Six-axis robot polishing apparatus

Abstract

The present application relates to a kind of six-axis manipulator polishing equipment, belong to polishing equipment technical field.The machine table, manipulator, clamp, abrasive belt polishing mechanism, tensioning mechanism, floating support mechanism and detection mechanism are included, clamp is installed in the movable end of manipulator, abrasive belt polishing mechanism includes abrasive belt, deviation rectification subassembly, support frame and drive assembly, support frame is installed in polishing area, drive assembly, deviation rectification subassembly, tensioning mechanism and floating support mechanism are all fixedly connected with support frame, abrasive belt is wound in the outside of deviation rectification subassembly, tensioning mechanism, drive assembly and floating support mechanism, floating support mechanism is located in the polishing end of abrasive belt polishing mechanism, detection mechanism is used to detect the pressure value that floating support mechanism is received in polishing process, tensioning mechanism is adjusted tensioning value according to detection result synchronously, so that abrasive belt keeps taut, the present application solves the replacement difficulty of existing abrasive belt machine in the process of polishing and the problem that polishing defect is prone to occur due to the fixed position of abrasive belt machine polishing.

Description

Technical Field

[0001] This invention belongs to the field of polishing equipment technology, specifically relating to a six-axis robotic polishing device. Background Technology

[0002] After the handle is injection molded, the parting line is inevitable. However, the parting line not only affects the aesthetics but also the actual assembly and subsequent processes. Therefore, grinding the parting line is necessary. Many factories use manual grinding, which is not only labor-intensive and inefficient, but more importantly, the quality cannot be guaranteed.

[0003] Moreover, with the continuous rise in labor and land costs, robots are being used more and more widely in the grinding industry. Belt sanders are important equipment to cooperate with robot grinding, but the current belt sander structure is not stable enough, not convenient to use, and the production, use and maintenance costs are too high or too complicated.

[0004] For example, existing belt sanders require frequent belt replacements when sanding products, but the replacements are difficult, leading to a decrease in production efficiency. Furthermore, the belt misalignment adjustment mechanism requires the driven wheel to oscillate around a single point, causing the belt to work on an inclined plane, which can easily damage the belt. Additionally, the belt sander's sanding position is fixed, and when encountering product differences, minor sanding defects may occur, while serious damage to the sanding equipment may occur, resulting in a decrease in the workpiece's sanding pass rate. Summary of the Invention

[0005] To address the aforementioned problems in the existing technology, this invention provides a six-axis robotic arm grinding device, which solves the problems of difficulty in changing the sanding belt during the grinding process of existing belt sanders and the tendency for grinding defects to occur due to the fixed grinding position of the belt sander.

[0006] The objective of this invention can be achieved through the following technical solution: A six-axis robotic arm grinding device, comprising a machine base, a robotic arm, a clamp, a belt sanding mechanism, a tensioning mechanism, a floating support mechanism, and a detection mechanism. The top surface of the machine base is provided with a grinding area. The robotic arm is mounted on the top surface of the machine base. The clamp is mounted on the movable end of the robotic arm and used to clamp products. The belt sanding mechanism is mounted in the grinding area and includes a sanding belt, a correction component, a support frame, and a drive component. The support frame is mounted in the grinding area. The drive component, correction component, tensioning mechanism, and floating support mechanism are all fixedly connected to the support frame. The sanding belt is wound around the outside of the correction component, tensioning mechanism, drive component, and floating support mechanism. The floating support mechanism is located at the grinding end of the belt sanding mechanism. The detection mechanism is used to detect the pressure value experienced by the floating support mechanism during the grinding process. The tensioning mechanism synchronously adjusts the tension value according to the detection result to keep the sanding belt taut.

[0007] As a preferred embodiment of the present invention, the tensioning mechanism includes a fixed plate, a hinge seat, a handle, a connecting rod, and an air shaft. The hinge seat is installed on the side wall of the support frame. The handle is hinged to the hinge seat. One end of the connecting rod is hinged to the handle, and the other end is connected to the top of the fixed plate. The connecting rod is slidably connected to the top surface of the hinge seat. One end of the air shaft is installed at the bottom of the fixed plate. The air shaft abuts against the inner side wall surface of the sanding belt. The diameter of the air shaft is synchronously adjusted according to the detection results.

