Grinding robot

Abstract

The grinding robot comprises a vehicle body, a forward positioning radar and a lateral positioning radar are arranged on the vehicle body, a laser navigator is arranged below the forward positioning radar, a mechanical arm supporting seat is arranged in the vehicle body, the mechanical arm supporting seat is connected with a mechanical arm, and the mechanical arm is connected with the lateral positioning radar. The tail end of the mechanical arm is provided with a plurality of sets of force position sensors, one end of each set of force position sensor is provided with a polishing head, and a dust collection tank is arranged in the vehicle body and connected with the mechanical arm through a dust collection pipeline. And an automatic abrasive paper replacing module is arranged above the vehicle body, when the polishing operation reaches the preset time, the mechanical arm executes an automatic abrasive paper replacing program, automatic replacement of abrasive paper in the polishing process is achieved, the automation level of equipment is effectively improved, and intervention of personnel is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of automatic grinding of rail transit vehicles, and in particular to a grinding robot. Background Art

[0002] With the development of science and technology and the improvement of automation, especially in the context of occupational health and manufacturing method upgrades, many OEMs use grinding robots to grind various parts and car body surfaces to achieve excellent pre-painting treatment requirements. During the grinding process, in order to improve the accuracy and efficiency of grinding production, many OEMs have tried to automate the painting grinding process. Conventional mechanical grinding devices are relatively complicated when performing positioning, calibration, and grinding. Therefore, the existing painting grinding process is still mainly manual grinding, but the manual grinding method has problems such as low efficiency, high cost, and poor quality stability during the operation. In addition, during manual grinding operations, the human body is exposed to harsh dust environments. If improper protection is not provided, it is very easy to cause irreversible damage to the body, and occupational health is difficult to be fully guaranteed.

[0003] At present, there are also devices that can perform mobile grinding. This type of equipment is mainly operated by a robotic arm, but precise control and positioning are required throughout the process. At the same time, there are also requirements for the number of motion axes of the grinding robot, so the application cost is high and the effect is poor. In view of this, an efficient and intelligent grinding device is needed. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the prior art. To this end, the present invention proposes an automatic polishing robot.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a polishing robot, which includes a body, a forward positioning radar and a lateral positioning radar are respectively provided on the body, a laser navigator is provided below the forward positioning radar, a mechanical arm support seat is provided inside the body, the mechanical arm support seat is connected to the mechanical arm, a plurality of groups of force sensors are provided at the end of the mechanical arm, a polishing head is provided at one end of each group of the force sensors, a dust collecting tank is provided inside the body, and the dust collecting tank is connected to the mechanical arm through a dust collecting pipe; an automatic sandpaper replacement module is provided above the body, and when the polishing operation reaches the predetermined time, the mechanical arm will execute the automatic sandpaper replacement program to realize automatic replacement of sandpaper during the polishing process.

[0006] According to some embodiments of the present invention, a controller is provided on the vehicle body, and the upper part of the controller is a human-computer interaction part, including a liquid crystal display and function buttons.

[0007] According to some embodiments of the present invention, the lower half of the controller is a main controller, which integrates the functional control of each module and is responsible for processing the control logic of the robot.

[0008] According to some embodiments of the present invention, wheels are provided under the vehicle body.

[0009] According to some embodiments of the present invention, the wheel is driven by a hub motor inside the wheel.

[0010] According to some embodiments of the present invention, a charging port is provided on the vehicle body.

[0011] According to some embodiments of the present invention, a vacuum cleaner is provided inside the grinding head, and the vacuum cleaner is connected to the dust collecting tank inside the vehicle body through a dust collecting pipe.

[0012] According to some embodiments of the present invention, the robotic arm is a six-axis robotic arm.

[0013] According to some embodiments of the present invention, the force sensors are in three groups, and one end of each group of force sensors is connected to the grinding head via a universal joint.

[0014] The present invention has at least the following beneficial effects: the equipment can automatically perform grinding operations along a preset trajectory, and at the same time, through the integrated positioning system composed of a laser navigator and a positioning radar, it can detect in real time the actual distance of the vehicle body in front of the object to be ground, so as to ensure that the grinding robot can achieve precise grinding according to the preset trajectory; three groups of grinding heads controlled by high-precision force sensors are installed at the end of the robotic arm, so that the multi-purpose grinding robot can grind with greater accuracy and efficiency; an automatic sandpaper replacement module is installed on the vehicle body platform, which can realize automatic replacement of sandpaper during the equipment grinding operation, thereby improving the automation level of the equipment and reducing human intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0016] Figure 1 It is a structural schematic diagram of the present invention;

[0017] Figure 2 It is the operation state diagram of the present invention;

[0018] Figure 3 for Figure 1 A top view of

[0019] Figure 4 for Figure 1 Right view of .

[0020] In the figure: 1. Force sensor; 2. Sander; 3. Robotic arm; 4. Automatic sandpaper replacement module; 5. Dust collection duct; 6. Lateral positioning radar; 7. Vehicle body; 8. Wheel; 9. Charging port; 10. Controller; 11. Robotic arm support base; 12. Dust collection tank; 13. Laser navigator; 14. Forward positioning radar. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0022] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0023] In the description of the present invention, "a plurality" means more than two. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0024] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0025] Reference Figure 1 to Figure 4 A polishing robot includes a body 7, on which a forward positioning radar 14 and a lateral positioning radar 6 are respectively provided, and a laser navigator 13 is provided below the forward positioning radar 14. The integrated positioning system composed of the optical navigator 13 and the positioning radar can plan the moving route of the polishing vehicle and detect the actual distance between the vehicle body and the polishing object, so as to ensure that the polishing robot can achieve accurate polishing according to the preset trajectory.

