An ultra-redundant robot explosion-proof polishing workstation

Abstract

This invention belongs to the field of grinding and machining technology, specifically relating to a highly redundant robotic explosion-proof grinding workstation. It includes a grinding platform, cylinders, a dust removal device, a grinding robotic arm, a grinding tool library, an automatic sandpaper changing device, and a workstation frame. The workstation frame serves as the mounting carrier. The grinding platform is driven by the cylinders for linear displacement, and the dust removal device removes debris generated during the grinding process. The grinding platform is used for loading and unloading the workpiece, and is equipped with a displacement mechanism to reposition the workpiece. The grinding tool library provides corresponding grinding tools. The automatic sandpaper changing device is installed in the area between two grinding platforms to automatically change the sandpaper. This invention enables rapid replacement of the grinding head; it can treat dust of different particle sizes separately, effectively improving the dust removal rate; and the highly redundant grinding clamping platform combined with the robotic arm ensures the accessibility of the surface to be processed.

Description

Technical Field

[0001] This invention relates to the field of explosion-proof robot grinding technology, specifically to an ultra-redundant robot explosion-proof grinding workstation with quick-change grinding head and multi-stage dust removal functions. Background Technology

[0002] Grinding is a mechanical processing method for removing material. It refers to the process of using abrasives or grinding wheels to remove excess material from a workpiece. Grinding is one of the most widely used material removal methods. Grinding robots are industrial robots that perform grinding, intelligently replacing manual grinding, improving work efficiency and ensuring a high product yield. Currently, robotic grinding is increasingly used for tasks such as deburring edges and corners, grinding welds, and deburring internal cavities.

[0003] Traditionally, the grinding and polishing industry uses manual hand-held grinding equipment, which has been the mainstream processing method for a long time. However, with the widespread application of robots in the manufacturing industry, the disadvantages of manual operation have become increasingly apparent in some areas, and this is particularly evident in the grinding and polishing industry targeted by this design. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic explosion-proof workstation for grinding multi-curved metal parts, which features automatic switching of grinding tools and autonomous replacement of sandpaper, and can also filter and store grinding dust, in order to replace the current manual grinding process.

[0005] To achieve the objectives of the appeal, this invention provides the following technical solution: a super-redundant robotic explosion-proof grinding workstation, comprising a frame, a dust removal device, a metal grinding platform, a robot, a grinding tool management module, and an automatic sandpaper replacement module; the workstation frame serves as the mounting carrier for the dust removal device, the metal grinding platform, the robot, the grinding tool management module, and the automatic sandpaper replacement module; two metal grinding platforms are provided, each driven by a power cylinder for linear displacement; the dust removal device is located near the metal grinding platform to remove debris generated during grinding; the robot is installed in the area between the two metal grinding platforms to load and unload the grinding object; the grinding tool management module is located above the metal grinding platform to provide corresponding grinding tools, including a single-head grinder, a single-head polishing machine, a double-head grinder, a force-controlled pneumatic sander, and a force-controlled electric double-head sander; the automatic sandpaper replacement module is installed in the area between the two dust removal devices to automatically replace the sandpaper.

[0006] Furthermore, in the aforementioned ultra-redundant robotic explosion-proof grinding workstation, the dust removal device includes a dust funnel, a dust filter and storage box, a gas delivery pipe, a secondary filtration mechanism, an explosion-proof motor, and a suction mechanism. The dust funnel is installed directly below the metal grinding platform, spatially connecting the grinding and dust removal workspaces through a gap in the partition. The larger upper opening of the dust funnel faces the bottom of the part to be ground, while the lower opening is rectangular and connected to the... The dust filter and storage box has a first opening; the dust filter and storage box adopts a U-shaped structure, and the first opening is located at the right protrusion of the U-shaped structure, facing vertically upward, and is connected to the lower part of the dust funnel; a filter cartridge is installed in the dust filter and storage box, which is located at the left protrusion of the U-shaped structure and is connected to the suction mechanism through a side opening at the left protrusion; the suction mechanism is a centrifugal suction mechanism, which has a round hole on its side, and this round hole connects to the... The side openings of the U-shaped structure are of equal size and are connected by bolts, and are also connected to the filter cartridge. The centrifugal suction mechanism contains a fan blade connected to the main shaft of the explosion-proof motor, which is mounted on the frame. Another opening of the suction mechanism is connected to a gas delivery pipe. The gas delivery pipe is further fixed to the workstation base plate via support plates one, two, three, and four. The other end of the gas delivery pipe is connected to the secondary filtration mechanism, together forming the flow channel for the dust-laden gas throughout the workstation, during which dust is removed. The secondary filtration mechanism includes a pressurizing fan, a filter screen, and a filter screen cover. The pressurizing fan is installed at the port of the gas delivery pipe, and the filter screen is loaded inside the filter screen cover, which is connected to the pressurizing fan. The pressurizing fan includes a fan blade, a fan blade housing, and a protective net. The pressurizing fan is connected to the outside through an opening in the workstation rear plate and is mounted on the workstation rear plate via the filter screen cover.

