Intelligent grinding robot

Abstract

The invention relates to the technical field of intelligent grinding equipment, and discloses an intelligent grinding robot which comprises a positioning table capable of fixing a workpiece and a grinding mechanism arranged on the positioning table, the upper portion of the positioning table is fixedly installed on a limiting sliding way, the limiting sliding way is in a square shape, and a limiting groove is formed in the limiting sliding way; the grinding mechanism comprises a movable seat, a mechanical arm, a fixed cover and a grinding roller, a limiting column and a plurality of driving wheels are arranged at the lower end of the movable seat, the limiting column is movably clamped in the limiting groove, the mechanical arm is movably installed on the movable seat, the fixed cover is fixedly installed at the end of the mechanical arm, and the grinding roller is rotatably installed in the fixed cover; a driving motor is fixedly installed on the fixing cover, and an output shaft of the driving motor penetrates through the fixing cover to be fixedly connected with the grinding roller. According to the intelligent grinding robot, chippings on a workpiece can be cleaned in time in the grinding process, the influence of the chippings on the surface of the workpiece is avoided, and the grinding efficiency and quality are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent grinding equipment, and particularly relates to an intelligent grinding robot. Background Art

[0002] A grinding machine is a device that grinds, polishes, and buffs the surface of a workpiece through mechanical force and abrasives. Its working principle is based on the interaction between the abrasive and the workpiece surface. By continuously rubbing and grinding the abrasive on the workpiece surface, the processing effect is achieved. The grinding machine provides power through the installed motor, driving the abrasive to rotate or move linearly. The contact friction between the abrasive and the workpiece surface generates a grinding force, thereby grinding off the protruding parts on the workpiece surface to achieve the grinding effect.

[0003] When the existing grinding equipment is working, the generated debris is prone to splash and scatter on the workbench or the workpiece surface, but the debris on the workbench or the workpiece is not cleaned in a timely and effective manner, which affects the grinding effect of the grinding equipment. Aiming at the deficiencies of the existing technology, the present invention proposes an intelligent grinding robot that can timely clean the debris on the workpiece during the grinding process, avoid the influence of the debris on the workpiece surface, and improve the grinding efficiency and quality. Summary of the Invention

[0004] The purpose of the present invention is to propose an intelligent grinding robot that can timely clean the debris on the workpiece during the grinding process, avoid the influence of the debris on the workpiece surface, and improve the grinding efficiency and quality.

[0005] To achieve the above technical purpose, the technical solution adopted by the present invention is as follows: An intelligent grinding robot includes a positioning table for fixing the workpiece and a grinding mechanism arranged on the positioning table. The upper part of the positioning table is fixedly installed on a limit slideway. The limit slideway is in a "mouth" shape, and a limit groove is opened on the limit slideway. The grinding mechanism includes a movable seat, a robotic arm, a fixed cover, and a grinding roller. The lower end of the movable seat is provided with a limit post and a plurality of driving wheels. The limit post is movably clamped in the limit groove. The robotic arm is movably installed on the movable seat. The fixed cover is fixedly installed at the end of the robotic arm. The grinding roller is rotatably installed in the fixed cover. A driving motor is fixedly installed on the fixed cover. The output shaft of the driving motor penetrates the fixed cover and is fixedly connected to the grinding roller. An屑removing mechanism for cleaning the grinding debris and a cooling mechanism for cooling the grinding roller are arranged on the fixed cover.

[0006] Further limited, a plurality of installation grooves are opened at the upper end of the positioning table. Hydraulic cylinders are fixedly installed in the plurality of installation grooves. The upper end of the hydraulic cylinder extends out of the upper end of the positioning table and is fixedly installed with a vacuum suction cup. With such a structural design, the hydraulic cylinder cooperates with the vacuum suction cup to fix the workpiece for stable grinding of the workpiece.

