Grinding robot

Abstract

The invention relates to a grinding robot. The grinding robot comprises a control base, a mechanical arm movably connected with the control base, a grinding tool arranged at the tail end of the mechanical arm, a pneumatic spindle, a connecting piece, a robot vision self-positioning system, a pneumatic control cabinet and a system control cabinet. The pneumatic spindle is fixed to a tail end flangeof an industrial robot through the connecting piece. The grinding tool is clamped to the bottom of the pneumatic spindle and used for executing the assigned movement track along with the industrial robot according to control instructions to grind or polish the surface of a to-be-machined component fixed to a workbench. The pneumatic control cabinet controls the pneumatic spindle through a pneumatic loop. The system control cabinet is used for conducting robot kinematics and dynamics offline resolving, communicates with a robot control cabinet in a grinding system, controls the pneumatic loopand conducts image collection and treatment and man-machine conversation. The grinding robot is mechanical, and the grinding efficiency is high.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to a grinding robot. Background technique [0002] At present, the burrs formed during the processing of metal workpieces are generally mainly manual, and the metal workpieces are manually polished with sandpaper or the like. This manual grinding method not only has high labor intensity and low grinding efficiency, but also easily causes damage to the workpiece. At present, industrial mechanical arms, programmable machines with six-axis degrees of freedom have been widely used in various fields in industrial production. For example, a goniophotometer device based on a multi-degree-of-freedom robot arm is disclosed in Chinese patent document CN104121987A. The technical solution adopted is: including a first base for clamping the probe or the lamp under test, and a second base for clamping the probe or the lamp under test, characterized in that the first base is installed o...

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Problems solved by technology

[0003] In the grinding industry, there is also a tendency to use robotic arms for operations, or it has already appeared in some places, but according to public reports, the scope of application is not very wide, and there are various difficulties, which cannot be simply adopted. For the robot arm disclosed in the above-mentioned Chinese patent document CN104121987A, because the robot arm in the above-mentioned technical solution is used on the grinding platform, there are various defects such as insufficient rotation angle and unstable movement of the robot arm.

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