A metal structure surface defect grinding auxiliary robot

Abstract

The present invention relates to the field of manipulator technology, and in particular to a manipulator for assisting in grinding surface defects of metal structures, comprising a fixed column, a rotating motor, and an adjusting mechanism, wherein the output end of the rotating motor is fixedly mounted with a fixed plate, the top of the fixed plate is fixedly mounted with a telescopic motor, the output end of the telescopic motor is fixedly mounted with a fixed frame, the top of the fixed frame is rotatably connected to a main lever, the end of the main lever away from the fixed frame is provided with a rotating disk, the top of the rotating disk is fixedly mounted with a mounting rod, and the adjusting mechanism comprises a first adjusting component, a second adjusting component, and a third adjusting component. The present invention performs damping adjustment through an adjusting mechanism, and 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, and 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 curved surfaces.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator for assisting in polishing surface defects of metal structures. Background Art

[0002] Grinding can be performed on the surfaces of various metal structures to remove oxide layers, rust, burrs, etc., improving surface quality. It can also be used to polish welds of metal structures, making them smooth and flat, improving the quality and aesthetics of the welds. Using a robot for grinding can help improve work efficiency, product quality, and reliability.

[0003] The invention patent with publication number CN105538331A discloses a power-assisted manipulator, including a base, a support, 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. 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 operation convenient and accurate. The remote control design brings convenience to 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 finely adjusted in angle. The robot cannot achieve sufficient accuracy when making fine angle adjustments, which affects the grinding effect. Metal structures with 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 in 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, thereby affecting the grinding effect and making 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 provided at the bottom of the fixed column, and further comprising:

[0007] 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, the output end of the telescopic motor is fixedly installed on the fixing frame, the top of the fixing frame is rotatably connected to a main rod, 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;

[0008] 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 the telescopic rod through the first adjustment component. The end of the telescopic rod away from the mounting rod is rotatably connected to the first damping turntable. The first damping turntable is connected to the mounting plate through the second adjustment component. The side wall of the mounting plate is provided with a second damping turntable. The side of the second damping turntable away from the mounting plate is connected to the grinding rod through the third adjustment component. The end of the grinding rod away from the second damping turntable is provided with a grinding head.

[0009] 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, which is rotatably connected to the bottom of the fixed plate and fixedly connected to the mounting frame. A first sensor is fixedly installed on the fixed plate, and 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.

[0010] 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 mounted 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 mounted with a second sensor, the top of the second sensor is fixedly mounted 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.

[0011] Preferably, the first damping clip and the second damping clip are made of a highly wear-resistant composite material.

[0012] 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.

[0013] Preferably, it also includes an automatic counterweight system, which includes an auxiliary rod, 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, 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.

[0014] 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.

[0015] 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.

[0016] 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 the mounting plate through damping grooves, and an adjustment screw is provided at the connection between the two second damping plates and the mounting plate.

[0017] 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 adjusting screw is provided at the connection between the two third damping plates and the polishing rod.

[0018] Compared with the prior art, the advantages of the present invention are:

[0019] 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, reducing the time and effort of manual adjustment. The rapid response and precise control of the device make the handling and grinding process 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.

[0020] The present invention sets a friction damping system to adjust the movement resistance of the manipulator in real time, making the manipulator more stable during movement and reducing 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 can dynamically adjust the friction damping according to the rotation of the joint, thereby improving the control accuracy. According to the information on the mass and center of gravity position of the transported object transmitted by the control cabinet, the clamping force of the first damping clamp and the second damping clamp is adjusted, 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 during frequent operations.

[0021] The present invention is provided with an automatic counterweight system and a posture sensor. The posture sensor monitors the 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, and moves the counterweight block to the appropriate position through the transmission rod. By automatically adjusting the position of the counterweight block, the center of gravity of the system is ensured to be balanced, and tilting or instability is prevented, 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, and the stability and balance of the system are improved, which can reduce failures and downtime caused by imbalanced center of gravity and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall axial side structure of a metal structure surface defect grinding auxiliary robot proposed in the present invention.

[0023] Figure 2 This is a schematic diagram of the first damping disk and rotating motor structure of a metal structure surface defect grinding auxiliary robot proposed by the present invention.

