Grinding robot device for inner wall of variable-curvature pipe fitting and using method of grinding robot device

Abstract

The invention relates to a grinding robot device for the inner wall of a variable-curvature pipe fitting and a using method thereof.The grinding robot device comprises a tail end continuum mechanism, the tail end continuum mechanism comprises multiple sections of grinding devices arranged in sequence, and the adjacent grinding devices are connected into a whole in series through telescopic universal spherical hinge assemblies; the tail end of the tail end continuum mechanism is connected with a swing control mechanism located beside the clamp installation platform through a connecting piece, and a telescopic universal spherical hinge assembly is also arranged between the tail end of the tail end continuum mechanism and the connecting piece. The swing control mechanism is used for driving the tail end continuum mechanism to swing in the horizontal direction, and the positions of the swing control mechanism on the X axis, the Y axis and the Z axis are adjustable. According to the technical scheme, the curvature and the polishing radius of the tail end continuum mechanism of the polishing robot can be adjusted so as to adapt to different curvature requirements and radius changes in a workpiece to be polished.

Description

Technical Field

[0001] The invention relates to the field of grinding robots, and in particular to a grinding robot device for the inner wall of a variable-curvature pipe fitting and a use method thereof. Background Art

[0002] At present, polishing robots are gradually being used in many aspects of the industrial field. The mainstream polishing robots are mainly divided into serial and parallel types. Polishing robots expand the scope of human work, reduce the workload of traditional manual work, reduce the harm to the human body, can face complex and dangerous environments, replace assembly line workers to complete daily simple and complicated operations, improve productivity, reduce scrap rate, and save costs.

[0003] Although grinding robots have developed rapidly, some robots still have some shortcomings and defects in certain aspects. The patent with publication number CN115570452A discloses a robot for precise position grinding of welds and rust on the inner wall of pipes. It can effectively handle the dust after grinding, but it lacks flexibility and is mostly used for the inner wall of straight pipes. It is difficult to apply to pipe fittings with changing curvature. The patent with publication number CN113878418A publishes an intelligent detection and grinding robot for the inner wall of curved pipes. Although this invention patent has a compact structure and a large moving distance, it completely enters the interior of the curved pipe, and it is not easy to remove it in case of failure. It also needs to move completely on the inner wall surface, which is easy to cause damage to the inner wall of the pipe fitting due to itself. Because it works against the inner wall of the pipe fitting, there is a lack of fulcrum, resulting in uneven grinding of the inner wall of the pipe fitting. Summary of the invention

[0004] The purpose of the present invention is to provide a robot device for grinding the inner wall of a variable curvature pipe fitting, which can adjust the curvature of the terminal continuum and the grinding mechanism in real time according to the different curvatures in the bent pipe fitting, effectively solving the problem of grinding the inner wall of a complex curved tubular workpiece and having strong adaptability.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: comprising a fixture installation platform, on which a plurality of fixtures for clamping the workpiece to be polished are arranged; further comprising a terminal continuum mechanism, which comprises a plurality of polishing devices arranged in sequence, and adjacent polishing devices are connected in series through a telescopic universal ball joint assembly, and the tail end of the terminal continuum mechanism is connected to a swing control mechanism located beside the fixture installation platform through a connecting piece, and a telescopic universal ball joint assembly is also arranged between the tail end of the terminal continuum mechanism and the connecting piece; the swing control mechanism is used to drive the terminal continuum mechanism to realize horizontal swing, and the position of the swing control mechanism on the X, Y, and Z axes is adjustable;

[0006] The grinding device comprises a central rotating shaft and a grinding top plate and a grinding bottom plate rotatably connected at two ends of the central rotating shaft, the central rotating shaft is driven to rotate by a rotating shaft motor, a grinding head mounting plate and a movable slide block are coaxially arranged on the central rotating shaft, wherein: the grinding head mounting plate is fixedly connected to the central rotating shaft, the movable slide block is movably connected to the central rotating shaft, an electric telescopic rod assembly is arranged on the grinding head mounting plate, and the electric telescopic rod assembly is used to drive the movable slide block to move axially along the central rotating shaft; the grinding device also comprises a grinding head assembly uniformly distributed along the circumference of the central rotating shaft, the axial direction of the grinding head assembly is parallel to the central rotating shaft, the grinding head assembly is connected to the grinding head mounting plate through a grinding head supporting plate, the grinding head supporting plate is parallel to the grinding head mounting plate and the grinding head supporting plate is slidably connected to the grinding head mounting plate, the sliding direction of the grinding head supporting plate is consistent with the radial direction of the central rotating shaft, and a slider connecting rod hinged to the grinding head supporting plate and the movable slide block is arranged between the two;

[0007] The telescopic universal ball joint assembly is arranged between the grinding top plate and the grinding bottom plate of the adjacent grinding devices, and comprises a ball head, a ball head seat matched with the ball head, and a cylinder connected with the ball head seat, wherein the ball head is fixed on the grinding bottom plate, and the cylinder is hinged on the grinding top plate;

[0008] The swing control mechanism includes a swing rod, one end of which is provided with a fan-shaped gear, and the fan-shaped gear is meshed with a driving gear on the output shaft of the swing motor, the other end of the swing rod is provided with a connecting disk fixed to the connecting piece, and the middle section of the swing rod is rotatably connected to the swing rod fixing seat.

[0009] The swing control mechanism also includes a square base formed by connecting a bottom plate, a side plate, and a top plate. The swing motor is fixed to the bottom plate through a swing motor seat, and the output shaft of the swing motor is arranged in a vertical direction. The swing rod is provided with an end of a connecting disk cantilevered outside the square base, and the swing rod fixing seat is fixed to the bottom plate. A fixed block is sleeved on the swing rod between the connecting disk and the swing rod fixing seat. The bottom of the fixed block is rotatably connected to the first slider, and the first slider slides in cooperation with the first slide rail horizontally arranged on the side plate.

[0010] The grinding head support plate is provided with a guide slider on the plate surface close to the grinding head mounting plate, and the grinding head mounting plate is provided with a guide slide groove matching the guide slider, and the guide slide groove is arranged radially along the central rotation axis; the grinding head support plate is respectively provided with a first connecting rod ear seat and a connecting column at both ends of the plate surface away from the grinding head mounting plate, and the end where the first connecting rod ear seat is located is close to the central rotation axis, the grinding head assembly includes a grinding head and a grinding head motor for driving the grinding head to rotate, the grinding head is connected to the output shaft of the grinding head motor through a fixing chuck, and the connecting column is fixed to the mounting seat of the grinding head motor; the seat body end of the electric telescopic rod assembly is fixed to the grinding head mounting plate by screws, and the push rod end of the electric telescopic rod assembly is fixedly connected to the movable slider through a connecting bent rod.

[0011] The grinding top plate and the grinding bottom plate are two circular plates with the same diameter and smaller than the diameter of the workpiece to be ground. The two ends of the central rotating shaft are respectively connected to the grinding top plate and the grinding bottom plate through deep groove ball bearings. The rotating shaft motor is fixed on the grinding bottom plate, and the rotating shaft motor is connected to the central rotating shaft through a pair of transmission gears. The driving gear in the transmission gear is coaxially arranged with the output shaft of the rotating shaft motor, and the driven gear in the transmission gear is coaxially fixed with the central rotating shaft.

[0012] The cylinder body end of the cylinder is hinged to the cylinder fixing ear seat on the polishing top plate, the ball head seat is fixed to the push rod end of the cylinder, and the ball head is fixed to the polishing bottom plate through a ball head connecting rod; the ball head seat is a split structure, formed by an upper ball seat and a lower ball seat being fixed together, the lower ball seat and the push rod end of the cylinder are integrally formed, the upper ball seat is fixed to the lower ball seat by screws, and the upper ball seat is formed by two hemisphere seats being fixed together.

