Robot automatic polishing device

Abstract

The present invention belongs to the technical field of adjusting a robot polishing device, and relates to a robot automatic polishing device, including two robotic arms, IRB4600 and IRB1200. The same automatic polishing device can be installed on both robotic arms. The automatic polishing device includes a mounting rod, a counterweight cavity, an end cover, and an electric polishing head, and the end cover is placed on the counterweight cavity. The counterweight cavity includes a plurality of arc-shaped blocks of the same material with different densities, a pressure block, a spring, a sleeve rod, a connecting rod, and a limit block. The mounting rod is fixedly installed on the right side of the counterweight cavity, the electric polishing head is fixedly installed below the counterweight cavity, and the sleeve rod is fixedly installed on the bottom of the inner wall of the counterweight cavity. The present invention avoids the inertia generated by the high-speed operation of the robotic arm, which causes the arc-shaped blocks to shake up and down and collide, prevents collision damage to the structure, and prevents vibration that causes damage to electronic components, thereby improving protection for the robotic arm. The present invention is applicable to both IRB4600 and IRB1200 robotic arms.

Description

Technical Field

[0001] The invention relates to a robot automatic grinding device, belonging to the technical field of robot grinding device adjustment. Background Art

[0002] The IRB1200 robotic arm, a small, flagship product in the ABB robot family, perfectly meets the stringent requirements of the material handling and loading and unloading industries for flexibility, ease of use, compactness, and cycle time while maintaining its wide working range. It is available in two models, with working ranges of 700mm and 900mm, respectively, and maximum payloads of 7kg and 5kg, respectively. It can be mounted at any angle to meet the needs of different operating scenarios.

[0003] The IRB4600 robotic arm offers leading precision among similar products, faster operation, and lower scrap rates, helping to expand production capacity and improve efficiency.

[0004] For these two types of robotic arms, a separate set of automatic grinding devices are configured. The two sets of grinding devices are costly and cannot be used interchangeably. Currently, there is no automatic grinding device on the market that can be applied to both types of robotic arms at the same time, and the cost of the automatic grinding device cannot be controlled. This solution adjusts the weight of the automatic grinding device to adapt to the two types of robotic arms, which can be used interchangeably. The weight adjustment method is also simple, the structure is simple, the manufacturing cost is low, and the freedom to adjust the weight is extremely high. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a robot automatic grinding device.

[0006] The robot automatic polishing device described in the present invention includes: two types of robotic arms, IRB4600 and IRB1200, both of which are equipped with 3D vision cameras. The same automatic polishing device can be installed on both robotic arms. The automatic polishing device includes a mounting rod, a counterweight cavity, an end cover and an electric polishing head, and the end cover is placed on the counterweight cavity. The counterweight cavity includes several arc blocks of the same material with different densities, a pressure block, a spring, a sleeve rod, a connecting rod and a limit block. The mounting rod is fixedly installed on the right side of the counterweight cavity, and the automatic polishing device is installed on the two types of robotic arms through the mounting rod. The electric polishing head is fixedly installed below the counterweight cavity, and the sleeve rod is fixedly installed on the bottom of the inner wall of the counterweight cavity.

[0007] There are eight arc blocks, which are made of the same material with different densities and form a disc-shaped counterweight block. The arc blocks are sleeved on the outside of the sleeve rod. The pressure block is sleeved on the outside of the sleeve rod and is located on the upper surface of the disc-shaped counterweight block. The connecting rod is connected to the top of the sleeve rod, and the limit block is arranged on the outside of the connecting rod. The spring is arranged between the limit block and the pressure block. A weight sensing module is arranged inside the counterweight cavity. The weight sensing module is used to sense the total weight of the counterweight cavity and the internal structure.

