A polishing robot

Abstract

The present application relates to the technical field of automated grinding, and provides a grinding robot, including: a manipulator, a connecting seat, a grinding device, a buffer and a control system, wherein the manipulator includes a manipulator body and a movable mounting seat rotatably connected to the manipulator body; the connecting seat is connected to the movable mounting seat; the grinding device includes a force-applying member and a grinding plate, the grinding plate is arranged on one side of the force-applying end of the force-applying member, the force-applying direction of the force-applying member is perpendicular to the grinding plate, and the force-applying member is arranged on one side of the connecting seat; the buffer is connected to the side of the force-applying member close to the connecting seat; the control system is connected to the manipulator and the force-applying member by telecommunication to control the operation of the manipulator and the force-applying member, and the control system is also connected to a pressure sensor by telecommunication, and the pressure sensor is used to detect the pressure applied by the grinding plate to the workpiece. The present application can reduce the influence of vibration generated during the grinding process on the grinding effect.

Description

Technical Field

[0001] The present application relates to the technical field of automated polishing, and in particular to a polishing robot. Background Art

[0002] Robotic grinder is a kind of automated equipment. In automobile manufacturing, robot grinder is usually used for surface grinding and polishing of car body, engine parts, etc. With the development of industrial automation, robot grinder can automatically perform complex grinding tasks and reduce manual operation, which can improve production efficiency, reduce manual operation, and provide more uniform and fine grinding effect.

[0003] The structure of a robot grinder usually includes a robot body, a grinding head, a control system, a dust collection system and a safety device. The robot body provides multi-degree-of-freedom movement capabilities, including rotation, extension, bending, etc. The grinding head can be different types of grinding tools, such as grinding wheels, sanding belts, polishing wheels, etc. The control system includes a programming interface, an operation panel, etc., which are used to set the grinding path and parameters. The dust collection system has an integrated or optional dust collection device to collect dust generated during the grinding process. Safety devices can be emergency stop buttons or protective covers to ensure safe operation.

[0004] In a robot grinder, the grinding head is generally fixedly connected to the movable end of the robot through a connecting component. When performing the grinding operation, the grinding head is driven to move along the grinding path of the workpiece to be processed by controlling the movement of the movable end. When the grinding head is performing the grinding operation, the grinding head will exert pressure on the workpiece, which will generate a reaction force and cause the grinding head to vibrate; if the workpiece is not firmly fixed or the support is unstable, the movement of the workpiece during grinding will also cause the grinding head to vibrate. The vibration of the grinding head will cause the grinding path to deviate from the predetermined trajectory, affecting the consistency and accuracy of the grinding, and may also cause uneven grinding marks on the surface of the workpiece, reducing the surface finish. Summary of the invention

[0005] In order to reduce the impact of vibration generated during the grinding process on the grinding effect, the present application provides a grinding robot.

[0006] The present application provides a grinding robot, which adopts the following technical solution:

[0007] A polishing robot, comprising:

[0008] A manipulator, the manipulator comprising a manipulator body and a movable mounting seat rotatably connected to the manipulator body;

[0009] A connecting seat, the connecting seat is connected to the movable mounting seat;

[0010] A grinding device, comprising a force-applying member and a grinding plate, wherein the grinding plate is arranged on one side of the force-applying end of the force-applying member, the force-applying direction of the force-applying member is perpendicular to the grinding plate, and the force-applying member is arranged on one side of the connecting seat;

[0011] A buffer member connected to a side of the force applying member close to the connecting seat;

[0012] A control system is electrically connected to the manipulator and the force-applying member to control the operation of the manipulator and the force-applying member. The control system is also electrically connected to a pressure sensor for detecting the pressure applied by the grinding plate to the workpiece.

[0013] By adopting the above technical solution, the connecting seat is connected to the movable mounting seat to support and fix the grinding device. When the manipulator body moves, the grinding device can be driven to move as a whole, so that the grinding device can be polished along the area to be processed of the workpiece to be processed; the force section of the force-applying member is connected to the grinding plate to apply force to the grinding plate and control the pressure applied by the device to the workpiece; the buffer is connected to the side of the force-applying member close to the connecting seat to reduce the vibration generated during the grinding process. The control system is connected to the manipulator and the force-applying member by telecommunication to control the operation of the manipulator and the force-applying member; the pressure sensor monitors the pressure applied by the grinding plate to the workpiece in real time and transmits the pressure signal to the control system. The control system can adjust the action of the manipulator and the force-applying member according to the received pressure signal to ensure that the grinding plate applies a constant pressure to the workpiece.

