A rebounding large-area polishing mechanism, a polishing robot and a polishing method

Abstract

The present application relates to a kind of rebound type large-area polishing mechanism, polishing robot and polishing method, including first floating polishing component, the first floating polishing component includes first disc body and multiple polishing heads on first disc body, and the first disc body is provided with through-hole;Second floating polishing component, the second floating polishing component includes second disc body and multiple polishing heads on second disc body, and the second disc body is located in first disc body;Drive device, the drive device drives first disc body and second disc body respectively around its rotation axis rotation, and the rotation direction of first disc body and second disc body is opposite;Wherein, the end of multiple polishing heads in the first floating polishing component and second floating polishing component is in the same plane, and the polishing head includes mounting seat, elastic member and head portion arranged in sequence.It can polish workpiece with weld, and has high structural strength and good polishing effect.

Description

Technical Field

[0001] This invention relates to the field of workpiece grinding technology, and in particular to a spring-loaded large-area grinding mechanism, a grinding robot, and a grinding method. Background Technology

[0002] Currently, after the workpiece is welded, it needs to be surface-polished to remove spatter, burrs, and oil stains caused by welding and other reasons.

[0003] During the grinding process, it is necessary to ensure both the shape of the weld and the flatness of the workpiece surface. However, in the actual workpiece grinding process, the following problems are prone to occur: On the one hand, grinding the workpiece surface can easily damage the protrusions at the weld. When the protrusions at the weld are damaged, the structural strength of the workpiece is compromised, affecting its subsequent use. On the other hand, because there are protrusions at the weld, when grinding the workpiece surface near the weld, the protrusions at the weld are higher than the workpiece surface, which will interfere with the grinding of the workpiece surface, resulting in technical defects such as inadequate grinding and uneven grinding. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the technical defects in the prior art that easily lead to damage to the weld, inadequate grinding, and uneven grinding when grinding workpieces with weld seams.

[0005] To solve the above-mentioned technical problems, the present invention provides a spring-loaded large-area grinding mechanism, comprising:

[0006] The first floating polishing assembly includes a first disc body and a plurality of polishing heads disposed on the first disc body, and the first disc body has through holes.

[0007] The second floating polishing assembly includes a second disc body and a plurality of polishing heads disposed on the second disc body, wherein the second disc body is located within the first disc body;

[0008] A driving device that drives a first disc and a second disc to rotate around their respective axes, with the first disc and the second disc rotating in opposite directions.

[0009] In this assembly, the ends of multiple grinding heads in the first and second floating grinding assemblies are on the same plane, and each grinding head includes a mounting base, an elastic element and a head arranged in sequence.

[0010] When the grinding head contacts the protrusion at the weld, the elastic element contracts so that the head always presses against the protrusion at the weld without damaging it.

[0011] Preferably, in the first floating grinding assembly, a plurality of grinding heads are evenly arranged around the first disc body in a circumferential direction.

[0012] In the second floating polishing assembly, a plurality of polishing heads are evenly arranged around the second disc body in a circumferential manner.

[0013] Preferably, the driving device includes:

[0014] The system includes a drive source, a main drive sector gear, a first sector gear, and a second sector gear. The first sector gear and the second sector gear are arranged opposite to each other. The main drive sector gear meshes with the first sector gear and the second sector gear respectively. The drive source drives the main drive sector gear to rotate so as to drive the first sector gear and the second sector gear to rotate synchronously. The first sector gear and the second sector gear rotate in opposite directions.

[0015] The first sector gear is connected to the middle of the second disk to drive the second disk to rotate, and the second sector gear is connected to the middle of the first disk to drive the first disk to rotate.

[0016] Preferably, the drive source is a geared motor.

[0017] Preferably, the assembly also includes a connecting shaft, wherein the second sector gear has a clearance hole, one end of the connecting shaft is connected to the first sector gear, the other end of the connecting shaft is connected to the second disc, and the connecting shaft passes through the clearance hole.

[0018] Preferably, the elastic element includes a clamping handle and a second rod, the second rod being connected to the head, and an anti-disengagement ring being provided on the second rod, and the clamping handle being clamped onto the second rod.

[0019] Preferably, the elastic element is a spring, with one end of the spring located in the mounting groove of the mounting base and the other end of the spring sleeved on the clamping handle.

