A ceramic polishing robot

Abstract

The application relates to the technical field of ceramic processing, and discloses a ceramic polishing robot, which comprises a robot body and an end effector, the end effector is a hard alloy piece or a diamond powder metallurgical piece, the end effector comprises an adapter seat, a polishing driving assembly and a friction head, the adapter seat is connected between the robot body and the polishing driving assembly, the polishing driving assembly is in transmission connection with the friction head, the adapter seat comprises an adapter flange, an upper spring shell, a lower spring shell and a top pressing spring, the adapter flange is assembled with the robot body, the lower spring shell is movably inserted into the upper spring shell, one end of the top pressing spring is connected with the upper spring shell, and the other end of the top pressing spring is connected with the lower spring shell. The hard alloy piece or the diamond powder metallurgical piece is a material with high hardness and high wear resistance, the rigidity of the end effector is increased, the deviation of the end effector caused by vibration is reduced, the top pressing spring provides necessary pressure for the friction head and keeps the friction head in close contact with a workpiece, and the accuracy of a track is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ceramic processing, in particular to a ceramic polishing robot. BACKGROUND

[0002] As a material widely used in various fields, the processing quality of ceramics is directly related to the market competitiveness of products. In the production process of ceramic products, as many as dozens of fine processes are required to complete, and polishing and polishing are crucial links that determine the final appearance and texture of the product. Traditional manual polishing and polishing methods have many problems such as low efficiency, difficulty in uniform processing quality, high labor intensity of workers, and poor working environment.

[0003] The patent with the publication number CN116833861A discloses a ceramic core intelligent robot polishing equipment polishing part mounting device, which comprises: a mechanical arm; a grabbing jaw, which is detachably connected to the mechanical arm; a polishing spindle, which is connected to the mechanical arm and arranged on one side of the grabbing jaw; an image acquisition system, which is connected to the mechanical arm, and the polishing spindle is located between the image acquisition system and the grabbing jaw; a placing part, which comprises a bottom plate, a support column and a fixed plate, one end of the support column is connected to the bottom plate, the other end is connected to the fixed plate, the fixed plate has a protrusion and a through hole, the end face of the protrusion has a first inclined surface, the fixed plate is used to place the grabbing jaw, the through hole accommodates part of the grabbing jaw, and the grabbing jaw abuts against the protrusion.

[0004] The robot polishing equipment polishing part mounting device above accurately positions the position of the ceramic by the grabbing jaw, and polishes the ceramic by the polishing spindle. However, when the robot is polishing, the robot arm and the end effector need to maintain accurate trajectories in high-speed rotation or complex motion, frequent friction and vibration can cause deviation and wear in the area where the end effector contacts the ceramic material, affecting the polishing quality, increasing maintenance costs and downtime. SUMMARY

[0005] The purpose of the present application is to provide a ceramic polishing robot to solve the problem of deviation and wear in the area where the end effector contacts the ceramic material when the robot polishes the ceramic in the prior art, affecting the polishing quality.

[0006] In order to achieve the above object, the present application provides a ceramic polishing robot, comprising a robot body and an end effector connected with the robot body, the end effector being a cemented carbide piece or a diamond powder metallurgical piece, the end effector comprising an adapter seat, a polishing driving assembly and a friction head, the adapter seat being connected between the robot body and the polishing driving assembly, the polishing driving assembly being in transmission connection with the friction head to drive the friction head to rotate, the adapter seat comprising an adapter flange, an upper spring shell, a lower spring shell and a top pressing spring, the adapter flange being assembled with the robot body, the lower spring shell being movably inserted into the upper spring shell, one end of the top pressing spring being connected with the upper spring shell and the other end being connected with the lower spring shell.

[0007] Preferably, the friction head comprises a friction wheel, an upper abrasive tool clamp, a lower abrasive tool clamp and an abrasive head rod, the abrasive head rod being rotatably assembled with the polishing driving assembly, the upper abrasive tool clamp and the lower abrasive tool clamp being clamped and fixed at one end of the abrasive head rod away from the polishing driving assembly, and the friction wheel being clamped and fixed between the upper abrasive tool clamp and the lower abrasive tool clamp.

[0008] Preferably, the polishing driving assembly comprises a motor shell, a motor cover and a polishing motor, the polishing motor being a direct current motor, the lower spring shell being connected with the motor shell, the polishing motor being assembled in the motor shell, the motor cover being assembled at one end of the motor shell away from the adapter seat, a backing plate being further assembled between the motor cover and the motor shell, the top pressing spring being connected with the motor shell, the abrasive head rod being rotatably assembled in the motor cover, and the polishing motor being in transmission connection with the abrasive head rod to drive the abrasive head rod to rotate.

[0009] Preferably, a backing ring is further assembled on the motor cover, and a thrust ball bearing is assembled at each axial end of the abrasive head rod, the thrust ball bearing being in contact with the backing ring.

