A polishing device at the end of a mechanical arm

Abstract

The present invention relates to the field of automation equipment, and discloses a polishing device at the end of a robot arm. The polishing device is connected to the end of the robot arm, and comprises a fixed base fixedly connected to the end of the robot arm, a plurality of polishing rods arranged in the fixed base for polishing the surface of an object, and a lifting and rotating assembly capable of driving one of the polishing rods to extend out of the fixed base and rotate. A lever capable of driving the plurality of polishing rods to rotate is arranged in the fixed base, and the lever can drive different polishing rods to cooperate with the lifting and rotating assembly, thereby driving polishing rods coated with different polishing pastes to extend out.

Description

Technical Field

[0001] The invention relates to the field of automation equipment, and in particular to a polishing device at the end of a mechanical arm. Background Art

[0002] At present, most of the polishing devices on the market are fixed polishing machine equipment, which cannot polish and grind the surfaces of some specific objects. If the surface of a specific object needs to be polished, a robot arm needs to cooperate with the polishing device to achieve comprehensive polishing and grinding. Application No. CN201820435047.4 involves a pneumatic robot arm and a self-dust suction polishing device using the robot arm. This type of polishing and polishing device is only provided with sandpaper at the end of the robot arm. However, for objects that need precise polishing on the market, polishing pastes with different mesh numbers need to be used for polishing and polishing. Generally, the mesh number of the polishing paste increases successively. Polishing pastes with different mesh numbers avoid affecting the next polishing. Polishing pastes with different mesh numbers cannot be used on the same polishing head, which will require the operator to specifically disassemble the polishing device at the end of the robot arm, which is more troublesome. Summary of the invention

[0003] Aiming at the shortcoming in the prior art that it is troublesome to replace a polishing head coated with polishing pastes of different mesh sizes, the present invention provides a polishing device at the end of a mechanical arm.

[0004] In order to solve the above technical problems, the present invention solves the problems through the following technical solutions: a polishing device at the end of a robotic arm, the polishing device is connected to the end of the robotic arm, the polishing device includes a fixed base fixedly connected to the end of the robotic arm, a plurality of polishing rods arranged in the fixed base for polishing the surface of an object, and a lifting and rotating assembly that can drive one of the polishing rods to extend out of the fixed base and rotate, a lever that can drive the plurality of polishing rods to rotate is arranged in the fixed base, and the lever can drive different polishing rods to cooperate with the lifting and rotating assembly.

[0005] By adopting the above scheme, different polishing rods can be matched with the lifting and rotating assembly through the lever. When the lever and the lifting and rotating assembly are matched, different polishing rods can be driven to be lifted and rotated through the lifting and rotating assembly, thereby driving the polishing paste coated with different mesh sizes to polish the surface of the object.

[0006] Preferably, the fixed base is provided with two storage seats for accommodating polishing rods, the inner cavities of the two storage seats are intersecting, a lever is provided in each of the two storage seats, and the lifting and rotating assembly is located at the intersection of the two storage seats. The lever can move the polishing rods in each storage seat to the intersection of the two storage seats or push the polishing rods at the intersection of the two storage seats back to the non-intersecting part of the storage seat.

[0007] By adopting the above scheme, the lever can push the polishing machine in the storage seat to the intersection of the two storage seats. The polishing rod located at the intersection of the two storage seats is opposite to the lifting and rotating assembly. The polishing rod is driven to be lifted and rotated by the lifting and rotating assembly. The rotating polishing rod can polish the surface of the object.

[0008] Preferably, the lever comprises a rotating section which can be controlled by the rotation of the lifting rotating assembly and a driving section used to drive the polishing rod to move in a circular shape. The driving section is polygonal, and each surface of the driving section can push one polishing rod.

[0009] With the above solution, the advantage of the polygonal toggle section is that each plane of the toggle section can push a polishing rod, driving the polishing rod to rotate in the storage seat.

[0010] Preferably, a limiting ring is provided in the storage seat, and the polishing rod is provided with a limiting groove cooperating with the limiting ring. When the polishing rod is not at the intersection of the two storage seats, the limiting groove and the limiting ring are cooperated. When the polishing rod is at the intersection of the two storage seats, the limiting groove and the limiting ring are disengaged.

