting block 161 are all suspended by the third tension spring 163 to be held at a position of the first sliding end of the third linear slide rail, so that the third transfer mounting block 161 and the third sensor mounting block 164 can be kept at a certain distance and can slide linearly to the third sensor mounting block 161. The third pair of knife assemblies 170 includes: a third sensor 171, a third sensor triggering structure 172, the third sensor 171 is fixedly installed on the third sensor installation block 164, the third sensor triggering structure 172 is fixedly installed on the third transfer installation block 161, and the third sensor triggering structure 172 and the third sensor 171 are in a matched state to be triggered, so that when the third polishing head 151 is collided to cause the suspended third transfer installation block 161 to compress the third tension spring 163 upwards, the third sensor triggering structure 172 triggers the third sensor 171 to generate a target position signal. That is to say, the terminal polishing mechanism according to the embodiment of the present application skillfully utilizes the reaction force generated when the third polishing head is in point contact with the reference coordinate of the workpiece to trigger the target position signal, and then determines that the terminal polishing mechanism is in contact with the workpiece according to the target position signal, that is, it can be considered that the working coordinate point of the third polishing head coincides with the reference coordinate point of the workpiece, and then an alignment instruction is issued to the system coordinate system of the polishing apparatus, so as to complete the alignment coincidence of the working coordinate point of the polishing head working point of the system coordinate system in the current polishing apparatus and the reference coordinate point in the reference coordinate system of the workpiece. Because the induction accuracy of the sensor is higher than the judgment accuracy of the traditional naked eyes of an operator, the automatic tool setting function of the polishing equipment can be realized, and the tool setting accuracy is higher.

Further, the first sensor 131 and the third sensor 171 of the end grinding mechanism of the embodiment of the present application are preferably both laser displacement sensors, and the first sensor trigger structure 132 and the third sensor trigger structure 172 are preferably both reflective plates. Specifically, the installation relationship between the laser displacement sensor and the reflection plate in the embodiment of the present application is as follows: the laser displacement sensor can sense and receive the relative displacement of the reflecting plate relative to the reflecting plate to the maximum extent, and the mounting mode can sensitively find the relative displacement of the reflecting plate relative to the reflecting plate because the laser displacement sensor always monitors the relative displacement between the reflecting plate and the reflecting plate.

Optionally, the first sensor 131 of the terminal polishing mechanism according to the embodiment of the present application is preferably a laser displacement sensor, and the first sensor trigger structure 132 is a reflective plate; the third sensor 171 is a groove-type photoelectric sensor, and the third sensor trigger structure 172 is a light shielding plate. Because the laser displacement sensor is relatively high in cost, when a plurality of sets of tool setting assemblies exist in one tail end grinding device, the combination of a groove type photoelectric sensor and a light shielding plate can be selected and used for part of the tool setting assemblies. The combination of the groove-type photosensor and the light shielding plate has a better cost advantage.

Further, when the base 100 of the end grinding mechanism according to the embodiment of the present application is configured with a plurality of grinding assemblies at the same time, the linear motion device is used cooperatively so that each grinding assembly can generate a height difference, so that the grinding head of one grinding assembly is located at a lower position relative to the grinding heads of the other grinding assemblies, and thus, the base can work independently. The terminal grinding machanism of this application embodiment specifically still includes: first linear motion device 125, first floating joint 126, second linear motion device 145, second floating joint 146, third linear motion device 165, third floating joint 166. The first sensor mounting block 124 is fixedly connected to a first end of the first floating joint 126, a second end of the first floating joint 126 is fixedly connected to an output shaft of the first linear motion device 125, the first linear motion device 125 is fixedly connected to the base 100, and a motion direction of the output shaft of the first linear motion device 125 is parallel to an axial direction of the first guide rod 122 and a motion direction of the first linear slide rail. Similarly, the second transfer mounting block 143 is fixedly connected to a first end of the second floating joint 146, a second end of the second floating joint 146 is fixedly connected to an output shaft of the second linear motion device 145, and the second linear motion device 145 is fixedly connected to the base 100. Similarly, the third sensor mounting block 164 is fixedly connected to a first end of the third floating joint 166, a second end of the third floating joint 166 is fixedly connected to an output shaft of the third linear motion device 165, and the third linear motion device 165 is fixedly connected to the base 100.

