Polishing robot

Abstract

The invention discloses a polishing robot, and relates to the technical field of robots, the polishing robot comprises a mechanical arm main body, one end of the mechanical arm main body is provided with an output shaft, the bottom of the output shaft is fixedly connected with a connecting frame, the connecting frame is provided with an overturning assembly, the overturning assembly comprises a connecting box, and the outer wall of the connecting box is fixedly connected with a connecting shaft; and the outer wall of the connecting shaft is movably inserted into the outer wall of the connecting frame, and a first polishing disc is arranged on one side of the connecting box. The polishing device has the beneficial effects that the first polishing disc and the second polishing disc are arranged as polishing tools with different sizes, the connecting box is rotated to drive the first polishing disc and the second polishing disc to rotate, so that the polishing tools are adjusted when a product is polished, and the polishing efficiency is improved; the dust inlet hopper is fixed to the position through inward tightening of the first tightening plate and the second tightening plate, the dust collector body is started, air and chippings near the dust inlet hopper are sucked into the dust collector body, and the chippings generated in the polishing process are absorbed.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a polishing robot. Background Art

[0002] With the continuous development of sensor technology, machine vision technology, artificial intelligence and other technologies, polishing robots have a higher level of intelligence and stronger adaptability. They use industrial robots combined with special polishing tools to perform fine grinding and polishing on the surface of workpieces to achieve the purpose of improving surface quality and accuracy.

[0003] In the prior art, the polishing robot is equipped with a sensor and an intelligent control system to detect the polishing condition of the workpiece surface in real time, and automatically adjust the motion trajectory and polishing force of the polishing tool as needed to achieve a polishing effect. However, the existing polishing robot has certain limitations during use. Since the existing polishing robot is usually equipped with a fixed polishing head, it is difficult to flexibly convert the size of the polishing head according to the needs of the workpiece, which limits the flexibility of the polishing process and affects the polishing effect. In addition, the existing polishing robot will generate certain debris when grinding and polishing the product. These debris scattered on the product may affect the subsequent polishing effect. Moreover, these debris scattered in the working area require additional time and labor costs for cleaning, which increases the maintenance cost. Therefore, a polishing robot is proposed to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the prior art that the existing polishing robots are usually equipped with a fixed polishing head, which makes it difficult to flexibly change the size of the polishing head according to the requirements of the workpiece, limiting the flexibility of the polishing process and affecting the polishing effect; and the existing polishing robots will generate certain debris when grinding and polishing the product. These debris scattered on the product may affect the subsequent polishing effect, and these debris scattered in the working area require additional time and labor costs for cleaning, increasing the maintenance cost. A polishing robot is proposed to solve the above problems.

[0005] In order to solve the problems existing in the prior art, the present invention adopts the following technical solutions:

[0006] A polishing robot, comprising

[0007] A mechanical arm body, wherein an output shaft is arranged at one end of the mechanical arm body, a connecting frame is fixedly connected to the bottom of the output shaft, and a flip assembly is arranged on the connecting frame, and the flip assembly comprises:

[0008] A connection box, the outer wall of which is fixedly connected to a connection shaft, and the outer wall of the connection shaft is movably plugged into the outer wall of the connection frame, a first polishing disc is provided on one side of the connection box, and a second polishing disc is provided on the other side of the connection box;

[0009] A positioning unit, which is arranged on the connection frame and is used to fix the application position of the connection box;

[0010] The robot arm body is provided with a cleaning assembly, which includes: a vacuum cleaner body, which is fixedly mounted on the outer wall of the robot arm body, a telescopic tube is fixedly provided on the outer wall of the vacuum cleaner body, and a dust inlet hopper is fixedly provided on the other end of the telescopic tube, and the dust inlet hopper is arranged on the connecting frame through a connecting unit.

