A polishing robot for curved workpieces

Abstract

The application relates to the polishing technical field and discloses a polishing and grinding robot for a curved workpiece, which comprises a mechanical arm and a polishing head, the top end of the mechanical arm is detachably connected with a driving head, further comprises a universal joint fixedly connected with the driving head, the bottom end of the universal joint is rotationally connected with a floating table, the side wall of the floating table is rotationally connected with a rotating frame, the bottom end of the driving head is fixedly connected with a plurality of positioning sheets, the middle part of the rotating frame is rotationally connected with a spring air rod I, and the top end of the spring air rod I is rotationally connected with a fixed block I. In the application, the polishing head can realize self-adaptation with the surface of the workpiece through the connection of the universal joint and the floating table, and the elastic support provided by the spring air rod I and a spring air rod II is matched, so that the polishing effect is enhanced. In addition, the robot is provided with a double locking mechanism of a clamping sleeve and a strong magnetic block II, so that the stability and reliability of the polishing head are further improved.

Description

Technical Field

[0001] This invention relates to the field of grinding technology, and more particularly to a grinding and polishing robot for curved workpieces. Background Technology

[0002] Grinding is a widely used process in industrial production. With the rapid development of modern science and technology, industrial robots are gradually replacing traditional manual grinding methods in the field of workpiece grinding. Robotic grinding technology can maintain a constant force output, thereby achieving highly efficient operation.

[0003] For large curved surface components, such as car hoods, aircraft shells, and various large machine casings, traditional grinding techniques limit the contact between the grinding head and the curved surface to a single line during grinding. This results in a processing area of ​​only a narrow strip. Consequently, when handling large curved objects, the grinding head cannot adjust its angle and position in time according to the surface undulations, leading to uneven grinding and defects such as scratches and pits on the workpiece surface. To address these issues, a grinding and polishing robot for curved workpieces is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a grinding and polishing robot for curved workpieces to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides: a grinding and polishing robot for curved workpieces, comprising: a robotic arm and a grinding head, wherein a drive head is detachably connected to the top end of the robotic arm; further comprising: a universal joint fixedly connected to the drive head, wherein a floating platform is rotatably connected to the bottom end of the universal joint, a rotating frame is rotatably connected to the side wall of the floating platform, a plurality of positioning plates are fixedly connected to the bottom end of the drive head, a spring gas spring one is rotatably connected to the middle of the rotating frame, a fixing block one is rotatably connected to the top end of the spring gas spring one, a spring gas spring two is rotatably connected to the front side of the floating platform, a fixing block two is rotatably connected to the top end of the spring gas spring two, a snap-fit ​​sleeve is rotatably connected to the middle of the floating platform, a fixing member for fixing the position of the grinding head is provided inside the left end of the snap-fit ​​sleeve, and an adsorption member for reinforcing the stability of the grinding head is provided at the top end of the snap-fit ​​sleeve;

[0006] Preferably, the fixing member includes a through hole, a sleeve is fixedly connected inside the through hole, an adjusting tube is rotatably connected inside the sleeve, a knob is fixedly connected to the side of the adjusting tube away from the snap-fit ​​sleeve, a limit groove is formed inside the adjusting tube, a locking rod is movably connected inside the adjusting tube, a sliding rod is fixedly connected to the outer end of the locking rod near the knob, a slot is formed on the left side inside the snap-fit ​​sleeve, an annular groove is formed at the top of the outer end of the grinding head, and the outer side of the sliding rod engages with the inner wall of the annular groove.

[0007] Preferably, the adsorption element includes a spline block, an active toothed disc is fixedly connected to the outside of the adjusting tube, a groove is provided inside the snap-fit ​​sleeve, the spline block is fixedly connected to the top of the groove, a strong magnetic block one is fixedly connected to the middle of the spline block, a connecting shaft is rotatably connected to the middle of the strong magnetic block one, a strong magnetic block two is fixedly connected to the bottom of the connecting shaft, an isolation ring is fixedly connected to the outside of the strong magnetic block two, and a driven toothed ring is fixedly connected to the top of the outer side of the isolation ring.

