A grinding robot for grinding discontinuous solder joints

Abstract

The present application relates to a grinding robot for grinding discontinuous solder joints, belonging to the technical field of grinding and polishing equipment. It includes a robotic arm, and a front end is detachably connected to the operating end of the robotic arm. The front end includes a grinding assembly and a linear module. The sliding part of the linear module is arranged to slide up and down, and the sliding part is connected to the grinding assembly. The linear module is detachably connected to the operating end of the robotic arm through a connecting seat. The grinding assembly includes a driving part, the driving part is arranged parallel to the linear module, the output end of the driving part is arranged vertically downward and is detachably connected with a grinding head, and the driving part drives the grinding head to rotate. The present application uses the robotic arm to drive the grinding assembly to automatically grind the discontinuous solder joints of the workpiece, effectively reducing the labor intensity of the operators, preventing the operators from inhaling dust, reducing the occupational health risks, ensuring the consistency of the grinding operation quality, and improving the qualification rate.

Description

Technical Field

[0001] This application belongs to the technical field of grinding and polishing equipment, and specifically relates to a grinding robot for grinding discontinuous weld joints. Background Art

[0002] Welding, as an indispensable joining technology in modern manufacturing, is widely used in fields such as aerospace, rail transit, and construction machinery. 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 convex defects such as spatter, weld bead, and undercut often exist on the weld surface. For discontinuous weld joints (such as intermittent welds, spot welds, etc.), their weld beads exhibit discrete distribution characteristics, further increasing the complexity of surface treatment.

[0003] To ensure the structural strength, fatigue life, and appearance quality of welded parts, post-weld surface treatment has become a key process. Among them, the grinding process removes welding slag, burrs, and excess height through mechanical cutting methods, which can effectively reduce the stress concentration coefficient, improve the adhesion of anti-corrosion coatings, and meet the requirements of assembly dimensional accuracy. According to statistics, in the heavy equipment manufacturing field, 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 operation of discontinuous weld joints still highly relies on manual operation, and operators use handheld devices such as angle grinders and grinders to perform point-by-point grinding.

[0005] The grinding time for a single-piece product is as long as 0.5 - 4 hours. 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 the handheld grinder can reach 15 - 20 m / s². Long-term operation is likely to cause hand-arm vibration syndrome (HAVS), and unnatural postures such as bending and raising the arm increase the incidence of musculoskeletal diseases by 32%. The concentration of metal dust generated during the grinding process can reach 10 - 50 mg / m³, and the respirable dust with a particle size < 5 μm accounts for more than 60%. Long-term exposure may induce pneumoconiosis and heavy metal poisoning. The significant difference in surface removal due to the fluctuating manual operation force results in a high rework rate of 15% - 25%. Summary of the Invention

[0006] The technical problem to be solved by this application is: to overcome the deficiencies of the prior art and provide a grinding robot for grinding discontinuous weld joints. This application automatically grinds the discontinuous weld joints of the workpiece by driving the grinding assembly with a robotic arm, effectively reducing the labor intensity of the operator, avoiding the operator from inhaling dust, reducing the occupational health risk, ensuring the consistency of the grinding operation quality, and improving the qualification rate.

[0007] The technical solution adopted by this application to solve the problems existing in the prior art is as follows:

[0008] A grinding robotic arm for grinding discontinuous solder joints includes a robotic arm, and a front end portion is detachably connected to the operating end of the robotic arm. The front end portion includes a grinding assembly and a linear module.

[0009] The sliding portion of the linear module is arranged to slide up and down. The sliding portion is connected to the grinding assembly, and the linear module is detachably connected to the operating end of the robotic arm through a connecting seat.

[0010] The grinding assembly includes a driving portion. The driving portion is arranged parallel to the linear module. The output end of the driving portion is arranged vertically downward and is detachably connected to a grinding head. The driving portion drives the grinding head to rotate.

[0011] Preferably, a connecting block is provided at the output end of the driving portion, and the connecting block is detachably connected to the grinding head.

[0012] Preferably, 2 to 3 groups of grinding head replacement units are provided on the outer circumference of the driving portion. The grinding head replacement unit includes a transfer rod, a transmission portion, a servo motor, and a connecting drive assembly.

[0013] The connecting drive assembly is fixedly connected to the outer wall of the driving portion. The servo motor is fixedly connected to the connecting drive assembly. The servo motor drives the transfer rod to move in an arc curve through the transmission portion.

[0014] When the transfer rod moves to the lower dead center, the transfer rod is located directly below the connecting block, and the transfer rod is inserted into the connecting block. When the transfer rod moves to the upper dead center, the transfer rod is located on the side of the driving portion.