[0008] As a preferred embodiment of the present invention, the floating support mechanism includes a support shaft, two floating rings, and two fixed seats. A floating cavity is formed in the fixed seat. The inner sidewall of the floating cavity is made of an elastic material. The floating cavity is a sealed cavity. The two floating rings are respectively installed on the inner sidewalls of the two floating cavities. The two ends of the support shaft are respectively engaged with the inner rings of the two floating rings. The outer sidewall of the support shaft abuts against the inner sidewall of the sanding belt. The detection mechanism is used to detect the pressure value between the support shaft and the sanding belt.

[0009] As a preferred embodiment of the present invention, a floating grinding mechanism is further provided on the top surface of the machine tool. The floating grinding mechanism includes a grinding head, a floating grinding motor, a support column, and a protective shell. The support column is installed on the top surface of the machine tool, the floating grinding motor is installed on the support top surface, the grinding head is installed on the floating end of the floating grinding motor, and the protective shell is provided on the outside of the floating grinding motor.

[0010] As a preferred embodiment of the present invention, the correction assembly includes a plurality of correction shafts, which are respectively mounted on a support frame. The correction shafts abut against the inner sidewall of the sanding belt, and the outer sidewall of the correction shafts is provided with an adhesive layer. The diameter of the correction shafts gradually increases from both ends to the middle.

[0011] As a preferred embodiment of the present invention, the drive assembly includes a drive motor, a drive wheel, a transmission assembly, and a drive base. The drive motor and the drive base are both mounted on the bottom of the support frame. The drive wheel is rotatably connected to the top of the drive base. The output end of the drive motor is connected to the drive wheel through the transmission assembly. The outer side wall of the drive wheel abuts against the inner side wall of the sanding belt.

[0012] As a preferred embodiment of the present invention, the clamp includes a clamping cylinder, a clamping seat, a gripper, and a quick-connect connector. The quick-connect connector is installed on the movable end of the robot arm. One end of the clamping seat is installed on the quick-change end of the quick-connect connector. The clamping cylinder is installed on the other end of the clamping seat. The gripper is installed on the clamping end of the clamping cylinder. The clamping cylinder clamps the product through the gripper.

[0013] As a preferred technical solution of the present invention, the top cover of the machine is provided with a dust cover, and the grinding area of ​​the machine is also provided with a dust removal mechanism. The dust removal mechanism includes a dust scraping component and a dust suction component. The dust suction component is arranged corresponding to the grinding area of ​​the sanding belt and is used to absorb the dust generated during the sanding process. The dust scraping component is installed on one side of the bottom of the support frame and is used to scrape off the dust on the sanding belt.

[0014] As a preferred embodiment of the present invention, the dust scraping assembly includes a dust scraping seat, a dust scraping cylinder, and a brush. The dust scraping seat is installed on the bottom surface of the grinding area, the dust scraping cylinder is installed on the top surface of the dust scraping seat, and the brush is installed on the movable end of the dust scraping cylinder. The brush abuts against the outer surface of the sanding belt under the push of the dust scraping cylinder.

[0015] The beneficial effects of this invention are as follows: by setting a floating support mechanism to support the sanding belt at the grinding position, the sanding belt floats under different loads during the grinding process, thereby adjusting the grinding pressure on the workpiece accordingly. At the same time, the cooperation of the tensioning mechanism and the detection mechanism ensures that the sanding belt remains taut when it floats during the grinding process, thus guaranteeing the grinding effect. This solves the problems of difficult sanding belt replacement and grinding defects caused by the fixed grinding position of existing belt sanders. Attached Figure Description

[0016] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the present invention with the dust cover omitted;

[0019] Figure 3 This is a schematic diagram of the belt sanding mechanism of the present invention;

[0020] Figure 4 This is a schematic diagram of the tensioning mechanism structure of the present invention;

[0021] Figure 5 This is a schematic diagram of the floating support mechanism of the present invention;

[0022] Figure 6 This is a schematic diagram of the floating ring structure of the present invention;

[0023] Figure 7 This is a schematic diagram of the floating polishing mechanism of the present invention;

[0024] Figure 8 This is a schematic diagram of the drive component structure of the present invention;

[0025] Figure 9 This is a schematic diagram of the dust scraper assembly structure of the present invention;

[0026] Figure 10 This is a schematic diagram of the fixture structure of the present invention;