[0007] Furthermore, in the aforementioned ultra-redundant robot explosion-proof grinding workstation, the metal grinding platform includes a left grinding platform and a right metal grinding platform. The two modules are structurally identical and mirror-distributed with the robot as the axis of symmetry. The left grinding platform includes a movable base, a U-shaped positioner, and a workpiece clamping platform. The movable base includes linear guide rail one, linear guide rail two, slider one, slider two, slider three, slider four, a power cylinder, and a moving platform. Linear guide rail one and linear guide rail two are mounted on the frame with screws. The axes of symmetry of the two guide rails are parallel to the workstation axis centered on the robot and pass through the center of symmetry of the dust removal module. Slider one and slider two are mounted on linear guide rail one, with the upper part of the slider connected to the… The lower part of the mobile platform is connected to the slider three and slider four, which are mounted on the linear guide rail two. The upper part of each slider is connected to the lower part of the mobile platform. One end of the piston rod of the power cylinder is connected to the bottom of the mobile base, and the connecting plates a and b at both ends are connected to the base. The central axis of the power cylinder coincides with the central axis of the linear guide rail one and linear guide rail two after installation. The U-shaped positioner is mounted on the upper part of the mobile platform. Its bottom is rectangular, the center of the rectangle coincides with the center of the mobile platform, and the four sides of the rectangle are parallel to the four sides of the rectangle of the mobile platform. The Z-axis rotating platform of the U-shaped positioner is connected to the workpiece clamping platform, and the X-axis of the positioner is perpendicular to the symmetrical central axis of the dust removal module.

[0008] Furthermore, in the aforementioned ultra-redundant robot explosion-proof grinding workstation, the workpiece clamping platform includes a clamping base, positioning block one, positioning block two, positioning block three, positioning block four, pressure block one, pressure block two, pressure block three, and pressure block four. Positioning blocks one, two, three, and four are mounted on a mounting plate. Pressure block one includes a pressure block column, a pressure block cantilever, and a pressure block base. Pressure blocks one, two, three, and four are mounted on the clamping base. The positioning blocks and pressure blocks can be repositioned according to the shape of the workpiece to be processed.

[0009] Furthermore, in the aforementioned ultra-redundant robotic explosion-proof grinding workstation, the grinding tool management module comprises two parts: coarse grinding tools and fine grinding tools. The coarse grinding tools include two types of grinding heads: a dual-head grinder and a single-head sander, along with their storage and replacement structures. The dual-head grinder module includes a grinding tool storage rack back plate, a grinding tool bottom bracket, a quick-change connector, and a quick-change connector positioning pin top plate. The grinding tool storage rack back plate is mounted on the frame, with its long side vertically upward. The grinding tool bottom bracket is divided into left and right brackets, with the tail end of the bracket connected to the grinding tool storage rack back plate and the upper part connected to the bottom of the dual-head grinder. The two brackets are connected by the grinding tool storage rack back plate. The first plate is symmetrically distributed along the axis of symmetry; the first quick-change connector is connected to the upper part of the double-head grinder, and the first quick-change connector positioning pin top plate is perpendicular to the first grinding tool storage rack back plate, with its end connected to the first grinding tool storage rack back plate; the single grinding head module includes a second grinding tool storage rack back plate, a second grinding tool bottom bracket, and a second quick-change connector positioning pin top plate; the second grinding tool storage rack back plate is mounted on the frame, with its long side vertically upward; the tail end of the second grinding tool bottom bracket is connected to the second grinding tool storage rack back plate, and its upper part is connected to the bottom of the single-head grinder; the second quick-change connector positioning pin top plate is perpendicular to the second grinding tool storage rack back plate, with its end connected to the second grinding tool storage rack back plate.

[0010] Furthermore, in the aforementioned ultra-redundant robotic explosion-proof grinding workstation, the fine grinding tool includes a single-head grinder, a grinding tool storage rack back plate three, a grinding tool bottom bracket three, a quick-change connector three, and a quick-change connector positioning pin top plate three; the grinding tool storage rack back plate three is mounted on the frame, with its long side vertically upward; the grinding tool bottom bracket three consists of two brackets, the tail end of which is connected to the grinding tool storage rack back plate three, and the upper part is connected to the bottom of the single-head grinder, with the two brackets symmetrically distributed about the axis of symmetry of the grinding tool storage rack back plate three; the quick-change connector three is connected to the upper part of the single-head grinder, and the quick-change connector positioning pin top plate three is perpendicular to the grinding tool storage rack back plate three, with its end connected to the grinding tool storage rack back plate three.

[0011] Furthermore, in the aforementioned super-redundant robot explosion-proof grinding workstation, the axis of the automatic sandpaper replacement module coincides with the axis of the robot. This module includes a sandpaper storage device and a sandpaper scraper device. The sandpaper storage device includes sandpaper storage device one, sandpaper storage device two, and sandpaper storage device three.

[0012] Furthermore, in the aforementioned ultra-redundant robotic explosion-proof grinding workstation, the sandpaper storage device includes a base plate 1, support column 1, support column 2, support column 3, support column 4, support column 5, and a top ring. The base plate 1 is installed on the top plate of the automatic sandpaper replacement module. The support columns 1, 2, 3, 4, and 5 are distributed circumferentially along the base plate 1 and are all vertically installed on the top plate. The top ring is coaxial with the base plate, and the lower part of the top ring is connected to the support columns 1, 2, 3, 4, and 5.

