A welding slag grinding robot

Abstract

The present invention discloses a welding slag grinding robot, the welding slag grinding robot comprises: a robot body and a grinding device, the grinding device is installed on the robot body, the grinding device comprises: a grinding head, a bracket, a driving component and a clamping mechanism, the grinding head is rotatably arranged on the bracket and driven to rotate by the driving component, and the clamping mechanism is arranged on the bracket to press the grinding head against the grinding work surface during operation. The present invention solves the technical problem in the prior art that the grinding head cannot be well pressed on the weld.

Description

Technical Field

[0001] The invention relates to the technical field of grinding equipment, and in particular to a welding slag grinding robot. Background Art

[0002] In the process of industrial processing, welding is often used to achieve the connection between metal parts. After welding is completed, there will be a weld at the metal joint. Since the surface of the weld is uneven, it is necessary to grind the surface of the weld to grind off the excess welding slag. Most of the existing technologies still use manual grinding. This grinding method is inefficient and is controlled by hand power, so the grinding quality is poor. In order to improve efficiency, mechanical equipment is also used for grinding in the existing technology. However, when mechanical equipment is used for grinding, due to the high hardness of the welding slag, it is easy to bounce during grinding, and the grinding head cannot be pressed tightly on the weld, affecting the grinding quality. Summary of the invention

[0003] The invention provides a welding slag grinding robot, which solves the technical problem in the prior art that the grinding head cannot be pressed tightly onto the weld.

[0004] In order to solve the above technical problems, the present invention provides a welding slag grinding robot, which includes: a robot body and a grinding device, which is installed on the robot body. The grinding device includes a grinding head, a bracket, a driving component and a clamping mechanism. The grinding head is rotatably arranged on the bracket and driven by the driving component to rotate. The clamping mechanism is arranged on the bracket and is used to press the grinding head onto the grinding work surface during work.

[0005] As a preferred embodiment of the above technical solution, the bracket includes a mounting bracket and a connecting bracket, the grinding head is rotatably arranged on the connecting bracket, and the connecting bracket is rotatably connected to the mounting bracket.

[0006] As a preferred embodiment of the above technical solution, the clamping mechanism includes a clamping bracket and a clamping driving component, one end of the clamping bracket is rotatably connected to the mounting bracket, and the other end is rotatably connected to the connecting bracket, and the clamping driving component is installed on the mounting bracket to drive the clamping bracket to rotate.

[0007] As a preferred embodiment of the above technical solution, the clamping bracket includes a first clamping bracket and a second clamping bracket, the first clamping bracket is rotatably connected to the mounting bracket, the second clamping bracket is rotatably connected to the connecting bracket, and the first clamping bracket is rotatably connected to the second clamping bracket.

[0008] As a preferred embodiment of the above technical solution, the clamping drive component is an electric push rod.

[0009] As a preferred embodiment of the above technical solution, the motor of the electric push rod is rotatably connected to the mounting bracket, and the lower end of the push rod part of the electric push rod is connected to the first clamping bracket.

[0010] As a preferred embodiment of the above technical solution, the clamping mechanism further includes an elastic component, one end of which is rotatably connected to the mounting bracket, and the other end of which is rotatably connected to the clamping bracket.

[0011] As a preferred embodiment of the above technical solution, the robot body includes a slide rail, and the grinding device is movably arranged on the slide rail.

[0012] As a preferred embodiment of the above technical solution, the polishing device further includes a movable connecting component, the movable connecting component is movably connected to the slide rail, and a shock absorbing mechanism is arranged between the mounting bracket and the movable connecting component.

[0013] As a preferred embodiment of the above technical solution, a baffle is provided behind the grinding head.

[0014] The above one or more technical solutions in this application have at least one or more of the following technical effects:

[0015] The present invention provides a welding slag grinding robot, which comprises: a robot body and a grinding device, wherein the grinding device is installed on the robot body, and the grinding device comprises a grinding head, a bracket, a driving component and a clamping mechanism. The grinding head is rotatably arranged on the bracket and driven to rotate by the driving component. The clamping mechanism is arranged on the bracket and is used to press the grinding head onto a grinding work surface during operation. When the present invention is working, the grinding head is pressed onto the weld by the clamping mechanism, so that the grinding head is in full contact with the weld, which not only improves the working efficiency, but also solves the technical problem in the prior art that the grinding head cannot be well pressed onto the weld.

[0016] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the welding slag grinding robot according to an embodiment of the present invention;

[0018] Figure 2 This is a front view of a welding slag grinding robot according to an embodiment of the present invention;

[0019] Figure 3A top view of a welding slag grinding robot according to an embodiment of the present invention;

[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the grinding device in an embodiment of the present invention.