[0020] Preferably, the first disk and the second disk are concentric.

[0021] This invention discloses a polishing robot, comprising:

[0022] The aforementioned spring-loaded large-area grinding mechanism;

[0023] A multi-axis robotic arm, which is fixed to a grinding mechanism to drive the grinding mechanism to move.

[0024] This invention discloses a polishing method based on the aforementioned spring-loaded large-area polishing mechanism, comprising:

[0025] The grinding mechanism is moved to the workpiece, and the first and second discs rotate synchronously to drive the grinding heads on them to grind the workpiece. The first and second discs rotate in opposite directions.

[0026] The technical solution of the present invention has the following advantages compared with the prior art:

[0027] 1. In this invention, by cooperating with the first floating grinding component and the second floating grinding component, the first disc and the second disc rotate in opposite directions under the action of the driving component, and the grinding heads on the first disc and the second disc can cooperate to grind the workpiece. On the one hand, the protruding part of the weld can be ground synchronously from both sides of the weld. On the other hand, the grinding mechanism is stable and will not be displaced due to asymmetrical force.

[0028] 2. In this invention, the grinding head includes a mounting base, an elastic element, and a head arranged sequentially. Due to the presence of the elastic element, the grinding head has a certain degree of elasticity. When the grinding head contacts the protrusion of the weld, the grinding head retracts. When the grinding head leaves the weld, it returns to its original state. During the grinding process, all grinding heads are always in contact with and continuously grinding the workpiece.

[0029] 3. Because the grinding head of this invention has a certain degree of elasticity, during the grinding process, on the one hand, the grinding mechanism will not damage the weld protrusion, thus ensuring the structural strength of the workpiece; on the other hand, the grinding mechanism can also grind burrs, spatter, and oxide layers on the workpiece surface without damaging the weld protrusion. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the spring-loaded large-area grinding mechanism in this invention;

[0031] Figure 2 A schematic diagram showing the structure without the cover;

[0032] Figure 3 This is a schematic diagram of the driving source structure;

[0033] Figure 4 This is a structural diagram of the shell and flange;

[0034] Figure 5 A schematic diagram of the main drive sector gear, the first sector gear, and the second sector gear;

[0035] Figure 6 This is a schematic diagram of the structure of the first floating polishing component;

[0036] Figure 7 This is a schematic diagram of the structure of the first floating polishing component and the second floating polishing component;

[0037] Figure 8 This is a schematic diagram of the rotational grinding process of the first floating grinding component and the second floating grinding component.

[0038] Figure 9A schematic diagram showing the first and second floating grinding components grinding near the weld.

[0039] Figure 10 This is a schematic diagram of the grinding head.

[0040] Figure 11 A schematic diagram of an explosion of a grinding head;

[0041] Figure 12 This is a schematic diagram of a multi-axis robotic arm and a grinding mechanism;

[0042] Figure 13 A schematic diagram of a grinding robot grinding a workpiece;

[0043] Figure 14 A schematic diagram of a workpiece with weld seams being ground by a grinding head, wherein (a) is a schematic diagram of the grinding head grinding the left side of the weld seam and the adjacent area, (b) is a schematic diagram of the grinding head grinding the weld seam, (c) is a schematic diagram of the grinding head grinding the adjacent area on the right side of the weld seam, and (d) is a schematic diagram of the grinding head completely passing over the weld seam protrusion.

[0044] Explanation of reference numerals in the accompanying drawings: 10. Housing; 11. Cover; 12. Flange; 13. Positioning plate; 20. Drive assembly; 21. Gear motor; 22. Output shaft; 23. First rod; 24. Main drive sector gear; 25. First sector gear; 26. Second sector gear; 30. First floating grinding assembly; 31. First disc; 32. Connecting shaft; 40. Second floating grinding assembly; 41. Second disc; 50. Grinding head; 51. Head; 52. Mounting base; 53. Second rod; 54. Top ball screw; 55. Clamping handle; 56. Elastic element; 57. Retaining ring; 60. Multi-axis robot; 61. Grinding mechanism; 70. Workpiece; 71. Weld. Detailed Implementation

[0045] 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.