[0010] Preferably, the adapter seat further comprises a spring top plate, the spring top plate being assembled in the upper spring shell, and the top pressing spring being in connection with the spring top plate.

[0011] Preferably, the robot body comprises a base, a lower frame, an upper frame, an arm and a wrist, the lower frame being fixedly assembled on the base, the bottom of the upper frame being rotatably assembled on the lower frame about a horizontal axis, the arm being rotatably assembled on the top of the upper frame about a horizontal axis, the wrist being rotatably assembled on the end of the arm about an axial center line of the arm, one end of the wrist away from the arm being provided with a rotating seat rotatable about a horizontal axis, and the adapter seat being fixedly assembled with the rotating seat.

[0012] Preferably, the wrist comprises a bracket, a stepping motor fixedly assembled to the bracket, and a load-bearing shaft rotatably assembled to the bracket about a horizontal axis, an angular contact bearing being assembled between the load-bearing shaft and the bracket, the rotating seat being fixedly assembled to the load-bearing shaft; the stepping motor is in transmission connection with the load-bearing shaft to drive the load-bearing shaft to rotate.

[0013] Preferably, the arm comprises a housing, a rotating motor assembled in the housing, and a rotating shaft in transmission connection with the rotating motor to drive the rotating shaft to rotate, the rotating shaft being fixedly assembled to the bracket, the housing being fixedly assembled to the upper frame.

[0014] Preferably, the upper frame comprises two groups of upper frame bodies, a connecting plate and a connecting cylinder being further connected between the two groups of upper frame bodies, a first servo motor being assembled in the connecting cylinder, an upper shaft body being connected between top ends of the two groups of upper frame bodies, a harmonic reducer being connected between the upper shaft body and a belt wheel, the first servo motor being in transmission connection with the belt wheel through a transmission belt.

[0015] Preferably, the lower frame comprises a bottom disc fixedly assembled to the base, a motor cylinder fixedly assembled to the bottom disc away from the base, and a second servo motor assembled in the motor cylinder.

[0016] The transmission rod is fixedly assembled to one group of the upper frame bodies, the bottom end of the other group of the upper frame bodies is provided with a cylindrical roller bearing, the motor cylinder is assembled between the shaft sleeve and the cylindrical roller bearing, the output end of the second servo motor is provided with a harmonic reducer, and the harmonic reducer is in transmission connection with the transmission rod.

[0017] Compared with the prior art, the ceramic polishing robot has the beneficial effects that: the end effector is made of a hard alloy or a diamond powder metallurgical piece, which is a high-hardness and high-wear-resistance material and can cope with the wear problem under long-time polishing and grinding operation, increase the rigidity of the end effector, reduce the deviation of the end effector due to vibration, increase the adapter between the polishing driving assembly and the robot body, the top pressure spring of the adapter is connected with the upper spring shell and the lower spring shell, when the end effector vibrates, the top pressure spring can drive the upper spring shell and the lower spring shell to move relatively to absorb the vibration, at the same time, the top pressure spring can provide necessary pressure for the friction head and keep the friction head in close contact with the workpiece, ensure the accuracy of the trajectory, ensure the polishing quality, and quickly adapt to different processing requirements. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1is a structural schematic diagram of a ceramic polishing robot of the present application;

[0019] Figure 2 is Figure 1 is a structural schematic diagram of an end effector and a rotating seat of a ceramic polishing robot of the present application;

[0020] Figure 3 is Figure 2 is a half sectional view of an end effector and a rotating seat of a ceramic polishing robot of the present application;

[0021] Figure 4 is Figure 1 is a structural schematic diagram of a wrist of a ceramic polishing robot of the present application;

[0022] Figure 5 is a structural schematic diagram of a wrist of a ceramic polishing robot of the present application, omitting a shielding cover;

[0023] Figure 6 is Figure 1 is a structural schematic diagram of an arm of a ceramic polishing robot of the present application;

[0024] Figure 7 is Figure 6 is a sectional view of an arm of a ceramic polishing robot of the present application;

[0025] Figure 8 is Figure 1 is a three-dimensional structural schematic diagram of an upper frame of a ceramic polishing robot of the present application;

[0026] Figure 9 is Figure 8 is a three-dimensional structural schematic diagram of an upper frame of a ceramic polishing robot of the present application, from another perspective;

[0027] Figure 10 is Figure 8 is a sectional view of an upper frame of a ceramic polishing robot of the present application;

[0028] Figure 11 is Figure 1 is a three-dimensional structural schematic diagram of a lower frame of a ceramic polishing robot of the present application;

[0029] Figure 12 is Figure 11 is a sectional view of a lower frame of a ceramic polishing robot of the present application;

[0030] Figure 13 is Figure 1 is a three-dimensional structural schematic diagram of a base of a ceramic polishing robot of the present application;

[0031] Figure 14 is Figure 13 is a half sectional view of a base of a ceramic polishing robot of the present application.

