A grooving device for installation on a robot for operation

Abstract

The present invention relates to the technical field of industrial robot tools, and a grooving device for operating on a robot, which comprises a tool device and a travel switch. The tool device is connected to a mounting bracket, and the mounting bracket is used for connecting with the robot. The tool device is connected with a constant-force floating device, and the constant-force floating device is connected with a control system. The control system can control the constant-force floating device to drive the tool device to float along the grooving depth direction according to the movement change of the tool device, so as to maintain the consistency of the grooving depth. The travel switch is used for limiting the tool device. The constant-force floating device ensures the consistency of the grooving depth. By changing the grooving direction and the included angle between the tool device and the normal direction of the working surface, grooves of various shapes such as rectangular grooves and inverted trapezoidal grooves can be satisfied. The grooving process can be fully automated, and has the advantages of high intelligence, stable and reliable grooving quality.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot tools, and particularly to a grooving tool installed on an industrial robot for tunnel grooving. Background Art

[0002] For the problem of water leakage in railway tunnels, the current common method is to combine plugging and drainage. In addition to grouting through drilling, drainage grooves are also opened in the water leakage area, and most of the drainage grooves are opened manually. Due to the high dome of the tunnel, scaffolding is needed for construction, and the railway also undertakes daily transportation tasks, so the construction time is very limited. Coupled with the slow speed of manual grooving, the construction efficiency is very low and cannot meet the operation requirements. On the other hand, the grooving operation environment is harsh, with serious dust pollution and high operation risks, which poses certain harm to the physical health of the operators. Using an industrial robot to replace manual tunnel grooving operation has the advantages of convenience, high efficiency, economy, high intelligence level, and stable and reliable grooving quality. However, most of the existing grooving tools are manually held tools and are not suitable for robot installation. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiency that the existing tunnel drainage groove grooving tool is not suitable for installation on a robot for construction, and to provide a grooving device for installation on a robot for operation.

[0004] In order to achieve the above invention purpose, the present invention provides the following technical solutions:

[0005] A grooving device for installation on a robot for operation, including a tool device and a travel switch. The tool device is connected to a mounting bracket, the mounting bracket is used for connecting with the robot, the tool device is connected with a constant force floating device, the constant force floating device is connected with a control system, the control system can control the constant force floating device to drive the tool device to float along the grooving depth direction according to the movement change of the tool device, the floating of the tool device along the grooving depth direction is used to maintain the consistency of the grooving depth, and the travel switch is used to limit the position of the tool device.

[0006] The function of the constant-force floating device is to balance the reaction force of the tool device on the grooving working surface in the grooving depth direction, so that the tool device does not shift, ensuring the consistency of the grooving depth. A power device such as an oil cylinder, a cylinder, a linear module, etc. is arranged in the constant-force floating device. Then, the constant-force floating device can move linearly, and the linear motion direction can be constrained in the grooving depth direction by setting the constraint of the track. The tool device is connected to the constant-force floating device, and the constant-force floating device can drive the tool device to float in the grooving depth direction. Connecting the tool device to the motor for transmission can make the tool device rotate to groove the working surface. The mounting bracket is connected to the robot, and the robot, such as an industrial robotic arm, drives the grooving device of the present invention to flip or move along a predetermined trajectory.

[0007] The robot drives the tool device to groove in the depth direction along a predetermined trajectory. When the predetermined depth is reached, the travel switch operates and feeds back a signal to the control system, such as the control system of the robot. The robot no longer drives the tool device to deepen the grooving depth, but instead grooves along the trajectory in the predetermined length direction. If, during the operation, the situation of a convex or harder grooving surface is encountered, the reaction force pressure of the tool device on the grooving working surface becomes larger, and the tool device will retract. At the same time, the motor current increases. Input the signal of the increased motor current into the control system. The control system controls the power device to pressurize according to the increased motor current signal, and the constant-force floating device drives the tool device to advance in the direction of deepening the grooving depth, preventing the tool device from retracting. On the contrary, if the situation of a concave or softer grooving surface is encountered, the reaction force pressure of the tool device on the grooving working surface becomes smaller, and the grooving depth will be deepened. At the same time, the motor current decreases. Input the signal of the decreased motor current into the control system. The control system controls the power device to decompress according to the decreased motor current signal, and the constant-force floating device drives the tool device to retract in the direction of deepening the grooving depth, preventing the tool device from continuing to advance. Such feedback adjustment ensures the consistency of the grooving depth. Compared with the prior art that uses a force sensor for feedback adjustment to maintain a constant force, the constant-force floating device maintains a constant force through the change of the current signal for feedback adjustment, featuring rapid response and accuracy.