[0008] When installing the automatic grinding device on the IRB1200 robot arm, select arc-shaped blocks of the same material with different densities to be sleeved on the outside of the sleeve rod to form a disc-shaped counterweight block. According to the working range of the IRB1200 robot arm, the total weight of the counterweight cavity is stabilized below 7KG or below 5KG to ensure that it is not overloaded and operates stably.

[0009] When the automatic grinding device is installed on the IRB4600 robot arm, the arc block is adjusted again so that the total weight of the counterweight cavity exceeds 7 kg, which greatly increases the total weight of the counterweight cavity. The IRB4600 robot arm runs at a high speed and high efficiency. Under acceleration and deceleration conditions, the weight of the automatic grinding device is increased to ensure its stability and prevent the electric grinding head 3 from hitting the workpiece and causing damage.

[0010] After initially adjusting the total weight of the automatic grinding device, press the spring through the limit block, and then press the pressure block through the spring, so that the pressure block tightly presses the counterweight block to avoid inertia caused by high-speed operation of the robotic arm, which causes the arc block to shake up and down and collide, prevent collision damage to the structure and vibration that causes damage to electronic components, and improve protection for the robotic arm.

[0011] A threaded hole is provided on the upper surface of the sleeve rod, the upper and lower ends of the connecting rod are both threaded, and the lower end is threadedly connected to the threaded hole of the sleeve rod, and the limit block is threadedly connected to the upper threaded part of the connecting rod.

[0012] A countersunk hole is provided at the bottom of the pressure block, and an arc boss is provided above the inner wall of the countersunk hole. Through holes are provided in the middle of the sleeve rod and the connecting rod, and a pressing rod is slidably connected in the through hole. The lower end of the pressing rod is spherical, and sliding holes are provided on the left and right sides of the sleeve rod, and a push rod is slidably connected in the sliding holes. The inner and outer ends of the push rod are both spherical, and after extending out of the sliding hole, they contact the arc boss of the countersunk hole.

[0013] The sleeve rod is magnetic, and the eight arc-shaped blocks with different densities and the same material are all made of metal.

[0014] A round rod is fixed to the lower end of the pressing rod, and a clamping block is fixed to the lower end of the round rod. After the pressing rod rotates, the clamping block and the inner end of the push rod contact each other.

[0015] The upper ends of the connecting rod and the pressing rod are both fixed with nuts.

[0016] The limit block is initially located below the upper threaded portion of the connecting rod.

[0017] The connecting rods are provided in three models, and the lengths of the upper threaded parts of the three connecting rods are 15CM, 10CM and 5CM respectively;

[0018] The lengths of the upper threaded portions of the three connecting rods are selected according to the elasticity of the spring.

[0019] In the initial state of the pressing rod, after being pressed downward and then released, the pressing rod pops up and resets.

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

[0021] The present invention uses a limit block to press the spring, and then uses the spring to press the pressure block, so that the pressure block tightly presses the counterweight block, thereby preventing the arc block from shaking and colliding due to inertia when the robot arm runs at high speed, preventing collision damage to the structure and vibration causing damage to electronic components, thereby improving protection for the robot arm and being applicable to IRB4600 and IRB1200 model robot arms;

[0022] The stability of the robotic arm during operation can be ensured by adjusting the weight of the automatic grinding device. The automatic grinding device has a high degree of automation in adjusting its own weight. Compared with other weight adjustment methods, it can greatly improve the adjustment efficiency. In addition, the overall structure is simple and the manufacturing cost is low, so it can be applied to robotic arms in large quantities. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the internal structure of the counterweight cavity of the present invention;

[0025] Figure 3 It is a schematic diagram of the internal structure of the sleeve rod of the present invention;

[0026] Figure 4 Schematic diagram of the internal structure of the connecting rod of the present invention;

[0027] Figure 5 It is an exploded view of the internal structure of the counterweight cavity of the present invention;

[0028] Figure 6 This is a schematic diagram of the running direction of the connecting rod after rotation of the present invention;

[0029] Figure 7 This is a schematic diagram of the position of the push rod after the pressing rod of the present invention moves;

[0030] Figure 8 This is a schematic diagram of the position of the clamping block after the pressing rod of the present invention is rotated.