[0013] The clamp comprises a pipe clamp and a pipe clamp fixing seat, the pipe clamp fixing seat is fixed on the clamp mounting platform through a rotating base, the clamp mounting platform is connected to the frame-type platform base through a column, and the clamp mounting platform is provided with mounting holes for fixing the clamp, and the mounting holes are arranged in a matrix shape;

[0014] The rotating base includes a rotating base body, a cover plate matched with the rotating base body, a worm gear mechanism arranged in the rotating base body, a rotating platform arranged at the center of the cover plate and flush with the cover plate, and a rotating shaft fixedly connected to the lower surface of the rotating platform, wherein: the rotating base body is fixed to the fixture mounting platform by screws, the cover plate is fixed by the fixing column at its bottom and matched with the fixing hole on the rotating base body, the upper surface of the rotating platform is fixed to the pipe clamp fixing seat by screws, the rotating shaft is fixedly connected to the transmission worm wheel on the worm gear mechanism by a key, and the bottom end of the rotating shaft is connected to the rotating base body by a rotating deep groove ball bearing.

[0015] The worm gear mechanism includes a transmission worm wheel, a worm matched with the transmission worm wheel, a worm support seat for fixing the worm, and a T-shaped adjustment column for driving the worm to rotate. The worm support seat is fixedly connected to the bottom plate of the rotating base body, and the worm is installed on the worm support seat through a pair of worm deep groove ball bearings; the T-shaped adjustment column includes a column section, one end of the column section is matched and connected with a rectangular recessed hole set at the end of the worm, and the other end of the column section passes through the rotating base body and is provided with a handle means perpendicular to the column section.

[0016] The pipe clamp comprises a lower supporting jaw and a left jaw and a right jaw symmetrically arranged on both sides of the lower supporting jaw, wherein the lower supporting jaw, the left jaw and the right jaw form an arc-shaped clamping portion with an open top, and the arc-shaped clamping portion is used to clamp the outer wall of the workpiece to be polished;

[0017] The lower supporting clamping jaw comprises an arc-shaped lower clamping portion and a lower supporting seat body connected to the bottom of the lower clamping portion, the left clamping jaw comprises an arc-shaped left clamping portion and a left clamping jaw arm connected to the outer arc surface of the left clamping portion, the right clamping jaw comprises an arc-shaped right clamping portion and a right clamping jaw arm connected to the outer arc surface of the right clamping portion, and the lower clamping portion and the lower supporting seat body, the left clamping portion and the left clamping jaw arm, and the right clamping portion and the right clamping jaw arm are all integral structures;

[0018] A vertically arranged pipe clamp cylinder is provided at the center position of the pipe clamp fixing seat, and a left ear seat and a right ear seat are symmetrically provided on both sides of the pipe clamp cylinder; the cylinder push rod of the pipe clamp cylinder is fixedly connected to the lower supporting seat body, and the ends of the left clamping jaw arm and the right clamping jaw arm are respectively hinged to the left ear seat and the right ear seat, and the end surfaces of the left clamping jaw arm and the right clamping jaw arm that are close to each other are respectively hinged with a left connecting rod and a right connecting rod, and the other ends of the left connecting rod and the right connecting rod are respectively hinged to the two ends of the lower supporting seat body.

[0019] The swing control mechanism is driven by the Y-axis driving mechanism to move along the Y-axis direction. The Y-axis driving mechanism includes a fixed platform arranged along the Y-axis direction and a mobile platform slidably connected to the fixed platform. A square through slot is hollowed out in the middle of the fixed platform. The mobile platform includes an upper platform and a lower platform arranged in parallel on both sides of the fixed platform. The upper platform and the lower platform are connected as a whole by studs. A second slider is fixed on the upper surface of the lower platform, and the second slider slides in cooperation with a second slide rail arranged on the lower surface of the fixed platform;

[0020] The Y-axis driving mechanism also includes a power mechanism for driving the second slider to slide along the second slide rail, and the power mechanism includes a drum, a drum motor for driving the drum to rotate, a first fixed pulley, a second fixed pulley and a flexible rope, wherein: the drum is located on the upper surface of the lower platform, the drum motor is fixed on the lower surface of the lower platform, the first fixed pulley and the second fixed pulley are arranged on the upper surface of the fixed platform and are respectively fixed on the plate surfaces at both ends of the square through groove, one end of the flexible rope is connected to the first flexible rope fixing block on the lower platform, and the other end of the flexible rope is connected to the second flexible rope fixing block on the lower platform after winding around the first fixed pulley, the drum, and the second fixed pulley in sequence.

[0021] The Y-axis driving mechanism is connected to the Z-axis lifting mechanism through the X-axis driving mechanism. The X-axis driving mechanism is a screw nut slider mechanism. The Z-axis lifting mechanism is a scissors-type lifting mechanism. The X-axis driving mechanism is fixed on the lifting platform of the Z-axis lifting mechanism. The fixed platform in the Y-axis driving mechanism is connected to the slide in the X-axis driving mechanism.

[0022] Another object of the present invention is to provide a method for using a robot device for grinding the inner wall of a variable curvature pipe, comprising the following steps:

[0023] S1: System initialization;

[0024] S2: Place the workpiece to be polished on the fixture installation platform, adjust the fixture position and clamp the workpiece to be polished; the depth vision sensor obtains the position information of the workpiece to be polished in space;

[0025] S3: Control the X-axis driving mechanism, the Y-axis driving mechanism, the Z-axis lifting mechanism and the swing control mechanism to move the terminal continuum mechanism to the nozzle of the workpiece to be polished;

[0026] S4: judging whether the spatial position of the terminal continuum mechanism is accurate, if the judgment result is yes, adjusting the curvature of the terminal continuum mechanism according to the inner diameter of the tube wall of the workpiece to be polished, otherwise returning to S3;

[0027] S5: Adjust the grinding radius of the grinding device;

[0028] S6: Determine whether the grinding wheel in the grinding device is in contact with the inner wall of the workpiece to be ground. If the determination result is yes, start the rotating shaft motor and the grinding head motor to start the grinding operation; otherwise, return to S5;

[0029] S7: Determine whether the current section of the workpiece to be polished is polished. If the judgment result is yes, drive the X-axis drive mechanism to move to the next working section; otherwise, return to S6 to continue polishing;

[0030] S8: Repeat S2 to S7 until all sections are polished and the work is finished.

[0031] The beneficial effects of the present invention are:

[0032] 1) The terminal continuum mechanism of the present invention is composed of a grinding device and a telescopic universal ball joint assembly. By controlling the stroke of the cylinder in the telescopic universal ball joint assembly, the posture change of the single-section grinding device can be adjusted so that the terminal continuum mechanism can change various curvatures and is suitable for grinding the inner wall of workpieces with different curvatures;

[0033] 2) The end continuum mechanism of the present invention can move three-dimensionally in space through the X-axis drive mechanism, the Y-axis drive mechanism, and the Z-axis lifting mechanism, and can grind the workpiece at different positions, and can effectively grind the workpiece with curvature changes in different directions.

[0034] 3) The present invention drives the movable slider through the electric telescopic rod assembly, which drives the slider grinding head assembly to make radial adjustments, so that the grinding radius of the grinding device can be adjusted to adapt to pipes of different diameters. This not only improves the integrity of the device, but also enhances the adaptability of the robot.

[0035] 4) The grinding head assembly of the present invention is provided in multiple groups. This multi-point grinding structure can grind multiple locations of the inner wall of the pipe at the same time, thereby improving the efficiency of the grinding operation.

[0036] 5) The terminal continuum mechanism in the present invention is detachable, and the number of sections of the grinding device can be freely set according to the actual length of the workpiece, thereby increasing the flexibility of the grinding robot operation.