[0008] Preferably, the constant-force floating device includes a floating cylinder. The mounting bracket is provided with a linear guide rail and the floating cylinder. A guide rail slider is slidably connected to the linear guide rail. The guide rail slider is connected to the mounting seat. The mounting seat is connected to the piston rod of the floating cylinder. A motor and a reduction gearbox are arranged on the mounting seat. The motor is mounted on the mounting seat through a motor mounting plate.

[0009] Two linear guide rails are arranged side by side on the mounting bracket, and the direction of the linear guide rails is the same as the grooving direction. The mounting seat is fixed to the guide rail slider, and the guide rail slider is slidably connected to the linear guide rails, so that the mounting seat can slide along the grooving direction. Also, since the floating cylinder is fixed on the mounting bracket and the mounting seat is connected to the piston rod of the floating cylinder, the movement of the mounting seat can be controlled by controlling the air intake of the floating cylinder. The motor provides the grooving power for the tool device. If the motor is directly mounted on the mounting seat, the height of the drive shaft of the motor is determined, and there may be a situation where the heights of the drive shaft and the input shaft of the reduction box do not match. Therefore, the motor is mounted on the mounting seat through a motor mounting plate, so that the height of the motor can be adjusted to match the height of the input shaft of the reduction box.

[0010] Preferably, a floating joint is connected between the mounting seat and the piston rod.

[0011] During the robot attitude adjustment process, the change in the grooving direction of the tool device may cause the constant force floating device to jam and be unable to move. To avoid this situation, the floating joint is added between the piston rod and the mounting seat.

[0012] Preferably, the travel switch includes a contact and a proximity switch. The contact is connected to a detection position, and the detection position is adapted to the proximity switch. The travel switch includes a first travel switch and a second travel switch. The first travel switch is used to limit the travel of the tool device, and the second travel switch is used to limit the travel of the constant force floating device.

[0013] To control the grooving depth and avoid device damage, the travel switch needs to be set to limit the tool device. As the grooving depth deepens, the contact of the first travel switch displaces after contacting the grooving surface, and at the same time drives the detection position to displace. When the detection position approaches the proximity switch, the proximity switch operates and feeds back a signal to the control system, and the robot no longer drives the tool device to deepen the grooving depth. When the constant force floating device retracts, to avoid excessive retraction distance and cause damage to the robotic arm, the second travel switch is set. The working principle of the second travel switch is similar to that of the first travel switch. When the second travel switch operates, the control system issues a control signal to take emergency treatment measures, suspend the grooving operation, and at the same time the robotic arm drives the tool device to retract and issues an alarm signal.

[0014] Preferably, the tool device includes a tool holder. The tool holder is provided with a tool shaft, a blade group is arranged on the tool shaft, and a blade group protective cover is arranged outside the blade group.

[0015] The tool holder is used to support the tool shaft and the output shaft of the speed reducer. The blade group is composed of several slotted blades and gaskets. Two bearing sleeves are arranged on the tool holder, and the tool shaft is sleeved in the two bearing sleeves. The blade group can be located between or outside the two bearing sleeves. When it is located between them, the force on the tool shaft is good, but the blade group is not easy to replace. When it is located outside, the blade group is easy to replace. A blade group protective cover is provided to avoid dust splashing and danger.

[0016] Preferably, it further includes a dust removal and cooling device. The dust removal and cooling device includes a water spraying plate provided with water nozzles. The water spraying plate can rotate, and by rotating the water spraying plate, the water nozzles can be aligned with the slotted part.