[0011] By adopting the above solution, the limiting ring can limit the polishing rod located in the receiving seat to rotate along the axial direction. When the polishing rod is located at the intersection of the receiving seat, the limiting ring does not limit the polishing rod.

[0012] Preferably, a guide seat is provided in the storage seat, and the guide seat and the inner wall of the storage seat are spaced apart to form a guide ring hole, the guide ring holes in the two storage seats are intersectingly arranged, and the polishing rod is provided with a guide section that can move in the two guide ring holes.

[0013] By adopting the above scheme, the function of the guide ring hole is to provide guidance for the polishing rod when the controlled lever rotates.

[0014] Preferably, the surface of the toggle section used to push the polishing rod is arc-shaped, and the curvature of each surface of the toggle section in the guide seat is equal and can form a complete ring with the guide ring hole in another guide seat.

[0015] By adopting the above solution, the receiving seat and the toggle section of the other guide seat form a complete ring, thereby preventing the two toggle sections from interfering with each other.

[0016] Preferably, the lifting and rotating assembly includes a lifting and rotating member, a rotating drive for driving the lifting and rotating member to rotate, and a lifting and rotating drive that can drive the lifting and rotating member to move up and down. The lifting and rotating member can drive the polishing rod located at the intersection of the two storage seats to perform lifting and rotating movements through the lifting and rotating drive.

[0017] By adopting the above solution, the role of separately arranging the lifting drive and the rotating drive is to independently control the lifting and rotation of the lifting rotating part.

[0018] Preferably, the two levers and the lifting rotating part are each provided with a gear 1 which can cooperate with the rotary driver, the rotary driver is provided with a gear 2 which cooperates with the gear 1, and the rotary driver is provided with a translational load, which can drive the rotary driver to move and drive the gear 2 to engage with the gear 1 of any lever or the gear 1 of the lifting rotating part.

[0019] By adopting the above scheme, the translational load transfer can drive the rotary drive to rotate, thereby reducing the number of rotary drives and ensuring that only one of the jacking rotary member or the two shifting rods rotates.

[0020] Preferably, the translational transfer load includes a translational drive 1 for driving the rotational drive to move, a carrying plate for fixing the translational drive 1 and a translational drive 2 for driving the carrying plate to move. When the translational drive 1 and the translational drive 2 are both in an initial state of not moving, the gear 2 of the rotational drive is meshed with the gear 1 of the lifting rotation rod 1; when only the translational drive 1 drives the rotational drive to move, the gear 2 of the rotational drive is matched with the gear 1 of the shift rod in the storage seat on one side; when only the translational drive 2 drives the rotational drive to move, the gear 2 of the rotational drive is matched with the gear 1 of the shift rod in the storage seat on the other side.

[0021] By adopting the above scheme, the first translation driver and the second translation driver cooperate with each other, thereby driving the rotary driver to rotate with the two levers or the polishing rods located at the intersection of the two storage seats respectively. The three rotate separately, which can effectively avoid mutual interference.

[0022] Preferably, the lifting rotating member is rotatably connected to the lifting driver, the lifting rotating member is convexly provided with a spline section, and the polishing rods are provided with spline holes that cooperate with the spline section. When the lifting driver drives the lifting rotating member to move, gear 1 of the lifting rotating member can be meshed with gear 2 of the rotating driver.

[0023] By adopting the above solution, the cooperation between the spline segment and the spline hole enables the lifting rotating member to better cooperate with the polishing rod, which facilitates driving the lifting rotating member to rotate.