[0037] 6) The clamp in the present invention can be rotated to adjust the clamping direction according to the curvature of the workpiece, and there is no need to reposition and install the clamp, which reduces manual operations and improves work efficiency.

[0038] 7) The Z-axis lifting mechanism in the present invention can not only adjust the working position of the terminal continuum mechanism, but also be retracted to the side of the fixture installation platform to reduce space occupation when the device is not in use.

[0039] 8) The overall structure of the present invention is compact, space utilization is reasonable, rigidity and flexibility are combined, noise is low, and transmission efficiency is high. At the same time, the modular design makes the device easy to install and disassemble. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the structure of the present invention;

[0041] Figure 2 It is a usage state diagram of the present invention;

[0042] Figure 3 It is a structural schematic diagram of the fixture installation platform and the platform base of the present invention;

[0043] Figure 4It is a structural schematic diagram of the terminal continuum mechanism of the present invention;

[0044] Figure 5 It is a structural schematic diagram of a single-section grinding device and a telescopic universal ball joint assembly of the present invention;

[0045] Figure 6 It is a structural schematic diagram of a single-section grinding device of the present invention;

[0046] Figure 7 It is a schematic diagram of the structure of the rotating shaft motor and the central rotating shaft in the single-section grinding device of the present invention;

[0047] Figure 8 It is a schematic diagram of the overall structure of the telescopic universal ball joint assembly of the present invention;

[0048] Fig. 9 It is a schematic diagram of the exploded structure of the telescopic universal ball joint assembly of the present invention;

[0049] Fig.10 It is a structural schematic diagram of a ball head seat in a telescopic universal ball joint assembly of the present invention;

[0050] Fig.11 It is a schematic diagram of the overall structure of the swing control mechanism of the present invention;

[0051] Fig.12 It is a schematic diagram of the internal structure of the swing control mechanism of the present invention after removing the top plate;

[0052] Fig.13 It is a structural schematic diagram of the clamp of the present invention;

[0053] Fig.14 It is a structural schematic diagram of the pipe clamp and the pipe clamp fixing seat of the present invention;

[0054] Fig.15 It is a structural schematic diagram of the pipe clamp fixing seat of the present invention;

[0055] Fig.16 It is a schematic diagram of the overall structure of the rotating base of the present invention;

[0056] Fig.17 It is a schematic diagram of the exploded structure of the rotating base of the present invention;

[0057] Fig.18 The structure diagram of the Y-axis driving mechanism of the present invention is shown in FIG. Figure 1 ;

[0058] Fig.19 It is a schematic diagram of the structure of the Y-axis driving mechanism of the present invention after removing the upper platform;

[0059] Fig. 20 The structure diagram of the Y-axis driving mechanism of the present invention is shown in FIG. Figure 2 ;

[0060] Fig.21 It is a structural schematic diagram of the X-axis driving mechanism of the present invention;

[0061] Fig. 22 It is a structural schematic diagram of the Z-axis lifting mechanism of the present invention;

[0062] Fig.23 It is a flow chart of the present invention.

[0063] The marks in the above drawings are: fixture installation platform 1, column 11, platform base 12, fixed installation hole 121, movable guide groove 122, installation hole 13, grinding device 2, first group grinding device 2A, second group grinding device 2B, third group grinding device 2C, connecting plate 20, central rotating shaft 21, rotating shaft motor 211, driving gear 212, driven gear 213, grinding top plate 22, grinding bottom plate 23, grinding head mounting plate 24, guide slide groove 241, movable slider 25, second connecting rod ear seat 251, electric telescopic rod assembly 26, connecting bend Rod 261, grinding head assembly 27, grinding wheel 271, fixed chuck 272, grinding head motor 273, grinding head support plate 28, guide slider 281, first connecting rod ear seat 282, connecting column 283, slider connecting rod 29, telescopic universal ball joint assembly 3, ball head 31, ball head connecting rod 311, ball head seat 32, upper ball seat 321, lower ball seat 322, cylinder 33, connecting piece 4, swing control mechanism 5, swing rod 51, fixed block 511, fan gear 52, swing motor 53, swing motor seat 531, drive gear 54, connecting plate 55, swing The movable rod fixing seat 56, the square base 57, the bottom plate 571, the side plate 572, the top plate 573, the first slider 58, the first slide rail 59, the clamp 6, the pipe clamp 61, the lower clamping part 611, the lower supporting seat body 612, the left clamping part 613, the left clamping arm 614, the right clamping part 615, the right clamping arm 616, the left connecting rod 617, the right connecting rod 618, the pipe clamp fixing seat 62, the rotating base 63, the rotating base body 631, the cover plate 632, the rotating platform 633, the rotating shaft 634, the transmission worm wheel 635, the worm 636, the worm supporting seat 637, T-shaped adjusting column 638, column section 6381, handle means 6382, pipe clamp cylinder 64, left ear seat 65, right ear seat 66, Y-axis driving mechanism 7, fixed platform 71, movable platform 72, upper platform 721, lower platform 722, second slider 723, second slide rail 724, reel 73, reel motor 74, first fixed pulley 75, second fixed pulley 76, flexible cable 77, first flexible cable fixing block 771, second flexible cable fixing block 772, X-axis driving mechanism 8, X-axis fixed base 81, X-axis movable guide rail 82, X-axis movable slider 83, slide table 84, X-axis movable lead screw 85, X-axis driving motor 86, Z-axis lifting mechanism 9 connected, lifting platform 91, first connecting rod 92, second connecting rod 93, sliding ring 94, sliding guide rail 95, driving push rod 96, limit screw 961, Z-axis driving cylinder 97, and workpiece 10 to be polished. DETAILED DESCRIPTION

[0064] The present invention will be further described below in conjunction with the accompanying drawings:

[0065] like Figure 1 , Figure 2A grinding robot device for the inner wall of a variable curvature pipe is shown, comprising a fixture installation platform 1, on which a plurality of fixtures 6 for clamping a workpiece 10 to be grinded are arranged; and also comprising a terminal continuum mechanism, which comprises a plurality of grinding devices 2 arranged in sequence, and adjacent grinding devices 2 are connected in series through a telescopic universal ball joint assembly 3, and the number of groups of grinding devices 2 can be adjusted according to the pipe length of the workpiece 10 to be grinded, and generally the overall length of the terminal continuum mechanism is slightly longer than the length of the workpiece 10 to be grinded. The tail end of the terminal continuum mechanism is connected to a swing control mechanism 5 located beside the fixture installation platform 1 through a connector 4, and a telescopic universal ball joint assembly 3 is also arranged between the tail end of the terminal continuum mechanism and the connector 4; the swing control mechanism 5 is used to drive the terminal continuum mechanism to swing in the horizontal direction, and the position of the swing control mechanism 5 on the X, Y, and Z axes is adjustable.

[0066] Further, such as Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the grinding device 2 includes a central rotating shaft 21 and a grinding top plate 22 and a grinding bottom plate 23 rotatably connected to both ends of the central rotating shaft 21. Both ends of the central rotating shaft 21 are connected to the grinding top plate 22 and the grinding bottom plate 23 through deep groove ball bearings, respectively. The central rotating shaft 21 is driven to rotate by a rotating shaft motor 211. The rotating shaft motor 211 is fixed on the grinding bottom plate 23, and the rotating shaft motor 211 and the central rotating shaft 21 are connected through a pair of transmission gears. The driving gear 212 in the transmission gear is coaxially arranged with the output shaft of the rotating shaft motor 211, and the driven gear 213 in the transmission gear is coaxially fixed with the central rotating shaft 21. In this embodiment, the grinding top plate 22 and the grinding bottom plate 23 are two circular plates with the same diameter and a diameter smaller than the workpiece 10 to be ground.