[0024] Figure 3 This is a schematic diagram of the first damping clamp and first sensor structure of a metal structure surface defect grinding auxiliary manipulator proposed in the present invention.

[0025] 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.

[0026] Figure 5 This is a schematic diagram of the auxiliary rod and sliding groove structure of an auxiliary manipulator for grinding surface defects of metal structures proposed by the present invention.

[0027] Figure 6 This is a schematic diagram of the telescopic rod and mounting plate structure of a metal structure surface defect grinding auxiliary robot proposed in the present invention.

[0028] Figure 7 This is a structural schematic diagram of the telescopic rod and second damping plate of a metal structure surface defect grinding auxiliary manipulator proposed in the present invention.

[0029] 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

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described 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.

[0031] Reference Figures 1 to 7 , a metal structure surface defect grinding auxiliary manipulator, including a fixed column 1, a friction damping system and an automatic counterweight system, a moving device 32 is provided 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, and the output shaft of the rotating motor 4 is fixedly connected to a fixed plate 5, which 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 disc 3, the first damping disc 3 is rotatably connected to the bottom of the fixed plate 5, the first damping disc 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 disc 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, the fixed frame 8 is rotatably connected to the main rod 15, 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 the end of the main rod 15 away from the fixed frame 8.

[0032] 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 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. The sliding groove 12 is slidably connected to the counterweight block 14. A driving motor (not shown) is fixedly installed inside the auxiliary rod 11. The output shaft of the driving motor is fixedly connected to a transmission rod 13. 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 is provided inside the control cabinet 6 (this is the prior art). The posture sensor monitors the changes in 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 3. The counterweight block 14 is moved in the sliding groove 12 to the appropriate position. By automatically adjusting the position of the counterweight block 14, the center of gravity of the system is balanced, and tilting or instability is prevented, 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 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 failures and downtime caused by imbalanced center of gravity, and improving 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.

[0033] 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 causes the components connected below it to rotate in a small range, thereby increasing 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 clip 24 is fixedly mounted on the top of the second sensor 25. The second damping clip 24 and the second damping clip 24 are connected to 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 the information back 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, making the manipulator more stable during movement.

[0034] The top of the rotating disk 17 is fixedly mounted with a mounting rod 18, and the bottom of the end of the mounting rod 18 away from the rotating disk 17 is fixedly mounted with two first damping plates 29, and 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, and 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, and 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. The 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.

[0035] The side wall of the mounting plate 20 is fixedly mounted with a control handle 21, and a second damping turntable 27 is mounted on the side of the mounting plate 20 away from the control handle 21 by multiple 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 the designated area under the action of the rotating motor 4 and the rotating disk 17. Two third damping plates 31 are fixedly mounted on the side of the second damping turntable 27 away from the control handle 21. The two third damping plates 31 are respectively provided with damping grooves on the sides 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 between 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 be enabled to 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.

[0036] In the present invention, the fixed column 1 is fixed at the work place, a clamp of the object to be moved 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 will calculate the weight of the object, and according to the direction of movement of the person, the telescopic motor 7 and the rotating motor 4 will automatically adjust 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 grab the control handle 21 to move the object to the place where it is placed.

[0037] This device is equipped 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 installed at the rotating part of the manipulator. The first and second damping clamps 23 and 24 are made of highly wear-resistant composite materials to ensure durability and stability during frequent operation. Together with the first and second damping discs 3 and 16, they are used to generate moderate friction during joint rotation. The first and second sensors 22 and 25 can adjust the clamping force of the first and second damping clamps 23 and 24, thereby adjusting the friction damping level, based on information about the mass and center of gravity of the object being handled, transmitted by the control cabinet 6.

[0038] 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 this information back to the control cabinet 6, the first damping clamp 23 and the second damping clamp 24, so that the control system can dynamically adjust the friction damping according to the rotation of the joint. Real-time adjustment of the movement resistance of the manipulator. 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; when the manipulator needs to move quickly, the friction damping can be reduced to make the operation smoother. The manipulator, with the combination of dynamically adjusting the friction damping of rotation, the power assist of the rotating motor 4 and the power assist of the telescopic motor 7, can achieve a near-zero-gravity operating experience under load by precisely controlling movement, absorbing shock and vibration, providing additional force support, realizing intelligent control and collaborative work.