[0017] The water spraying plate is provided with water nozzles which are connected to a water pipe. The water flow in the water pipe can be controlled by the control system. The water spraying plate is provided with water holes. During the slotted operation, water sprays out from the water holes to remove dust and cool the slotted part of the tool device. Adjusting the connection of the water spraying plate to the hinge plate can make the water spraying plate rotate. By rotating the water spraying plate, the best dust removal and cooling effect can be achieved. The number and installation form of the dust removal and cooling device can be selected according to the slotted characteristics.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] 1. The constant force floating device is arranged in the device of the present invention to ensure the consistency of the slotted depth, and it is suitable for installation on a robot for construction;

[0020] 2. By changing the slotted operation direction and the included angle between the tool device and the normal direction of the working surface, the device of the present invention can meet various-shaped grooves such as rectangular grooves and inverted trapezoidal grooves;

[0021] 3. The slotted process of the device of the present invention can be fully automated, and it has the advantages of high integration, high intelligence level, and stable and reliable slotted quality. Description of the Drawings

[0022] Figure 1 Schematic diagram of a slotted device for installation on a robot in Embodiment 1 of the present invention; (where the transmission part removes the protective cover)

[0023] Figure 2 Top view of a slotted device for installation on a robot in Embodiment 1 of the present invention; (where the transmission part removes the protective cover)

[0024] Figure 3 Bottom view of a slotted device for installation on a robot in Embodiment 1 of the present invention (removing the bottom plate of the installation bracket);

[0025] Figure 4 Schematic diagram of the installation of the tool holder and tool shaft described in Embodiment 1;

[0026] Figure 5 Schematic diagram of the dust removal and cooling device described in Embodiment 1;

[0027] Figure 6 Cross-sectional view of the first travel switch described in Embodiment 1;

[0028] Figure 7 Cross-sectional view of the first travel switch described in Embodiment 2;

[0029] Figure 8 Schematic diagram of a grooving device for installation on a robot for operation in Embodiment 3 of the present invention; (where the transmission part removes the protective cover)

[0030] Figure 9 Top view of a grooving device for installation on a robot for operation in Embodiment 3 of the present invention (where the transmission part removes the protective cover)

[0031] Figure 10 Schematic diagram of the installation of the tool holder and tool shaft described in Embodiment 3;

[0032] Figure 11 Cutting schematic diagram of the tool device described in Embodiment 3;

[0033] Figure 12 Cutting schematic diagram after the tool device described in Embodiment 3 is flipped 180 degrees.

[0034] Markings in the figure: 1 - flange mounting plate, 10 - side plate of the mounting bracket, 11 - bottom plate of the mounting bracket, 2 - mounting seat, 20 - floating cylinder, 21 - linear guide rail, 22 - guide rail slider, 23 - motor mounting plate, 3 - motor, 30 - coupling, 31 - reduction gearbox, 32 - tool holder, 33 - first protective cover for the blade group, 34 - blade group, 35 - second protective cover for the blade group, 36 - second helical gear, 37 - first helical gear, 38 - output shaft of the reduction gearbox, 4 - tool shaft, 40 - piston rod, 41 - connecting rod, 42 - floating joint, 43 - connecting plate of the mounting seat, 44 - first travel switch, 45 - contact, 46 - second travel switch, 47 - support for the output shaft of the reduction gearbox, 5 - first bracket, 50 - hinge plate, 51 - adjusting plate, 52 - water nozzle, 53 - water spraying plate, 61 - second connecting plate, 62 - second push rod, 63 - first push rod, 64 - floating position control hole, 65 - depth control bolt, 66 - guide rod, 67 - spring, 68 - first proximity switch, 681 - second proximity switch, 682 - third proximity switch, 69 - detection position. Detailed implementation method

[0035] The present invention will be further described in detail below in conjunction with test examples and specific embodiments. However, it should not be understood that the scope of the above subject matter of the present invention is limited to the following embodiments, and all technologies implemented based on the content of the present invention belong to the scope of the present invention.