[0027] Explanation of main component symbols

[0028] In the diagram: 1. Machine base; 2. Robotic arm; 3. Fixture; 31. Clamping cylinder; 32. Clamping seat; 33. Gripper; 34. Quick-connect connector; 4. Belt sanding mechanism; 41. Sanding belt; 42. Correcting shaft; 43. Support frame; 44. Drive assembly; 441. Drive motor; 442. Drive wheel; 443. Transmission assembly; 444. Drive base; 5. Tensioning mechanism; 51. Fixing plate; 52. Hinge seat; 53. Handle; 54. Connecting rod; 55. Air shaft; 6. Floating support mechanism; 61. Support shaft; 62. Floating ring; 621. Sealing sleeve; 622. Crank; 623. Connecting rod; 63. Fixed seat; 631. Floating cavity; 7. Detection mechanism; 8. Floating grinding mechanism; 81. Grinding head; 82. Floating grinding motor; 83. Support column; 84. Protective shell; 9. Dust removal mechanism; 91. Dust scraper assembly; 911. Dust scraper seat; 912. Dust scraper cylinder; 913. Brush; 92. Dust suction assembly; 10. Dust cover. Detailed Implementation

[0029] To further illustrate the technical means and effects of the present invention in achieving the intended purpose, the following detailed description of the specific implementation methods, structures, features and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0030] Please see Figure 1-10This embodiment provides a six-axis robotic polishing device, including a machine base 1, a robotic arm 2, a clamp 3, a belt sanding mechanism 4, a tensioning mechanism 5, a floating support mechanism 6, and a detection mechanism 7. A polishing area is provided on the machine base 1. The robotic arm 2 is mounted on the top surface of the machine base 1 and located outside the polishing area. The clamp 3 is mounted on the movable end of the robotic arm 2 for holding the product. The belt sanding mechanism 4 is installed inside the polishing area and includes a sanding belt 41, a correction component, a support frame 43, and a drive component 44. The support frame 43 is mounted on the inner bottom surface of the polishing area. The correction component, tensioning mechanism 5, and floating support mechanism 6 are all fixedly connected to the support frame 43. The sanding belt 41 is wound around the outside of the correction component, tensioning mechanism 5, drive component 44, and floating support mechanism 6. The floating support mechanism 6 is located at the polishing end of the belt sanding mechanism 4. When the robotic arm 2 polishes the product through the belt sanding mechanism 4, the drive component 44 drives the sanding belt 41 to rotate. The abrasion belt 41 is controlled by a correction component to prevent it from deviating during rotation. Simultaneously, a tensioning mechanism 5 tensions the abrasion belt 41, ensuring it has sufficient tension to rotate through friction and compression with the drive component 44. This prevents the abrasion belt 41 from becoming too taut and breaking during grinding. During grinding, the robotic arm 2 moves the product to the grinding end of the abrasion belt grinding mechanism 4 using a clamp 3, allowing it to contact the abrasion belt 41 for grinding. A floating support mechanism 6 causes the abrasion belt 41 to float at the grinding end. Therefore, when the product contacts the surface of the abrasion belt 41 and is subjected to force, the abrasion belt 41 moves within a certain range with the floating support mechanism 6, allowing it to float under different loads and adjust the grinding pressure on the workpiece accordingly. This enables more precise control of the grinding process, improving grinding efficiency and uniformity.

[0031] Because the sanding belt 41 is taut during the grinding process, it may become loose due to the influence of the floating support mechanism 6. This can cause the sanding belt 41 to deviate during continuous rotation, or even slip relative to the drive assembly 44 due to different frictional forces, preventing continuous rotation and affecting the grinding effect. Therefore, when the sanding belt 41 floats during grinding, the detection mechanism 7 will detect the pressure value of the floating support mechanism 6 during grinding. When the detected pressure value decreases, it indicates that the tension of the sanding belt 41 has decreased. Once the tension decreases... When the pressure drops to a certain level, the sanding belt 41 will shift during continuous rotation. Therefore, when the pressure value decreases, the tensioning mechanism 5 will increase the tension of the tensioning mechanism 5 accordingly to keep the sanding belt 41 taut again to complete the grinding process. After grinding, when the floating support mechanism 6 returns to its original position, the support force on the sanding belt 41 also returns to its original position. At this time, the tension of the sanding belt 41 gradually increases. In order to prevent the tension of the sanding belt 41 from becoming too high and causing it to break during continuous rotation, the tensioning mechanism 5 reduces the tension value to restore the sanding belt 41 to its initial state.

