CN118081518A - Polishing device with dolphin type mechanical arm - Google Patents

Abstract

The invention discloses a grinding device with a dolphin-type mechanical arm, which relates to the technical field of grinders and comprises a working platform, wherein a main control chassis is arranged at the bottom of the working platform and a working chassis is arranged at the top; the invention can realize both grinding of parts and clamping and picking up of parts by arranging a first mechanical arm mechanism and a second mechanical arm mechanism, so as to facilitate full-automatic operation of the grinding process; by arranging a mechanical arm mechanism with a moving mechanism, a mechanical arm base assembly and a mechanical arm motion assembly, the movement of the mechanical arm mechanism in the X-axis, the Y-axis and the Z-axis can be realized, the movement range of the mechanical arm is expanded and the flexibility of the mechanical arm is improved; by arranging a part clamping mechanism, the clamping of parts can be realized, so as to facilitate grinding operations on the parts; by arranging a part input mechanism and a part output mechanism, the parts can be input and output in an orderly manner; by arranging a suction fan and a dust collecting box, the dust generated in the grinding operation can be collected as much as possible.

Description

A grinding device with a dolphin-type mechanical arm

Technical Field

The invention relates to the technical field of grinders, and in particular to a grinding device with a dolphin-type mechanical arm.

Background technique

In the process of product preparation, the surface of the product is often polished through a grinding process. Grinding is the mechanical grinding of the product surface using tools with fixed sand grains such as grinding wheels and sandpaper. Its purposes can be divided into the following categories: removing burrs from finished products, surface rust treatment, polishing of finished product surfaces, grinding and cleaning work, finishing of finished product surfaces, removal of oxide films, etc. The existing product grinding is carried out manually, and the manual grinding method cannot guarantee the consistency of the product after grinding, and the efficiency is relatively low. In addition, manual grinding is uncertain, the labor intensity of workers is high, and they are prone to work fatigue and poor grinding quality. It is not easy to ensure that the burrs on the surface of the processed products are removed cleanly, and the products will be inconsistent. At the same time, the labor cost of manual grinding is also high. With the rapid development of production automation, robot grinders are widely used because of their advantages of saving time, reducing labor costs, improving product quality, improving working environment, and reducing product differences. Robotic arms are the most widely used automated mechanical devices in the field of robotic technology. Although their forms are different, they all have a common feature, that is, they can accept instructions and accurately locate to a certain point in three-dimensional space to perform operations. However, the flexibility and adaptability of the robotic arms of existing grinding devices still need to be improved. When facing complex and changing tasks and environments, the current robotic arms still seem to be unable to meet the needs of use.

Summary of the invention

In order to solve the above technical problems, the technical solution provided by the present invention is:

A grinding device with a dolphin-type mechanical arm comprises a working platform, wherein a main control chassis is arranged at the bottom of the working platform, and a working chassis is arranged at the top; a part clamping mechanism is arranged in the middle of the working platform, and a first mechanical arm mechanism and a second mechanical arm mechanism are arranged on both sides of the part clamping mechanism, the bottom of the first mechanical arm mechanism is connected to the upper part of the working platform through a moving mechanism, a grinding head assembly is arranged at the moving end of the first mechanical arm mechanism, and a clamping claw assembly is arranged at the moving end of the second mechanical arm mechanism; a part input mechanism and a part output mechanism are arranged end to end on the side of the second mechanical arm mechanism away from the first mechanical arm mechanism, an input window and an output window corresponding to the part input mechanism and the part output mechanism are arranged on the working chassis, an observation window for revealing the part clamping mechanism, the first mechanical arm mechanism, and the second mechanical arm mechanism is arranged on one side of the working chassis, and a glass opening and closing door is arranged at the observation window; a PLC controller connected with the part clamping mechanism, the first mechanical arm mechanism, the second mechanical arm mechanism, the grinding head assembly, the clamping claw assembly, the part input mechanism, and the part output mechanism and controlling their actions is arranged in the main control chassis.