It is understood that, after the end grinding mechanism according to the embodiment of the present application is provided with the first linear motion device 125, the second linear motion device 145 and the third linear motion device 165, it is possible to make the initial positions of the first sanding head 111 and the third sanding head 151 in the same horizontal plane, and the first and third

linear motion devices

125 and 165 are brought into a state where the output shafts are not all extended, this enables selective control of the extension of the output shaft of the first linear motion device 125 or the third linear motion device 165, and thus the first sanding head 111 or the third sanding head 151, are in a lower horizontal plane with respect to each other, the first sanding head 111 or the third sanding head 151 in the lower horizontal plane can now be activated for sanding work, and the influence of the positions of other polishing heads is avoided, so that the selectivity of selecting one of a plurality of polishing heads to work when the plurality of polishing heads are in the same tail end polishing mechanism is realized. The visual positioning assembly can also be controlled by the second linear motion device 145 to slide in the vertical direction, and preferably, the position of the light source 144 at the lowest position in the visual positioning assembly should be higher than the initial positions of the first polishing head 111 and the third polishing head 151 to leave enough light scattering space, so that the light source can more widely irradiate the viewing range of the lens 1411 of the camera 141, which is beneficial to improving the imaging quality of the camera; it can be understood that the second linear motion device in the embodiment of the present application can change the position of the camera in the vertical direction, so that the distance between the camera and the photographed position is changed, and thus the second linear motion device can be used in cooperation with the camera to realize focusing on the photographed positions at different height positions, and the problem of limited focusing distance of the camera can be made up to a certain extent.

Further, the first linear motion device 125, the second linear motion device 145 and the third linear motion device 165 are preferably linear cylinders, and in practical applications, may also be hydraulic cylinders, lead screw stepping motors and other devices capable of achieving linear motion. Since the first linear motion device 125, the second linear motion device 145, and the third linear motion device 165 are all required to be fixedly connected to the base 100, it is preferable to fixedly connect the first linear motion device 125, the second linear motion device 145, and the third linear motion device 165 together by using the adaptor plate 1051, and the structure is more compact when the adaptor plate 1051 is fixedly connected to the top surface 105 of the base 100.

It should be noted that when the first linear motion device 125 and the third linear motion device 165 of the end grinding mechanism according to the embodiment of the present application are linear cylinders, the unsprung mass of the unsprung mass is preferably larger than the sprung mass, and the first linear motion device 125 will be described as a linear cylinder as an example. The unsprung mass of the unsprung structure suspended by the first tension spring 123 is preferably heavier than the sprung mass of the sprung structure connected to the first tension spring 123, and the sprung structure here mainly refers to a structure in which the first sensor mounting block 124, the first sensor 131, the first floating joint 126, the output shaft of the first linear motion device 125, and the like connected to the first end of the first tension spring 123 are movable relative to the base 100, and the unsprung structure mainly refers to a structure in which the first transfer mounting block 121, the first guide rod 122, the second sliding end of the third linear slide, the first drive motor 112, the first grinding wheel head 111, the first drive motor pressing block 113, and the like connected to the second end of the first tension spring 123 are suspended by the first tension spring 123. It can be understood that the unsprung mass structure with a heavier mass has a stronger movement stability, that is, the counterforce generated when the polishing head polishes a workpiece can be suppressed by a larger gravity, the upward contraction of the first extension spring 123 caused by the counterforce is reduced, and the first linear motion device 125 located on the polishing head side of the unsprung mass structure when the height position of the polishing head is adjusted has a faster position response, but because the unsprung mass is heavier and the first extension spring 123 is always in a stretched state, the first extension spring is easily deformed excessively to generate a position deviation, and the first extension spring 123 needs to be corrected by position compensation or replaced periodically.

