Auxiliary mechanical arm for polishing surface defects of metal structure

Abstract

The invention relates to the technical field of mechanical arms, in particular to a metal structure surface defect grinding auxiliary mechanical arm which comprises a fixing column and further comprises a rotating motor and an adjusting mechanism, a fixing plate is fixedly installed at the output end of the rotating motor, and a telescopic motor is fixedly installed at the top of the fixing plate. A fixing frame is fixedly mounted at the output end of the telescopic motor, a main force rod is rotationally connected to the top of the fixing frame, a rotating disc is arranged at the end, away from the fixing frame, of the main force rod, a mounting rod is fixedly mounted at the top of the rotating disc, and the adjusting mechanism comprises a first adjusting assembly, a second adjusting assembly and a third adjusting assembly. Damping adjustment is carried out through the adjusting mechanism, the grinding head can keep stable contact force and angle through fine damping adjustment and a stable supporting system, so that the grinding precision and consistency are improved, the position and direction of the grinding head can be flexibly adjusted through the multi-degree-of-freedom design, and the grinding efficiency is improved. And the polishing requirements of different shapes and curved surfaces are met.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a metal structure surface defect grinding auxiliary manipulator. Background Art

[0002] Grinding the surfaces of various metal structures to remove the oxide layer, rust, burrs, etc. on the surface to improve the surface quality. It can also grind the welds of metal structures to make the surface smooth and improve the quality and aesthetics of the welds. Using a manipulator for grinding operations helps improve work efficiency and product quality and reliability.

[0003] The invention patent with publication number CN105538331A discloses a power-assisted manipulator, including a base, a pillar, a connecting rod, a cylinder, a control box, a remote control sensor, a suction cup, and a remote control. The connecting pipe is divided into connecting rod one and connecting rod two, and the cylinder is divided into cylinder one and cylinder two. The control box is installed on connecting rod two, and the other end of connecting rod two is connected to the suction cup fixing seat, and the suction cup fixing seat is connected to cylinder two. The remote control sensor is installed on cylinder two. The unique design of the suction cup can make objects rise or fall at will, and can also rotate in any direction around the suction cup fixing seat, making the operation convenient and accurate. The remote control design brings convenience to the operation and ensures the safety of the user.

[0004] Although the above patent has certain beneficial effects, during the surface grinding of metal structures, the robot has a wide working range and a large adjustment range. The metal structures have different shapes and curves, and the grinding head needs to be slightly adjusted in angle. The robot cannot achieve sufficient accuracy when making slight angle adjustments, which affects the grinding effect. Metal structures of different shapes and curves require different grinding methods and angles. It is difficult for the robot to fully adapt to all situations, resulting in insufficient or excessive grinding of some areas. In addition, when the grinding rod is rotatably connected to the robot for adjusting the angle, the weight of the grinding head will cause the connection between the grinding rod and the robot to be unable to bear the excessive weight of the grinding head, resulting in instability of the grinding head, which affects the grinding effect and makes the equipment less practical. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a metal structure surface defect grinding auxiliary robot.

[0006] In order to achieve the above-mentioned object, the present invention adopts the following technical solution: a metal structure surface defect grinding auxiliary manipulator, comprising a fixed column, a moving device is arranged at the bottom of the fixed column, and further comprising: A rotating motor, a mounting frame is fixedly installed on the top of the fixing column, the rotating motor is fixedly installed inside the mounting frame, a fixing plate is fixedly installed on the output end of the rotating motor, a control cabinet is fixedly installed on the top of the fixing plate, a telescopic motor is fixedly installed on the top of the fixing plate, a fixing frame is fixedly installed on the output end of the telescopic motor, a main rod is rotatably connected to the top of the fixing frame, a rotating disk is provided at one end of the main rod away from the fixing frame, and a mounting rod is fixedly installed on the top of the rotating disk; An adjustment mechanism, the adjustment mechanism includes a first adjustment component, a second adjustment component and a third adjustment component, the end of the mounting rod away from the rotating disk is connected to a telescopic rod through the first adjustment component, the end of the telescopic rod away from the mounting rod is rotatably connected to a first damping turntable, the first damping turntable is connected to a mounting plate through the second adjustment component, a second damping turntable is arranged on a side wall of the mounting plate, a side of the second damping turntable away from the mounting plate is connected to a grinding rod through the third adjustment component, and a grinding head is arranged at one end of the grinding rod away from the second damping turntable.