[0014] Optionally, the connecting seat includes a connecting plate and a bearing plate connected to each other, the connecting plate is provided with a connecting bolt, one end of the connecting bolt passes through the connecting plate and is threadedly connected to the movable mounting seat, and the force applying member is connected to one side of the bearing plate.

[0015] By adopting the above technical solution, a connecting bolt is passed through the connecting plate, and one end of the connecting bolt passes through the connecting plate and is threadedly connected to the movable mounting seat to achieve a detachable connection between the connecting seat and the manipulator.

[0016] Optionally, the buffer member includes a shock-absorbing spring, and a plurality of the shock-absorbing springs are provided.

[0017] By adopting the above technical solution, the buffering effect of the shock-absorbing spring can make the grinding action smoother and reduce irregular movement caused by vibration. Multiple shock-absorbing springs can disperse the vibration energy and further reduce the influence of the vibration generated during the grinding process on the grinding effect.

[0018] Optionally, the force applying member includes a stroke pressure cylinder.

[0019] By adopting the above technical solution, the force applied to the grinding plate is achieved by extending and retracting the stroke pressure cylinder, which is convenient to control and stable in force application.

[0020] Optionally, a grinding table is further included, on which a fixing tool is provided, and the fixing tool is used to fix the workpiece.

[0021] By adopting the above technical solution, the fixed tooling can ensure the stability of the workpiece during the grinding process and avoid the reduction of grinding accuracy due to the movement of the workpiece.

[0022] Optionally, the fixing tool includes a suction cup and a negative pressure source connected to the suction cup.

[0023] By adopting the above technical solution, after the workpiece is placed on the grinding table, negative pressure is generated by the negative pressure source, so that the suction cup can firmly adsorb the workpiece, thereby achieving stable fixation of the workpiece on the grinding table, reducing the possibility of movement of the workpiece during grinding operation, and improving the grinding quality.

[0024] Optionally, an annular conveyor belt is provided on one side of the connecting seat, and a plurality of bearing seats are arranged at intervals on the conveyor belt; a force-applying member is provided on each of the bearing seats, and one end of the buffer member away from the force-applying member is connected to the bearing seat;

[0025] The connecting seat is also provided with a driving component, and the driving component is used to drive the conveyor belt to move.

[0026] By adopting the above technical solution, the driving assembly is used to drive the conveyor belt to move, thereby driving the bearing seat to move, so that different grinding devices on the conveyor belt can be moved to one side of the grinding table. When the grinding plate in the grinding device is worn, the grinding device can be replaced even if necessary, thereby improving the efficiency of batch grinding operations.

[0027] Optionally, the distance between the conveyor belt and the two inner side walls gradually decreases towards the grinding table.

[0028] By adopting the above technical solution, the distance between the conveyor belt and the two inner walls gradually decreases towards the direction approaching the grinding table. When a grinding device moves to one side of the grinding table under the transmission of the conveyor belt and is put into the grinding operation, the distance between the remaining grinding devices and the grinding table is relatively far, and the accommodating space required for the end of the conveyor belt close to the grinding table is reduced, which makes it less likely to interfere with the workpiece during the grinding operation, which is conducive to the smooth progress of the grinding operation.

[0029] Optionally, the transmission belt is specifically configured as a transmission chain belt, the driving assembly includes a driving gear, a driven gear and a driving source, the driving gear and the driven gear are both rotatably connected to the connecting seat, the driving gear and the driven gear are both meshed with the inner side of the transmission chain belt, and the driving source is used to drive the driving gear to rotate.

[0030] By adopting the above technical solution, the driving source is used to drive the driving gear to rotate, thereby driving the transmission chain belt and the bearing seat to move, thereby realizing the replacement of the grinding device on one side of the grinding table.

[0031] In summary, the present application includes at least one of the following beneficial effects:

[0032] 1. In the present application, the buffer is connected to the side of the force-applying member close to the connecting seat. The buffer includes a shock-absorbing spring, and a plurality of shock-absorbing springs are provided. The buffering effect of the shock-absorbing spring can make the grinding action more stable and reduce the irregular movement caused by vibration. The plurality of shock-absorbing springs can disperse the vibration energy and further reduce the influence of the vibration generated during the grinding process on the grinding effect.

