A mobile automated polishing system

Abstract

This invention relates to a mobile automated grinding system, comprising a mobile carriage, grinding tools, a grinding drive mechanism, a robotic arm, and a tool storage mechanism. The mobile carriage can be positioned between different workpieces or relative to the same workpiece. The grinding tools are used to contact the workpiece, and the grinding drive mechanism drives the grinding tools to rotate. The robotic arm is mounted on the mobile carriage and is used to drive the grinding drive mechanism for attitude adjustment. The tool storage mechanism is mounted on the mobile carriage and is used to store several grinding tools. The grinding drive mechanism and the tool storage mechanism are interchangeable. By placing the robotic arm and tool storage mechanism on a mobile carriage, this invention allows the entire automated grinding system to move over a large range relative to the workpiece, making it suitable for grinding large workpieces.

Description

Technical Field

[0001] This invention relates to the field of polishing technology, and in particular to a mobile automated polishing system. Background Technology

[0002] Grinding is a processing method that uses tools and other objects to treat surfaces, mainly to achieve the desired surface finish. For example, small workpieces need to have their oxide layer, oil stains, rust, burrs, or sharp edges ground off during the manufacturing process.

[0003] Chinese utility model patent CN212330572U discloses an automatic grinding device, including a mobile trolley, a grinding mechanism, a workpiece table, a first drive mechanism, a second drive mechanism, and a feeding mechanism. The first drive mechanism drives the grinding mechanism to move along the X-axis, Y-axis, and Z-axis; the first drive mechanism also drives the grinding mechanism to rotate around the X-axis, Y-axis, and Z-axis; the workpiece table is located on the movement trajectory of the grinding mechanism; the workpiece table can rotate around the Y-axis and around the Z-axis; the second drive mechanism drives the workpiece table to rotate; and the feeding mechanism is used to transport the workpiece. This automatic grinding device can perform multi-angle processing on workpieces. In the aforementioned patent, the workpiece is placed on the mobile trolley, and the grinding mechanism grinds the workpiece on the mobile trolley. The aforementioned automatic grinding device is suitable for grinding small workpieces, while large workpieces, due to their large size and complex surfaces, currently require manual grinding or automatic grinding using a large motion platform driving the grinding drive mechanism. Manual polishing is wasteful of manpower and poses certain safety risks to the health of polishing workers. Large motion platforms take up a lot of space and cannot be used flexibly. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is how to provide a mobile automated polishing system that is low in cost, simple in structure, and easy to control.

[0005] To address the aforementioned technical problems, this invention provides a mobile automated grinding system, comprising a mobile carriage, grinding tools, a grinding drive mechanism, a robotic arm, and a tool storage mechanism. The mobile carriage can be adjusted in position between different workpieces or relative to the same workpiece. The grinding tools are used to contact the workpiece, and the grinding drive mechanism is used to drive the grinding tools to rotate. The robotic arm is mounted on the mobile carriage and is used to drive the grinding drive mechanism to adjust its posture. The tool storage mechanism is mounted on the mobile carriage and is used to store several grinding tools. The grinding drive mechanism and the tool storage mechanism are interchangeable.

[0006] In one embodiment of the present invention, the workpiece is a large shaft-shaped component, and the moving trolley moves along the axial direction of the same workpiece and / or the moving trolley moves from one side of the same workpiece to the other side of the workpiece and / or the moving trolley moves from the side of one workpiece to the side of another workpiece.

[0007] In one embodiment of the present invention, the mobile vehicle includes:

[0008] The enclosure serves as the mounting base;

[0009] Self-driving wheel device, the self-driving wheel device is used to support the box and drive the box to move;

[0010] A steering wheel assembly, which supports the housing and controls the direction of travel of the housing;

[0011] A support leg device, the support leg device being used to support the box body and lift the box body;

[0012] A fan-changing device is used to ventilate the inside and outside of the enclosure.

[0013] A control panel, used to control the controlled device;

[0014] A storage battery, which is used to supply power to electrical devices;

[0015] A power outlet for connecting to the mains power supply to provide power to electrical devices.

[0016] In one embodiment of the present invention, the self-driving wheel device includes a first bracket fixedly connected to the housing, a first wheel rotatably connected to the bottom of the first bracket, and a motor mounted on the first bracket and driving the first wheel to rotate.

[0017] In one embodiment of the present invention, the steering wheel device includes a second bracket fixedly connected to the housing, a second wheel rotatably connected to the bottom of the second bracket, and a steering armrest mounted on the second bracket and driving the second wheel to turn. The steering armrest is equipped with a button for controlling the start and stop of the self-driving wheel device.