[0036] Embodiment 1

[0037] As Figures 1-3 shown, a grooving device for operating on a robot includes a tool device and a travel switch. The tool device is connected to a mounting bracket, and the mounting bracket is used to connect to the robot. The tool device is connected with a constant force floating device, and the constant force floating device is connected with a control system. The control system can control the constant force floating device to drive the tool device to float along the grooving depth direction according to the movement change of the tool device. The floating of the tool device along the grooving depth direction is used to maintain the consistency of the grooving depth, and the travel switch is used to limit the position of the tool device.

[0038] Specifically, to reduce weight, the mounting bracket can be made of aluminum alloy material. The mounting bracket includes a flange mounting plate 1, mounting bracket side plates 10, and a mounting bracket bottom plate 11. A flange is provided on the flange mounting plate 1 for mounting with the robot, and the layout form of the flange is adapted to the layout form of the flange on the robot connected thereto. The constant-force floating device is mounted on the mounting bracket bottom plate 11. To reduce weight, the mounting bracket bottom plate 11 can be made into a U-shaped structure. The mounting bracket side plates 10 are used to connect the flange mounting plate 1 and the mounting bracket bottom plate 11 to improve the connection strength between the two. The constant-force floating device includes a linear guide rail 21, a guide rail slider 22, a mounting seat 2, and a floating cylinder 20. The linear guide rail 21, the guide rail slider 22, and the mounting seat 2 can be made of aluminum alloy material. The linear guide rail 21 and the floating cylinder 20 can both be fixed to the mounting bracket bottom plate 11 by screws. The linear guide rail 21 is mounted on opposite sides of the U-shaped structure, and the floating cylinder 20 is mounted on the other side of the U-shaped structure. The cross-sectional shape of the linear guide rail 21 is adapted to the guide rail slider 22, such that the guide rail slider 22 is slidably connected to the linear guide rail 21. The mounting seat 2 and the guide rail slider 22 can be fixed together by screws. The mounting seat 2 is connected to the piston rod 40 of the floating cylinder 20. Then, by controlling the intake air volume of the floating cylinder 20, the mounting seat 2 can slide on the linear guide rail 21. To avoid the phenomenon that the constant-force floating device may be stuck and unable to move due to the change in the grooving direction of the tool device, a floating joint 42 is added between the piston rod 40 and the mounting seat 2. However, the piston rod 40 and the mounting seat 2 do not necessarily directly connect to the floating joint 42. A connecting rod 41 is used to connect one end of the piston rod 40 and the floating joint 42, and a mounting seat connecting plate 43 is used to connect the other end of the floating joint 42 and the mounting seat 2.

[0039] The speed reducer 31 is fixed to the mounting seat 2 and close to the grooving surface end, and the motor 3 is fixed to the mounting seat 2 and close to the speed reducer 31. The motor 3 is mounted on the mounting seat 2 through a motor mounting plate 23. The motor mounting plate 23 can be made of aluminum alloy material, and the bottom can be fixed to the mounting seat 2 by screws. Through holes are provided thereon, such that the drive shaft of the motor 3 passes through the through holes. One end of the drive shaft is connected to one end of a coupling 30, and the other end of the coupling 30 is connected to the input shaft of the speed reducer 31.

[0040] Such as Figure 2 , Figure 4As shown in the figure, a tool holder 32 is fixed to the speed reducer 31 by screws. A speed reducer output shaft holder 47 is provided on the tool holder 32. A bearing sleeve is provided on the speed reducer output shaft holder 47. The speed reducer output shaft 38 is sleeved on the speed reducer output shaft holder 47. The front end of the speed reducer output shaft 38 is key-connected to the first helical gear 37. The first helical gear 37 and the second helical gear 36 are in meshing transmission. The second helical gear 36 is key-connected to the tool shaft 4. Two bearing sleeves are provided on the tool holder 32. Rolling bearings are provided at both ends of the tool shaft 4. The rolling bearings are respectively sleeved on the bearing sleeves. The tool shaft 4 is sleeved on the two bearing sleeves. A blade group 34 is provided on the tool shaft 4. The blade group 34 is located between the two bearing sleeves. In order to prevent dust from splashing, a blade group protective cover is provided outside the blade group 34. At the same time, in order to be able to disassemble and assemble the blade group 34, the blade group protective cover is divided into a blade group first protective cover 33 and a blade group second protective cover 35. The blade group first protective cover 33 and the blade group second protective cover 35 are fixed to the tool holder 32 by bolts and enclose a part of the blade group 34.