[0024] The present invention has significant technical effects due to the adoption of the above technical scheme: the polishing rods in the storage seat are distributed in a circular array, the distances between the polishing rods are the same, and each time the lever rotates a certain angle, different polishing rods can be driven to be arranged relative to the intersection of the two storage seats, and the polishing rods at the intersection of the two storage seats are pushed back to the non-intersecting part of the storage seat; when the polishing rod is not at the intersection of the two storage seats, the limit groove of the polishing rod is matched with the limit ring, and the limit ring can limit the movement of the polishing rod along the axial direction; when the polishing rod is at the intersection of the two storage seats, the limit groove is disengaged from the limit ring, and the rotary drive can be driven to cooperate with the two levers or the lifting rotating parts respectively through translation and load transfer, so that the three cannot rotate synchronously, thereby avoiding interference between the two levers and the rotary drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of a state in which the polishing device is installed at the end of the mechanical arm in the embodiment;

[0026] Figure 2 2 is a schematic diagram of the structure of the polishing device at the end of the mechanical arm in the embodiment;

[0027] Figure 3 is a top view of the lever and the polishing rod in the embodiment;

[0028] Figure 4 This is a schematic diagram of the structure of the lifting and rotating assembly in the embodiment;

[0029] Figure 5 This is a moving state diagram of a translation driver in a lifting and rotating assembly in an embodiment;

[0030] Figure 6 is a diagram of the lifting state of the lifting driver in the lifting rotation assembly in the embodiment;

[0031] Figure 7 Schematic diagram of the polishing rod structure in the embodiment.

[0032] The names of the parts indicated by the numerical labels in the above drawings are as follows: 1. Fixed base; 2. Polishing rod; 3. Polishing head; 4. Storage seat; 5. Push rod; 6. Rotating section; 7. Pushing section; 8. Guide seat; 9. Guide ring hole; 10. Guide section; 11. Limiting ring; 12. Limiting groove; 13. Lifting rotating part; 14. Rotating drive; 15. Lifting drive; 16. Gear 1; 17. Gear 2; 18. Translation drive 1; 19. Translation drive 2; 21. Spline section; 22. Spline hole; 23. Magnetic part; 24. Guide ring. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0034] Example:

[0035] A polishing device at the end of a robotic arm, first see Figure 1 and Figure 2 The polishing device is connected to the end of the mechanical arm. The polishing device includes a fixed base 1 fixedly connected to the end of the mechanical arm, a plurality of polishing rods 2 arranged in the fixed base 1 for polishing the surface of an object, and a lifting and rotating assembly that can drive one of the polishing rods 2 to extend out of the fixed base 1 and rotate. The polishing rod 2 is in the shape of a long strip, and a polishing head 3 is arranged at one end of the polishing rod 2. Polishing paste can be applied to the polishing head 3. A lever 5 that can drive the plurality of polishing rods 2 to rotate is arranged in the fixed base 1. The lever 5 drives the polishing rod 2 to drive different polishing rods 2 to be arranged relative to the lifting and rotating assembly.

[0036] See also Figure 2 and Figure 3 The fixed base 1 is provided with two storage seats 4 for storing the polishing rods 2. The inner cavities of the two storage seats 4 are cylindrical and intersectingly arranged. The two storage seats 4 are each provided with a lever 5 controlled by the rotation of the lifting and rotating assembly. The lever 5 can move the polishing rod 2 located in the storage seat 4. In this embodiment, four polishing rods 2 can be arranged in each storage seat 4, and seven polishing rods 2 are arranged in the two storage seats 4. There is only one polishing rod 2 at the intersection of the two storage seats 4. The lever 5 in the storage seat 4 is rotated to retract the polishing rod 2 at the intersection of the two storage seats 4 into the storage seat 4 where the lever 5 rotates, and the polishing rod 2 originally located in the storage seat 4 can be retracted into the storage seat 4 where the lever 5 rotates. The polishing rod 2 at the intersection of the seats 4 is retracted to the intersection of the non-storage seats 4. The levers 5 in the two storage seats 4 are not rotated at the same time, which can play the role of moving the polishing rod 2. The polishing rods 2 in the two storage seats 4 can move cyclically with each other, and different polishing rods 2 can be driven to move to the intersection of the two storage seats 4 in turn. The polishing rods 2 in the storage seats 4 are distributed in a circular array, and the distances between the polishing rods 2 and the polishing rods 2 are the same. Each time the lever 5 rotates a certain angle, different polishing rods 2 can be driven to be arranged opposite to the intersection of the two storage seats 4, and the polishing rod 2 at the intersection of the two storage seats 4 can be pushed back to the non-intersecting part of the storage seat 4.