[0013] Furthermore, in the aforementioned super-redundant robot explosion-proof grinding workstation, the sandpaper scraper device includes a scraper, a base, rolling slide bar one, rolling slide bar two, rolling slide bar three, rolling slide bar four, rolling slide bar five, slide bar pressure plate one, and slide bar pressure plate two; the scraper is connected to the base, the rolling slide bar one, rolling slide bar two, rolling slide bar three, rolling slide bar four, and rolling slide bar five are mounted on the base, and the slide bar pressure plate one and slide bar pressure plate two are connected to the base and restrict the rolling slide bar one, rolling slide bar two, rolling slide bar three, rolling slide bar four, and rolling slide bar five to only one degree of freedom.

[0014] Furthermore, in the aforementioned ultra-redundant robot explosion-proof grinding workstation, the robot includes a six-degree-of-freedom robot, a quick-change grinding tool head, and a single-head grinding machine; the robot is located at the center of the workstation, and the robot base is mounted on the frame; the quick-change grinding tool head includes a clamping ring, a movable pin seat, a spring, a pin, a limiting ring, a top cover, and a quick-change connector; the top cover is connected to the end of the six-degree-of-freedom robot, the limiting ring is connected to the top cover, the pin passes through the movable pin seat, the upper part of the pin contacts the bottom end of the spring, and the spring passes through two guide posts on the movable pin seat; the movable pin seat is connected to the clamping ring; after the quick-change connector is connected to the grinding tool, it enters through the bottom opening of the clamping ring and is rotated and clamped.

[0015] The beneficial effects of this invention are:

[0016] 1. Current grinding processes are divided into rough grinding and fine grinding. The grinding head often needs to be changed manually, which causes the grinding operation to be interrupted and greatly affects the grinding efficiency. In addition, the existing quick-change mechanism for grinding heads is relatively complex in structure. To address this problem, this invention designs a simple and reliable quick-change mechanism for grinding heads, which can realize the rapid replacement of grinding heads.

[0017] 2. Existing dust treatment facilities generally lack targeted treatment methods for dust of different particle sizes. To address this issue, this invention designs a multi-stage dust filtration and storage device that can treat dust of different particle sizes separately, effectively improving the dust removal rate.

[0018] 3. The existing common solution for grinding parts with complex curved surfaces is to use the high degree of freedom of the robot to ensure that the grinding head can process each curved surface. However, this method is still not applicable in some cases due to the limitation of the robot's motion space. To address this problem, this invention designs a grinding clamping platform that combines the super redundancy of the robot, ensuring the accessibility of the curved surface to be processed. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a perspective view of the main body of the multi-degree-of-freedom robot grinding workstation of the present invention after removing part of the side plates and top plate;

[0021] Figure 2 This is a perspective view of the dust removal device in this invention from one angle;

[0022] Figure 3 This is a top sectional perspective view of the dust removal device in this invention;

[0023] Figure 4 This is a perspective cross-sectional view of the primary filtration section of the dust removal device in this invention.

[0024] Figure 5 This is a cross-sectional perspective view of the secondary filtration section of the dust removal device in this invention from one angle.

[0025] Figure 6 This is a perspective view of the metal polishing platform in this invention from one angle;

[0026] Figure 7 This is a perspective view of the metal polishing platform in this invention from another angle;

[0027] Figure 8 This is a perspective view of the automatic sandpaper changing module in this invention after it is connected to the robot and the sanding tool.

[0028] Figure 9 This is an exploded perspective view of the automatic sandpaper changing module of the present invention from one angle.

[0029] Figure 10 This is a perspective view of the polishing tool management module in this invention.

[0030] Figure 11 This is a perspective view of the automatic sandpaper changing module in this invention from one angle.

[0031] Figure 12 This is a perspective view of the workstation base in this invention from one angle. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see Figures 1-12 As shown, this embodiment provides a highly redundant robotic explosion-proof grinding workstation, including a frame 1, a dust removal device 102, a metal grinding platform 106, a robot 108, a grinding tool management module 110, and an automatic sandpaper replacement module 111. The workstation frame 1 serves as the mounting carrier for the dust removal device 102, the metal grinding platform 106, the robot 108, the grinding tool management module 110, and the automatic sandpaper replacement module 111. Two metal grinding platforms 106 are provided, each driven by a power cylinder 602 for linear displacement. The dust removal device 102 is located close to the metal grinding platform. Platform 106 is set up to remove debris generated during the grinding process; robot 108 is installed in the area between the two metal grinding platforms 106 to load and unload the grinding object; grinding tool management module 110 is set above the metal grinding platform 106 to provide corresponding grinding tools, including single-head grinding machine 901, single-head polishing machine 1005, double-head grinding machine 1014, force-controlled pneumatic sander 76 and force-controlled electric double-head sander 77; sandpaper automatic replacement module 111 is installed in the area between the two dust removal devices 102 to realize automatic sandpaper replacement.

