Polishing robot capable of adaptively adjusting polishing force of parts

Abstract

The invention relates to the technical field of part grinding, and discloses a part grinding force self-adaptive adjusting grinding robot which comprises a robot body, a mechanical arm is installed on the left side of the robot body, a first fixing plate is installed on the front side of the robot body, and a second fixing plate is installed on the lower side of the mechanical arm. A grinding device is installed on the lower side of the second fixing plate, an auxiliary device is installed on the lower side of the second fixing plate, a filtering device is installed on the front side of the first fixing plate, the grinding device comprises a force control floating device, and a third fixing plate is connected to the lower side of the force control floating device; according to the scheme, the first spray head, the first air suction pipe, the first connecting air pipe, the dust suction cover and other devices are arranged and matched, so that impurities generated in the polishing process of the polishing piece can be absorbed, meanwhile, air cooling work can be conducted on the polishing piece, the temperature of the polishing piece in the using process is reduced, and the using stability of the device is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of component grinding, and specifically relates to a grinding robot with self-adaptive adjustment of grinding force for components. Background Art

[0002] Grinding is a key process in component production and manufacturing, and its processing quality directly affects the performance and service life of products. Currently, in the industrial field, a force control floating device is widely used to empower grinding robots. By integrating high-precision sensors and intelligent control systems on the grinding head, core parameters such as grinding force, speed, and position are monitored in real time, and the attitude of the grinding head and the magnitude of the applied force are dynamically adjusted according to the preset process requirements, so as to achieve a high-precision surface processing effect.

[0003] However, this technology still has the following problems when dealing with the grinding of large-area flat components:

[0004] (1) Long-term continuous grinding operations will cause the grinding wheel to continuously heat up. High temperatures not only accelerate the wear of the grinding tool but may also cause local overheating and deformation, affecting the grinding accuracy;

[0005] (2) During the large-area grinding process, the generated debris lacks effective restraint and is extremely easy to fly everywhere, which not only poses a threat to the respiratory health and operation safety of operators;

[0006] (3) If the flying debris adheres to the unground area of the component, it will form a "particle grinding" effect during subsequent grinding, resulting in secondary defects such as scratches and pits on the surface, seriously reducing the yield rate;

[0007] Therefore, we propose a grinding robot with self-adaptive adjustment of grinding force for components. Summary of the Invention

[0008] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a grinding robot with self-adaptive adjustment of grinding force for components, effectively solving the above problems.

[0009] To achieve the above object, the present invention provides the following technical solution: A grinding robot with self-adaptive adjustment of grinding force for components, including a robot main body, a robotic arm is installed on the left side of the robot main body, a first fixing plate is installed on the front side of the robot main body, a second fixing plate is installed on the lower side of the robotic arm, a grinding device is installed on the lower side of the second fixing plate, an auxiliary device is installed on the lower side of the second fixing plate, and a filtering device is installed on the front side of the first fixing plate;

[0010] The filtering device includes a filtering box, and a cleaning component is arranged on the upper side of the filtering box. The cleaning component includes a first insertion rod, a second insertion rod, and an L-shaped plate. The upper sides of the first insertion rod and the second insertion rod are respectively connected to the left and right sides of the L-shaped plate, and multiple groups of cleaning brushes are connected to the lower side of the second insertion rod.

[0011] Preferably, the grinding device includes a force control floating device. A third fixing plate is connected to the lower side of the force control floating device. A first motor is installed on the lower side of the third fixing plate. A fixed pneumatic chuck is connected to the driving end of the first motor. A grinding disc is installed on the lower side of the fixed pneumatic chuck. A dust suction hood is connected to the lower side of the third fixing plate. Multiple first nozzles are evenly connected to the inner side of the dust suction hood. A first suction pipe is connected to the right side of the dust suction hood. Multiple first connecting pipes are connected to the outer sides of the multiple first nozzles. Multiple second nozzles are evenly connected to the outer side of the first connecting pipe. A spiral groove is formed on the lower side of the dust suction hood.

