Compound pneumatic mechanical arm and polishing equipment

Abstract

The application discloses a composite pneumatic mechanical arm and polishing equipment, which comprises a primary arm, a secondary arm, a primary driving assembly and a primary swing frame, and a secondary driving assembly and a secondary swing frame. The primary driving assembly is connected with the primary swing frame to drive the primary swing frame to swing up and down. The secondary driving assembly is connected with the secondary swing frame to drive the secondary swing frame to swing left and right. The secondary driving assembly is arranged on the primary swing frame. The composite pneumatic mechanical arm and polishing equipment realize the up-and-down swinging of the primary arm through the primary driving assembly and the primary swing frame, and then realize the left-and-right swinging of the secondary arm through the secondary driving assembly and the secondary swing frame. The secondary arm is connected with the primary swing frame, so that the up-and-down and left-and-right swinging of the mechanical arm is realized, and the defects of pneumatic action delay and unstable movement of the mechanical arm in the prior art are overcome.

Description

Technical Field

[0001] This invention relates to the field of grinding and polishing equipment technology, and in particular to a composite pneumatic robotic arm and grinding and polishing equipment. Background Technology

[0002] In the grinding and polishing equipment manufacturing industry, pneumatic robotic arm grinding and polishing machines are mainly used for grinding and polishing parts such as the outer surfaces of aircraft wings and fuselages, the outer surfaces of ships, and the outer surfaces of rail transit vehicle bodies. The outer surfaces of these parts that need to be ground consist of a horizontal lower plane, vertical (left and right) sides, and a horizontal upper top surface.

[0003] Chinese utility model patent with announcement number CN208147548 U discloses a pneumatic robotic arm and a self-dust-collecting grinding and polishing device using the robotic arm. It can complete a single horizontal lower plane, or a single vertical (left or right) side or a horizontal upper surface grinding and polishing operation mode. However, when the device completes the grinding of the outer surface of a part, it requires four different pneumatic robotic arm grinding and polishing machines with different structures, which is cumbersome to operate, inefficient, and costly.

[0004] Existing pneumatic robotic arm polishing machines all use cylinder-linkage mechanisms to drive the swing arm. This makes it difficult to balance the inertial force generated by the reciprocating motion of the swing arm. At higher speeds, the swing arm will cause significant vibration, dynamic load, unstable movement, and pneumatic action delay, resulting in uneven polished surfaces. Therefore, existing technologies need optimization, integration, and improvement. Summary of the Invention

[0005] The purpose of this invention is to provide a composite pneumatic robotic arm and a grinding and polishing device to at least solve one of the above-mentioned technical problems.

[0006] According to a first aspect of the present invention, a composite pneumatic robotic arm is provided, comprising:

[0007] The primary boom includes a primary drive assembly and a primary swing frame. The primary drive assembly is connected to the primary swing frame and is used to drive the primary swing frame to swing up and down.

[0008] The secondary arm includes a secondary drive assembly and a secondary swing frame; the secondary drive assembly is connected to the secondary swing frame and is used to drive the secondary swing frame to swing left and right.

[0009] The secondary drive assembly is mounted on the primary swing frame.

[0010] In some specific implementations, the primary drive component includes:

[0011] The primary boom rotating shaft and the first rotating wheel;

[0012] The first-stage swing frame is coaxially mounted on the first-stage arm rotation axis with the first rotating wheel, and the rotation of the first rotating wheel drives the first-stage swing frame to swing.

[0013] Furthermore, the primary drive component also includes;

[0014] A second wheel that matches the first wheel, and a drive belt wound around the first and second wheels;

[0015] The first-stage cylinder has its movable end connected to the transmission belt.

[0016] Furthermore, the primary drive component also includes;

[0017] The first stage boom support frame, the first rotating wheel, the second rotating wheel, and the first stage cylinder are mounted on the first stage boom support frame.

[0018] In some specific implementations, the secondary drive component includes:

[0019] Secondary boom rotation axis;

[0020] The secondary support frame has one end rotatably connected to the rotation shaft of the secondary arm and the other end connected to the secondary swing frame;

[0021] When the secondary swing frame swings under the driving action, the secondary support frame rotates around the rotation axis of the secondary arm.

[0022] Furthermore, the secondary drive component also includes:

[0023] A secondary cylinder, one end of which is hinged to the secondary swing frame, and the other end of which is hinged to the primary swing frame or support plate;

[0024] Driven by the secondary cylinder, the secondary swing frame swings.

[0025] Furthermore, a fixed seat is provided on the primary swing frame or support plate, and the secondary support frame is connected to the fixed seat through the secondary arm rotation shaft.

[0026] According to a second aspect of the present invention, a composite pneumatic robotic arm is provided, comprising:

[0027] The primary boom includes a secondary drive assembly and a secondary swing frame. The secondary drive assembly is connected to the secondary swing frame and is used to drive the secondary swing frame to swing left and right.