[0021] Explanation of the accompanying drawings: 1. Robot body; 2. Steering auxiliary structure; 3. Walking mechanism; 4. Grinding device; 5. Camera; 6. Shock absorption mechanism; 11. Slide rail; 12. Transverse driving component; 13. Moving connecting component; 14. Baffle; 15. Connecting rod body; 21. Auxiliary mounting bracket; 22. Auxiliary steering bracket; 23. Auxiliary steering wheel; 31. Front walking wheel; 32. Rear walking wheel; 33. Toothed portion; 34. Traction belt; 41. Mounting bracket; 42. Motor; 43. Push rod portion; 44. Connecting rod component; 45. First clamping bracket; 46. Grinding head; 47. Second clamping bracket; 48. Belt; 49. Driving component; 410. Elastic component; 411. Connecting bracket; 51. Camera bracket. DETAILED DESCRIPTION

[0022] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, 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 only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0023] See also Figures 1 to 4 An embodiment of the present invention provides a welding slag grinding robot, which includes: a robot body 1 and a grinding device 4, which is installed on the robot body 1. The grinding device 4 includes a grinding head 46, a bracket, a driving component 49 and a clamping mechanism. In this embodiment, the grinding head 46 is a grinding wheel, and the grinding head 46 is rotatably arranged on the bracket and driven to rotate by the driving component. The clamping mechanism is arranged on the bracket and is used to press the grinding head 46 on the grinding work surface when working. The driving component 49 in this embodiment is a motor.

[0024] Specifically, in this embodiment, the bracket includes a mounting bracket 41 and a connecting bracket 411, the grinding head 46 is rotatably arranged on the connecting bracket 411, and the connecting bracket 411 is rotatably connected to the mounting bracket 41. In addition, the driving component 49 in this embodiment is installed on the connecting bracket 411, more specifically, it is installed in the middle position of the connecting bracket 411 and is located on the outside of the connecting bracket 411. The connecting bracket 411 is a long strip-shaped plate body and there are two of them. The two connecting brackets 411 are arranged in parallel, and their upper ends are rotatably connected to the mounting bracket 41 through a rotating shaft, etc. The grinding head 46 is installed between the two connecting brackets 411 and close to the lower end. The grinding head 46 is rotatably connected to the two connecting brackets 411 through a rotating shaft, and a pulley is provided on the rotating shaft of the grinding head 46. The front end of the shaft of the driving component 49 passes through the connecting bracket 411 connected thereto and extends into a position between the two connecting brackets 411, and a pulley is also installed on the shaft of the driving component 49. The driving component 49 drives the high-speed rotation of the grinding head 46 through the belt 48. In this embodiment, since the grinding head 46 needs to move during the pressing process, in order to save space and make the structure simpler, the driving component 49 in this embodiment is directly arranged on the connecting bracket 411, and the grinding head 46 is directly driven by the belt.

[0025] In this embodiment, the clamping mechanism includes a clamping bracket and a clamping drive component. One end of the clamping bracket is rotatably connected to the mounting bracket, and the other end is rotatably connected to the connecting bracket. The clamping drive component is installed on the mounting bracket to drive the clamping bracket to rotate.

[0026] Specifically, the clamping bracket includes a first clamping bracket 45 and a second clamping bracket 47. The first clamping bracket 45 is rotatably connected to the mounting bracket 41, and the second clamping bracket 47 is rotatably connected to the connecting bracket 411. The first clamping bracket 45 is rotatably connected to the second clamping bracket 47. More specifically, the number of the first clamping bracket 45 and the second clamping bracket 47 is two, which are arranged corresponding to the connecting bracket 411 during installation. The two first clamping brackets 45 are respectively located on both sides of the mounting bracket 41. The upper end of the first clamping bracket 45 is rotatably connected to the mounting bracket 4 through a shaft and other components, and the two first clamping brackets 45 are arranged in parallel. In addition, the two first clamping brackets 45 are arranged in parallel. The two clamping brackets 47 are respectively located on both sides of the grinding head 46, one end of the second clamping bracket 47 is rotatably connected to the first clamping bracket 45 through an axis and other components, and the other end is rotatably connected to the connecting bracket 411 through an axis. In this embodiment, a second clamping bracket 47 is arranged between the first clamping bracket 45 and the connecting bracket 411. The second clamping bracket 47 can play a transitional role to prevent the connecting bracket 411 from being excessively displaced due to the excessive rotation angle of the first clamping bracket 45 driven by the clamping driving component, which can effectively prevent the grinding head 46 from colliding with the grinding part during the clamping process, and can also prevent excessive feeding during the grinding process.

[0027] In this embodiment, the clamping driving component is an electric push rod, and the structure and working principle of the electric push rod are prior art, so they are not elaborated in detail in this embodiment.