[0032] Because the existing belt sander has a fixed sanding position during the sanding process, when sanding different products or different parts of a product, the sanding force is constant, which easily leads to sanding defects and a decrease in the sanding pass rate of the workpiece.

[0033] This application uses a floating support mechanism 6 to support the sanding belt 41 at the grinding position, allowing the sanding belt 41 to float under different loads during the grinding process, thereby adjusting the grinding pressure on the workpiece accordingly. At the same time, the tensioning mechanism 5 and the detection mechanism 7 work together to keep the sanding belt 41 taut during the grinding process, thus ensuring the grinding effect.

[0034] Meanwhile, a support plate is also provided on the top surface of the support frame 43. The support plate provides support when the sanding belt 41 is at the top. Therefore, the sanding belt grinding mechanism 4 of this application not only has the effect of floating grinding, but also has a fixed grinding position, thereby meeting different grinding requirements.

[0035] Since the sanding belt 41 needs to be kept taut during the polishing process to ensure the polishing effect, and it needs to be replaced after a certain number of polishing cycles to ensure continuous polishing effect, in order to better replace the sanding belt 41 while keeping it taut during polishing, in this embodiment, the tensioning mechanism 5 includes a fixed plate 51, a hinge seat 52, a handle 53, a connecting rod 54, and an air shaft 55. The hinge seat 52 is installed on the side wall of the support frame 43, the handle 53 is hinged to the hinge seat 52, one end of the connecting rod 54 is hinged to the handle 53, and the other end is connected to the top of the fixed plate 51. The connecting rod 54 is slidably connected to the top surface of the hinge seat 52, and one end of the air shaft 55 is installed at the bottom of the fixed plate 51. When the sanding belt 41 is wound around the outside of each component for polishing, the sanding belt 41 is first wound around the outside of the correction component, the drive component 44, and the floating support mechanism 6 to form a closed loop, and then... Rotate handle 53 to make the connecting rod 54 slide downward on the hinge seat 52, thereby moving the air shaft 55 downward to abut against the inner wall of the sanding belt 41 to complete the installation of the sanding belt 41. At this time, the sanding belt 41 is already in a taut state. However, in order to better reduce the relative slippage of the sanding belt 41 during continuous rotation, the diameter of the air shaft 55 is changed to make the tension of the sanding belt 41 consistent with the preset value. Moreover, during the grinding process, the air shaft 55 adjusts its own diameter according to the detection result of the detection mechanism 7 to adjust the tightness of the sanding belt 41, so that the sanding belt 41 can remain taut during continuous grinding, thus allowing the sanding belt 41 to rotate better for grinding. When replacing the sanding belt 41, rotate handle 53 in the opposite direction to move the air shaft 55 away from the sanding belt 41, thereby making the sanding belt 41 in an anti-loose state, and then the sanding belt 41 can be directly removed for replacement.

[0036] To ensure the floating effect of the sanding belt 41 during the grinding process, in one embodiment, the floating support mechanism 6 includes a support shaft 61, two floating rings 62, and two fixed seats 63. Each fixed seat 63 has a floating cavity 631, which is a sealed cavity with its inner wall made of an elastic material. The floating rings 62 are installed on the inner wall of the floating cavity 631. The two fixed seats 63 are respectively installed on the top surface of the support frame 43 and located on both sides of the sanding belt 41. The support shaft 61 is located between the two floating rings 62, and its two ends are respectively connected to the two floating rings 62. The inner ring of the moving ring 62 is engaged. During the installation of the sanding belt 41, the outer wall of the support shaft 61 abuts against the inner wall of the sanding belt 41 to provide support for the sanding belt 41. The detection mechanism 7 is installed on the support shaft 61 to detect the pressure value between the support shaft 61 and the sanding belt 41. When the sanding belt 41 floats during the grinding process, the pressure value between the support shaft 61 and the sanding belt 41 will change. Therefore, the air shaft 55 adjusts its diameter according to the detection value to keep the sanding belt 41 taut at all times to ensure the grinding effect.