[0012] Preferably, the auxiliary device includes two first cylinders. A fourth fixing plate is connected to the telescopic ends of the two first cylinders. Three first connecting rods are arranged on the lower side of the fourth fixing plate. A first connecting ring is connected to the lower sides of the three first connecting rods. A rotating ring is connected to the outer side of the first connecting ring. A toothed ring is connected to the inner wall of the rotating ring. A second motor is installed on the inner wall of the first connecting ring. A first rotating rod is connected to the driving end of the second motor. A gear is connected to the outer side of the first rotating rod. The gear meshes with the toothed ring. A U-shaped stopper is installed on the lower side of the rotating ring. Multiple third nozzles are connected to the front and rear sides of the U-shaped stopper. Multiple second connecting pipes are connected to the outer sides of the multiple third nozzles. Two second suction pipes are connected to the inner wall of the U-shaped stopper.

[0013] Preferably, the filtering device includes a filtering box. An air pump is installed on the left side of the filtering box. A first metal hose is connected to the right side of the filtering box. A second metal hose is connected to the left side of the air pump. A collection box and a filter pipe are connected to the inner wall of the filtering box. A screw cap is connected to the lower side of the collection box.

[0014] Preferably, a groove is formed on the upper side of the filtering box. The first insertion rod is arranged in the groove on the upper side of the filtering box. A first rubber block is connected to the upper side of the first insertion rod. A first spring is connected to the upper side of the first rubber block. The first spring is connected to the filtering box. A first sliding groove block is connected to the upper side of the first insertion rod. A jack is arranged on the right side of the filtering box. The second insertion rod is arranged in the jack of the filtering box. A second sliding groove block is connected to the upper side of the second insertion rod. An L-shaped plate is connected to the upper side of the filtering box. Slide rods are connected to the left and right sides of the L-shaped plate. The two slide rods are respectively located inside the sliding grooves of the second sliding groove block and the first sliding groove block. A rubber ring is arranged on the outer side of the second insertion rod.

[0015] Preferably, three groups of second springs are connected to the upper side of the first connecting ring. The upper sides of the three groups of second springs are connected to a lower pressing plate. The lower pressing plate is located outside the three first connecting rods. Two groups of second cylinders are connected to the lower side of the fourth fixing plate. The telescopic ends of the two groups of second cylinders are connected to the lower pressing plate.

[0016] Preferably, a third metal hose is connected to the right side of the air pump. A spiral tube is connected to the lower side of the second plug rod. The right side of the third metal hose is connected to the spiral tube. A plurality of spray pipes are evenly connected to the outside of the spiral tube.

[0017] Preferably, auxiliary blocks are arranged on both the left and right sides of the U-shaped block. The auxiliary blocks are located on the left side of the second suction pipe.

[0018] Preferably, a plurality of second connecting rings are connected to the lower side of the second plug rod. The second connecting rings are arranged in a funnel shape. The second plug rod is connected to the cleaning brush through the second connecting rings.

[0019] Preferably, a limiting ring is connected to the inner wall of the collection box. A switchable magnetic block is installed on the lower side of the collection box. The limiting ring is arranged in a funnel shape.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. By cooperating with devices such as the first spray head, the first suction pipe, the first connecting air pipe, and the dust suction cover, impurities generated during the grinding process of the grinding disc can be absorbed, and at the same time, the grinding disc can be air-cooled, reducing the temperature during the use of the grinding disc and improving the stability of the use of this device;

[0022] 2. By setting an auxiliary device, the grinding area can be blown, thereby cleaning and absorbing impurities on the surface of the component, and further reducing the possibility of component damage that may occur during subsequent grinding, improving the stability and efficiency of the use of this device;

[0023] 3. By setting a filtering device, the grinding device and the auxiliary device can be sucked and supplied with air, and at the same time, impurities generated during the grinding work can be absorbed and stored, improving the comfort of the working environment and reducing the harm to the safety of the staff during grinding;

[0024] 4. By cooperating with the filter box, the first plug rod, the first rubber block, the first spring, the first sliding groove block, the second plug rod, the second sliding groove block, the L-shaped plate, the sliding rod, and the rubber ring, the cleaning brush can be driven to move up and down, so that when the filter pipe is blocked, the filter pipe can be cleaned, improving the stability of the use of this device;

[0025] 5. By setting a limit ring to guide impurities, the impurities can be guided by the limit ring so that they can quickly enter the collection box. Then, the impurities entering the collection box are limited, so that the limit ring limits the impurities, reducing the possibility of the impurities moving out of the limit ring and improving the stability of the device during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention.