[0018] In one embodiment of the present invention, the mobile trolley further includes a lifting ring device for connecting to a lifting device.

[0019] In one embodiment of the present invention, the mobile vehicle further includes a teaching pendant for demonstrating the operation process.

[0020] In one embodiment of the present invention, the mobile trolley further includes a drawer and a protective cover. The drawer is located on the side of the housing and is used to store different types of polishing tools. The protective cover is located on the top of the housing and is used to protect the work computer.

[0021] In one embodiment of the present invention, the grinding drive mechanism is an EHA device.

[0022] In one embodiment of the present invention, the grinding drive mechanism has a power output shaft, the power output shaft is provided with a first slot and a first guide, the first slot is provided on the outer side wall of the power output shaft, and the first guide extends along the axial direction of the power output shaft;

[0023] The grinding tool includes an abrasive, a handle, and a resilient clamping device. The handle has a cylindrical section, a sleeve section, a connecting hole, a second guide section, and a second slot section. The cylindrical section and the sleeve section are coaxially connected and located at different axial positions. The abrasive is sleeved and connected to the outer side of the cylindrical section. The connecting hole penetrates the inner wall of the sleeve section. The second guide section extends axially along the sleeve section. The second slot section is located on the outer wall of the sleeve section. The resilient clamping device is installed in the connecting hole and includes a top ball and a first resilient reset component. The top ball can partially protrude from the sleeve. The inner sidewall of the sleeve section is retractable into the connecting hole. The power output shaft can enter and exit the sleeve section. When the power output shaft is located inside the sleeve section, the reset force of the first elastic reset component drives the top ball to protrude out of the inner sidewall of the sleeve section and the top ball is embedded in the first slot of the power output shaft. The first guide part and the second guide part are concave and convex, and the power output shaft is connected to the tool holder. When the power output shaft enters and exits the sleeve section, the power output shaft drives the top ball to overcome the reset force and retract into the connecting hole. The first guide part and the second guide part are guided and connected.

[0024] The tool storage mechanism includes a base and multiple elastic clamping devices. The elastic clamping devices are mounted on the base and include two jaws and a second elastic reset component. The two jaws are swayable in a vertical direction, and the tool handle can move in and out between the two jaws. When the tool handle is between the two jaws, the reset force of the second elastic reset component drives the two jaws to swing to a position close to each other and the jaws are engaged in the second slot of the tool handle. The tool handle is suspended on the two jaws. When the tool handle moves in and out between the two jaws, the tool handle drives the two jaws to overcome the reset force and swing to a position far apart from each other.

[0025] The technical solution of the present invention has the following advantages over the prior art:

[0026] The mobile automated grinding system described in this invention, by mounting the robotic arm and tool storage mechanism on a mobile trolley, allows the entire automated grinding system to move relatively over a large range relative to the workpiece, making it suitable for grinding large workpieces.

[0027] The mobile automated grinding system described in this invention, through the cooperation of grinding tools, grinding drive mechanism and tool storage mechanism, can quickly change abrasive without the need for additional external power and control. The grinding tool changing system has a simple structure and low cost. Attached Figure Description

[0028] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0029] Figure 1 This is a schematic diagram of the intelligent polishing cart equipment disclosed in this invention;

[0030] Figure 2 This is a schematic diagram of the mobile vehicle disclosed in this invention from one angle;

[0031] Figure 3 This is a schematic diagram of the mobile vehicle disclosed in this invention from another angle;

[0032] Figure 4 This is a schematic diagram of the self-driving wheel device disclosed in this invention;

[0033] Figure 5 This is a schematic diagram of the steering wheel device disclosed in this invention;

[0034] Figure 6 This is a schematic diagram of the support leg device disclosed in this invention;

[0035] Figure 7 This is a schematic diagram of the assembly of the EHA device disclosed in this invention;

[0036] Figure 8 This is a schematic diagram of the assembly of the polishing tool disclosed in this invention;

[0037] Figure 9 These are schematic diagrams of the structures of different abrasives disclosed in this invention;

[0038] Figure 10 This is a schematic diagram of the structure of the knife handle disclosed in this invention;

[0039] Figure 11 This is a schematic diagram of the elastic clamping device disclosed in this invention;

[0040] Figure 12 This is an exploded view of the tool holder, abrasive base, and nut disclosed in this invention;

[0041] Figure 13 This is an assembly diagram of the power output shaft, tool holder, abrasive base, and nut disclosed in this invention;

[0042] Figure 14 This is a schematic diagram showing the separation of the power output shaft and the grinding tool disclosed in this invention.