[0039] This device is equipped with an automatic counterweight system, which maintains the center of gravity of the manipulator stable by dynamically adjusting the position of the counterweight 14. The system consists of a movable counterweight 14, an auxiliary rod 11, a sliding groove 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 the 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 groove 12 through the rotation of the transmission rod 13. The system moves the counterweight 14 to the 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.

[0040] The rotary motor 4 on the fixed column 1 assists in overall steering, enabling the manipulator to rotate horizontally over a wide range. This allows the operator to easily adjust the manipulator to different working angles, adapting to a variety of complex work scenarios. The rotating disk 17 on the main lever 15 also rotates the clamping device mounted on the mounting plate 20 below, further increasing the manipulator's operational flexibility. The clamping device can rotate independently of the entire manipulator, allowing the clamped object to be adjusted to different angles, facilitating precise assembly and processing operations.

[0041] After moving the heavy object to be polished, the clamping device on the mounting plate 20 is removed, and then the second damping turntable 27 is installed. 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. The adjusting screw is tightened or loosened according to the weight of the polishing head. This can increase or decrease the gap between the two third damping plates 31, which can increase or decrease the damping between the third damping plates 31; the damping groove is an arc-shaped groove, so that the damping grooves can be rotated, so that workers 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.

[0042] The grinding rod 28 is moved to position the grinding head at the desired location, and grinding begins. When grinding is completed at one location, the angle between the third damping plate 31 and the direction of the first damping rotary disk 26 and the second damping rotary disk 27 are fine-tuned to allow the grinding head to grind adjacent locations until all grinding is completed. The presence of the moving device 32 also increases the flexibility of the device.

[0043] 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.

[0044] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A metal structure surface defect grinding auxiliary manipulator, comprising a fixed column (1), wherein a moving device (32) is provided 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, the end of the mounting rod (18) away from the rotating disk (17) is connected to a telescopic rod (19) via the first adjustment component, the end of the telescopic rod (19) away from the mounting rod (18) is rotatably connected to a first damping turntable (26), the first damping turntable (26) is connected to a mounting plate (20) via the second adjustment component, a second damping turntable (27) is provided on a side wall of the mounting plate (20), a side of the second damping turntable (27) away from the mounting plate (20) is connected to a grinding rod (28) via the third adjustment component, and a grinding head is provided at one end of the grinding rod (28) away from the second damping turntable (27); 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) being rotatably connected to the telescopic rod (19) through a damping groove, and an adjustment screw being provided at the connection between the two first damping plates (29) and the telescopic rod (19); The second adjustment assembly comprises two second damping plates (30) fixedly mounted on the bottom of the first damping rotary disc (26), the two second damping plates (30) being rotatably connected to the mounting plate (20) via damping grooves, and an adjustment screw being provided at the connection between the two second damping plates (30) and the mounting plate (20); 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. An adjustment screw is provided at the connection between the two third damping plates (31) and the grinding rod (28).

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

3. The metal structure surface defect grinding auxiliary robot according to claim 2, characterized in that: The end of the main rod (15) away from the fixed frame (8) is fixedly connected to the second connecting frame (10), the second friction damping assembly includes a second damping disc (16), the second damping disc (16) is fixedly installed 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), the end of the main rod (15) away from the fixed frame (8) is fixedly installed with a second sensor (25), the top of the second sensor (25) is fixedly installed with a second damping clamp (24), 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 robot according to claim 3, 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 robot according to claim 1, characterized in that: A first connecting frame (9) is fixedly mounted on the top of the fixed plate (5), and the first connecting frame (9) is rotatably connected to the main rod (15).

6. The metal structure surface defect grinding auxiliary robot according to claim 5, characterized in that: The invention also includes an automatic counterweight system, which includes an auxiliary rod (11), the auxiliary rod (11) 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), the auxiliary rod (11) is fixedly connected to the second connecting frame (10), the auxiliary rod (11) is located below the main rod (15), and 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).

7. The metal structure surface defect grinding auxiliary robot according to claim 6, characterized in that: A driving motor is fixedly installed inside the auxiliary rod (11), and an output shaft of the driving 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.

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