[0067] A grinding head mounting plate 24 and a movable slider 25 are coaxially arranged on the central rotating shaft 21, and the grinding top plate 22, the movable slider 25, the grinding head mounting plate 24 and the grinding bottom plate 23 are coaxially arranged in sequence. Among them: the grinding head mounting plate 24 is fixedly connected to the central rotating shaft 21, and the movable slider 25 is movably connected to the central rotating shaft 21. In this example, the grinding head mounting plate 24 and the movable slider 25 are both equilateral triangles. Among them, the side length of the grinding head mounting plate 24 is greater than the side length of the movable slider 25, and the three corners of the grinding head mounting plate 24 and the movable slider 25 are cut flat.

[0068] Furthermore, the grinding device 2 also includes a grinding head assembly 27 uniformly distributed along the circumference of the central rotating shaft 21, and the axial direction of the grinding head assembly 27 is parallel to the central rotating shaft 21. The grinding head assembly 27 includes a grinding wheel 271 and a grinding head motor 273 driving the grinding wheel 271 to rotate, and the grinding wheel 271 is connected to the output shaft of the grinding head motor 273 through a fixing chuck 272. The grinding wheel 271 grinds the inner wall of the workpiece 10 to be polished through the side surface of the grinding wheel 271 under the drive of the grinding head motor 273.

[0069] The grinding head assembly 27 is connected to the grinding head mounting plate 24 through the grinding head support plate 28. The grinding head support plate 28 is parallel to the grinding head mounting plate 24 and is slidably connected to the grinding head mounting plate 24. The sliding direction of the grinding head support plate 28 is consistent with the radial direction of the central rotating shaft 21. Specifically, the grinding head support plate 28 is provided with a guide slider 281 on its plate surface close to the grinding head mounting plate 24, and the grinding head mounting plate 24 is provided with a guide slide 241 matched with the guide slider 281, and the guide slide 241 is arranged along the radial direction of the central rotating shaft 21; the grinding head support plate 28 is provided with a first connecting rod ear seat 282 and a connecting column 283 at both ends of its plate surface away from the grinding head mounting plate 24, and the end where the first connecting rod ear seat 282 is located is close to the central rotating shaft 21. A slider connecting rod 29 is provided between the grinding head support plate 28 and the movable slider 25 and is hinged to the two. Specifically, one end of the slider connecting rod 29 is hinged to the first connecting rod ear seat 282, and the other end of the sliding connecting rod 29 is hinged to the second connecting rod ear seat 251 set on the movable slider 25. The connecting column 283 is fixed to the mounting seat of the grinding head motor 273.

[0070] An electric telescopic rod assembly 26 is provided on the grinding head mounting plate 24, and the electric telescopic rod assembly 26 is used to drive the movable slider 25 to move axially along the central rotation axis 21. Specifically, the base end of the electric telescopic rod assembly 26 is fixed to the grinding head mounting plate 24 by screws, and the push rod end of the electric telescopic rod assembly 26 is fixedly connected to the movable slider 25 by a connecting bent rod 261.

[0071] Preferably, in the present embodiment, three groups of grinding head assemblies 27 are arranged along the circumference of the central rotating axis 21. Correspondingly, three groups of guide grooves 241 are also arranged on the grinding head mounting plate 24. The three groups of guide grooves 241 are respectively centered on the central rotating axis 21 and arranged along the direction of the angle bisector. Three groups of electric telescopic rod assemblies 26 are also arranged. The connecting bent rods 261 in the three groups of electric telescopic rod assemblies 26 are respectively arranged in the middle of the three sides of the movable slider 25.

[0072] When the grinding radius of the grinding device 2 needs to be adjusted, the push rods in the three sets of electric telescopic rod assemblies 26 extend or retract, driving the movable slider 25 to rise or fall accordingly, and the movable slider 25 drives the grinding head support plate 28 to slide along the direction defined by the guide slide groove 241 through the slider connecting rod 29, so that the grinding head assembly 27 moves closer to or away from the central rotating shaft 21, so as to adjust the grinding radius of the grinding device 2. During grinding, the rotating shaft motor 211 and the grinding head motor 273 are both started, the grinding head motor 273 drives the grinding wheel 271 to rotate, and the rotating shaft motor 211 drives the central rotating shaft 21 to rotate through the transmission gear, thereby driving the grinding head mounting plate 24 to rotate synchronously, so as to achieve the overall grinding of the inner wall of the workpiece 10 to be polished.

[0073] In the present embodiment, three groups of grinding devices 2 are provided, and correspondingly, three groups of telescopic universal ball joint assemblies 3 are also provided, i.e., one group of telescopic universal ball joint assemblies 3 is respectively provided between the first group of grinding devices 2A and the second group of grinding devices 2B, between the second group of grinding devices 2B and the third group of grinding devices 2C, and between the third group of grinding devices 2C and the connecting member 4. Each group of telescopic universal ball joint assemblies 3 is used to drive the previous group of grinding devices 2 to rotate in different directions, so that the grinding devices 2 can adapt to the changes in the bending curvature of the pipe fittings.

[0074] In this embodiment, the telescopic universal ball joint assembly 3 between the first grinding device 2A and the second grinding device 2B, and between the second grinding device 2B and the third grinding device 2C is respectively arranged between the grinding top plate 22 and the grinding bottom plate 23 of the adjacent grinding devices. Figure 8 , Fig. 9 , Fig.10 As shown, the telescopic universal ball joint assembly 3 includes a ball head 31, a ball head seat 32 matched with the ball head 31, and a cylinder 33 connected to the ball head seat 32. The ball head 31 is fixed on the grinding bottom plate 23, and the cylinder 33 is hinged on the grinding top plate 22. Specifically, the cylinder body end of the cylinder 33 is hinged with the cylinder fixing ear seat 331 on the grinding top plate 22, the ball head seat 32 is fixed to the push rod end of the cylinder 33, and the ball head 31 is fixed to the grinding bottom plate 23 through the ball head connecting rod 311. In the telescopic universal ball joint assembly 3 between the third group of grinding devices 2C and the connecting member 4, the cylinder body end of the cylinder 33 is fixed to the connecting plate 20 fixed to the connecting member 4, and the ball head 31 is fixed to the grinding bottom plate 23 of the second group of grinding devices 2B.

[0075] Preferably, the ball seat 32 is a split structure, formed by the upper ball seat 321 and the lower ball seat 322 being fixed together, the lower ball seat 322 being integrally formed with the push rod end of the cylinder 33, the upper ball seat 321 being fixed to the lower ball seat 322 by screws, and the upper ball seat 321 being formed by the two hemisphere seats being matched together. The ball head 31 is in concentric contact with the ball seat 32, the ball head 31 is confined in the ball seat 32 and can rotate within the aperture range of the ball seat 32. In this embodiment, a total of three groups of cylinders 33 are provided, and the three groups of cylinders 33 can act simultaneously or in groups. The cylinders 33 can control the different extension and retraction strokes of the push rods of each group of cylinders, thereby realizing the angle change of the previous group of grinding devices 2 through the connected grinding base plate 23 to adapt to the change in the curvature of the workpiece 10 to be ground.

