A flexible polishing robot based on variable stiffness

Abstract

The present invention discloses a flexible grinding robot based on variable stiffness, comprising a grinding component, wherein the grinding component is used for grinding the surface of a workpiece, wherein a connecting shaft and a clamping component in the grinding component are clamped and connected, and can be clamped or separated from each other, wherein the clamping component can control whether the grinding component and the cleaning component rotate synchronously, wherein the clamping component and the cleaning component are fixedly connected via a separation component, and when the cleaning component and the grinding component rotate synchronously, larger debris on the surface of the workpiece can be cleared in advance, wherein the cleaning component and the grinding component are fixedly connected, wherein the cleaning component and the clamping component are slidably connected, wherein the separation component can trigger the clamping component so that the grinding component and the cleaning component no longer rotate synchronously, and wherein the separation component is triggered by the support component, wherein the support component is fixedly connected to the grinding component, and wherein the support component can change the rigidity of the entire grinding robot.

Description

Technical Field

[0001] The invention relates to the technical field of robot polishing, and in particular discloses a flexible polishing robot based on variable rigidity. Background Art

[0002] At present, most domestic manufacturing companies use manual or handheld pneumatic and electric tools to grind, grind, file and other methods to perform workpiece deburring, grinding and polishing operations, which can easily lead to an increase in product defective rate and very low efficiency, and problems such as rough and uneven surface of processed products. Some manufacturers have also begun to use robots to install electric or pneumatic tools for automated grinding. Compared with hand-held grinding, robot deburring can effectively improve production efficiency, reduce costs and increase product yield. However, due to other factors such as mechanical arm rigidity and positioning errors, the use of robots to clamp electric and pneumatic tools for deburring is prone to tool breakage or damage to the workpiece due to uneven force.

[0003] At the same time, during flexible grinding, some large debris will be drawn into the grinding disc, and the grinding disc will press the debris on the surface of the workpiece and rotate, which can easily cause scratches on the workpiece surface. At the same time, during flexible grinding, some difficult-to-remove burrs will be encountered, resulting in the need to replace the grinding tool or manually remove the burrs, resulting in low efficiency. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a flexible grinding robot based on variable stiffness, which solves the problems of tool breakage or damage to the workpiece due to uneven force when using robots to clamp electric and pneumatic tools for deburring due to other factors such as mechanical arm rigidity and positioning error. At the same time, during flexible grinding, some large debris will be drawn into the grinding disc, and the grinding disc will press the debris on the surface of the workpiece and rotate, which can easily cause scratches on the surface of the workpiece. At the same time, during flexible grinding, some difficult-to-remove burrs will be encountered, resulting in the need to replace the grinding tool or the need to manually remove the burrs, resulting in low efficiency. Technical problems.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0006] The technical solution adopted by the present invention to solve the technical problem is: a flexible grinding robot based on variable stiffness, comprising: a grinding component, a clamping component, a cleaning component, a supporting component and a separating component;

[0007] The grinding assembly is used for grinding the surface of the workpiece, and the connecting shaft in the grinding assembly is engaged with the engaging assembly, and can be engaged with or separated from each other;

[0008] The clamping assembly can control whether the grinding assembly and the cleaning assembly rotate synchronously, and the clamping assembly and the cleaning assembly are fixedly connected via the separation assembly;

[0009] When the cleaning component and the grinding component rotate synchronously, larger debris on the surface of the workpiece can be removed in advance. The cleaning component and the grinding component are fixedly connected, and the cleaning component and the clamping component are slidably connected.

[0010] The separation component can trigger the engaging component so that the grinding component and the cleaning component no longer rotate synchronously, and the separation component is triggered by the supporting component;

[0011] The support assembly is fixedly connected to the grinding assembly, and the support assembly can change the rigidity of the entire grinding robot, so that the operator can grind a harder workpiece surface.

[0012] Preferably, the polishing assembly comprises a mechanical arm, the lower end of the mechanical arm is fixedly connected to an upper fixed plate, the lower end of the upper fixed plate is fixedly connected to a bellows, and the lower end of the bellows is fixedly connected to a lower fixed plate.

