Polishing robot arm for polishing discontinuous welding spots

Abstract

The invention relates to a grinding manipulator for grinding discontinuous welding spots, and belongs to the technical field of grinding and polishing equipment. Comprising a mechanical arm, the operation tail end of the mechanical arm is detachably connected with a front end part, and the front end part comprises a grinding assembly and a linear module. A sliding part of the linear module is arranged in an up-down sliding mode, the sliding part is connected with the grinding assembly, and the linear module is detachably connected with the operation tail end of the mechanical arm through a connecting base. The grinding assembly comprises a driving part, the driving part and the linear module are arranged in parallel, the output end of the driving part is vertically arranged downwards and detachably connected with a grinding head, and the driving part drives the grinding head to rotate. The grinding assembly is driven by the mechanical arm to automatically grind discontinuous welding spots of a workpiece, the labor intensity of operators is effectively reduced, the operators are prevented from inhaling dust, the occupational health risk is reduced, the consistency of grinding operation quality is guaranteed, and the percent of pass is increased.

Description

Technical Field

[0001] The present application belongs to the technical field of grinding and polishing equipment, and specifically relates to a grinding robot for grinding discontinuous welding points. Background Art

[0002] As an indispensable connection technology in modern manufacturing, welding is widely used in aerospace, rail transportation, engineering machinery and other fields. During the welding process, metal materials are melted and combined through local heating or pressurization to form a permanent connection structure. However, due to factors such as welding process parameters, material properties and operating environment, irregular protrusion defects such as spatter, weld nodules and undercuts often exist on the weld surface. For non-continuous welds (such as intermittent welding, spot welding, etc.), the weld bead presents a discrete distribution feature, which further increases the complexity of surface treatment.

[0003] In order to ensure the structural strength, fatigue life and appearance quality of welded parts, post-weld surface treatment becomes a key process. Among them, the grinding process removes welding slag, burrs and excess height by mechanical cutting, which can effectively reduce the stress concentration factor, improve the adhesion of the anti-corrosion coating, and meet the assembly dimensional accuracy requirements. According to statistics, in the field of heavy equipment manufacturing, the post-weld grinding process accounts for 15%-20% of the overall manufacturing cycle, and its efficiency and quality directly affect the product delivery cycle and production cost.

[0004] Currently, the grinding of non-continuous welds is still highly dependent on manual operation, with operators using handheld devices such as angle grinders and grinding wheels to grind point by point.

[0005] Grinding a single product takes 0.5-4 hours, and the operator needs to frequently adjust the tool angle, 5-7 times per minute on average, and the effective cutting time accounts for less than 40%. The vibration acceleration of a handheld grinder can reach 15-20m / s². Long-term operation can easily cause hand-arm vibration syndrome (HAVS), and unnatural postures such as bending over and raising arms lead to a 32% increase in the incidence of musculoskeletal diseases. The concentration of metal dust generated during the grinding process can reach 10-50mg / m³, of which respirable dust with a particle size of <5μm accounts for more than 60%. Long-term exposure may induce pneumoconiosis and heavy metal poisoning. Fluctuations in manual operation force lead to significant differences in surface removal, and the rework rate is as high as 15%-25%. Summary of the invention

[0006] The technical problem to be solved by the present application is: to overcome the deficiencies of the prior art and to provide a grinding robot for grinding non-continuous welds. The present application uses a robotic arm to drive a grinding assembly to automatically grind non-continuous welds on a workpiece, thereby effectively reducing the labor intensity of operators, preventing operators from inhaling dust, reducing occupational health risks, ensuring the consistency of the grinding operation quality, and improving the pass rate.

[0007] The technical solution adopted by this application to solve the problems existing in the prior art is: A grinding robot for grinding discontinuous welding spots comprises a mechanical arm, an operating end of the mechanical arm is detachably connected to a front end portion, and the front end portion comprises a grinding component and a linear module.

[0008] The sliding part of the linear module is arranged to slide up and down, the sliding part is connected to the grinding assembly, and the linear module is detachably connected to the operating end of the robot arm through a connecting seat.

[0009] The grinding assembly includes a driving part, which is arranged in parallel with the linear module. The output end of the driving part is arranged vertically downward and is detachably connected to a grinding head. The driving part drives the grinding head to rotate.