[0032] In the figure, 1, end effector, 11, adapter seat, 111, adapter flange, 112, upper spring shell, 113, lower spring shell, 114, top pressure spring, 115, spring top plate, 12, polishing drive assembly, 121, motor shell, 122, motor cover, 123, polishing motor, 124, backing plate, 125, backing ring, 13, friction head, 131, friction wheel, 132, upper abrasive holder, 133, lower abrasive holder, 134, abrasive head rod, 2, base, 21, shell, 22, third servo motor, 23, motor fixing disc, 24, thrust self-aligning roller bearing, 25, inner ring, 26, dust cover, 27, reducer side cylinder, 3, lower frame, 31, chassis, 32, motor cylinder, 33, second servo motor, 34, reducer side cylinder, 35, motor side cylinder, 36, connecting rod, 4, upper frame, 41, upper frame body, 42, upper shaft body, 43, first servo motor, 44, pulley, 45, connecting plate, 46, connecting cylinder, 47, shaft sleeve, 48, transmission rod, 5, arm, 51, outer shell, 52, rotation motor, 53, rotation shaft, 6, wrist, 61, rotation seat, 62, support, 63, stepper motor, 64, load-bearing shaft, 65, shielding cover, 66, bearing sleeve, 67, motor crank, 68, shaft crank, 69, connecting rod, 7, thrust ball bearing, 8, angular contact bearing, 9, harmonic reducer, 10, tapered roller bearing, 20, cylindrical roller bearing. DETAILED DESCRIPTION

[0033] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0034] A preferred embodiment of a ceramic polishing robot of the present application is shown in Figures 1 to 14 The ceramic polishing robot includes a robot body and an end effector 1, the robot body is used to be assembled on a work platform or the ground, and the end effector 1 is used to polish and polish the ceramic workpiece.

[0035] The end effector 1 is a cemented carbide or diamond powder metallurgy piece, which is a material with high hardness and high wear resistance, can increase the rigidity of the end effector 1, avoid vibration and deviation caused by insufficient structural rigidity, and also cope with the wear problem caused by long-time polishing and grinding operation, and reduce the trajectory deviation caused by wear.

[0036] As shown in Figure 2 and Figure 3As shown, the end effector 1 comprises an adapter 11, a polishing driving assembly 12 and a friction head 13, the adapter 11 is connected between the polishing driving assembly 12 and the robot body, the friction head 13 is assembled on the side of the polishing driving assembly 12 away from the adapter 11, and the polishing driving assembly 12 is in transmission connection with the friction head 13 for driving the friction head 13 to rotate to polish the ceramic workpiece.

[0037] The adapter 11 comprises an adapter flange, an upper spring shell, a lower spring shell and a top pressure spring, the adapter flange is assembled with the robot body, and the flange connection can increase the stability of the assembly between the adapter 11 and the robot body. The upper spring shell is fixedly assembled with the adapter flange, the lower spring shell is movably inserted into the upper spring shell, and the robot body and the polishing driving assembly 12 are fixedly assembled with the lower spring shell. The relative movement of the upper spring shell and the lower spring shell can adjust the distance between the polishing driving assembly 12 and the adapter 11.

[0038] One end of the top pressure spring is connected with the upper spring shell, and the other end is connected with the lower spring shell. The top pressure spring provides necessary pressure for the lower spring shell and the polishing driving assembly 12, and can absorb the vibration generated during polishing work, so as to keep the friction head 13 at the other end of the polishing driving assembly 12 in close contact with the ceramic workpiece, thereby ensuring the accuracy of the friction head 13.

[0039] The end effector 1 of the ceramic polishing robot adopts a hard alloy piece or a diamond powder metallurgical piece, which is a high-hardness and high-wear-resistant material, can cope with the wear problem under long-time polishing and grinding work, increase the rigidity of the end effector 1, reduce the deviation of the end effector 1 due to vibration, and increase the adapter 11 between the polishing driving assembly 12 and the robot body. The top pressure spring of the adapter 11 connects the upper spring shell and the lower spring shell, and when the end effector 1 vibrates, the top pressure spring can drive the upper spring shell and the lower spring shell to move relatively to absorb the vibration, while providing necessary pressure for the friction head 13 and keeping the friction head 13 in close contact with the workpiece, ensuring the accuracy of the trajectory, ensuring the polishing quality, and being able to quickly adapt to different processing requirements.

[0040] Preferably, the friction head 13 comprises a friction wheel 131, an upper abrasive holder 132, a lower abrasive holder 133 and an abrasive head rod 134, the abrasive head rod 134 is rotatably assembled on the polishing driving assembly 12, the upper abrasive holder 132 and the lower abrasive holder 133 are clamped and fixed on one end of the abrasive head rod 134 away from the polishing driving assembly 12, and the friction wheel 131 is clamped and fixed between the upper abrasive holder 132 and the lower abrasive holder 133.