[0076] Further, such as Fig.11 , Fig.12 As shown, the swing control mechanism 5 includes a swing rod 51 arranged in the horizontal direction, a sector gear 52 is provided at one end of the swing rod 51, and the sector gear 52 is meshed with a driving gear 54 on the output shaft of the swing motor 53, and a connecting plate 55 fixed to the connecting member 4 is provided at the other end of the swing rod 51, and the middle section of the swing rod 51 is rotatably connected to the swing rod fixing seat 56 through a stud. The swing control mechanism 5 also includes a square base 57 formed by connecting a bottom plate 571, a side plate 572, and a top plate 573. Specifically, the swing motor 53 is fixed to the bottom plate 571 through the swing motor seat 531, and the output shaft of the swing motor 53 is arranged in a vertical direction. The swing rod fixing seat 56 is fixed to the bottom plate 571 through screws. The swing rod 51 is provided with one end of the connecting plate 55 cantilevered outside the square base 57. The swing rod 51 between the connecting plate 55 and the swing rod fixing seat 56 is sleeved with a fixing block 511. The bottom of the fixing block 511 is rotatably connected to the first slider 58. The first slider 58 slides in cooperation with the first slide rail 59 horizontally arranged on the side plate 572. That is, the side plate in the swing control mechanism 5 is provided with a square hole for the swing rod 51 to pass through on a side plate surface close to the terminal continuum mechanism. The bottom edge of the square hole is provided with a first slide rail 59. The first slide rail 59 is provided with a first slider 58. The swing rod 51 is rotatably connected to the first slider 58 through the fixing block 511. The first slider 58 and the first slide rail 59 support the overhanging end of the swing rod 51 . Meanwhile, the cooperation between the first slider 58 and the first slide rail 59 also limits the swing rod 51 to swing left and right only in the horizontal direction.

[0077] When the swing motor 53 is working, power is transmitted to the sector gear 52 through the driving gear 54, so that the swing rod 51 can swing horizontally with the center of the swing rod fixing seat 53 as the axis, thereby driving the terminal continuum mechanism to swing accordingly through the connecting disk 55, making the adjustment of the terminal continuum mechanism more flexible.

[0078] Further, such as Figure 3 , Fig.13 As shown, the clamp 6 includes a pipe clamp 61 and a pipe clamp fixing seat 62, and the pipe clamp fixing seat 62 is fixed on the clamp mounting platform 1 through a rotating base 63. The clamp mounting platform 1 is connected to a frame-type platform base 12 through a column 11, and the clamp mounting platform 1 is provided with mounting holes 13 for fixing the clamp 6, and the mounting holes 13 are arranged in a matrix.

[0079] like Fig.14 , Fig.15 As shown, the pipe clamp 61 includes a lower supporting jaw and a left jaw and a right jaw symmetrically arranged on both sides of the lower supporting jaw, and the lower supporting jaw, the left jaw and the right jaw form an arc-shaped clamping portion with an open top structure, and the arc-shaped clamping portion is used to clamp the outer wall of the workpiece 10 to be polished. Specifically, the lower supporting jaw includes an arc-shaped lower clamping portion 611 and a lower supporting seat body 612 connected to the bottom of the lower clamping portion 611, the left clamping jaw includes an arc-shaped left clamping portion 613 and a left clamping jaw arm 614 connected to the outer arc surface of the left clamping portion 613, and the right clamping jaw includes an arc-shaped right clamping portion 615 and a right clamping jaw arm 616 connected to the outer arc surface of the right clamping portion 615. The lower clamping portion 611 and the lower supporting seat body 612, the left clamping portion 613 and the left clamping jaw arm 614, and the right clamping portion 615 and the right clamping jaw arm 616 are all integral structures.

[0080] A pipe clamp cylinder 64 arranged in a vertical direction is provided at the center of the pipe clamp fixing seat 62, and a left ear seat 65 and a right ear seat 66 are symmetrically provided on both sides of the pipe clamp cylinder 64. The cylinder push rod of the pipe clamp cylinder 64 is fixedly connected to the lower support seat body 612, and the ends of the left clamp arm 614 and the right clamp arm 616 are respectively hinged to the left ear seat 65 and the right ear seat 66, and the end surfaces of the left clamp arm 614 and the right clamp arm 616 that are close to each other are respectively hinged to the left connecting rod 617 and the right connecting rod 618, and the other ends of the left connecting rod 617 and the right connecting rod 618 are respectively hinged to the two ends of the lower support seat body 612.

[0081] When it is necessary to clamp the workpiece 10 to be polished, the cylinder push rod of the pipe clamp cylinder 64 is extended first, and then the lower supporting jaw moves upward, and the left and right jaws are synchronously driven to open outward through the left connecting rod 617 and the right connecting rod 618. At this time, the workpiece 10 to be polished can be placed in the pipe clamp 61, and then the cylinder push rod of the pipe clamp cylinder 64 is retracted, the lower supporting jaw moves downward, and the left and right jaws are closed inward to achieve the clamping of the workpiece 10 to be polished. The structure of the pipe clamp 61 in this embodiment can be applied to workpieces 10 to be polished with various pipe diameters.

[0082] like Fig.16 , Fig.17As shown, the rotating base 63 includes a rotating base body 631, a cover plate 632 matched with the rotating base body 631, a worm gear mechanism arranged in the rotating base body 631, a rotating platform 633 arranged at the center of the cover plate 632 and flush with the cover plate 632, and a rotating shaft 634 fixedly connected to the lower surface of the rotating platform 633. Among them: the rotating base body 631 is fixed to the fixture installation platform 1 by screws, the cover plate 632 is fixed by the fixing column at the bottom thereof and the fixing hole on the rotating base body 631, the upper surface of the rotating platform 633 is fixed to the pipe clamp fixing seat 62 by screws, the rotating shaft 634 is fixedly connected to the transmission worm wheel 635 on the worm gear mechanism by a key, and the bottom end of the rotating shaft 634 is connected to the rotating base body 631 by a rotating deep groove ball bearing.

[0083] Specifically, the worm gear mechanism includes a transmission worm wheel 635, a worm 636 matched with the transmission worm wheel 635, a worm support seat 637 for fixing the worm 636, and a T-shaped adjustment column 638 for driving the worm 636 to rotate. The worm support seat 637 is fixedly connected to the bottom plate of the rotating base body 631, and the worm 636 is installed on the worm support seat 637 through a pair of worm deep groove ball bearings. The T-shaped adjustment column 638 includes a column section 6381, one end of the column section 6381 is matched and connected with a rectangular concave hole set at the end of the worm 636, and the other end of the column section 6381 passes through the rotating base body 631 and is provided with a handle 6382 perpendicular to the column section 6381. The setting of the handle 6382 is convenient for driving the column section 6381 to rotate, so that the rotation angle of the rotating platform 633 can be accurately adjusted.

[0084] By rotating the T-shaped adjustment column 638 , the worm 636 can drive the transmission worm wheel 635 to rotate synchronously, so that the position of the pipe clamp 61 connected to the rotating platform 633 rotates, so as to better clamp the workpiece 10 to be polished.

[0085] Furthermore, the swing control mechanism 5 is driven by the Y-axis driving mechanism 7 to move along the Y-axis direction. Fig.18 , Fig.19 , Fig. 20 As shown, the Y-axis driving mechanism 7 includes a fixed platform 71 arranged along the Y-axis direction and a movable platform 72 slidably connected to the fixed platform 71. The middle of the fixed platform 71 is hollowed out with a square through groove. The movable platform 72 includes an upper platform 721 and a lower platform 722 arranged in parallel on the upper and lower sides of the fixed platform 71. The upper platform 721 and the lower platform 722 are connected as a whole by studs. A second slider 723 is fixed to the upper surface of the lower platform 722, and the second slider 723 slides in cooperation with a second slide rail 724 arranged on the lower surface of the fixed platform 71.