[0008] Preferably, the top side of the rotating frame is rotatably connected to the middle of the adjacent positioning plate, the end of the fixing block one near the rotating frame is fixedly connected to the outer left side of the drive head, the side of the fixing block two near the universal joint is fixedly connected to the outer front side of the drive head, and the outer side of the grinding head is engaged with the inner wall of the snap-fit ​​sleeve.

[0009] Preferably, the bottom end of the sliding rod is slidably connected to the inner wall of the limiting groove, and the outer side of the locking rod is slidably connected to the inner wall of the slot.

[0010] Preferably, the active gear disk is rotatably connected to the inner wall of the slot, and the teeth on the side of the active gear disk near the connecting shaft mesh with the outer teeth of the driven gear ring;

[0011] Preferably, the outer side of the first strong magnetic block is attracted to the second strong magnetic block, and the bottom end of the second strong magnetic block is attracted to the top end of the grinding head.

[0012] Preferably, the outer part of the isolation ring is rotatably connected to the inner wall of the groove, the top end of the driven gear ring is rotatably connected to the bottom end of the spline block, and the top end of the driven gear ring is rotatably connected to the inner wall of the groove.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. In this invention, the drive head and the grinding head are connected via a universal joint and a floating table. The sidewall of the floating table is connected to spring-loaded gas spring one, achieving elastic support for the grinding head. When the grinding head contacts the workpiece surface and is under pressure, its tilt angle can be flexibly adjusted. Spring-loaded gas spring one and spring-loaded gas spring two absorb the tilting force, allowing the grinding head to adapt to the workpiece surface. This enables the grinding head to accurately follow changes in the workpiece surface, reducing scratches, pits, and other defects, improving the polishing effect, and ensuring the surface quality of the workpiece.

[0015] 2. In this invention, by inserting the grinding head into the locking sleeve and rotating the knob, the adjusting tube rotates in coordination with the limiting groove and the sliding roller, thereby driving the locking roller to slide and engage with the grinding head annular groove, achieving rapid installation of the grinding head. Simultaneously with the rotation of the adjusting tube, the active gear disc fixed to the grinding head rotates synchronously, driving the strong magnetic block two to rotate through meshing with the driven gear ring. This ensures that its magnetic poles are aligned with the strong magnetic block, forming a closed magnetic field circuit that generates an attractive force on the grinding head, further stabilizing it and effectively preventing shaking and falling during use, significantly improving the grinding effect and enhancing the stability and reliability of the grinding operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the overall structure of the drive head and grinding head of the present invention;

[0018] Figure 3 This is an exploded structural diagram of the drive head and grinding head of the present invention;

[0019] Figure 4 This is a schematic diagram showing the disassembled structure of the floating platform, the rotating frame, and the spring gas cylinder of the present invention;

[0020] Figure 5 This is a schematic diagram of the mating structure of the sleeve, the driving gear disc, the isolation ring, and the driven gear ring of the present invention.

[0021] Figure 6 This is a schematic diagram of the internal structure of the snap-fit ​​sleeve of the present invention;

[0022] Figure 7 This is a schematic diagram showing the disassembled structure of the snap-fit ​​sleeve, knob, strong magnetic block, and snap-fit ​​roller of the present invention.

[0023] Figure 8 This is a schematic diagram of the regulating tube and its internal structure according to the present invention.