[0031] Figure 9 This invention Figure 8 An enlarged view of the position of the card block in FIG;

[0032] Figure 10 It is a schematic diagram of the connection between the pressing rod, the round rod and the clamping block of the present invention.

[0033] In the figure: 1. Mounting rod; 2. Counterweight cavity; 21. Arc block; 22. Pressure block; 23. Spring; 24. Sleeve rod; 25. Connecting rod; 251. Nut; 26. Limit block; 27. Pressing rod; 271. Round rod; 272. Clamping block; 28. Push rod; 3. Electric grinding head. DETAILED DESCRIPTION

[0034] Example 1

[0035] like Figures 1 to 8 As shown, the robot automatic grinding device described in the present invention includes: two types of robotic arms, IRB4600 and IRB1200, both of which are equipped with 3D vision cameras. The same automatic grinding device can be installed on both robotic arms. The automatic grinding device includes a mounting rod 1, a counterweight cavity 2, an end cover and an electric grinding head 3, and the end cover is placed on the counterweight cavity 2. The counterweight cavity 2 includes several arc blocks 21 of the same material with different densities, a pressure block 22, a spring 23, a sleeve rod 24, a connecting rod 25 and a limit block 26. The mounting rod 1 is fixedly installed on the right side of the counterweight cavity 2, and the automatic grinding device is installed on the two types of robotic arms through the mounting rod 1. The electric grinding head 3 is fixedly installed below the counterweight cavity 2, and the sleeve rod 24 is fixedly installed on the bottom of the inner wall of the counterweight cavity 2.

[0036] There are eight arc blocks 21, and the eight arc blocks 21 with different densities and the same material form a disc-shaped counterweight block, which is sleeved on the outside of the sleeve rod 24. The pressure block 22 is sleeved on the outside of the sleeve rod 24 and is located on the upper surface of the disc-shaped counterweight block. The connecting rod 25 is connected to the top of the sleeve rod 24, and the limit block 26 is arranged on the outside of the connecting rod 25. The spring 23 is arranged between the limit block 26 and the pressure block 22. A weight sensing module is provided inside the counterweight cavity 2, which is used to sense the total weight of the counterweight cavity 2 and its internal structure.

[0037] When the automatic grinding device is installed on the IRB1200 model robot arm, arc-shaped blocks 21 of the same material with different densities are selected to be sleeved on the outside of the sleeve rod 24 to form a disc-shaped counterweight block. According to the working range of the IRB1200 model robot arm, the total weight of the counterweight cavity 2 is stabilized below 7KG or below 5KG, thereby ensuring that it is not overloaded and its stable operation;

[0038] When the automatic grinding device is installed on the IRB4600 robot arm, the arc block 21 is adjusted again so that the total weight of the counterweight cavity 2 exceeds 7 kg, which greatly increases the total weight of the counterweight cavity 2. The IRB4600 robot arm runs at a high speed and high efficiency. Under acceleration and deceleration conditions, the weight of the automatic grinding device is increased to ensure its stability, thereby preventing the electric grinding head 3 from hitting the workpiece and causing damage.

[0039] After the total weight of the automatic grinding device is preliminarily adjusted, the spring 23 is pressed by the limit block 26, and then the pressure block 22 is pressed by the spring 23, so that the pressure block 22 tightly presses the counterweight block to avoid the inertia generated when the robotic arm runs at high speed, causing the arc block 21 to shake up and down and collide, preventing collision damage to the structure and vibration causing damage to electronic components, thereby improving the protection of the robotic arm.

[0040] A threaded hole is formed on the upper surface of the sleeve rod 24 , and both upper and lower ends of the connecting rod 25 are threaded, with the lower end being threadedly connected to the threaded hole of the sleeve rod 24 , and the limit block 26 being threadedly connected to the upper threaded portion of the connecting rod 25 .