[0046] Reference Figures 1-11 As shown, the present invention discloses a spring-loaded large-area polishing mechanism, including a first floating polishing component 30, a second floating polishing component 40, and a driving device.

[0047] The first floating polishing assembly 30 includes a first disc 31 and a plurality of polishing heads 50 disposed on the first disc 31, wherein the first disc 31 has through holes.

[0048] The second floating polishing assembly 40 includes a second disc 41 and a plurality of polishing heads 50 disposed on the second disc 41, the second disc 41 being located inside the first disc 31.

[0049] The driving device drives the first disc 31 and the second disc 41 to rotate around their respective axes, with the rotation directions of the first disc 31 and the second disc 41 being opposite.

[0050] In the first floating grinding assembly 30 and the second floating grinding assembly 40, the ends of the multiple grinding heads 50 are on the same plane, and the grinding head 50 includes a mounting base 52, an elastic element 56 and a head 51 arranged in sequence.

[0051] When the grinding head 50 contacts the protrusion at the weld 71, the elastic element 56 contracts so that the head 51 always presses against the protrusion at the weld 71 without damaging the protrusion.

[0052] The working principle of this invention is as follows: In this invention, through the cooperation of the first floating grinding component 30 and the second floating grinding component 40, under the action of the driving component 20, the first disc 31 and the second disc 41 rotate in opposite directions, and the grinding heads 50 on the first disc 31 and the second disc 41 can cooperate to grind the workpiece 70. On the one hand, the protruding part of the weld 71 can be ground simultaneously from both sides of the weld 71. On the other hand, the grinding mechanism 61 is kept stable and will not be displaced due to asymmetrical force. The so-called asymmetrical force causing displacement means that the grinding mechanism 61 is pushed to the other side by force on one side.

[0053] In this invention, the grinding head 50 includes a mounting base 52, an elastic element 56, and a head 51 arranged sequentially. The presence of the elastic element 56 gives the grinding head 50 a certain degree of elasticity. When the grinding head 50 contacts the protrusion of the weld 71, it retracts; when it leaves the weld 71, it returns to its original state. During the grinding process, all grinding heads 50 remain in contact with and continuously grind the workpiece 70. Because the grinding head 50 has a certain degree of elasticity, during the grinding process, on the one hand, the grinding mechanism 61 will not damage the protrusion of the weld 71, ensuring the structural strength of the workpiece 70; on the other hand, the grinding mechanism 61 can also grind burrs, spatter, and oxide layers on the surface of the workpiece 70 without damaging the protrusion of the weld 71.

[0054] Reference Figure 1 The diagram shows a schematic of the polishing mechanism 61, which includes a cover 11 that covers the first floating polishing component 30 and the second floating polishing component 40. Figure 2 After removing the cover 11, a structural schematic diagram of the first floating polishing component 30 is shown.

[0055] See Figure 6 , Figure 7 and Figure 8As shown, in the first floating grinding assembly 30, multiple grinding heads 50 are evenly arranged around the circumference of the first disc 31. In the second floating grinding assembly 40, multiple grinding heads 50 are evenly arranged around the circumference of the second disc 41. The multiple grinding heads 50 on the first disc 31 are arranged in a ring, forming a first circular trajectory, and the multiple grinding heads 50 on the second disc 41 are arranged in a ring, forming a second circular trajectory. The first and second circular trajectories are concentric. With this arrangement, the first floating grinding assembly 30 and the second floating grinding assembly 40 cooperate to better grind the workpiece 70, resulting in high grinding efficiency and good grinding effect. Because the multiple grinding heads 50 on the first disc 31 are evenly arranged around the circumference of the first disc 31, and the multiple grinding heads 50 on the second disc 41 are evenly arranged around the circumference of the second disc 41, this arrangement makes the workpiece 70 more evenly stressed.

[0056] The invention also includes a connecting shaft 32. A clearance hole is provided on the second sector gear 26. One end of the connecting shaft 32 is connected to the first sector gear 25, and the other end is connected to the second disc 41. The connecting shaft 32 passes through the clearance hole. Because a through hole is provided on the first disc 31, the second disc 41 is located inside the first disc 31. The first sector gear 25 can be driven via the connecting shaft 32, thereby driving the second disc 41 to rotate. The second sector gear 26 is connected to the first disc 31. This arrangement makes the entire structure more compact.