[0010] Preferably, the output end of the driving unit is provided with a connecting block, and the connecting block is detachably connected to the grinding head.

[0011] Preferably, 2 to 3 groups of grinding head replacement units are provided on the circumferential outer side of the driving part, and the grinding head replacement units include a transfer rod, a transmission part, a servo motor and a connecting drive assembly.

[0012] The connecting drive assembly is fixedly connected to the outer wall of the driving part, the servo motor is fixedly connected to the connecting drive assembly, and the servo motor drives the transfer rod to move in an arc curve through the transmission part.

[0013] When the transfer rod moves to the lower dead point, the transfer rod is located directly below the connection block, and the transfer rod is plugged into the connection block. When the transfer rod moves to the upper dead point, the transfer rod is located on the side of the driving part.

[0014] The bottom of the transfer rod is detachably connected to the grinding head.

[0015] Preferably, a slot is concavely provided on the bottom surface of the connecting block, and the slot is in a straight line shape.

[0016] The transfer rod comprises a rotating shaft, a straight-line plug-in portion is arranged at the upper end of the rotating shaft, the plug-in portion is matched and connected with the slot, and a mounting portion is arranged at the lower end of the rotating shaft, and the mounting portion is connected with the grinding head.

[0017] A rotating sleeve is sleeved on the rotating shaft and connected with the transmission part through the rotating sleeve.

[0018] Preferably, the transmission part includes two spaced-apart connecting plates and a transmission device, the rotating shafts at the radial ends of the rotating sleeve pass through the through holes at the ends of the connecting plates, a first bevel gear is fixed to the end of the rotating shaft at one end of the rotating sleeve, and a gear is fixed to the end of the connecting plate away from the rotating sleeve.

[0019] The connecting drive assembly comprises a vertical plate, on which a rack is protruding, and the rack is meshingly connected with a gear.

[0020] The output end of the servo motor is connected to a vertically arranged screw rod, a nut sleeve is threadedly connected to the screw rod, the rotating shafts at both radial ends of the nut sleeve pass through the through hole in the center of the gear, and a third bevel gear is fixed to the end of the rotating shaft at one end of the nut sleeve.

[0021] The transmission device transmission-connects the first bevel gear and the third bevel gear.

[0022] Preferably, the transmission device includes a rotating rod and second bevel gears fixed at both ends of the rotating rod, the rotating rod is rotatably connected to the connecting plate, and the two second bevel gears are respectively meshed and connected with the first bevel gear and the third bevel gear.

[0023] Preferably, a slide groove is provided on the vertical plate, a slider is fixed to the outside of the nut sleeve, and the slider is slidably arranged inside the slide groove.

[0024] Preferably, a connection block positioning device is connected below the driving portion, and the connection block positioning device includes a controller and two oppositely arranged positioners, and the two positioners are symmetrically arranged on both sides of the connection block.

[0025] The controller controls the two clamps to move relative to or in reverse directions. After the two clamps move relative to each other, the connection block is clamped. After the two clamps move in reverse directions, the clamping of the connection block is released.

[0026] Preferably, at least two protrusions are convexly provided on the outer side of the circumferential surface of the connection block, wherein a vertically arranged L-shaped plate is provided at one end of the positioner facing the connection block, and the L-shaped plate is engaged with the protrusions.

[0027] Preferably, the controller adopts an electric telescopic rod.

[0028] Compared with the prior art, the present invention has the following beneficial effects: (1) The grinding assembly is driven by the robotic arm to grind non-continuous welding points on the workpiece without manual operation. This reduces labor intensity, does not cause fatigue, and can be operated for a long time, ensuring the consistency of the grinding effect and improving the yield rate.

[0029] (2) During the grinding process, there is no need for workers to monitor or operate in the work area, so workers will not inhale the dust generated by grinding, reducing the incidence of occupational diseases.