[0015] The bottom of the transfer rod is detachably connected to the grinding head.

[0016] Preferably, a slot is recessed on the bottom surface of the connecting block, and the slot is in a shape of a straight line.

[0017] The transfer rod includes a rotating shaft. An insertion portion in a shape of a straight line is provided at the upper end of the rotating shaft. The insertion portion is connected to the slot in a matching manner. An installation portion is provided at the lower end of the rotating shaft, and the installation portion is connected to the grinding head.

[0018] A rotating sleeve is sleeved on the rotating shaft and is connected to the transmission portion through the rotating sleeve.

[0019] Preferably, the transmission portion includes two connecting plates arranged at intervals and a transmission device. The rotating shaft at both radial ends of the rotating sleeve passes 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.

[0020] The connecting drive assembly includes a vertical plate. A rack is convexly provided on the vertical plate, and the rack is meshed and connected to the gear.

[0021] The output end of the servo motor is connected to a vertically arranged screw rod, on which a nut sleeve is threadedly connected. The rotating shafts at both radial ends of the nut sleeve pass through the through holes at the centers of the gears, and a third bevel gear is fixed to the end of the rotating shaft at one end of the nut sleeve.

[0022] The transmission device drives the first bevel gear and the third bevel gear to be connected.

[0023] 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.

[0024] Preferably, a sliding groove is provided on the vertical plate, and a sliding block is fixed to the outside of the nut sleeve. The sliding block is slidably arranged inside the sliding groove.

[0025] Preferably, a connecting block positioning device is connected below the driving part. The connecting block positioning device includes a controller and two oppositely arranged clamping devices, and the two clamping devices are symmetrically arranged on both sides of the connecting block.

[0026] The controller controls the two clamping devices to move relatively or in the opposite direction. After the two clamping devices move relatively, the connecting block is clamped tightly. After the two clamping devices move in the opposite direction, the clamping of the connecting block is released.

[0027] Preferably, at least two convex blocks are protruded on the outer side of the circumferential surface of the connecting block. One end of the clamping device facing the connecting block is provided with a vertically arranged L-shaped plate, and the L-shaped plate is clamped with the convex block.

[0028] Preferably, the controller adopts an electric telescopic rod.

[0029] Compared with the prior art, the beneficial effects of the present application are as follows:

[0030] (1) The mechanical arm drives the grinding assembly to grind the discontinuous solder joints on the workpiece, eliminating the need for manual operation. This reduces the labor intensity, does not cause fatigue, can operate continuously for a long time, ensures the consistency of the grinding effect, and improves the finished product rate.

[0031] (2) During the grinding process, there is no need for operators to monitor or operate in the working area. Therefore, operators will not inhale the dust generated during grinding, reducing the incidence of occupational diseases.

[0032] (3) Through the grinding head replacement unit, the grinding head can be automatically replaced, realizing the grinding operation of multiple processes at the same station for the solder joints, improving the operation efficiency. Brief Description of the Drawings

[0033] The present application will be further described below with reference to the drawings and embodiments.

[0034] Figure 1 Structural diagram of a grinding robot hand for grinding discontinuous solder joints in this application

[0035] Figure 2 Structural diagram of the front end of a grinding robot hand for grinding discontinuous solder joints in this application

[0036] Figure 3 For Figure 2 Left view

[0037] Figure 4 For Figure 3 Front view

[0038] Figure 5 First structural diagram of the grinding component in the front end of a grinding robot hand for grinding discontinuous solder joints in this application

[0039] Figure 6 Second structural diagram of the grinding component in the front end of a grinding robot hand for grinding discontinuous solder joints in this application

[0040] Figure 7 Structural diagram after the adapter rod and the driving part are connected in the grinding component of this application

[0041] Figure 8 For Figure 7 Cross-sectional view at the center of the connecting block

[0042] Figure 9 Structural diagram after the adapter rod is lifted in the grinding head replacement unit of the grinding component of this application

[0043] Figure 10 For Figure 9 Exploded view

[0044] Figure 11 Structural diagram of the connecting block positioning device in the grinding component of this application

[0045] Figure 12 For Figure 11 Cross-sectional view

[0046] Figure 13 Structural diagram of the clamping block in the connecting block positioning device of this application

[0047] Figure 14 Structural diagram of the connecting sleeve of this application

[0048] In the figure: 1 - robotic arm, 2 - driving part, 3 - connecting block, 301 - slot, 302 - bump, 4 - adapter rod, 401 - rotating shaft, 402 - mounting part, 403 - inserting part, 404 - snap 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 - chute, 12 - grinding head, 13 - positioning device, 1301 - L-shaped plate, 1302 - polygonal slide bar, 1303 - inclined surface part, 14 - spring, 15 - support rod, 16 - fixing ring, 17 - clamping block, 1701 - pull rod, 18 - telescopic device, 19 - connecting sleeve, 1901 - connecting frame, 1902 - mounting plate, 20 - linear module, 21 - connecting seat. Detailed implementation manner

[0049] The present application will be further described in detail with reference to the accompanying drawings for a grinding robot for grinding discontinuous solder joints, but it is not a limitation to the present application.