[0013] Preferably, the grinding assembly further comprises a compression spring, the upper end of which is fixedly connected to the lower end of the upper fixed plate, the lower end of which is fixedly connected to the upper end of the lower fixed plate, and the compression spring is inside the bellows.

[0014] Preferably, the grinding assembly also includes a motor, which is fixedly connected to the lower fixed plate. The motor is inside the compression spring, and the output shaft at the lower end of the motor is fixedly connected to the connecting shaft. An opening is provided in the center of the lower fixed plate, and the connecting shaft passes through the opening and is fixedly connected to the grinding plate.

[0015] Preferably, the locking assembly includes a connecting rod, the upper end of which is fixedly connected to a sliding ball, the sliding ball and the sliding groove are slidably connected, the sliding groove is in an Ω shape, the sliding ball is engaged in the sliding groove, the sliding groove is opened at the lower end of the lower fixed plate, and the lower end of the connecting rod is fixedly connected to the turntable.

[0016] Preferably, the locking assembly also includes a locking hole, which is opened on the connecting shaft, and the connecting shaft passes through the turntable. There is a gap between the connecting shaft and the turntable, the locking hole and the locking rod are slidably connected, one end of the locking rod extends into the cavity, and the cavity is opened inside the turntable, the locking rod and the cavity are slidably connected, and a limiting disk is fixedly connected in the cavity, the locking rod passes through the limiting disk and is slidably connected to the limiting disk, a support spring is nested on the locking rod, one end of the support spring is fixedly connected to the limiting disk, and the other end of the support spring is fixedly connected to the locking rod, and the support spring is located on the side of the limiting disk close to the locking hole.

[0017] Preferably, the cleaning assembly includes a brush head, which is symmetrical on both sides of the grinding disc, and an L-shaped rod is fixedly connected to the brush head, and the L-shaped rod passes through a support column. The L-shaped rod and the support column are hinged, and the support column is fixedly connected to the turntable.

[0018] Preferably, the cleaning assembly also includes a first extrusion plate, the L-shaped rod passes through the support column and is fixedly connected to the first extrusion plate, the first extrusion plate is slidably connected to the turntable via a sliding rod, the sliding rod extends to the other side of the turntable, a first deformation spring is nested on the sliding rod, the upper end of the first deformation spring is fixedly connected to the first extrusion plate, and the lower end of the first deformation spring is fixedly connected to the turntable.

[0019] Preferably, the supporting assembly includes an electric push rod, the upper end of which is fixedly connected to the upper fixed plate, a lifting plate is provided below the electric push rod, the lifting plate is slidably connected to the lower fixed plate via a sliding column, the sliding column and the lower fixed plate are slidably connected, a second deformation spring is nested on the sliding column, the upper end of the second deformation spring is fixedly connected to the lifting plate, and the lower end of the second deformation spring is fixedly connected to the lower fixed plate.

[0020] Preferably, the separation assembly includes a first protrusion, the first protrusion is fixedly connected to the bottom of the sliding rod, the first protrusion extends into the cavity, the first protrusion abuts against the second protrusion, and the second protrusion is fixedly connected to the clamping rod.

[0021] Beneficial effects of the present invention:

[0022] (1) The present invention describes a flexible grinding robot based on variable stiffness, in which the upper end of the compression spring in the grinding assembly is fixedly connected to the lower end of the upper fixed plate, the lower end of the compression spring is fixedly connected to the upper end of the lower fixed plate, the compression spring is inside the bellows, the motor is fixedly connected to the lower fixed plate, the motor is inside the compression spring, the output shaft and the connecting shaft at the lower end of the motor are fixedly connected, the robotic arm can drive the grinding assembly to close to the surface of the workpiece for grinding, during grinding, the compression spring can play a buffering role, if the force of the robotic arm driving the grinding disc to close to the workpiece is large, the compression spring will shrink at this time, reducing the pressure of the grinding disc on the workpiece to prevent the surface of the workpiece from being worn due to excessive pressure, thereby achieving the effect of flexible grinding.