[0027] In the drawings:

[0028] Figure 1 is a schematic structural diagram of the present invention;

[0029] Figure 2 is a schematic structural diagram of the auxiliary device of the present invention;

[0030] Figure 3 is a schematic structural diagram of the filtering device of the present invention;

[0031] Figure 4 is a schematic structural diagram of the spiral tube of the present invention;

[0032] Figure 5 is a schematic structural diagram of the fourth fixing plate of the present invention;

[0033] Figure 6 is a schematic structural diagram of the auxiliary device of the present invention;

[0034] Figure 7 is a schematic structural diagram of the polishing device of the present invention;

[0035] Figure 8 is a schematic structural diagram of the third fixing plate of the present invention;

[0036] Figure 9 is a schematic structural diagram of the first connecting air pipe of the present invention;

[0037] Figure 10 is a schematic structural diagram of the third spray head of the present invention;

[0038] Figure 11 is a schematic structural diagram of the second metal hose of the present invention;

[0039] Figure 12 is a schematic structural diagram of the first connecting rod of the present invention.

[0040] In the figure: 100, robot main body; 110, robotic arm; 120, first fixing plate; 130, second fixing plate; 200, grinding device; 210, force control floating device; 220, third fixing plate; 230, first motor; 240, fixed pneumatic chuck; 250, grinding disc; 260, dust suction hood; 261, first spray head; 262, first suction pipe; 263, first connecting pipe; 264, second spray head; 300, auxiliary device; 310, first cylinder; 320, fourth fixing plate; 321, second cylinder; 330, first connecting rod; 340, first connecting ring; 341, second spring; 342, lower pressing plate; 350, rotating ring; 351, U-shaped stop block; 352, third spray head; 353, second connecting pipe; 354, second suction pipe; 355, auxiliary block; 360, gear ring; 370, second motor; 380, first rotating rod; 390, gear; 400, filtering device; 410, filtering box; 411, first plug rod; 412, first rubber block; 413, first spring; 414, first sliding groove block; 415, second plug rod; 416, second sliding groove block; 417, L-shaped plate; 418, sliding rod; 419, rubber ring; 420, air pump; 430, first metal hose; 440, second metal hose; 450, collection box; 451, limit ring; 452, switchable magnetic block; 460, filtering pipe; 470, cleaning brush; 471, second connecting ring; 480, third metal hose; 490, spiral pipe; 491, spraying pipe. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] Please refer to Figure 1, A polishing robot with self - adaptive adjustment of polishing force for parts, including a robot main body 100. A robotic arm 110 is fixedly installed on the left side of the robot main body 100. The robotic arm 110 adopts robotic arms of models such as BRONT CRUS 1510A, Xinghaitu R1Pro, LRMate200iD / 10L, UR10e, etc. A first fixed plate 120 is fixedly installed on the front side of the robot main body 100. A second fixed plate 130 is fixedly installed on the lower side of the robotic arm 110. A polishing device 200 is fixedly installed on the lower side of the second fixed plate 130. An auxiliary device 300 is fixedly installed on the lower side of the second fixed plate 130. During use, the robotic arm 110 drives the second fixed plate 130 to move, and then the second fixed plate 130 drives the auxiliary device 300 and the polishing device 200 to move. The polishing device 200 polishes the parts, and at the same time, the impurities generated in the polishing area are sent into a filtering device 400 to blow the impurities near the polishing area to avoid the particle impurities on the workpiece surface affecting the subsequent polishing work. The auxiliary device 300 collects the impurities near the polishing area. A filtering device 400 is fixedly installed on the front side of the first fixed plate 120, and the filtering device 400 absorbs and filters the impurities generated by polishing.