[0041] As Figure 5 shown, a dust removal and temperature reduction device is provided below the blade group 34. The dust removal and temperature reduction device includes a first bracket 5 and a hinge plate 50. One end of the first bracket 5 is fixed to the outer shell of the speed reducer 31 by screws and the other end is connected to the hinge plate 50. The hinge plate 50 is connected to a water spraying plate 53. The water spraying plate 53 is provided with water nozzles 52 and threaded holes. A number of holes are provided on the water spraying plate 53. Water enters the water spraying plate 53 through the water nozzles 52 and then sprays out from the holes to remove dust and reduce the temperature of the blade group 34. Adjusting plates 51 are provided on both sides of the first bracket 5. Screws are provided on the adjusting plates 51. The screws can slide on the adjusting plates 51. The screws are adapted to the threaded holes. By rotating the hinge plate 50, when the angle of the water spraying plate 53 is adjusted to the most suitable position, the screws on the adjusting plates 51 are screwed into the threaded holes to fix the position of the water spraying plate 53.

[0042] Two first connecting plates are fixed to the speed reducer 31 by screws. First travel switch housings are respectively fixed to the first connecting plates by screws. A first travel switch 44 is provided inside the first travel switch housing. The tool device is located inside the two first travel switches 44. A second travel switch 46 is provided on the flange mounting plate 1.

[0043] As Figure 6As shown, the contact 45 is connected to a second connecting plate 61. The second connecting plate 61 is connected to a guide rod 66, a first push rod 63, and a second push rod 62. A depth control bolt 65 is fixed on the first push rod 63. The depth control bolt 65 moves up and down as the floating distance changes, and its moving range is limited by the height of the floating position control hole 64, so as to achieve the purpose of controlling the floating range.

[0044] As the grooving depth deepens, the contact 45 of the first travel switch 44 moves inward after contacting the grooving surface, and the guide rod 66 moves simultaneously, compressing the spring 67. When the detection position 69 at one end of the guide rod 66 reaches the detection range of the first proximity switch 68, it indicates that the grooving depth has reached the maximum value. The control system issues a control instruction according to the output signal of the first proximity switch 68, causing the robot to retract or adjust the constant-force floating device to reduce the grooving depth and other corresponding measures. The contact pressure of the contact 45 decreases, the spring 67 expands, driving the detection position 69 out of the detection range of the first proximity switch 68. The first proximity switch 68 outputs a signal, and the control system issues an instruction to make the robot no longer drive the tool device to deepen the grooving depth, but instead groove along the trajectory in the predetermined length direction. When the constant-force floating device retracts, to avoid excessive retraction distance and causing damage to the robotic arm, similarly, a second travel switch 46 is set. The structure and working principle of the second travel switch 46 are similar to those of the first travel switch 44. When the second travel switch 46 operates, the control system issues a control signal to take emergency treatment measures, suspend the grooving operation, and at the same time the robotic arm drives the tool device to retreat and issues an alarm signal.

[0045] The blade group 34 is composed of high-quality high-speed steel blades, and its operating speed during work depends on the performance of the blades. The motor 3 is preselected according to actual needs. According to the rated speed v1 of the motor 3 and the rated speed v2 of the blades, the speed ratio i = v1 / v2 of the reduction gearbox 31 is determined, and a suitable reduction gearbox 31 is determined according to the speed ratio i. According to the working conditions of the motor 3: forward and reverse rotation, frequent start, medium and low speed, medium and small power, the coupling 30 can be selected as an LMS type flexible coupling. The motor 3 is checked for heat generation, overload capacity, and starting ability until a suitable motor 3 is selected.

