A robot adaptive curved surface polishing tool

Abstract

The present application relates to the technical field of polishing and polishing technology of curved surface parts, and particularly relates to a robot adaptive curved surface polishing tool. The robot adaptive curved surface polishing tool comprises a cylindrical shell, a converging mechanism, a swing mechanism and two or more polishing discs; a motor is fixedly installed, and an output shaft of the motor is connected to a lower end of a screw rod through a shaft coupling; a nut seat of a screw rod nut pair is provided with a connecting disc, and the connecting disc and the shell are coaxially arranged; the converging guide rail frame and the auxiliary converging guide rail frame have the same structure; the swing mechanism comprises two or more vertically arranged swing sliding rails, a threaded cap and a threaded push rod frame; a motor is started to make a converging sliding block slide on a corresponding converging sliding rail, a lower converging connecting rod drives the polishing disc to move along a radial direction of the shell, and the two or more polishing discs are converged; the threaded cap is rotated, an auxiliary converging sliding block drives a swing sliding block to move on the swing sliding rail, and up and down swing of each polishing disc is realized. The robot adaptive curved surface polishing tool can efficiently polish and polish a curved surface part and a spherical surface.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of polishing and polishing of curved surface parts, and particularly relates to a robot adaptive curved surface polishing tool. BACKGROUND

[0002] Workpiece polishing is extremely widespread in factory applications, with the rapid development of modern science and technology, the use of industrial robots for workpiece polishing gradually replaces traditional manual polishing, and robot polishing can maintain constant force and high efficiency. When working on some large curved surface parts such as automobile engine covers, aircraft shells, various large machine housings and the like, since the traditional polishing head only has a single plane polishing head, it is always in line contact with the curved surface during polishing, and the area processed is only a very narrow surface, which leads to the fact that the traditional polishing head needs to move back and forth when processing large surface curved objects, the path planning is long, the polishing time is long and the efficiency is low. Therefore, the present application provides a new type of polishing head formed by three polishing heads in parallel, which has high efficiency for curved surface polishing, and improves the curved surface polishing precision and greatly improves the curved surface polishing speed. SUMMARY

[0003] In order to overcome the shortcomings of low polishing efficiency, poor polishing precision and poor workpiece adaptability of the existing single polishing head, the present application provides a robot adaptive curved surface polishing tool, which can reasonably adjust the mutual position and attitude of the three polishing heads according to the curvature radius and area size of the curved surface object to be processed, so that the polishing head can more efficiently polish the curved surface.

[0004] The specific technical scheme of the present application is as follows: a robot adaptive curved surface polishing tool, comprising a cylindrical shell 1, a converging mechanism 2, a swinging mechanism 3 and two or more polishing discs 4, the converging mechanism 2 and the swinging mechanism 3 are arranged in the shell 1, each polishing disc 4 extends out of the lower end of the shell 1, the lower end surface of each polishing disc 4 is a convex curved surface, and the two or more polishing discs 4 are arranged along the same circumferential direction of the shell 1.

[0005] The converging mechanism 2 comprises a motor 21, a screw nut pair 22, a converging guide rail frame 23 and a secondary converging guide rail frame 24, the screw rod 221 of the screw nut pair 22 is vertically arranged, the motor 21 is fixedly installed, and the output shaft of the motor 21 is connected to the lower end of the screw rod 221 through a shaft coupling 211, the lower end of the nut seat 222 of the screw nut pair 22 is provided with a connecting disc 25, and the connecting disc 25 and the shell 1 are coaxially arranged;

[0006] The converging guide rail frame 23 and the auxiliary converging guide rail frame 24 are arranged horizontally below the connecting disc 25 in sequence and have the same structure, and each comprises a converging circular ring arranged horizontally and two or more converging sliding rails arranged uniformly on the outer circumference of the converging circular ring, the converging circular ring and the connecting disc 25 are coaxially arranged, and each converging sliding rail is arranged horizontally along the radial direction of the converging circular ring,

[0007] The converging guide rail frame 23 is fixedly installed, a converging sliding block 26 is slidably connected to each converging sliding rail of the converging guide rail frame 23, one end of each converging sliding block 26 is hingedly connected to an upper converging connecting rod 27, the other end is hingedly connected to a lower converging connecting rod 28, the lower converging connecting rod 28 corresponds to the polishing disc 4, so that the upper end of each upper converging connecting rod 27 is hingedly connected to the connecting disc 25, and the lower end of each lower converging connecting rod 28 is hingedly connected to the middle part of the polishing disc 4;