Further, this application embodiment terminal grinding machanism still includes: a first air blowing pipe 181, a first air blowing pipe fixing structure 182, a third air blowing pipe 191 and a third air blowing pipe fixing structure 192. The first blowing pipe 181 is installed at the lower end of the first transfer installation block 121 through the first blowing pipe fixing structure 182 and is located at one side of the first driving motor 112, so that the air outlet of the first blowing pipe 181 can be adjusted to align to the polishing position of the first polishing head 111, and the air inlet of the first blowing pipe 181 is opened at the upper end of the first blowing pipe fixing structure 182 and is used for introducing high-pressure gas, so that the high-pressure gas is sprayed out from the air outlet of the first blowing pipe 181 to clean the polishing position of the first polishing head 111. Similarly, the third blowing pipe 191 is installed at the lower end of the third transfer mounting block 161 through the third blowing pipe fixing structure 192, and is located at one side of the third driving motor 152, so that the polishing position of the third polishing head 151 can be adjusted and aligned to the air outlet of the third blowing pipe 191, and the air inlet of the third blowing pipe 191 is opened at the upper end of the third blowing pipe fixing structure 192, and is used for introducing high-pressure air, so that the high-pressure air is sprayed out from the air outlet of the third blowing pipe 191 to clean the polishing position of the third polishing head 151.

Further, this application embodiment terminal grinding machanism still includes: and a linear bearing. The linear bearing is mounted in the first sensor mounting block 124 and is used for matching with the first guide rod 122 to realize slidable through connection relative to the first sensor mounting block 124; similarly, the linear bearing may also be mounted in the point sensor mounting block 164 for engaging the third guide bar 162 to effect a slidable through connection with respect to the third sensor mounting block 164.

The embodiment of this application still provides a equipment of polishing, includes: portal frame type arm and the terminal grinding machanism of above-mentioned embodiment. The end of the arm of the gantry-type robot arm is connected to the base mounting surface 104 of the end polishing mechanism in a matching manner. In practical application, if the base mounting surface 104 does not have a structure directly matching with the tail end of the mechanical arm, the tail end of the polishing mechanism and the tail end of the mechanical arm can be connected by using the adapter plate 1041, namely, one surface of the adapter plate 1041 has a structure matched and connected with the tail end of the mechanical arm, so that the tail end of the mechanical arm is matched and connected with the portal frame type mechanical arm, the other surface of the adapter plate 1041 has a structure matched and connected with the mounting surface 104 of the tail end polishing mechanism, so that the tail end polishing mechanism is matched and connected with the tail end polishing mechanism, and the tail end of the mechanical arm mounted on the portal frame type mechanical arm is further installed on the tail end of the terminal polishing mechanism.