[0007] Preferably, it also includes a friction damping system, which includes a first friction damping component and a second friction damping component, the first friction damping component includes a first damping disk, the first damping disk is rotatably connected to the bottom of the fixed plate, and the first damping disk is fixedly connected to the mounting frame, a first sensor is fixedly installed on the fixed plate, a first damping clamp is fixedly installed on the bottom of the first sensor, the first damping clamp is connected to the first damping disk, and the first sensor is used to detect the rotation angle of the fixed plate in real time.

[0008] Preferably, the end of the main rod away from the fixed frame is fixedly connected to the second connecting frame, the second friction damping assembly includes a second damping disk, the second damping disk is fixedly installed on the top of the second connecting frame, the rotating disk is located on the top of the second damping disk and is rotatably connected to the second damping disk, the end of the main rod away from the fixed frame is fixedly installed with a second sensor, the top of the second sensor is fixedly installed with a second damping clamp, the second damping clamp is connected to the second damping disk, and the second sensor is used to detect the rotation angle of the rotating disk in real time.

[0009] Preferably, the first damping clip and the second damping clip are made of a highly wear-resistant composite material.

[0010] Preferably, a first connecting frame is fixedly installed on the top of the fixing plate, and the first connecting frame is rotatably connected to the main rod.

[0011] Preferably, it also includes an automatic balancing weight system, which includes an auxiliary rod, wherein the auxiliary rod is located between the first connecting frame and the second connecting frame, the auxiliary rod is rotatably connected to the first connecting frame, and the auxiliary rod is fixedly connected to the second connecting frame. The auxiliary rod is located below the main rod, and a sliding groove is provided on the top of the auxiliary rod, and a counterweight block is slidably connected to the sliding groove.

[0012] Preferably, a driving motor is fixedly installed inside the auxiliary rod, and the output shaft of the driving motor is fixedly connected to a transmission rod, the transmission rod passes through the counterweight block and is rotatably connected to the counterweight block, and the counterweight block is made of high-density material.

[0013] Preferably, the first adjustment assembly includes two first damping plates fixedly mounted on the bottom of the mounting rod, the two first damping plates are rotatably connected to the telescopic rod through damping grooves, and an adjusting screw is provided at the connection between the two first damping plates and the telescopic rod.

[0014] Preferably, the second adjustment assembly includes two second damping plates fixedly mounted on the bottom of the first damping turntable, the two second damping plates are rotatably connected to a mounting plate via damping grooves, and an adjustment screw is provided at the connection between the two second damping plates and the mounting plate.

[0015] Preferably, a control handle is fixedly mounted on the side of the mounting plate away from the second damping turntable, and the third adjustment assembly includes two third damping plates fixedly mounted on the side of the second damping turntable away from the control handle, the two third damping plates are rotatably connected to the polishing rod through damping grooves, and an adjustment screw is provided at the connection between the two third damping plates and the polishing rod.

[0016] Compared with the prior art, the advantages of the present invention are: The present invention utilizes the first damping plate, the second damping plate and the third damping plate to perform damping adjustment, allowing workers to adapt to different grinding requirements by fine-tuning the damping, thereby reducing the time and effort of manual adjustment. The rapid response and precise control of the device make the handling and grinding processes more efficient. Workers can quickly position and fix the grinding head to complete the grinding task in the shortest time. Through fine damping adjustment and a stable support system, the grinding head can maintain a stable contact force and angle, thereby improving the accuracy and consistency of grinding. The multi-degree-of-freedom design enables the grinding head to flexibly adjust its position and direction to adapt to the grinding requirements of different shapes and surfaces.

[0017] The present invention adjusts the movement resistance of the manipulator in real time by setting a friction damping system, so that the manipulator is more stable during movement and reduces the impact on workers caused by sudden movement changes. The first sensor and the second sensor detect the rotation angle of the joint in real time and feed back the information to the control cabinet so that the control system dynamically adjusts the friction damping according to the rotation of the joint, thereby improving the control accuracy. The clamping force of the first damping clamp and the second damping clamp is adjusted according to the information of the mass and center of gravity position of the transported object transmitted by the control cabinet, thereby adjusting the friction damping size, so that the manipulator can adapt to different load conditions. The first damping clamp and the second damping clamp are made of high-wear-resistant composite materials to ensure durability and stability in frequent operations.