[0008] The oscillating mechanism 3 comprises two or more vertically arranged oscillating sliding rails 31, a threaded cover 32 and a threaded push rod frame 33, the threaded cover 32 is coaxially arranged at the upper end of the shell 1, the threaded push rod frame 33 comprises an upper end sleeve ring and two or more vertical push rods arranged uniformly on the circumference of the sleeve ring, the threaded cover 32 and the sleeve ring are threadedly connected, so that each vertical push rod is rotationally limited in the circumferential direction and is fixedly connected to the auxiliary converging guide rail frame 24;

[0009] Each of the oscillating sliding rails 31 is vertically arranged and is fixedly connected to the lower converging connecting rod 28, an oscillating sliding block 34 is slidably connected to each oscillating sliding rail 31, the oscillating sliding block 34 corresponds to the converging sliding rail of the auxiliary converging guide rail frame 24, and the oscillating sliding block 34 is slidably connected to the converging sliding rail of the auxiliary converging guide rail frame 24 through the auxiliary converging sliding block 29,

[0010] The oscillating sliding block 34 corresponds to the oscillating connecting rod 35, and the oscillating sliding block 34 is hingedly connected to the upper end of the oscillating connecting rod 35 through a rotating shaft 36, and the lower end of the oscillating connecting rod 35 is hingedly connected to the polishing disc 4;

[0011] In use, the motor 21 is started, the connecting disc 25 is driven to move up and down through the screw nut pair 22, the converging sliding block 26 is slid on the corresponding converging sliding rail, the lower converging connecting rod 28 drives the polishing disc 4 to move along the radial direction of the shell 1, and the convergence of the two or more polishing discs 4 is realized; the threaded cover 32 is rotated, the threaded push rod frame 33 drives the auxiliary converging guide rail frame 24 to move up and down, the auxiliary converging sliding block 29 drives the oscillating sliding block 34 to move on the oscillating sliding rail 31, and the up-and-down oscillation of each polishing disc 4 is realized.

[0012] Further, three upper converging connecting rods 27 are hingedly connected to the outer circumference of the connecting disc 25, and three converging sliding rails are uniformly and correspondingly arranged on the outer circumferences of the converging circular rings of the converging guide rail frame 23 and the auxiliary converging guide rail frame 24, respectively;

[0013] Each polishing disc 4 is hingedly connected to a lower end of a corresponding lower converging connecting rod 28 at a middle portion thereof, and is hingedly connected to a lower end of a corresponding swing connecting rod 35 at a side close to a central axis of the shell 1.

[0014] Further, a middle portion of each converging sliding rail is hollowed, and a sliding groove is formed on each side of the converging sliding rail. Two ends of each converging sliding block 26 are provided with shaft holes. Two sides of a middle portion of the converging sliding block 26 are outwardly protruded, and the protrusions are matched with the sliding grooves, so that the converging sliding block 26 is slidingly matched with the corresponding converging sliding rail.

[0015] One end of each converging sliding block 26 is hingedly connected to a lower end of a corresponding upper converging connecting rod 27 through the cooperation of a shaft hole and a pin shaft. The other end of each converging sliding block 26 is hingedly connected to an upper end of a corresponding lower converging connecting rod 28 through the cooperation of a shaft hole and a pin shaft.

[0016] Further, a diameter of the converging ring of the converging guide rail frame 23 is smaller than a diameter of the converging ring of the secondary converging guide rail frame 24, so that the lower converging connecting rod 28 vertically passes through the hollow portion of the corresponding converging sliding rail of the secondary converging guide rail frame 24.

[0017] Further, each swing sliding rail 31 is a vertical rectangular block, and a middle portion of each swing sliding rail 31 is hollowed, and a rectangular hole is formed on each side of the swing sliding rail 31.

[0018] A horizontal rotating shaft 36 is fixedly inserted into a middle portion of each swing sliding block 34. The swing sliding block 34 is slidingly matched with the swing sliding rail 31, so that two ends of the rotating shaft 36 are extended out of the swing sliding rail 31, and the two ends of the rotating shaft 36 are correspondingly fixedly connected with a secondary converging sliding block 29. The secondary converging sliding block 29 is slidingly matched with the corresponding converging sliding rail of the secondary converging guide rail frame 24.

[0019] Further, the shell 1 is fixedly provided with a lower support frame 13.

