CN217702723U - Device for polishing and deburring - Google Patents

Abstract

The application discloses a device for polishing and deburring, which comprises a feeding mechanism, a clamping mechanism, a polishing mechanism and a discharging mechanism, wherein the feeding mechanism is used for placing materials and conveying the materials to a preset clamping position; the clamping mechanism comprises a clamping jaw for clamping and moving the material and maintaining the polishing position of the material; the detection mechanism comprises a lever component, a contact element and a displacement sensor, wherein the contact element is positioned at the short end of the lever component, and the displacement sensor is positioned at the long end of the lever component. The utility model discloses at the in-process that detects, through contact, lever subassembly and displacement sensor's cooperation, the wearing and tearing of having solved the head of polishing of low-cost, high accuracy are measured, are favorable to the industrialization of product more.

Description

Device for polishing and deburring

Technical Field

The utility model belongs to the technical field of the automatic technique of polishing and specifically relates to a device of deburring polishes.

Background

Casting is a metal hot working process which is relatively early mastered by human beings, the history of the metal hot working process is about 6000 years, and in the 21 st century, along with the rapid development of technology and the improvement of mechanical process requirements, the casting process level is also rapidly improved.

At present, in some casting materials, burrs of materials after casting is completed are difficult to remove, a casting factory has to adopt a plurality of processes to carry out burr treatment work, and in the factory, the mode of manual polishing is adopted for carrying out burr treatment, and not only is the labor intensity large for manual polishing, but also the focus is on the unstable quality of manual polishing, and then the material precision is poor, and the production efficiency is low. Therefore, according to the situation, a grinding and deburring device is needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a device of burring of polishing.

The utility model provides a its technical problem take following technical scheme to realize:

a polishing and deburring device, which comprises a feeding mechanism, a clamping mechanism, a polishing mechanism and a discharging mechanism,

the feeding mechanism is used for placing materials and conveying the materials to a preset clamping position;

the clamping mechanism comprises a clamping robot, and the clamping robot is provided with a clamping jaw for clamping and moving the material and maintaining the material polishing position;

the polishing mechanism comprises a polishing robot, a polishing head and a measuring instrument are mounted at the movable end of the polishing robot, and the measuring instrument is used for measuring the inclination of the clamping jaw for clamping the material;

the blanking mechanism is used for bearing the polished materials;

the detection mechanism comprises a lever component, a contact element and a displacement sensor, wherein the contact element is positioned at the short end of the lever component, and the displacement sensor is positioned at the long end of the lever component.

The movable end of the polishing robot is further provided with a measuring instrument, the measuring instrument and the polishing head move synchronously, and the measuring instrument is used for measuring the gradient of the clamping jaw clamping materials.

The lever assembly comprises a detection rod and a support rod which are connected in a rotating manner; one end of the contact element is in a cone shape, and the tip end of the contact element is in contact with the detection rod.

Preferably, fixture still includes the centre gripping robot, the clamping jaw install in the removal end of centre gripping robot is in order to press from both sides, remove the material and maintain the position of polishing of material, the clamping jaw includes locating pin and a plurality of claw tooth, the locating pin with the material adaptation is in order to fix a position the material, and is a plurality of the link of claw tooth is close to each other, just the expansion end that the claw tooth extends is stellate and distributes.

Preferably, the automatic feeding device further comprises a bin body, the bin body comprises a feeding port and a discharging port, the feeding mechanism comprises a divider, the divider comprises a plurality of mounting stations, partition plates are arranged between the mounting stations and used for isolating the inner space and the outer space of the bin body, the divider rotates to realize position switching of the mounting stations in the bin body and outside the bin body, the discharging mechanism comprises a conveying belt, and materials are conveyed out of the bin body from the bin body by the conveying belt.

Preferably, feed mechanism still includes crane boom, first bearing bar, second bearing bar and third bearing bar, first bearing bar is fixed in the crane boom upside, second bearing bar parallel connection first bearing bar, the third bearing bar is connected the second bearing bar just sets up rather than perpendicular, the lifting hook install in the third bearing bar.