[0041] As Figure 2 With Figure 3As shown, the friction wheel 131 is used for grinding and polishing ceramic workpieces. In this embodiment, the friction wheel 131 is specifically a wool wheel. The friction wheel 131 is fixed to the grinding head rod 134 by M6 hexagonal head bolts and driven by a spline. The spline has a good anti-rotation effect, and the grinding head rod 134 can drive the friction wheel 131 to rotate through the spline. The upper grinding wheel clamp 132 and the lower grinding wheel clamp 133 squeeze the friction wheel 131 from the upper and lower directions to clamp and fix the friction wheel 131.

[0042] Preferably, the grinding drive assembly 12 includes a motor housing 121, a motor cover 122, and a grinding motor 123. The grinding motor 123 is a DC motor. The lower spring housing is connected to the motor housing 121. The grinding motor 123 is assembled inside the motor housing 121. The motor cover 122 is assembled at the end of the motor housing 121 away from the adapter seat 11. A pad 124 is also assembled between the motor cover 122 and the motor housing 121. The top pressure spring is connected to the motor housing 121. The grinding head rod 134 is rotatably assembled inside the motor cover 122. The grinding motor 123 is connected to the grinding head rod 134 to drive the grinding head rod 134 to rotate.

[0043] like Figure 2 and Figure 3 As shown, specifically, the motor housing 121 and motor cover 122 protect the grinding motor 123. The motor cover 122 and the pad 124 are fixed to the motor housing 121 by four M3 hexagonal head bolts and four M3 hexagonal head bolts, and clamp the stepper motor 63. The grinding motor 123 uses a DC motor as a power source to drive the friction head 13 to rotate at high speed, which can provide stable and strong power.

[0044] In this embodiment, the grinding head rod 134 and the grinding motor 123 are connected by a common flat key. The grinding motor 123 can drive the grinding head rod 134 to rotate within the motor cover 122 via the key structure, thereby driving the friction wheel 131 to rotate and polish the ceramic workpiece. In this embodiment, the lower spring housing and the motor housing 121 are connected by four M3 hexagonal head bolts, and the top pressure spring is restricted to move by the motor housing 121.

[0045] Preferably, a washer 125 is also fitted on the motor cover 122, and thrust ball bearings 7 are fitted on both axial ends of the grinding head rod 134, with the thrust ball bearings 7 connected to the washer 125.

[0046] The grinding head rod 134 bears the axial force during grinding through two sets of thrust ball bearings 7. The thrust ball bearings 7 reduce the resistance when the grinding head rod 134 rotates while bearing the axial force during grinding, thereby reducing the vibration of the end effector 1. A washer ring 125 is mounted on the motor cover 122 to connect with the thrust ball bearings 7. The washer ring 125 can reduce the vibration transmission between the thrust ball bearings 7 and the motor cover 122.

[0047] Preferably, the adapter 11 further includes a spring top plate 115, which is assembled inside the upper spring housing, and the top spring is connected to the spring top plate.

[0048] like Figure 3 As shown, in this embodiment, the spring top plate 115 is fixed to the upper spring shell by an M8 hexagonal head bolt and the axial rotation is restricted by a spline. The spring top plate 115 is interlocked with the lower spring shell and the axial rotation is restricted by a spline. The pressure surfaces of the spring top plate 115 and the lower spring shell are buffered by a rubber washer. The spline has a good guiding effect, ensuring that the lower spring shell and the upper spring shell only move relative to each other along the axial direction of the spring when the spring is extended or retracted.

[0049] Preferably, the robot body includes a base 2, a lower frame 3, an upper frame 4, an arm 5, and a wrist 6. The lower frame 3 is fixedly mounted on the base 2. The bottom of the upper frame 4 is rotatably mounted on the lower frame 3 about a horizontal axis. The arm 5 is rotatably mounted on the top of the upper frame 4 about a horizontal axis. The wrist 6 is rotatably mounted on the end of the arm 5 about the axial center line of the arm 5. The end of the wrist 6 away from the arm 5 is provided with a rotating seat 61 that rotates about a horizontal axis. The adapter 11 is fixedly mounted on the rotating seat 61.

[0050] like Figure 1 As shown, in this embodiment, the base 2 is fixed to the ground or platform by 4 M12 bolts, and the base 2 is fixed to the lower frame 3 by 6 M8 bolts; the lower frame 3 and the upper frame 4 are connected by a shaft hole fit, allowing the upper frame 4 to rotate around the horizontal axis, and several M8 bolts are used between the lower frame 3 and the upper frame 4 to prevent them from separating; the upper frame 4 and the arm 5 are connected by a shaft hole fit and driven by a key, so that the arm 5 can rotate around the horizontal axis at the top of the upper frame 4; the arm 5 and the wrist 6 are connected by 5 M8 bolts, and the wrist 6 and the end effector 1 are connected by a hole shaft fit and driven by a key.