[0043] Figure 15 This is a schematic diagram of the mutual transmission between the power output shaft and the grinding tool disclosed in this invention;

[0044] Figure 16 This is a schematic diagram of the tool storage mechanism disclosed in this invention;

[0045] Figure 17 This is a schematic diagram of the base disclosed in this invention;

[0046] Figure 18 This is an exploded view of the elastic clamping device disclosed in this invention;

[0047] Figure 19 This is an assembly schematic diagram of the elastic clamping device disclosed in this invention;

[0048] Figure 20 This is an assembly diagram of the grinding tool and tool storage mechanism disclosed in this invention;

[0049] Figure 21 This is a schematic diagram of the working process of the mobile automated grinding system disclosed in this invention during grinding.

[0050] Figure 22 A schematic diagram of the mobile automated grinding system disclosed in this invention during tool changing.

[0051] Figure 23 A schematic diagram of the mobile automated grinding system disclosed in this invention during tool changing.

[0052] Figure 24 A schematic diagram of the mobile automated grinding system disclosed in this invention during tool changing.

[0053] Figure 25 This is a schematic diagram of step S2 of the tool changing method disclosed in this invention;

[0054] Figure 26 This is a schematic diagram of step S3 of the tool changing method disclosed in this invention;

[0055] Figure 27 This is a schematic diagram showing that the tool holder and the elastic clamping device are not in contact in step S3 of the tool changing method disclosed in this invention;

[0056] Figure 28This is a schematic diagram showing the tool holder just coming into contact with the elastic clamping device in step S3 of the tool changing method disclosed in this invention.

[0057] Figure 29 This is a schematic diagram of step S3 of the tool changing method disclosed in this invention, in which most of the tool holder enters the elastic clamping device.

[0058] Figure 30 This is a schematic diagram of step S3 of the tool changing method disclosed in this invention, in which the tool holder is fully inserted into the elastic clamping device.

[0059] Figure 31 This is a schematic diagram of step S4 of the tool changing method disclosed in this invention;

[0060] Figure 32 This is a schematic diagram of step S5 of the tool changing method disclosed in this invention;

[0061] Figure 33 This is a schematic diagram of step S5.1 of the tool changing method disclosed in this invention;

[0062] Figure 34 This is a schematic diagram of step S5.3 of the tool changing method disclosed in this invention;

[0063] Figure 35 This is a schematic diagram of step S5.4 of the tool changing method disclosed in this invention;

[0064] Figure 36 This is a schematic diagram illustrating the completion of step S5 of the tool changing method disclosed in this invention.

[0065] Explanation of reference numerals in the instruction manual:

[0066] 1. Mobile trolley; 11. Housing; 12. Self-driving wheel device; 121. First support; 122. First wheel; 123. Motor; 13. Steering wheel device; 131. Second support; 132. Second wheel; 133. Steering handle; 134. Button; 14. Support leg device; 15. Fan changing device; 16. Control panel; 17. Battery; 18. Inlet power socket; 19. Hanging ring device; 110. Teaching pendant; 111. Drawer; 112. Protective cover;

[0067] 2. Grinding tools; 2-a. Grinding tools to be replaced; 2-b. Unused grinding tools; 21. Abrasive; 211. Sandpaper suction cup; 212. Wool polishing wheel; 213. Blade; 22. Tool handle; 221. Column section; 222. Sleeve section; 223. Connecting hole; 224. Second guide section; 225. Second slot section; 23. Elastic clamping device; 231. Top ball; 232. First elastic reset component; 233. Threaded column; 24. Base; 25. Nut;

[0068] 3. Grinding drive mechanism; 31. Power output shaft; 311. First slot; 312. First guide;

[0069] 4. Robotic arm;

[0070] 5. Tool storage mechanism; 51. Base; 511. First flange; 512. Column; 513. Second flange; 52. Elastic clamping device; 521. Gripper; 522. Second elastic reset component; 523. Positioning block; 524. Holding block;

[0071] 6. Workpiece;

[0072] 7. Grinding controller

[0073] 8. Workpiece support mechanism;

[0074] 9. Workshop flooring. Detailed Implementation

[0075] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0076] See Figures 1 to 20 As shown, a mobile automated grinding system includes a mobile carriage 1, grinding tools 2, a grinding drive mechanism 3, a robotic arm 4, and a tool storage mechanism 5. The mobile carriage 1 can be adjusted in position between different workpieces 6 or relative to the same workpiece 6. The grinding tools 2 are used to contact the workpiece 6. The grinding drive mechanism 3 is used to drive the grinding tools 2 to rotate. The robotic arm 4 is mounted on the mobile carriage 1 and is used to drive the grinding drive mechanism 3 to adjust its posture. The tool storage mechanism 5 is mounted on the mobile carriage 1 and is used to store a number of grinding tools 2. The grinding drive mechanism 3 and the tool storage mechanism 5 can exchange grinding tools 2.