[0034] In this embodiment, the dust removal device 102 includes a dust funnel 207, a dust filter and storage box, a gas delivery pipe 204, a secondary air filtration mechanism 206, an explosion-proof motor 203, and a suction mechanism. The dust funnel 207 is installed directly below the metal grinding platform 106, and it connects the grinding work space and the dust removal work space spatially through the gap in the partition 103 installed between them. The larger funnel opening at the top of the dust funnel 207 is positioned directly below the part to be ground, and the lower opening is rectangular. The dust filter and storage box 209 has a first opening; the dust filter and storage box adopts a U-shaped structure, with the first opening located at the right protrusion of the U-shaped structure, pointing vertically upwards, and connecting to the lower part of the dust funnel; a filter cartridge 302 is installed in the dust filter and storage box, located at the left protrusion of the U-shaped structure, and connected to the suction mechanism through a side opening at the left protrusion; the suction mechanism is a centrifugal suction mechanism, which has a round hole on its side, and this round hole connects to the side opening of the U-shaped structure. The holes are of equal size and connected by bolts, and are also connected to the filter cartridge 302. A fan blade 301 is located inside the centrifugal suction mechanism, and this fan blade 301 is connected to the main shaft of the explosion-proof motor 203, which is mounted on the frame. Another opening of the suction mechanism is connected to the gas delivery pipe 204. The gas delivery pipe 204 is further fixed to the workstation base plate via support plates 1, 205, 3, and 4. The other end of the gas delivery pipe 204 is connected to the secondary filtration mechanism 206, together forming the entire system. The dust-laden gas flows through the entire workstation, where dust is removed during the flow. The secondary filtration mechanism includes a pressurizing fan, a filter screen, and a filter screen cover. The pressurizing fan is installed at the port of the gas delivery pipe 204, and the filter screen is installed inside the filter screen cover 502, which is connected to the pressurizing fan. The pressurizing fan includes a fan blade 506, a fan blade housing 503, and a protective net 505. The pressurizing fan is connected to the outside through the opening in the workstation rear panel 105 and is installed on the workstation rear panel through the filter screen cover 502.

[0035] In this embodiment, the metal grinding platform 106 includes a left grinding platform and a right metal grinding platform. The two modules are structurally identical and are mirror-distributed with the robot 108 as the axis of symmetry. The left grinding platform includes a movable base, a U-shaped positioner 609, and a workpiece clamping platform. The movable base includes linear guide rail 1 601, linear guide rail 2 604, slider 1, slider 2, slider 3, slider 4, a power cylinder 602, and a movable platform 610. Linear guide rail 1 601 and linear guide rail 2 604 are mounted on the frame 1 with screws. The axis of symmetry of the two guide rails is parallel to the workstation axis centered on the robot 108 and passes through the center of symmetry of the dust removal module 102. Slider 1 and slider 2 are mounted on linear guide rail 1 601, and the upper part of the slider is connected to the lower part of the movable platform. Next, sliders three and four are installed on linear guide rail two 604, and the upper part of each slider is connected to the lower part of the moving platform 610; one end of the piston rod of the power cylinder 602 is connected to the bottom of the moving base, and the connecting plates a603 and b707 at both ends are connected to the base. The central axis of the power cylinder 602 coincides with the central axis of the linear guide rail one 601 and the linear guide rail two 604 after installation; the U-shaped positioner 609 is installed on the upper part of the moving platform 610, and its bottom is rectangular. The center of the rectangle coincides with the center of the moving platform, and the four sides of the rectangle are parallel to the four sides of the rectangle of the moving platform. The Z-axis rotating platform of the U-shaped positioner 609 is connected to the workpiece clamping platform 605, and the X-axis of the positioner is perpendicular to the symmetrical central axis of the dust removal module 102.

[0036] In this embodiment, the workpiece clamping platform includes a clamping base 605, a positioning block 1 611, a positioning block 2, a positioning block 3, a positioning block 4, a pressure block 1, a pressure block 2, a pressure block 3, and a pressure block 4. Positioning blocks 1, 2, 3, and 4 are mounted on a mounting plate. Pressure block 1 includes a pressure block column 606, a pressure block cantilever 607, and a pressure block base 608. Pressure blocks 1, 2, 3, and 4 are mounted on the clamping base 605. The positioning blocks and pressure blocks can be repositioned according to the shape of the workpiece to be processed.

[0037] In this embodiment, the grinding tool management module 110 includes two parts: coarse grinding tools and fine grinding tools. The coarse grinding tools include two types of grinding heads: a double-head grinder 1014 and a single-head sander 803, along with their storage and replacement structures. The double-head grinder module includes a grinding tool storage rack back plate 1013, a grinding tool bottom bracket 1015, a quick-change connector 1011, and a quick-change connector positioning pin top plate 1012. The grinding tool storage rack back plate 1013 is mounted on the frame 1, with its long side vertically upward. The grinding tool bottom bracket 1010 is divided into two brackets, left and right. The tail end of the bracket is connected to the grinding tool storage rack back plate 1013, and the upper part is connected to the bottom of the double-head grinder 1014. The two brackets are symmetrically distributed about the axis of symmetry of the grinding tool storage rack back plate 1013. The quick-change connector... The first head 1011 is connected to the upper part of the double-head grinder 1014. The quick-change connector positioning pin top plate 1012 is perpendicular to the back plate 1013 of the grinding tool storage rack, and its end is connected to the back plate 1013 of the grinding tool storage rack. The single grinding head module includes a second back plate 1008 of the grinding tool storage rack, a second bottom bracket 1007 of the grinding tool, and a second top plate 1009 of the quick-change connector positioning pin. The second back plate 1008 of the grinding tool storage rack is installed on the frame 1, with its long side pointing vertically upward. The tail end of the second bottom bracket 1007 of the grinding tool is connected to the second back plate 1008 of the grinding tool storage rack, and its upper part is connected to the bottom of the single-head grinder 803. The second top plate 1009 of the quick-change connector positioning pin is perpendicular to the second back plate 1008 of the grinding tool storage rack, and its end is connected to the back plate 1008 of the grinding tool storage rack.