[0033] 2. A control system is provided in the present application, and the control system is connected to the manipulator and the force-applying member by telecommunication to control the operation of the manipulator and the force-applying member. The pressure sensor monitors the pressure applied by the grinding plate to the workpiece in real time and transmits the pressure signal to the control system. The control system can adjust the action of the manipulator and the force-applying member according to the received pressure signal to ensure that the grinding plate applies a constant pressure to the workpiece;

[0034] 3. The grinding table in the present application is provided with a fixed tooling, which includes a suction cup and a negative pressure source connected to the suction cup. After the workpiece is placed on the grinding table, negative pressure is generated by the negative pressure source, so that the suction cup can firmly adsorb the workpiece, thereby achieving stable fixation of the workpiece on the grinding table. The workpiece is not easy to move during the grinding operation, thereby improving the grinding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic diagram of the overall structure of the polishing robot according to Example 1 of the present application;

[0036] Figure 2 This is a schematic diagram of the connection socket structure of Example 1 of the present application;

[0037] Figure 3 is a schematic diagram of the overall structure of the polishing robot according to Example 2 of the present application;

[0038] Figure 4 This is a schematic diagram of the connection socket structure of Example 2 of the present application;

[0039] Explanation of the accompanying drawings: 1. Manipulator; 11. Manipulator body; 12. Movable mounting seat; 2. Connecting seat; 21. Connecting plate; 22. Load-bearing plate; 23. Connecting bolt; 24. Transmission chain belt; 241. Connecting support; 25. Load-bearing seat; 3. Grinding device; 31. Stroke pressure cylinder; 32. Grinding plate; 4. Shock-absorbing spring; 41. Connecting nut; 42. Shock-absorbing steel rope; 5. Pressure sensor; 6. Fixing tool; 61. Suction cup; 62. Negative pressure source; 7. Driving assembly; 71. Driving source; 72. Driving gear; 73. Driven gear; 8. Grinding table. DETAILED DESCRIPTION

[0040] The following is combined with Figure 1-4 This application is described in further detail.

[0041] Embodiment 1:

[0042] Embodiment 1 of the present application provides a polishing robot.

[0043] refer to Figure 1 and Figure 2 A grinding robot includes a manipulator 1, a connecting seat 2 detachably connected to the manipulator 1, and a grinding device 3 arranged on the connecting seat 2. The manipulator 1 includes a manipulator body 11 and a movable mounting seat 12 rotatably connected to the end of the manipulator body 11, which can realize multi-angle adjustment. The connecting seat 2 includes a connecting plate 21 and a bearing plate 22 fixed by welding, and the connecting plate 21 is arranged perpendicular to the bearing plate 22; a plurality of connecting bolts 23 are passed through the connecting plate 21, and one end of the threaded rod of the connecting bolt 23 passes through the connecting plate 21 and is threadedly connected to the movable mounting seat 12, so as to realize a stable connection between the connecting seat 2 and the manipulator 1. In this embodiment, the connecting plate 21 is specifically a rectangular plate, and four connecting bolts 23 are arranged on the connecting plate 21.

[0044] refer to Figure 2The grinding device 3 includes a force-applying member and a grinding plate 32. A pressure sensor 5 is connected between the force-applying end of the force-applying member and the grinding plate 32, and the force-applying direction of the force-applying member is perpendicular to the grinding plate 32 to ensure uniform application of grinding force. The force-applying member uses a stroke pressure cylinder 31, which can achieve precise force control and further improve the accuracy and consistency of grinding. The force-applying end is one end of the telescopic rod of the stroke pressure cylinder 31. A buffer is connected between the stroke pressure cylinder 31 and the bearing plate 22. The buffer is used to absorb and buffer the vibration generated during the grinding process and improve the stability of grinding. The buffer is specifically configured as a shock-absorbing spring 4, and the shock-absorbing spring 4 includes two connecting nuts 41 arranged opposite to each other, and a shock-absorbing steel rope 42 fixed between the two connecting nuts 41; the connecting nuts 41 are connected to the stroke pressure cylinder 31 and the bearing plate 22 by bolts. The grinding device 3 is indirectly connected to one side of the bearing plate 22 through the shock-absorbing spring 4, ensuring the stable connection between the force-applying member and the connecting seat 2, thereby ensuring the stability and reliability of the grinding device 3. In this embodiment, four shock-absorbing steel ropes 42 are arranged in one shock-absorbing spring 4. Four shock-absorbing springs 4 are specifically arranged between the stroke pressure cylinder 31 and the bearing plate 22. Through the combined use of multiple shock-absorbing springs 4, the vibration generated during the grinding process is more effectively absorbed and buffered, ensuring the stability and accuracy of the grinding. In other embodiments, the buffer may also be a damper to absorb vibration energy.