[0030] (3) The grinding head replacement unit can be used to automatically replace the grinding head, so that multiple grinding operations can be performed at the same workstation on the welding point, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0032] Figure 1This is a structural diagram of a grinding robot for grinding non-continuous welding points in this application. Figure 2 This is a front end structure diagram of a grinding machine for grinding non-continuous welds in this application. Figure 3 for Figure 2 The left view of Figure 4 for Figure 3 The front view of Figure 5 This is a first structural diagram of a grinding assembly in the front end of a grinding robot for grinding non-continuous welds in this application. Figure 6 The second structural diagram of the grinding assembly in the front end of a grinding robot for grinding non-continuous welding points in this application, Figure 7 This is the structural diagram of the grinding assembly after the transfer rod and the drive unit are connected. Figure 8 for Figure 7 Cross-sectional view at the center of the middle connecting block, Fig. 9 This is the structural diagram of the grinding head replacement unit in the grinding assembly of this application after the transfer rod is lifted. Fig.10 for Fig. 9 An exploded diagram of Fig.11 This is the structural diagram of the connection block positioning device in the polishing assembly for this application. Fig.12 for Fig.11 A cross-sectional view of Fig.13 This is the structural diagram of the card block in the connection block positioning device of this application. Fig.14 This is the structural diagram of the connecting sleeve for this application.

[0033] In the figure: 1-mechanical arm, 2-driving part, 3-connecting block, 301-slot, 302-bump, 4-transfer rod, 401-rotating shaft, 402-mounting part, 403-plug-in part, 404-clamping ring, 5-rotating sleeve, 501-first bevel gear, 6-connecting plate, 601-gear, 7-transmission device, 701-rotating rod, 702-second bevel gear, 8-nut sleeve, 801-third bevel gear, 802-slider, 9-screw, 10-servo motor , 11-connecting drive assembly, 1101-vertical plate, 1102-rack, 1103-slideway, 12-grinding head, 13-positioner, 1301-L-shaped plate, 1302-polygonal slide bar, 1303-inclined portion, 14-spring, 15-support rod, 16-fixing ring, 17-block, 1701-pull rod, 18-telescopic device, 19-connecting sleeve, 1901-connecting frame, 1902-mounting plate, 20-linear module, 21-connecting seat. DETAILED DESCRIPTION

[0034] In conjunction with the accompanying drawings, a grinding robot for grinding non-continuous welds of the present application is further described in detail, but it is not intended to limit the present application.

[0035] Depend on Figure 1 As shown, a grinding robot for grinding discontinuous welding points includes a robot arm 1. The robot arm 1 is a prior art. The operating end of the robot arm 1 is detachably connected to the front end. Figures 2 to 4 As shown, the front end portion includes a grinding assembly and a vertically arranged linear module 20.

[0036] The sliding part of the linear module 20 is slidably arranged up and down, and the sliding part is connected to the grinding assembly. The linear module 20 adopts an electric linear module, and the linear module 20 is detachably connected to the operating end of the robot arm 1 through a connecting seat 21.

[0037] The grinding assembly includes a driving part 2 , which is arranged in parallel with the linear module 20 . The output end of the driving part 2 is arranged vertically downward and is detachably connected to a grinding head 12 . The driving part 2 drives the grinding head 12 to rotate.

[0038] The driving part 2 adopts the electric grinder body, and a connecting sleeve 19 is sleeved on the outside of the driving part 2 and fixedly connected to it. Fig.14 As shown, a mounting plate 1902 is provided at one end of the connecting sleeve 19 facing the linear module 20 , and the mounting plate 1902 is detachably connected to the sliding part of the linear module 20 by bolts.

[0039] In order to improve the smoothness and aesthetics of the workpiece surface after soldering, it is necessary to replace various specifications of grinding heads 12. In order to facilitate automatic replacement of the grinding head, the output end of the driving unit 2 is provided with a connecting block 3, and the connecting block 3 is detachably connected to the grinding head 12.

[0040] Depend on Figures 5 to 10 As shown, 2 to 3 sets of grinding head replacement units are provided on the circumferential outer side of the driving part 2, and the grinding head replacement unit includes a transfer rod 4, a transmission part, a servo motor 10 and a connecting drive assembly 11.

[0041] The connecting drive assembly 11 is fixedly connected to the outer wall of the driving part 2 via a connecting frame 1901 of a connecting sleeve 19, and the servo motor 10 is fixedly connected to the connecting drive assembly 11. The servo motor 10 drives the transfer rod 4 to move in an arc-shaped motion trajectory through the transmission part.

[0042] When the transfer rod 4 moves to the lower dead center, the transfer rod 4 is located directly below the connection block 3, and the transfer rod 4 is plugged into the connection block 3. When the transfer rod 4 moves to the upper dead center, the transfer rod 4 is located on the side of the driving part 2. The bottom of the transfer rod 4 is detachably connected to the grinding head 12.