[0018] The present invention provides an automatic counterweight system and a posture sensor. The posture sensor monitors changes in the center of gravity of the system in real time. When the posture of the manipulator changes, the control cabinet receives the posture sensor signal and starts the drive motor in the auxiliary rod. The counterweight block is moved to an appropriate position through the transmission rod. The position of the counterweight block is automatically adjusted to ensure the balance of the center of gravity of the system and prevent tilting or instability, thereby improving the stability and reliability of the system. The center of gravity of the manipulator can be adjusted in real time so that it can maintain balance under different loads and working angles, thereby improving the adaptability and flexibility of the system. The automatic counterweight system can automatically complete the center of gravity adjustment, thereby improving the stability and balance of the system, reducing failures and downtime caused by unbalanced center of gravity, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall axial structure of a metal structure surface defect grinding auxiliary robot proposed in the present invention.

[0020] Figure 2 This is a schematic diagram of the first damping disk and rotating motor structure of a metal structure surface defect grinding auxiliary manipulator proposed by the present invention.

[0021] Figure 3 This is a schematic diagram of the first damping clamp and the first sensor structure of a metal structure surface defect grinding auxiliary manipulator proposed in the present invention.

[0022] Figure 4 This is a schematic diagram of the telescopic motor and connection frame structure of a metal structure surface defect grinding auxiliary robot proposed in the present invention.

[0023] Figure 5 This is a schematic diagram of the auxiliary rod and sliding groove structure of a metal structure surface defect grinding auxiliary manipulator proposed by the present invention.

[0024] Figure 6 This is a schematic diagram of the telescopic rod and mounting plate structure of a metal structure surface defect grinding auxiliary manipulator proposed in the present invention.

[0025] Figure 7 This is a schematic structural diagram of a telescopic rod and a second damping plate of a metal structure surface defect grinding auxiliary manipulator proposed in the present invention.

[0026] In the figure: 1 fixed column, 2 mounting frame, 3 first damping disc, 4 rotating motor, 5 fixed plate, 6 control cabinet, 7 telescopic motor, 8 fixed frame, 9 first connecting frame, 10 second connecting frame, 11 auxiliary rod, 12 sliding groove, 13 transmission rod, 14 counterweight, 15 main rod, 16 second damping disc, 17 rotating disc, 18 mounting rod, 19 telescopic rod, 20 mounting plate, 21 control handle, 22 first sensor, 23 first damping clamp, 24 second damping clamp, 25 second sensor, 26 first damping turntable, 27 second damping turntable, 28 grinding rod, 29 first damping plate, 30 second damping plate, 31 third damping plate, 32 moving device. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0028] Reference Figures 1 to 7 A metal structure surface defect grinding auxiliary manipulator includes a fixed column 1, a friction damping system and an automatic counterweight system. A moving device 32 is arranged at the bottom of the fixed column 1. A mounting frame 2 is fixedly installed on the top of the fixed column 1. A rotating motor 4 is fixedly installed inside the mounting frame 2. The output shaft of the rotating motor 4 is fixedly connected with a fixed plate 5. The fixed plate 5 is located above the mounting frame 2. The friction damping system includes a first friction damping component and a second friction damping component. The first friction damping component includes a first damping disk 3. The first damping disk 3 is rotatably connected to the bottom of the fixed plate 5. The first damping disk 3 is fixedly connected to the mounting frame 2. The fixed plate 5 is fixedly installed with a control cabinet 6 on the top, a first sensor 22 is fixedly installed on the fixed plate 5, a first damping clip 23 is fixedly installed on the bottom of the first sensor 22, the first damping clip 23 is connected to the first damping disk 3, the first damping clip 23 is made of a highly wear-resistant composite material, a telescopic motor 7 is fixedly installed on the top of the fixed plate 5, a fixed frame 8 is fixedly installed on the output end of the telescopic motor 7, a main rod 15 is rotatably connected to the fixed frame 8, a first connecting frame 9 is fixedly installed on the top of the fixed plate 5, the main rod 15 is rotatably connected to the first connecting frame 9, and a second connecting frame 10 is fixedly installed on one end of the main rod 15 away from the fixed frame 8.