[0037] See also Figure 2 and Figure 3The lever 5 includes a rotating section 6 that can be controlled by the jacking rotating assembly to rotate and a toggle section 7 for toggling the polishing rod 2 in a circular motion. The toggle section 7 is polygonal. In this embodiment, the toggle section 7 is a quadrilateral, but it is not limited to a quadrilateral. The number of sides of the toggle section 7 is the same as the number of polishing rods 2 in the storage seat 4. Each side of the lever 5 is an inwardly concave arc that can fit with the polishing rod 2. Each polishing rod 2 can be pushed through the inwardly concave arc-shaped lever 5. A guide seat 8 is provided in each of the two storage seats 4. The guide seat 8 is a cylindrical cavity structure. The two guide seats 8 are connected to the ground through a long plate. The inner walls of the two storage seats 4 are connected with an "8"-shaped guide ring 24. The end face of the guide ring 24 away from the fixed base 1 is flush with the end face of the guide seat 8 away from the fixed base. The outer side of the guide seat 8 is aligned with the guide seat inside the storage seat 4. The guide rings 24 are arranged at intervals to form a guide ring hole 9, and the guide ring holes 9 in the two receiving seats 4 are arranged to intersect each other. One end of the polishing rod 2 is provided with a guide section 10 that can move in the two guide ring holes 9, and the guide section 10 is clearance-matched with the guide ring hole 9. The diameter of the guide section 10 is smaller than the diameter of the polishing rod 2, and the guide ring holes 9 in the two receiving seats 4 are arranged in an "8" shape. Since each side surface of the shift rod 5 is a concave arc, the diameter of each arc surface of the shift section 7 in the guide seat 8 is set equally. When the arc surface of the shift rod 5 is opposite to the other guide seat 8, the arc surface of the shift rod 5 and the guide ring hole 9 in the other guide seat 8 form a complete ring. The advantage of this design is that when a single shift rod 5 rotates, it will not be interfered by another shift rod 5, and the polishing rod 2 will enter the storage seat 4 from the intersection of the two storage seats 4 more smoothly.

[0038] See also Figure 2 and Figure 3 The two storage seats 4 are both threadedly connected with a limit ring 11 by screws. The limit ring 11 can also be integrally formed with the storage seat 4. The limit ring 11 is only arranged on the inner wall of the storage seat 4. The polishing rod 2 is provided with a limit groove 12 that cooperates with the limit ring 11. When the polishing rod 2 is not at the intersection of the two storage seats 4, the limit groove 12 of the polishing rod 2 is cooperated with the limit ring 11. The limit ring 11 can limit the movement of the polishing rod 2 along the axial direction. When the polishing rod 2 is at the intersection of the two storage seats 4, the limit groove 12 is disengaged from the limit ring 11. At this time, it is convenient for the jacking and rotating assembly to drive the polishing rod 2 located at the intersection of the two storage seats 4 to be jacked up.