[0007] It is further defined that the upper end of the positioning platform is provided with a plurality of through-holes, the interior of the positioning platform is provided with a cavity connected to the lower end of the through-holes, a blower is fixedly installed on the positioning platform, and a connecting pipe is provided at the air inlet end of the blower, and the connecting pipe is connected to the cavity. With such a structural design, the blower cooperates with the connecting pipe to transport the air in the cavity to the outside, so that the debris on the positioning platform is discharged to the outside through the through-holes driven by the airflow.

[0008] It is further defined that a fence is fixedly installed on the upper edge of the positioning platform, and the fence is higher than the upper end of the limiting slide. With such a structural design, the fence can block the debris splashing outward during grinding, preventing the debris from flying and affecting the surrounding environment.

[0009] It is further defined that the cooling mechanism includes a fixed seat, an air pipe whose end is connected to the output end of the cold air delivery device, and an air jet end head, the fixed seat is fixedly installed on the side of the fixed cover away from the chip removal mechanism, the air pipe is connected to the fixed seat, an inclined groove is provided on the fixed seat, the air jet end head is fixedly installed in the inclined groove, and the output port of the air jet end head is inclined toward the grinding roller. With such a structural design, the cold air output from the air jet end head can cool the grinding roller, making the grinding efficiency of the grinding roller more stable.

[0010] It is further defined that an adjustment control is arranged between the fixed seat and the gas pipe, and the adjustment control comprises a fixed block, a slider, a push rod, a piston, a fixed cylinder and a heat-conducting block, the fixed block is fixedly installed between the fixed seat and the gas pipe, a through hole connected to the fixed seat and the gas pipe and a slide groove connected to the through hole are provided in the fixed block, the slider is slidably installed in the slide groove, a circular hole matched with the through hole is provided on the end of the slider close to the fixed cover, the push rod is fixedly installed on the end of the slider close to the fixed cover, a compression spring is fixedly installed between the other end of the slider and the wall of the slide groove, the piston is fixedly installed on the end of the push rod, the fixed cover is provided with a groove, the fixed cylinder and the heat-conducting block are fixedly installed in the groove, the piston is movably installed in the fixed cylinder, the heat-conducting block is fixedly connected to the end of the fixed cylinder away from the slider, and the fixed cylinder is filled with working fluid between the piston and the heat-conducting block. With this structural design, when the grinding roller is working and the temperature inside the fixed cover rises, the heat-conducting block is heated, and the state of the working medium in the fixed cylinder changes, which will push the slider to move in the slide groove through the piston and the push rod. Depending on the temperature, the circular hole of the slider will overlap with the through hole to form channels of different sizes, thereby outputting cold air at different rates to cool the grinding roller.

[0011] It is further defined that the chip removal mechanism includes a guide cover, a guide bar and a conveying pipe, the guide cover is fixedly mounted on the fixed cover, the guide bar is fixedly mounted on the lower end of the guide cover, the guide bar is provided with an opening on the side close to the grinding roller, the conveying pipe is fixedly mounted on the upper end of the guide cover and is connected to the guide cover, and the end of the conveying pipe is connected to the connecting pipe at the air inlet end of the blower. With such a structural design, the guide bar can guide the chips generated by grinding to the bottom of the guide cover, and the blower cooperates with the connecting pipe and the conveying pipe to convey the chips outward.

[0012] It is further defined that a flexible auger and a motor for driving the flexible auger to rotate are provided at one end of the conveying pipe near the deflector, a heating wire is provided in the flexible auger, and a heat insulation section is provided between the motor output shaft and the flexible auger. With such a structural design, the flexible auger cooperates with the heating wire to dry and convey the debris in the conveying pipe, and can clean up the wet and agglomerated debris.

[0013] It is further defined that a laser distance measuring sensor is fixedly mounted on the fixed cover, and a controller is integrated in the movable seat. Such a structural design is simple in structure and convenient to use.

[0014] The invention adopting the above technical solution has the following advantages: According to the present invention, after the positioning table fixes the workpiece, the movable seat drives the mechanical arm to grind the workpiece in the positioning table along the limiting slideway. With the cooperation of the chip removal mechanism and the cooling mechanism, the grinding roller is kept at a suitable temperature, and the debris on the workpiece is cleaned in time during the grinding process, thereby avoiding the debris from affecting the surface of the workpiece and improving the grinding efficiency and quality.