[0050] As Figure 1 shown, a grinding robot for grinding discontinuous solder joints includes a robotic arm 1. The robotic arm 1 is a prior art. The operating end of the robotic arm 1 is detachably connected with a front end part. As Figures 2 to 4 shown, the front end part includes a grinding assembly and a linear module 20 arranged vertically.

[0051] The sliding part of the linear module 20 is arranged to slide up and down. The sliding part is connected with the grinding assembly. The linear module 20 adopts an electric linear module. The linear module 20 is detachably connected with the operating end of the robotic arm 1 through a connecting seat 21.

[0052] The grinding assembly includes a driving part 2. The driving part 2 is arranged parallel to the linear module 20. The output end of the driving part 2 is arranged vertically downward and is detachably connected with a grinding head 12. The driving part 2 drives the grinding head 12 to rotate.

[0053] The driving part 2 adopts an electric grinding machine body. A connecting sleeve 19 fixedly connected with it is sleeved outside the driving part 2. As Figure 14 shown, one end of the connecting sleeve 19 facing the linear module 20 is provided with a mounting plate 1902. The mounting plate 1902 and the sliding part of the linear module 20 are detachably connected through bolts.

[0054] In order to improve the smoothness and aesthetics of the surface of the workpiece after solder joint grinding, grinding heads 12 of various specifications need to be replaced. In order to facilitate the automatic replacement of the grinding head, a connecting block 3 is provided at the output end of the driving part 2. The connecting block 3 is detachably connected with the grinding head 12.

[0055] As shown in Figures 5 to 10 Figures 5 to 10 , 2 to 3 groups of grinding head replacement units are provided on the outer circumference of the driving part 2. The grinding head replacement unit includes an adapter rod 4, a transmission part, a servo motor 10, and a connection driving assembly 11.

[0056] The connection driving assembly 11 is fixedly connected to the outer wall of the driving part 2 through a connection frame 1901 of a connection sleeve 19. The servo motor 10 is fixedly connected to the connection driving assembly 11. The servo motor 10 drives the adapter rod 4 to move along an arc-shaped curve through the transmission part.

[0057] When the adapter rod 4 moves to the lower dead center, the adapter rod 4 is located directly below the connection block 3, and the adapter rod 4 is inserted into the connection block 3. When the adapter rod 4 moves to the upper dead center, the adapter rod 4 is located on the side of the driving part 2. The bottom of the adapter rod 4 is detachably connected to the grinding head 12.

[0058] A slot 301 is recessed on the bottom surface of the connection block 3, and the slot 301 is in a shape of a straight line.

[0059] The adapter rod 4 includes a rotating shaft 401. An insertion part 403 in a shape of a straight line is provided at the upper end of the rotating shaft 401. The insertion part 403 is connected to the slot 301 in a matching manner. An installation part 402 is provided at the lower end of the rotating shaft 401. The installation part 402 is connected to the grinding head 12, and the structure of the installation part 402 is the same as the structure of the grinding head installation part of the grinding machine.

[0060] A rotating sleeve 5 is sleeved on the rotating shaft 401, and the rotating sleeve 5 is connected to the transmission part. 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.

[0061] The connection method between the adapter rod 4 and the connection block 3 is that the insertion part 403 of the adapter rod 4 is inserted into the slot 301 from one side. For the convenience of insertion, the opening of the slot 301 on the circumferential surface of the connection block 3 is a V-shaped opening, and at the same time, it is ensured that the adapter rod 4 is always in a vertical state.

[0062] In order to ensure that the adapter rod 4 is always in a vertical state during the movement process, in this embodiment, the transmission part includes two connecting plates 6 arranged at intervals and a transmission device 7. The rotating shafts at both radial ends of the rotating sleeve 5 pass through the through holes at the ends of the connecting plates 6. A first bevel gear 501 is fixed at the end of one rotating shaft of the rotating sleeve 5, and a gear 601 is fixed at the end of the connecting plate 6 far from the rotating sleeve 5.

[0063] The connection driving assembly 11 includes a vertical plate 1101. A rack 1102 protrudes from the vertical plate 1101, and the rack 1102 is meshed with the gear 601.