[0039] See 2 and Figure 4The fixed base 1 is provided with a lifting and rotating assembly, which is provided at the intersection of the two storage seats 4. The polishing rod 2 located at the intersection of the two storage seats 4 can be driven to lift and rotate through the lifting and rotating assembly. The lifting and rotating assembly includes a lifting and rotating member 13 located at the intersection of the two storage seats 4, a rotating driver 14 that drives the lifting and rotating member 13 to rotate, and a lifting driver 15 that can drive the lifting and rotating member 13 to lift. The lifting and rotating member 13 can drive the polishing rod 2 located at the intersection of the two storage seats 4 to lift and rotate through the lifting and rotating driver 15 and the rotating driver 14. The rotating sections 6 of the two levers 5 and the lifting and rotating member 13 are all key-connected. There is a gear 16 that can cooperate with the rotary driver 14, and the rotary driver 14 is provided with a gear 2 17 that meshes with the gear 16. The rotary driver 14 is provided with a translation load, and the translation load includes a translation driver 18 that drives the rotary driver 14 to translate, a carrier plate 20 for fixing the translation driver 18, and a translation driver 2 19 that drives the carrier plate 20 to move. The translation driver 18 and the translation driver 2 19 are both linear motion modules. In this embodiment, the translation driver 18 and the translation driver 2 19 both use a double-axis thin cylinder, but are not limited to double-axis cylinders, and can also use other standard parts of linear motion such as oil cylinders and linear modules, combined with Figure 4 When the piston rods of the translation driver 18 and the translation driver 2 19 are both in the initial state of not extending, and the lifting driver 15 described below drives the lifting rotating member 13 to be in the lifting state, the gear 2 17 of the rotation driver 14 can be meshed with the gear 1 16 of the lifting rotating member 13 located in the center, and the gear 17 of the rotation driver 14 can be meshed with the gear 16 of the lifting rotating member 13 located in the center. Figure 5 When only the piston rod of the translation driver 18 is extended, driving the rotation driver 14 to move, and the piston rod of the translation driver 2 19 is not extended, the gear 2 17 of the rotation driver 14 is meshed with the gear 16 of the lever 5 in the storage seat 4 on one side. When only the piston rod of the translation driver 2 19 is extended, driving the rotation driver 14 to move in the other direction, and the piston rod of the translation driver 2 19 is reset to not extend, the gear 2 17 of the rotation driver 14 is meshed with the gear 16 of the lever 5 in the storage seat 4 on the other side, thereby controlling which gear 1 16 the gear 2 17 is meshed with by determining whether the piston rods of both the translation driver 18 and the translation driver 2 19 are extended.

[0040] See also Figure 2 , Figure 4 and Figure 6The lifting rotating member 13 can be rotatably connected with the lifting driver 15. The lifting driver 15 in this embodiment adopts a cylinder, but it is not limited to a cylinder and can also adopt other standard parts of linear motion such as an oil cylinder, a linear module, etc. The two ends of the lifting rotating member 13 are respectively matched with the polishing rod 2 and the lifting driver 15. A sink groove is provided at one end of the lifting rotating member 13 and the lifting driver 15. One end of the piston rod of the lifting driver 15 is rotatably connected with the sink groove. The lifting rotating member 13 and the lifting rod are matched with one end. A spline section 21 in the shape of a spline shaft is convexly provided. Figure 7 The guide section 10 of each polishing rod 2 is provided with a spline hole 22 that can cooperate with the spline section 21, and the spline hole 22 is provided with a chamfer that facilitates the spline section 21 to enter. When the lifting driver 15 does not drive the piston rod to extend, the lifting rotating member 13 is not connected with the polishing rod 2 and the gear 1 16 and the gear 2 17 of the lifting rotating member 13 are staggered in height. When the lifting driver 15 drives the piston rod to extend, the spline section 21 of the lifting rotating member 13 can be connected with the rubber of the two receiving seats 4. The spline hole 22 of the polishing rod 2 is matched, and the polishing head 3 of the polishing rod 2 is driven to extend out of the storage seat 4. The intersection of the two storage seats 4 is provided with an avoidance hole for the polishing head 3 to extend out. At this time, the gear 16 and the gear 2 17 of the jacking rotating member 13 are set at the same height, and when the translation driver 1 18 and the translation driver 2 19 are driven to reset at the same time, the gear 1 16 and the gear 2 17 of the jacking rotating member 13 are meshed. At this time, the rotation driver 14 can drive the jacking rotating member 13 to rotate, and the combination Figure 4 and Figure 7 The bottom surface of the spline hole 22 and the end surface of the spline section 21 are both provided with magnetic members 23 that can attract each other. When the lifting driver 15 retracts, the lifting rotating member 13 can drive the polishing rod 2 to be reset synchronously along the axial direction.