[0023] (2) In the flexible grinding robot based on variable stiffness described in the present invention, when the cleaning component performs flexible grinding, the turntable will drive the first extrusion plate and the support column to rotate when it rotates, and the first extrusion plate and the support column will drive the L-shaped rod to rotate when they rotate, and the L-shaped rod will drive the brush head to rotate when it rotates. When the brush head rotates, it will quickly clean the debris around the grinding plate, and clean up the debris around the grinding plate in advance to prevent scratching the surface of the workpiece.

[0024] (3) The flexible grinding robot based on variable stiffness described in the present invention needs to replace the grinding disc when encountering difficult-to-clean materials on the surface of the workpiece. After the electric push rod pushes the lower fixed disc down, the distance between the upper fixed disc and the lower fixed disc is fixed. During grinding, the distance between the upper fixed disc and the lower fixed disc will not change. At this time, the robotic arm can drive the grinding assembly to close to the surface of the workpiece for grinding. During grinding, the compression spring will no longer shrink or stretch. If the force of the robotic arm driving the grinding disc to close to the workpiece is large, the compression spring will not shrink and will not reduce the pressure of the grinding disc on the workpiece, so that the pressure of the grinding disc on the workpiece surface is greater, which is conducive to rigid grinding and grinding away harder materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0026] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0027] Figure 2 It is a schematic diagram of the internal connection structure of the bellows;

[0028] Figure 3 It is a schematic diagram of the connection structure of the cleaning component;

[0029] Figure 4 It is a schematic diagram of the connection structure of the lower fixed plate, the slide groove, the slide ball and the connecting rod;

[0030] Figure 5 It is a schematic diagram of the connection structure of the support components;

[0031] Figure 6 It is a schematic diagram of the connection structure of the snap-fit ​​assembly;

[0032] Figure 7 for Figure 1 The enlarged schematic diagram at A in the middle;

[0033] In the figure: 1. grinding assembly; 11. mechanical arm; 12. upper fixed plate; 13. bellows; 14. lower fixed plate; 15. compression spring; 16. opening; 17. motor; 18. connecting shaft; 19. grinding plate; 2. locking assembly; 21. connecting rod; 22. sliding ball; 23. sliding groove; 24. turntable; 25. clamping hole; 26. clamping rod; 27. cavity; 28. support spring; 29. ​​limit plate; 3. cleaning assembly; 31. brush head; 32. L-shaped rod; 33. support column; 34. first extrusion plate; 35. sliding rod; 36. first deformation spring; 4. support assembly; 41. electric push rod; 42. lifting plate; 43. second deformation spring; 44. sliding column; 5. separation assembly; 51. first protrusion; 52. second protrusion. DETAILED DESCRIPTION

[0034] The technical solution in the embodiment of the present invention is to solve the above technical problems, and the overall idea is as follows: the upper end of the compression spring in the grinding assembly is fixedly connected to the lower end of the upper fixed plate, the lower end of the compression spring is fixedly connected to the upper end of the lower fixed plate, the compression spring is inside the bellows, the motor is fixedly connected to the lower fixed plate, the motor is inside the compression spring, the output shaft and the connecting shaft at the lower end of the motor are fixedly connected, the mechanical arm can drive the grinding assembly to close to the surface of the workpiece for grinding, and the compression spring can play a buffering role during grinding. If the force of the mechanical arm driving the grinding disk to close to the workpiece is large, the compression spring will shrink at this time to reduce the pressure of the grinding disk on the workpiece to prevent the surface of the workpiece from being worn out due to excessive pressure, thereby achieving the effect of flexible grinding. At the same time, during flexible grinding, the turntable will drive the first extrusion disk and the support column to rotate when rotating. When the first extrusion disk and the support column rotate, the L-shaped rod is driven to rotate, and the rotation of the L-shaped rod is driven to rotate the brush head. When the brush head rotates, it will quickly clean the debris around the grinding disk. The debris around the grinding disk is cleaned up in advance to prevent scratching the surface of the workpiece. When encountering substances that are difficult to clean on the surface of the workpiece, the grinding disk should be replaced with a rigid grinding disk. After the electric push rod pushes down the lower fixed disk, the distance between the upper fixed disk and the lower fixed disk is fixed. During grinding, the distance between the upper fixed disk and the lower fixed disk will not change. At this time, the robotic arm can drive the grinding assembly to close the surface of the workpiece for grinding. During grinding, the compression spring will no longer shrink and stretch. If the force of the robotic arm driving the grinding disk to close the workpiece is large, the compression spring will not shrink at this time, and will not reduce the pressure of the grinding disk on the workpiece, so that the pressure of the grinding disk on the surface of the workpiece is greater, which is conducive to rigid grinding and grinding away harder substances.