Preferably, the first robotic arm mechanism and the second robotic arm mechanism have the same structure and are arranged relatively to each other, the first robotic arm mechanism includes a robotic arm base assembly arranged on the moving mechanism, and a robotic arm motion assembly connected to the robotic arm base assembly; the robotic arm base assembly includes a base shell, and a rotating spindle passing through the robotic arm base assembly and connected to the robotic arm motion assembly, the bottom of the rotating spindle is rotatably connected to the lower part of the base shell through a deep groove ball bearing 1, and a large synchronous pulley is connected to the top, the large synchronous pulley is rotatably connected to the upper part of the base shell through a deep groove ball bearing 2, the large synchronous pulley is transmission-connected to the small synchronous pulley through a synchronous belt, the small synchronous pulley is arranged on the output shaft of a drive motor 1, and the drive motor 1 is connected to the lower part of the base shell.

Preferably, the robot arm motion assembly includes a rotating base connected to a rotating spindle, a first moving arm swingably arranged on the rotating base, and a second moving arm swingably arranged on the top of the first moving arm, the first moving arm is rotatably connected to the rotating base and driven by a second driving motor, a first rocker is connected to a side of the first moving arm away from a part clamping mechanism, a second rocker is hinged at the other end of the first rocker, the other end of the second rocker is hinged to the second moving arm, and the first rocker is driven by a third driving motor; a third rocker is hinged at the other side of the rotating base, an intermediate plate is hinged at the other end of the third rocker, a fourth rocker is hinged at the other end of the intermediate plate, the fourth rocker is arranged in the second moving arm, the fourth rocker is hinged to the top of a robot arm moving head, the bottom of the robot arm moving head is rotatably connected to the end of the second moving arm, the lower part of the intermediate plate is hinged at the connection between the first moving arm and the second moving arm, and the grinding head assembly or the clamping claw assembly is arranged at the bottom of the robot arm moving head.

Preferably, the grinding head assembly includes a drive motor 4 embedded in the bottom of the robot arm moving head, and the output end of the drive motor 4 is connected to the grinding head body.

Preferably, the clamping claw assembly includes a driving motor five arranged at the bottom of the robot arm moving head and a left claw arm and a right claw arm swingably arranged on both sides of the bottom of the robot arm moving head. The output end of the driving motor five is connected to the driving gear, and the right claw arm is provided with a passive gear one meshing with the driving gear, and a passive gear two connected to the left claw arm in transmission. The left claw arm is meshed with the passive gear two through the passive gear three.

Preferably, the moving mechanism includes a mechanism base connected to the working platform, guide rails are arranged on both sides of the mechanism base along its length direction, an electric lead screw is arranged between the guide rails, and a slide table cooperating with the guide rails and the electric lead screw is arranged on the guide rails and the electric lead screw, and the slide table is connected to the bottom of the first robotic arm mechanism.

Preferably, the part clamping mechanism includes a gear bearing plate rotatably arranged on the upper part of the working platform, a passive gear four is meshed and transmitted on one side of the gear bearing plate, and the passive gear four is driven by a driving motor six arranged at the bottom of the working platform; a part bearing plate is arranged on the upper part of the gear bearing plate, and end plates are arranged at both ends of the upper part of the part bearing plate along its length direction, and a movable clamping plate is arranged between the end plates, and both ends of the movable clamping plate are respectively connected to a bidirectional threaded electric lead screw, and both ends of the bidirectional threaded electric lead screw are connected to the end plates.

Preferably, the parts input mechanism and the parts output mechanism have the same structure. The parts input mechanism includes a horizontal conveyor belt. Transmission shafts are respectively provided at both ends of the horizontal conveyor belt. The transmission shaft at one end of the horizontal conveyor belt is connected to the upper part of the working platform through an internal transmission shaft bracket, and the other end extends out of the working platform and is connected to the side of the working platform through an external transmission shaft bracket.

Preferably, a synchronous belt mechanism is connected to the transmission shafts at one end of the part input mechanism and the part output mechanism close to each other, and the synchronous belt mechanism is driven by a driving motor six.

Preferably, the working platform is also provided with a plurality of collecting holes, a dust collecting box corresponding to the collecting holes is provided in the main control chassis, a suction fan is provided on the bottom surface of the dust collecting box, and a box door exposed outside the main control chassis is provided at one end of the dust collecting box.