[0015] In the present invention, when the temperature at the grinding roller is too high, the state of the working medium in the fixed cylinder will change, and the slider will be pushed to move in the slide groove by the piston and the push rod. According to the different temperatures at the grinding roller, the circular hole of the slider will overlap with the through hole to form channels of different sizes, so that the jet end head outputs cold air at different rates, and the grinding roller is appropriately cooled to improve the stability of the grinding work.

[0016] The present invention uses a flexible auger in conjunction with a heating wire to dry and transport debris entering the conveying pipe, thereby preventing debris that is damp and agglomerated due to high ambient humidity from adhering to the inner wall of the conveying pipe, causing blockage and affecting the debris removal effect of the debris removal mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention can be further illustrated by the non-limiting examples given in the accompanying drawings; Figure 1 This is a structural schematic diagram of an intelligent polishing robot according to the present invention; Figure 2 This is a schematic cross-sectional structural diagram of an intelligent polishing robot of the present invention; Figure 3 This is a schematic diagram of the structure of a grinding mechanism in an intelligent grinding robot of the present invention; Figure 4 for Figure 3 A schematic diagram of the enlarged structure at A in the middle; Figure 5 It is a structural schematic diagram of a grinding mechanism, a chip removal mechanism and a cooling mechanism in an intelligent grinding robot of the present invention; Figure 6 The present invention is a schematic diagram of the structure of the cooling mechanism and the control unit of an intelligent polishing robot.

[0018] The main component symbols are described as follows: 1. Positioning table; 11. Through-hole; 12. Cavity; 13. Blower; 2. Grinding mechanism; 21. movable seat; 211. limiting column; 212. driving wheel; 22. Robotic arm; 23. Fixed cover; 231. Driving motor; 24. Grinding roller; 3. Limit slideway; 4. Hydraulic cylinder; 41. Vacuum suction cup; 5. Enclosure; 6. Fixed seat; 61. Air pipe; 62. Jet end; 63, fixed block; 631, slider; 632, push rod; 633, piston; 634, fixed cylinder; 635, heat conducting block; 7. deflector; 71. guide strip; 72. conveying pipe; 73. flexible auger; 8. Laser ranging sensor. DETAILED DESCRIPTION

[0019] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that in the drawings or descriptions of the specification, similar or identical parts use the same figure numbers, and the implementation methods not shown or described in the drawings are forms known to ordinary technicians in the relevant technical field. In addition, the directional terms mentioned in the embodiments, such as "upper", "lower", "top", "bottom", "left", "right", "front", "back", etc., are only referenced to the directions of the drawings and are not used to limit the scope of protection of the present invention.

[0020] like Figure 1 to Figure 6As shown, an intelligent grinding robot of the present invention comprises a positioning platform 1 for fixing a workpiece and a grinding mechanism 2 arranged on the positioning platform 1. The upper part of the positioning platform 1 is fixedly mounted on a limiting slide 3. The limiting slide 3 is in the shape of a "mouth". A limiting groove is provided on the limiting slide 3. The grinding mechanism 2 comprises a movable seat 21, a mechanical arm 22, a fixed cover 23 and a grinding roller 24. A limiting column 211 and a plurality of driving wheels 212 are provided at the lower end of the movable seat 21. The limiting column 211 is movably clamped in the limiting groove. The mechanical arm 22 It is movably installed on the movable seat 21, the fixed cover 23 is fixedly installed on the end of the mechanical arm 22, the grinding roller 24 is rotatably installed in the fixed cover 23, and a driving motor 231 is fixedly installed on the fixed cover 23. The output shaft of the driving motor 231 passes through the fixed cover 23 and is fixedly connected to the grinding roller 24. The fixed cover 23 is provided with a chip removal mechanism for cleaning the grinding debris and a cooling mechanism for cooling the grinding roller 24. A fence 5 is fixedly installed on the upper edge of the positioning platform 1, and the fence 5 is higher than the upper end of the limiting slide 3.