[0020] The lower support frame 13 comprises a circular mounting plate and two or more horizontal positioning plates. The circular mounting plate is coaxially arranged between the converging ring of the converging guide rail frame 23 and the converging ring of the secondary converging guide rail frame 24. One end of each horizontal positioning plate is fixedly connected with an outer circumference of the circular mounting plate, and the other end of each horizontal positioning plate is fixedly connected with the shell 1.

[0021] Each vertical push rod is a rectangular column. The horizontal positioning plates and the vertical push rods are one-to-one correspondingly arranged. A rectangular hole is formed on each horizontal positioning plate. Each vertical push rod vertically penetrates through the corresponding horizontal positioning plate through the rectangular hole, so that each vertical push rod is circumferentially rotationally limited. A lower end of each vertical push rod is correspondingly fixedly connected with the converging ring of the secondary converging guide rail frame 24 through a reverse U-shaped clamping block 331.

[0022] Further, a lower end of the circular mounting plate is fixedly connected with an upper end of the motor 21, and an upper end of the circular mounting plate is fixedly connected with the converging ring of the converging guide rail frame 23 through a support plate.

[0023] Further, the shell 1 is fixed with an upper support frame 14, the upper support frame 14 comprises a positioning ring and two or more positioning connecting plates, the positioning ring is coaxially arranged between the threaded cover 32 and the upper end sleeve ring of the threaded push rod frame 33, one end of each positioning connecting plate is fixedly connected with the positioning ring, and the other end is fixedly connected with the shell 1.

[0024] Further, the upper end cover 11 of the shell 1 is provided with an arc-shaped groove 12, the outer circumference of the threaded cover 32 is provided with an L-shaped adjusting plate 321, the vertical part of the L-shaped adjusting plate 321 passes out of the upper end of the shell 1 through the arc-shaped groove 12, and the threaded cover 32 is rotated and drives the threaded push rod frame 33 to move up and down by rotating the vertical part of the L-shaped adjusting plate 321.

[0025] Further, the threaded cover 32 comprises a circular cover plate, the upper end of the cover plate is provided with a positioning ring, the lower end of the cover plate is provided with a positioning boss, the lower end of the positioning boss is provided with a connecting threaded column, the positioning ring is matched with the positioning ring groove of the upper end cover 11 of the shell 1, the positioning boss is matched and sleeved with the upper support frame 14, so that the connecting threaded column is threadedly connected with the sleeve ring of the threaded push rod frame 33, and the threaded cover 32 is rotated and drives the threaded push rod frame 33 to move up and down.

[0026] The beneficial technical effects of the present application are as follows: the robot self-adapting curved surface polishing tool has two or more polishing discs in parallel relationship, the curvature radius range of the polishing surface that can be polished is fitted according to the polishing contact point area, the polishing disc convergence and swing two movements are combined, the polishing disc group fitting polishing curvature radius can be freely and appropriately adjusted, and then the convex curved surface and the concave curved surface can be more reasonably polished or polished, specifically, the diameter of the circle where the centers of the two or more polishing discs are located is taken as the convergence index parameter, and the swing angle of the two or more polishing discs along the centerline to the distribution center connecting line direction is taken as the swing amplitude parameter.

[0027] The convergence and swing amplitude can be freely and reasonably adjusted through the convergence mechanism and the swing mechanism, the workpiece to be polished can be better polished according to the concave-convex condition and the curvature radius, when the curved surface object is processed, the relative pose of the polishing disc is adjusted in advance, so that each polishing disc has a point contact with the curved surface workpiece, the polishing polishing tool is rotated as a whole by the motor, the contact width of the part processed by the polishing polishing tool is the diameter of the circle where the two or more contact points are located, and the polishing polishing tool of the present application can realize high efficiency and high precision polishing of the curved surface. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a whole appearance schematic view of the robot self-adapting curved surface polishing tool.

[0029] Figure 2 It is an internal structure schematic diagram of a robot adaptive curved surface polishing tool of the present application.

[0030] Figure 3 It is an exploded view of a robot adaptive curved surface polishing tool of the present application.

[0031] Figure 4 It is a schematic diagram of a converging mechanism of the present application.

[0032] Figure 5 It is a schematic diagram of a swing mechanism of the present application.

[0033] Figure 6 It is a structural schematic diagram of a converging slider of the present application.

[0034] Figure 7 It is an assembly schematic diagram of a swing slider, a secondary converging slider and a swing slide rail of the present application.

[0035] Figure 8 It is a connection schematic diagram of a rotating shaft and a swing connecting rod of the present application.

[0036] Figure 9 It is a schematic diagram of a convex curved surface of a polishing disc of the present application.