[0077] The aforementioned grinding tool 2 is a ring-shaped abrasive. The aforementioned grinding drive mechanism drives the ring-shaped abrasive to rotate circumferentially. The aforementioned robotic arm drives the grinding drive mechanism to rise and translate, etc. The aforementioned tool storage mechanism pre-stores multiple grinding tools for abrasive replacement during the grinding process. By mounting the robotic arm and tool storage mechanism on a moving trolley, the entire automated grinding system can move relatively over a large range relative to the workpiece, making it suitable for grinding large workpieces.

[0078] In this preferred embodiment, the workpiece 6 is a large shaft-shaped component. The moving trolley moves along the axial direction of the same workpiece 6 and / or moves from one side of the same workpiece 6 to the other side of the same workpiece 6 and / or moves from the side of one workpiece 6 to the side of another workpiece 6. Because large shaft-shaped components have large axial and radial dimensions, the automatic grinding system cannot fully grind the workpiece if it is only on one side. By configuring the automatic grinding system with a freely movable structure, it can perform full grinding of the workpiece.

[0079] In a preferred embodiment of this invention, the mobile vehicle includes:

[0080] Box 11, which serves as the installation base;

[0081] Self-driving wheel device 12, the self-driving wheel device 12 is used to support the box 11 and drive the box 11 to move.

[0082] Steering wheel device 13, the steering wheel device 13 is used to support the box body 11 and control the walking direction of the box body 11;

[0083] Support leg device 14, the support leg device 14 is used to support the box 11 and lift the box 11;

[0084] A fan replacement device 15 is used to ventilate the inside and outside of the housing 11.

[0085] Control panel 16, the control panel 16 is used to control the controlled device;

[0086] Battery 17, the aforementioned battery 17 is used to supply power to electrical devices;

[0087] The power socket 18 is used to supply power to electrical devices after connecting to the mains power.

[0088] Specifically, the aforementioned robotic arm is installed on the top or side of the housing, the aforementioned tool storage mechanism is installed on the top of the housing, the aforementioned self-drive wheel device is installed at the front end of the housing in the direction of movement, the aforementioned steering wheel device is installed at the rear end of the housing in the direction of movement, the aforementioned support leg device is located between the self-drive wheel device and the steering wheel device, the aforementioned control panel is located at the rear end of the housing in the direction of movement, and the aforementioned power socket is located at the rear end of the housing in the direction of movement, for the convenience of staff operation.

[0089] In a preferred embodiment of this invention, the self-driving wheel device 12 includes a first bracket 121 fixedly connected to the housing 11, a first wheel 122 rotatably connected to the bottom of the first bracket 121, and a motor 123 mounted on the first bracket 121 and driving the first wheel 122 to rotate. The self-driving wheel device can drive the mobile trolley to move, saving manpower.

[0090] In a preferred embodiment of this invention, the steering wheel device 13 includes a second bracket 131 fixedly connected to the housing 11, a second wheel 132 rotatably connected to the bottom of the second bracket 131, and a steering handle 133 mounted on the second bracket 131 and driving the second wheel 132 to turn. A button 134 for controlling the start and stop of the self-driving wheel device 12 is mounted on the steering handle 133. The steering wheel device can rotate, and the operator applies a steering force to the steering handle, thereby turning the trolley.

[0091] In a preferred embodiment of this invention, the mobile trolley further includes a lifting ring device 19, which is used to connect to a lifting device. By providing the lifting ring device, the mobile trolley can also be positioned by hoisting.

[0092] In a preferred embodiment of this invention, the mobile vehicle further includes a teaching pendant 110, which is used to demonstrate the operation process.

[0093] In a preferred embodiment of this example, the mobile trolley further includes a drawer 111 and a protective cover 112. The drawer 111 is located on the side of the housing 11 and is used to store different types of polishing tools 2. The protective cover 112 is located on the top of the housing 11 and is used to protect the work computer.

[0094] In this preferred embodiment, the grinding drive mechanism 3 is an EHA device. The "EHA drive device" is an electro-hydraulic integrated drive system, possessing both rotary drive and hydrodynamic linear drive functions (the power output shaft, driven by a built-in electric motor, can perform radial rotation; the power output shaft, driven by a built-in hydraulic device, can perform axial reciprocating extension and retraction). This "drive device" is provided by a specialized manufacturer, and its specific structural composition will not be described here. The robotic arm is existing technology and will not be elaborated upon further.