[0035] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0036] like Figure 1-Figure 7 As shown, a flexible grinding robot based on variable stiffness according to the present invention comprises: a grinding component 1, a clamping component 2, a cleaning component 3, a supporting component 4 and a separating component 5;

[0037] The grinding assembly 1 is used for grinding the surface of the workpiece. The connecting shaft 18 in the grinding assembly 1 and the clamping assembly 2 are clamped and connected, and can be clamped or separated from each other.

[0038] The clamping assembly 2 can control whether the grinding assembly 1 and the cleaning assembly 3 rotate synchronously, and the clamping assembly 2 and the cleaning assembly 3 are fixedly connected through the separation assembly 5;

[0039] When the cleaning component 3 and the grinding component 1 rotate synchronously, larger debris on the surface of the workpiece can be removed in advance. The cleaning component 3 and the grinding component 1 are fixedly connected, and the cleaning component 3 and the clamping component 2 are slidably connected;

[0040] The separation component 5 can trigger the engaging component 2 so that the grinding component 1 and the cleaning component 3 no longer rotate synchronously, and the separation component 5 is triggered by the supporting component 4;

[0041] The support assembly 4 is fixedly connected to the grinding assembly 1 , and the support assembly 4 can change the rigidity of the entire grinding robot, so that the operator can grind a harder workpiece surface.

[0042] In an embodiment, the grinding component 1 can perform flexibly grinding on the surface of the workpiece, and the cleaning component 3 can remove larger debris on the surface of the workpiece in advance. When the supporting component 4 is working, the grinding component 1 can grind relatively rough workpieces. At the same time, the supporting component 4 triggers the separation component 5 to work, and the separation component 5 drives the locking component 2 to work, so that when the grinding component 1 is processing the rough surface, the cleaning component 3 will stop working.

[0043] Specifically, the grinding assembly 1 includes a mechanical arm 11, the lower end of the mechanical arm 11 is fixedly connected to an upper fixed disk 12, the lower end of the upper fixed disk 12 is fixedly connected to a bellows 13, the lower end of the bellows 13 is fixedly connected to a lower fixed disk 14, the upper end of a compression spring 15 is fixedly connected to the lower end of the upper fixed disk 12, the lower end of the compression spring 15 is fixedly connected to the upper end of the lower fixed disk 14, the compression spring 15 is inside the bellows 13, the motor 17 is fixedly connected to the lower fixed disk 14, the motor 17 is inside the compression spring 15, the output shaft of the lower end of the motor 17 is fixedly connected to the connecting shaft 18, the center of the lower fixed disk 14 is provided with an opening 16, the connecting shaft 18 passes through the opening 16 and is fixedly connected to the grinding disk 19.

[0044] In the embodiment, after the motor 17 is working, the output shaft of the motor 17 drives the connecting shaft 18 to rotate, and the connecting shaft 18 drives the grinding disc 19 to rotate. At this time, the mechanical arm 11 can drive the grinding assembly 1 to close to the surface of the workpiece for grinding. During grinding, the compression spring 15 can play a buffering role. If the force of the mechanical arm 11 to drive the grinding disc 19 to close to the workpiece is large, the compression spring 15 will shrink at this time, reducing the pressure of the grinding disc 19 on the workpiece to prevent the surface of the workpiece from being worn due to excessive pressure, thereby achieving the effect of flexible grinding.