[0046] During operation, various-shaped grooves such as rectangular grooves and inverted trapezoidal grooves can be cut by changing the grooving operation direction and the angle between the tool device and the normal direction of the working surface. When cutting an inverted trapezoidal groove, the tool device first deflects left by an angle θ relative to the normal of the working surface for the first pass of grooving. The first travel switch 44 on the left protects the tool device, and the dust removal and cooling device performs dust removal and cooling. After the first pass of grooving is completed, the tool device retracts. Then the tool device returns to the starting position, deflects right by an angle θ relative to the normal of the working surface, and then performs the second pass of grooving. At this time, the first travel switch 44 on the right protects the tool device.

[0047] Embodiment 2

[0048] In addition to the structure of the travel switch described in Embodiment 1, the structure shown in Figure 7 can also be adopted.

[0049] The contact 45 is connected to a second connecting plate 61. The second connecting plate 61 is connected to a guide rod 66, a first push rod 63, and a second push rod 62. A detection position 69 is provided on the first push rod 63. The detection position 69 moves up and down as the floating distance changes. The detection position 69 is adapted to the second proximity switch 681 and the third proximity switch 682 which are arranged at intervals. After the contact 45 touches the grooving surface and moves inward, the guide rod 66, the first push rod 63, and the second push rod 62 move simultaneously. The guide rod 66 compresses the spring 67. When the detection position 69 moves into the detection range of the second proximity switch 681, it indicates that the grooving depth has reached the maximum value. The control system issues a control instruction according to the output signal of the second proximity switch 681, causing the robot to retract or adjust the constant-force floating device to reduce the grooving depth and other corresponding measures, so that the contact pressure of the contact 45 decreases, the spring 67 expands, driving the detection position 69 out of the detection range of the second proximity switch 681. The second proximity switch 681 outputs a signal, and the control system issues an instruction to make the robot no longer drive the tool device to deepen the grooving depth, but instead perform grooving along the trajectory in the predetermined length direction. If during the operation process, due to other factors such as changes in the working surface, the grooving depth continues to deepen, causing the detection position 69 to move into the detection range of the third proximity switch 682, it indicates that the limit position of the tool grooving depth has been reached and it cannot be further deepened. At this time, in order to protect the grooving tool, an alarm can be given simultaneously, and corresponding operations such as pausing the operation, retracting the robot, or adjusting the tool penetration direction and stroke through the constant-force floating device to reduce the grooving depth and return to the normal depth can be taken according to the actual situation.

[0050] Embodiment 3

[0051] Such as Figures 8-9As shown in the figure, a grooving device for operating on a robot has a structure substantially the same as that of Embodiment 1, except that: ① The dust removal and temperature reduction devices are provided both above and below the tool device;

[0052] ② As Figures 9-10 shown in the figure, the relative positions of the blade group 34 on the tool shaft 4 are different. The blade group 34 is located outside the two rolling bearings and is fixed in position with nuts; ③ The number of the first travel switches 44 is reduced to 1, and the first travel switch 44 is arranged near the nut end.

[0053] The advantages of such a setting are as follows: ① The tool device can perform grooving in two directions; ② When disassembling the tool device, only the nut needs to be removed, and then the blade group 34 can be removed from the tool shaft 4, which is convenient for replacement. ③ When the blade group 34 is tilted, it is only restricted by one first travel switch 44, and the side tilt angle is larger, so that the grooving requirement with a larger tilt angle can be realized.

[0054] During operation, when the tool device cuts an inverted trapezoidal groove, as Figure 11 shown in the figure, the tool device first deflects left by an angle θ relative to the normal of the working surface for the first pass of grooving. The first travel switch 44 protects the tool device, and the dust removal and temperature reduction device dusts and cools the tool device. After the first pass of grooving is completed, the tool device retracts. There are two dust removal and temperature reduction devices arranged in the grooving direction, but only one first travel switch 44 is provided. After the tool device retracts, it needs to be flipped 180 degrees. As Figure 11 shown in the figure, then it deflects right by an angle θ relative to the normal of the working surface for the second pass of grooving. At this time, the other dust removal and temperature reduction device dusts and cools the tool device, and the same first travel switch 44 protects the tool device.