[0043] The bottom surface of the connecting block 3 is concavely provided with a slot 301 , and the slot 301 is in a straight line shape.

[0044] The transfer rod 4 includes a rotating shaft 401, and a straight-line plug-in portion 403 is provided at the upper end of the rotating shaft 401. The plug-in portion 403 is connected to the slot 301. A mounting portion 402 is provided at the lower end of the rotating shaft 401. The mounting portion 402 is connected to the grinding head 12. The structure of the mounting portion 402 is the same as that of the grinding head mounting portion of the grinder.

[0045] The rotating shaft 401 is sleeved with a rotating sleeve 5 and connected to the transmission part through the rotating sleeve 5 . Two snap rings 404 are sleeved on the rotating shaft 401 , and the two snap rings 404 are respectively arranged on the upper and lower sides of the rotating sleeve 5 .

[0046] The connection method between the transfer rod 4 and the connecting block 3 is that the plug-in portion 403 of the transfer rod 4 is inserted into the slot 301 from one side. In order to facilitate insertion, the opening of the slot 301 located on the circumferential surface of the connecting block 3 is a V-shaped opening, while ensuring that the transfer rod 4 is always in a vertical state.

[0047] In order to ensure that the transfer rod 4 is always in a vertical state during the movement, in this embodiment, the transmission part includes two spaced-apart connecting plates 6 and a transmission device 7, the rotating shafts at the radial ends of the rotating sleeve 5 pass through the through holes at the ends of the connecting plates 6, and a first bevel gear 501 is fixed to the end of the rotating shaft at one end of the rotating sleeve 5, and a gear 601 is fixed to the end of the connecting plate 6 away from the rotating sleeve 5.

[0048] The connecting drive assembly 11 includes a vertical plate 1101 , on which a rack 1102 is protruding, and the rack 1102 is meshedly connected with the gear 601 .

[0049] The output end of the servo motor 10 is connected to a vertically arranged screw rod 9, and a nut sleeve 8 is threadedly connected to the screw rod 9. The rotating shafts at both radial ends of the nut sleeve 8 pass through the through hole in the center of the gear 601, and a third bevel gear 801 is fixed to the end of the rotating shaft at one end of the nut sleeve 8.

[0050] In order to prevent the nut sleeve 8 from rotating, a slide groove 1103 is provided on the vertical plate 1101 , and a slider 802 is fixed to the outside of the nut sleeve 8 , and the slider 802 is slidably arranged inside the slide groove 1103 .

[0051] The transmission device 7 comprises a rotating rod 701 and second bevel gears 702 fixed at both ends of the rotating rod 701. The rotating rod 701 is rotatably connected to the connecting plate 6. The two second bevel gears 702 are respectively meshed and connected with the first bevel gear 501 and the third bevel gear 801. Then, the first bevel gear 501 is transmission-connected with the third bevel gear 801 through the transmission device 7.

[0052] Based on the above embodiment, the process of replacing the grinding head 12 is as follows: The servo motor 10 of the grinding head replacement unit is started, driving the screw 9 to rotate, and the rotating screw 9 drives the nut sleeve 8 to move up and down. The nut sleeve 8 moves upward to remove and disassemble the transfer rod 4 together with the grinding head 12, and the nut sleeve 8 moves downward to connect the transfer rod 4 together with the grinding head 12 to the connecting block 3.

[0053] The nut sleeve 8 slides up and down to drive the gear 601 to slide along the rack 1102. Since the rack 1102 is fixed, the gear 601 rotates, thereby driving the connecting plate 6 to rotate. The rotation of the connecting plate 6 realizes the disassembly and assembly between the transfer rod 4 and the connecting block 3.

[0054] The third bevel gear 801 on the nut sleeve 8 can only move up and down but not rotate. The rotation of the connecting plate 6 drives the second bevel gear 702 of the transmission device to move relative to the third bevel gear 801, and then the second bevel gear 702 rotates. The second bevel gears 702 at both ends are coaxially fixedly connected, and the second bevel gear 702 at the other end drives the first bevel gear 501 to rotate, thereby maintaining the transfer rod 4 in a vertical state.