[0045] Specifically, the engaging assembly 2 includes a connecting rod 21, the upper end of the connecting rod 21 is fixedly connected with a sliding ball 22, the sliding ball 22 and the sliding groove 23 are slidably connected, the sliding groove 23 is in an Ω shape, the sliding ball 22 is engaged in the sliding groove 23, the sliding groove 23 is arranged at the lower end of the lower fixed plate 14, the lower end of the connecting rod 21 is fixedly connected to the rotating disk 24, the clamping hole 25 is arranged on the connecting shaft 18, the connecting shaft 18 passes through the rotating disk 24, there is a gap between the connecting shaft 18 and the rotating disk 24, the clamping hole 25 and the clamping rod 26 are slidably connected, One end of the clamping rod 26 extends into the cavity 27, and the cavity 27 is opened inside the turntable 24. The clamping rod 26 and the cavity 27 are slidably connected. A limiting disk 29 is fixedly connected in the cavity 27. The clamping rod 26 passes through the limiting disk 29 and is slidably connected to the limiting disk 29. A support spring 28 is nested on the clamping rod 26, and one end of the support spring 28 is fixedly connected to the limiting disk 29, and the other end of the support spring 28 is fixedly connected to the clamping rod 26. The support spring 28 is located on the side of the limiting disk 29 close to the clamping hole 25.

[0046] In the embodiment, when flexible grinding is performed, the connecting shaft 18 will drive the turntable 24 to rotate when it rotates. Because the latching rod 26 in the turntable 24 is engaged in the latching hole 25, the connecting shaft 18 will drive the turntable 24 to rotate when it rotates. At the same time, the sliding ball 22 connected to the upper end of the connecting rod 21 slides in the sliding groove 23. The diameter of the sliding ball 22 is larger than the diameter of the notch of the Ω structure of the sliding groove 23, so the sliding ball 22 will not fall out of the sliding groove 23. When grinding the rough surface, after being triggered by the support assembly 4, the latching rod 26 drives the support spring 28 to slide in the direction away from the connecting shaft 18. At this time, the support spring 28 is affected by the limiting plate 29 and shrinks. Finally, the latching rod 26 will slide out of the latching hole 25. At this time, the connecting shaft 18 and the turntable 24 are no longer engaged, the connecting shaft 18 rotates alone, and the turntable 24 does not rotate.

[0047] Specifically, the cleaning assembly 3 includes a brush head 31, and the brush head 31 is symmetrical on both sides of the grinding disc 19. An L-shaped rod 32 is fixedly connected to the brush head 31, and the L-shaped rod 32 passes through a support column 33. The L-shaped rod 32 and the support column 33 are hinged, and the support column 33 is fixedly connected to the turntable 24. The L-shaped rod 32 passes through the support column 33 and is fixedly connected to the first extrusion disk 34. The first extrusion disk 34 is slidably connected to the turntable 24 through a sliding rod 35, and the sliding rod 35 extends to the other side of the turntable 24. A first deformation spring 36 is nested on the sliding rod 35, and the upper end of the first deformation spring 36 is fixedly connected to the first extrusion disk 34, and the lower end of the first deformation spring 36 is fixedly connected to the turntable 24.

[0048] In the embodiment, when flexible grinding is performed, the turntable 24 will drive the first extrusion disk 34 and the support column 33 to rotate when it rotates. The rotation of the first extrusion disk 34 and the support column 33 will drive the L-shaped rod 32 to rotate. The rotation of the L-shaped rod 32 will drive the brush head 31 to rotate. When the brush head 31 rotates, it will quickly clean the debris around the grinding disk 19. Because when the workpiece is ground, there will be some large particles of debris on the surface of the workpiece. If it is not cleaned in advance, during flexible grinding, the debris has a chance to be drawn under the grinding disk 19, and then the grinding disk 19 drives the debris to rotate on the surface of the workpiece, which will scratch the surface of the workpiece. Because the purpose of flexible grinding of the workpiece surface is to make its surface smoother and glossy, the brush head 31 will clean up the debris around the grinding disk 19 in advance to prevent the surface of the workpiece from being scratched.

[0049] Specifically, the support assembly 4 includes an electric push rod 41, the upper end of which is fixedly connected to the upper fixed plate 12, and a lifting plate 42 is provided below the electric push rod 41, and the lifting plate 42 is slidably connected to the lower fixed plate 14 through a sliding column 44, and the sliding column 44 and the lower fixed plate 14 are slidably connected, and a second deformation spring 43 is nested on the sliding column 44, and the upper end of the second deformation spring 43 is fixedly connected to the lifting plate 42, and the lower end of the second deformation spring 43 is fixedly connected to the lower fixed plate 14.