[0041] Example 2

[0042] The automatic grinding device is installed on the IRB1200 model robot arm, and the total weight of the counterweight cavity 2 is maintained below 7KG or 5KG. At this time, the overall weight of the counterweight block is relatively light. At this time, the connecting rod 25 is rotated a small number of times, so that the lower end part passes through the threaded hole of the sleeve rod 24 while rotating and moving downward slightly, driving the limit block 26 to move downward slightly, thereby relatively increasing the pressure on the spring 23, increasing the pressure on the counterweight block, and preventing the counterweight block from shaking. At the same time, the pressing force is small, which can relatively increase the service life of the spring 23 and avoid excessive consumption of its elasticity.

[0043] Example 3

[0044] The automatic grinding device is installed on the IRB4600 model robot arm. The total weight of the counterweight chamber 2 is maintained at more than 7KG. At this time, the overall weight of the counterweight block is heavy. The connecting rod 25 is rotated a large number of times, so that its lower end part passes through the threaded hole of the sleeve rod 24 while rotating and moves downward significantly, driving the limit block 26 to move downward significantly, thereby greatly increasing the pressure on the spring 23. Since the IRB4600 model robot arm runs at a high speed and generates a large inertia, by strengthening the clamping force on the counterweight block, the shaking of the counterweight block can be fully avoided, and the operating stability of the robot arm can be greatly improved;

[0045] The weight adjustment of the automatic grinding device is convenient and quick, and the assembly and disassembly are relatively convenient. The spring 23 can be freely replaced, the application range is wide, and the maintenance is convenient.

[0046] A countersunk hole is provided at the bottom of the pressure block 22, and an arc boss is provided above the inner wall of the countersunk hole. Through holes are provided in the middle of the sleeve rod 24 and the connecting rod 25, and a pressing rod 27 is slidably connected in the through hole. The lower end of the pressing rod 27 is spherical. Sliding holes are provided on the left and right sides of the sleeve rod 24, and a push rod 28 is slidably connected in the sliding holes. The inner and outer ends of the push rod 28 are spherical, and after extending out of the sliding hole, they contact the arc boss of the countersunk hole.

[0047] Example 4

[0048] After the initial adjustment of the weight of the automatic grinding device, turn on the IRB4600 model or IRB1200 model robot arm. After operation, the counterweight block shakes, or the robot arm still does not run smoothly. At this time, the clamping force of the counterweight block is not adjusted. By pressing the pressing rod 27, it moves downward through the through hole. The spherical part of its lower end contacts and squeezes the spherical part of the push rod 28, so that the push rod 28 slides outward through the sliding hole and contacts the circular arc boss of the countersunk hole, thereby lifting the pressure block 22. The pressure block 22 no longer presses the arc block 21. At this time, the weight of the arc block 21 can be adjusted again, so that the weight of the counterweight block can be adjusted again to ensure that the weight of the automatic grinding device can adapt to the operation of the robot arm and ensure the smooth operation of the robot arm.

[0049] Example 5

[0050] After the weight of the counterweight is adjusted again, the robot arm is operated first to ensure that it is running stably. Then the robot arm can be stopped first, and the limit block 26 is rotated again to adjust the pressing force of the spring 23 on the counterweight to adapt to the weight of the counterweight, ensuring that the counterweight does not shake. The weight adjustment and the pressing force adjustment of the counterweight can be carried out simultaneously or separately, with higher automaticity and significantly improved adjustment efficiency. The sleeve rod 24 is magnetic, and eight pieces of different densities are The arc blocks 21 of the same material are all made of metal; when adjusting the weight of the counterweight, the arc block 21 is selected. When the arc block 21 is sleeved on the outside of the sleeve rod 24, the arc block 21 is attracted by the magnetic force of the sleeve rod 24, and the arc block 21 can be initially fixed to improve the efficiency of adjusting the weight of the counterweight; the lower end of the pressing rod 27 is fixed with a round rod 271, and the lower end of the round rod 271 is fixed with a clamping block 272; after the pressing rod 27 is rotated, the clamping block 272 contacts the inner end of the push rod 28.