[0055] Different grinding head replacement units are provided with grinding heads 12 of different specifications, thereby realizing automatic replacement of grinding heads 12 of different specifications. When the nut sleeve 8 slides to the top dead center, the relative grinding head 12 is higher than the connecting block 3, thereby not affecting the working grinding head 12.

[0056] When the transfer rod 4 and the connection block 3 are being disassembled and assembled, if the opening of the slot 301 on the connection block 3 is facing the corresponding connection plate 6, it is more convenient for the plug-in portion 403 of the transfer rod 4 to enter and exit the slot 301. Figures 11 to 13 As shown, in this embodiment, a connection block positioning device is connected below the driving unit 2 , and the connection block positioning device includes a controller and two oppositely arranged positioners 13 , and the two positioners 13 are symmetrically arranged on both sides of the connection block 3 .

[0057] The controller controls the two clamps 13 to move relative to or in reverse directions. After the two clamps 13 move relative to each other, the connection block 3 is clamped. After the two clamps 13 move in reverse directions, the connection block 3 is released from being clamped.

[0058] In order to position the connection block 3 during the clamping process, at least two protrusions 302 are protruded from the outer side of the circumferential surface of the connection block 3, and the angle between two adjacent protrusions 302 is 90°.

[0059] One end of one of the positioners 13 facing the connection block 3 is provided with a vertically arranged L-shaped plate 1301, which is engaged with the protrusion 302, and the other end of the positioner 13 facing the connection block 3 is provided with a top plate. The L-shaped plate 1301 is engaged with the protrusion 302 to position the connection block 3, and the L-shaped plate 1301 and the top plate clamp the connection block 3 together.

[0060] Furthermore, the positioner 13 includes a polygonal slide bar 1302, which is connected to the L-shaped plate 1301 or the top plate at one end facing the connecting block 3, and an inclined portion 1303 is provided on the upper end surface of the end of the polygonal slide bar 1302 away from the connecting block 3, and the inclined portion 1303 is higher at the end away from the connecting block 3 than at the end close to the connecting block 3.

[0061] The driving part 2 is connected with a fixing ring 16, and a support rod 15 is fixed below the fixing ring 16. The support rod 15 is provided with a polygonal through hole, and the polygonal slide rod 1302 is slidably arranged inside the polygonal through hole. The polygonal slide rod 1302 is sleeved with a spring 14, and the spring 14 is located on the side of the support rod 15 facing the connecting block 3.

[0062] A U-shaped block 17 with an open lower end is provided above the inclined portion 1303, and the two blocks 17 are connected to the controller via a pull rod 1701. The controller is a telescopic device 18, which uses an electric telescopic rod and is fixedly connected to a connecting sleeve 19.

[0063] During use, when the connecting block 3 is not clamped, the block 17 moves downward, and after abutting against the inclined portion 1303, it pushes the polygonal slide bar 1302 to slide toward the end away from the connecting block 3 to overcome the elastic force of the spring 14 until the block 17 abuts against the polygonal slide bar 1302. At this time, the positioner 13 is separated from the connecting block 3.

[0064] When the connection block 3 needs to be clamped, the telescopic device 18 drives the clamping block 17 to move upward, the spring 14 pushes the clamping device 13 to move toward the connection block 3, and the L-shaped clamping plate 1301 is clamped with one of the protrusions 302 to achieve the positioning of the connection block 3.

[0065] The implementation methods of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above implementation methods, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. A grinding robot for grinding non-continuous welds, comprising a robot arm (1), characterized in that: The operating end of the robot arm (1) is detachably connected to a front end portion, wherein the front end portion comprises a grinding component and a linear module (20); The sliding part of the linear module (20) is arranged to slide up and down, the sliding part is connected to the grinding assembly, and the linear module (20) is detachably connected to the operating end of the robot arm (1) via a connecting seat (21); The grinding assembly comprises a driving part (2), wherein the driving part (2) is arranged in parallel with the linear module (20), the output end of the driving part (2) is arranged vertically downward and is detachably connected to a grinding head (12), and the driving part (2) drives the grinding head (12) to rotate.

2. The grinding robot for grinding non-continuous welding points according to claim 1, characterized in that: The output end of the driving part (2) is provided with a connecting block (3), and the connecting block (3) is detachably connected to the grinding head (12).