[0095] In a preferred embodiment of this invention, the grinding drive mechanism 3 has a power output shaft 31. The power output shaft 31 is provided with a first slot portion 311 and a first guide portion 312. The first slot portion 311 is provided on the outer side wall of the power output shaft 31, and the first guide portion 312 extends along the axial direction of the power output shaft 31.

[0096] The aforementioned grinding tool 2 includes an abrasive 21, a handle 22, and an elastic clamping device 23. The handle 22 has a column section 221, a sleeve section 222, a connecting hole 223, a second guide portion 224, and a second slot portion 225. The column section 221 and the sleeve section 222 are coaxially connected and located at different axial positions. The abrasive 21 is sleeved and connected to the outer side of the column section 221. The connecting hole 223 penetrates the inner wall of the sleeve section 222. The second guide portion 224 extends axially along the sleeve section 222. The second slot portion 225 is located on the outer wall of the sleeve section 222. The elastic clamping device 23 is installed in the connecting hole 223. The elastic clamping device 23 includes a top ball 231 and a first elastic reset component 232. The top ball 231 can partially protrude from the upper... The inner wall of the sleeve section 222 is retractable into the connecting hole 223. The power output shaft 31 can enter and exit the sleeve section 222. When the power output shaft 31 is located inside the sleeve section 222, the restoring force of the first elastic restoring member 232 drives the top ball 231 to protrude from the inner wall of the sleeve section 222 and the top ball 231 is embedded in the first slot 311 of the power output shaft 31. The first guide part 312 and the second guide part 224 are fitted together. The power output shaft 31 is connected to the tool holder 22. When the power output shaft 31 enters and exits the sleeve section 222, the power output shaft 31 drives the top ball 231 to overcome the restoring force and retract into the connecting hole 223. The first guide part 312 and the second guide part 224 are connected in a guiding manner.

[0097] The aforementioned tool storage mechanism 5 includes a base 51 and multiple elastic clamping devices 52. The elastic clamping devices are mounted on the base 51. Each elastic clamping device 52 includes two jaws 521 and a second elastic reset component 522. The two jaws 521 are swayable in the vertical direction, and the tool handle 22 can move in and out between the two jaws 521. When the tool handle 22 is located between the two jaws 521, the reset force of the second elastic reset component 522 drives the two jaws 521 to swing to a position close to each other and the jaws 521 are inserted into the second slot 225 of the tool handle 22. The tool handle 22 is suspended on the two jaws 521. When the tool handle 22 moves in and out between the two jaws 521, the tool handle 22 drives the two jaws 521 to overcome the reset force and swing to a position far apart from each other.

[0098] The aforementioned grinding drive mechanism 3 and robotic arm 4 execute instructions from the grinding controller 7 to perform surface treatments such as grinding and polishing on the workpiece 6. There are many types of abrasives, each with different functions. Examples include sandpaper suction cup 211, wool polishing wheel 212, and louvered blades 213. During operation, abrasives with corresponding functions can be selected according to different workpiece materials and grinding requirements. The tool holder is used to install and fix the abrasive. The elastic clamping device works in conjunction with the first slot of the power output shaft, ensuring that the tool holder can be fitted onto the outside of the power output shaft without falling off. A base 24 and a nut 25 are also installed on the column section 221. The base is fitted onto the column section and close to the sleeve section. The abrasive 21 is clamped between the base and the nut. The nut is threaded onto the column section and close to its free end.

[0099] The aforementioned tool storage mechanism 5 suspends the backup grinding tool 2. The base 51 serves to support and install the elastic clamping device, and the elastic clamping device 52 serves to clamp and fix the backup grinding tool.

[0100] In this preferred embodiment, the first slot 311 is an annular groove extending circumferentially along the power output shaft 31, and the second slot 225 is an annular groove extending circumferentially along the tool holder 22. By setting the first and second slots as annular grooves, the elastic clamping device can be engaged in the first slot at any position circumferentially along the tool holder, and the gripper can be engaged in the second slot at any position circumferentially along the tool holder, reducing the alignment requirements between the power output shaft and the tool holder.

[0101] In this preferred embodiment, the first elastic reset component 232 is a first spring, one end of which is fixed, and the other end of which abuts against the top bead 231. The second elastic reset component 522 is a second spring, with one set of opposite ends of the two grippers 521 clamping the knife handle 22, and the second spring connecting the other set of opposite ends of the two grippers 521. The spring is a compression spring; in its natural state, the spring is extended. Under external force, the spring is compressed and shortened; after the external force is removed, the spring returns to its extended state.