[0011] Preferably, the positioning unit includes a positioning block and a rotating disk, the outer wall of the connecting frame is provided with a groove, and the inner wall of the groove provided on the outer wall of the connecting frame is fixedly provided with an extrusion spring, the other end of the extrusion spring is fixedly connected to the positioning block, the rotating disk is fixedly provided on the connecting shaft, the outer wall of the rotating disk is provided with a positioning opening, and there are multiple groups of positioning openings, and the positioning block is docked and clamped in the corresponding positioning opening.

[0012] Preferably, a moving groove is provided on the inner wall of the groove formed on the outer wall of the connecting frame, and a moving block is movably engaged with the inner wall of the moving groove, and the moving block is fixedly arranged on the outer wall of the positioning block.

[0013] Preferably, a support frame is fixedly provided on the outer wall of the connecting frame, and a cross bar is fixedly provided on the bottom of the support frame.

[0014] Preferably, the connecting unit includes a first tightening plate and a second tightening plate, the inner wall of the cross bar is rotatably connected to a bidirectional screw through a bearing, the first tightening plate is threadedly connected to the outer wall of the bidirectional screw, and the second tightening plate is threadedly connected to the outer wall of the bidirectional screw, and a fixing block is fixedly provided on the outer wall of the dust inlet hopper, and the fixing block is movably inserted between the first tightening plate and the second tightening plate.

[0015] Preferably, a movable opening is provided on the outer wall of the cross bar, and one end of the first tightening plate is movably clamped in the movable opening.

[0016] Preferably, a circular hole is opened on the outer wall of the crossbar, and a rotating shaft is movably inserted into the inner wall of the circular hole, and the outer wall of the rotating shaft is fixedly connected to the bidirectional screw.

[0017] Preferably, a fixed disk is fixedly provided on the outer wall of the rotating shaft, and a plug hole is penetrated through the outer wall of the fixed disk, and the plug holes are provided in multiple groups.

[0018] Preferably, a fixing screw is movably inserted into the inner wall of the insertion hole, a positioning hole is opened on the outer wall of the cross bar, and the fixing screw is threadedly tightened in the positioning hole.

[0019] Preferably, a dust collecting bin is movably connected to the outer wall of the vacuum cleaner body.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. In the present invention, by setting the connection between the robot arm body, the connecting frame, the connecting box, the first polishing disc and the second polishing disc, the first polishing disc and the second polishing disc are set as polishing tools of different sizes, and by rotating the connecting box, the first polishing disc and the second polishing disc are driven to rotate, so that the polishing tool when polishing the product can be adjusted, so as to perform polishing operations on workpieces of different sizes and shapes, thereby improving the flexibility and adaptability of the polishing operation, and by setting the connection between the vacuum cleaner body, the dust inlet hopper and the support frame, the dust inlet hopper is aligned with the polishing tool, and the first tightening plate and the second tightening plate are tightened inward to fix the dust inlet hopper at this position, and the vacuum cleaner body is started, so that the air and debris near the dust inlet hopper are sucked into the interior of the vacuum cleaner body, which absorbs the debris generated during the grinding process to prevent the accumulation of debris from affecting the polishing effect, and through its automatic cleaning, no manual intervention is required, which reduces downtime and operation complexity and improves polishing efficiency.

[0022] 2. In the present invention, by setting the connection relationship between the positioning block, the extrusion spring, the rotating disk and the positioning port, and multiple groups of positioning ports are provided, when the corresponding polishing tool is rotated to the corresponding position, the corresponding positioning port is aligned with the positioning block, and the positioning block is pushed outward by the outward pushing force of the extrusion spring, so that the positioning block is inserted into and stuck in another group of positioning ports, so that the position of the rotating disk is fixed, thereby fixing the use position of the polishing tool, and further improving its stability.