[0024] Legend:

[0025] 1. Robotic arm; 2. Drive head; 3. Universal joint; 4. Floating table; 5. Grinding head; 6. Rotary frame; 7. Positioning plate; 8. Spring gas spring one; 9. Fixing block one; 10. Spring gas spring two; 11. Fixing block two; 12. Snap-fit ​​sleeve; 13. Through hole; 14. Sleeve; 15. Adjusting tube; 16. Knob; 17. Limiting groove; 18. Clamping roller; 19. Sliding roller; 20. Hole groove; 21. Ring groove; 22. Drive gear plate; 23. Groove; 24. Spline block; 25. Strong magnet one; 26. Connecting shaft; 27. Strong magnet two; 28. Isolation ring; 29. ​​Driven gear ring. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Reference Figures 1 to 3 This invention provides an embodiment of a polishing robot for curved workpieces, comprising: a robotic arm 1 and a polishing head 5. The robotic arm 1 has a multi-jointed movable structure, enabling flexible movement in three-dimensional space. The power source is a gear transmission device driven by a motor. A control system precisely controls the angle and displacement of each joint, thereby achieving precise positioning of the component connected to the top. A drive head 2 is detachably connected to the top of the robotic arm 1, providing rotational power to the polishing head 5. The robot also includes: a universal joint 3 fixedly connected to the drive head 2. A floating platform 4 is rotatably connected to the bottom of the universal joint 3. The universal joint 3 consists of two fork-shaped joints and a cross shaft, forming a cross-shaped structure. Its two ends are rotatably connected to the drive head 2 and the floating platform 4, respectively. The fork-shaped joints can rotate flexibly around the cross shaft in different directions, allowing the floating platform 4 and the polishing head 5 to swing freely relative to the drive head 2 within a certain angle range. This allows the polishing head 5 to tilt in multiple directions to adapt to changes in the surface of the curved workpiece. Meanwhile, when the universal joint 3 transmits the rotational power of the drive head 2, the stability of the power transmission will not be affected by its own sway.

[0028] refer to Figure 3 , Figure 4 The side wall of the floating platform 4 is rotatably connected to the rotating frame 6, and the bottom end of the drive head 2 is fixedly connected to multiple positioning plates 7. The front and rear ends of the top side of the rotating frame 6 are rotatably connected to the middle of the adjacent positioning plates 7. The rotating frame 6 and the floating platform 4 are connected by longitudinal rotation. The upper end of the rotating frame 6 is designed with two circular ends, and is connected to the four corners of the bottom of the drive head 2 housing through the positioning plates 7.

[0029] A spring-air rod 8 is rotatably connected to the middle of the left rotating frame 6. The spring-air rod 8 is equipped with a threaded and adjusting nut structure on the outside. Users can adjust the spring pressure by rotating the nut, thereby adjusting the longitudinal angle adjustment range of the floating table 4. The spring used in the spring-air rod 8 is a spiral ball structure. Compared with the traditional linear spring, the spring-air rod 8 can quickly adapt to the geometric changes of curved workpieces and reduce the risk of rigid collisions caused by robot positioning errors or workpiece tolerances.

[0030] The top of the spring gas rod 8 is rotatably connected to a fixing block 9. The end of the fixing block 9 near the rotating frame 6 is fixedly connected to the outer left side of the drive head 2, ensuring a stable connection between the spring gas rod 8 and the drive head 2. This allows the spring gas rod 8 to function effectively when adjusting the angle of the floating table 4, and provides the necessary connection support for the adaptive adjustment of the grinding head 5.

[0031] A second spring-loaded gas spring 10 is rotatably connected to the front of the floating table 4. The second spring-loaded gas spring 10 has the same structure as the first spring-loaded gas spring 8, providing longitudinal elastic support for the floating table 4. This allows the grinding head 5 to more smoothly adapt to changes in the surface shape when contacting curved workpiece surfaces, reducing scratches and pits caused by mismatch between the grinding head 5 and the workpiece surface. A second fixing block 11 is rotatably connected to the top of the second spring-loaded gas spring 10. The fixing block 11, near the universal joint 3, is fixedly connected to the outer front side of the drive head 2. The fixing block 11 ensures a stable connection between the second spring-loaded gas spring 10 and the drive head 2, enabling the second spring-loaded gas spring 10 to effectively provide elastic support when adjusting the angle of the floating table 4, providing a reliable connection guarantee for the adaptive adjustment of the grinding head 5.