[0038] In this embodiment, the fine polishing tool includes a single-head grinder 1005, a polishing tool storage rack back plate 3 1004, a polishing tool bottom bracket 3 1001, a quick-change connector 3 1003, and a quick-change connector positioning pin top plate 3 1002. The polishing tool storage rack back plate 3 1004 is mounted on the frame 1 with its long side vertically upward. The polishing tool bottom bracket 3 1001 is divided into two brackets, left and right. The tail end of the bracket is connected to the polishing tool storage rack back plate 3 1004, and the upper part is connected to the bottom of the single-head grinder 1005. The two brackets are symmetrically distributed about the axis of symmetry of the polishing tool storage rack back plate 3 1004. The quick-change connector 3 1003 is connected to the upper part of the single-head grinder 1005. The quick-change connector positioning pin top plate 3 1002 is perpendicular to the polishing tool storage rack back plate 3 1004, and its end is connected to the polishing tool storage rack back plate 3 1003.

[0039] In this embodiment, the axis of the automatic sandpaper replacement module 111 coincides with the axis of the robot 108. The module includes a sandpaper storage device and a sandpaper scraper device. The sandpaper storage device includes a first sandpaper storage device, a second sandpaper storage device, and a third sandpaper storage device.

[0040] In this embodiment, the sandpaper storage device includes a base plate 1102, support columns 1103, 2, 3, 4, 5, and a top ring 1111. The base plate 1102 is installed on the top plate 1110 of the automatic sandpaper replacement module. The support columns 1103, 2, 3, 4, and 5 are distributed circumferentially along the base plate 1102 and are all vertically installed on the top plate 1110. The top ring 1111 is coaxial with the base plate 1102, and the lower part of the top ring 1111 is connected to the support columns 1103, 2, 3, 4, and 5.

[0041] In this embodiment, the sandpaper scraper device includes a scraper 1104, a base 1105, a first rolling slide bar 1107, a second rolling slide bar, a third rolling slide bar, a fourth rolling slide bar, a fifth rolling slide bar, a first slide bar pressure plate 1106, and a second slide bar pressure plate 1109. The scraper is connected to the base, the first rolling slide bar 1107, the second rolling slide bar, the third rolling slide bar, the fourth rolling slide bar, and the fifth rolling slide bar are mounted on the base 1105, and the first slide bar pressure plate 1106 and the second slide bar pressure plate 1109 are connected to the base 1105 and restrict the first rolling slide bar 1107, the second rolling slide bar, the third rolling slide bar, the fourth rolling slide bar, and the fifth rolling slide bar to only one degree of freedom.

[0042] In this embodiment, robot 108 includes a six-degree-of-freedom robot 801, a quick-change head for grinding tools 802, and a single-head grinder 803. Robot 108 is located at the center of the workstation, and the robot base is mounted on the frame 1. The quick-change head for grinding tools includes a clamping ring 902, a movable pin seat 903, a spring 904, a pin 905, a limiting ring 906, a top cover 907, and a quick-change connector 901. The top cover 907 is connected to the end of the six-degree-of-freedom robot 801, the limiting ring 906 is connected to the top cover 907, the pin 905 passes through the movable pin seat 903, the upper part of the pin 905 contacts the bottom end of the spring 904, and the spring 904 passes through the two guide posts on the movable pin seat 903. The movable pin seat 903 is connected to the clamping ring 902. After the quick-change connector 901 is connected to the grinding tool, it enters through the bottom opening of the clamping ring 902 and is rotated and clamped.

[0043] The rough grinding process in this embodiment is as follows: The moving platform 610 on the right metal grinding platform 106 moves to the end along the linear guide rail 1 601 and the linear guide rail 2 604 under the push of the power cylinder 602. The safety light curtain 113 detects the moving platform 610, the power cylinder 602 stops moving, and the right metal grinding platform 106 stops moving. The worker places the workpiece to be ground on the workpiece clamping platform 605. By installing the positioning block 611, the workpiece is completely positioned. Then, the pressure block base 608, pressure block column 606, and pressure block cantilever 607 are added to fully assemble the clamping force providing device to clamp the workpiece. Similarly, the other three clamping mechanisms are also set up to completely clamp the workpiece. After installation, the power cylinder 602 moves and transports the right metal grinding platform 106 to the designated position. The six-degree-of-freedom robot 801 selects the single-head grinder 803 as the grinding head according to the set program.

[0044] Specifically, the locking ring 902 of the quick-change connector 901 at the end of the robot 801 is aligned at a certain angle with the quick-change connector 1011 on the double-head grinder 1014. After the notch on the locking ring 902 is aligned with the quick-change connector 1011, the end of the robot 801 moves the quick-change connector 901 through the quick-change connector positioning pin top plate 1013 in a vertically downward manner. This causes the quick-change connector positioning pin top plate 1013 to lift the pin 905, and the quick-change connector 1011 enters the notch on the locking ring 902. The end of the robot 801 rotates, causing the quick-change connector 1011 to rotate within the locking ring 902. Then, the end of the robot 801 lifts up, and the pin 905 is pressed down by the spring 905. The pin 905 is inserted into the opening on the quick-change connector 1011, completing the locking.