[0023] 3. In the present invention, by setting the connection between the rotating shaft, the fixed disk, the jack, the fixed screw and the positioning hole, and multiple groups of jacks are provided, the jacks at different positions correspond to the fixed positions of dust inlets of different widths, so that when the first tightening plate and the second tightening plate are moved to the clamping position according to the width of the dust inlet, the corresponding jacks are aligned with the positioning holes. At this time, the fixing screw is inserted into the positioning hole through the jack, and the fixing screw is rotated to tighten the fixing screw in the positioning hole, so that the fixing disk is fixed, thereby fixing the use position of the first tightening plate and the second tightening plate, thereby improving the stability of the position of the dust inlet when in use, and being suitable for dust inlets of different widths, thereby improving its practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the structure of the mechanical arm of the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the polishing disc of the present invention;

[0028] Figure 4 It is a schematic diagram of the internal structure of the connection box of the present invention;

[0029] Figure 5 It is a partial structural cross-sectional view of the connecting frame of the present invention;

[0030] Figure 6 It is a schematic diagram of the support frame structure of the present invention;

[0031] Figure 7 It is a cross-sectional view of the crossbar structure of the present invention.

[0032] Serial numbers in the figure: 1. Robot arm body; 101. Output shaft; 2. Connecting frame; 201. Positioning block; 202. Extrusion spring; 203. Moving slot; 204. Moving block; 3. Connecting box; 301. First polishing disc; 302. Second polishing disc; 303. Connecting shaft; 304. Rotating disc; 305. Positioning port; 4. Vacuum cleaner body; 401. Telescopic tube; 402. Dust inlet hopper; 403. Fixed block; 404. Dust collecting bin; 5. Support frame; 501. Cross bar; 502. Moving port; 503. Bidirectional screw; 504. First tightening plate; 505. Second tightening plate; 506. Rotating shaft; 507. Positioning hole; 6. Fixed disc; 601. Socket; 602. Fixed screw. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0034] Embodiment: This embodiment provides a polishing robot, see Figure 1-7 , specifically, including:

[0035] The robot body 1 has an output shaft 101 at one end thereof. The robot body 1 is equipped with a sensor and an intelligent control system to detect the polishing condition of the workpiece surface in real time and automatically adjust the motion trajectory and polishing force of the polishing tool as needed to achieve the best polishing effect. The bottom of the output shaft 101 is fixedly connected to a connecting frame 2, and a flip assembly is arranged on the connecting frame 2. The flip assembly includes:

[0036] A connecting box 3 is provided, whose outer wall is fixedly connected with a connecting shaft 303, and the outer wall of the connecting shaft 303 is movably inserted into the outer wall of the connecting frame 2. A first polishing disc 301 is provided on one side of the connecting box 3, and a second polishing disc 302 is provided on the other side of the connecting box 3. The radial width of the first polishing disc 301 is greater than the radial width of the second polishing disc 302. Two groups of polishing tools of different sizes are provided to perform polishing operations on workpieces of different sizes and shapes, thereby improving the flexibility and adaptability of the polishing operation. When in use, the polishing tool is selected according to the polishing position of the product. By rotating the connecting box 3, the first polishing disc 301 and the second polishing disc 302 are driven to rotate, so that the second polishing disc 302 is moved downward, so that the polishing tool can be replaced when polishing the product.

[0037] A positioning unit, which is arranged on the connection frame 2 and is used to fix the application position of the connection box 3;

[0038] A cleaning component is provided on the robot arm body 1, and the cleaning component includes: a vacuum cleaner body 4, which is fixedly mounted on the outer wall of the robot arm body 1, a telescopic tube 401 is fixedly provided on the outer wall of the vacuum cleaner body 4, and a dust inlet hopper 402 is fixedly provided at the other end of the telescopic tube 401, and the dust inlet hopper 402 is provided on the connecting frame 2 through a connecting unit. When grinding and polishing are performed, the dust inlet hopper 402 is aligned with the polishing tool, and by starting the vacuum cleaner body 4, the motor inside the vacuum cleaner body 4 drives the fan to rotate at a high speed, thereby generating a strong negative pressure in the dust inlet hopper 402. This negative pressure causes the air and debris near the dust inlet hopper 402 to be quickly sucked into the inside of the vacuum cleaner body 4, and by real-time absorption of the debris generated during the grinding process, the accumulation of debris is avoided to affect the polishing effect, and through its automatic cleaning, no manual intervention is required, thereby reducing downtime and operation complexity, and improving polishing efficiency.