[0029] The automatic counterweight system includes an auxiliary rod 11, which is located between the first connecting frame 9 and the second connecting frame 10. The auxiliary rod 11 is rotatably connected to the first connecting frame 9, and the auxiliary rod 11 is fixedly connected to the second connecting frame 10. The auxiliary rod 11 is located below the main rod 15. A sliding groove 12 is provided on the top of the auxiliary rod 11, and a counterweight block 14 is slidably connected to the sliding groove 12. A driving motor (not shown) is fixedly installed inside the auxiliary rod 11, and a transmission rod 13 is fixedly connected to the output shaft of the driving motor. The transmission rod 13 passes through the counterweight block 14 and is rotatably connected to the counterweight block 14. The counterweight block 14 is made of high-density material. A posture sensor (this is the prior art) is arranged inside the control cabinet 6. The posture sensor monitors the change of the center of gravity of the system in real time. When the posture of the manipulator changes, the control cabinet 6 receives the posture sensor signal and starts the driving motor in the auxiliary rod 11 through the transmission rod 1 The counterweight block 14 is moved in the sliding groove 12 to a proper position. The position of the counterweight block 14 is automatically adjusted to ensure the balance of the center of gravity of the system, prevent tilting or instability, improve the stability and reliability of the system, and can adjust the center of gravity of the manipulator in real time so that it can maintain balance under different loads and working angles, thereby improving the adaptability and flexibility of the system. The automatic counterweight system can automatically complete the center of gravity adjustment without the intervention of the operator, thereby reducing the complexity and labor intensity of manual operation, improving the stability and balance of the system, reducing the failure and downtime caused by the imbalance of the center of gravity, and improving the work efficiency. At the same time, the system is prevented from tilting or instability, reducing the risk of equipment damage and casualties, protecting the safety of equipment and personnel, and reducing the maintenance and production costs caused by equipment damage and downtime, thereby improving the service life and economic benefits of the equipment.

[0030] The second friction damping assembly includes a second damping disc 16, which is fixedly mounted on the top of the second connecting frame 10. The top of the second damping disc 16 is rotatably connected to a rotating disc 17. The rotating motor 4 assists the overall steering, so that the manipulator can rotate in a large range in the horizontal direction. The rotating disc 17 makes the components connected below it rotate in a small range, which increases the operational flexibility of the manipulator. A second sensor 25 is fixedly mounted on the end of the main lever 15 away from the first connecting frame 9. A second damping clamp 24 is fixedly mounted on the top of the second sensor 25. The second damping clamp 24 and the second damping The first damping clamp 23 and the second damping clamp 24 are connected to the first damping disk 3 and the second damping disk 16. When the joint of the manipulator rotates, friction is generated between the first damping clamp 23 and the second damping clamp 24 and the first damping disk 3 and the second damping disk 16, thereby generating movement resistance. The first sensor 22 and the second sensor 25 detect the rotation angle of the joint in real time and feed back the information to the control cabinet 6. The control cabinet 6 adjusts the clamping force of the first damping clamp 23 and the second damping clamp 24 according to the received information, thereby adjusting the friction damping size. In this way, the friction damping system can adjust the movement resistance of the manipulator in real time, so that the manipulator is more stable during movement.

[0031] The top of the rotating disk 17 is fixedly installed with a mounting rod 18, and two first damping plates 29 are fixedly installed at the bottom of one end of the mounting rod 18 away from the rotating disk 17. The two first damping plates 29 are respectively provided with damping grooves on one side close to each other. A telescopic rod 19 is rotatably connected between the two first damping plates 29. Damping grooves are respectively provided on both sides of the telescopic rod 19. The damping grooves on the telescopic rod 19 correspond to the damping grooves on the first damping plates 29 on the corresponding side. An adjusting screw is provided at the connection between the two first damping plates 29 and the telescopic rod 19. Rod, the bottom of the telescopic rod 19 is rotatably connected to the first damping turntable 26, and two second damping plates 30 are fixedly installed on the bottom of the first damping turntable 26. The two second damping plates 30 are respectively provided with damping grooves on one side close to each other. A mounting plate 20 is rotatably connected between the two second damping plates 30, and damping grooves are respectively provided on both sides of the mounting plate 20. The damping grooves on the mounting plate 20 correspond to the damping grooves on the second damping plates 30 on the corresponding side, and an adjusting screw is provided at the connection between the two second damping plates 30 and the mounting plate 20.