[0050] In the embodiment, when encountering a material that is difficult to clean on the surface of the workpiece, the grinding disc 19 should be replaced with a rigid grinding disc 19, and then the electric push rod 41 should be started. The extension of the electric push rod 41 will squeeze the lifting plate 42 downward, and the lifting plate 42 moves downward to compress the second deformation spring 43. When sliding to the maximum position, the lifting plate 42 stops sliding, and the electric push rod 41 stops extending. During the extension of the electric push rod 41, the lower fixed plate 14 will gradually move away from the upper fixed plate 12, and the compression spring 15 will be stretched, and the bellows 13 will also be stretched. When the electric push rod 41 When not extended, the distance between the upper fixed plate 12 and the lower fixed plate 14 is fixed. During grinding, the distance between the upper fixed plate 12 and the lower fixed plate 14 will not change. At this time, the robot arm 11 can drive the grinding assembly 1 to close to the surface of the workpiece for grinding. During grinding, the compression spring 15 will no longer shrink or stretch. If the force of the robot arm 11 driving the grinding disc 19 to close to the workpiece is large, the compression spring 15 will not shrink and will not reduce the pressure of the grinding disc 19 on the workpiece, so that the pressure of the grinding disc 19 on the surface of the workpiece is greater, which is conducive to rigid grinding and grinding away harder materials.

[0051] Specifically, the separation component 5 includes a first protrusion 51, which is fixedly connected to the bottom of the sliding rod 35, and the first protrusion 51 extends into the cavity 27. The first protrusion 51 abuts against the second protrusion 52, and the second protrusion 52 is fixedly connected to the clamping rod 26.

[0052] When the first extrusion plate 34 moves downward, it drives the sliding rod 35 to move downward, and the sliding rod 35 drives the first protrusion 51 to move downward, and the first protrusion 51 drives the second protrusion 52 downward. Because the distance between the first protrusion and the connecting shaft is greater than the distance between the second protrusion and the connecting shaft, the second protrusion 52 is pressed against the limit plate 29 and slides in the direction away from the limit plate 29, and drives the clamping rod 26 to slide in the direction away from the connecting shaft 18, and the clamping rod 26 slides out of the clamping hole 25. At this time, the turntable 24 is no longer engaged with the connecting shaft 18.