Grinding machanism includes 2 polishing robot, 2 polishing robot is located the relative side of centre gripping robot.

The detection mechanism comprises 2 groups of lever assemblies, and the 2 groups of lever assemblies are arranged in a central symmetry manner.

1. The utility model discloses a degree of wear to the head of polishing detects, the efficiency of polishing and the quality of polishing have effectively been improved, operating personnel's intensity of labour has greatly been reduced, especially, at the in-process that detects, through the contact, lever assembly and displacement sensor's cooperation, low cost, the wearing and tearing of the head of polishing have been solved to the high accuracy are measured, be favorable to the industrialization of product more, and through the relative 2 group lever assemblies that set up, can prevent that the robot of polishing is located same position, use the data deviation when same movement track leads to, and then effectively promoted detection accuracy.

2. The utility model discloses a clamping jaw presss from both sides the position of polishing of maintaining the material behind the material to measure the gradient on material surface through the measuring apparatu, effectively realized the accurate location of material, especially measure the gradient on material finish machining surface, effectively reduced the material even more because of influence such as smear metal debris are fixed a position, lead to the last work piece to polish unqualified possibility greatly reduced, thereby promoted efficiency of polishing and the precision of polishing greatly.

Drawings

FIG. 1 is a schematic view of an axial measurement structure of the present invention in a state without a bin body;

FIG. 2 is a schematic view of a partial axial structure of the present invention;

fig. 3 is an enlarged view of the present invention at a in fig. 1;

fig. 4 is a schematic view of an axial measurement structure of the detection mechanism of the present invention;

fig. 5 is a schematic view of the axial measuring structure of the middle clamping jaw of the present invention.

In the figure: 100. a feeding mechanism; 110. a divider; 111. a partition plate; 120. a material storage platform; 130. a hoisting assembly; 131. a hoisting frame; 132. a first bearing bar; 133. a second bearing bar; 134. a third bearing bar; 200. a clamping mechanism; 210. a clamping robot; 220. a clamping jaw; 221. positioning pins; 222. claw teeth; 300. a polishing mechanism; 310. a polishing robot; 311. polishing head; 312. a measuring instrument; 313. a fixed seat; 400. a blanking mechanism; 410. a conveyor belt; 500. a detection mechanism; 510. a lever assembly; 511. A detection lever; 512. a strut; 520. a contact member; 530. a displacement sensor; 540. a detection frame; 600. A cabin body.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The embodiments of the present invention will be described in detail with reference to the accompanying drawings:

a device for polishing and deburring comprises a feeding mechanism 100, a clamping mechanism 200, a polishing mechanism 300 and a blanking mechanism 400, wherein common casting materials need to be uniformly fed before entering a polishing process due to large volume or heavy weight, the clamping mechanism 200 is used for positioning the materials in the polishing process, the polishing mechanism 300 polishes the materials by using a polishing head 311 under the condition that the clamping mechanism positions the materials, and finally the materials are placed in the blanking mechanism 400 by the clamping mechanism 200 to be output;

the feeding mechanism 100 is used for placing materials and conveying the materials to a preset clamping position; that is, the feeding mechanism 100 needs a platform capable of placing the material and a fixed placing position, the fixed placing position is used as a preset clamping position of the clamping mechanism 200, so that the worker can place the material on the platform at a convenient working position, and the material reaches the preset clamping position after displacement; specifically, as shown in fig. 1, the feeding mechanism 100 includes a divider 110, the divider 110 has an installation station as a preset clamping position, and a worker transports a material to the divider 110 by a transport tool and then places the material on the installation station.