[0102] In a preferred embodiment of this invention, the base 51 includes a first flange 511, a column 512, and a second flange 513. The column 512 is vertically connected between the first flange 511 and the second flange 513. The plurality of elastic clamping devices 52 are arranged sequentially along the circumference of the second flange 513. The first flange 511 is used to connect and fix the base, and the second flange 513 is a disc used to connect with the elastic clamping devices 52.

[0103] In a preferred embodiment of this invention, the elastic clamping device 23 further includes a threaded rod 233, which is threaded into the connecting hole 223. The threaded rod 233 has a limiting hole, and the top ball 231 and the first elastic reset component 232 are connected to the limiting hole. The top ball 231 can partially extend out of the limiting hole. The combination of the threaded rod, the first elastic reset component, and the top ball is a product in the prior art, which can be directly threaded into the connecting hole on the tool holder, making assembly very convenient.

[0104] In a preferred embodiment of this invention, the elastic clamping device 52 further includes a positioning block 523 and a retaining block 524. The positioning block 523 is fixedly connected to the base 51, the two grippers 521 are connected to the positioning block 523, and the retaining block 524 is connected to the positioning block 523 and located between the two grippers 521. The retaining block 524 restricts the position of the two grippers 521 when they approach each other. The positioning block 523 connects the elastic clamping device 52 into a whole, facilitating installation.

[0105] In a preferred embodiment of this invention, the power output shaft 31 is a stepped shaft, with the free end face of the thinner section of the power output shaft 31 facing the tool holder 22. The first groove portion 311 is provided on the thinner section of the stepped shaft. The first guide portion 312 is a guide groove, and multiple guide grooves are arranged sequentially along the circumference of the power output shaft 31 on the thicker section of the stepped shaft. The groove ends of the guide grooves penetrate the stepped surface of the stepped shaft. The second guide portion 224 is a guide post, and multiple guide posts are arranged sequentially along the circumference of the sleeve section 222 on the free end face of the sleeve section 222. The multiple guide posts are slidably connected to the multiple guide grooves. The first and second guide portions play a crucial role; when the tool holder and the power output shaft move axially relative to each other, they can nest and disengage, and rotational motion can be transmitted.

[0106] See Figures 21 to 24 As shown, a mobile automated grinding system is grinding workpiece 6, which is positioned on workpiece support mechanism 8, which is located on workshop floor 9.

[0107] In mobile automated grinding systems, if the abrasive needs to be changed during grinding, a tool change is required. (See [link to documentation]). Figures 25 to 36 As shown in the illustration, the tool changing method of the above-mentioned movable automated grinding system includes the following steps:

[0108] S1. The above-mentioned robotic arm 4 drives the above-mentioned grinding drive mechanism 3 and the grinding tool 2-a to be replaced on the above-mentioned grinding drive mechanism 3 to move to the inlet side of one of the unloaded elastic clamping devices 52, and proceeds to step S2.

[0109] S2. The above-mentioned mechanical arm 4 drives the above-mentioned grinding drive mechanism 3 and the grinding tool 2-a to be replaced on the above-mentioned grinding drive mechanism 3 to enter from the inlet side of the unloaded elastic clamping device 52 between the two jaws 521 of the unloaded elastic clamping device 52, and proceeds to step S3.

[0110] S3. The power output shaft 31 of the grinding drive mechanism 3 is driven upward by the robotic arm 4 to disengage from the handle 22 of the grinding tool 2-a to be replaced, and then proceed to step S4.

[0111] S4. The above-mentioned mechanical arm 4 drives the above-mentioned grinding drive mechanism 3 to move above one of the unused grinding tools 2-b, and proceeds to step S5;

[0112] S5. The power output shaft 31 of the grinding drive mechanism 3 is driven down by the robotic arm 4 and enters the tool holder 22 of the unused grinding tool 2-b, and then proceeds to step S6.

[0113] S6. The above-mentioned robotic arm 4 drives the above-mentioned grinding drive mechanism 3 and the unused grinding tool 2-b on the above-mentioned grinding drive mechanism 3 to move horizontally out of the elastic clamping device 52, thereby completing the replacement of the grinding tool on the grinding drive mechanism.

[0114] In this preferred embodiment, step S5 includes the following sub-steps:

[0115] S5.1 The power output shaft 31 of the grinding drive mechanism 3 is driven downward by the robotic arm 4 to proceed to step S5.2;

[0116] S5.2 Determine whether the power output shaft 31 of the above-mentioned grinding drive mechanism 3 is inserted into the tool holder of the unused grinding tool 2-b. If yes, proceed to step S6; otherwise, proceed to step S5.3.

[0117] S5.3. Drive the power output shaft 31 of the grinding drive mechanism 3 upward by the robotic arm 4 to move it a set distance, and proceed to step S5.4.