[0037] Figure 10 It is a use state diagram of a robot adaptive curved surface polishing tool of the present application polishing an outer curved surface with a large radius of curvature.

[0038] Figure 11 It is a use state diagram of a robot adaptive curved surface polishing tool of the present application polishing an outer curved surface with a small radius of curvature.

[0039] Figure 12 It is a use state diagram of a robot adaptive curved surface polishing tool of the present application polishing an inner curved surface with a large radius of curvature.

[0040] Figure 13 It is a use state diagram of a robot adaptive curved surface polishing tool of the present application polishing an inner curved surface with a small radius of curvature. Wherein: the shell 1, the upper end cover 11, the arc-shaped groove 12, the lower support frame 13, the upper support frame 14, the converging mechanism 2, the motor 21, the screw nut pair 22, the converging guide rail frame 23, the secondary converging guide rail frame 24, the screw rod 221, the nut seat 222, the connecting disc 25, the converging slider 26, the upper converging connecting rod 27, the lower converging connecting rod 28, the secondary converging slider 29, the swing mechanism 3, the swing slide rail 31, the threaded cover 32, the L-shaped adjusting plate 321, the threaded push rod frame 33, the U-shaped clamping block 331, the swing slider 34, the swing connecting rod 35, the rotating shaft 36, the polishing disc 4. DETAILED DESCRIPTION

[0041] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application in combination with the drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0042] Embodiment

[0043] Further, Figures 1-3 A robot adaptive curved surface polishing tool, comprising a cylindrical shell 1, a dispersing mechanism 2, a swing mechanism 3 and two or more polishing discs 4, the dispersing mechanism 2 and the swing mechanism 3 are arranged in the shell 1, each polishing disc 4 extends out of the lower end of the shell 1, and the two or more polishing discs 4 are arranged along the same circumferential direction of the shell 1.

[0044] Further, Figure 9 The lower end surface of each polishing disc 4 is a convex curved surface,

[0045] Further, a lower support frame 13 is fixedly arranged in the shell 1.

[0046] The lower support frame 13 comprises a circular mounting plate and two or more horizontal positioning plates, the circular mounting plate is coaxially arranged between the dispersing circular ring of the dispersing guide rail frame 23 and the dispersing circular ring of the auxiliary dispersing guide rail frame 24, one end of each horizontal positioning plate is fixedly connected with the outer circumference of the circular mounting plate, and the other end is fixedly connected with the shell 1.

[0047] Each vertical push rod is a rectangular column, the horizontal positioning plates and the vertical push rods are arranged one by one, a rectangular hole is formed in each horizontal positioning plate, and each vertical push rod vertically penetrates through the corresponding horizontal positioning plate through the rectangular hole, so that each vertical push rod is rotationally limited in the circumferential direction, and the lower end of each vertical push rod is fixedly connected with the dispersing circular ring of the auxiliary dispersing guide rail frame 24 through the inverted U-shaped clamping block 331.

[0048] The lower end of the circular mounting plate is fixedly connected with the upper end of the motor 21, and the upper end of the circular mounting plate is fixedly connected with the dispersing circular ring of the dispersing guide rail frame 23 through the support plate.

[0049] Further, an upper support frame 14 is fixedly arranged in the shell 1.

[0050] The upper support frame 14 comprises a positioning circular ring and two or more positioning connecting plates, the positioning circular ring is coaxially arranged between the threaded cover 32 and the upper end sleeve ring of the threaded push rod frame 33, one end of each positioning connecting plate is fixedly connected with the positioning circular ring, and the other end is fixedly connected with the shell 1.

[0051] Further, the upper end cover 11 of the shell 1 is provided with an arc-shaped slot 12, and the outer circumference of the threaded cover 32 is provided with an L-shaped adjusting plate 321, the vertical part of the L-shaped adjusting plate 321 passes through the arc-shaped slot 12 to the upper end of the shell 1, and by rotating the vertical part of the L-shaped adjusting plate 321, the threaded cover 32 is rotated and drives the threaded push rod holder 33 to move up and down.