[0051] Example 6

[0052] In Example 4, it takes a long time to select the arc block 21. At this time, the operator can rotate the pressing rod 27 to make it rotate, and drive the clamping block 272 to rotate through the round rod 271, so that the clamping block 272 supports the inner end of the push rod 28. At this time, the pressing rod 27 can be loosened. The push rod 28 is restricted by the clamping block 272 and the pressing rod 27, so that it will not be reset by the reaction force of the spring 23, so that the operator has enough time to select the arc block 21 and adjust the weight; the upper ends of the connecting rod 25 and the pressing rod 27 are fixed with nuts 251; the limit block 26 is initially located below the upper threaded part of the connecting rod 25, and the models of the connecting rod 25 are set to three types, and the lengths of the upper threaded parts of the three connecting rods 25 are 15CM, 10CM and 5CM respectively; the lengths of the upper threaded parts of the three connecting rods 25 are selected according to the elasticity of the spring 23.

[0053] When the arc block 21 is selected for a long time in Example 4, the operator can first rotate the limit block 26 so that it can move upward while rotating through the upper threaded portion of the connecting rod 25, thereby relatively loosening the spring 23. After adjusting the weight, the limit block 26 is reset, which relatively increases the service life of the spring 23 and avoids excessive strain caused by long-term excessive deformation. At this time, since the pressure block 22 moves upward and applies an upward force to the spring 23, the limit block 26 is also applied with an upward force, and the rotation of the limit block 26 can be relatively smooth.

[0054] Example 7

[0055] As for the selection of spring 23, the strength of spring 23 can be selected from three types: low, medium and high. Among them, low corresponds to the length of the threaded part of the upper end of the connecting rod 25 of 5CM, medium corresponds to the length of the threaded part of the upper end of the connecting rod 25 of 10CM, and high corresponds to the length of the threaded part of the upper end of the connecting rod 25 of 15CM. The higher the elastic strength of the spring 23, the longer the length of the threaded part of the upper end of the connecting rod 25 is selected to ensure that when the weight of the counterweight is adjusted again, excessive strain of the spring 23 can be avoided, the service life of the spring 23 is greatly increased, and the role of full utilization is played; in the initial state of the pressing rod 27, after pressing downward and releasing it, the pressing rod 27 pops up and resets.

[0056] Example 8

[0057] When adjusting the weight of the counterweight again, the arc block 21 takes a long time to select, and the limit block 26 does not rotate smoothly. At this time, the operator can reversely rotate the pressing rod 27 to reset it. The clamping block 272 is no longer in contact with the top rod 28. At this time, the pressing block 22 temporarily presses the arc block 21. After the limit block 26 is rotated, the pressing rod 27 is rotated again, and the pressing block 22 releases the arc block 21, which can greatly improve the efficiency of adjustment.

[0058] The automatic grinding device has a high degree of automation in adjusting its own weight. Compared with other weight adjustment methods, it can greatly improve the adjustment efficiency. In addition, the overall structure is simple, the manufacturing cost is low, and it can be applied to robotic arms in large quantities.

[0059] The present invention uses the limit block 26 to press the spring 23, and then uses the spring 23 to press the pressure block 22, so that the pressure block 22 tightly presses the counterweight block, thereby preventing the arc block 21 from shaking and colliding due to inertia when the robot arm runs at high speed, preventing collision damage to the structure and vibration causing damage to electronic components, thereby improving the protection of the robot arm and being applicable to IRB4600 and IRB1200 model robot arms;

[0060] The stability of the robotic arm during operation can be ensured by adjusting the weight of the automatic grinding device. The automatic grinding device has a high degree of automation in adjusting its own weight. Compared with other weight adjustment methods, it can greatly improve the adjustment efficiency. In addition, the overall structure is simple and the manufacturing cost is low, so it can be applied to robotic arms in large quantities.