In addition, in some embodiments, the divider 110 has a plurality of mounting stations, such as 2, 3, and 4, and the positions of the mounting stations can be changed from one another, and in general, for polishing, 2 mounting stations are selected, and the mounting station adjacent to the clamping mechanism 200 (which is convenient for the clamping mechanism 200 to clamp) is used as a preset clamping position, and from the viewpoint of safety, an operator places the material on the mounting station convenient for the operator to operate, and the positions of the 2 clamping stations are changed from one another, so that the material reaches the preset clamping position convenient for the clamping mechanism 200 to clamp, at this time, the clamping mechanism 200 clamps the material, and the operator can continue to place the material at another position.

In addition, in some embodiments, in view of a certain operation risk of the divider 110, the feeding mechanism 100 further includes a material storage table 120 and a lifting assembly 130, the material storage table 120 is a table body capable of storing materials, such as a storage structure like a table, the material storage table 120 is used for storing a workpiece to be polished sent from a previous process, since the workpiece is made of an aluminum alloy material and has low hardness, a relatively soft non-metallic material such as nylon or rubber needs to be laid on the storage table to protect the workpiece, a certain safety distance is reserved between the divider 110 and the material storage table 120, and a light curtain is disposed therebetween, and the lifting assembly 130 lifts the materials on the material storage table 120 by a hook, conveys the materials to an installation station of the divider 110, and positions the materials by the divider 110.

The clamping mechanism 200 comprises a clamping robot 210, wherein the clamping robot 210 is provided with a clamping jaw 220 for clamping and moving the material and maintaining the material polishing position; that is, the material at the preset clamping position is clamped by the clamping jaw 220, the clamping jaw 220 moves to drive the material to move, and the clamping jaw 220 clamps the material and stops at the polishing position so as to polish the material; specifically, as shown in fig. 1, the clamping mechanism 200 includes a clamping robot 210, that is, a mechanical arm controlled by a control system, the mechanical arm is located on the right side of the divider 110, the clamping robot 210 drives the clamping jaw 220 to move close to the divider 110 to clamp the material, and drives the material to move to the grinding position and then to be kept at the grinding position, after grinding, the clamping robot 210 drives the material to move and place the material in the blanking mechanism 400.

The grinding mechanism 300 comprises a grinding robot 310, wherein a grinding head 311 and a measuring instrument 312 are installed at the movable end part of the grinding robot 310, and the measuring instrument 312 is used for measuring the inclination of the clamping jaw 220 for clamping the material; the gauge 312 measures the inclination of the finished bevel of the material gripped by the jaws 220. That is to say, the polishing mechanism 300 includes a polishing head 311 for polishing and a measuring instrument 312 for measuring the position of the material, in general, the measuring instrument 312 adopts a laser range finder, and after the laser range finder measures the preset measuring surface of the material, if the preset measuring surface meets the condition, polishing is performed through the polishing head 311 by presetting the measuring surface and presetting the inclination of the measuring surface; specifically, as shown in fig. 1, 2 polishing robots 310 are symmetrically arranged on opposite sides of the holding robot 210, that is, a mechanical arm controlled by a control system, a polishing head 311 and a measuring instrument 312 are simultaneously installed on a movable end of each polishing robot 310, specifically, as shown in fig. 3, a fixed seat 313 is connected to a movable end of each polishing robot 310, 2 polishing heads 311 are connected through the fixed seat 313, the polishing heads 311 can be replaced according to actual requirements, generally, a conical polishing head and a ball head polishing head are adopted, and two polishing heads 311 are arranged at an included angle of 35 ° to 50 °, it should be noted that, in some embodiments, a laser range finder measures a surface of a material after finish machining, in-process that carries out processing at preface machining center promptly, through cutting or milling, cut, bore the hole or the face of technology processing such as drilling, laser range finder installs on fixing base 313 with polishing head 311 jointly, when measuring, polishing robot 310 drives laser range finder and removes and predetermine the linear position of a plurality of A points of measurement surface to B point with record material, form the gradient of facial nature position with the combination, and through confirming the shape of predetermineeing the area, regional size, can be in the accurate position at this regional area gradient of survey this while of confirming, mode through dual affirmation, measurement accuracy and machining precision have effectively been improved, and then processingquality has been promoted greatly.