[0053] When the present invention is used, the user should first use a suitable grinding disc 19 according to the surface condition of the workpiece. Assuming that the workpiece needs to be flexibly ground, the motor 17 should be started at this time. After the motor 17 is working, the output shaft of the motor 17 drives the connecting shaft 18 to rotate, and the connecting shaft 18 drives the grinding disc 19 to rotate. At this time, the mechanical arm 11 can drive the grinding assembly 1 to close to the surface of the workpiece for grinding. During grinding, the compression spring 15 can play a buffering role. If the force of the mechanical arm 11 driving the grinding disc 19 to close to the workpiece is large, the compression spring 15 will shrink at this time to reduce the pressure of the grinding disc 19 on the workpiece to prevent the surface of the workpiece from being worn due to excessive pressure, thereby achieving the effect of flexible grinding. At the same time, during flexible grinding, the turntable 24 will drive the The first extrusion disk 34 and the support column 33 rotate, and the rotation of the first extrusion disk 34 and the support column 33 drives the L-shaped rod 32 to rotate, and the rotation of the L-shaped rod 32 drives the brush head 31 to rotate. When the brush head 31 rotates, it will quickly clean the debris around the grinding disk 19. Because when grinding the workpiece, there will be some large particles of debris on the surface of the workpiece. If it is not cleaned in advance, during flexible grinding, the debris has a probability of being rolled under the grinding disk 19, and then the grinding disk 19 drives the debris to rotate on the surface of the workpiece, which will scratch the surface of the workpiece. Because the purpose of flexible grinding of the workpiece surface is to make its surface smoother and glossy, the brush head 31 will clean up the debris around the grinding disk 19 in advance to prevent the surface of the workpiece from being scratched. When there are objects on the surface of the workpiece that are difficult to clean, When the quality is improved, the grinding disc 19 should be replaced with a rigid grinding disc 19, and then the electric push rod 41 should be started. The extension of the electric push rod 41 will squeeze the lifting plate 42 downward, and the lifting plate 42 moves downward to compress the second deformation spring 43. When sliding to the maximum position, the lifting plate 42 stops sliding, and the electric push rod 41 stops extending. In the process of extending the electric push rod 41, the lower fixed plate 14 will gradually move away from the upper fixed plate 12, and the compression spring 15 will be stretched, and the bellows 13 will also be stretched. When the electric push rod 41 is no longer extended, the distance between the upper fixed plate 12 and the lower fixed plate 14 is fixed. During grinding, the distance between the upper fixed plate 12 and the lower fixed plate 14 will not change. At this time, the mechanical arm 11 can drive the grinding assembly 1 to grind close to the surface of the workpiece. During grinding, the compression spring 15 no longer contracts and stretches. If the force of the mechanical arm 11 driving the grinding disc 19 to press against the workpiece is large, the compression spring 15 will not contract and will not reduce the pressure of the grinding disc 19 on the workpiece, so that the pressure of the grinding disc 19 on the surface of the workpiece is greater, which is conducive to rigid grinding and grinding away harder materials. At the same time, when the electric push rod 41 moves downward, it will push the lifting plate 42 to move downward, and the lifting plate 42 will move downward to drive the sliding column 44 to move downward. The sliding column 44 will eventually squeeze the first extrusion plate 34, and the first extrusion plate 34 will move downward, driving one end of the L-shaped rod 32 to move downward. At this time, the support column 33 is the fulcrum. Due to the principle of leverage, the brush head 31 will tilt up, and its height is higher than the height of the grinding disc 19.At the same time, the first extrusion plate 34 moves downward, driving the sliding rod 35 to move downward, and the sliding rod 35 drives the first protrusion 51 to move downward. The first protrusion 51 presses the second protrusion 52 downward, and the second protrusion 52 slides away from the limit plate 29 under pressure, and drives the clamping rod 26 to slide away from the connecting shaft 18. The clamping rod 26 slides out of the clamping hole 25. At this time, the rotating disk 24 is no longer engaged with the connecting shaft 18, so the cleaning component 3 will not work during rigid grinding.

[0054] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A flexible polishing robot based on variable stiffness, characterized in that: include: A grinding assembly (1), a clamping assembly (2), a cleaning assembly (3), a supporting assembly (4) and a separating assembly (5); The grinding component (1) is used for grinding the surface of a workpiece, and the connecting shaft (18) in the grinding component (1) and the clamping component (2) are clamped and connected, and can be clamped or separated from each other; The engaging assembly (2) can control whether the grinding assembly (1) and the cleaning assembly (3) rotate synchronously, and the engaging assembly (2) and the cleaning assembly (3) are fixedly connected via the separating assembly (5); When the cleaning component (3) and the grinding component (1) rotate synchronously, larger debris on the surface of the workpiece can be cleared in advance; the cleaning component (3) and the grinding component (1) are fixedly connected, and the cleaning component (3) and the clamping component (2) are slidably connected; The separation component (5) can trigger the engaging component (2) to make the grinding component (1) and the cleaning component (3) no longer rotate synchronously, and the separation component (5) is triggered by the supporting component (4); The support assembly (4) is fixedly connected to the grinding assembly (1); the support assembly (4) can change the rigidity of the entire grinding robot, so that the operator can grind a harder workpiece surface.

2. A flexible grinding robot based on variable stiffness according to claim 1, characterized in that: The grinding assembly (1) comprises a mechanical arm (11), the lower end of the mechanical arm (11) is fixedly connected to an upper fixed plate (12), the lower end of the upper fixed plate (12) is fixedly connected to a bellows (13), and the lower end of the bellows (13) is fixedly connected to a lower fixed plate (14).

3. A flexible grinding robot based on variable stiffness according to claim 2, characterized in that: The grinding assembly (1) further comprises a compression spring (15), the upper end of the compression spring (15) being fixedly connected to the lower end of the upper fixed plate (12), the lower end of the compression spring (15) being fixedly connected to the upper end of the lower fixed plate (14), and the compression spring (15) being inside the bellows (13).