[0026] A robotic arm support seat 11 is provided inside the vehicle body 7, and the robotic arm support seat 11 is connected to the robotic arm 3. A plurality of force sensors 1 are provided at the end of the robotic arm 3, and a grinding head 2 is provided at one end of each group of force sensors 1. The force controller 1 provides constant force according to the test data to achieve a uniform grinding effect.

[0027] A dust collecting tank 12 is provided inside the body 7, and the dust collecting tank 12 is connected to the robot arm 3 through a dust collecting pipe 5 to collect dust during the grinding process. A dust collector is provided inside the grinding head 2, and the dust collector is connected to the dust collecting tank 12 inside the body 7 through a dust collecting pipe 5.

[0028] An automatic sandpaper replacement module 4 is provided above the vehicle body 7. The sandpaper replacement during the grinding process can be set to an automatic replacement time as needed; when the grinding operation reaches the predetermined time, the robot arm 3 will execute the automatic sandpaper replacement program to realize the automatic replacement of sandpaper during the grinding process.

[0029] For convenient control, a controller 10 is provided on the body 7. The upper part of the controller 10 is a human-machine interface part, including a liquid crystal display and function buttons. The lower part of the controller 10 is a main controller, which integrates the function control of each module and is responsible for processing the control logic of the robot. Before using this device, the operator first needs to transmit the workpiece grinding program for the scene to the control system through the human-machine interface to complete the preparation of the grinding program.

[0030] A wheel 8 is provided under the body 7. The wheel 8 is driven by a hub motor inside the wheel to realize the automatic movement of the robot. A charging port 9 is provided on the body 7 for charging the robot.

[0031] The mechanical arm 3 is a six-axis mechanical arm. The force position sensors 1 are in three groups, one end of each group of force position sensors 1 is connected to the grinding head 2 through a universal joint, and the precise force control and position perception are achieved through the universal joint, thereby improving the efficiency and accuracy of the grinding operation.

[0032] This equipment can automatically perform grinding operations along a preset trajectory. At the same time, the comprehensive positioning system composed of a laser navigator 13 and a positioning radar can detect in real time the actual distance of the vehicle body in front of the object to be ground, so as to ensure that the grinding robot can achieve precise grinding according to the preset trajectory; three groups of grinding heads 2 controlled by high-precision force sensors 1 are installed at the end of the robotic arm 3, so that the multi-purpose grinding robot can grind with greater accuracy and efficiency; an automatic sandpaper replacement module 4 is installed on the vehicle body platform, which can realize automatic replacement of sandpaper during the equipment grinding operation, thereby improving the automation level of the equipment and reducing human intervention.

[0033] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A polishing robot, characterized in that: The invention comprises a vehicle body (7), wherein the vehicle body (7) is respectively provided with a forward positioning radar (14) and a lateral positioning radar (6), wherein a laser navigator (13) is provided below the forward positioning radar (14), wherein a mechanical arm support seat (11) is provided inside the vehicle body (7), wherein the mechanical arm support seat (11) is connected to a mechanical arm (3), wherein a plurality of force position sensors (1) are provided at the end of the mechanical arm (3), wherein one end of each force position sensor (1) is provided with a grinding head (2), wherein a dust collecting tank (12) is provided inside the vehicle body (7), wherein the dust collecting tank (12) is connected to the mechanical arm (3) via a dust collecting pipe (5); and an automatic sandpaper replacement module (4) is provided above the vehicle body (7), wherein when the grinding operation reaches a predetermined time, the mechanical arm (3) will execute an automatic sandpaper replacement program to realize automatic sandpaper replacement during the grinding process.

2. A grinding robot according to claim 1, characterized in that: The vehicle body (7) is provided with a controller (10), and the upper part of the controller (10) is a human-machine interaction part, including a liquid crystal display screen and function buttons.

3. A grinding robot according to claim 2, characterized in that: The lower part of the controller (10) is a main controller, which integrates the functional control of each module and is responsible for processing the control logic of the robot.

4. A polishing robot according to claim 1, characterized in that: Wheels (8) are provided below the vehicle body (7).

5. A grinding robot according to claim 4, characterized in that: The wheel (8) is driven by a wheel hub motor inside the wheel.

6. A grinding robot according to claim 1, characterized in that: The vehicle body (7) is provided with a charging port (9).

7. A polishing robot according to claim 1, characterized in that: A dust collector is provided inside the grinding head (2), and the dust collector is connected to the dust collecting tank (12) inside the vehicle body (7) via a dust collecting pipe (5).

8. The grinding robot according to claim 1, characterized in that: The mechanical arm (3) is a six-axis mechanical arm.

9. The grinding robot according to claim 1, characterized in that: The force sensors (1) are provided in three groups, and one end of each group of force sensors (1) is connected to the grinding head (2) via a universal joint.

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