[0021] A plurality of mounting grooves are provided at the upper end of the positioning platform 1, in which hydraulic cylinders 4 are fixedly installed, the upper end of the hydraulic cylinder 4 extends out of the upper end of the positioning platform 1 and a vacuum suction cup 41 is fixedly installed, a plurality of through openings 11 are provided at the upper end of the positioning platform 1, a cavity 12 connected to the lower end of the through opening 11 is provided inside the positioning platform 1, a blower 13 is fixedly installed on the positioning platform 1, a connecting pipe is provided at the air inlet end of the blower 13, and the connecting pipe is connected to the cavity 12.

[0022] The cooling mechanism includes a fixed seat 6, an air pipe 61 whose end is connected to the output end of the cold air delivery equipment, and an air jet end 62. The cold air delivery equipment is an air conditioner that can output cold air below the ambient temperature, and the temperature of the cold air can be adjusted. The fixed seat 6 is fixedly installed on the side of the fixed cover 23 away from the chip removal mechanism. The air pipe 61 is connected to the fixed seat 6. An inclined groove is opened on the fixed seat 6. The air jet end 62 is fixedly installed in the inclined groove. The output port of the air jet end 62 is inclined toward the grinding roller 24.

[0023] An adjustment control is provided between the fixed seat 6 and the gas delivery pipe 61, and the adjustment control comprises a fixed block 63, a slider 631, a push rod 632, a piston 633, a fixed cylinder 634 and a heat conducting block 635. The fixed block 63 is fixedly installed between the fixed seat 6 and the gas delivery pipe 61. A through hole connected to the fixed seat 6 and the gas delivery pipe 61 and a slide groove connected to the through hole are provided in the fixed block 63. The slider 631 is slidably installed in the slide groove. A circular hole matching the through hole is provided on one end of the slider 631 close to the fixed cover 23. When the slider 631 slides in the slide groove, the circular hole will be staggered with the through hole to form channels of different sizes for cooling air to pass through, so that the jet rate at the jet end 62 can be adjusted to produce different cooling effects. In the embodiment of the present invention, the push rod 632 is fixedly installed on one end of the slider 631 close to the fixed cover 23, a compression spring is fixedly installed between the other end of the slider 631 and the wall of the slide groove, the piston 633 is fixedly installed on the end of the push rod 632, a groove is provided on the fixed cover 23, the fixed cylinder 634 and the heat-conducting block 635 are fixedly installed in the groove, the piston 633 is movably installed in the fixed cylinder 634, the heat-conducting block 635 is fixedly connected to one end of the fixed cylinder 634 away from the slider 631, and the fixed cylinder 634 is filled with a working medium between the piston 633 and the heat-conducting block 635, wherein the working medium is water. When the temperature at the fixed cover 23 exceeds one hundred degrees Celsius, the water changes from liquid to gas, which can push the piston to move in the fixed cylinder 634.

[0024] The chip removal mechanism includes a guide cover 7, a guide strip 71 and a conveying pipe 72. The guide cover 7 is fixedly mounted on the fixed cover 23. The guide strip 71 is fixedly mounted on the lower end of the guide cover 7. An opening is provided on the side of the guide strip 71 close to the grinding roller 24. The conveying pipe 72 is fixedly mounted on the upper end of the guide cover 7 and is connected to the guide cover 7. The end of the conveying pipe 72 is connected to the connecting pipe at the air inlet end of the blower 13. When the blower 13 is working, it can drive the air in the cavity and the conveying pipe 72 to flow, so as to convey the chips on the positioning table 1 and the workpiece to the outside.

[0025] A flexible auger 73 and a motor for driving the flexible auger 73 to rotate are provided at one end of the conveying pipe 72 near the deflector 7. A heating wire is provided inside the flexible auger 73. An insulation section is provided between the motor output shaft and the flexible auger 73. The insulation section can isolate the temperature between the flexible auger 73 and the output shaft, thereby avoiding the problem of excessive temperature at the motor affecting work efficiency.