[0064] 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 holes 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.

[0065] To prevent the nut sleeve 8 from rotating, a sliding groove 1103 is provided on the vertical plate 1101, and a sliding block 802 is fixed to the outside of the nut sleeve 8. The sliding block 802 is slidably arranged inside the sliding groove 1103.

[0066] The transmission device 7 includes 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. Thus, the first bevel gear 501 and the third bevel gear 801 are drivingly connected through the transmission device 7.

[0067] Based on the above embodiments, the process of replacing the grinding head 12 is as follows:

[0068] The servo motor 10 of the grinding head replacement unit is started, driving the screw rod 9 to rotate. The rotating screw rod 9 drives the nut sleeve 8 to move up and down. When the nut sleeve 8 moves upward, it is for the removal work of the adapter rod 4 together with the grinding head 12. When the nut sleeve 8 moves downward, it is for the connection work of the adapter rod 4 together with the grinding head 12 and the connection block 3.

[0069] The up and down sliding of the nut sleeve 8 drives the gear 601 to slide along the rack 1102. Since the rack 1102 is fixed, the gear 601 rotates, and then drives the connecting plate 6 to rotate. The rotation of the connecting plate 6 realizes the disassembly and assembly between the adapter rod 4 and the connection block 3.

[0070] The third bevel gear 801 on the nut sleeve 8 can only move up and down and cannot rotate. The rotation of the connecting plate 6 drives the second bevel gear 702 of the transmission device to have a relative displacement with 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, thus maintaining the adapter rod 4 in a vertical state.

[0071] Different grinding head replacement units are equipped with grinding heads 12 of different specifications, thus realizing the automatic replacement of grinding heads 12 of different specifications. When the nut sleeve 8 slides to the upper dead center, the relative grinding head 12 is higher than the connection block 3, and thus will not affect the grinding head 12 that is working.

[0072] When disassembling and assembling the transfer rod 4 and the connection block 3, if the opening of the slot 301 on the connection block 3 faces the corresponding connection plate 6, it is more convenient for the insertion part 403 of the transfer rod 4 to enter and exit the slot 301. To achieve the above purpose, as shown by Figures 11 to 13 In this embodiment, a connection block positioning device is connected below the driving part 2. The connection block positioning device includes a controller and two oppositely arranged positioners 13. The two positioners 13 are symmetrically arranged on both sides of the connection block 3.

[0073] The controller controls the relative or reverse movement of the two positioners 13. After the two positioners 13 move relatively, the connection block 3 is clamped. After the two positioners 13 move in the reverse direction, the clamping of the connection block 3 is released.

[0074] In order to position the connection block 3 during the clamping process, at least two protrusions 302 are convexly provided on the outer circumference of the connection block 3, and the included angle between two adjacent protrusions 302 is 90°.

[0075] One end of one positioner 13 facing the connection block 3 is provided with an L-shaped plate 1301 arranged vertically. The L-shaped plate 1301 is clamped with the protrusion 302. One end of the other positioner 13 facing the connection block 3 is provided with a top plate. The L-shaped plate 1301 is clamped with the protrusion 302 to position the connection block 3, and the L-shaped plate 1301 and the top plate together clamp the connection block 3.

[0076] Furthermore, the positioner 13 includes a polygonal sliding rod 1302. One end of the polygonal sliding rod 1302 facing the connection block 3 is connected to the L-shaped plate 1301 or the top plate. An inclined surface portion 1303 is provided on the upper end surface of the end of the polygonal sliding rod 1302 far from the connection block 3, and the end of the inclined surface portion 1303 far from the connection block 3 is higher than the end close to the connection block 3.

[0077] A fixing ring 16 is connected to the driving part 2. A support rod 15 is fixed below the fixing ring 16. A polygonal through hole is provided on the support rod 15, and the polygonal sliding rod 1302 is slidably arranged inside the polygonal through hole. A spring 14 is sleeved on the polygonal sliding rod 1302 as shown, and the spring 14 is located on the side of the support rod 15 facing the connection block 3.

[0078] A U-shaped block 17 with an open lower end is clamped above the inclined surface portion 1303. The two U-shaped blocks 17 are connected to the controller through a pull rod 1701 above. The controller is a telescopic device 18. The telescopic device 18 uses an electric telescopic rod, and the telescopic device 18 is fixedly connected to the connection sleeve 19.

[0079] During use, when the connecting block 3 is not clamped, the clamping block 17 moves downward. After abutting against the inclined surface portion 1303, it pushes the polygonal sliding rod 1302 to slide in a direction away from the connecting block 3 against the elastic force of the spring 14 until the clamping block 17 abuts against the polygonal sliding rod 1302. At this time, the positioner 13 is separated from the connecting block 3.