[0032] A control handle 21 is fixedly installed on the side wall of the mounting plate 20, and a second damping turntable 27 is installed on a side of the mounting plate 20 away from the control handle 21 through a plurality of bolts. When clamping and transporting an object, the second damping turntable 27 is disassembled to install the fixture. After the fixture clamps the object, the control cabinet 6 calculates the weight of the object, and moves the object to a designated area under the action of the rotating motor 4 and the rotating disk 17. Two third damping plates 31 are fixedly installed on the side of the second damping turntable 27 away from the control handle 21. Damping grooves are respectively provided on the sides of the two third damping plates 31 close to each other. A grinding rod 28 is rotatably connected between the two third damping plates 31. Damping grooves are respectively provided on both sides of the grinding rod 28. The damping grooves on the grinding rod 28 correspond to the damping grooves on the third damping plates 31 on the corresponding side. An adjusting screw is provided at the connection between the two third damping plates 31 and the grinding rod 28. A grinding head is provided at one end of the grinding rod 28 away from the mounting plate 20. The grinding rod 28 and the third damping plate 31 are adjusted according to the weight of the grinding head by adjusting the screw. The tightness of the connection of the third damping plate 31 improves the flexibility of the manipulator. Since the telescopic rod 19 is rotatably connected to the first damping plate 29 through the damping groove, the mounting plate 20 is rotatably connected to the second damping plate 30 through the damping groove, and the grinding rod 28 is rotatably connected to the third damping plate 31 through the damping groove, the damping groove is an arc-shaped groove, and the telescopic rod 19, the mounting plate 20 and the grinding rod 28 can be manually moved. By moving the grinding rod 28, the grinding head is positioned to the position where grinding is required, thereby improving the accuracy of grinding. By adjusting the angle of the telescopic rod 19 and the mounting plate 20 and the direction of the first damping turntable 26 and the second damping turntable 27, the grinding head can grind other adjacent positions, thereby improving the efficiency and quality of grinding. The resistance between the third damping plate 31 is adjusted by using the adjusting screw, so that the connection between the third damping plate 31 and the grinding rod 28 can carry different grinding heads, thereby ensuring the stability of the grinding head during work and improving work safety.

[0033] In the present invention, the fixed column 1 is fixed at the working place, a clamp of the object to be transported is installed on the inner side of the mounting plate 20, the device is started, and the object is clamped with the clamp. The control cabinet 6 calculates the weight of the object, and the telescopic motor 7 and the rotating motor 4 are automatically adjusted according to the direction of movement of the person to support the object. The telescopic rod 19 can be adjusted up and down to a suitable position, so that the operator only needs to grasp the control handle 21 to move the object to the place where it is placed.

[0034] The device is provided with a friction damping system, which includes a first damping disc 3, a second damping disc 16, a first sensor 22, a first damping clamp 23, a second damping clamp 24 and a second sensor 25. The friction damping system is provided at the rotating part of the manipulator. The material of the first damping clamp 23 and the second damping clamp 24 is selected from a highly wear-resistant composite material to ensure durability and stability in frequent operations, and is used to produce a moderate friction force when the joint rotates in conjunction with the first damping disc 3 and the second damping disc 16. The first sensor 22 and the second sensor 25 can adjust the clamping force of the first damping clamp 23 and the second damping clamp 24 according to the information of the mass and the center of gravity position of the transported object transmitted by the control cabinet 6, and adjust the friction damping size.

[0035] The first sensor 22 and the second sensor 25 can also be used to detect the rotation angle of the joint in real time, and feed the information back to the control cabinet 6, the first damping clamp 23 and the second damping clamp 24, so that the control system dynamically adjusts the friction damping according to the rotation of the joint. Adjust the motion resistance of the manipulator in real time. This makes the manipulator more stable during movement and avoids the impact on workers caused by sudden changes in movement. For example, when workers need to slowly and accurately adjust the position of the manipulator, the friction damping can be increased to provide more stable support; and when the manipulator needs to be moved quickly, the friction damping can be reduced to make the operation smoother. The manipulator, with the combination of dynamically adjusting the friction damping of the rotation, the assist of the rotating motor 4 and the assist of the telescopic motor 7, can accurately control the movement, absorb shock and vibration, provide additional force support, realize intelligent control and work together, so that workers can achieve a near-zero-gravity operation experience under load.