[0118] S5.4. The grinding drive mechanism 3 drives the power output shaft 31 to rotate by a set angle, and then returns to step S5.1.

[0119] The "Intelligent Robot Small Part Grinding Station" is selected based on the operational requirements of surface grinding (or polishing) of the workpiece; the "Tool Storage Mechanism" is selected based on the purpose of frequent and rapid changing of grinding tools (abrasives) during the workpiece grinding process.

[0120] Specific operation of the tool storage mechanism:

[0121] Step 1: Fix the workpiece that needs to be surface polished on the worktable;

[0122] Step Two: Activate the grinding drive mechanism and robotic arm to grind (polish) the fixed workpiece. During the grinding process, as the grinding time continues, the grinding discs (or polishing discs, etc.) used will become smaller and smaller, eventually becoming waste and unusable for further grinding. At this point, the waste grinding discs (or polishing discs, etc.) need to be quickly replaced.

[0123] Step 3: Turn off the grinding drive mechanism and detach it from the workpiece being ground; (operate the robotic arm to bring its grinding drive mechanism closer to the tool storage mechanism).

[0124] Step 4: Engage the annular slot of the grinding drive mechanism into the idle elastic clamping device;

[0125] Step 5: Operate the robotic arm to move the grinding drive mechanism upward and disengage it from the grinding tool;

[0126] Step 6: Start the grinding drive mechanism, so that its drive power output shaft rotates about 60° around the vertical direction in a clockwise (or counterclockwise) direction, and the handle of the grinding tool is in a coaxial, concentric, and close-range relative state with the power output shaft of the grinding drive mechanism.

[0127] Step 7: Restart the robotic arm so that its grinding drive mechanism moves the newly replaced grinding tool laterally, allowing the grinding tool to disengage from the elastic clamping device.

[0128] Step 8: Move the grinding drive mechanism to the workpiece and continue the grinding operation; (not shown)

[0129] In step four, the dynamic relationship of the elastic clamping device during the tool replacement process is as follows:

[0130] Dynamic 1: The grinding tool moves to the vicinity of the gripper;

[0131] Dynamic 2: The grinding tool slowly approaches the gripper;

[0132] Dynamic 3: The grinding tool slowly opens the jaws to the left and right sides;

[0133] Dynamic 4: The grinding tool is fully embedded between the two grippers. Under the elastic action of the second elastic reset component, the grippers simultaneously retract and reset, locking the grinding tool in place.

[0134] Step six is ​​as follows:

[0135] Step 1: Start the robotic arm, lowering its grinding drive mechanism (or extending the power output shaft of the grinding drive mechanism outwards), and slowly insert the end of the power output shaft into the tool holder hole of the grinding tool to be replaced. At this point, as can be seen in the enlarged view on the right, the first guide portion of the power output shaft of the grinding drive mechanism is not aligned with the second guide portion of the tool holder. This situation means that the power output shaft of the grinding drive mechanism cannot be fully and smoothly inserted into the bottom of the tool holder hole.

[0136] Step 2: Start the grinding drive mechanism, so that the power output shaft of the grinding drive mechanism slowly rotates around its axis, and the quick-change positioning guide groove on the power output shaft of the grinding drive mechanism can be aligned with the quick-change guide post of the grinding tool from above.

[0137] Step 3: Restart the robotic arm to lower its grinding drive mechanism (or extend the power output shaft of the grinding drive mechanism outward). Slowly insert the end of the power output shaft of the grinding drive mechanism into the tool holder hole of the grinding tool to be replaced.