[0051] In this embodiment, the axial center line of the wrist 6 rotating around the arm 5 is perpendicular to the horizontal axis of the rotating seat 61. That is, when the wrist 6 rotates, it is in the same horizontal plane as the arm 5, while the rotating seat 61 rotates in the vertical plane. At the same time, the arm 5 can rotate around the upper frame 4 in the vertical plane, and the upper frame 4 can rotate around the lower frame 3 in the vertical plane. The interaction between these two elements allows the orientation of the rotating seat 61 to change throughout the three-dimensional space, which can adjust the direction of the adapter seat 11 and the friction head 13 connected to the adapter seat 11 to achieve different grinding actions.

[0052] Preferably, the wrist 6 includes a bracket 62, a stepper motor 63, and a load-bearing shaft 64. The stepper motor 63 is fixedly mounted on the bracket 62, and the load-bearing shaft 64 is rotatably mounted on the bracket 62 about a horizontal axis. An angular contact bearing 8 is mounted between the load-bearing shaft 64 and the bracket 62. A rotating seat 61 is fixedly mounted on the load-bearing shaft 64. The stepper motor 63 and the load-bearing shaft 64 are connected by a transmission to drive the load-bearing shaft 64 to rotate.

[0053] like Figure 4 and Figure 5 As shown, the main structure of the wrist 6 is the bracket 62, which is used to support the stepper motor 63, the load-bearing shaft 64 and the rotating seat 61. The bracket 62 is provided with shields 65 on both sides. The shields 65 are fixedly assembled with the bracket 62 by screws. The shields 65 are made of ABS engineering plastic, which keeps the wrist 6 aesthetically pleasing and can also protect the internal structural components such as the stepper motor 63.

[0054] The load-bearing shaft 64 is connected to the rotating seat 61 via a key structure to transmit power to the rotating seat 61. When the load-bearing shaft 64 rotates, it drives the rotating seat 61 to rotate synchronously. The load-bearing shaft 64 is connected to the bracket 62 via two sets of angular contact bearings 8, which face each other to secure the load-bearing shaft 64. A bearing sleeve 66 is also connected to the bracket 62, secured to it by six M8×30 ​​bolts and four M8×110 bolts, thus protecting the angular contact bearings 8.

[0055] In this embodiment, the output end of the stepper motor 63 is connected to a motor crank 67, and the end of the load-bearing shaft 64 is connected to a shaft crank 68. The motor crank 67 and the shaft crank 68 are connected by a connecting rod 69. The motor crank 67, the connecting rod 69, and the shaft crank 68 form a parallel four-bar linkage 69 mechanism, thereby completing the transmission and transmitting power from the stepper motor 63 to the load-bearing shaft 64.

[0056] Considering the stress concentration during transmission and the repeated stress during operation, the motor crank 67, shaft crank 68, rotating seat 61, and load-bearing shaft 64 are made of 45 steel. Considering the stress dispersion and the need to reduce the overall weight and reduce the load on the motor, the bracket 62 and bearing sleeve 66 are made of 2024-O aluminum alloy. This type of aluminum alloy is suitable for high-load parts and is relatively lightweight.

[0057] Preferably, the arm 5 includes a housing 51, a rotating motor 52 and a rotating shaft 53. The rotating motor 52 is assembled inside the housing 51. The rotating motor 52 is connected to the rotating shaft 53 to drive the rotating shaft 53 to rotate. The rotating shaft 53 is fixedly assembled with the bracket 62. The housing 51 is fixedly assembled with the upper frame 4 to prevent rotation.

[0058] like Figure 6 and Figure 7As shown, the rotating motor 52 is assembled in the shell 51, the shell 51 protects the rotating motor 52, and the outer side of the shell 51 can be provided with an ABS engineering plastic shielding cover for shielding the rotating motor 52, and the shielding cover is fixedly connected with the shell 51 by bolts. In the embodiment, the shell 51 is rotationally assembled with the upper frame 4 by a key structure to receive the torque from the upper frame 4, so as to adjust the rotation angle between the arm 5 and the upper frame 4. The shell 51 is a main load-bearing member, and the stepping motor 632 is fixed by four M6 bolts, and the rotating shaft 53 is fixed by four M6 bolts and four M8 bolts.

[0059] In the embodiment, the shell 51 and the rotating shaft 53 are assembled into a pair of angular contact bearings 8, which are assembled between the rotating shaft 53 and the shell 51 by a face-to-face mounting method, the outer side of the angular contact bearing 8 is provided with a bearing sleeve 66, the rotating shaft 53 axially slides through the boss limiter, and one end of the rotating shaft 53 is fixed in cooperation with the bracket 62 of the wrist 6 by five M8 bolts, and the other end is matched with the rotating motor 52 to complete the transmission.