[0032] The floating table 4 is rotatably connected to a snap-fit ​​sleeve 12. The outer side of the grinding head 5 engages with the inner wall of the snap-fit ​​sleeve 12. When installing the grinding head 5, the grinding head 5 is inserted into the snap-fit ​​sleeve 12, and then the position of the grinding head 5 is further fixed by the fixing component to prevent it from shaking inside the snap-fit ​​sleeve 12.

[0033] refer to Figure 3 , Figures 5 to 8 The left end of the snap-fit ​​sleeve 12 has a fixing component for fixing the position of the grinding head 5. The fixing component includes a through hole 13, which provides a position for the installation of the sleeve 14, allowing the sleeve 14 to be fixed on the corresponding component, thus playing a basic installation and positioning role. The sleeve 14 is fixedly connected inside the through hole 13, and the adjusting tube 15 is rotatably connected inside the sleeve 14. The sleeve 14 supports and positions the adjusting tube 15, allowing the adjusting tube 15 to rotate inside it, while ensuring the stability and accuracy of the rotation of the adjusting tube 15, so that the rotation operation of the adjusting tube 15 can be reliably transmitted to the relevant components.

[0034] A knob 16 is fixedly connected to the side of the adjusting tube 15 away from the locking sleeve 12. Operators can easily rotate the adjusting tube 15 in its original position by turning the knob 16. A limiting groove 17, which is spiral-shaped, is formed inside the adjusting tube 15. A locking roller 18 is movably connected inside the adjusting tube 15. A sliding roller 19 is fixedly connected to the outer end of the locking roller 18 near the knob 16. When the adjusting tube 15 rotates, the locking roller 18 is driven by the sliding of the sliding roller 19 within the limiting groove 17, allowing it to slide out of the adjusting tube 15.

[0035] The bottom end of the slide rod 19 is slidably connected to the inner wall of the limiting groove 17, and the slide rod 19 converts the rotational motion of the adjusting tube 15 into the linear sliding motion of the locking rod 18. A slot 20 is provided on the left side of the inner side of the locking sleeve 12, and the outer side of the locking rod 18 is slidably connected to the inner wall of the slot 20. The slot 20 allows the locking rod 18 to slide within the slot 20, thereby achieving engagement and disengagement with the annular groove 21 of the grinding head 5. An annular groove 21 is provided at the top of the outer side of the grinding head 5, and the outer side of the slide rod 19 engages with the inner wall of the annular groove 21. When the locking rod 18 slides out of the slot 20, it can engage with the annular groove 21, achieving quick installation and fixation of the grinding head 5 and ensuring the connection stability between the grinding head 5 and the locking sleeve 12.

[0036] The inner top of the snap-fit ​​sleeve 12 is provided with an adsorption component for reinforcing the stability of the grinding head 5. The adsorption component includes a spline block 24. An active gear disk 22 is fixedly connected to the outside of the adjusting tube 15. The active gear disk 22 is rotatably connected to the inner wall of the slot 20. The active gear disk 22 meshes with the teeth of the driven gear ring 29 through the teeth on its side, transmitting the rotation of the adjusting tube 15 to the driven gear ring 29, thereby driving the strong magnetic block 27 to rotate, realizing a further locking function for the grinding head 5, preventing the grinding head 5 from shaking or falling off during use.

[0037] The snap-fit ​​sleeve 12 has a groove 23 inside, and a spline block 24 is fixedly connected to the top of the groove 23, providing a mounting base for components such as the first strong magnet 25. The first strong magnet 25 is fixedly connected to the middle of the spline block 24, and a connecting shaft 26 is rotatably connected to the middle of the first strong magnet 25. The bottom end of the connecting shaft 26 is fixedly connected to the second strong magnet 27. The connecting shaft 26 connects the first strong magnet 25 and the second strong magnet 27, allowing the second strong magnet 27 to rotate around it, thereby adjusting the angle of the second strong magnet 27 and changing its magnetic pole direction to achieve the purpose of setting the same magnetic pole as the first strong magnet 25, thus forming a magnetic field circuit.