[0043] Please refer to Figures 7 - 12 , The polishing device 200 includes a force - controlled floating device 210. A third fixed plate 220 is fixedly connected to the lower side of the force - controlled floating device 210. A first motor 230 is fixedly installed on the lower side of the third fixed plate 220. The transmission end of the first motor 230 is fixedly connected to a fixed - type pneumatic chuck 240. A polishing disc 250 is fixedly installed on the lower side of the fixed - type pneumatic chuck 240. During use, the fixed - type pneumatic chuck 240 is connected to the polishing disc 250. By setting the fixed - type pneumatic chuck 240, it is convenient to replace and install the polishing disc 250. During use, the first motor 230 drives the fixed - type pneumatic chuck 240 and the polishing disc 250 to rotate to polish the plane of the large part. During use, the force - controlled floating device 210 can be adaptively adjusted according to the elastic force generated by the polishing collision, and then the height of the polishing disc 250 is adjusted to reduce the collision force between the polishing disc 250 and the surface of the parts, thereby effectively extending the service life of the polishing disc 250. A dust suction hood 260 is fixedly connected to the lower side of the third fixed plate 220. A spiral groove is opened on the lower side of the dust suction hood 260. The polishing disc 250 is located inside the spiral groove of the dust suction hood 260. A first spray head 261 is fixedly and evenly connected to the inner side of the dust suction hood 260. A first suction pipe 262 is fixedly connected to the right side of the dust suction hood 260. A first connecting pipe 263 is fixedly connected to the outside of multiple groups of first spray heads 261. Multiple groups of second spray heads 264 are fixedly and evenly connected to the outside of the first connecting pipe 263. During use, the force - controlled floating device 210 adopts Lightweight Intelligent Floater: Produced by MaxPower, there are various models, such as M5307A, M5307B, M5308B, M5308C, etc., or the BoneStar series of Baixitai can be adopted. Among them, for passive floating force control: there are models such as NCF110-25CS, NCF250-25CS, NCF250-50CS, NCF490-25CS, NCF490-50CS, etc.; for adaptive floating force control: it includes models such as LM110-25CS, LM250-25CS, LM250-50CS, LM490-25CS, LM490-50CS, etc., or Series: There are models such as M5307A, M5307B, M5308B, M5308C, etc. During use, after the first connecting air pipe 263 intakes air, it is dispersed to multiple groups of first nozzles 261. Subsequently, multiple groups of first nozzles 261 blow the inner side of the dust suction hood 260. Then, the wind sprayed by the first nozzles 261 adheres in the spiral groove of the dust suction hood 260. Subsequently, the air and impurities in the dust suction hood 260 are absorbed through the first suction pipe 262 and sent to the filtering device 400. By setting up devices such as the first nozzles 261, the first suction pipe 262, the first connecting air pipe 263, and the dust suction hood 260 to cooperate, the impurities generated during the grinding process of the grinding disc 250 can be absorbed, and at the same time, the grinding disc 250 can be air-cooled, reducing the temperature of the grinding disc 250 during use and improving the stability of the device.