[0036] This device is provided with an automatic counterweight system, which keeps the center of gravity of the manipulator stable by dynamically adjusting the position of the counterweight 14. The system comprises a movable counterweight 14, an auxiliary rod 11, a sliding slot 12 and a transmission rod 13. The counterweight 14 is made of high-density material, and the control cabinet 6 monitors the changes in the center of gravity of the system in real time through a posture sensor. When the posture of the manipulator changes, the control cabinet 6 receives the posture sensor signal and moves the counterweight 14 in the sliding slot 12 through the rotation of the transmission rod 13. The system moves the counterweight 14 to an appropriate position to ensure the balance of the center of gravity of the system and prevent tilting or instability. The automatic counterweight system can adjust the center of gravity of the manipulator in real time without the intervention of the operator, ensuring the balance of the system under different loads and working angles.

[0037] The rotating motor 4 on the fixed column 1 assists the overall steering, allowing the manipulator to rotate in a wide range in the horizontal direction. This allows the operator to easily adjust the manipulator to different working angles to adapt to various complex working scenarios; the rotating disk 17 on the main lever 15 allows the clamping device mounted on the mounting plate 20 below to rotate, further increasing the operational flexibility of the manipulator. The clamping device can rotate independently of the overall manipulator, allowing the clamped object to be adjusted at different angles, facilitating precise assembly, processing and other operations.

[0038] After moving the heavy object to be polished, remove the clamping device on the mounting plate 20, and then install the second damping turntable 27. The third damping plate 31 is installed at the front end of the second damping turntable 27. The third damping plate 31 is connected to the polishing rod 28. The polishing head is installed at the front end of the polishing rod 28. Tighten or loosen the adjusting screw according to the weight of the polishing head. This can increase or decrease the gap between the two third damping plates 31, so that the damping between the third damping plates 31 can be increased or decreased; the damping groove is an arc-shaped groove, so that the damping grooves can rotate, so that the worker can not only manually adjust the angle between the third damping plates 31, but also adjust the resistance between the damping grooves to a level that can bear the tool clamped by the head.

[0039] The grinding rod 28 is moved to position the grinding head to the position to be ground, and the grinding work begins. When the grinding of one position is completed, the angle between the third damping plate 31 is finely adjusted, and the directions of the first damping rotating disk 26 and the second damping rotating disk 27 are finely adjusted, so that the grinding head can grind other positions adjacent to it until all grinding is completed. The existence of the moving device 32 also increases the flexibility of the device.

[0040] The entire device can not only carry heavy objects that need to be polished, but also the joints of the entire device have eight degrees of freedom to maintain the stability of the polishing tools, reduce the labor intensity of workers, and improve the polishing effect and efficiency.

[0041] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A metal structure surface defect grinding auxiliary manipulator, comprising a fixed column (1), a moving device (32) being arranged at the bottom of the fixed column (1), characterized in that: Also includes: A rotating motor (4), wherein a mounting frame (2) is fixedly mounted on the top of the fixing column (1), the rotating motor (4) is fixedly mounted inside the mounting frame (2), a fixing plate (5) is fixedly mounted on the output end of the rotating motor (4), a control cabinet (6) is fixedly mounted on the top of the fixing plate (5), a telescopic motor (7) is fixedly mounted on the top of the fixing plate (5), a fixing frame (8) is fixedly mounted on the output end of the telescopic motor (7), a main rod (15) is rotatably connected to the top of the fixing frame (8), a rotating disk (17) is provided at one end of the main rod (15) away from the fixing frame (8), and a mounting rod (18) is fixedly mounted on the top of the rotating disk (17); An adjustment mechanism, the adjustment mechanism comprising a first adjustment component, a second adjustment component and a third adjustment component, wherein one end of the mounting rod (18) away from the rotating disk (17) is connected to a telescopic rod (19) via the first adjustment component, one end of the telescopic rod (19) away from the mounting rod (18) is rotatably connected to a first damping rotary disk (26), the first damping rotary disk (26) is connected to a mounting plate (20) via the second adjustment component, a second damping rotary disk (27) is provided on a side wall of the mounting plate (20), a side of the second damping rotary disk (27) away from the mounting plate (20) is connected to a grinding rod (28) via the third adjustment component, and one end of the grinding rod (28) away from the second damping rotary disk (27) is provided with a grinding head.