[0086] The Y-axis driving mechanism 7 also includes a power mechanism for driving the second slider 723 to slide along the second slide rail 724, and the power mechanism includes a reel 73, a reel motor 74 for driving the reel 73 to rotate, a first fixed pulley 75, a second fixed pulley 76, and a flexible cable 77. The reel 73 is located on the upper surface of the lower platform 722, the reel motor 74 is fixed on the lower surface of the lower platform 722, the first fixed pulley 75 and the second fixed pulley 76 are arranged on the upper surface of the fixed platform 71 and are respectively fixed on the plate surfaces at both ends of the square through groove, one end of the flexible cable 77 is connected to the first flexible cable fixing block 771 on the lower platform 722, and the other end of the flexible cable 77 is connected to the second flexible cable fixing block 772 on the lower platform 722 after winding through the first fixed pulley 75, the reel 73, and the second fixed pulley 76 in sequence.

[0087] When the swing mechanism 5 needs to move in the Y-axis direction, the drum motor 74 works to drive the drum 73 to rotate. Since the length of the flexible rope 77 is fixed, the rotation of the drum 73 will increase the length of the flexible rope 77 on one side and shorten the flexible rope 77 on the other side. At this time, the mobile platform 72 moves to one side driven by the pulling force of the flexible rope 77, driving the swing mechanism 5 to achieve displacement in the Y-axis direction.

[0088] Furthermore, the Y-axis driving mechanism 7 is connected to the Z-axis lifting mechanism 9 through the X-axis driving mechanism 8. The X-axis driving mechanism 8 is a screw-nut-slider mechanism, and the Z-axis lifting mechanism 9 is a scissors-type lifting mechanism. The X-axis driving mechanism 8 is fixed on the lifting platform 91 of the Z-axis lifting mechanism 9, and the fixed platform 71 in the Y-axis driving mechanism 7 is connected to the slide 84 in the X-axis driving mechanism 8.

[0089] Specifically, Fig. 22 As shown, the Z-axis lifting mechanism 9 is arranged on the platform base 12, and the Z-axis lifting mechanism 9 includes a square-shaped lifting platform 91. Two groups of scissor-type connecting rods are symmetrically arranged below the lifting platform 91. The scissor-type connecting rods are X-shaped as a whole, and are hinged by a first connecting rod 92 and a second connecting rod 93. The top ends of the first connecting rod 92 and the second connecting rod 93 are respectively slidably matched with a sliding guide rail 95 fixed on the bottom surface of the lifting platform 91 through a sliding ring 94, and the bottom end of the second connecting rod 93 is hinged to a fixed mounting hole 121 on the platform base 12. The bottom ends of the two groups of first connecting rods 92 are respectively sleeved on the two ends of a driving push rod 96, and the two ends of the driving push rod 96 are respectively matched with the moving guide groove 122 set on the platform base 12 to slide. A limit screw 961 is provided at the end of the driving push rod 96. A Z-axis driving cylinder 97 is also provided on the platform base 12, and the cylinder push rod of the Z-axis driving cylinder 97 is fixed to the driving push rod 96.

[0090] The driving push rod 96 includes a rod body with a square cross-section, and both ends of the rod body are respectively provided with connecting shafts with circular cross-sections. The bottom end of the first connecting rod 92 is sleeved on the connecting shaft, and the connecting shaft slides in the movable guide groove 122 under the action of the Z-axis driving cylinder 97. The end of the connecting shaft is provided with an internal thread, and a limit screw 961 is fixed with the internal thread to prevent the connecting shaft from falling off from the movable guide groove 122 during the sliding process.

[0091] Specifically, Fig.21 As shown, the X-axis driving mechanism 8 is provided with an X-axis fixed base 81 fixed on the lifting platform 91 along the X-axis direction, the X-axis fixed base 81 is provided with an X-axis moving guide rail 82, an X-axis moving slider 83 matched with the X-axis moving guide rail 82, and a slide 84 fixed to the X-axis moving slider 83 by screws, and also includes an X-axis moving lead screw 85 that forms a lead screw nut movement with the slide 84, both ends of the X-axis moving lead screw 85 are respectively fixed to the X-axis fixed base 81 by lead screw support seats, and one end of the X-axis moving lead screw 85 is connected to the X-axis driving motor 86 by a coupling.

[0092] The X-axis driving mechanism 8, the Y-axis driving mechanism 7 and the Z-axis lifting mechanism 9 in this embodiment are used to realize the initial positioning of the swing mechanism, that is, to realize the initial positioning of the terminal continuum mechanism before grinding; when the pipe mouth of the workpiece 10 to be ground has an angle with the X-axis direction, fine adjustment can be performed through the swing control mechanism 5; during grinding, by adjusting the push rod stroke of the cylinder 33 in the telescopic universal ball joint assembly 3, the grinding device 2 can adapt to the different curvature requirements inside the workpiece 10 to be ground; by adjusting the push rod stroke in the electric telescopic rod assembly 26, the grinding head assembly 27 can be driven to move closer to or away from the central rotating axis 21, so as to adjust the grinding radius of the grinding device 2 to adapt to the radius change of the inner wall of the workpiece 10 to be ground.

[0093] The present invention also includes a control system, which includes an industrial computer with a communication interface, a host computer, a feedback module and an actuator. The host computer is connected to the industrial computer, the industrial computer is connected to the actuator, the feedback module is fed back to the host computer for display and use through the industrial computer, and the output end of the industrial computer is connected to the X-axis drive motor in the X-axis drive mechanism, the drum motor in the Y-axis drive mechanism, the Z-axis drive cylinder in the Z-axis lifting mechanism, the swing motor in the swing control mechanism, the cylinder in the telescopic universal ball joint assembly, and the rotating shaft motor, electric telescopic rod assembly and grinding head motor in the grinding device.

[0094] The feedback module includes a depth vision sensor, a grating displacement sensor, an IMU sensor, an ultrasonic sensor and a Hall displacement encoder. There are four depth vision sensors, which are installed at the four corners of the fixture mounting platform to obtain the position and posture information of the workpiece to be polished; there are three grating displacement sensors, two of which are installed on the lifting platform to cooperate with the X-axis driving mechanism to feedback the position of the swing control mechanism in the spatial X-axis direction; the other is installed on the driving push rod of the Z-axis lifting mechanism to feedback the position of the swing control mechanism in the spatial Z-axis direction; there are six IMU sensors, which are installed on the grinding top plates of the three groups of grinding devices to feedback the posture of the terminal continuum mechanism; two ultrasonic sensors are installed on the grinding top plates at the front end of the terminal continuum mechanism to feedback the distance from the inner wall of the workpiece to be polished to the terminal continuum mechanism; one Hall displacement encoder is installed on the drum motor in the Y-axis driving mechanism to feedback the position of the swing control mechanism in the spatial Y-axis direction.

[0095] The working process of the present invention is as follows:

[0096] Before grinding, the workpiece to be grinded is first fixed on the fixture mounting platform by a fixture, and the depth vision sensor obtains the information of the workpiece to be grinded. The industrial computer drives the X-axis drive mechanism, the Y-axis drive mechanism and the Z-axis lifting mechanism to adjust the position of the terminal continuum mechanism so that the terminal continuum mechanism is aligned with the pipe mouth of the workpiece to be grinded, thereby realizing the initial positioning of the terminal continuum mechanism; then the swing control mechanism is controlled to fine-tune the position of the terminal continuum mechanism in the horizontal direction to ensure that the front end of the terminal continuum mechanism coincides with the center line of the pipe mouth of the workpiece to be grinded as much as possible; then the X-axis drive mechanism drives the terminal continuum mechanism to move into the pipe mouth, and the depth vision sensor transmits the information of the workpiece to be grinded to the industrial computer. The industrial computer drives the cylinder in the telescopic universal ball joint assembly to move, adjusts the curvature of the grinding device to adapt it to the workpiece to be grinded, and then adjusts the grinding radius of the grinding device according to the feedback of the ultrasonic sensor so that it contacts the inner wall of the workpiece to be grinded. At this time, the industrial computer controls the rotating shaft motor and the grinding head motor in the grinding device to work and starts grinding the current section. After the grinding of the current section is completed, the X-axis drive motor is controlled to move so that the end continuum enters the next section of the workpiece to be ground for grinding until all sections are ground.