[0138] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A mobile automated polishing system, characterized in that, The device includes a mobile trolley, grinding tools, a grinding drive mechanism, a robotic arm, and a tool storage mechanism. The mobile trolley can be adjusted in position between different workpieces or relative to the same workpiece. The grinding tools are used to contact the workpiece. The grinding drive mechanism is used to drive the grinding tools to rotate. The robotic arm is mounted on the mobile trolley and is used to drive the grinding drive mechanism to adjust its posture. The tool storage mechanism is mounted on the mobile trolley and is used to store several grinding tools. The grinding drive mechanism and the tool storage mechanism can exchange grinding tools. The grinding drive mechanism has a power output shaft, which is provided with a first slot and a first guide. The first slot is located on the outer side wall of the power output shaft, and the first guide extends along the axial direction of the power output shaft. The grinding tool includes an abrasive, a handle, and a resilient clamping device. The handle has a cylindrical section, a sleeve section, a connecting hole, a second guide section, and a second slot section. The cylindrical section and the sleeve section are coaxially connected and located at different axial positions. The abrasive is sleeved and connected to the outer side of the cylindrical section. The connecting hole penetrates the inner wall of the sleeve section. The second guide section extends axially along the sleeve section. The second slot section is located on the outer wall of the sleeve section. The resilient clamping device is installed in the connecting hole and includes a top ball and a first resilient reset component. The top ball can partially protrude from the sleeve. The inner sidewall of the sleeve section is retractable into the connecting hole. The power output shaft can enter and exit the sleeve section. When the power output shaft is located inside the sleeve section, the reset force of the first elastic reset component drives the top ball to protrude out of the inner sidewall of the sleeve section and the top ball is embedded in the first slot of the power output shaft. The first guide part and the second guide part are concave and convex, and the power output shaft is connected to the tool holder. When the power output shaft enters and exits the sleeve section, the power output shaft drives the top ball to overcome the reset force and retract into the connecting hole. The first guide part and the second guide part are guided and connected. The tool storage mechanism includes a base and multiple elastic clamping devices. The elastic clamping devices are mounted on the base and include two jaws and a second elastic reset component. The two jaws are swayable in a vertical direction, and the tool handle can move in and out between the two jaws. When the tool handle is between the two jaws, the reset force of the second elastic reset component drives the two jaws to swing to a position close to each other and the jaws are engaged in the second slot of the tool handle. The tool handle is suspended on the two jaws. When the tool handle moves in and out between the two jaws, the tool handle drives the two jaws to overcome the reset force and swing to a position far apart from each other. The tool changing method for a mobile automated grinding system includes the following steps: S1. The mechanical arm drives the grinding drive mechanism and the grinding tool to be replaced on the grinding drive mechanism to the inlet side of one of the unloaded elastic clamping devices, and then proceeds to step S2. S2. The mechanical arm drives the grinding drive mechanism and the grinding tool to be replaced on the grinding drive mechanism to enter the two jaws of the unloaded elastic clamping device from the inlet side of the unloaded elastic clamping device, and then proceeds to step S3. S3. The power output shaft of the grinding drive mechanism is driven upward by the robotic arm to disengage from the handle of the grinding tool to be replaced, and then proceed to step S4. S4. Move the grinding drive mechanism to above one of the unused grinding tools by mechanical means, and proceed to step S5; S5. The power output shaft of the grinding drive mechanism is driven down by the robotic arm and enters the tool holder of the unused grinding tool, proceeding to step S6. S6. The mechanical arm drives the grinding drive mechanism and the unused grinding tools on the grinding drive mechanism to move horizontally out of the elastic clamping device, thus completing the replacement of the grinding tools on the grinding drive mechanism.

2. The mobile automated polishing system according to claim 1, characterized in that, The workpiece is a large shaft-shaped component. The moving trolley moves along the axial direction of the same workpiece and / or the moving trolley moves from one side of the same workpiece to the other side of the workpiece and / or the moving trolley moves from the side of one workpiece to the side of another workpiece.

3. The mobile automated polishing system according to claim 1, characterized in that, The mobile vehicle includes: The enclosure serves as the mounting base; Self-driving wheel device, the self-driving wheel device is used to support the box and drive the box to move; A steering wheel assembly, which supports the housing and controls the direction of travel of the housing; A support leg device, the support leg device being used to support the box body and lift the box body; A fan-changing device is used to ventilate the inside and outside of the enclosure. A control panel, used to control the controlled device; A storage battery, which is used to supply power to electrical devices; A power outlet for connecting to the mains power supply to provide power to electrical devices.

4. The mobile automated polishing system according to claim 3, characterized in that, The self-driving wheel device includes a first bracket fixed to the housing, a first wheel rotatably connected to the bottom of the first bracket, and a motor mounted on the first bracket and driving the first wheel to rotate.

5. The mobile automated polishing system according to claim 3, characterized in that, The steering wheel device includes a second bracket fixed to the housing, a second wheel rotatably connected to the bottom of the second bracket, and a steering armrest mounted on the second bracket and driving the second wheel to turn. The steering armrest is equipped with a button for controlling the start and stop of the self-driving wheel device.

6. The mobile automated polishing system according to claim 3, characterized in that, The mobile trolley also includes a lifting ring device for connecting to a lifting device.

7. The mobile automated polishing system according to claim 3, characterized in that, The mobile vehicle also includes a teaching pendant, which is used to demonstrate the operation process.

8. The mobile automated polishing system according to claim 3, characterized in that, The mobile cart also includes a drawer and a protective cover. The drawer is located on the side of the box and is used to store different types of polishing tools. The protective cover is located on the top of the box and is used to protect the work computer.

9. The mobile automated polishing system according to claim 1, characterized in that, The grinding drive mechanism is an EHA device.

Images