[0037] The floating ring 62 includes a sealing sleeve 621, several cranks 622, and a connecting rod 623. Several sliding grooves are formed inside the floating cavity 631. The top ends of the cranks 622 slide against the sliding grooves, and the other ends of each crank 622 are connected to one end of the connecting rod 623. The other end of the connecting rod 623 is connected to the support shaft 61. The sealing sleeve 621 is fitted onto the connection end between the connecting rod 623 and the support shaft 61, providing a seal for the floating cavity 631. Simultaneously, it allows the support shaft 61 to move on the fixed seat 63 under the action of the sealing sleeve 621. When the support shaft 61 is displaced by an external force, the connecting rod 623 located in the floating cavity 631 will shift. The position changes, allowing each crank 622 to slide within the sliding groove. Because the floating cavity 631 is a sealed cavity with elastic sidewalls, the floating cavity 631 changes position with the crank 622 and connecting rod 623, causing the sealing gas inside the floating cavity 631 to be squeezed by the crank 622, thus changing the shape of the floating cavity 631. That is, when the support shaft 61 moves downward, the positions of the crank 622 and connecting rod 623 also move downward. Therefore, the sidewall at the bottom of the floating cavity 631 will deform to ensure that the air pressure inside the floating cavity 631 remains constant. After grinding is completed, the deformed sidewall will return to its original shape to allow the support shaft 61 to reset for the next grinding.

[0038] Since the bends on the handle cannot be sanded by the sanding belt 41 during the sanding process, in order to achieve multi-angle sanding to sand the curved surfaces on the handle, in one embodiment, a floating sanding mechanism 8 is also provided on the top surface of the machine base 1. The floating sanding mechanism 8 includes a sanding head 81, a floating sanding motor 82, a support column 83, and a protective shell 84. The support column 83 is installed on the top surface of the machine base 1, the floating sanding motor 82 is installed on the support top surface, the sanding head 81 is installed on the floating end of the floating sanding motor 82, and the protective shell 84... The protective shell 84 is installed outside the floating grinding motor 82. The grinding head 81 installed on the floating grinding motor 82 grinds the bends on the handle, thus providing a multi-angle grinding effect. At the same time, the floating grinding motor 82 precisely controls the grinding process, improving grinding efficiency and uniformity. The protective shell 84 installed on the outside can prevent dust, debris and other materials generated during the grinding process from entering the floating grinding motor 82 and affecting its operation, thus ensuring the continuous operation of the floating grinding mechanism 8.

[0039] During the continuous rotation of the sanding belt 41, it is necessary to ensure that the sanding belt 41 does not deviate due to the external force generated during grinding. Therefore, in one embodiment, the correction component includes several correction shafts 42, which are respectively installed on the support frame 43. The correction shafts 42 abut against the inner sidewall of the sanding belt 41, and the outer sidewall of the correction shafts 42 is provided with an adhesive layer. The diameter of the correction shafts 42 gradually increases from both ends to the middle. During the winding of the sanding belt 41, the sanding belt 41 will pass through the correction shafts 42 in sequence to ensure that there is no deviation during continuous rotation. When the correction shafts 42 abut against the sanding belt 41, the surface of the correction shafts 42 is covered with an adhesive layer, thus ensuring that there is sufficient friction between the sanding belt 41 and the correction shafts 42 to limit the position of the sanding belt 41. At the same time, since the correction shafts 42 are higher in the middle and lower on both sides, the sanding belt 41 will naturally move towards the middle during the grinding process. When the sanding belt 41 is running, due to the gravity effect caused by the lower points on both sides, the sanding belt 41 will be guided to the higher point in the middle. When the external force generated by grinding causes the sanding belt 41 to deviate to one side, the friction on the side will increase, forcing the sanding belt 41 to return to the central position. Thus, the height difference of the correction shaft 42 can increase the friction between the sanding belt 41 and the correction shaft 42 to a certain extent, so that the deviated sanding belt 41 can be subjected to sufficient traction to return to the center.

[0040] To better drive the sanding belt 41 to rotate and complete the grinding process, in one embodiment, the drive assembly 44 includes a drive motor 441, a drive wheel 442, a transmission assembly 443, and a drive base 444. The drive motor 441 and the drive base 444 are both mounted on the bottom of the support frame 43. The drive wheel 442 is rotatably connected to the top of the drive base 444. The output end of the drive motor 441 is connected to the drive wheel 442 through the transmission assembly 443. The outer side wall of the drive wheel 442 abuts against the inner side wall of the sanding belt 41. The drive motor 441 drives the drive wheel 442 to rotate on the drive base 444, so that the drive wheel 442 drives the sanding belt 41 to rotate through friction. In order to improve the grinding efficiency, the drive motor 441 has two output ends, which can be achieved by using a right-angle geared motor. By setting two sets of sanding belt 41 grinding structures, the same output motor can drive two sets of sanding belts 41 to perform grinding, so that there are two grinding stations on the machine 1, thereby improving the grinding efficiency.