[0052] See Figure 4 The converging mechanism 2 comprises a motor 21, a screw-nut pair 22, a converging guide rail holder 23 and a secondary converging guide rail holder 24, the screw rod 221 of the screw-nut pair 22 is vertically arranged, the motor 21 is fixedly installed, and the output shaft of the motor 21 is connected to the lower end of the screw rod 221 through a shaft coupling 211, the lower end of the nut seat 222 of the screw-nut pair 22 is provided with a connecting disc 25, and the connecting disc 25 is coaxially arranged with the shell 1;

[0053] The converging guide rail holder 23 and the secondary converging guide rail holder 24 are sequentially and horizontally arranged below the connecting disc 25, and have the same structure, both comprising a converging ring arranged horizontally and two or more converging sliding rails uniformly arranged on the outer circumference of the converging ring, the converging ring and the connecting disc 25 are coaxially arranged, and each converging sliding rail is horizontally arranged along the radial direction of the converging ring,

[0054] The converging guide rail holder 23 is fixedly installed, a converging sliding block 26 is slidingly fitted on each converging sliding rail of the converging guide rail holder 23, one end of each converging sliding block 26 is hingedly connected with an upper converging connecting rod 27, and the other end is hingedly connected with a lower converging connecting rod 28, the lower converging connecting rod 28 corresponds to the polishing disc 4, so that the upper end of each upper converging connecting rod 27 is hingedly connected with the connecting disc 25, and the lower end of each lower converging connecting rod 28 is hingedly connected with the middle part of the polishing disc 4;

[0055] The motor 21 is started, the connecting disc 25 is driven by the screw-nut pair 22 to move up and down, the converging sliding block 26 slides on the corresponding converging sliding rail, the lower converging connecting rod 28 drives the polishing disc 4 to move along the radial direction of the shell 1, and the convergence of the two or more polishing discs 4 is realized.

[0056] Further, three upper converging connecting rods 27 are uniformly hingedly connected to the outer circumference of the connecting disc 25, and three converging sliding rails are uniformly and correspondingly arranged on the outer circumference of the converging ring of the converging guide rail holder 23 and the secondary converging guide rail holder 24, respectively;

[0057] There are three polishing discs 4, the middle part of each polishing disc 4 is hingedly connected with the lower end of the corresponding lower converging connecting rod 28, and the lower end of each polishing disc 4 is hingedly connected with the lower end of the corresponding oscillating connecting rod 35 close to the central axis of the shell 1.

[0058] See Figure 6The middle part of each dispersing sliding rail is hollow, and a sliding groove is formed on each side. The two ends of each dispersing sliding block 26 are provided with shaft holes. The middle part of the dispersing sliding block 26 is outwardly protruded on both sides. The protrusion is matched with the sliding groove, so that the dispersing sliding block 26 is slidingly matched on the corresponding dispersing sliding rail.

[0059] One end of each dispersing sliding block 26 is connected to the lower end of the corresponding upper dispersing connecting rod 27 through the cooperation of the shaft hole and the pin shaft. The other end of each dispersing sliding block 26 is connected to the upper end of the corresponding lower dispersing connecting rod 28 through the cooperation of the shaft hole and the pin shaft.

[0060] Further, the diameter of the dispersing circular ring of the dispersing guide rail frame 23 is smaller than the diameter of the dispersing circular ring of the secondary dispersing guide rail frame 24, so that the lower dispersing connecting rod 28 vertically penetrates through the hollow part of the corresponding dispersing sliding rail of the secondary dispersing guide rail frame 24.

[0061] See Figure 5 The swing mechanism 3 includes two or more vertically arranged swing sliding rails 31, a threaded cover 32 and a threaded push rod frame 33. The threaded cover 32 is coaxially arranged on the upper end of the shell 1. The threaded push rod frame 33 includes an upper end sleeve ring and two or more vertical push rods uniformly arranged in the circumferential direction of the sleeve ring. The threaded cover 32 is threadedly matched with the sleeve ring, so that each vertical push rod is circumferentially rotated and limited, and is fixedly connected with the secondary dispersing guide rail frame 24.

[0062] Each swing sliding rail 31 is vertically arranged, and the swing sliding rail 31 is fixedly connected with the lower dispersing connecting rod 28 one by one. A swing sliding block 34 is slidingly matched on each swing sliding rail 31. The swing sliding block 34 and the dispersing sliding rail of the secondary dispersing guide rail frame 24 are one-to-one corresponding. The swing sliding block 34 is slidingly matched on the dispersing sliding rail of the secondary dispersing guide rail frame 24 through the secondary dispersing sliding block 29,

[0063] The swing sliding block 34 and the swing connecting rod 35 are one-to-one corresponding. The swing sliding block 34 is hingedly connected with the upper end of the swing connecting rod 35 through a rotating shaft 36. The lower end of the swing connecting rod 35 is hingedly connected with the polishing disc 4.