[0057] Reference Figure 9 The diagram shows a workpiece 70 being simultaneously ground by grinding heads 50 on the first disc 31 and the second disc 41.

[0058] See Figure 2 , Figure 4 and Figure 5 As shown, the driving device includes a driving source, a main driving sector gear 24, a first sector gear 25, and a second sector gear 26. The first sector gear 25 and the second sector gear 26 are arranged opposite to each other. The main driving sector gear 24 meshes with the first sector gear 25 and the second sector gear 26 respectively. The driving source drives the main driving sector gear 24 to rotate so as to drive the first sector gear 25 and the second sector gear 26 to rotate synchronously. The first sector gear 25 and the second sector gear 26 rotate in opposite directions.

[0059] In this invention, the middle part of the first sector gear 25 is connected to the middle part of the second disc 41 to drive the second disc 41 to rotate, and the middle part of the second sector gear 26 is connected to the middle part of the first disc 31 to drive the first disc 31 to rotate. The driving source can be a geared motor 21. The drive shaft of the geared motor 21 is connected to the main driving sector gear 24 and drives the main driving sector gear 24 to rotate. A first rod 23 is provided on the main driving sector gear 24, and the first rod 23 can be integrally formed with the main driving sector gear 24. The first rod 23 is fixed to the output shaft 22. By using the same driving source, the first sector gear 25 and the second sector gear 26 can be driven synchronously, thus achieving synchronous rotation of the first disc 31 and the second disc 41. Since the first disc 31 and the second disc 41 rotate synchronously, the first floating grinding assembly 30 and the second floating grinding assembly 40 can perform grinding operations synchronously. The present invention also includes a positioning plate 13 and a flange 12. The positioning plate 13 is used to install the first sector gear 25, and the flange 12 is fixed to the positioning plate 13. The flange 12 facilitates the installation of the grinding mechanism 61 and the multi-axis robot 60.

[0060] See Figure 4 As shown, the first sector gear 25, the second sector gear 26 and the main drive sector gear 24 are all housed in the housing 10, and the housing 10 can protect the first sector gear 25, the second sector gear 26 and the main drive sector gear 24.

[0061] See Figure 10 and Figure 11 As shown, the elastic element 56 includes a clamping handle 55 and a second rod 53. The second rod 53 is connected to the head 51, and an anti-disengagement ring is provided on the second rod 53. The clamping handle 55 is clamped onto the second rod 53. The second rod 53 and the clamping handle 55 can be fixed by a ball screw 54, wherein the end of the ball screw abuts against the anti-disengagement ring on the second rod 53.

[0062] The elastic element 56 can be a spring, with one end of the spring located in the mounting groove of the mounting base 52 and the other end of the spring sleeved on the clamping handle 55. The grinding head 50 also includes a retaining ring 57, with the clamping handle 55 passing through the mounting base 52, and the retaining ring 57 securing the clamping handle 55 to the mounting base 52.

[0063] In this invention, the first disc 31 and the second disc 41 are concentric. Since the first disc 31 has a through hole, and the second disc 41 is located inside the through hole, the first disc 31 and the second disc 41 have good coaxiality.

[0064] Reference Figures 12-13 As shown, this invention discloses a polishing robot, including the aforementioned spring-loaded large-area polishing mechanism 61 and a multi-axis manipulator 60. The multi-axis manipulator 60 is fixed to the polishing mechanism 61 to drive the polishing mechanism 61 to move.

[0065] Reference Figure 14 As shown, this invention discloses a spring-loaded large-area grinding method based on the aforementioned spring-loaded large-area grinding mechanism 61, comprising: moving the grinding mechanism 61 to the workpiece 70; the first disc 31 and the second disc 41 rotating synchronously to drive the grinding head 50 thereon to grind the workpiece 70; the rotation directions of the first disc 31 and the second disc 41 being opposite. Figure 14 In (a), the grinding head 50 moves toward the weld 71 and grinds the left side of the weld 71 and the adjacent area. Figure 14 In (b), the grinding head 50 continues to move forward, and when the grinding head 50 contacts the weld 71, the grinding head 50 begins to retract; Figure 14 In (c), the grinding head 50 continues to move forward, slowly passing over the weld 71 protrusion and grinding the adjacent area on the right side of the weld 71. Figure 14 In (d), the grinding head 50 completely passes over the weld 71 protrusion.