[0041] Since machine 1 has two grinding stations, in order to better grind the products and improve grinding efficiency, while also allowing the equipment to be adapted to different products and reduce grinding costs, please refer to [reference needed]. Figure 2 , Figure 10 In one embodiment, the clamp 3 includes a clamping cylinder 31, a clamping seat 32, grippers 33, and a quick-connect connector 34. The quick-connect connector 34 is installed on the movable end of the robot arm 2. One end of the clamping seat 32 is installed on the quick-change end of the quick-connect connector 34. The clamping cylinder 31 is installed on the other end of the clamping seat 32, and the grippers 33 are installed on the clamping end of the clamping cylinder 31. The clamping cylinder 31 clamps the product through the grippers 33. The clamping seat 32 is provided with two sets of clamping structures, thereby clamping two products and allowing the two products to be polished at two polishing stations. This reduces the frequency of changing the sanding belt 41 and improves the polishing efficiency. At the same time, the clamping structure can be quickly connected and replaced with the robot arm 2 through the quick-connect connector 34. When the product being polished is changed, the clamping structure can be changed so that another product can be clamped on the robot arm 2 to achieve the polishing effect. This improves the adaptability of the equipment and reduces the polishing cost when polishing different products.

[0042] During the polishing process, dust or debris will be generated. Therefore, in order to protect the environment and reduce dust, in one embodiment, the top cover of the machine 1 is equipped with a dust cover 10, and the polishing area of ​​the machine 1 is also equipped with a dust removal mechanism 9. The dust removal mechanism 9 includes a dust scraping component 91 and a dust suction component 92. The dust suction component 92 is correspondingly set to the polishing area of ​​the sanding belt 41 and is used to absorb the dust generated during the polishing process of the sanding belt 41. The dust scraping component 91 is installed on one side of the bottom of the support frame 43 and is used to scrape the dust on the sanding belt 41. The dust cover 10 intercepts the dust generated during the polishing process to prevent dust from flying in the air and causing pollution. At the same time, the dust suction component 92 absorbs the dust generated during the polishing process, further reducing the situation of dust flying in the air. In addition, the dust scraping component 91 scrapes off the dust remaining on the sanding belt 41 to prevent the dust from flying around randomly during the continuous rotation of the sanding belt 41.

[0043] Since the tension of the sanding belt 41 changes during the sanding process, in order to allow the dust scraping assembly 91 to better remove dust, in one embodiment, the dust scraping assembly 91 includes a dust scraping seat 911, a dust scraping cylinder 912, and a brush 913. The dust scraping seat 911 is installed on the bottom surface of the sanding area, the dust scraping cylinder 912 is installed on the top surface of the dust scraping seat 911, and the brush 913 is installed on the movable end of the dust scraping cylinder 912. The brush 913, pushed by the dust scraping cylinder 912, makes contact with the outer surface of the sanding belt 41. The brush 913 is positioned by a dust-scraping cylinder 912, ensuring it remains in contact with the outer surface of the sanding belt 41. As the sanding belt 41 rotates, the brush 913 scrapes away dust residue. Simultaneously, a dust-collecting component 92, installed below the brush 913, absorbs the dust scraped away, reducing dust dispersion and protecting the environment.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A six-axis robotic arm grinding device, characterized in that: The system includes a machine base, a robotic arm, a clamp, a belt sanding mechanism, a tensioning mechanism, a floating support mechanism, and a detection mechanism. The top surface of the machine base has a sanding area. The robotic arm is mounted on the top surface of the machine base. The clamp is mounted on the movable end of the robotic arm and used to clamp the product. The belt sanding mechanism is mounted in the sanding area and includes a sanding belt, a correction assembly, a support frame, and a drive assembly. The support frame is mounted in the sanding area. The drive assembly, correction assembly, tensioning mechanism, and floating support mechanism are all fixedly connected to the support frame. The sanding belt is wound around the outside of the correction assembly, tensioning mechanism, drive assembly, and floating support mechanism. The floating support mechanism is positioned... At the grinding end of the belt sanding mechanism, the floating support mechanism includes a support shaft and a fixed seat. The fixed seat has a sealed floating cavity with an inner wall made of elastic material. The support shaft floats through a floating ring set in the floating cavity. The outer wall of the support shaft abuts against the inner wall of the sanding belt. The detection mechanism is used to detect the pressure value of the floating support mechanism during the grinding process. The tensioning mechanism adjusts the tension value synchronously according to the detection result to keep the sanding belt taut. The tensioning mechanism includes an air shaft that abuts against the inner wall surface of the sanding belt. The diameter of the air shaft is adjusted synchronously according to the detection result to adjust the tension value.