The advantages of the present invention compared with the prior art are: by setting a first robotic arm mechanism and a second robotic arm mechanism, the present invention can not only realize the grinding of parts, but also realize the clamping and picking up of parts, so as to facilitate the full-automatic operation of the grinding process; by setting a robotic arm mechanism with a moving mechanism, a robotic arm base assembly, and a robotic arm motion assembly, the movement of the robotic arm mechanism in the X-axis, Y-axis and Z-axis can be realized, the movement range of the robotic arm is expanded, and the flexibility of the robotic arm is improved; by setting a part clamping mechanism, the parts can be clamped, so as to facilitate the grinding operation; by setting a part input mechanism and a part output mechanism, the parts can be input and output in an orderly manner; by setting a suction fan and a dust collection box, the dust generated in the grinding operation can be collected as much as possible, so as to ensure the operating environment and facilitate cleaning.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the front structure of a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 2 is a schematic diagram of the rear structure of a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 3 is a schematic diagram of the internal structure of a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 4 is a schematic diagram of the side structure of a first mechanical arm mechanism in a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 5 is a schematic diagram of the rear structure of the first mechanical arm mechanism in a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 6 is a schematic diagram of the internal structure of a first mechanical arm mechanism in a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 7 is a schematic structural diagram of a first rocker in a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG8 is a schematic structural diagram of a clamping claw assembly in a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 9 is a schematic structural diagram of a grinding head assembly in a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 10 is a schematic diagram of the internal structure of a rotating base in a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 11 is a schematic structural diagram of a deep groove ball bearing 2 in a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 12 is a schematic structural diagram of a moving mechanism in a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 13 is a schematic structural diagram of a part clamping mechanism in a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 14 is a schematic structural diagram of a part input mechanism and a part output mechanism in a grinding device with a dolphin-type mechanical arm according to the present invention.

FIG. 15 is a schematic diagram of the internal structure of a working platform in a grinding device with a dolphin-type mechanical arm according to the present invention.

In the accompanying drawings: 1, working platform; 101, collecting hole;

2. Main control chassis;

3. Working case; 301. Input window; 302. Output window; 303. Observation window;

4. Parts clamping mechanism; 401. Gear bearing plate; 402. Passive gear four; 403. Parts bearing plate; 404. End plate; 405. Mobile clamping plate; 406. Bidirectional threaded electric lead screw;

5. First mechanical arm mechanism; 501. Mechanical arm base assembly; 501a. Base housing; 501b. Rotating spindle; 501c. Deep groove ball bearing 1; 501d. Large synchronous pulley; 501e. Deep groove ball bearing 2; 501f. Synchronous belt; 501g. Small synchronous pulley; 501h. Driving motor 1;

502, mechanical arm motion assembly; 502a, rotating base; 502b, first moving arm; 502c, second moving arm; 502d, second driving motor; 502e, first rocker; 502f, second rocker; 502g, third driving motor; 502h, third rocker; 502j, fourth rocker; 502m, middle plate; 502k, mechanical arm moving head;

6. The second robotic arm mechanism;

7. Moving mechanism; 701. Mechanism base; 702. Guide rail; 703. Electric lead screw; 704. Slide table;

8. Grinding head assembly; 801. Driving motor 4; 802. Grinding head body;

9. Clamping claw assembly; 901. Driving motor five; 902. Left claw arm; 903. Right claw arm; 904. Driving gear; 905. Passive gear one; 906. Passive gear two; 907. Passive gear three;

10. Parts input mechanism; 1001. Horizontal conveyor belt; 1002. Transmission shaft; 1003. Synchronous belt mechanism; 1004. Driving motor VI;

11. Parts output mechanism;

12. Dust collection box;

13. Suction fan;

14. Box door.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

In the description of the embodiments of the present invention, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invented product is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

In the description of the embodiments of the present invention, "plurality" means at least 2.