[0028] The secondary arm includes a primary drive assembly and a primary swing frame; the primary drive assembly is connected to the primary swing frame and is used to drive the primary swing frame to swing up and down.

[0029] The primary drive assembly is mounted on the secondary swing frame.

[0030] According to a third aspect of the present invention, a polishing apparatus is provided, the apparatus comprising:

[0031] Portable base;

[0032] The lifting frame is mounted on the movable base;

[0033] A tilting frame is installed on the lifting frame;

[0034] The floating box mounted on the tilting frame, the end grinding head, and the composite pneumatic robotic arm provided in the embodiments of this application;

[0035] The end grinding head is connected to the secondary arm, and the floating box is used to provide a constant grinding buoyancy.

[0036] Furthermore, the device also includes: a rotating frame mounted on a tilting frame, wherein the floating box, the end grinding head, and the composite pneumatic robotic arm are mounted on the rotating frame.

[0037] Compared with the prior art, the beneficial effects of this invention are as follows:

[0038] The composite pneumatic robotic arm and the polishing equipment using the robotic arm of the present invention realize the up-and-down swing of the first-level arm through the first-level drive assembly and the first-level swing frame, and then realize the left-and-right swing of the second-level arm through the second-level drive assembly and the second-level swing frame. The second-level arm is connected to the first-level swing frame, thereby realizing the up-and-down, left-and-right swing of the robotic arm.

[0039] Furthermore, the mechanical structure combining cylinder drive wheel drive and cylinder connecting rod drive overcomes the defects of delayed pneumatic motion and unstable movement of existing robotic arms.

[0040] Furthermore, when the robotic arm is mounted on a grinding and polishing wheel device, the grinding of the horizontal lower plane and the upper top surface of the workpiece to be ground and polished can be achieved by adjusting the direction of the grinding head connected to the robotic arm.

[0041] Furthermore, by flipping the rotating frame, the entire robotic arm can be flipped, enabling the grinding of the vertical side of the workpiece to be polished.

[0042] Furthermore, by setting up a rotating frame, the robotic arm can be rotated to adjust the grinding and polishing range.

[0043] To better understand and implement this invention, the following detailed description is provided in conjunction with the accompanying drawings. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the structure of the composite pneumatic robotic arm according to an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of the grinding and polishing equipment according to an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the structure of the grinding and polishing equipment according to an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the structure of the grinding and polishing equipment according to an embodiment of the present invention.

[0048] Figure 5 This is a schematic diagram of the structure of the grinding and polishing equipment according to an embodiment of the present invention. Detailed Implementation

[0049] To better illustrate the present invention, please refer to the appendix below. Figure 1-5 The present invention will now be described in further detail.

[0050] This invention provides a composite pneumatic robotic arm 2, which includes:

[0051] The primary arm 21 includes a primary drive assembly and a primary swing frame 210. The primary drive assembly is connected to the primary swing frame and is used to drive the primary swing frame to swing up and down.

[0052] The secondary arm 22 includes a secondary drive assembly and a secondary swing frame 220; the secondary drive assembly is connected to the secondary swing frame and is used to drive the secondary swing frame to swing left and right.

[0053] The secondary drive assembly is mounted on the primary swing frame. Specifically, the primary arm 21 is a cylinder-driven wheel drive structure, and the secondary arm 22 is a cylinder-connecting rod drive structure.

[0054] Among them, such as Figure 1 The first-stage drive assembly includes: a first-stage arm rotating shaft 211, a first rotating wheel 212, a second rotating wheel 213, a transmission belt 214, and a first-stage cylinder 215;

[0055] The first-stage swing frame is coaxially mounted on the first-stage arm rotation axis with the first rotating wheel, and the rotation of the first rotating wheel drives the first-stage swing frame to swing.

[0056] The second rotating wheel matches the first rotating wheel, and the transmission belt is wound around the first rotating wheel and the second rotating wheel; the moving end of the first-stage cylinder is connected to the transmission belt.

[0057] The primary drive assembly also includes a primary boom support frame 216, on which the first wheel, the second wheel, and the primary cylinder are mounted. Figure 1 As shown, the composite pneumatic robotic arm also includes a support plate 23, and the primary arm support frame is mounted on the support plate.

[0058] Preferably, in this embodiment, the first and second sprockets are sprockets, and the transmission belt is a chain; preferably, the size of the first sprocket is larger than the size of the second sprocket. In some other embodiments, the first and second sprockets can be synchronous pulleys, and the transmission belt is a synchronous belt.