2. The six-axis robotic arm grinding device according to claim 1, characterized in that: The tensioning mechanism includes a fixed plate, a hinge seat, a handle, a connecting rod, and an air shaft. The hinge seat is installed on the side wall of the support frame. The handle is hinged to the hinge seat. One end of the connecting rod is hinged to the handle, and the other end is connected to the top of the fixed plate. The connecting rod is slidably connected to the top surface of the hinge seat. One end of the air shaft is installed at the bottom of the fixed plate. The air shaft abuts against the inner side wall surface of the sanding belt. The diameter of the air shaft is adjusted synchronously according to the test results.

3. The six-axis robotic arm grinding device according to claim 1, characterized in that: The floating support mechanism includes a support shaft, two floating rings, and two fixed seats. A floating cavity is formed in the fixed seat. The inner sidewall of the floating cavity is made of elastic material. The floating cavity is a sealed cavity. The two floating rings are respectively installed on the inner sidewalls of the two floating cavities. The two ends of the support shaft are respectively engaged with the inner rings of the two floating rings. The outer sidewall of the support shaft abuts against the inner sidewall of the sanding belt. The detection mechanism is used to detect the pressure value between the support shaft and the sanding belt.

4. The six-axis robotic arm grinding device according to claim 1, characterized in that: The top surface of the machine is also equipped with a floating grinding mechanism, which includes a grinding head, a floating grinding motor, a support column, and a protective shell. The support column is installed on the top surface of the machine, the floating grinding motor is installed on the support top surface, the grinding head is installed on the floating end of the floating grinding motor, and the protective shell is installed on the outside of the floating grinding motor.

5. A six-axis robotic arm grinding device according to claim 1, characterized in that: The correction assembly includes several correction shafts, which are respectively mounted on a support frame. The correction shafts abut against the inner sidewall of the sanding belt, and the outer sidewall of the correction shafts is provided with an adhesive layer. The diameter of the correction shafts gradually increases from both ends to the middle.

6. The six-axis robotic arm grinding device according to claim 1, characterized in that: The drive assembly includes a drive motor, a drive wheel, a transmission component, and a drive base. The drive motor and the drive base are both mounted on the bottom of the support frame. The drive wheel is rotatably connected to the top of the drive base. The output end of the drive motor is connected to the drive wheel through the transmission component. The outer side wall of the drive wheel abuts against the inner side wall of the sanding belt.

7. A six-axis robotic arm grinding device according to claim 1, characterized in that: The clamp includes a clamping cylinder, a clamping seat, grippers, and a quick-connect connector. The quick-connect connector is installed on the movable end of the robot arm. One end of the clamping seat is installed on the quick-change end of the quick-connect connector. The clamping cylinder is installed on the other end of the clamping seat. The grippers are installed on the clamping end of the clamping cylinder. The clamping cylinder clamps the product through the grippers.

8. A six-axis robotic arm grinding device according to claim 1, characterized in that: The top cover of the machine is equipped with a dust cover, and the grinding area of ​​the machine is also equipped with a dust removal mechanism. The dust removal mechanism includes a dust scraping component and a dust suction component. The dust suction component is set in accordance with the grinding area of ​​the sanding belt and is used to absorb the dust generated during the sanding process. The dust scraping component is installed on one side of the bottom of the support frame and is used to scrape off the dust on the sanding belt.

9. A six-axis robotic arm grinding device according to claim 8, characterized in that: The dust scraping assembly includes a dust scraping seat, a dust scraping cylinder, and a brush. The dust scraping seat is installed on the bottom surface of the grinding area, the dust scraping cylinder is installed on the top surface of the dust scraping seat, and the brush is installed on the movable end of the dust scraping cylinder. The brush abuts against the outer surface of the sanding belt under the push of the dust scraping cylinder.

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