[0028] Specifically, the motor 42 of the electric push rod in this embodiment is rotatably connected to the mounting bracket 41, and the lower end of the push rod part 43 of the electric push rod is connected to the first clamping bracket 45. Furthermore, shaft parts are provided on both sides of the motor 42, and the motor 42 is rotatably connected to the mounting bracket 41 through the shaft parts. A connecting rod component 44 is fixed to the lower end of the push rod part 43, and the two ends of the connecting rod component 44 are respectively rotatably connected to the first clamping bracket 45 located on both sides thereof, and the connection between the connecting rod component 44 and the first clamping bracket 45 is located at the middle position of the first clamping bracket 45. In this embodiment, the push rod part 44 is driven by the motor 42 to move along its axial direction, and the push rod part 44 can drive the first clamping bracket 45 to rotate, and the first clamping bracket 45 drives the second clamping bracket 47 to rotate, and the second clamping bracket 47 drives the connecting bracket 411 to rotate with the connection between the second clamping bracket 47 and the mounting bracket 41 as the axis, and the grinding head 46 is moved toward the grinding working surface during the rotation.

[0029] In the present embodiment, the clamping mechanism also includes an elastic component 410, one end of the elastic component 410 is rotatably connected to the mounting bracket 41, and the other end is rotatably connected to the clamping bracket. Specifically, the other end of the elastic component 410 is rotatably connected to the first clamping bracket 45, and the connection point is located near the lower end of the first clamping bracket 45. More specifically, the elastic component 410 in the present embodiment is a gas spring. Since the first clamping bracket 45 and the second clamping bracket 47 in the present embodiment are both made of plate materials, and the first clamping bracket 45 and the second clamping bracket 47 and the first clamping bracket 45 are connected to other components by a rotatable connection, the overall structure is not stable enough. The elastic component 410 can make the structure of the first clamping bracket 45 and the second clamping bracket 47 more stable. In addition, it also plays a role in buffering, shock absorption and resetting.

[0030] In this embodiment, the robot body includes a slide rail 11, and the grinding device 4 is movably arranged on the slide rail 11. Specifically, the slide rail 11 is laterally arranged along the robot body. The grinding device 4 also includes a movable connecting component 13, which is movably connected to the slide rail 11. A shock absorbing mechanism 6 is arranged between the mounting bracket 41 and the movable connecting component 13. A transverse driving component 12 is arranged at the end of the slide rail 11. The transverse driving component 12 can adopt a servo motor. The transverse driving component 12 drives the movable connecting component 13 to move laterally on the slide rail 11 through transmission components such as a screw rod, thereby driving the grinding device 4 to move laterally on the slide rail 11. In addition, in this embodiment, a shock absorbing mechanism 6 is arranged between the mounting bracket 41 and the movable connecting component 13 to prevent the grinding device 4 from breaking at the connection between the mounting bracket 41 and the movable connecting component 13 due to a large impact. In this embodiment, the grinding device 4 can move laterally along the slide rail 11, so it can expand the range of grinding.

[0031] A baffle 14 is provided at the rear of the grinding head 46 in this embodiment. Specifically, the robot body 1 is provided with a connecting rod body 15 extending obliquely downward. The upper end of the connecting rod body 15 is fixed on the robot body 1, and the lower end is fixed on the back of the baffle 14. There are two connecting rod bodies 15 in this embodiment. The use of two connecting rod bodies 15 makes the installation of the baffle 14 more secure. In addition, the two ends of the baffle 14 are bent toward the direction of the grinding head 46. The main effect of the baffle 14 is to prevent the welding slag from splashing during the grinding process, which plays a role in safety and facilitates the collection of welding slag.

[0032] In this embodiment, a camera 5 is provided on the robot body 1. Specifically, the camera 5 is connected to the robot body 1 through a camera bracket 51. The lower end of the camera bracket 51 is connected to the robot body 1. The camera 5 is fixed on the camera bracket 51. The camera 5 is connected to a control main board provided in the robot body 1. Its main function is to identify the working environment and the weld position. Therefore, the camera 5 is installed at the front of the robot body 1 and is set facing forward.