The blanking mechanism 400 is used for bearing the polished material. That is, the blanking mechanism 400 is used for conveying the polished material out of the polishing area, and generally carries the conveying task; specifically, as shown in fig. 1, the blanking mechanism 400 includes a conveyor belt 410, the conveyor belt 410 is located on the right side of the holding robot 210, and extends from a position where the holding robot 210 can be placed to a side away from the holding robot 210 to a safe position, and in addition, in some other embodiments, a crane is further disposed at one end of the conveyor belt 410 away from the holding robot 210, so as to facilitate operation of a worker.

The detection mechanism 500 is further included, the detection mechanism 500 includes a lever assembly 510, a contact 520, and a displacement sensor 530, the contact 520 is located at the short end of the lever assembly 510, and the displacement sensor 530 is located at the long end of the lever assembly 510. That is to say, the device also has a set of mechanical self-detection mechanism, the detection mechanism 500 is mainly used for detecting the wear condition of the polishing head 311, in the existing production process, under the condition of polishing by manpower, a general worker judges whether the polishing head 311 needs to be replaced or not by experience, the accuracy of manual judgment is low, and a certain working age is needed to reach a higher judgment level, the condition not only causes the waste of consumables such as the polishing head 311, but also causes the condition of low polishing precision, in the existing machine polishing process, a plurality of workers carry out subjective judgment, or determine the frequency of consumable replacement according to working hours, and the method lacks accuracy, so that the polishing quality is unstable, the polished product is not controlled, and defective products are more;

specifically, as shown in fig. 4, the detection mechanism 500 includes a detection frame 540, the detection frame 540 is located on one side of the polishing robot 310 and located in the middle of 2 polishing robots 310, lever assemblies 510 are formed on the detection frame 540 adjacent to the 2 polishing robots 310, and specifically includes a detection rod 511 and a support rod 512, the detection rod 511 is rotatably connected to the support rod 512, a contact member 520 is installed on the short end of the detection rod 511, the lower side of the contact member 520 is in a cone shape, the tip of the contact member contacts with the detection rod 511, a displacement sensor 530 is installed on the detection frame 540 at the long end of the detection rod 511, and a limit bolt is installed at the adjacent position, the contact member 520 is touched by the polishing head 311 before and after polishing to obtain the wear value of the polishing head 311, so as to perform detection.

The clamping jaw 220 is installed at a moving end of the clamping robot 210 to clamp, move and maintain a polishing position of the material, the clamping jaw 220 includes a positioning pin 221 and a plurality of jaw teeth 222, the positioning pin 221 is adapted to the material to position the material, connecting ends of the jaw teeth 222 are close to each other, and movable ends of the jaw teeth 222 extending are distributed in a star shape. Specifically, as shown in fig. 5, the clamping jaw 220 includes a base plate, 3 positioning pins 221 are formed on the outer periphery of the base plate, the positioning pins 221 are adapted to the shape of the material to position the material, and it should be noted that there are 3 claw teeth 222, which are respectively a first claw tooth, a second claw tooth and a third claw tooth, one ends of the first claw tooth, the second claw tooth and the third claw tooth are hinged to the base plate, and the 3 hinge points are relatively the same point, and the first claw tooth, the second claw tooth and the third claw tooth all extend in a direction away from the hinge point, that is, the three claw teeth 222 all extend away from the base plate, and the extending end is a free end and is driven by a cylinder to clamp the material, in this way, the material can be fixed by the center point, the fixing effect is better, and in another embodiment, a fourth claw tooth is further included, and is driven by a cylinder to fix the material from the outer side of the material.