[0066] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0067] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0068] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0069] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0070] 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 rebounding mass polishing mechanism, characterized by, The application relates to a floating polishing mechanism, which comprises: a first floating polishing assembly, a second floating polishing assembly, and a driving device. The first floating polishing assembly comprises a first disc body and a plurality of polishing heads arranged on the first disc body, and a through hole is formed in the first disc body; the second floating polishing assembly comprises a second disc body and a plurality of polishing heads arranged on the second disc body, and the second disc body is arranged in the first disc body; the driving device drives the first disc body and the second disc body to rotate around their rotation shafts, and the rotation directions of the first disc body and the second disc body are opposite; the end portions of the polishing heads in the first floating polishing assembly and the second floating polishing assembly are located on the same plane, and the polishing heads comprise an installation seat, an elastic member and a head portion which are arranged in sequence; when the polishing heads contact protrusions at a weld, the elastic member is contracted so that the head portion of the polishing head always presses the protrusions at the weld and does not damage the protrusions; the driving device comprises a driving source, a main driving sector gear, a first sector gear and a second sector gear, the first sector gear and the second sector gear are oppositely arranged, the main driving sector gear is meshed with the first sector gear and the second sector gear, the driving source drives the main driving sector gear to rotate so as to drive the first sector gear and the second sector gear to synchronously rotate, and the rotation directions of the first sector gear and the second sector gear are opposite; the middle portion of the first sector gear is connected with the middle portion of the second disc body so as to drive the second disc body to rotate, and the middle portion of the second sector gear is connected with the middle portion of the first disc body so as to drive the first disc body to rotate.

2. The rebounding large area polishing mechanism according to claim 1, wherein In the first floating polishing assembly, the polishing heads are uniformly arranged around the circumference of the first disc body; in the second floating polishing assembly, the polishing heads are uniformly arranged around the circumference of the second disc body.

3. The rebounding large area polishing mechanism according to claim 1, wherein The driving source is a speed-reducing motor.

4. The rebounding large area polishing mechanism according to claim 1, wherein The application further comprises a connecting shaft, a let-out hole is formed in the second sector gear, one end of the connecting shaft is connected with the first sector gear, the other end of the connecting shaft is connected with the second disc body, and the connecting shaft is arranged in the let-out hole.

5. The rebounding large area polishing mechanism according to claim 1, wherein The elastic member comprises a clamping handle and a second rod body, the second rod body is connected with the head portion, a anti-falling ring is arranged on the second rod body, and the clamping handle is clamped on the second rod body.

6. The rebounding large area polishing mechanism according to claim 5, wherein The elastic member is a spring, one end of the spring is arranged in an installation groove of the installation seat, and the other end of the spring is sleeved on the clamping handle.

7. The rebounding large area polishing mechanism according to claim 1, wherein The first disc body and the second disc body are concentric.

8. A polishing robot, characterized by The application relates to a floating polishing mechanism, which comprises: a first floating polishing assembly, a second floating polishing assembly, and a driving device. The application further comprises a connecting shaft, a let-out hole is formed in the second sector gear, one end of the connecting shaft is connected with the first sector gear, the other end of the connecting shaft is connected with the second disc body, and the connecting shaft is arranged in the let-out hole.

9. A grinding method using the rebounding large-area grinding mechanism according to any one of claims 1 to 7, characterized by, The application further comprises a connecting shaft, a let-out hole is formed in the second sector gear, one end of the connecting shaft is connected with the first sector gear, the other end of the connecting shaft is connected with the second disc body, and the connecting shaft is arranged in the let-out hole. The application further comprises a connecting shaft, a let-out hole is formed in the second sector gear, one end of the connecting shaft is connected with the first sector gear, the other end of the connecting shaft is connected with the second disc body, and the connecting shaft is arranged in the let-out hole. The application further comprises a connecting shaft, a let-out hole is formed in the second sector gear, one end of the connecting shaft is connected with the first sector gear, the other end of the connecting shaft is connected with the second disc body, and the connecting shaft is arranged in the let-out hole.

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