[0026] A laser ranging sensor 8 is fixedly mounted on the fixed cover 23, and a controller is integrated in the movable seat 21. The controller is electrically connected to the laser ranging sensor, the drive motor 231, the mechanical arm 22, the hydraulic cylinder 4, the vacuum suction cup 41, the blower 13, the motor and the heating wire, and can control the operation of each electrical component.

[0027] The method of use of the present invention is as follows: When in use, the workpiece is placed on the upper end of the positioning platform 1, and the hydraulic cylinder 4 drives the vacuum suction cup 41 to be close to the bottom of the workpiece, and the vacuum suction cup 41 absorbs the workpiece and firmly locks it on the positioning platform 1; The grinding mechanism 2 works, and the movable seat 21 moves on the limit slide 3 until the mechanical arm 22 drives the fixed cover 23 to move, so that the grinding roller 24 is close to the part to be ground on the workpiece, and the driving motor 231 works, and the grinding roller 24 rotates to grind the burrs or uneven parts on the surface of the workpiece. The laser ranging sensor 8 can monitor the distance between the fixed cover 23 and the surface of the workpiece. Under the control of the controller, the mechanical arm 22 can maintain the working height of the fixed cover 23 and the grinding roller 24, ensuring the flatness of the grinding; While the grinding mechanism 2 is working, the blower 13 is working, which can drive the air flow in the cavity 12 and the conveying pipe 72 through the connecting pipe, and can convey the debris on the positioning table 1 outward through the through opening 11. Under the guidance of the guide bar 71, the debris below the fixed cover 23 enters the conveying pipe 72 and is finally discharged outward, which can prevent the debris from remaining on the positioning table 1 and the workpiece surface, and affecting the grinding work; During grinding, the temperature inside the grinding roller 24 and the fixed cover 23 gradually increases, and the temperature of the heat conducting block 635 increases accordingly. When the temperature exceeds one hundred degrees Celsius, the water in the fixed cylinder 634 undergoes a phase change, from liquid to gas, which can drive the piston 633 and the push rod 632 to push the slider 631 to move. When the slider 631 slides in the slide groove, the circular hole will be staggered with the through hole to form channels of different sizes for cooling air to pass through, so that the jet rate at the jet end 62 can be adjusted according to the temperature, so that the temperature at the grinding roller 24 is kept within the set range, thereby enhancing the stability of the grinding mechanism 2 during operation; When the ambient humidity is high, the debris generated by grinding will clump due to moisture. At this time, the flexible auger 73 and the heating wire work to dry the debris while conveying it, so as to avoid the problem of wet debris adhering to the inner wall of the conveying pipe 72 and causing blockage.

[0028] The above is a detailed introduction to an intelligent grinding robot provided by the present invention. The description of the specific embodiment is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An intelligent grinding robot, comprising a positioning table (1) for fixing a workpiece and a grinding mechanism (2) arranged on the positioning table (1), characterized in that: The upper part of the positioning platform (1) is fixedly mounted on a limiting slideway (3), the limiting slideway (3) is in the shape of a "mouth", and a limiting groove is provided on the limiting slideway (3). The grinding mechanism (2) comprises a movable seat (21), a mechanical arm (22), a fixed cover (23) and a grinding roller (24). The lower end of the movable seat (21) is provided with a limiting column (211) and a plurality of driving wheels (212). The limiting column (211) is movably clamped in the limiting groove. The mechanical arm (22) is movably mounted on the fixing cover (23). The fixed cover (23) is fixedly mounted on the movable seat (21) at the end of the mechanical arm (22); the grinding roller (24) is rotatably mounted in the fixed cover (23); a driving motor (231) is fixedly mounted on the fixed cover (23); an output shaft of the driving motor (231) passes through the fixed cover (23) and is fixedly connected to the grinding roller (24); and a chip removal mechanism for cleaning grinding chips and a cooling mechanism for cooling the grinding roller (24) are provided on the fixed cover (23).