[0080] When it is necessary to clamp the connecting block 3, the telescopic device 18 drives the clamping block 17 to move upward, and the spring 14 pushes the positioner 13 to move towards the connecting block 3. The L-shaped clamping plate 1301 is clamped with one of the convex blocks 302 to realize the positioning of the connecting block 3.

[0081] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the purpose of the present application.

Claims

1. A grinding robot for non - continuous solder joints, comprising a robotic arm (1), characterized in that: A front end portion is detachably connected to the operating end of the robotic arm (1), and the front end portion includes a grinding assembly and a linear module (20); The sliding portion of the linear module (20) is arranged to slide up and down, the sliding portion is connected to the grinding assembly, and the linear module (20) is detachably connected to the operating end of the robotic arm (1) through a connecting seat (21); The grinding assembly includes a driving portion (2), the driving portion (2) is arranged in parallel with the linear module (20), the output end of the driving portion (2) is arranged vertically downward and is detachably connected to a grinding head (12), and the driving portion (2) drives the grinding head (12) to rotate; A connecting block (3) is provided at the output end of the driving portion (2), and the connecting block (3) is detachably connected to the grinding head (12); There are 2 to 3 groups of grinding head replacement units provided on the circumferential outer side of the driving portion (2), and each grinding head replacement unit includes a transfer rod (4), a transmission portion, a servo motor (10), and a connection driving assembly (11); The connection driving assembly (11) is fixedly connected to the outer wall of the driving portion (2), the servo motor (10) is fixedly connected to the connection driving assembly (11), and the servo motor (10) drives the transfer rod (4) to move in an arc - shaped 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 connecting block (3), and the transfer rod (4) is inserted into the connecting 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 portion (2); The bottom of the transfer rod (4) is detachably connected to the grinding head (12); A slot (301) is recessed on the bottom surface of the connecting block (3), and the slot (301) is in a shape of a straight line; The transfer rod (4) includes a rotating shaft (401), an insertion portion (403) in a shape of a straight line is provided at the upper end of the rotating shaft (401), the insertion portion (403) is in mating connection with the slot (301), and an installation portion (402) is provided at the lower end of the rotating shaft (401), and the installation portion (402) is connected to the grinding head (12); A rotating sleeve (5) is sleeved on the rotating shaft (401), and is connected to the transmission portion through the rotating sleeve (5).

2. The grinding robot for non - continuous solder joints according to claim 1, characterized in that: The transmission portion includes two connecting plates (6) arranged at intervals and a transmission device (7). The rotating shaft at both radial ends of the rotating sleeve (5) passes through the through - holes at the ends of the connecting plates (6). A first bevel gear (501) is fixed at the end of the rotating shaft at one end of the rotating sleeve (5), and a gear (601) is fixed at the end of the connecting plate (6) away from the rotating sleeve (5); The connection driving assembly (11) includes a vertical plate (1101), a rack (1102) protrudes from the vertical plate (1101), and the rack (1102) is in meshing connection 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 the through holes in the centers of the gears (601). 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) drives and connects the first bevel gear (501) and the third bevel gear (801).

3. The grinding robot for grinding discontinuous solder joints according to claim 2, wherein: The transmission device (7) includes 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 to the first bevel gear (501) and the third bevel gear (801).

4. The grinding robot for grinding discontinuous solder joints according to claim 2 or 3, wherein: A chute (1103) is provided on the vertical plate (1101). A slider (802) is fixed to the outside of the nut sleeve (8). The slider (802) is slidably arranged inside the chute (1103).

5. The grinding robot for grinding discontinuous solder joints according to any one of claims 1 to 3, wherein: A connecting block positioning device is connected below the driving part (2). The connecting block positioning device includes a controller and two oppositely arranged clamping devices (13). The two clamping devices (13) are symmetrically arranged on both sides of the connecting block (3). The controller controls the two clamping devices (13) to move relatively or in the opposite direction. After the two clamping devices (13) move relatively, the connecting block (3) is clamped. After the two clamping devices (13) move in the opposite direction, the clamping of the connecting block (3) is released.

6. The grinding robot for grinding discontinuous solder joints according to claim 5, wherein: At least two convex blocks (302) are convexly provided on the outer circumference of the connecting block (3). A vertically arranged L-shaped plate (1301) is provided at one end of one clamping device (13) facing the connecting block (3). The L-shaped plate (1301) is clamped with the convex block (302).

7. The grinding robot for grinding discontinuous solder joints according to claim 6, wherein: The controller adopts an electric telescopic rod.

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