[0060] Considering the stress concentration during transmission and the repeated stress during work, the material of the rotating shaft 53 is selected to be 45 steel; considering stress dispersion, the need to reduce the overall weight and reduce the load of the motor, the shell 51 and the bearing sleeve 66 are selected to be 2024-O aluminum alloy, which is suitable for high-load parts and has a relatively light weight.

[0061] Preferably, the upper frame 4 comprises an upper frame body 41, an upper shaft body 42, a first servo motor 43, a harmonic reducer 9 and a belt pulley 44, the upper frame body 41 is arranged in two groups, the two groups of upper frame bodies 41 are further connected with a connecting plate 45 and a connecting cylinder 46, the first servo motor 43 is assembled in the connecting cylinder 46, the upper shaft body 42 is connected between the top ends of the two groups of upper frame bodies 41, the harmonic reducer 9 is connected between the upper shaft body 42 and the belt pulley 44, and the first servo motor 43 is in transmission connection with the belt pulley 44 through a transmission belt.

[0062] As shown in Figures 8 to 10 The upper frame body 41 is a main load-bearing component of the upper frame 4, the two groups of upper frame bodies 41 are fixed by M8 bolts through the connecting cylinder 46 and the connecting plate 45 to form the main structure of the upper frame body 41. The radial rotation power source between the upper frame 4 and the arm 5 is provided by the first servo motor 43, and the connecting cylinder 46 plays a role in connecting the upper frame body 41 and assembling the first servo motor 43.

[0063] The first servo motor 43 drives the harmonic reducer 9 through the pulley 44 and the transmission belt. In this embodiment, the diameter of the pulley 44 connected to the transmission shaft of the first servo motor 43 is smaller than that of the pulley 44 connected to the harmonic reducer 9, and the transmission belt is a Z-shaped V belt. The upper shaft body 42 is further provided with a shaft sleeve at both ends through a key structure, and the shaft sleeve is connected to the harmonic reducer 9 through an M8 bolt. The harmonic reducer 9 drives the shaft sleeve to rotate after adjusting the rotating speed, and finally transmits power to the upper shaft body 42. The power is transmitted between the upper shaft body 42 and the arm 5 through a key structure. The two sides of the upper shaft body 42 are a pair of tapered roller bearings 10 assembled face to face, which play a role in bearing.

[0064] Preferably, the lower frame 3 comprises a chassis 31, a motor cylinder 32, and a second servo motor 33. The chassis 31 is fixedly assembled to the base 2. The motor cylinder 32 is fixedly assembled to the side of the chassis 31 away from the base 2. The second servo motor 33 is assembled in the motor cylinder 32. A set of upper frame bodies 41 are fixedly provided with transmission rods 48. The other set of upper frame bodies 41 are provided with cylindrical roller bearings 20 at the bottom ends. The transmission rods 48 are provided with shaft sleeves 47. The motor cylinder 32 is assembled between the shaft sleeves 47 and the cylindrical roller bearings 20. The output end of the second servo motor 33 is provided with a harmonic reducer 9. The harmonic reducer 9 is in transmission connection with the transmission rod 48.

[0065] As shown in the drawings, Figure 11 With Figure 12 In this embodiment, the chassis 31 and the base 2 are connected by M8 bolts and complete the axial rotation between the base 2 and the lower frame 3. One end of the motor cylinder 32 is further connected with a reducer side cylinder 34, and the other end is connected with a motor side cylinder 35. The reducer side cylinder 34 is sleeved outside the harmonic reducer 9. The reducer side cylinder 34 and the motor side cylinder 35 are both used to connect with the upper frame bodies 41 of the upper frame 4. The reducer side cylinder 34 and the motor side cylinder 35 are fixed with the chassis 31 by M8 bolts as the shaft for the radial rotation between the lower frame 3 and the upper frame 4. The displacement between the reducer side cylinder 34 and the motor side cylinder 35 is limited by the connecting rod 36 and the motor cylinder 32. The second servo motor 33 is fixed in the motor cylinder 32 by M5 bolts. The harmonic reducer 9 is fixed with the motor cylinder 32 and the reducer side cylinder 34 by M5 bolts.

[0066] The power for the radial rotation between the upper frame 4 and the lower frame 3 is transmitted through the transmission rod 48 and the shaft sleeve 47. One end of the transmission rod 48 is fixed with the upper frame body 41 through M8 bolts and hole shaft cooperation. One end of the transmission rod 48 is in transmission with the shaft sleeve 47 through a key structure and is connected with the lower frame 3 by M8 bolts. The shaft sleeve 47 of the upper frame 4 and the motor cylinder 32 of the lower frame 3 are connected through the cylindrical roller bearing 20. The cylindrical roller bearing 20 plays a role in transmitting rotation and bearing axial load. In this embodiment, a baffle is also installed on the cylindrical roller bearing 20 to prevent dust from entering the cylindrical roller bearing 20 during machining.