[0059] Taking the first and second rotating wheels as sprockets and the transmission belt as a chain as an example, when the movable end of the first-stage cylinder extends or retracts, it drives the sprocket to rotate via the chain, thereby causing the first-stage swing frame, which is coaxially arranged with the first sprocket, to swing up and down. Figure 1 As shown, the swing frame swings up and down, moving from the first posture to the second posture.

[0060] The secondary drive assembly includes: a secondary arm rotating shaft 221, a secondary support frame 222, and a secondary cylinder 223;

[0061] One end of the secondary support frame is rotatably connected to the secondary arm rotation shaft, and the other end is connected to the secondary swing frame 220;

[0062] When the secondary swing frame swings under the driving action, the secondary support frame rotates around the rotation axis of the secondary arm.

[0063] One end of the secondary cylinder is hinged to the secondary swing frame, and the other end is hinged to the primary swing frame; under the driving action of the secondary cylinder, the secondary swing frame swings.

[0064] A fixed seat 224 is also provided on the primary swing frame, and the secondary support frame is connected to the fixed seat through the secondary arm rotation shaft.

[0065] Under the extension and retraction drive of the secondary cylinder, the secondary swing frame swings left and right, and at this time the secondary support frame rotates around the rotation axis of the secondary arm.

[0066] like Figure 2 As shown, this application also provides a grinding and polishing apparatus, which includes:

[0067] A movable base 8; a lifting frame 7 mounted on the movable base; a tilting frame 6 mounted on the lifting frame; a floating box 3 mounted on the tilting frame; an end grinding head 1; and the composite pneumatic robotic arm 2 provided in this embodiment of the application.

[0068] The end grinding head is connected to the secondary arm, and the floating box is used to provide a constant grinding buoyancy.

[0069] The device also includes a rotating frame 4 and an operation box 5 mounted on a tilting frame. The floating box, the end mill, and the composite pneumatic robotic arm are mounted on the rotating frame.

[0070] In the grinding and polishing equipment of this application embodiment, when it is necessary to adjust the grinding and polishing height, the lifting cylinder 9 of the lifting frame is used to raise or lower the entire robotic arm to adapt to different grinding height requirements.

[0071] Furthermore, once the robotic arm reaches a certain height, the primary arm can swing up and down, causing the grinding head to swing up and down as well, completing grinding and polishing work within a certain height range. The secondary arm can then swing left and right to achieve grinding and polishing work within a certain width range. Finally, by combining the primary and secondary arms, the grinding angle can be freely adjusted within a certain height and width range.

[0072] Furthermore, the entire robotic arm can be raised or lowered within a certain angle range via a floating cylinder 10 connected to the floating box. For example... Figure 3 As mentioned above, the floating box and robotic arm, under the action of the floating cylinder, are relatively... Figure 2 The robotic arm is raised to a certain angle.

[0073] Furthermore, to adapt to different workpiece angles, the grinding wheel on the end grinding head can rotate with constant pressure within a certain angle range to accommodate different workpiece surfaces, such as curved surfaces. Figure 2 and 3 In the middle, the angle of the grinding wheel of the end grinding head is different.

[0074] Furthermore, when a larger range of grinding and polishing is required, the robotic arm can be rotated to the desired grinding and polishing position by adjusting the rotating frame, thereby achieving grinding and polishing of different ranges.

[0075] When it is necessary to grind and polish the horizontal top or bottom surface of a workpiece, the direction of the grinding head is adjusted so that it moves up or down to achieve the desired grinding and polishing effect. For example... Figure 4 As shown.

[0076] When it is necessary to grind the vertical side of the workpiece to be polished, the tilting cylinder 11 tilts the tilting frame, causing the robotic arm mounted on the tilting frame to tilt as a whole. Figure 5 As shown.

[0077] Compared with the prior art, the beneficial effects of this invention are as follows:

[0078] The composite pneumatic robotic arm and the polishing equipment using the robotic arm of the present invention realize the up-and-down swing of the first-level arm through the first-level drive assembly and the first-level swing frame, and then realize the left-and-right swing of the second-level arm through the second-level drive assembly and the second-level swing frame. The second-level arm is connected to the first-level swing frame, thereby realizing the up-and-down, left-and-right swing of the robotic arm.

[0079] Furthermore, the mechanical structure combining cylinder drive wheel drive and cylinder connecting rod drive overcomes the defects of delayed pneumatic motion and unstable movement of existing robotic arms.

[0080] Furthermore, when the robotic arm is mounted on a grinding and polishing wheel device, the grinding of the horizontal lower plane and the upper top surface of the workpiece to be ground and polished can be achieved by adjusting the direction of the grinding head connected to the robotic arm.

[0081] Furthermore, by flipping the rotating frame, the entire robotic arm can be flipped, enabling the grinding of the vertical side of the workpiece to be polished.

[0082] Furthermore, by setting up a rotating frame, the robotic arm can be rotated to adjust the grinding and polishing range.