[0064] The threaded cover 32 is rotated. The threaded push rod frame 33 drives the secondary dispersing guide rail frame 24 to move up and down, so that the secondary dispersing sliding block 29 drives the swing sliding block 34 to move on the swing sliding rail 31, thereby realizing the up-and-down swing of each polishing disc 4.

[0065] Further, the threaded cover 32 includes a circular cover plate. The upper end of the cover plate is provided with a positioning circular ring. The lower end of the cover plate is provided with a positioning boss. The lower end of the positioning boss is provided with a connecting threaded column. The positioning circular ring is matched with the positioning ring groove of the upper end cover 11 of the shell 1. The positioning boss is matched with the sleeve ring of the upper support frame 14. The connecting threaded column is threadedly connected with the sleeve ring of the threaded push rod frame 33, thereby realizing the rotation of the threaded cover 32 and the up-and-down movement of the threaded push rod frame 33.

[0066] See Figure 7 and Figure 8 Each of the swing slide rails 31 is a vertical rectangular block with a hollow middle part and rectangular holes on each side; a horizontal rotating shaft 36 is fixedly inserted in the middle part of each swing slide block 34, the swing slide block 34 is slidingly fitted in the swing slide rail 31, so that the two ends of the rotating shaft 36 extend out of the swing slide rail 31 and are correspondingly fixedly connected with a secondary converging slide block 29, which is slidingly fitted on the corresponding converging slide rail of the secondary converging guide rail frame 24.

[0067] Therefore, the two or more polishing discs 4 are in parallel relationship, the curvature radius range of the polishing surface is fitted according to the polishing contact point area, the polishing curvature radius is freely and properly adjusted by combining the converging and swinging movements of the polishing discs 4, and then the convex and concave curved surfaces are more reasonably polished or polished.

[0068] In order to reasonably set the polishing parameters, the diameter of the circle where the centers of the three polishing discs 4 are located is taken as the converging degree index parameter, and the swinging angle of the polishing disc 4 along the centerline to the distribution center connecting line direction is taken as the swinging amplitude parameter.

[0069] According to the designed structure size, it can be obtained that the adjustment range of the converging degree is 60mm to 120mm, and the adjustment range of the swinging amplitude is -15 degrees to +15 degrees; when the polishing curvature radius is between 1200mm and 1700mm of the convex curved surface, the rotating adjusting screw cap 32 is rotated to make the swinging amplitude of the polishing disc 4 about 5 degrees, and the rotating angle of the motor 21 is adjusted to make the converging degree of the polishing disc 4 keep about 80mm.

[0070] The two mechanisms freely and reasonably adjust the converging degree and the swinging amplitude, and can better polish the workpiece according to the concave-convex condition and the curvature radius of the workpiece to be polished.

[0071] When working, as shown in Figure 10 and Figure 11 When the adjusting screw cap 501 moves the threaded push rod group to the highest position, the converging secondary guide rail 505 drives the converging secondary slide block 508 and the swinging slide block 509 to move to the highest position along the swinging guide rail 507, so that the polishing disc 6 can swing to a posture suitable for polishing the convex curved surface. Figure 10 When the motor 4 rotates to drive the screw nut 201 to move, the nut connecting disc moves to the lowest position, as shown in

[0072] When the motor 4 rotates to drive the screw nut 201 to move, the nut connecting disc moves to the highest position, as shown in Figure 11As shown, the three polishing discs 6 can be simultaneously gathered to the most compact state, and the posture of the three polishing discs is suitable for polishing convex curved surfaces with small curvature radius.

[0073] As shown, when the adjusting screw cap 501 moves the threaded push rod set to the lowest position, the converging-diverging vice guide 505 drives the converging-diverging vice slider 508 and the swing slider 509 to move along the swing guide 507 to the lowest position, and the polishing discs 6 can swing to a posture suitable for polishing concave curved surfaces. Figure 12 and Figure 13 As shown, when the adjusting screw cap 501 moves the threaded push rod set to the lowest position, the converging-diverging vice guide 505 drives the converging-diverging vice slider 508 and the swing slider 509 to move along the swing guide 507 to the lowest position, and the polishing discs 6 can swing to a posture suitable for polishing concave curved surfaces. Figure 13 As shown, when the adjusting screw cap 501 moves the threaded push rod set to the lowest position, the converging-diverging vice guide 505 drives the converging-diverging vice slider 508 and the swing slider 509 to move along the swing guide 507 to the lowest position, and the polishing discs 6 can swing to a posture suitable for polishing concave curved surfaces. Figure 12 As shown, the three polishing discs 6 can be simultaneously gathered to the most compact state, and the posture of the three polishing discs is suitable for polishing concave curved surfaces with small curvature radius.