[0097] Another object of the present invention is to provide a method for using a robot device for grinding the inner wall of a variable curvature pipe, comprising the following steps:

[0098] S1: System initialization;

[0099] S2: Place the workpiece to be polished on the fixture installation platform, adjust the fixture position and clamp the workpiece to be polished; the depth vision sensor obtains the position information of the workpiece to be polished in the working space;

[0100] S3: Control the X-axis driving mechanism, the Y-axis driving mechanism, the Z-axis lifting mechanism and the swing control mechanism to move the terminal continuum mechanism to the nozzle of the workpiece to be polished;

[0101] S4: judging whether the spatial position of the terminal continuum mechanism is accurate, if the judgment result is yes, adjusting the curvature of the terminal continuum mechanism according to the inner diameter of the tube wall of the workpiece to be polished, otherwise returning to S3;

[0102] S5: Adjust the grinding radius of the grinding device;

[0103] S6: Determine whether the grinding wheel in the grinding device is in contact with the inner wall of the workpiece to be ground. If the determination result is yes, start the rotating shaft motor and the grinding head motor to start the grinding operation; otherwise, return to S5;

[0104] S7: Determine whether the current section of the workpiece to be polished is polished. If the judgment result is yes, drive the X-axis drive mechanism to move to the next working section; otherwise, return to S6 to continue polishing;

[0105] S8: Repeat S2 to S7 until all sections are polished and the work is finished.

[0106] The embodiments described above are merely descriptions of preferred implementation modes of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A robot device for grinding the inner wall of a variable curvature pipe, characterized in that: The invention comprises a fixture installation platform (1), on which a plurality of fixtures (6) for clamping a workpiece (10) to be polished are arranged; and an end continuum mechanism, wherein the end continuum mechanism comprises a plurality of polishing devices (2) arranged in sequence, wherein adjacent polishing devices (2) are connected in series via a telescopic universal ball joint assembly (3), and the tail end of the end continuum mechanism is connected to a swing control mechanism (5) located on the side of the fixture installation platform (1) via a connecting piece (4), and a telescopic universal ball joint assembly (3) is also arranged between the tail end of the end continuum mechanism and the connecting piece (4); the swing control mechanism (5) is used to drive the end continuum mechanism to swing in the horizontal direction, and the position of the swing control mechanism (5) on the X, Y and Z axes is adjustable; The grinding device (2) comprises a central rotating shaft (21) and a grinding top plate (22) and a grinding bottom plate (23) rotatably connected to both ends of the central rotating shaft (21); the central rotating shaft (21) is driven to rotate by a rotating shaft motor (211); a grinding head mounting plate (24) and a movable slider (25) are coaxially arranged on the central rotating shaft (21); the grinding head mounting plate (24) is fixedly connected to the central rotating shaft (21); the movable slider (25) is movably connected to the central rotating shaft (21); an electric telescopic rod assembly (26) is arranged on the grinding head mounting plate (24); the electric telescopic rod assembly (26) is used to drive the movable slider (25) to move along the central rotating shaft (21). axial movement; the grinding device (2) further comprises a grinding head assembly (27) uniformly distributed along the circumference of the central rotating shaft (21); the axial direction of the grinding head assembly (27) is parallel to the central rotating shaft (21); the grinding head assembly (27) is connected to the grinding head mounting plate (24) via a grinding head support plate (28); the grinding head support plate (28) is parallel to the grinding head mounting plate (24) and the grinding head support plate (28) is slidably connected to the grinding head mounting plate (24); the sliding direction of the grinding head support plate (28) is consistent with the radial direction of the central rotating shaft (21); a slider connecting rod (29) is provided between the grinding head support plate (28) and the movable slider (25) and is hinged to the two; The telescopic universal ball joint assembly (3) is arranged between the grinding top plate (22) and the grinding bottom plate (23) of the adjacent grinding devices (2), and comprises a ball head (31), a ball head seat (32) matched with the ball head (31), and a cylinder (33) connected to the ball head seat (32); the ball head (31) is fixed on the grinding bottom plate (23), and the cylinder (33) is hinged on the grinding top plate (22); The swing control mechanism (5) comprises a swing rod (51), one end of the swing rod (51) is provided with a sector gear (52), and the sector gear (52) is meshed with a driving gear (54) on the output shaft of the swing motor (53), the other end of the swing rod (51) is provided with a connecting plate (55) fixed to the connecting member (4), and the middle section of the swing rod (51) is rotatably connected to the swing rod fixing seat (56).

2. The robot device for polishing the inner wall of a variable curvature pipe according to claim 1, characterized in that: The swing control mechanism (5) further comprises a square base (57) formed by connecting a bottom plate (571), a side plate (572), and a top plate (573); the swing motor (53) is fixed to the bottom plate (571) via a swing motor seat (531), and the output shaft of the swing motor (53) is arranged in a vertical direction; the swing rod (51) is provided with one end of a connecting plate (55) cantilevered outside the square base (57); the swing rod fixing seat (56) is fixed to the bottom plate (571); a fixing block (511) is sleeved on the swing rod (51) between the connecting plate (55) and the swing rod fixing seat (56); the bottom of the fixing block (511) is rotatably connected to a first slider (58); the first slider (58) slides in cooperation with a first slide rail (59) horizontally arranged on the side plate (572).

3. The robot device for grinding the inner wall of a variable curvature pipe according to claim 1, characterized in that: The grinding head support plate (28) is provided with a guide slider (281) on its plate surface close to the grinding head mounting plate (24), and the grinding head mounting plate (24) is provided with a guide groove (241) matched with the guide slider (281), and the guide groove (241) is arranged along the radial direction of the central rotation axis (21); the grinding head support plate (28) is provided with a first connecting rod ear seat (282) and a connecting column (283) at both ends of its plate surface away from the grinding head mounting plate (24), and the end where the first connecting rod ear seat (282) is located is close to the central rotation axis (21). The grinding head assembly (27) comprises a grinding wheel (271) and a grinding head motor (273) for driving the grinding wheel (271) to rotate; the grinding wheel (271) is connected to the output shaft of the grinding head motor (273) via a fixing clamp (272); the connecting column (283) is fixed to the mounting seat of the grinding head motor (273); the seat end of the electric telescopic rod assembly (26) is fixed to the grinding head mounting plate (24) via screws; the push rod end of the electric telescopic rod assembly (26) is fixedly connected to the movable slider (25) via a connecting bent rod (261).

4. The robot device for grinding the inner wall of a variable curvature pipe according to claim 1, characterized in that: The grinding top plate (22) and the grinding bottom plate (23) are two circular plates with the same diameter and a smaller diameter than the workpiece (10) to be ground. The two ends of the central rotating shaft (21) are respectively connected to the grinding top plate (22) and the grinding bottom plate (23) through deep groove ball bearings. The rotating shaft motor (211) is fixed on the grinding bottom plate (23), and the rotating shaft motor (211) and the central rotating shaft (21) are connected through a pair of transmission gears. The driving gear (212) in the transmission gear is coaxially arranged with the output shaft of the rotating shaft motor (211), and the driven gear (213) in the transmission gear is coaxially fixed with the central rotating shaft (21). The cylinder body end of the cylinder (33) is hinged to the cylinder fixing ear seat (331) on the grinding top plate (22); the ball head seat (32) is fixed to the push rod end of the cylinder (33); the ball head (31) is fixed to the grinding bottom plate (23) via a ball head connecting rod (311); the ball head seat (32) is a split structure, formed by an upper ball seat (321) and a lower ball seat (322) being matched and fixed; the lower ball seat (322) and the push rod end of the cylinder (33) are integrally formed; the upper ball seat (321) is fixed to the lower ball seat (322) via screws, and the upper ball seat (321) is formed by two half ball seats matched and fixed.