Claims

1. A grooving device for installation on a robot for operation, characterized in that, It includes a tool device and a travel switch. The tool device is connected to a mounting bracket, which is used to connect to a robot. The tool device is connected with a constant-force floating device, and the constant-force floating device is connected with a control system. The control system can control the constant-force floating device to drive the tool device to float along the grooving depth direction according to the movement change of the tool device. The floating of the tool device along the grooving depth direction is used to maintain the consistency of the grooving depth. The travel switch is used to limit the position of the tool device; The constant-force floating device includes a floating cylinder (20). The mounting bracket is provided with a linear guide rail (21) and the floating cylinder (20). A guide rail slider (22) is slidably connected to the linear guide rail (21). The guide rail slider (22) is connected to a mounting seat (2). The mounting seat (2) is connected to the piston rod (40) of the floating cylinder (20). A motor (3) and a speed reducer (31) are arranged on the mounting seat (2). The motor (3) is installed on the mounting seat (2) through a motor mounting plate (23); The travel switch includes a contact (45) and a proximity switch. The contact (45) is connected to a detection position (69), and the detection position (69) is adapted to the proximity switch. The travel switch includes a first travel switch (44) and a second travel switch (46). The first travel switch (44) is used to limit the travel of the tool device, and the second travel switch (46) is used to limit the travel of the constant-force floating device; The control system is used to detect the current signal of the motor (3), and the control system controls the constant-force floating device to drive the tool device to move forward or backward along the grooving depth direction according to the increase or decrease of the current signal; It also includes a dust removal and cooling device. The dust removal and cooling device includes a water spraying plate (53). The water spraying plate (53) is provided with water nozzles (52). The water spraying plate (53) can rotate, and the water nozzles (52) can be aligned with the grooving part by the rotation of the water spraying plate (53); The dust removal and cooling device further includes a first bracket (5) and a hinge plate (50). One end of the first bracket (5) is fixed on the outer shell of the speed reducer (31). The other end of the first bracket (5) is connected to the hinge plate (50), and the hinge plate (50) is connected to the water spraying plate (53); The water spraying plate (53) is provided with threaded holes. Adjusting plates (51) are arranged on both sides of the first bracket (5). Screws are arranged on the adjusting plates (51), and the screws can slide on the adjusting plates (51). The screws are adapted to the threaded holes; The contact (45) is connected to a second connecting plate (61), and the second connecting plate (61) is connected to a guide rod (66), a first push rod (63) and a second push rod (62); It further includes a depth control bolt (65) which is fixed on the first push rod (63). The depth control bolt (65) moves up and down with the change of the floating distance, and the movement range of the depth control bolt (65) is limited by the height of the floating position control hole 64; One end of the guide rod (66) away from the second connecting plate (61) has the detection position (69), and a spring (67) is sleeved on the guide rod (66). A first proximity switch (68) is arranged below the detection position (69); During the operation, when encountering a raised or harder grooving surface, the reaction force of the grooving operation surface on the tool device becomes larger, and the tool device will retract. At the same time, the current of the motor (3) increases. The signal of the increased current of the motor (3) is input into the control system. The control system controls the power device to apply pressure according to the increased current signal of the motor (3), and the constant-force floating device drives the tool device to move forward in the direction of deepening the grooving depth to prevent the tool device from retracting; When encountering a sunken or softer grooving surface, the reaction force of the grooving operation surface on the tool device becomes smaller, and the grooving depth will be deepened. At the same time, the current of the motor (3) decreases. The signal of the decreased current of the motor (3) is input into the control system. The control system controls the power device to reduce pressure according to the decreased current signal of the motor (3), and the constant-force floating device drives the tool device to retract in the direction of deepening the grooving depth to prevent the tool device from continuing to move forward, so as to adjust and ensure the consistency of the grooving depth.

2. The grooving device for operation mounted on a robot according to claim 1, characterized in that, A floating joint (42) is connected between the mounting seat (2) and the piston rod (40).

3. A grooving device for operating on a robot as claimed in claim 1, characterized in that, The tool device includes a tool support (32). A tool shaft (4) is arranged on the tool support (32). A blade group (34) is arranged on the tool shaft (4), and a blade group protective cover is arranged outside the blade group (34).

Images