[0074] Those skilled in the art will easily understand that the above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robotic adaptive surface grinding and polishing tool, characterized in that: It includes a cylindrical shell (1), a gathering and dispersing mechanism (2), a swinging mechanism (3) and two or more grinding discs (4). The gathering and dispersing mechanism (2) and the swinging mechanism (3) are arranged inside the shell (1). Each grinding disc (4) extends out of the lower end of the shell (1). The lower end surface of each grinding disc (4) is a convex curved surface. Two or more grinding discs (4) are arranged along the same circumferential direction of the shell (1). The clutch mechanism (2) includes a motor (21), a lead screw and nut pair (22), a clutch guide rail (23), and a secondary clutch guide rail (24). The lead screw (221) of the lead screw nut pair (22) is arranged vertically, the motor (21) is fixedly installed, and the output shaft of the motor (21) is connected to the lower end of the lead screw (221) through the coupling (211). The lower end of the nut seat (222) of the lead screw nut pair (22) is provided with a connecting plate (25), and the connecting plate (25) and the housing (1) are arranged coaxially. The clutch guide rail frame (23) and the auxiliary clutch guide rail frame (24) are arranged horizontally below the connecting plate (25) in sequence, and have the same structure. They both include a horizontally arranged clutch ring and two or more clutch slide rails evenly arranged on the outer circumference of the clutch ring. The clutch ring and the connecting plate (25) are arranged coaxially, and each clutch slide rail is arranged horizontally along the radial direction of the clutch ring. The clutch guide frame (23) is fixedly installed. Each clutch slide rail of the clutch guide frame (23) is provided with a clutch slider (26) for sliding cooperation. Each clutch slider (26) has an upper clutch connecting rod (27) hinged at one end and a lower clutch connecting rod (28) hinged at the other end. The lower clutch connecting rod (28) corresponds one-to-one with the grinding disc (4), so that the upper end of each upper clutch connecting rod (27) is hinged to the connecting disc (25), and the lower end of each lower clutch connecting rod (28) is hinged to the middle of the grinding disc (4). The swing mechanism (3) includes two or more vertically arranged swing slide rails (31), threaded caps (32) and threaded push rod brackets (33). The threaded cover (32) is coaxially disposed at the upper end of the housing (1). The threaded push rod frame (33) includes an upper collar and two or more vertical push rods evenly disposed in the circumferential direction of the collar. The threaded cover (32) and the collar are threadedly engaged, so that each vertical push rod is circumferentially rotated and limited, and is correspondingly fixedly connected to the auxiliary clutch guide frame (24). Each of the swing slide rails (31) is arranged vertically, and the swing slide rails (31) and the lower clutch connecting rods (28) are fixedly connected in a one-to-one correspondence; Each swing slide rail (31) is provided with a swing slider (34) in sliding engagement; The swing slider (34) and the clutch guide rail of the secondary clutch guide rail (24) correspond one-to-one, and the swing slider (34) is slidably mounted on the clutch guide rail of the secondary clutch guide rail (24) through the secondary clutch slider (29). The swing slider (34) and the swing connecting rod (35) correspond one-to-one. The swing slider (34) is hinged to the upper end of the swing connecting rod (35) through the rotating shaft (36), and the lower end of the swing connecting rod (35) is hinged to the grinding disc (4). When in use, start the motor (21), and drive the connecting plate (25) to move up and down through the lead screw nut pair (22), so that the clutch slider (26) slides on the corresponding clutch slide rail. The lower clutch connecting rod (28) drives the grinding disc (4) to move radially along the housing (1), so as to realize the clutching and dispersing of two or more grinding discs (4). Rotate the threaded cover (32), and the threaded push rod frame (33) drives the secondary clutch guide frame (24) to move up and down, so that the secondary clutch slider (29) drives the swing slider (34) to move on the swing slide rail (31), so as to realize the up and down swinging of each grinding disc (4).

2. The robot adaptive curved surface grinding and polishing tool according to claim 1, characterized in that: Three upper clutch connecting rods (27) are evenly hinged on the outer circumference of the connecting plate (25), and three clutch slide rails are evenly and correspondingly provided on the outer circumference of the clutch ring of the clutch guide frame (23) and the auxiliary clutch guide frame (24). It includes three grinding discs (4), each grinding disc (4) is hinged to the lower end of the corresponding lower clutch link (28) in the middle, and each grinding disc (4) is hinged to the lower end of the corresponding swing link (35) on the side near the central axis of the housing (1).