[0039] The positioning unit includes a positioning block 201 and a rotating disk 304. The outer wall of the connecting frame 2 is provided with a groove, and the inner wall of the groove provided on the outer wall of the connecting frame 2 is fixedly provided with an extrusion spring 202. The other end of the extrusion spring 202 is fixedly connected to the positioning block 201. The rotating disk 304 is fixedly provided on the connecting shaft 303. The outer wall of the rotating disk 304 is provided with a positioning hole 305, and the positioning hole 305 is provided with multiple groups. The positioning block 201 is docked and snapped into the corresponding positioning hole 305. When in use, the positioning block 201 is pressed inwardly to move the positioning block 201 toward the inner cavity of the connecting frame 2, so that the positioning block 201 is separated from the positioning hole 305. At this time, the connecting frame 2 Box 3 is in an active state. By rotating the rotating disk 304 downward, the rotating disk 304 drives the connecting box 3 to rotate downward. At this time, the second polishing disk 302 rotates to the bottom to contact the product and polish the product. After the second polishing disk 302 rotates to the corresponding position, another set of positioning ports 305 is aligned with the positioning block 201, and the positioning block 201 is pushed outward by the outward pushing force of the extrusion spring 202, so that the positioning block 201 is inserted into and stuck in the other set of positioning ports 305, so that the position of the rotating disk 304 is fixed, thereby fixing the use position of the second polishing disk 302, and further improving its stability.

[0040] A moving groove 203 is provided on the inner wall of the groove on the outer wall of the connecting frame 2, and a moving block 204 is movably connected to the inner wall of the moving groove 203. The moving block 204 is fixedly arranged on the outer wall of the positioning block 201. By limiting the sliding of the moving block 204 in the moving groove 203, the moving path and moving range of the positioning block 201 are limited.

[0041] A support frame 5 is fixedly provided on the outer wall of the connecting frame 2 , and a cross bar 501 is fixedly provided on the bottom of the support frame 5 .

[0042] The connecting unit includes a first tightening plate 504 and a second tightening plate 505. The inner wall of the cross bar 501 is rotatably connected with a bidirectional screw 503 through a bearing. The first tightening plate 504 is threadedly connected to the outer wall of the bidirectional screw 503, and the second tightening plate 505 is threadedly connected to the outer wall of the bidirectional screw 503. A fixing block 403 is fixedly provided on the outer wall of the dust inlet hopper 402, and the fixing block 403 is movably inserted between the first tightening plate 504 and the second tightening plate 505. When in use, the dust inlet hopper 402 is placed between the first tightening plate 504 and the second tightening plate 505, and its use angle is adjusted. After the setting is completed, the bidirectional screw 503 is rotated clockwise to drive the first tightening plate 504 and the second tightening plate 505 to move towards each other, so that the outer wall of the dust inlet hopper 402 is clamped and fixed between the first tightening plate 504 and the second tightening plate 505, thereby fixing the position of the dust inlet hopper 402.

[0043] A moving opening 502 is provided on the outer wall of the cross bar 501, and one end of the first tightening plate 504 is movably clamped in the moving opening 502, and one end of the second tightening plate 505 is movably clamped in the moving opening 502. By movably clamping the first tightening plate 504 and the second tightening plate 505 in the moving opening 502, the moving path and moving range of the first tightening plate 504 and the second tightening plate 505 are restricted.

[0044] A circular hole is provided on the outer wall of the crossbar 501, and a rotating shaft 506 is movably inserted into the inner wall of the circular hole. The outer wall of the rotating shaft 506 is fixedly connected to the bidirectional screw 503 to extend the action point of the bidirectional screw 503, making it convenient for the user to adjust. The bidirectional screw 503 is driven to rotate by rotating the rotating shaft 506.