[0033] In this embodiment, walking mechanisms 3 are respectively provided on both sides of the robot body 1, and the walking mechanisms 3 are driven by a walking drive device arranged on the robot body 1. The walking mechanism 3 includes a front walking wheel 31 and a rear walking wheel 32, and grooves are arranged on the front walking wheel 31 and the rear walking wheel 32, and a traction belt 34 is arranged in the groove. In addition, in this embodiment, meshing teeth are arranged on the front walking wheel 31 and the rear walking wheel 32, and the traction belt 34 adopts a synchronous belt, which cooperates with the meshing teeth, which can effectively prevent the traction belt 34 from slipping during the transmission process, and the walking structure with two wheels is adopted, and its walking is more stable. In addition, a toothed portion 33 is arranged on the front walking wheel 31 and on both sides of the traction belt 34 in this embodiment, and the toothed portion 33 is made of soft plastic material, which can increase friction and prevent slipping during walking, and the diameter of the front walking wheel 31 is larger than the diameter of the rear walking wheel 32, which can make the robot body 1 more flexible when walking and convenient for turning.

[0034] In this embodiment, a steering assist structure 2 is provided at the rear of the robot body 1. The main function of the steering assist structure 2 is to assist the robot body 1 in steering during walking. Specifically, the steering assist structure 2 includes an auxiliary steering wheel 23, an auxiliary steering bracket 22 and an auxiliary mounting bracket 21. The auxiliary steering wheel 23 is rotatably mounted on the auxiliary steering bracket 22, and the auxiliary steering bracket 22 is universally connected to the auxiliary mounting bracket 21. The auxiliary mounting bracket 21 is connected to the robot body 1. Specifically, the auxiliary mounting bracket 21 is an angle plate, and there are two of them. The two auxiliary mounting brackets 21 are arranged in parallel, one end of the auxiliary mounting bracket 21 is fixed on the robot body 1, and the other end is connected to the auxiliary steering bracket 22. The auxiliary steering bracket 22 is installed between the two auxiliary mounting brackets 21 and can be universally rotated. The steering assist structure 2 in this embodiment combined with the walking mechanism 3 can make the steering of the robot body 1 in this embodiment more flexible and convenient.

[0035] When the welding slag grinding robot of this embodiment is working, the walking mechanism 3 is first contacted with the walking plane, and the walking drive device is started to rotate the front walking wheel 31 and the rear walking wheel 32 to move on the walking plane. During the walking process, the camera 5 collects information and identifies the weld area. When it moves to the working position, the clamping mechanism is started to press the grinding head 46 on the weld, and the driving component 49 is started to drive the grinding head 46 to rotate at high speed to grind the weld. The clamping mechanism of this embodiment solves the technical problem in the prior art that the grinding head cannot be well pressed on the weld.

[0036] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0038] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A welding slag grinding robot, characterized in that: The welding slag grinding robot comprises: a robot body and a grinding device, wherein the grinding device is mounted on the robot body, and comprises: a grinding head, a bracket, a driving component and a clamping mechanism, wherein the grinding head is rotatably arranged on the bracket and driven to rotate by the driving component, and the clamping mechanism is arranged on the bracket and is used to press the grinding head against the grinding work surface during operation; The bracket comprises: a mounting bracket and a connecting bracket, the grinding head is rotatably arranged on the connecting bracket, and the connecting bracket is rotatably connected to the mounting bracket; The clamping mechanism comprises a clamping bracket and a clamping driving component, one end of the clamping bracket is rotatably connected to the mounting bracket, and the other end is rotatably connected to the connecting bracket, and the clamping driving component is installed on the mounting bracket to drive the clamping bracket to rotate; The clamping bracket includes two first clamping brackets and two second clamping brackets, each of the first clamping brackets is rotatably connected to the mounting bracket, each of the second clamping brackets is rotatably connected to the connecting bracket, and each of the first clamping brackets is rotatably connected to the corresponding second clamping bracket; The two first clamping brackets are respectively located on both sides of the mounting bracket, and the two first clamping brackets are arranged in parallel with each other; the two second clamping brackets are respectively located on both sides of the grinding head, and one second clamping bracket is arranged between each of the first clamping brackets and the connecting bracket; The robot body comprises a slide rail, and the grinding device is movably arranged on the slide rail.

2. The welding slag grinding robot according to claim 1, characterized in that: The pressing driving component is an electric push rod.

3. The welding slag grinding robot according to claim 2, characterized in that: The motor of the electric push rod is rotatably connected to the mounting bracket, and the lower end of the push rod part of the electric push rod is connected to the first clamping bracket.

4. The welding slag grinding robot according to any one of claims 1 to 3, characterized in that: The clamping mechanism also includes an elastic component, one end of which is rotatably connected to the mounting bracket, and the other end of which is rotatably connected to the clamping bracket.

5. The welding slag grinding robot according to claim 1, characterized in that: The polishing device further comprises a movable connecting component, the movable connecting component is movably connected to the slide rail, and a shock absorbing mechanism is arranged between the mounting bracket and the movable connecting component.

6. The welding slag grinding robot according to any one of claims 1 to 3, characterized in that: A baffle is arranged at the rear of the grinding head.

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