[0038] An isolation ring 28 is fixedly connected to the outside of the strong magnetic block 27. A driven gear ring 29 is fixedly connected to the top of the outer side of the isolation ring 28. The isolation ring 28 ensures the stability and flexibility of the strong magnetic block 27 during rotation, allowing the driven gear ring 29 to smoothly drive its rotation. The top of the driven gear ring 29 is rotatably connected to the bottom of the spline block 24. The teeth on the side of the driving gear disk 22 near the connecting shaft 26 mesh with the outer teeth of the driven gear ring 29, which can transmit the rotation of the driving gear disk 22 to the strong magnetic block 27, driving the strong magnetic block 27 to rotate and realizing the further locking function of the grinding head 5. It is a key transmission component for realizing the magnetic locking of the grinding head 5.

[0039] The exterior of strong magnetic block 25 is magnetically connected to strong magnetic block 27. The bottom end of strong magnetic block 27 is magnetically connected to the top end of the grinding head 5. The exterior of the isolation ring 28 is rotatably connected to the inner wall of the groove 23. The top end of the driven toothed ring 29 is rotatably connected to the inner wall of the groove 23. The isolation ring 28 effectively prevents direct contact with other components and damage.

[0040] Working principle: S1. First step, the worker finds the grinding head 5 that is suitable for the curved workpiece, then inserts the grinding head 5 into the snap-fit ​​sleeve 12, and then rotates the knob 16 to drive the adjusting tube 15 to rotate in place. At this time, the limiting groove 17 in the adjusting tube 15 will drive the sliding rod 19 to slide along the limiting groove 17 by rotating the screw groove surface. The sliding of the sliding rod 19 will drive the snap-fit ​​rod 18 to slide out of the adjusting tube 15 and the protruding hole groove 20 to engage with the annular groove 21 of the grinding head 5, so as to achieve the effect of quickly installing the grinding head 5.

[0041] To ensure the stability of the grinding head 5, the active gear disc 22, which is fixed to the grinding head 5, rotates synchronously with the adjustment tube 15. The teeth on the side mesh with the teeth of the driven gear ring 29, causing the driven gear ring 29 to drive the central strong magnetic block 27 to rotate 90 degrees. The magnetic poles of the strong magnetic block 27 after rotation are set to the same poles as those of the strong magnetic block 25. The magnetic fields of the strong magnetic block 27 and the strong magnetic block 25 are in the same direction. The magnetic field forms a loop to attract the grinding head 5, thereby further locking the grinding head 5 and preventing it from shaking or falling off during use, thus increasing the grinding effect.

[0042] S2. In the second step, the staff controls the robotic arm 1 to move the grinding head 5 fixed to the drive head 2 to the surface of the curved workpiece for contact.