[0045] Furthermore, the robot 801 moves to the designated position and the grinding head begins to rotate. At the same time, the robot adjusts its posture according to the predetermined program to grind the workpiece. This process is the roughing process, the purpose of which is to quickly make the shape and size of the blank material close to the product.

[0046] Furthermore, the end effector of robot 801 places the dual-head grinder 1014 back into the grinding tool management module 110.

[0047] Specifically, the end effector of robot 801 moves together with the dual-head grinder 1014 to adjust the two grinding heads of the dual-head grinder 1014 to be horizontal, with the side parallel to the back plate of the grinding tool storage rack 1013, and to make the pin 905 of quick-change connector 901 higher than the top plate of quick-change connector positioning pin 1012.

[0048] Furthermore, the quick-change connector 901 is made coaxial with the quick-change connector positioning pin top plate 1012, and the protruding key on the quick-change connector head 1011 is aligned with the rectangular groove on the back plate 1013 of the grinding tool storage rack. The end of the robot 801 moves downward so that the quick-change connector 901 passes through the quick-change connector positioning pin top plate 1013, causing the quick-change connector positioning pin top plate 1013 to lift the pin 905. The end of the robot 801 rotates so that the quick-change connector head 1011 rotates within the clamping ring 902 until it reaches a position where it can be disengaged. Then the end of the robot 801 is lifted to realize tool storage.

[0049] Specifically, when the sandpaper on the single-head grinder 1005 needs to be replaced, the single-head grinder 1005 of the robot 801 first stops rotating and moves away from the workpiece, and then quickly moves to the sandpaper automatic replacement module 111. The robot 801 adjusts its posture according to the preset program so that the single-head grinder 1005 is vertically downward and slowly approaches the slide bar 1107. After contact, it applies a certain pressure and then moves towards the scraper 1104. The scraper 1104 scrapes off the old sandpaper along the gap where the sandpaper is bonded to the grinding head, and the old sandpaper falls into the recycling box.

[0050] Furthermore, after removing the old sandpaper, the single-head grinder 1005 of robot 801 moves to the sandpaper storage device. The single-head grinder 1005 of robot 801 aligns with the top ring 1111 of the sandpaper storage system and attaches new sandpaper to the grinding head. After attachment, the robot moves upward, detaches from the top ring 1111 of the sandpaper storage system, and then returns to the grinding work area to continue the grinding operation.

[0051] Specifically, after the grinding operation begins, the workstation door is closed, and the dust treatment module 102 starts operating. Due to their large mass, the grinding debris automatically falls into the dust funnel 207 and then into the dust collection tray 201. The fine metal dust is also drawn from the dust funnel 207 into the dust collection tray 201 by the negative pressure generated by the fan driven by the explosion-proof motor 203, and continues to move along the air duct. It is filtered for the first time by the dust filter barrel 302, and then moves along the dust conveying pipe 204, and then reaches the secondary gas filtration mechanism 206, where it is filtered for the second time by the filter screen before being discharged into the air. After the dusty air has been filtered twice, the metal dust has been basically removed.

[0052] Furthermore, after the workpiece is polished, the polishing head stops rotating, the robot 801 leaves the workpiece and retreats to a safe position, the power cylinder 602 pushes out the metal polishing platform 106, and the worker unloads the workpiece, completing the polishing operation.

[0053] One specific application of this embodiment is to dilute and remove fine metal dust generated during industrial processing such as grinding, preventing its concentration from reaching the threshold that could cause a dust explosion. The dust removal solution adopted in this design is an integrated dust collection system. Its process can be summarized as automatic settling combined with filter adsorption. The negative pressure generated by the centrifugal fan transfers the fine metal dust. Because the concentration and particle size of the metal dust generated during grinding operations vary depending on product requirements and processing stages, particles of different sizes can be settled using different methods. Larger particles are sucked into the centrifugal fan and fall naturally into the collector under gravity, while smaller particles enter the filter chamber with the air and are adsorbed by the filter element. This solution has a compact structure, simple principle, and is easy to implement. In addition, traditional sandpaper replacement is done by workers, who use a scraper to remove the sandpaper attached to the robot's grinding head and then attach new sandpaper; the entire process is time-consuming and tests the worker's skill level. This design takes into account the robot's high precision, high automation and intelligence, and entrusts the main task of changing sandpaper to the robot. It uses mature robot control technology to ensure the efficiency and accuracy of the whole process. Compared with manual sandpaper changing, the whole process is completed by the robot without stopping the machine, ensuring the continuity of production, and the cost is low. It has strong applicability and practicality.