[0067] The upper frame 4 is a connecting piece between the lower frame 3 and the arm 5, and the upper end and the lower end of the upper frame 4 bear the torque of radial rotation. When the work is performed, the torque is large, and the structure of the upper frame 4 is large due to the need to install the motor, which also increases the mass of the upper frame 4. After comprehensively considering various factors, the materials of the shaft sleeve 47, the blocking piece, the transmission rod 48, and the upper shaft body 42 are selected to be 45 steel to obtain higher strength, and the materials of the connecting cylinder 46, the upper frame body 41, and the connecting plate 45 are selected to be 2024-O aluminum alloy to reduce the weight.

[0068] The lower frame 3 is a component between the base 2 and the upper frame 4, and the stress is large. Due to the structural limitation, the displacement limitation between the parts is difficult. For the reducer side cylinder 34, the motor side cylinder 35, and the chassis 31, which have large stress and high deformation requirements, the material is selected to be 45 steel. For the connecting rod 36 and the motor cylinder 32, which are used to disperse stress and have low deformation requirements, the material is selected to be 2024-O aluminum alloy.

[0069] As shown in Figure 13 As shown in Figure 14 The base 2 is the support foundation of the ceramic polishing robot. By measuring the mass of the wrist 6, the arm 5, the upper frame 4, and the lower frame 3, the mass of the robot body can be obtained. After calculating the mass of the end effector 1, the mass that the base 2 needs to bear can be obtained. Considering that the base 2 is a fixed component between the platform and the robot, it is more subjected to axial pressure during the work. Therefore, the axial stress should be considered during the design. In this way, the base 2 is designed in combination with the cooperation of the motor and the harmonic reducer.

[0070] The main structure of the base 2 is composed of a shell 21, a third servo motor 22, a harmonic reducer 9, a motor fixing disc 23, a thrust aligning roller bearing 24, an inner ring 25, and a dust cover 26. The shell 21 is fixed to the platform or the ground by M12 bolts. The inner wall of the shell 21 is provided with a fixing disc. The third servo motor 22 is assembled at the bottom of the fixing disc. The fixing disc fixes the third servo motor 22 by M5 bolts. The fixing disc is limited in rotation by the groove on the inner wall of the shell 21.

[0071] The inner wall of the shell 21 is also provided with an inner ring 25 on the upper side of the fixing disc. The upper and lower sides of the inner ring 25 are provided with a pair of thrust aligning roller bearings 24 in a back-to-back arrangement. The thrust aligning roller bearings 24 are wrapped by bearing sleeves 66 and fixed by M8 flange bolt and flange nut. The lower bearing sleeve 66 is fixed to the fixing disc and the shell 21 by M8 bolts.

[0072] The upper side of the fixed disc is also fixed with a reducer ring 27 through M5 bolts, the reducer ring 27 is used for fixing the harmonic reducer 9, and also plays a role in limiting the distance of the harmonic reducer 9, the harmonic reducer 9 is fixed and torque is transmitted through M8 bolts and the inner ring 25. The side of the shell 21 is also equipped with a dust cover 26, the dust cover 26 is mounted on the shell 21 through friction, which prevents dust from entering the inside of the base 2 while leaving the required space for maintenance.

[0073] Since the base 2 is directly fixed on the platform or the ground, and the strength requirement is higher, the materials of the shell 21, the reducer ring 27, the fixed disc, and the inner ring 25 are all selected to be 45 steel to provide strength, and the material of the dust cover 264 is selected to be rubber to achieve dust prevention while facilitating maintenance.

[0074] The ceramic polishing robot can realize intelligent, automatic and efficient polishing of ceramics, can overcome the processing difficulties caused by environmental deterioration, can greatly save human resources, can realize large-scale production and personalized needs of enterprises, can process ceramics of different shapes and sizes, has high flexibility and strong adaptability, and can provide a more stable processing environment for ceramic processing through analysis of materials, structures, selection and the like.

[0075] To sum up, the ceramic polishing robot provided by the embodiment of the present application has an end effector made of hard alloy or diamond powder metallurgy, which is a high-hardness and high-wear-resistance material and can cope with wear problems under long-time polishing and grinding work, increase the rigidity of the end effector, reduce the deviation of the end effector caused by vibration, increase an adapter between the polishing driving assembly and the robot body, and connect the upper spring shell and the lower spring shell through the top pressure spring of the adapter, so that the top pressure spring can drive the upper spring shell and the lower spring shell to move relatively to absorb vibration when the end effector vibrates, provide necessary pressure for the friction head, keep the friction head in close contact with the workpiece, ensure the accuracy of the trajectory, ensure the polishing quality, and quickly adapt to different processing needs.