3. The robot adaptive curved surface grinding and polishing tool according to claim 1 or 2, characterized in that: Each clutch slide rail has a hollow center and grooves on both sides. Each clutch slider (26) has shaft holes at both ends. The middle sides of the clutch slider (26) protrude outwards, and the protrusions and grooves cooperate to make the clutch slider (26) slide on the corresponding clutch slide rail. One end of each clutch slider (26) is hinged to the lower end of the corresponding upper clutch link (27) through the cooperation of shaft hole and pin. The other end of each clutch slider (26) is hinged to the upper end of the corresponding lower clutch link (28) through the cooperation of shaft hole and pin.

4. The robot adaptive curved surface grinding and polishing tool according to claim 3, characterized in that: The diameter of the convergence ring of the convergence guide rail frame (23) is smaller than that of the convergence ring of the secondary convergence guide rail frame (24), so that the lower convergence connecting rod (28) passes vertically through the hollow part of the corresponding convergence slide rail of the secondary convergence guide rail frame (24).

5. The robot adaptive curved surface grinding and polishing tool according to claim 4, characterized in that: Each of the aforementioned swing slide rails (31) is an upright rectangular block with a hollow center and rectangular holes on each side; Each of the swing sliders (34) has a horizontal rotating shaft (36) fixedly inserted in the middle. The swing slider (34) is slidably located in the swing slide rail (31), so that the two ends of the rotating shaft (36) extend out of the swing slide rail (31) and are correspondingly fixedly connected to the auxiliary clutch slider (29). The auxiliary clutch slider (29) is slidably located on the corresponding clutch slide rail of the auxiliary clutch guide rail frame (24).

6. The robot adaptive curved surface grinding and polishing tool according to claim 1, characterized in that: The housing (1) is fixedly provided with a lower support frame (13); the lower support frame (13) includes a circular mounting plate and two or more horizontal positioning plates. The circular mounting plate is coaxially arranged between the convergence ring of the convergence guide frame (23) and the convergence ring of the secondary convergence guide frame (24). One end of each horizontal positioning plate is fixedly connected to the outer circumference of the circular mounting plate, and the other end is fixedly connected to the housing (1). Each vertical push rod is a rectangular column. The horizontal positioning plate and the vertical push rod are arranged in a corresponding manner. The horizontal positioning plate has a rectangular hole. The vertical push rod passes through the corresponding horizontal positioning plate through the rectangular hole, so that the circumferential rotation of each vertical push rod is limited. The lower end of each vertical push rod is fixedly connected to the corresponding convergence ring of the auxiliary convergence guide rail frame (24) through the inverted U-shaped locking block (331).

7. The robot adaptive curved surface grinding and polishing tool according to claim 6, characterized in that: The lower end of the circular mounting plate is fixedly connected to the upper end of the motor (21), and the upper end of the circular mounting plate is fixedly connected to the clutch ring of the clutch guide rail frame (23) through the support plate.

8. The robot adaptive curved surface grinding and polishing tool according to claim 6, characterized in that: The housing (1) is fixedly provided with an upper support frame (14). The upper support frame (14) includes a positioning ring and two or more positioning connecting plates. The positioning ring is coaxially arranged between the upper end collar of the threaded cover (32) and the threaded push rod frame (33). One end of each positioning connecting plate is fixedly connected to the positioning ring, and the other end is fixedly connected to the housing (1).

9. The robot adaptive curved surface grinding and polishing tool according to claim 1, characterized in that: The upper end cover (11) of the housing (1) is provided with an arc groove (12), and the outer circumference of the threaded cover (32) is provided with an L-shaped adjustment plate (321). The vertical part of the L-shaped adjustment plate (321) passes through the arc groove (12) and extends out of the upper end of the housing (1). By rotating the vertical part of the L-shaped adjustment plate (321), the threaded cover (32) rotates and drives the threaded push rod frame (33) to move up and down.

10. The robot adaptive curved surface grinding and polishing tool according to claim 1, characterized in that: The threaded cover (32) includes a circular cover plate. The upper end of the cover plate is provided with a positioning ring, and the lower end of the cover plate is provided with a positioning boss. The lower end of the positioning boss is provided with a connecting threaded post. The positioning ring and the positioning ring groove of the upper end cover (11) of the housing (1) are engaged. The positioning boss and the upper support frame (14) are fitted together, so that the connecting threaded post and the collar of the threaded push rod frame (33) are threadedly connected, so that the threaded cover (32) can rotate and drive the threaded push rod frame (33) to move up and down.

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