[0054] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An ultra-redundant robot explosion-proof sanding station, characterized by: Including rack (1), dust removal device (102), metal polishing platform (106), robot (108), polishing tool management module (110) and sandpaper automatic replacement module (111); The rack (1) is used as the mounting carrier of the dust removal device (102), the metal polishing platform (106), the robot (108), the polishing tool management module (110) and the sandpaper automatic replacement module (111); The metal polishing platform (106) is provided with two, each metal polishing platform (106) is driven by a power cylinder (602) to move linearly, the dust removal device (102) is arranged close to the metal polishing platform (106), and the dust removal device (102) is used for sucking and removing the debris generated in the polishing process; The robot (108) is installed between the two groups of metal polishing platforms (106), and is used for realizing the feeding and discharging of the polishing object; The polishing tool management module (110) is arranged above the metal polishing platform (106), and is used for providing corresponding polishing tools, the polishing tools include single-head polisher (901), single-head grinder (1005), double-head polisher (1014), force control pneumatic sander (76) and force control electric double-head sander (77); The sandpaper automatic replacement module (111) is installed between the two groups of dust removal devices (102), and is used for realizing the automatic replacement of sandpaper. The dust removal device (102) includes a dust hopper (207), a dust filtering and storage box, a gas conveying pipe (204), a secondary gas filtering mechanism (206), an explosion-proof motor (203) and a suction mechanism; the dust hopper (207) is installed directly below the metal polishing platform (106), and is connected in space with the polishing working space and the dust removal working space through the gap of the partition plate (103) installed between the two spaces; the dust hopper (207) has a large funnel opening at the upper part, which is opposite to the lower part of the part to be polished, and a lower opening in the shape of a rectangle, which is connected to the first opening of the dust filtering and storage box (209); the dust filtering and storage box has a concave structure, and the first opening is located at the right protruding part of the concave structure and is vertically upward and combined with the lower part of the dust hopper; a filter cartridge (302) is installed in the dust filtering and storage box, which is located at the left protruding part of the concave structure and connected to the suction mechanism through the side opening at the left protruding part; the suction mechanism is a centrifugal suction mechanism, which has a circular hole at the side, which is equal in size to the side opening of the concave structure and connected to the filter cartridge (302) through bolts, and has a fan blade (301) in the centrifugal suction mechanism, which is connected to the main shaft of the explosion-proof motor (203), and the explosion-proof motor is installed on the rack; the other opening of the suction mechanism is connected to the gas conveying pipe (204); the gas conveying pipe (204) is fixed on the workstation bottom plate through support plate one (205), support plate two, support plate three and support plate four, and the other end of the gas conveying pipe (204) is connected to the secondary gas filtering mechanism (206), which together forms a flow channel for dust-containing gas in the entire workstation, and the dust-containing gas is removed during the flow process; the secondary gas filtering mechanism includes a pressure fan, a filter screen and a filter screen cover, the pressure fan is installed at the port of the gas conveying pipe (204), the filter screen is loaded in the filter screen cover (502), and the filter screen cover (502) is connected to the pressure fan; the pressure fan includes a fan blade (506), a fan blade shell (503) and a protective screen (505); the pressure fan is connected to the outside through the opening of the workstation rear plate (105) and installed on the workstation rear plate through the filter screen cover (502).

2. The ultra-redundant robot explosion-proof grinding station of claim 1, wherein: The metal polishing platform (106) includes a left polishing platform and a right metal polishing platform, which are structurally identical and symmetrically distributed with the robot (108) as the axis of symmetry. The left polishing platform includes a moving base, a U-shaped positioner (609), and a workpiece clamping platform. The moving base includes a linear guide rail one (601), a linear guide rail two (604), a slider one, a slider two, a slider three, a slider four, a power cylinder (602), and a moving platform (610). The linear guide rail one (601) and the linear guide rail two (604) are installed on the rack (1) by screws, and the symmetric axes of the two guide rails are parallel to the workstation axis centered on the robot (108) and pass through the symmetric center of the dust removal device (102). The slider one and the slider two are installed on the linear guide rail one (601), and the upper parts of the sliders are connected to the lower part of the moving platform. The slider three and the slider four are installed on the linear guide rail two (604), and the upper parts of the sliders are connected to the lower part of the moving platform (610). One end of the piston rod of the power cylinder (602) is connected to the bottom of the moving base, and the connecting plate a (603) and the connecting plate b (707) at both ends are connected to the base. The central axis of the power cylinder (602) coincides with the central axes of the linear guide rail one (601) and the linear guide rail two (604) after installation. The U-shaped positioner (609) is installed on the upper part of the moving platform (610), and the bottom is rectangular. The center of the rectangle coincides with the center of the moving platform, and the four sides of the rectangle correspond to the four sides of the moving platform in parallel. The Z-axis rotating platform of the U-shaped positioner (609) is connected to the workpiece clamping platform (605), and the X-axis of the positioner is perpendicular to the symmetric central axis of the dust removal device (102).

3. The ultra-redundant robot explosion-proof grinding station of claim 2, wherein: The workpiece clamping platform includes a clamping base (605), a positioning block one (611), a positioning block two, a positioning block three, a positioning block four, a pressing block one, a pressing block two, a pressing block three, and a pressing block four. The positioning block one, the positioning block two, the positioning block three, and the positioning block four are installed on the mounting plate. The pressing block one includes a pressing block column (606), a pressing block cantilever (607), and a pressing block base (608). The pressing block one, the pressing block two, the pressing block three, and the pressing block four are installed on the clamping base (605). The positioning blocks and the pressing blocks can be replaced according to the shape of the workpiece to be processed.