5. The robot device for polishing the inner wall of a variable curvature pipe according to claim 1, characterized in that: The clamp (6) comprises a pipe clamp (61) and a pipe clamp fixing seat (62); the pipe clamp fixing seat (62) is fixed to the clamp mounting platform (1) via a rotating base (63); the clamp mounting platform (1) is connected to a frame-type platform base (12) via a column (11); the clamp mounting platform (1) is provided with mounting holes (13) for fixing the clamp (6); the mounting holes (13) are arranged in a matrix shape; The rotating base (63) comprises a rotating base body (631), a cover plate (632) matched with the rotating base body (631), a worm gear mechanism arranged in the rotating base body (631), a rotating platform (633) arranged at the center of the cover plate (632) and flush with the cover plate (632), and a rotating shaft (634) fixedly connected to the lower surface of the rotating platform (633), wherein: the rotating base body (631) is fixed to the fixture mounting platform (1) by screws, the cover plate (632) is fixed by matching the fixing column at the bottom thereof with the fixing hole on the rotating base body (631), the upper surface of the rotating platform (633) is fixed to the pipe clamp fixing seat (62) by screws, the rotating shaft (634) is fixedly connected to the transmission worm wheel (635) on the worm gear mechanism by a key, and the bottom end of the rotating shaft (634) is connected to the rotating base body (631) by a rotating deep groove ball bearing.

6. The robot device for polishing the inner wall of a variable curvature pipe according to claim 5, characterized in that: The worm gear mechanism comprises a transmission worm wheel (635), a worm (636) matched with the transmission worm wheel (635), a worm support seat (637) for fixing the worm (636), and a T-shaped adjustment column (638) for driving the worm (636) to rotate, wherein the worm support seat (637) is fixedly connected to the bottom plate of the rotating base body (631), and the worm (636) is mounted on the worm support seat (637) via a pair of worm deep groove ball bearings; the T-shaped adjustment column (638) comprises a column section (6381), one end of the column section (6381) is matched and connected with a rectangular recessed hole provided at the end of the worm (636), and the other end of the column section (6381) passes through the rotating base body (631) and is provided with a handle means (6382) perpendicular to the column section (6381).

7. The robot device for grinding the inner wall of a variable curvature pipe according to claim 5, characterized in that: The pipe clamp (61) comprises a lower supporting jaw and a left jaw and a right jaw symmetrically arranged on both sides of the lower supporting jaw, wherein the lower supporting jaw, the left jaw and the right jaw form an arc-shaped clamping portion with an open top, and the arc-shaped clamping portion is used to clamp the outer wall of the workpiece (10) to be polished; The lower supporting clamp comprises an arc-shaped lower clamping portion (611) and a lower supporting seat body (612) connected to the bottom of the lower clamping portion (611); the left clamp comprises an arc-shaped left clamping portion (613) and a left clamping arm (614) connected to the outer arc surface of the left clamping portion (613); the right clamp comprises an arc-shaped right clamping portion (615) and a right clamping arm (616) connected to the outer arc surface of the right clamping portion (615); the lower clamping portion (611) and the lower supporting seat body (612), the left clamping portion (613) and the left clamping arm (614), and the right clamping portion (615) and the right clamping arm (616) are all integral structures; A vertically arranged pipe clamp cylinder (64) is provided at the center of the pipe clamp fixing seat (62), and a left ear seat (65) and a right ear seat (66) are symmetrically provided on both sides of the pipe clamp cylinder (64); a cylinder push rod of the pipe clamp cylinder (64) is fixedly connected to the lower support seat body (612), and the ends of the left clamping claw arm (614) and the right clamping claw arm (616) are respectively hinged to the left ear seat (65) and the right ear seat (66), and the adjacent end surfaces of the left clamping claw arm (614) and the right clamping claw arm (616) are respectively hinged to a left connecting rod (617) and a right connecting rod (618), and the other ends of the left connecting rod (617) and the right connecting rod (618) are respectively hinged to the two ends of the lower support seat body (612).

8. The robot device for polishing the inner wall of a variable curvature pipe according to claim 1, characterized in that: The swing control mechanism (5) is driven by a Y-axis driving mechanism (7) to move along the Y-axis direction. The Y-axis driving mechanism (7) comprises a fixed platform (71) arranged along the Y-axis direction and a movable platform (72) slidably connected to the fixed platform (71). A square through slot is hollowed out in the middle of the fixed platform (71). The movable platform (72) comprises an upper platform (721) and a lower platform (722) arranged in parallel on the upper and lower sides of the fixed platform (71). The upper platform (721) and the lower platform (722) are connected to form an integral whole via studs. A second sliding block (723) is fixed to the upper surface of the lower platform (722). The second sliding block (723) slides in cooperation with a second sliding rail (724) arranged on the lower surface of the fixed platform (71). The Y-axis driving mechanism (7) further comprises a power mechanism for driving the second slider (723) to slide along the second slide rail (724), the power mechanism comprising a reel (73), a reel motor (74) for driving the reel (73) to rotate, a first fixed pulley (75), a second fixed pulley (76) and a flexible cable (77), wherein: the reel (73) is located on the upper surface of the lower platform (722), the reel motor (74) is fixed on the lower surface of the lower platform (722), the first fixed pulley (75) and the second fixed pulley (76) are arranged on the upper surface of the fixed platform (71) and are respectively fixed on the plate surfaces at both ends of the square through groove, one end of the flexible cable (77) is connected to the first flexible cable fixing block (771) on the lower platform (722), and the other end of the flexible cable (77) is connected to the second flexible cable fixing block (772) on the lower platform (722) after winding around the first fixed pulley (75), the reel (73) and the second fixed pulley (76) in sequence.

9. The robot device for grinding the inner wall of a variable curvature pipe according to claim 8, characterized in that: The Y-axis driving mechanism (7) is connected to the Z-axis lifting mechanism (9) via the X-axis driving mechanism (8); the X-axis driving mechanism (8) is a screw-nut-slider mechanism; the Z-axis lifting mechanism (9) is a scissor-type lifting mechanism; the X-axis driving mechanism (8) is fixed on a lifting platform (91) of the Z-axis lifting mechanism (9); and the fixed platform (71) in the Y-axis driving mechanism (7) is connected to a slide table (84) in the X-axis driving mechanism (8).

10. A method for using the robot device for grinding the inner wall of a variable curvature pipe according to any one of claims 1 to 9, comprising the following steps: S1: System initialization; S2: Place the workpiece to be polished on the fixture installation platform, adjust the fixture position and clamp the workpiece to be polished; the depth vision sensor obtains the position information of the workpiece to be polished in space; S3: Control the X-axis driving mechanism, the Y-axis driving mechanism, the Z-axis lifting mechanism and the swing control mechanism to move the terminal continuum mechanism to the nozzle of the workpiece to be polished; S4: judging whether the spatial position of the terminal continuum mechanism is accurate, if the judgment result is yes, adjusting the curvature of the terminal continuum mechanism according to the inner diameter of the tube wall of the workpiece to be polished, otherwise returning to S3; S5: Adjust the grinding radius of the grinding device; S6: Determine whether the grinding wheel in the grinding device is in contact with the inner wall of the workpiece to be ground. If the determination result is yes, start the rotating shaft motor and the grinding head motor to start the grinding operation; otherwise, return to S5; S7: Determine whether the current section of the workpiece to be polished is polished. If the judgment result is yes, drive the X-axis drive mechanism to move to the next working section; otherwise, return to S6 to continue polishing; S8: Repeat S2 to S7 until all sections are polished and the work is finished.

Images