3. The grinding robot for grinding non-continuous welding points according to claim 2, characterized in that: Two to three groups of grinding head replacement units are arranged on the outer circumference of the driving part (2), and the grinding head replacement units include a transfer rod (4), a transmission part, a servo motor (10), and a connecting drive assembly (11); The connecting drive assembly (11) is fixedly connected to the outer wall of the driving portion (2), the servo motor (10) is fixedly connected to the connecting drive assembly (11), and the servo motor (10) drives the transfer rod (4) to move in an arc curve through the transmission portion; When the transfer rod (4) moves to the lower dead point, the transfer rod (4) is located directly below the connection block (3), and the transfer rod (4) is plugged into the connection block (3); when the transfer rod (4) moves to the upper dead point, the transfer rod (4) is located on the side of the driving part (2); The bottom of the transfer rod (4) is detachably connected to the grinding head (12).

4. The grinding robot for grinding non-continuous welding points according to claim 3, characterized in that: The bottom surface of the connecting block (3) is concavely provided with a slot (301), and the slot (301) is in a straight line shape; The transfer rod (4) comprises a rotating shaft (401), the upper end of the rotating shaft (401) is provided with a straight-line plug-in portion (403), the plug-in portion (403) is matched and connected with the slot (301), and the lower end of the rotating shaft (401) is provided with a mounting portion (402), and the mounting portion (402) is connected with the grinding head (12); A rotating sleeve (5) is sleeved on the rotating shaft (401) and is connected to the transmission part via the rotating sleeve (5).

5. The grinding robot for grinding non-continuous welding points according to claim 4, characterized in that: The transmission part comprises two spaced-apart connecting plates (6) and a transmission device (7); the rotating shafts at the radial ends of the rotating sleeve (5) pass through through holes at the ends of the connecting plates (6); a first bevel gear (501) is fixed to the end of the rotating shaft at one end of the rotating sleeve (5); and a gear (601) is fixed to the end of the connecting plate (6) away from the rotating sleeve (5); The connecting drive assembly (11) comprises a vertical plate (1101), the vertical plate (1101) is provided with a rack (1102) protruding therefrom, and the rack (1102) is meshingly connected with the gear (601); The output end of the servo motor (10) is connected to a vertically arranged screw rod (9), a nut sleeve (8) is threadedly connected to the screw rod (9), the rotating shafts at both radial ends of the nut sleeve (8) pass through a through hole in the center of the gear (601), and a third bevel gear (801) is fixed to the end of the rotating shaft at one end of the nut sleeve (8); The transmission device (7) transmission-connects the first bevel gear (501) and the third bevel gear (801).

6. The grinding robot for grinding non-continuous welding points according to claim 5, characterized in that: The transmission device (7) comprises a rotating rod (701) and second bevel gears (702) fixed at both ends of the rotating rod (701); the rotating rod (701) is rotatably connected to the connecting plate (6); and the two second bevel gears (702) are respectively meshed and connected to the first bevel gear (501) and the third bevel gear (801).

7. A grinding robot for grinding non-continuous welding points according to claim 5 or 6, characterized in that: The vertical plate (1101) is provided with a slide groove (1103), the outside of the nut sleeve (8) is fixed with a slider (802), and the slider (802) is slidably arranged inside the slide groove (1103).

8. A grinding robot for grinding non-continuous welding points according to any one of claims 3 to 6, characterized in that: A connection block positioning device is connected below the driving portion (2), and the connection block positioning device comprises a controller and two oppositely arranged positioners (13), and the two positioners (13) are symmetrically arranged on both sides of the connection block (3); The controller controls the two clamps (13) to move relative to or in reverse directions. After the two clamps (13) move relative to each other, the connection block (3) is clamped. After the two clamps (13) move in reverse directions, the clamping of the connection block (3) is released.

9. The grinding robot for grinding non-continuous welding points according to claim 8, characterized in that: At least two protrusions (302) are convexly provided on the outer side of the circumferential surface of the connection block (3), and a vertically arranged L-shaped plate (1301) is provided on one end of one of the positioners (13) facing the connection block (3), and the L-shaped plate (1301) is clamped with the protrusion (302).

10. The grinding robot for grinding non-continuous welding points according to claim 9, characterized in that: The controller adopts an electric telescopic rod.

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