[0061] The description of the direction and relative position relationship of the structure in the present invention, such as the description of front, back, left, right, up and down, does not constitute a limitation of the present invention and is only for the convenience of description.

Claims

1. A robotic automatic polishing device, characterized in that: The invention comprises an automatic grinding device, wherein the automatic grinding device comprises a mounting rod (1), a counterweight chamber (2), an end cover and an electric grinding head (3), and the end cover is placed on the counterweight chamber (2), the counterweight chamber (2) comprises a plurality of arc-shaped blocks (21) of the same material with different densities, a pressure block (22), a spring (23), a sleeve rod (24), a connecting rod (25) and a limit block (26), the mounting rod (1) is fixedly mounted on the right side of the counterweight chamber (2), and the automatic grinding device is mounted on two types of robot arms through the mounting rod (1), the electric grinding head (3) is fixedly mounted below the counterweight chamber (2), and the sleeve rod (24) is fixedly mounted on the bottom of the inner wall of the counterweight chamber (2); There are eight arc blocks (21), and the eight arc blocks (21) of different densities and the same material form a disc-shaped counterweight block, which is sleeved on the outside of the sleeve rod (24). The pressure block (22) is sleeved on the outside of the sleeve rod (24) and is located on the upper surface of the disc-shaped counterweight block. The connecting rod (25) is connected to the upper part of the sleeve rod (24), and the limit block (26) is arranged on the outside of the connecting rod (25). The spring (23) is arranged between the limit block (26) and the pressure block (22). A weight sensing module is arranged inside the counterweight cavity (2), and the weight sensing module is used to sense the total weight of the counterweight cavity (2) and the internal structure. The upper surface of the sleeve rod (24) is provided with a threaded hole, the upper and lower ends of the connecting rod (25) are both threaded, and the lower end portion is threadedly connected to the threaded hole of the sleeve rod (24), and the limit block (26) is threadedly connected to the upper threaded portion of the connecting rod (25); The bottom of the pressure block (22) is provided with a countersink, and an arc boss is provided above the inner wall of the countersink. Through holes are provided in the middle of the sleeve rod (24) and the connecting rod (25), and a pressing rod (27) is slidably connected in the through hole. The lower end of the pressing rod (27) is spherical. Sliding holes are provided on the left and right sides of the sleeve rod (24), and a push rod (28) is slidably connected in the sliding holes. The inner and outer ends of the push rod (28) are spherical, and after extending out of the sliding hole, they contact the arc boss of the countersink. The sleeve rod (24) is magnetic, and the eight arc-shaped blocks (21) with different densities and the same material are all made of metal.

2. The robot automatic polishing device according to claim 1, characterized in that: A round rod (271) is fixed to the lower end of the pressing rod (27), and a clamping block (272) is fixed to the lower end of the round rod (271). After the pressing rod (27) rotates, the clamping block (272) and the inner end of the push rod (28) contact each other.

3. The robot automatic polishing device according to claim 2, characterized in that: The upper ends of the connecting rod (25) and the pressing rod (27) are both fixed with nuts (251).

4. The robot automatic polishing device according to claim 3, characterized in that: The limit block (26) is initially located below the upper threaded portion of the connecting rod (25).

5. The robot automatic polishing device according to claim 4, characterized in that: The connecting rod (25) is provided in three models, and the lengths of the upper threaded parts of the three connecting rods (25) are 15CM, 10CM and 5CM respectively.

6. The robot automatic polishing device according to claim 5, characterized in that: In the initial state of the pressing rod (27), after being pressed downward and then released, the pressing rod (27) pops up and resets.

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