In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Embodiment:

In conjunction with Figures 1 to 15, this embodiment discloses a grinding device with a dolphin-type mechanical arm, including a working platform 1, a main control chassis 2 is arranged at the bottom of the working platform 1, and a working chassis 3 is arranged at the top; a part clamping mechanism 4 is arranged in the middle of the working platform 1, and a first mechanical arm mechanism 5 and a second mechanical arm mechanism 6 are arranged on both sides of the part clamping mechanism 4, the bottom of the first mechanical arm mechanism 5 is connected to the upper part of the working platform 1 through a moving mechanism 7, a grinding head assembly 8 is arranged at the moving end of the first mechanical arm mechanism 5, and a clamping claw assembly 9 is arranged at the moving end of the second mechanical arm mechanism 6; a part input mechanism 10 and a part output mechanism 11 are arranged end to end on the side of the second mechanical arm mechanism 6 away from the first mechanical arm mechanism 5, and an input window 301 and an output window 302 corresponding to the part input mechanism 10 and the part output mechanism 11 are arranged on the working chassis 3, and the working chassis 3 is provided with a plurality of parts. An observation window 303 for revealing the part clamping mechanism 4, the first robotic arm mechanism 5, and the second robotic arm mechanism 6 is provided on one side, and a glass opening and closing door is provided at the observation window 303. A PLC controller connected to the part clamping mechanism 4, the first robotic arm mechanism 5, the second robotic arm mechanism 6, the grinding head assembly 8, the clamping claw assembly 9, the part input mechanism 10, and the part output mechanism 11 and controlling their actions is provided in the main control chassis 2; in specific implementation, the part input mechanism inputs the parts to be polished into the working chassis, the second robotic arm mechanism drives the clamping claw assembly to clamp the parts from the part input mechanism and place them on the clamping mechanism, the clamping mechanism clamps the parts, the first robotic arm mechanism drives the grinding head assembly to polish the parts, and then the second robotic arm mechanism drives the clamping claw assembly to place the polished parts on the part output mechanism, and the part output mechanism moves them out of the working chassis.

Specifically, the first robot arm mechanism 5 and the second robot arm mechanism 6 have the same structure and are arranged relatively to each other. The first robot arm mechanism 5 includes a robot arm base assembly 501 arranged on the moving mechanism 7, and a robot arm motion assembly 502 connected to the robot arm base assembly 501; the robot arm base assembly 501 includes a base shell 501a, and a rotating spindle 501b that passes through the robot arm base assembly 501 and is connected to the robot arm motion assembly 502. The bottom of the rotating spindle 501b is rotatably connected to the lower part of the base shell 501a through a deep groove ball bearing 501c, and the top is connected to a large synchronous belt pulley 501d. The wheel 501d is rotatably connected to the upper part of the base shell 501a through the deep groove ball bearing 501e, the large synchronous pulley 501d is transmission-connected to the small synchronous pulley 501g through the synchronous belt 501f, the small synchronous pulley 501g is arranged on the output shaft of the driving motor 501h, and the driving motor 501h is connected to the lower part of the base shell 501a; in the specific implementation, the driving motor drives the small synchronous pulley to rotate, and the small synchronous pulley drives the large synchronous pulley to rotate through the synchronous belt, thereby driving the rotating spindle to rotate, and then the rotating spindle drives the upper mechanical arm motion component to rotate, thereby realizing the movement of the mechanical arm mechanism on the X-axis.