[0045] refer to Figure 2 The manipulator 1 is connected to a control system by telecommunication, and the control system is connected to the stroke pressure cylinder 31 by telecommunication to control the operation of the manipulator 1 and the force-applying member. The pressure sensor 5 is connected to the control system by telecommunication, and indirectly monitors the pressure applied by the grinding plate 32 on the workpiece by detecting the pressure applied by the grinding plate 32 at the force-applying end, so as to ensure that the pressure during the grinding process is controlled within an appropriate range. The control system controls the movement of the manipulator 1 and the force-applying member, controls the grinding plate 32 to move according to a predetermined grinding path, and grinds the surface of the workpiece. During the grinding process, the pressure sensor 5 monitors the pressure applied by the grinding plate 32 on the workpiece in real time, and feeds back the pressure signal to the control system. The control system adjusts the force applied by the force-applying member according to the feedback pressure signal to keep the pressure stable during the grinding process.

[0046] refer to Figure 1A grinding table 8 is provided on one side of the manipulator 1, and a fixed tooling 6 is provided on the grinding table 8. The fixed tooling 6 includes a suction cup 61 and a negative pressure source 62 connected to the suction cup 61. A plurality of suction cups 61 are fixed on the grinding table 8, and one end of each suction cup 61 is interconnected through an air pipe, and one end of the air pipe is connected to the negative pressure source 62. In this embodiment, the negative pressure source 62 is specifically configured as an air pump. When in use, the workpiece is placed on the fixed tooling 6 on the grinding table 8, and negative pressure is generated by the air pump. The workpiece is firmly fixed on the grinding table 8 by negative pressure adsorption to prevent the workpiece from moving or shaking during the grinding process, thereby affecting the grinding effect.

[0047] The implementation principle of a grinding robot in an embodiment of the present application is as follows: place the workpiece to be processed on the grinding table 8, start the vacuum pump to generate negative pressure, so that each suction cup 61 firmly adsorbs the workpiece; then, the control system controls the action of the manipulator 1 and the stroke pressure cylinder 31, controls the grinding plate 32 to move according to the predetermined grinding path, and grinds the surface of the workpiece. During the grinding process, the pressure sensor 5 monitors the pressure applied by the grinding plate 32 to the workpiece in real time, and feeds back the pressure signal to the control system. The control system adjusts the force applied by the stroke pressure cylinder 31 according to the feedback pressure signal to achieve precise control of the grinding pressure.

[0048] Embodiment 2:

[0049] Embodiment 2 of the present application provides a polishing robot.

[0050] refer to Figure 3 and Figure 4 , the difference between the embodiment 2 of the present application and the embodiment 1 is that: in this embodiment, a driving assembly 7 and an annular transmission belt are arranged on one side of the bearing plate 22 of the connecting seat 2, and the transmission belt is specifically arranged as a transmission chain belt 24; the driving assembly 7 includes a driving source 71, a driving gear 72 and a driven gear 73; in this embodiment, the driven gear 73 and the driving gear 72 are both rotatably connected to the bearing plate 22 through a rotating shaft, and the driven gear 73 and the driving gear 72 are both meshed with the inner side of the transmission chain belt 24. The driving source 71 is specifically arranged as a servo motor, and the servo motor is fixed to the side of the bearing plate 22 away from the transmission chain belt 24, and the output shaft of the servo motor is coaxially fixed with the driving gear 72. The bearing seat 25 is fixed on some of the chain links of the transmission chain belt 24, and the connecting support 241 is fixed on some of the chain links. The bearing seat 25 is fixed on the chain link through the connecting support 241, and the grinding device 3 is fixed on each bearing seat 25. In this embodiment, the damping spring 4 is fixed between the bearing seat 25 and the stroke pressure cylinder 31. In this embodiment, four bearing seats 25 are specifically provided, and the bearing seats 25 are arranged at intervals along the annular transmission chain belt 24 ; four grinding devices 3 are also provided, and the grinding devices 3 are arranged one-to-one with the bearing seats 25 .