The automatic feeding device comprises a bin body 600, the bin body 600 comprises a feeding port and a discharging port, a feeding mechanism 100 comprises a divider 110, the divider 110 comprises a plurality of mounting stations, partition plates 111 are arranged between the mounting stations, the partition plates 111 separate the inner space and the outer space of the bin body 600, and the divider 110 rotates to realize the position switching of the mounting stations in the bin body 600 and outside the bin body 600; that is to say, in order to solve the problem of dust pollution diffusion generated in the process of grinding burrs, a grinding area is limited by a bin body 600, so that the grinding area is separated from other areas to effectively avoid dust diffusion, the grinding mechanism 300, the clamping mechanism 200 and the detection mechanism 500 are all located in the bin body 600, one side of the bin body 600 is provided with a feeding port, and the other side of the bin body 600 is provided with a discharging port, the positions of the feeding port and the discharging port correspond to those of the feeding mechanism and the discharging mechanism, in addition, partition plates 111 are arranged among a plurality of installation stations of the divider 110, the partition plates 111 are matched with the feeding port of the bin body 600, and the spaces inside and outside the bin body 600 are isolated while the installation stations are isolated;

specifically, as shown in fig. 2, fig. 2 is a partial structural axonometric view of the apparatus, especially a part of the bin body 600, it can be understood that, in order to clearly show the arrangement positions of the machines inside the bin body 600, the top of the bin body 600 is hidden in the view, the lifting assembly 130 is located outside the bin body 600, the divider 110 is equally divided into 2 mounting stations by the partition plate 111, one mounting station is located inside the bin body 600, and one mounting station is located outside the bin body 600, each mounting station is provided with positioning rods with different lengths so as to position the materials, the mounting stations are located on a table top of the divider 110, the table top of the divider 110 can rotate to realize the exchange of the two mounting stations, a safety fence is arranged in front of the divider 110 and provided with a safety light curtain, when the divider 110 rotates or is ready to rotate, if an operator enters by mistake, the light curtain is triggered, and the divider 110 stops rotating.

The feeding mechanism 100 further comprises a hoisting assembly 130, the hoisting assembly 130 comprises a hoisting frame 131, a first load-bearing rod 132, a second load-bearing rod 133 and a third load-bearing rod 134, the first load-bearing rod 132 is fixed on the upper side of the hoisting frame 131, the second load-bearing rod 133 is connected with the first load-bearing rod 132 in parallel, the third load-bearing rod 134 is connected with the second load-bearing rod 133 and is arranged vertically to the second load-bearing rod 133, and a hook is mounted on the third load-bearing rod 134; specifically, as shown in fig. 1, there are 2 first bearing rods 132 and 2 second bearing rods 133, the first bearing rods 132 are fixed on the upper side of the hoisting frame 131 through a plurality of bolts, the second bearing rods 133 are parallel to the first bearing rods 132, the second bearing rods 133 are located on the lower side of the cantilever on the upper side of the hoisting frame 131, a steel wire is connected between the first bearing rods 132 and the second bearing rods 133 on the same side, the third bearing rods 134 are connected to the lower sides of the 2 second bearing rods 133, 2 ends of the third bearing rods 134 are connected with the second bearing rods 133 through steel wires, in addition, the third bearing rods 134 are formed with slide rails, and hooks are mounted on the third bearing rods 134 and can slide along with the slide rails of the third bearing rods 134.

A method for grinding and deburring comprises the following grinding steps:

s1: the feeding assembly fixes and transfers the material to a preset clamping position; specifically, the staff lifts by crane the material through jack-up subassembly 130 to carry to the installation station that the cutterbar is located the storehouse body 600 outside, fix a position the material through the locating lever on the outer installation station of the storehouse body 600, open the cutterbar after that, make 2 installation station transposition positions, and then the material arrives and predetermines to press from both sides and get the position.

S2: the clamping robot controls the clamping jaw 220 to clamp and take the material at the clamping position and transfer the material to a preset polishing position; generally speaking, the robot arm of the clamping robot rotates to drive the clamping jaw 220 to move to the material position, the claw teeth 222 are driven by the cylinder to clamp the material, and then the clamping robot drives the material to reach the preset polishing position, at which time the material is facing the polishing robot 310.