[0043] S3. In the third step, the grinding head 5 is controlled to conform to the curved workpiece for grinding and polishing. During the grinding and polishing process, the drive head 2 and the grinding head 5 are movably connected through the universal joint 3 and the floating table 4. The side wall of the floating table 4 is elastically supported by the spring air rod 1 8 and the spring air rod 2 10 to tilt the horizontal and vertical angles of the floating table 4. Therefore, when the grinding head 5 contacts the surface of the curved workpiece, the grinding head 5 will be squeezed by the surface of the curved workpiece and tilt horizontally and vertically. The force of this tilting will be partially absorbed by the corresponding spring air rod 1 8 and the spring air rod 2 10, so that the grinding head 5 can adapt to the surface of the curved workpiece. During the polishing process, it can better follow the changes of the workpiece surface, reduce the scratches, pits and other defects that may be caused by the mismatch between the grinding head 5 and the surface of the curved workpiece, and increase the polishing effect.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A grinding and polishing robot for curved workpieces, comprising: The robotic arm (1) and the grinding head (5) are provided with a drive head (2) detachably connected to the top of the robotic arm (1). The feature is that it further includes: a universal joint (3) fixedly connected to the drive head (2), a floating platform (4) rotatably connected to the bottom end of the universal joint (3), a rotating frame (6) rotatably connected to the side wall of the floating platform (4), a plurality of positioning plates (7) fixedly connected to the bottom end of the drive head (2), the front and rear ends of the top side of the rotating frame (6) rotatably connected to the middle of the adjacent positioning plates (7), a spring gas rod (8) rotatably connected to the middle of the rotating frame (6), a fixing block (9) rotatably connected to the top end of the spring gas rod (8), the end of the fixing block (9) near the rotating frame (6) fixedly connected to the outer left side of the drive head (2), a spring gas rod (10) rotatably connected to the front side of the floating platform (4), a fixing block (11) rotatably connected to the top end of the spring gas rod (10), the side of the fixing block (11) near the universal joint (3) fixedly connected to the outer front side of the drive head (2), and the middle of the floating platform (4) A retaining sleeve (12) is rotatably connected to the grinding head (5). The outer side of the grinding head (5) engages with the inner wall of the retaining sleeve (12). A fixing member for fixing the position of the grinding head (5) is provided inside the left end of the retaining sleeve (12). The fixing member includes a through hole (13). A sleeve (14) is fixedly connected inside the through hole (13). An adjusting tube (15) is rotatably connected inside the sleeve (14). The side of the adjusting tube (15) away from the retaining sleeve (12) is fixedly connected to... There is a knob (16), the inside of the adjusting tube (15) is provided with a limiting groove (17), the inside of the adjusting tube (15) is movably connected with a locking rod (18), the outside of the locking rod (18) is fixedly connected with a sliding rod (19) near the knob (16), the inside of the locking sleeve (12) is provided with a hole groove (20), the top of the outside of the grinding head (5) is provided with an annular groove (21), and the outside of the sliding rod (19) is engaged with the inner wall of the annular groove (21). The inner top of the snap sleeve (12) is provided with an adsorption element for reinforcing the stability of the grinding head (5); The adsorption element includes a spline block (24), and an active gear disk (22) is fixedly connected to the outside of the adjusting tube (15). The active gear disk (22) is rotatably connected to the inner wall of the slot (20). A groove (23) is provided inside the snap sleeve (12). The spline block (24) is fixedly connected to the top of the groove (23). A strong magnetic block (25) is fixedly connected to the middle of the spline block (24). A connecting shaft (26) is rotatably connected to the middle of the strong magnetic block (25). A strong magnetic block two (27) is fixedly connected to the bottom end of the first strong magnetic block (25). The outside of the strong magnetic block two (27) is attracted to the outside of the first strong magnetic block (25). The bottom end of the strong magnetic block two (27) is attracted to the top end of the grinding head (5). An isolation ring (28) is fixedly connected to the outside of the strong magnetic block two (27). A driven toothed ring (29) is fixedly connected to the top end of the outside of the isolation ring (28). The teeth on the side of the active toothed disc (22) near the connecting shaft (26) mesh with the outer teeth of the driven toothed ring (29). The outer side of the isolation ring (28) is rotatably connected to the inner wall of the groove (23), the top end of the driven toothed ring (29) is rotatably connected to the bottom end of the spline block (24), and the top end of the driven toothed ring (29) is rotatably connected to the inner wall of the groove (23).

2. The grinding and polishing robot for curved workpieces according to claim 1, characterized in that: The bottom end of the slide rod (19) is slidably connected to the inner wall of the limiting groove (17), and the outside of the locking rod (18) is slidably connected to the inner wall of the hole groove (20).

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