Specifically, the robot arm motion assembly 502 includes a rotating base 502a connected to a rotating main shaft 501b, a first movable arm 502b swingably disposed on the rotating base 502a, and a second movable arm 502c swingably disposed on the top of the first movable arm 502b, the first movable arm 502b is rotatably connected to the rotating base 502a and driven by a second driving motor 502d, a first rocking arm 502e is connected to a side of the first movable arm 502b away from the part clamping mechanism 4, the other end of the first rocking arm 502e is hinged to a second rocking arm 502f, the other end of the second rocking arm 502f is hinged to the second movable arm 502c, the first rocking arm 502e is driven by a third driving motor 502g; a third rocking arm 502h is hinged to the other side of the rotating base 502a, the other end of the third rocking arm 502h is hinged to an intermediate plate 502m, the other end of the intermediate plate 502m is hinged to a fourth rocking arm 502j, Rod 502j is arranged in the second moving arm 502c, the fourth rocker 502j is hinged to the top of the robot arm moving head 502k, the bottom of the robot arm moving head 502k is rotatably connected to the end of the second moving arm 502c, the lower part of the middle plate 502m is hinged to the connection between the first moving arm 502b and the second moving arm 502c, and the grinding head assembly 8 or the clamping claw assembly 9 is arranged at the bottom of the robot arm moving head 502k; in the specific implementation, the driving motor 2 drives the first moving arm to rotate around the hinge point between it and the rotating base, so as to realize the movement of the robot arm mechanism on the Y axis, and at the same time, the driving motor 3 drives the first rocker to rotate around the hinge point between it and the rotating base, and the first rocker pulls the second moving arm to rotate around the hinge point between it and the first moving arm through the second rocker, so as to realize the movement of the robot arm mechanism on the Z axis, and at the same time drives the robot arm moving head to move, thereby moving the grinding head assembly or clamping claw assembly arranged thereon.

Specifically, the grinding head assembly 8 includes a driving motor 901 embedded in the bottom of the robot arm moving head 502k, and the output end of the driving motor 901 is connected to the grinding head body 802; the clamping claw assembly 9 includes a driving motor 901 arranged at the bottom of the robot arm moving head 502k and a left claw arm 902 and a right claw arm 903 swingingly arranged on both sides of the bottom of the robot arm moving head 502k, the output end of the driving motor 901 is connected to the driving gear 904, and the right claw arm 903 is provided with a passive gear 905 meshing with the driving gear 904, and The passive gear 2 906 is connected to the left claw arm 902, and the left claw arm 902 is meshed with the passive gear 2 906 through the passive gear 3 907. In the specific implementation, the driving electrode 4 rotates to drive the grinding head body to rotate, and when it contacts the surface of the part, the surface of the part can be polished; the driving motor 5 rotates to drive the active gear to rotate, and the active gear drives the passive gear 1 to rotate, so that the right claw arm is opened or closed, and at the same time, the passive gear 2 on the right claw arm drives the left claw arm through the passive gear 3, so that the left claw arm and the right claw arm are relatively opened or closed.

Specifically, the mobile mechanism 7 includes a mechanism base 701 connected to the working platform 1, guide rails 702 are arranged on both sides of the mechanism base 701 along its length direction, an electric screw 703 is arranged between the guide rails 702, and a slide 704 cooperating therewith is arranged on the guide rails 702 and the electric screw 703, and the slide 704 is connected to the bottom of the first robotic arm mechanism 5; in the specific implementation, the electric screw is started, driving the slide cooperating thereon to move, thereby making the upper robotic arm mechanism as a whole move along the X-axis.

Specifically, the part clamping mechanism 4 includes a gear carrier plate 401 rotatably arranged on the upper part of the working platform 1, and a passive gear four 402 is meshed and transmitted on one side of the gear carrier plate 401, and the passive gear four 402 is driven by a driving motor six arranged at the bottom of the working platform 1; a part carrier plate 403 is arranged on the upper part of the gear carrier plate 401, and end plates 404 are arranged at both ends of the upper part of the part carrier plate 403 along its length direction, and a movable clamping plate 405 is arranged between the end plates 404, and two ends of the movable clamping plate 405 are respectively connected to a bidirectional threaded electric lead screw 406, and both ends of the bidirectional threaded electric lead screw 406 are connected to the end plates 404; in specific implementation, the bidirectional threaded electric lead screw is started to drive the clamping plate thereon to move, and because the bidirectional thread arranged on the bidirectional threaded electric lead screw, that is, the threads at both ends are opposite, the clamping plate can be moved relative to each other or in opposite directions, so that the clamping plate can be closed and opened, and the clamping and releasing of the parts can be realized.