[0045] A fixing plate 6 is fixedly provided on the outer wall of the rotating shaft 506, and a socket 601 is opened through the outer wall of the fixing plate 6, and there are multiple groups of sockets 601. A fixing screw 602 is movably inserted into the inner wall of the socket 601, and a positioning hole 507 is opened on the outer wall of the cross bar 501, and the fixing screw 602 is threadedly tightened in the positioning hole 507. The sockets 601 at different positions correspond to the fixed positions of the dust inlet hopper 402 with different widths. When the first tightening plate 504 and the second tightening plate 505 are moved to the position where the dust inlet hopper 402 is clamped, the corresponding socket 601 is aligned with the positioning hole 507. At this time, the fixing screw 602 is inserted into the positioning hole 507 through the fixing screw 602, and the fixing screw 602 is rotated so that the fixing screw 602 is tightened in the positioning hole 507, so that the fixing plate 6 is fixed, thereby fixing the use position of the first tightening plate 504 and the second tightening plate 505, thereby improving the stability of the position of the dust inlet hopper 402 when in use.

[0046] A dust collecting bin 404 is movably connected to the outer wall of the vacuum cleaner body 4, and the debris during polishing and grinding is collected in the dust collecting bin 404. By pulling the dust collecting bin 404 outward, the dust collecting bin 404 is separated from the vacuum cleaner body 4, so that the debris can be poured out for disposal.

[0047] Specifically, the working principle and operation method of the present invention are as follows:

[0048] When in use, by pressing the positioning block 201 inwards, the positioning block 201 moves toward the inner cavity of the connecting frame 2, so that the positioning block 201 is separated from the positioning port 305. At this time, the connecting box 3 is in an active state, and the rotating disk 304 is rotated downward to drive the connecting box 3 to rotate downward. At this time, the second polishing disk 302 rotates to the bottom to contact the product and polish the product. When the second polishing disk 302 rotates to the corresponding position, the other set of positioning ports 305 is aligned with the positioning block 201, and the positioning block 201 is pushed outward by the outward urging force of the extrusion spring 202, so that the positioning block 201 is inserted into The first polishing disc 301 is inserted and stuck in another set of positioning openings 305, so that the position of the rotating disc 304 is fixed, thereby fixing the use position of the second polishing disc 302. The radial width of the first polishing disc 301 is greater than the radial width of the second polishing disc 302. Two sets of polishing tools of different sizes are provided to perform polishing operations on workpieces of different sizes and shapes, thereby improving the flexibility and adaptability of the polishing operation. The robot arm body 1 is equipped with sensors and an intelligent control system to detect the polishing condition of the workpiece surface in real time, and automatically adjust the motion trajectory and polishing force of the polishing tool as needed to achieve the polishing operation;

[0049] When in use, the dust inlet hopper 402 is placed between the first tightening plate 504 and the second tightening plate 505, and its use angle is adjusted to align the dust inlet hopper 402 with the polishing tool. After the setting is completed, the bidirectional screw 503 is rotated clockwise to drive the first tightening plate 504 and the second tightening plate 505 to move against each other, so that the outer wall of the dust inlet hopper 402 is clamped and fixed between the first tightening plate 504 and the second tightening plate 505. At this time, the corresponding insertion hole 601 is aligned with the positioning hole 507, and the fixing screw 602 is inserted into the positioning hole 507, and the fixing screw 602 is rotated to fix the fixing screw 602. Tighten it in the positioning hole 507 to fix the fixing plate 6, thereby fixing the use position of the first tightening plate 504 and the second tightening plate 505. By starting the vacuum cleaner body 4, the motor inside the vacuum cleaner body 4 drives the fan to rotate at a high speed, thereby generating a strong negative pressure in the dust inlet hopper 402. This negative pressure causes the air and debris near the dust inlet hopper 402 to be quickly sucked into the interior of the vacuum cleaner body 4. By absorbing the debris generated during the grinding process in real time, the accumulation of debris is avoided to affect the polishing effect. Through its automatic cleaning, no manual intervention is required, which reduces downtime and operation complexity and improves polishing efficiency.