In an embodiment of the present invention, in which the polishing apparatus polishes the cavity of the cavity filter, the robot arm of the gantry robot arm may carry the terminal polishing mechanism of the embodiment of the present invention to move back and forth and left and right in the horizontal direction and move up and down in the vertical direction, the cavity filter to be polished is fixed in the movable range of the gantry robot arm by the clamp, and the system of the gantry robot arm knows that each coordinate point of the cavity filter to be polished in the reference coordinate system, the first polishing head 111 of the terminal polishing mechanism in the first working coordinate point of the system coordinate, and the third polishing head 151 of the terminal polishing mechanism in the third coordinate point of the system coordinate, but the system coordinate as the polishing apparatus does not know the position association relationship of the reference coordinate system to itself, and at this time, the first linear motion apparatus 125 needs to be started to enable the first polishing head 111 to enter the working position from the initial position, because the distance between the initial position and the working position is fixed, and the initial coordinate position of the initial position is known in the system coordinate, the working position is also known in the system coordinate, a reference coordinate point (generally the upper surface plane) in the reference coordinate system is selected, the first grinding head 111 is moved to contact with the reference coordinate point, so that the first sensor 131 sends out a target position signal, and then the end grinding mechanism is judged to be contacted with the workpiece according to the target position signal, namely, the working coordinate point of the first grinding head can be considered to be coincident with the reference coordinate point of the workpiece at the moment, and then an alignment instruction is issued to the system coordinate system of the grinding equipment, so that the alignment coincidence of the working coordinate point of the grinding head working point of the system coordinate system in the current grinding equipment and the reference coordinate point in the reference coordinate system of the workpiece is completed, and further the association relationship of the reference coordinate system is established, and thus the tool setting of the first sanding head 111 is completed, the output shaft of the first linear motion device 125 may be controlled to contract so as to return the first sanding head 111 to the initial position. Similarly, the tool setting operation can also be performed on the third polishing head independently, and the tool setting process of the third polishing head is not described herein again.

It should be noted that, since the end grinding mechanism of the embodiment of the present application uses the laser displacement sensor to monitor the movement of the first transfer-mounting block 121 relative to the first sensor-mounting block 124 in real time, it is possible to have a very high monitoring accuracy, the lower end of the first transfer mounting block 121 is fixedly connected with the first driving motor 112, the output shaft of the first driving motor 112 is fixedly connected with the first sanding head 111, and when the first driving motor 112 is started to rotate and work with the first polishing head 111, the first linear motion device 125 is locked and does not work, which corresponds to the relative fixed position between the laser displacement sensor and the base, when the first grinding head 111 of the end grinding mechanism is grinding the workpiece in the depth direction, the thickness value of the first polishing head 111 polished can be monitored in real time through the laser displacement sensor, and high-precision control over polishing in the depth direction is achieved.

The above description of the present application with reference to specific embodiments is not intended to limit the present application to these embodiments. For those skilled in the art to which the present application pertains, several changes and substitutions may be made without departing from the spirit of the present application, and these changes and substitutions should be considered to fall within the scope of the present application.

Claims

1. A tip sharpening mechanism, comprising: the device comprises a base, a first grinding assembly, a first transfer assembly and a first pair of cutter assemblies;

2. The end grinding mechanism of claim 1, wherein the base is bar-shaped and has a polygonal cross-section, further comprising: a visual positioning assembly;

the visual positioning component is arranged on the second surface of the base;

3. The end sharpening mechanism of claim 2, further comprising: a light source, a light source holder;

4. The end sharpening mechanism of claim 2, further comprising: a third polishing component, a third transfer component and a third tool setting component;

the third shifting component is arranged on the third surface of the base;

5. The end grinding mechanism of claim 4, wherein the first sensor and the third sensor are both laser displacement sensors and the first sensor trigger structure and the third sensor trigger structure are both reflective plates.

6. The end grinding mechanism of claim 4, wherein the first sensor is a laser displacement sensor and the first sensor trigger structure is a reflective plate;

7. The tip sharpening mechanism as recited in claim 5 or 6, further comprising: the device comprises a first linear motion device, a first floating joint, a second linear motion device, a second floating joint, a third linear motion device and a third floating joint;

8. The end grinding mechanism of claim 4, wherein the first linear slide, the second linear slide, and the third linear slide are cross roller guides.

9. The end sharpening mechanism of claim 4, further comprising: the first air blowing pipe, the first air blowing pipe fixing structure, the third air blowing pipe and the third air blowing pipe fixing structure;

10. An abrading apparatus comprising: portal frame type mechanical arm, its characterized in that still includes: the end sharpening mechanism of claims 1-9;

and the tail end of the mechanical arm of the portal frame type mechanical arm is connected with the base mounting surface of the tail end polishing mechanism in a matching manner.