2. The intelligent polishing robot according to claim 1, characterized in that: A plurality of mounting grooves are provided at the upper end of the positioning platform (1), and hydraulic cylinders (4) are fixedly mounted in the plurality of mounting grooves. The upper end of the hydraulic cylinder (4) extends out of the upper end of the positioning platform (1) and is fixedly mounted with a vacuum suction cup (41).

3. The intelligent polishing robot according to claim 1, characterized in that: A plurality of through openings (11) are provided at the upper end of the positioning platform (1), a cavity (12) connected to the lower ends of the through openings (11) is provided inside the positioning platform (1), a blower (13) is fixedly mounted on the positioning platform (1), a connecting pipe is provided at the air inlet end of the blower (13), and the connecting pipe is connected to the cavity (12).

4. The intelligent polishing robot according to claim 1, characterized in that: A barrier (5) is fixedly mounted on the upper edge of the positioning platform (1), and the barrier (5) is higher than the upper end of the limiting slideway (3).

5. The intelligent polishing robot according to claim 1, characterized in that: The cooling mechanism comprises a fixed seat (6), an air delivery pipe (61) whose end is connected to the output end of the cold air delivery device, and an air jet end head (62); the fixed seat (6) is fixedly mounted on a side of the fixed cover (23) away from the chip removal mechanism; the air delivery pipe (61) is connected to the fixed seat (6); an inclined groove is formed on the fixed seat (6); the air jet end head (62) is fixedly mounted in the inclined groove; and the output port of the air jet end head (62) is inclined toward the grinding roller (24).

6. The intelligent polishing robot according to claim 5, characterized in that: An adjustment control unit is provided between the fixing seat (6) and the gas delivery pipe (61), and the adjustment control unit comprises a fixing block (63), a slider (631), a push rod (632), a piston (633), a fixing cylinder (634) and a heat conducting block (635). The fixing block (63) is fixedly mounted between the fixing seat (6) and the gas delivery pipe (61). A through hole connected to the fixing seat (6) and the gas delivery pipe (61) and a slide groove connected to the through hole are provided in the fixing block (63). The slider (631) is slidably mounted in the slide groove. A circular hole matching the through hole is provided at one end of the slider (631) close to the fixing cover (23). The push rod (632) The piston (633) is fixedly mounted on one end of the slider (631) close to the fixed cover (23); a compression spring is fixedly mounted between the other end of the slider (631) and the wall of the slide groove; the piston (633) is fixedly mounted on the end of the push rod (632); a groove is provided on the fixed cover (23); the fixed cylinder (634) and the heat conductive block (635) are fixedly mounted in the groove; the piston (633) is movably mounted in the fixed cylinder (634); the heat conductive block (635) is fixedly connected to one end of the fixed cylinder (634) away from the slider (631); and a working medium is filled in the fixed cylinder (634) between the piston (633) and the heat conductive block (635).

7. The intelligent polishing robot according to claim 3, characterized in that: The chip removal mechanism comprises a guide cover (7), a guide strip (71) and a conveying pipe (72); the guide cover (7) is fixedly mounted on the fixed cover (23); the guide strip (71) is fixedly mounted on the lower end of the guide cover (7); an opening is provided on a side of the guide strip (71) close to the grinding roller (24); the conveying pipe (72) is fixedly mounted on the upper end of the guide cover (7) and is connected to the guide cover (7); an end of the conveying pipe (72) is connected to a connecting pipe at an air inlet end of the blower (13).

8. The intelligent polishing robot according to claim 4, characterized in that: A flexible auger (73) and a motor for driving the flexible auger (73) to rotate are provided at one end of the conveying pipe (72) close to the deflector (7), a heating wire is provided in the flexible auger (73), and a heat insulation section is provided between the motor output shaft and the flexible auger (73).

9. The intelligent polishing robot according to claim 1, characterized in that: A laser distance measuring sensor (8) is fixedly mounted on the fixed cover (23), and a controller is integrated in the movable seat (21).

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