4. A flexible grinding robot based on variable stiffness according to claim 3, characterized in that: The grinding assembly (1) further comprises a motor (17), wherein the motor (17) is fixedly connected to the lower fixed disk (14), the motor (17) is inside the compression spring (15), an output shaft at the lower end of the motor (17) is fixedly connected to a connecting shaft (18), an opening (16) is provided at the center of the lower fixed disk (14), and the connecting shaft (18) passes through the opening (16) and is fixedly connected to the grinding disk (19).

5. A flexible grinding robot based on variable stiffness according to claim 4, characterized in that: The engaging assembly (2) comprises a connecting rod (21), the upper end of the connecting rod (21) is fixedly connected with a sliding ball (22), the sliding ball (22) and the sliding groove (23) are slidably connected, the sliding groove (23) is in the shape of an Ω, the sliding ball (22) is engaged in the sliding groove (23), the sliding groove (23) is opened at the lower end of the lower fixed plate (14), and the lower end of the connecting rod (21) is fixedly connected to the rotating plate (24).

6. A flexible grinding robot based on variable stiffness according to claim 5, characterized in that: The engaging assembly (2) further comprises a locking hole (25), wherein the locking hole (25) is provided on the connecting shaft (18), the connecting shaft (18) passes through the rotating disk (24), a gap exists between the connecting shaft (18) and the rotating disk (24), the locking hole (25) and the locking rod (26) are slidably connected, one end of the locking rod (26) extends into a cavity (27), the cavity (27) is provided inside the rotating disk (24), and the locking rod (26) and the cavity (27) are slidably connected. A limiting plate (29) is fixedly connected in the cavity (27), the clamping rod (26) passes through the limiting plate (29) and is slidably connected to the limiting plate (29), a supporting spring (28) is nested on the clamping rod (26), one end of the supporting spring (28) is fixedly connected to the limiting plate (29), and the other end of the supporting spring (28) is fixedly connected to the clamping rod (26), and the supporting spring (28) is on a side of the limiting plate (29) close to the clamping hole (25).

7. A flexible grinding robot based on variable stiffness according to claim 6, characterized in that: The cleaning assembly (3) comprises a brush head (31), the brush head (31) being symmetrical on both sides of the grinding disc (19), an L-shaped rod (32) being fixedly connected to the brush head (31), the L-shaped rod (32) passing through a support column (33), the L-shaped rod (32) and the support column (33) being hinged, and the support column (33) being fixedly connected to the rotating disc (24).

8. A flexible polishing robot based on variable stiffness according to claim 7, characterized in that: The cleaning assembly (3) further comprises a first extrusion plate (34), the L-shaped rod (32) passing through the support column (33) and being fixedly connected to the first extrusion plate (34), the first extrusion plate (34) being slidably connected to the turntable (24) via a sliding rod (35), the sliding rod (35) extending to the other side of the turntable (24), a first deformation spring (36) being nested on the sliding rod (35), the upper end of the first deformation spring (36) being fixedly connected to the first extrusion plate (34), and the lower end of the first deformation spring (36) being fixedly connected to the turntable (24).

9. A flexible grinding robot based on variable stiffness according to claim 8, characterized in that: The support assembly (4) comprises an electric push rod (41), the upper end of which is fixedly connected to the upper fixed plate (12), a lifting plate (42) is provided below the electric push rod (41), the lifting plate (42) is slidably connected to the lower fixed plate (14) via a sliding column (44), the sliding column (44) and the lower fixed plate (14) are slidably connected, a second deformation spring (43) is nested on the sliding column (44), the upper end of the second deformation spring (43) is fixedly connected to the lifting plate (42), and the lower end of the second deformation spring (43) is fixedly connected to the lower fixed plate (14).

10. A flexible polishing robot based on variable stiffness according to claim 9, characterized in that: The separation assembly (5) comprises a first protrusion (51), the first protrusion (51) is fixedly connected to the bottom of the sliding rod (35), the first protrusion (51) extends into the cavity (27), the first protrusion (51) abuts against a second protrusion (52), the second protrusion (52) is fixedly connected to the clamping rod (26), and the distance between the first protrusion (51) and the connecting shaft (18) is greater than the distance between the second protrusion (52) and the connecting shaft (18).

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