Claims

1. A polishing device at the end of a robotic arm, the polishing device being connected to the end of the robotic arm, characterized in that: The polishing device comprises a fixed base (1) fixedly connected to the end of a mechanical arm, a plurality of polishing rods (2) arranged in the fixed base (1) for polishing the surface of an object, and a lifting and rotating assembly capable of driving one of the polishing rods (2) to extend out of the fixed base (1) and rotate. A lever (5) capable of driving the plurality of polishing rods (2) to rotate is arranged in the fixed base (1). The lever (5) can drive different polishing rods (2) to cooperate with the lifting and rotating assembly. The fixed base (1) is provided with two for storing the polishing rods (2). The storage seats (4) are arranged such that the inner cavities of the two storage seats (4) intersect with each other. A lever (5) is arranged in each of the two storage seats (4). The lifting and rotating assembly is located at the intersection of the two storage seats (4). The lever (5) can move the polishing rod (2) in each storage seat (4) to the intersection of the two storage seats (4) or move the polishing rod (2) at the intersection of the two storage seats (4) back to the non-intersecting part of the storage seat (4). The lever (5) includes a rotating section (6) that can be controlled by the lifting and rotating assembly to rotate and a lever for moving the polishing rod (2) to the intersection of the two storage seats (4). The polishing rod (2) is movable in a circular manner by a toggle section (7), the toggle section (7) is polygonal, and each surface of the toggle section (7) can push a polishing rod (2). The lifting and rotating assembly comprises a lifting and rotating member (13), a rotating driver (14) for driving the lifting and rotating member (13) to rotate, and a lifting driver (15) for driving the lifting and rotating member (13) to rise and fall. The lifting and rotating member (13) can drive the polishing rod (2) located at the intersection of the two receiving seats (4) through the lifting and rotating driver (15) and the rotating driver (14). 2) to perform lifting and rotating movements, the two levers (5) and the lifting rotating member (13) are both provided with a gear 1 (16) that can cooperate with the rotating driver (14), the rotating driver (14) is provided with a gear 2 (17) that cooperates with the gear 1 (16), and the rotating driver (14) is provided with a translation load, which can drive the rotating driver (14) to move and drive the gear 2 (17) to mesh with the gear 1 (16) of any lever (5) or the gear 1 (16) of the lifting rotating member (13).

2. A robot arm end polishing device according to claim 1, characterized in that: A limiting ring (11) is arranged in the storage seat (4), and the polishing rod (2) is provided with a limiting groove (12) that cooperates with the limiting ring (11); when the polishing rod (2) is not located at the intersection of the two storage seats (4), the limiting groove (12) and the limiting ring (11) are arranged in cooperation; when the polishing rod (2) is located at the intersection of the two storage seats (4), the limiting groove (12) and the limiting ring (11) are disengaged.

3. A robot arm end polishing device according to claim 1, characterized in that: A guide seat (8) is arranged in the receiving seat (4), and the guide seat (8) and the inner wall of the receiving seat (4) are spaced apart to form a guide ring hole (9). The guide ring holes (9) in the two receiving seats (4) are arranged to intersect each other, and the polishing rod (2) is provided with a guide section (10) that can move in the two guide ring holes (9).

4. A robot arm end polishing device according to claim 3, characterized in that: The surface of the toggle section (7) used to push the polishing rod (2) is arc-shaped, and the curvature of each surface of the toggle section (7) in the guide seat (8) is equal and can form a complete ring with the guide ring hole (9) in another guide seat (8).

5. The polishing device at the end of a robot arm according to claim 1, characterized in that: The translation transfer device comprises a translation driver 1 (18) for driving the rotation driver (14) to move, a carrier plate (20) for fixing the translation driver 1 (18), and a translation driver 2 (19) for driving the carrier plate (20) to move. When the translation driver 1 (18) and the translation driver 2 (19) are both in an initial state of not moving, the gear 2 (17) of the rotation driver (14) is meshed with the gear 1 (16) of the lifting rotation rod 1; When only the translation driver 1 (18) drives the rotation driver (14) to move, the gear 2 (17) of the rotation driver (14) is matched with the gear 1 (16) of the lever (5) in the one side storage seat (4); When only the second translation driver (19) drives the rotation driver (14) to move, the second gear (17) of the rotation driver (14) is matched with the first gear (16) of the lever (5) in the storage seat (4) on the other side.

6. A robot arm end polishing device according to claim 1, characterized in that: The lifting rotating member (13) is rotatably connected to the lifting driver (15). The lifting rotating member (13) is provided with a spline section (21). The polishing rod (2) is provided with a spline hole (22) that matches the spline section (21). When the lifting driver (15) drives the lifting rotating member (13) to move, the gear 1 (16) of the lifting rotating member (13) can be meshed with the gear 2 (17) of the rotary driver (14).

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