S3: the polishing robot 310 controls the measuring instrument 312 to select a preset measuring area of the material to measure so as to obtain an inclination in the area, and compares the inclination with a preset inclination interval, if the inclination in the area meets a threshold value of the preset inclination interval, the step S4 is performed, and if the inclination in the area does not meet the threshold value, the material is readjusted; specifically, a surface of the material is determined to be a preset measuring area in an operation program, and an inclination of the area and a threshold of an allowable error inward inclination at a correct position are determined, generally, the threshold of the inclination does not exceed ± 0.3%, when the material reaches a preset polishing position, the polishing robot 310 drives the laser range finder to scan the preset measuring area, and compares the inclination of the preset measuring area with an inclination set by the program, if the inclination meets the threshold range, the step S4 is continued, and if the inclination of the preset measuring area of the material is greater than the set threshold, a worker intervenes to readjust the position condition of the material.

In addition, in some embodiments, the shape and the area of the determined area to be scanned by the polishing robot 310 are set, when the preset measurement area is tested for inclination by the laser range finder, the polishing robot 310 drives the laser range finder to scan in the preset area shape, and the overlap ratio between the area of the scanning area and the preset material scanning area is compared while the inclination is determined, so as to determine whether the material position is accurate.

S4: the polishing robot 310 controls the polishing head 311 to polish the material along a preset polishing path; specifically, by inputting the polishing path in the control program, the polishing robot 310 drives the polishing head 311 to move in the fixed polishing path, and then performs polishing.

S5: after polishing, the clamping robot moves the materials to a discharge port; specifically, after polishing, the clamping robot drives the material to move, the material is placed at one end of the conveyer belt 410, and the conveyer belt 410 drives the material to move out of the bin body 600 from the discharge hole.

In addition, in some embodiments, the predetermined measurement area is a surface area of the material after finishing, that is, before step S1, i.e., in the processing process of the material preamble, a hole or a surface with a specific shape and position is machined on the material through the machining center, for example, a quadrilateral cutting surface is formed by cutting on the surface of the material, the surface of the cutting surface is flat, and the inclination and/or the area of the area is measured through a laser range finder, so as to obtain higher accuracy.

The method also comprises the following detection steps:

a1: replacing the polishing head 311, driving the polishing head 311 to touch the contact element 520 by the polishing robot 310, recording an initial detection position, and obtaining initial data through the displacement sensor 530; generally, in the initial situation, before polishing the same batch of materials, the polishing head 311 is replaced, that is, the step of replacing the polishing head 311 is performed before S4, after the replacement is completed, the polishing robot 310 drives the polishing head 311 to touch the contact element 520, at this time, the data is amplified by the lever assembly 510 to obtain the initial data of the displacement sensor 530 at the long end, generally after the step A1, the steps S1 to S5 are repeated for many times, and after a certain working hour is reached, the step A2 is performed.

A2: the polishing robot 310 drives the polishing head 311 to return to the initial detection position to touch the contact element 520, real-time wear data is obtained through the displacement sensor 530, the real-time wear data is compared with the initial data to obtain a real-time wear value, the real-time wear value is compared with a preset wear threshold value, if the real-time wear value exceeds the preset wear threshold value, the polishing head 311 is replaced, and if the real-time wear value does not reach the wear threshold value, the polishing head continues to be used; that is to say, after a batch of materials is subjected to a polishing process, the polishing robot 310 drives the polishing head 311 to return to the initial detection position to touch the contact element 520, real-time wear data is obtained through the displacement sensor 530, and whether the materials are continuously used is determined through comparing the real-time wear data with a preset wear threshold.

In the step A2, if the real-time wear value exceeds the preset wear value, the following steps are carried out:

a3: the number of the processed objects after the polishing head 311 is replaced is adjusted, and the real-time wear value is compared with the preset wear value to obtain the estimated material number which can be processed to reach the preset wear value;

a4: setting a fatigue scrapping threshold value of the polishing head 311, obtaining and recording the minimum processable quantity of the materials according to the estimated quantity of the materials and the fatigue scrapping threshold value, and scrapping the materials when the polishing head 311 reaches the minimum processable quantity, generally, considering the fatigue life of the polishing head 311, subtracting 3-5 times from the estimated processable quantity of the materials, namely, detecting a real-time wear value when polishing the value, and comparing again.