[0044] Please refer to Figures 2 - 7, the auxiliary device 300 includes two groups of first cylinders 310. The telescopic ends of the two groups of first cylinders 310 are fixedly connected to a fourth fixing plate 320. Three first connecting rods 330 are inserted and connected to the lower side of the fourth fixing plate 320. When the first cylinder 310 is started, the fourth fixing plate 320 is driven to move up and down by the first cylinder 310. The first connecting rod 330 is driven to move up and down by the up and down movement of the fourth fixing plate 320. Furthermore, the height of the first connecting ring 340 is adjusted by the first connecting rod 330. The first connecting ring 340 can adjust the height of the U-shaped stopper 351 so that the U-shaped stopper 351 is attached to the surface of the component. Three first connecting rods 330 are inserted and connected to the lower side of the first connecting ring 340. It is worth mentioning that a limiting plate is provided on the upper side of the first connecting rod 330 to prevent the first connecting rod 330 from detaching from the fourth fixing plate 320. A rotating ring 350 is rotatably connected to the outer side of the first connecting ring 340. A gear ring 360 is fixedly connected to the inner wall of the rotating ring 350. A second motor 370 is fixedly installed on the inner wall of the first connecting ring 340. A first rotating rod 380 is fixedly connected to the driving end of the second motor 370. A gear 390 is fixedly connected to the outer side of the first rotating rod 380. The gear 390 meshes with the gear ring 360. During use, the second motor 370 is started. The first rotating rod 380 is driven to rotate by the second motor 370. The gear 390 is driven to rotate by the rotation of the first rotating rod 380. The gear ring 360 is driven to rotate by the rotation of the gear 390. The rotating ring 350 is driven to rotate by the rotation of the gear ring 360. The U-shaped stopper 351 is driven to rotate by the rotation of the rotating ring 350. The U-shaped stopper 351 is fixedly installed on the lower side of the rotating ring 350. The opening of the U-shaped stopper 351 faces the grinding operation direction. A plurality of third spray nozzles 352 are fixedly connected to the front and rear sides of the U-shaped stopper 351. The third spray nozzles 352 on the rear side face the direction of the second suction pipe 354 at the right bottom of the U-shaped stopper 351. The third spray nozzles 352 on the front side face the direction of the second suction pipe 354 at the left front side of the U-shaped stopper 351. A second connecting air pipe 353 is fixedly connected to the outer side of the plurality of third spray nozzles 352. Two second suction pipes 354 are fixedly connected to the inner wall of the U-shaped stopper 351. Wind enters the second connecting air pipe 353, and then the wind in the second connecting air pipe 353 is dispersed into the third spray nozzles 352. Furthermore, the grinding area is blown by the third spray nozzles 352. Cooperating with the wind blown by the second spray nozzle 264, the impurities near the grinding area are blown to the area near the two second suction pipes 354. Then, the impurities are absorbed by the two second suction pipes 354 and sent into the filtering device 400. By providing the auxiliary device 300, the grinding area can be blown, and thus the impurities on the surface of the component can be cleaned and absorbed. Furthermore, the possibility of component damage that may occur during subsequent grinding is reduced, and the stability and efficiency of the use of this device are improved. Three second springs 341 are fixedly connected to the upper side of the first connecting ring 340. A lower pressing plate 342 is fixedly connected to the upper sides of the three second springs 341.The lower pressing plate 342 is located outside the three groups of first connecting rods 330. Two second air cylinders 321 are fixedly connected to the lower side of the fourth fixing plate 320. The telescopic ends of the two second air cylinders 321 are fixedly connected to the lower pressing plate 342. During use, the second spring 341 squeezes the first connecting ring 340 and the rotating ring 350, so that the rotating ring 350 can drive the U-shaped stopper 351 to contact the surface of the part. By arranging the second spring 341 and the lower pressing plate 342, the first connecting ring 340, the rotating ring 350 and the U-shaped stopper 351 have an adjustable space, so that the U-shaped stopper 351 always contacts the parts. Start the second air cylinder 321, and the second air cylinder 321 drives the lower pressing plate 342 to perform lifting adjustment. Then, when the lower pressing plate 342 presses the second spring 341, the elastic force of the second spring 341 can be adjusted. By arranging the second spring 341, the lower pressing plate 342 and the second air cylinder 321, the first connecting ring 340, the rotating ring 350 and the U-shaped stopper 351 can have an adjustable space, so that the U-shaped stopper 351 always contacts the parts, and at the same time, the elastic force of the second spring 341 can be adjusted, improving the stability of the use of this device. Auxiliary blocks 355 are fixedly arranged on both the left and right sides of the U-shaped stopper 351. The auxiliary blocks 355 are located on the left side of the second suction pipe 354. By arranging the auxiliary blocks 355, the airflow and impurities blowing from nearby are blocked, facilitating the guiding of the impurities so that the impurities are quickly sent into the second suction pipe 354 and discharged to the filtering device 400.,