[0050] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A polishing robot, comprising a mechanical arm body (1), wherein one end of the mechanical arm body (1) is provided with an output shaft (101), characterized in that: The bottom of the output shaft (101) is fixedly connected to a connecting frame (2), and a turning assembly is arranged on the connecting frame (2), and the turning assembly comprises: A connection box (3), the outer wall of which is fixedly connected to a connection shaft (303), and the outer wall of the connection shaft (303) is movably plugged into the outer wall of the connection frame (2); a first polishing disc (301) is provided on one side of the connection box (3), and a second polishing disc (302) is provided on the other side of the connection box (3); A positioning unit, which is arranged on the connection frame (2), and is used to fix the application position of the connection box (3); The robot arm body (1) is provided with a cleaning assembly, which comprises: a vacuum cleaner body (4) which is fixedly mounted on the outer wall of the robot arm body (1); a telescopic tube (401) is fixedly provided on the outer wall of the vacuum cleaner body (4); and a dust inlet hopper (402) is fixedly provided at the other end of the telescopic tube (401); and the dust inlet hopper (402) is provided on the connecting frame (2) via a connecting unit.

2. A polishing robot according to claim 1, characterized in that: The positioning unit comprises a positioning block (201) and a rotating disk (304); a groove is provided on the outer wall of the connecting frame (2); a compression spring (202) is fixedly arranged on the inner wall of the groove provided on the outer wall of the connecting frame (2); the other end of the compression spring (202) is fixedly connected to the positioning block (201); the rotating disk (304) is fixedly arranged on the connecting shaft (303); a positioning opening (305) is provided on the outer wall of the rotating disk (304); and the positioning opening (305) is provided in a plurality of groups; the positioning block (201) is docked and clamped in the corresponding positioning opening (305).

3. A polishing robot according to claim 2, characterized in that: A moving groove (203) is provided on the inner wall of the groove formed on the outer wall of the connecting frame (2), and a moving block (204) is movably engaged with the inner wall of the moving groove (203), wherein the moving block (204) is fixedly arranged on the outer wall of the positioning block (201).

4. A polishing robot according to claim 1, characterized in that: A support frame (5) is fixedly arranged on the outer wall of the connecting frame (2), and a cross bar (501) is fixedly arranged on the bottom of the support frame (5).

5. A polishing robot according to claim 4, characterized in that: The connection unit comprises a first tightening plate (504) and a second tightening plate (505); the inner wall of the cross bar (501) is rotatably connected to a bidirectional screw (503) via a bearing; the first tightening plate (504) is threadedly connected to the outer wall of the bidirectional screw (503); and the second tightening plate (505) is threadedly connected to the outer wall of the bidirectional screw (503); a fixing block (403) is fixedly provided on the outer wall of the dust inlet hopper (402); and the fixing block (403) is movably inserted between the first tightening plate (504) and the second tightening plate (505).

6. A polishing robot according to claim 5, characterized in that: The outer wall of the crossbar (501) is provided with a moving opening (502), and one end of the first tightening plate (504) is movably clamped in the moving opening (502).

7. A polishing robot according to claim 6, characterized in that: The outer wall of the crossbar (501) is provided with a circular hole, and the inner wall of the circular hole is movably plugged with a rotating shaft (506), and the outer wall of the rotating shaft (506) is fixedly connected to the bidirectional screw (503).

8. A polishing robot according to claim 7, characterized in that: A fixed disk (6) is fixedly arranged on the outer wall of the rotating shaft (506), and a plug hole (601) is penetrated through the outer wall of the fixed disk (6), and the plug holes (601) are arranged in multiple groups.

9. A polishing robot according to claim 8, characterized in that: A fixing screw (602) is movably inserted into the inner wall of the insertion hole (601), a positioning hole (507) is opened on the outer wall of the cross bar (501), and the fixing screw (602) is screwed into the positioning hole (507).

10. The polishing robot according to claim 1, characterized in that: A dust collecting bin (404) is movably plugged into the outer wall of the vacuum cleaner body (4).

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