[0076] The above only describes the preferred embodiments of the present application, and it should be noted that for ordinary skilled persons in the technical field, some improvements and replacements can be made without departing from the technical principles of the present application, and these improvements and replacements should also be considered as the protection scope of the present application.

Claims

1. A ceramic polishing robot, characterized in that, The system includes a robot body and an end effector connected to the robot body. The end effector is a cemented carbide part or a diamond powder metallurgy part. The end effector includes an adapter, a grinding drive assembly, and a friction head. The adapter is connected between the robot body and the grinding drive assembly. The grinding drive assembly is driven by the friction head to drive the friction head to rotate. The adapter includes an adapter flange, an upper spring shell, a lower spring shell, and a top pressure spring. The adapter flange is assembled with the robot body. The lower spring shell is movably inserted into the upper spring shell. One end of the top pressure spring is connected to the upper spring shell, and the other end is connected to the lower spring shell. The friction head includes a friction wheel, an upper grinding tool clamp, a lower grinding tool clamp, and a grinding head rod. The grinding head rod is rotatably mounted on the grinding drive assembly. The upper grinding tool clamp and the lower grinding tool clamp are fixed to the end of the grinding head rod away from the grinding drive assembly. The friction wheel is fixed between the upper grinding tool clamp and the lower grinding tool clamp. The grinding drive assembly includes a motor housing, a motor cover, and a grinding motor. The grinding motor is a DC motor. The lower spring housing is connected to the motor housing. The grinding motor is assembled inside the motor housing. The motor cover is assembled at the end of the motor housing away from the adapter seat. A pad is also assembled between the motor cover and the motor housing. The top pressure spring is connected to the motor housing. The grinding head rod is rotatably assembled inside the motor cover. The grinding motor is driven by the grinding head rod to drive the grinding head rod to rotate. The robot body includes a base, a lower frame, an upper frame, an arm, and a wrist. The lower frame is fixedly mounted on the base. The bottom of the upper frame is rotatably mounted on the lower frame about a horizontal axis. The arm is rotatably mounted on the top of the upper frame about a horizontal axis. The wrist is rotatably mounted on the end of the arm about the axial center line of the arm. The end of the wrist away from the arm is provided with a rotating seat that rotates about a horizontal axis. The adapter seat is fixedly mounted to the rotating seat. The wrist includes a bracket, a stepper motor, and a load-bearing shaft. The stepper motor is fixedly mounted on the bracket, and the load-bearing shaft is rotatably mounted on the bracket about a horizontal axis. An angular contact bearing is mounted between the load-bearing shaft and the bracket, and the rotating seat is fixedly mounted on the load-bearing shaft. The stepper motor is connected to the load-bearing shaft to drive the load-bearing shaft to rotate.

2. The ceramic polishing robot according to claim 1, characterized in that, The motor cover is also equipped with a washer ring, and both ends of the grinding head rod are equipped with thrust ball bearings, which are connected to the washer ring.

3. The ceramic polishing robot according to claim 1, characterized in that, The adapter also includes a spring top plate, which is assembled inside the upper spring housing, and the pressure spring is connected to the spring.

4. The ceramic polishing robot according to any one of claims 1-3, characterized in that, The arm includes a housing, a rotating motor, and a rotating shaft. The rotating motor is assembled inside the housing and is connected to the rotating shaft to drive the rotating shaft to rotate. The rotating shaft is fixedly assembled to the bracket, and the housing is anti-rotationally assembled to the upper frame.

5. The ceramic polishing robot according to claim 4, characterized in that, The upper frame includes an upper frame body, an upper shaft body, a first servo motor, a harmonic reducer, and a pulley. Two sets of upper frame bodies are arranged at intervals, and a connecting plate and a connecting cylinder are connected between the two sets of upper frame bodies. The first servo motor is assembled in the connecting cylinder. The upper shaft body is connected between the top ends of the two sets of upper frame bodies. The harmonic reducer is connected between the upper shaft body and the pulley. The first servo motor is connected to the pulley via a transmission belt.

6. The ceramic polishing robot according to claim 5, characterized in that, The lower frame includes a chassis, a motor cylinder, and a second servo motor. The chassis is fixedly mounted on the base, the motor cylinder is fixedly mounted on the side of the chassis opposite to the base, and the second servo motor is mounted inside the motor cylinder. One set of upper frames is fixedly equipped with a transmission rod, and the bottom end of another set of upper frames is provided with a cylindrical roller bearing. The transmission rod is provided with a bushing, and the motor cylinder is assembled between the bushing and the cylindrical roller bearing. The output end of the second servo motor is equipped with a harmonic reducer, and the harmonic reducer is connected to the transmission rod for transmission.

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