[0045] Please refer to Figures 3 - 4, the filtering device 400 includes a filtering box 410. An air pump 420 is fixedly installed on the left side of the filtering box 410. A first metal hose 430 is fixedly connected to the right side of the filtering box 410. A second metal hose 440 is fixedly connected to the left side of the air pump 420. The left side of the second metal hose 440 is fixedly connected to the second suction pipe 354 and the first suction pipe 262. The left side of the first metal hose 430 is fixedly connected to the second connecting pipe 353 and the first connecting pipe 263. A collection box 450 and a filter pipe 460 are fixedly connected to the inner wall of the filtering box 410. A screw cap is screwed to the lower side of the collection box 450. During use, the air pump 420 is started. The air pump 420 absorbs the gas in the second suction pipe 354 and the first suction pipe 262 through the second metal hose 440 and sends it into the filtering box 410 and the filter pipe 460. Then, the gas in the filtering box 410 passes through the filter pipe 460 for filtration and enters the interlayer between the filtering box 410 and the filter pipe 460. Subsequently, it enters the first metal hose 430 to supply the second connecting pipe 353 and the first connecting pipe 263 for discharging and performing air blowing work. The impurities filtered by the filter pipe 460 are collected through the collection box 450. The staff can open the filtering box 410 through the screw cap and clean the impurities in the filtering box 410. By setting the filtering device 400, the grinding device 200 and the auxiliary device 300 can be sucked and supplied with air. At the same time, the impurities generated during the grinding process can be absorbed and stored, improving the comfort of the working environment and reducing the harm to the safety of the staff during grinding. A third metal hose 480 is fixedly connected to the right side of the air pump 420. A spiral pipe 490 is fixedly connected to the lower side of the second plug 415. The right side of the third metal hose 480 is connected to the spiral pipe 490. A plurality of spray pipes 491 are fixedly and evenly connected to the outer side of the spiral pipe 490. When the second plug 415 drives the cleaning brush 470 to move up and down, the spiral pipe 490 can be driven to move up and down. Thus, the gas in the spiral pipe 490 is dispersed through the spray pipes 491 to the external air flow, making the subsequent filtration more convenient. At the same time, the gas is guided by the spray pipes 491 to blow downward, so that the impurities in the air move towards the collection box 450 under the drive of their own gravity, facilitating the collection work of the collection box 450 for the impurities. It is worth mentioning that the upper spray pipes 491 spray air faster, and the lower spray pipes 491 spray air slower, which can well prevent the impurities from being discharged from the collection box 450. A limiting ring 451 is fixedly connected to the inner wall of the collection box 450. A switchable magnet 452 is installed on the lower side of the collection box 450. The limiting ring 451 is arranged in a funnel shape. By setting the limiting ring 451 to guide the impurities, the impurities can be guided by the limiting ring 451, so that the impurities can quickly enter the collection box 450. Then, the impurities entering the collection box 450 are limited, so that the limiting ring 451 limits the impurities, reducing the possibility of the impurities moving out of the limiting ring 451 and improving the stability of the use of this device.