Specifically, the parts input mechanism 10 and the parts output mechanism 11 have the same structure. The parts input mechanism 10 includes a horizontal conveyor belt 1001. Transmission shafts 1002 are respectively provided at both ends of the horizontal conveyor belt 1001. The transmission shaft 1002 at one end of the horizontal conveyor belt 1001 is connected to the upper part of the working platform 1 through an inner transmission shaft 1002 bracket, and the other end extends out of the working platform 1 and is connected to the side of the working platform 1 through an outer transmission shaft 1002 bracket; the transmission shafts 1002 at the ends of the parts input mechanism 10 and the parts output mechanism 11 close to each other are connected with a synchronous belt mechanism 1003, and the synchronous belt mechanism 1003 is driven by a driving motor 6. 1004 drive; in specific implementation, the input end of the part input mechanism extends out of the working platform, and other mechanisms or operators place the parts to be polished, and the output end of the part output mechanism extends out of the working platform, and other mechanisms or operators collect the polished parts; the second robotic arm mechanism picks up the parts of the part input mechanism close to one end of the part output mechanism, and at the same time, when the second robotic arm mechanism places the parts, it is also placed at the position of the part output mechanism close to one end of the part input mechanism. The part input mechanism and the part output mechanism rotate synchronously through the synchronous belt mechanism, so that the parts on them move synchronously, thereby increasing the order of part input and output.

Specifically, the working platform 1 is also provided with a plurality of collecting holes 101, the main control chassis 2 is provided with a dust box 12 corresponding to the collecting holes 101, the bottom surface of the dust box 12 is provided with a suction fan 13, and one end of the dust box 12 is provided with a box door 14 exposed outside the main control chassis 2; in the specific implementation, the suction fan can generate negative pressure wind force to absorb the dust generated in the working chassis into the dust box, and then process them uniformly, and the bottom of the dust box can be set to be inclined to facilitate the collection and cleaning of dust.

The present invention and its embodiments are described above, which is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it and design structural methods and embodiments similar to the technical solution without creativity without departing from the purpose of the invention, they should all fall within the protection scope of the present invention.

Claims (10)

1. The polishing device with the dolphin type mechanical arm is characterized by comprising a working platform, wherein a main control chassis is arranged at the bottom of the working platform, and a working chassis is arranged at the top of the working platform; the part clamping mechanism is arranged in the middle of the working platform, a first mechanical arm mechanism and a second mechanical arm mechanism are respectively arranged on two sides of the part clamping mechanism, the bottom of the first mechanical arm mechanism is connected with the upper part of the working platform through a moving mechanism, a polishing head assembly is arranged at the moving tail end of the first mechanical arm mechanism, and a clamping claw assembly is arranged at the moving tail end of the second mechanical arm mechanism; the part input mechanism and the part output mechanism are arranged on one side, far away from the first mechanical arm mechanism, of the second mechanical arm mechanism in an end-to-end mode, an input window and an output window corresponding to the part input mechanism and the part output mechanism are arranged on the working machine case, an observation window used for exposing the part clamping mechanism, the first mechanical arm mechanism and the second mechanical arm mechanism is arranged on one side of the working machine case, and a glass opening and closing door is arranged at the observation window; the main control cabinet is internally provided with a PLC controller which is connected with and controls the actions of the part clamping mechanism, the first mechanical arm mechanism, the second mechanical arm mechanism, the polishing head assembly, the clamping claw assembly, the part input mechanism and the part output mechanism.

2. The polishing device with the dolphin type mechanical arm according to claim 1, wherein the first mechanical arm mechanism and the second mechanical arm mechanism are identical in structure and are oppositely arranged, and the first mechanical arm mechanism comprises a mechanical arm base assembly arranged on the moving mechanism and a mechanical arm movement assembly connected with the mechanical arm base assembly; the mechanical arm base assembly comprises a base shell and a rotating main shaft penetrating out of the mechanical arm base assembly and connected with the mechanical arm movement assembly, wherein the bottom of the rotating main shaft is rotationally connected with the lower part of the base shell through a first deep groove ball bearing, the top of the rotating main shaft is connected with a large synchronous pulley, the large synchronous pulley is rotationally connected with the upper part of the base shell through a second deep groove ball bearing, the large synchronous pulley is in transmission connection with a small synchronous pulley through a synchronous belt, the small synchronous pulley is arranged on an output shaft of a driving motor, and the driving motor is connected with the lower part of the base shell.