[0051] refer to Figure 3 and Figure 4 , the driving gear 72 is located at one end of the bearing plate 22 close to the connecting plate 21, the driven gear 73 is located at one end of the bearing plate 22 away from the connecting plate 21, and the outer diameter of the driving gear 72 is greater than the outer diameter of the driven gear 73; accordingly, the spacing between the two relatively arranged side walls of the annular transmission chain 24 gradually decreases in the direction away from the connecting plate 21. The servo motor can be started to drive the transmission chain 24 to move, thereby driving the bearing seat 25 to move, and then the different grinding devices 3 on the transmission chain 24 can be moved to one side of the grinding table 8 and put into the grinding operation. The grinding plates 32 in each grinding device 3 on the transmission chain 24 are consistent in shape and specification. When the grinding plates 32 in the grinding device 3 are worn, even if the grinding device 3 is replaced, the efficiency of batch grinding operations is improved.

[0052] In other embodiments, the shapes and specifications of the grinding plates 32 in each grinding device 3 on the transmission chain belt 24 are different. According to different grinding requirements, the different grinding devices 3 on the transmission chain belt 24 can be driven by the driving component 7 to move to the side of the grinding table 8 and put into the grinding operation.

[0053] In another embodiment, the outer diameter of the driving gear may also be equal to the outer diameter of the driven gear.

[0054] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A polishing robot, characterized in that: include: A manipulator (1), the manipulator (1) comprising a manipulator body (11) and a movable mounting seat (12) rotatably connected to the manipulator body (11); A connecting seat (2), the connecting seat (2) being connected to the movable mounting seat (12); A grinding device (3), comprising a force-applying member and a grinding plate (32), wherein the grinding plate (32) is arranged on one side of a force-applying end of the force-applying member, the force-applying direction of the force-applying member is perpendicular to the grinding plate (32), and the force-applying member is arranged on one side of the connecting seat (2); A buffer member connected to a side of the force applying member close to the connecting seat (2); A control system, the control system is connected to the manipulator (1) and the force-applying member by telecommunication to control the operation of the manipulator (1) and the force-applying member, the control system is also connected to a pressure sensor (5) by telecommunication, the pressure sensor (5) is used to detect the pressure applied by the grinding plate (32) to the workpiece; It also comprises a grinding table (8), on which a fixing tool (6) is arranged, and the fixing tool (6) is used to fix the workpiece; An annular conveyor belt is arranged on one side of the connecting seat (2), and a plurality of bearing seats (25) are arranged at intervals on the conveyor belt; each bearing seat (25) is provided with a force applying member, and one end of the buffer member away from the force applying member is connected to the bearing seat (25); The connecting seat (2) is also provided with a driving assembly (7), and the driving assembly (7) is used to drive the conveyor belt to move; The distance between the conveyor belt and the two inner side walls gradually decreases toward the direction close to the grinding table (8); The transmission belt is specifically configured as a transmission chain belt (24); the driving assembly (7) comprises a driving gear (72), a driven gear (73) and a driving source (71); the driving gear (72) and the driven gear (73) are both rotatably connected to the connecting seat (2); the driving gear (72) and the driven gear (73) are both meshed with the inner side of the transmission chain belt (24); and the driving source (71) is used to drive the driving gear (72) to rotate.

2. A grinding robot according to claim 1, characterized in that: The connecting seat (2) comprises a connecting plate (21) and a bearing plate (22) which are connected to each other. A connecting bolt (23) is provided on the connecting plate (21). One end of the connecting bolt (23) passes through the connecting plate (21) and is threadedly connected to the movable mounting seat (12). The force applying member is connected to one side of the bearing plate (22).

3. A grinding robot according to claim 2, characterized in that: The buffer component comprises a shock absorbing spring (4), and a plurality of the shock absorbing springs (4) are provided.

4. A grinding robot according to claim 1, characterized in that: The force applying member comprises a stroke pressure cylinder (31).

5. A polishing robot according to claim 1, characterized in that: The fixing tool (6) comprises a suction cup (61) and a negative pressure source (62) connected to the suction cup (61).

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