[0046] Please refer to Figures 3 - 4, a groove is provided on the upper side of the filter box 410. A first insertion rod 411 is arranged in the groove on the upper side of the filter box 410. A first rubber block 412 is fixedly connected to the outer side of the first insertion rod 411. A first spring 413 is fixedly connected to the upper side of the first rubber block 412. The upper side of the first spring 413 is fixedly connected to the filter box 410. A first sliding groove block 414 is fixedly connected to the upper side of the first insertion rod 411. An insertion hole is provided on the right side of the filter box 410. A second insertion rod 415 is arranged in the insertion hole of the filter box 410. A second sliding groove block 416 is fixedly connected to the upper side of the second insertion rod 415. An L-shaped plate 417 is movably connected to the upper side of the filter box 410. Slide rods 418 are connected to both the left and right sides of the L-shaped plate 417. The two groups of slide rods 418 are respectively located inside the sliding grooves of the second sliding groove block 416 and the first sliding groove block 414. A rubber ring 419 is arranged on the outer side of the second insertion rod 415. Multiple cleaning brushes 470 are fixedly connected to the lower side of the second insertion rod 415. During use, since the filter pipe 460 becomes blocked during the filtering process, the pressure inside the filter pipe 460 will increase. Then, due to the increased pressure in the filter pipe 460, the first rubber block 412 is squeezed, causing the first rubber block 412 to move upward and squeeze the first spring 413. Then, the first rubber block 412 drives the first insertion rod 411 to move upward. The first insertion rod 411 drives the first sliding groove block 414 to move upward when moving upward. The first sliding groove block 414 moves the left slide rod 418. The L-shaped plate 417 is rotated by driving the left slide rod 418. At the same time, the rotation of the L-shaped plate 417 drives the right slide rod 418 to rotate and press downward. Furthermore, the right slide rod 418 drives the right first sliding groove block 414 to move downward through the slide rod 418. The downward movement of the right first sliding groove block 414 drives the second insertion rod 415 to move downward. The downward movement of the second insertion rod 415 drives the cleaning brush 470 to move downward. The downward movement of the cleaning brush 470 will clean the filtering holes of the filter pipe 460. Then, when the air pressure inside the filter pipe 460 decreases, the elastic force generated by the deformation of the first spring 413 drives the L-shaped plate 417, the second insertion rod 415, and the cleaning brush 470 to return to their original positions. Furthermore, the cleaning brush 470 can clean the inner wall of the filter pipe 460 again. It is worth mentioning that when replacing the parts to be polished externally or pausing the polishing, the air pump 420 pauses working. As a result, the pressure inside the filter pipe 460 decreases, causing the first spring 413 to also return to its original state and drive the first sliding groove block 414, the second insertion rod 415, and the cleaning brush 470. By arranging the filter box 410, the first insertion rod 411, the first rubber block 412, the first spring 413, the first sliding groove block 414, the second insertion rod 415, the second sliding groove block 416, the L-shaped plate 417, the slide rod 418, and the rubber ring 419 to cooperate with each other, the cleaning brush 470 can be driven to move up and down. Thus, when the filter pipe 460 becomes blocked, the filter pipe 460 can be cleaned, improving the stability of the use of this device. Multiple second connecting rings 471 are fixedly connected to the lower side of the second insertion rod 415. The second connecting rings 471 are arranged in a funnel shape.The second insertion rod 415 is connected to the cleaning brush 470 through the second connecting ring 471. By setting the second connecting ring 471, impurities can be guided to facilitate the entry of impurities into the collection box 450.

Claims

1. A polishing robot with self-adaptive adjustment of polishing force for parts, characterized in that: It includes a robot main body (100), a robotic arm (110) is installed on the left side of the robot main body (100), a first fixing plate (120) is installed on the front side of the robot main body (100), a second fixing plate (130) is installed on the lower side of the robotic arm (110), a grinding device (200) is installed on the lower side of the second fixing plate (130), an auxiliary device (300) is installed on the lower side of the second fixing plate (130), and a filtering device (400) is installed on the front side of the first fixing plate (120); The filtering device (400) includes a filtering box (410), a cleaning component is arranged on the upper side of the filtering box (410), the cleaning component includes a first plug rod (411), a second plug rod (415), and an L-shaped plate (417). The upper sides of the first plug rod (411) and the second plug rod (415) are respectively connected to the left and right sides of the L-shaped plate (417), and multiple cleaning brushes (470) are connected to the lower side of the second plug rod (415).

2. The polishing robot with self-adaptive adjustment of polishing force for a component according to claim 1, wherein: The grinding device (200) includes a force control floating device (210), a third fixing plate (220) is connected to the lower side of the force control floating device (210), a first motor (230) is installed on the lower side of the third fixing plate (220), a fixed pneumatic chuck (240) is connected to the driving end of the first motor (230), a grinding disc (250) is installed on the lower side of the fixed pneumatic chuck (240), a dust suction hood (260) is connected to the lower side of the third fixing plate (220), a first nozzle (261) is evenly connected to the inner side of the dust suction hood (260), a first suction pipe (262) is connected to the right side of the dust suction hood (260), a first connecting pipe (263) is connected to the outer sides of multiple groups of the first nozzles (261), multiple groups of second nozzles (264) are evenly connected to the outer side of the first connecting pipe (263), and a spiral groove is formed on the lower side of the dust suction hood (260).