It should be emphasized that the embodiments described herein are illustrative and not restrictive, and thus the invention is not limited to the embodiments described in the detailed description, and that other embodiments derived from the technical solutions of the present invention by those skilled in the art also belong to the scope of the present invention.

Claims (8)

1. The utility model provides a device of deburring of polishing which characterized in that: comprises a feeding mechanism (100), a clamping mechanism (200), a polishing mechanism (300), a discharging mechanism (400) and a detection mechanism (500),

the feeding mechanism (100) is used for placing materials and conveying the materials to a preset clamping position;

the clamping mechanism (200) comprises a clamping robot (210), and the clamping robot (210) is provided with a clamping jaw (220) for clamping and moving the material and maintaining the material polishing position;

the polishing mechanism (300) comprises a polishing robot (310), and a polishing head (311) is arranged at the movable end part of the polishing robot (310);

the blanking mechanism (400) is used for bearing the polished materials;

the detection mechanism (500) comprises a lever assembly (510), a contact piece (520) and a displacement sensor (530), wherein the contact piece (520) is positioned at the short end of the lever assembly (510), and the displacement sensor (530) is positioned at the long end of the lever assembly (510).

2. The sanding deburring device of claim 1, wherein: the movable end of the grinding robot (310) is further provided with a measuring instrument (312), the measuring instrument (312) and the grinding head (311) move synchronously, and the measuring instrument (312) is used for measuring the inclination of the clamping jaw (220) for clamping materials.

3. The sanding deburring device of claim 2, wherein: the lever assembly (510) comprises a detection rod (511) and a support rod (512) which are connected in a rotating way; one end of the contact member (520) is cone-shaped, and the tip of the contact member is in contact with the detection rod (511).

4. The sanding deburring device of claim 3, wherein: fixture (200) still includes centre gripping robot (210), clamping jaw (220) install in the removal end of centre gripping robot (210) is in order to press from both sides, to move the material and maintain the position of polishing of material, clamping jaw (220) include locating pin (221) and a plurality of claw tooth (222), locating pin (221) with the material is fit for being fixed a position the material, and is a plurality of the link of claw tooth (222) is close to each other, just the expansion end that claw tooth (222) extend is star-shaped and distributes.

5. The sanding deburring device of claim 4, wherein: the bin body (600) comprises a feeding hole and a discharging hole, the feeding mechanism (100) comprises a divider (110), the divider (110) comprises a plurality of mounting stations, partition plates (111) are arranged between the mounting stations, the partition plates (111) isolate the inner space and the outer space of the bin body (600), the divider (110) rotates to realize the position switching of the mounting stations in the bin body (600) and outside the bin body (600), the discharging mechanism (400) comprises a conveying belt (410), and the conveying belt (410) conveys materials out of the bin body (600) from the bin body (600).

6. The sanding deburring device of claim 5, wherein: feed mechanism (100) still includes crane boom (131), first bearing bar (132), second bearing bar (133) and third bearing bar (134), first bearing bar (132) are fixed in crane boom (131) upside, second bearing bar (133) parallel connection first bearing bar (132), third bearing bar (134) are connected second bearing bar (133) and rather than perpendicular setting, the lifting hook install in third bearing bar (134).

7. The sanding deburring device of claim 6, wherein: the grinding mechanism (300) comprises 2 grinding robots (310), and the 2 grinding robots (310) are positioned on the opposite sides of the clamping robot (210).

8. The sanding deburring apparatus of claim 7, wherein: the detection mechanism (500) comprises 2 groups of lever assemblies (510), and the 2 groups of lever assemblies (510) are arranged in a central symmetry manner.

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