[0083] In other embodiments, the composite pneumatic robotic arm of this application may also be: a primary arm that swings left and right, and a secondary arm that swings up and down.

[0084] Specifically, a composite pneumatic robotic arm includes:

[0085] The primary boom includes a secondary drive assembly and a secondary swing frame. The secondary drive assembly is connected to the secondary swing frame and is used to drive the secondary swing frame to swing left and right.

[0086] The secondary arm includes a primary drive assembly and a primary swing frame; the primary drive assembly is connected to the primary swing frame and is used to drive the primary swing frame to swing up and down.

[0087] The primary drive assembly is mounted on the secondary swing frame. The primary arm is a cylinder-connecting rod drive structure, and the secondary arm is a cylinder-drive wheel drive structure.

[0088] The primary and secondary drive components are as described above and will not be repeated here.

[0089] When the primary arm is a left-right swing arm and the secondary arm is a up-down swing arm, that is, the primary arm uses a cylinder-connecting rod drive and the secondary arm uses a cylinder-driven wheel drive, the difference from the above implementation method is:

[0090] The secondary cylinder has one end hinged to the secondary swing frame and the other end hinged to the support plate; under the driving action of the secondary cylinder, the secondary swing frame swings left and right.

[0091] A fixed seat is also provided on the support plate, and the secondary support frame is connected to the fixed seat through the rotation shaft of the secondary arm.

[0092] It should be noted that the composite pneumatic robotic arm of this application adopts a mechanical structure that combines cylinder drive wheel drive and cylinder connecting rod drive. In other embodiments, a mechanical structure that combines cylinder drive wheel drive and cylinder drive wheel drive can also be adopted.

[0093] Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described herein, as well as the features of the different embodiments or examples, without contradiction.

[0094] In the description of this invention, it should be understood that the terms "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to facilitate the description of this invention and to simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0095] If the terms "first" or "second" are used in this document to define components, those skilled in the art should know that the use of "first" or "second" is merely for the convenience of describing the invention and simplifying the description, and unless otherwise stated, the above terms have no special meaning.

[0096] This invention is not limited to the above-described embodiments. If any modifications or variations to this invention do not depart from the spirit and scope of this invention, and if such modifications and variations fall within the scope of the claims and equivalent technologies of this invention, then this invention also intends to include such modifications and variations.

Claims

1. A composite pneumatic robotic arm, characterized in that, include: The primary boom includes a primary drive assembly and a primary swing frame. The primary drive assembly is connected to the primary swing frame and is used to drive the primary swing frame to swing up and down. The primary drive component includes: The primary boom rotating shaft and the first rotating wheel; The first-stage swing frame is coaxially mounted on the first-stage arm rotation axis with the first rotating wheel, and the rotation of the first rotating wheel drives the first-stage swing frame to swing. The primary drive component also includes: A second wheel that matches the first wheel, and a drive belt wound around the first and second wheels; A primary cylinder, the movable end of which is connected to the transmission belt; The secondary arm includes a secondary drive assembly and a secondary swing frame; the secondary drive assembly is connected to the secondary swing frame and is used to drive the secondary swing frame to swing left and right. The secondary drive assembly is mounted on the primary swing frame; The secondary drive component includes: Secondary boom rotation axis; The secondary support frame has one end rotatably connected to the rotation shaft of the secondary arm and the other end connected to the secondary swing frame; When the secondary swing frame swings under the driving action, the secondary support frame rotates around the rotation axis of the secondary arm; The secondary drive component also includes: A secondary cylinder, one end of which is hinged to the secondary swing frame, and the other end of which is hinged to the primary swing frame or support plate; Driven by the secondary cylinder, the secondary swing frame swings.

2. The composite pneumatic robotic arm according to claim 1, characterized in that, The primary drive component also includes: The first stage boom support frame, the first rotating wheel, the second rotating wheel, and the first stage cylinder are mounted on the first stage boom support frame.

3. The composite pneumatic robotic arm according to claim 1, characterized in that: A fixed seat is also provided on the primary swing frame or support plate, and the secondary support frame is connected to the fixed seat through the secondary arm rotation shaft.

4. A grinding and polishing device, characterized in that, The device includes: Portable base; The lifting frame is mounted on the movable base; A tilting frame is installed on the lifting frame; A floating box mounted on a tilting frame, an end milling head, and a composite pneumatic robotic arm as described in any one of claims 1-3; The end grinding head is connected to the secondary arm, and the floating box is used to provide a constant grinding buoyancy.

5. The grinding and polishing equipment according to claim 4, characterized in that, The device also includes: A rotating frame is mounted on a tilting frame, and the floating box, the end grinding head, and the composite pneumatic robotic arm are mounted on the rotating frame.

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