3. The grinding force self-adaptive adjustment grinding robot for parts according to claim 1, characterized in that: The auxiliary device (300) includes two groups of first cylinders (310). The telescopic ends of the two groups of first cylinders (310) are connected to a fourth fixing plate (320). Three first connecting rods (330) are arranged on the lower side of the fourth fixing plate (320). The lower sides of the three first connecting rods (330) are connected to a first connecting ring (340). A rotating ring (350) is connected to the outer side of the first connecting ring (340). A toothed ring (360) is connected to the inner wall of the rotating ring (350). A second motor (370) is installed on the inner wall of the first connecting ring (340). The driving end of the second motor (370) is connected to a first rotating rod (380). A gear (390) is connected to the outer side of the first rotating rod (380). The gear (390) meshes with the toothed ring (360). A U-shaped stopper (351) is installed on the lower side of the rotating ring (350). A plurality of third spray nozzles (352) are connected to both the front and rear sides of the U-shaped stopper (351). A second connecting air pipe (353) is connected to the outer sides of the plurality of third spray nozzles (352). Two second suction air pipes (354) are connected to the inner wall of the U-shaped stopper (351).

4. The grinding force self-adaptive adjustment grinding robot for parts according to claim 1, characterized in that: An air pump (420) is installed on the left side of the filter box (410). A first metal hose (430) is connected to the right side of the filter box (410). A second metal hose (440) is connected to the left side of the air pump (420). A collection box (450) and a filter pipe (460) are connected to the inner wall of the filter box (410). A screw cap is connected to the lower side of the collection box (450).

5. A grinding robot with self - adaptive adjustment of grinding force for parts according to claim 1, characterized in that: A groove is formed on the upper side of the filter box (410). A first plug rod (411) is arranged in the groove on the upper side of the filter box (410). A first rubber block (412) is connected to the upper side of the first plug rod (411). A first spring (413) is connected to the upper side of the first rubber block (412), and the upper side of the first spring (413) is connected to the filter box (410). A first sliding groove block (414) is connected to the upper side of the first plug rod (411). An insertion hole is arranged on the right side of the filter box (410). A second plug rod (415) is arranged in the insertion hole of the filter box (410). A second sliding groove block (416) is connected to the upper side of the second plug rod (415). An L-shaped plate (417) is connected to the upper side of the filter box (410). Slide rods (418) are connected to both the left and right sides of the L-shaped plate (417). The two slide rods (418) are respectively located inside the sliding grooves of the second sliding groove block (416) and the first sliding groove block (414). A rubber ring (419) is arranged on the outer side of the second plug rod (415).

6. The self - adaptive grinding force - regulating grinding robot for parts according to claim 3, wherein: Three sets of second springs (341) are connected to the upper side of the first connecting ring (340). The upper sides of the three sets of second springs (341) are connected to a lower pressing plate (342). The lower pressing plate (342) is located outside the three sets of first connecting rods (330). Two sets of second cylinders (321) are connected to the lower side of the fourth fixing plate (320). The telescopic ends of the two sets of second cylinders (321) are connected to the lower pressing plate (342).

7. An abrasive robot with self-adaptive adjustment of abrasive force for parts according to claim 4, characterized in that: A third metal hose (480) is connected to the right side of the air pump (420). A spiral tube (490) is connected to the lower side of the second plug rod (415). The right side of the third metal hose (480) is connected to the spiral tube (490). A plurality of spray tubes (491) are evenly connected to the outside of the spiral tube (490).

8. A polishing robot with self-adaptive adjustment of polishing force for parts according to claim 3, characterized in that: Auxiliary blocks (355) are arranged on both the left and right sides of the U-shaped block (351). The auxiliary blocks (355) are located on the left side of the second suction pipe (354).

9. An abrasive robot with self-adaptive adjustment of abrasive force for parts according to claim 5, characterized in that: A plurality of second connecting rings (471) are connected to the lower side of the second plug rod (415). The second connecting rings (471) are arranged in a funnel shape. The second plug rod (415) is connected to the cleaning brush (470) through the second connecting rings (471).

10. A polishing robot for adaptively adjusting the polishing force of parts according to claim 4, characterized in that: A limiting ring (451) is connected to the inner wall of the collection box (450). A switchable magnet (452) is installed on the lower side of the collection box (450). The limiting ring (451) is arranged in a funnel shape.

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