3. The polishing device with the dolphin type mechanical arm according to claim 2, wherein the mechanical arm movement assembly comprises a rotating base connected with a rotating main shaft, a first moving arm arranged on the rotating base in a swinging mode and a second moving arm arranged on the top of the first moving arm in a swinging mode, the first moving arm is connected with the rotating base in a rotating mode and driven by a driving motor II, one side, away from the part clamping mechanism, of the first moving arm is connected with a first rocker, the other end of the first rocker is hinged with a second rocker, the other end of the second rocker is hinged with the second moving arm, and the first rocker is driven by a driving motor III; the other side of the rotating base is hinged with a third rocker, the other end of the third rocker is hinged with a middle plate, the other end of the middle plate is hinged with a fourth rocker, the fourth rocker is arranged in the second moving arm, the fourth rocker is hinged with the top of the mechanical arm moving head, the bottom of the mechanical arm moving head is rotationally connected with the end part of the second moving arm, the lower part of the middle plate is hinged to the joint of the first moving arm and the second moving arm, and the polishing head assembly or the clamping claw assembly is arranged at the bottom of the mechanical arm moving head.

4. The polishing device with the dolphin type mechanical arm according to claim 3, wherein the polishing head assembly comprises a driving motor IV embedded at the bottom of the mechanical arm moving head, and the output end of the driving motor IV is connected with the polishing head body.

5. The polishing device with the dolphin type mechanical arm according to claim 3, wherein the clamping claw assembly comprises a driving motor five arranged at the bottom of the mechanical arm moving head, a left claw arm and a right claw arm which are arranged on two sides of the bottom of the mechanical arm moving head in a swinging mode, the output end of the driving motor five is connected with a driving gear, a driven gear I meshed with the driving gear and a driven gear II in transmission connection with the left claw arm are arranged on the right claw arm, and the left claw arm is in transmission in meshed connection with the driven gear II through the driven gear III.

6. The polishing device with the dolphin type mechanical arm according to claim 1, wherein the moving mechanism comprises a mechanism base connected with the working platform, guide rails are arranged on two sides of the mechanism base along the length direction of the mechanism base, an electric screw rod is arranged between the guide rails, a sliding table matched with the guide rails and the electric screw rod is arranged on the guide rails and the electric screw rod, and the sliding table is connected with the bottom of the first mechanical arm mechanism.

7. The polishing device with the dolphin type mechanical arm according to claim 1, wherein the part clamping mechanism comprises a gear bearing plate rotatably arranged on the upper portion of the working platform, one side of the gear bearing plate is in meshed transmission with a driven gear IV, and the driven gear IV is driven by a driving motor six arranged at the bottom of the working platform; the gear bearing plate is characterized in that a part bearing plate is arranged on the upper portion of the gear bearing plate, end plates are arranged on the upper portion of the part bearing plate along the two ends of the length direction of the part bearing plate, a movable clamping plate is arranged between the end plates, two ends of the movable clamping plate are respectively connected with a two-way threaded electric screw rod, and two ends of the two-way threaded electric screw rod are connected to the end plates.

8. The polishing device with the dolphin type mechanical arm according to claim 1, wherein the part input mechanism and the part output mechanism have the same structure, the part input mechanism comprises a horizontal conveying belt, two ends of the horizontal conveying belt are respectively provided with a transmission shaft, one end of the transmission shaft of the horizontal conveying belt is connected with the upper part of the working platform through an inner transmission shaft bracket, and the other end of the transmission shaft extends out of the working platform and is connected with the side part of the working platform through an outer transmission shaft bracket.

9. The polishing device with the dolphin type mechanical arm according to claim 8, wherein a synchronous belt mechanism is connected to a transmission shaft at one end of the part input mechanism and one end of the part output mechanism, which are close to each other, and the synchronous belt mechanism is driven by a driving motor six.

10. The polishing device with the dolphin type mechanical arm according to claim 1, wherein a plurality of collecting holes are further formed in the working platform, a dust box corresponding to the collecting holes is arranged in the main control cabinet, a suction fan is arranged on the inner bottom surface of the dust box, and a door exposed out of the main control cabinet is arranged at one end of the dust box.