4. The ultra-redundant robot explosion-proof grinding station of claim 3, wherein: The polishing tool management module (110) includes two parts of coarse polishing tool and fine polishing tool, the coarse polishing tool includes two polishing heads of double-head sander (1014) and single-head sander (803) and its storage and replacement structure; the double-head sander module includes polishing tool storage rack back plate one (1013), polishing tool bottom bracket one (1015), quick-change connector one (1011) and quick-change connector positioning pin top disc one (1012); the polishing tool storage rack back plate one (1013) is installed on the rack (1), the long side is vertically upward, the polishing tool bottom bracket one (1010) is divided into left and right brackets, the tail end of the bracket is connected with the polishing tool storage rack back plate one (1013), the upper part is connected with the bottom of the double-head sander (1014), and the two brackets are symmetrically distributed with the symmetry axis of the polishing tool storage rack back plate one (1013); the quick-change connector one (1011) is connected with the upper part of the double-head sander (1014), and the quick-change connector positioning pin top disc one (1012) is perpendicular to the polishing tool storage rack back plate one (1013) and connected with the polishing tool storage rack back plate one (1013) at the end; the single-head polishing tool module includes polishing tool storage rack back plate two (1008), polishing tool bottom bracket two (1007) and quick-change connector positioning pin top disc two (1009); the polishing tool storage rack back plate two (1008) is installed on the rack (1), and the long side is vertically upward; the tail end of the polishing tool bottom bracket two (1007) is connected with the polishing tool storage rack back plate two (1008), and the upper part is connected with the bottom of the single-head sander (803); the quick-change connector positioning pin top disc two (1009) is perpendicular to the polishing tool storage rack back plate two (1008) and connected with the polishing tool storage rack back plate two (1008) at the end.

5. The ultra-redundant robot explosion-proof grinding station of claim 4, wherein: The fine polishing tool includes single-head grinder (1005), polishing tool storage rack back plate three (1004), polishing tool bottom bracket three (1001), quick-change connector three (1003) and quick-change connector positioning pin top disc three (1002); the polishing tool storage rack back plate three (1004) is installed on the rack (1), and the long side is vertically upward; the polishing tool bottom bracket three (1001) is divided into left and right brackets, the tail end of the bracket is connected with the polishing tool storage rack back plate three (1004), and the upper part is connected with the bottom of the single-head grinder (1005), and the two brackets are symmetrically distributed with the symmetry axis of the polishing tool storage rack back plate three (1004); the quick-change connector three (1003) is connected with the upper part of the single-head grinder (1005), and the quick-change connector positioning pin top disc three (1002) is perpendicular to the polishing tool storage rack back plate three (1004) and connected with the polishing tool storage rack back plate three (1003) at the end.

6. The ultra-redundant robot explosion-proof grinding station of claim 5, wherein: The axis of the sandpaper automatic replacement module (111) coincides with the axis of the robot (108), and the module includes sandpaper storage device, sandpaper shovel device, the sandpaper storage device includes sandpaper storage device one, sandpaper storage device two and sandpaper storage device three.

7. The ultra-redundant robot explosion-proof grinding station of claim 6, wherein: The sand paper storage device comprises a bottom plate one (1102), a support column one (1103), a support column two, a support column three, a support column four, a support column five, and a top ring (1111), the bottom plate one (1102) is installed on a top plate (1110) of a sand paper automatic replacement module, the support column one (1103), the support column two, the support column three, the support column four, and the support column five are distributed in a circle along the bottom plate one (1102) and are all installed vertically on the top plate (1110), the top ring (1111) is coaxial with the bottom plate one (1102), and the lower part of the top ring (1111) is connected with the support column one (1103), the support column two, the support column three, the support column four, and the support column five.

8. The ultra-redundant robot explosion-proof grinding station of claim 7, wherein: The sand paper shovel device comprises a shovel (1104), a base (1105), a rolling slide rod one (1107), a rolling slide rod two, a rolling slide rod three, a rolling slide rod four, a rolling slide rod five, a slide rod pressing plate one (1106), and a slide rod pressing plate two (1109), the shovel is connected with the base, the rolling slide rod one (1107), the rolling slide rod two, the rolling slide rod three, the rolling slide rod four, and the rolling slide rod five are installed on the base (1105), and the slide rod pressing plate one (1106) and the slide rod pressing plate two (1109) are connected with the base (1105) and limit the rolling slide rod one (1107), the rolling slide rod two, the rolling slide rod three, the rolling slide rod four, and the rolling slide rod five to have only one degree of freedom.

9. The ultra-redundant robot explosion-proof grinding station of claim 8, wherein: The robot (108) comprises a six-degree-of-freedom robot (801), a polishing tool quick-change head (802), and a single-head polisher (803), the robot (108) is located at a central position of a work station, a robot base is installed on the rack (1), the polishing tool quick-change head comprises a clamping ring (902), a movable pin seat (903), a spring (904), a pin (905), a limiting ring (906), a top cover (907), and a quick-change joint (901), the top cover (907) is connected with the end of the six-degree-of-freedom robot (801), the limiting ring (906) is connected with the top cover (907), the pin (905) passes through the movable pin seat (903), the upper part of the pin (905) is in contact with the bottom end of the spring (904), and the spring (904) passes through two guide columns on the movable pin seat (903), the movable pin seat (903) is connected with the clamping ring (902), and the quick-change joint (901) is connected with a polishing tool and then enters the clamping ring (902) through an opening at the bottom of the clamping ring (902) and is clamped by rotating.

Images