2. The metal structure surface defect grinding auxiliary manipulator according to claim 1 is characterized in that: The invention also comprises a friction damping system, the friction damping system comprising a first friction damping component and a second friction damping component, the first friction damping component comprising a first damping disc (3), the first damping disc (3) being rotatably connected to the bottom of a fixed plate (5), and the first damping disc (3) being fixedly connected to a mounting frame (2), a first sensor (22) being fixedly mounted on the fixed plate (5), a first damping clamp (23) being fixedly mounted on the bottom of the first sensor (22), the first damping clamp (23) being connected to the first damping disc (3), and the first sensor (22) being used for real-time detection of the rotation angle of the fixed plate (5).

3. The metal structure surface defect grinding auxiliary manipulator according to claim 2 is characterized in that: The end of the main lever (15) away from the fixed frame (8) is fixedly connected to the second connecting frame (10); the second friction damping assembly comprises a second damping disc (16); the second damping disc (16) is fixedly mounted on the top of the second connecting frame (10); the rotating disc (17) is located on the top of the second damping disc (16) and is rotatably connected to the second damping disc (16); a second sensor (25) is fixedly mounted on the end of the main lever (15) away from the fixed frame (8); a second damping clamp (24) is fixedly mounted on the top of the second sensor (25); the second damping clamp (24) is connected to the second damping disc (16); and the second sensor (25) is used to detect the rotation angle of the rotating disc (17) in real time.

4. The metal structure surface defect grinding auxiliary manipulator according to claim 3 is characterized in that: The first damping clip (23) and the second damping clip (24) are made of a highly wear-resistant composite material.

5. The metal structure surface defect grinding auxiliary manipulator according to claim 1 is characterized in that: A first connection frame (9) is fixedly mounted on the top of the fixed plate (5), and the first connection frame (9) is rotatably connected to the main rod (15).

6. The metal structure surface defect grinding auxiliary manipulator according to claim 5, characterized in that: The invention also comprises an automatic weight balancing system, wherein the automatic weight balancing system comprises an auxiliary rod (11), wherein the auxiliary rod (11) is located between the first connecting frame (9) and the second connecting frame (10), wherein the auxiliary rod (11) is rotatably connected to the first connecting frame (9), wherein the auxiliary rod (11) is fixedly connected to the second connecting frame (10), wherein the auxiliary rod (11) is located below the main rod (15), wherein a sliding groove (12) is provided at the top of the auxiliary rod (11), and a weight block (14) is slidably connected to the sliding groove (12).

7. The metal structure surface defect grinding auxiliary manipulator according to claim 6, characterized in that: A drive motor is fixedly mounted inside the auxiliary rod (11); an output shaft of the drive motor is fixedly connected to a transmission rod (13); the transmission rod (13) passes through a counterweight block (14) and is rotatably connected to the counterweight block (14); the counterweight block (14) is made of a high-density material.

8. The metal structure surface defect grinding auxiliary manipulator according to claim 1, characterized in that: The first adjustment assembly comprises two first damping plates (29) fixedly mounted on the bottom of the mounting rod (18); the two first damping plates (29) are rotatably connected to the telescopic rod (19) via damping grooves; and an adjustment screw is provided at the connection between the two first damping plates (29) and the telescopic rod (19).

9. The metal structure surface defect grinding auxiliary manipulator according to claim 1, characterized in that: The second adjustment assembly comprises two second damping plates (30) fixedly mounted on the bottom of the first damping rotary disk (26); the two second damping plates (30) are rotatably connected to the mounting plate (20) via damping grooves; and an adjustment screw is provided at the connection between the two second damping plates (30) and the mounting plate (20).

10. The metal structure surface defect grinding auxiliary manipulator according to claim 1, characterized in that: A control handle (21) is fixedly mounted on a side of the mounting plate (20) away from the second damping rotary disk (27); the third adjustment assembly comprises two third damping plates (31) fixedly mounted on a side of the second damping rotary disk (27) away from the control handle (21); the two third damping plates (31) are rotatably connected to the grinding rod (28) via damping grooves; and an adjustment screw is provided at the connection between the two third damping plates (31) and the grinding rod (28).

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