Teaching-free cutting and polishing robot

Abstract

The teaching-free cutting and polishing robot comprises a first mounting base, a second mounting base and a third mounting base, a robot control cabinet is fixedly connected to the top of the first mounting base, and a centering lifting device is fixedly connected to the top of the third mounting base; and the top of the centering lifting device is movably connected with a bidirectional electric roller device. The invention relates to the technical field of cutting and polishing robots. Through cooperation of a robot control cabinet, an industrial robot, a robot connecting block, a grinding floating support, a grinding mechanism, a cutting mechanism, a laser distance measuring sensor, a cooling water storage box, a water pump, a water spraying hose, a circular fixing plate, a first filtering hole, an annular sliding rail and a cleaning soft brush, the grinding axial force can be automatically adjusted, and perfect grinding is achieved; and meanwhile, the workpieces can be cooled, the situation that the workpieces are damaged due to the too high temperature is avoided, the first filtering holes can be self-cleaned, and the first filtering holes are prevented from being blocked.

Description

Technical Field

[0001] The present invention relates to the technical field of cutting and grinding robots, and specifically relates to a teaching-free cutting and grinding robot. Background Art

[0002] Cutting and grinding robots are automated devices that combine robot technology with cutting and grinding process methods. They are usually composed of an industrial robot body, cutting or grinding tools, grippers and other auxiliary devices. Through system integration, automated operations are achieved. The robot and the software and hardware of the equipment are connected through a main control electric cabinet to be coordinated uniformly to achieve various cutting and grinding functions. During specific work, the robot performs precise operations according to a preset program or trajectory.

[0003] When the existing teaching-free cutting and grinding robots grind workpieces, the equipment cannot automatically adjust the grinding axial force, resulting in poor grinding effects on the workpieces. Moreover, as the processing time of the workpieces progresses, the dust generated by grinding the workpieces drifts everywhere and may be inhaled by the staff, causing problems to the health of the staff.

[0004] Therefore, the present invention provides a teaching-free cutting and grinding robot to solve the above problems. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a teaching-free cutting and grinding robot, which solves the above problems.

[0006] To achieve the above purposes, the present invention is realized through the following technical solutions: A teaching-free cutting and grinding robot includes a first mounting base, a second mounting base and a third mounting base. A robot control cabinet is fixedly connected to the top of the first mounting base. A centering lifting device is fixedly connected to the top of the third mounting base. A bidirectional electric roller device is movably connected to the top of the centering lifting device. A workpiece is movably connected to the side wall of the bidirectional electric roller device. An industrial robot is movably connected to the top of the second mounting base. A robot connecting block is movably connected to one end of the industrial robot. A grinding floating bracket is rotatably connected to the inner wall. A grinding mechanism is movably connected to one side of the grinding floating bracket. A cutting mechanism is fixedly connected to the side wall of the robot connecting block. A laser distance sensor is movably connected to the robot connecting block through a protection mechanism. A cooling water storage tank is fixedly connected to the inner wall of the robot connecting block. A water pump is fixedly connected to the inner wall of the cooling water storage tank. A water spraying hose is communicated with one side of the water pump.

[0007] Preferably: A circular fixing plate is fixedly connected to the inner wall of the water spraying hose. A plurality of first filtering holes are opened inside the circular fixing plate. The plurality of first filtering holes are arranged at equal intervals.

[0008] Preferably, an annular slide rail is fixedly connected to the side wall of the water spraying hose. The annular slide rail is slidably connected with a cleaning soft brush through an electronic slider. One side of the cleaning soft brush is movably connected to one side of a circular fixing plate.

[0009] Preferably, a connecting frame is movably connected to the side wall of the centering lifting device. The bottom of the connecting frame is movably connected with a garbage storage box.

[0010] Preferably, a rectangular fixing plate is fixedly connected to the inner wall of the garbage storage box. A plurality of second filtering holes are formed inside the rectangular fixing plate. The plurality of second filtering holes are arranged at equal intervals.

[0011] Preferably, a dust collector is fixedly connected to the inner wall of the garbage storage box. A dust suction vertical pipe is communicated with the top of the dust collector. The top of the dust suction vertical pipe is communicated with a dust collection bin. The side wall of the dust collection bin is fixedly connected to the inner wall of the garbage storage box.

[0012] Preferably, the protection mechanism includes a connecting box body. The side wall of the robot connecting block is movably connected to the side wall of the connecting box body. A sensor protection plate is fixedly connected to one side of the connecting box body.

[0013] Preferably, heat dissipation fins are fixedly connected to the side wall of the robot control cabinet. The heat dissipation fins are made of copper. Advantageous Effects

[0014] The present invention provides a teaching-free cutting and grinding robot. Compared with the prior art, the following advantageous effects are achieved: (1) For the teaching-free cutting and grinding robot, through the cooperation of the robot control cabinet, industrial robot, robot connecting block, grinding floating bracket, grinding mechanism, cutting mechanism, laser distance measuring sensor, cooling water storage tank, water pump, water spraying hose, circular fixing plate, first filtering hole, annular slide rail and cleaning soft brush, the size of the grinding axial force can be automatically adjusted to achieve perfect grinding. At the same time, the workpiece can be cooled to avoid damage to the workpiece due to excessive temperature. Moreover, the first filtering hole can be self-cleaned to avoid blockage of the first filtering hole.

[0015] (2) For the teaching-free cutting and grinding robot, through the cooperation of the centering lifting device, bidirectional electric roller device, workpiece, connecting frame, garbage storage box, rectangular fixing plate, second filtering hole, dust collector, dust suction vertical pipe and dust collection bin, the workpiece can be automatically conveyed, and the chips and cooling water cut by the cutting mechanism can be separated and stored. At the same time, the dust ground by the grinding mechanism can be adsorbed and collected to avoid the dust being inhaled into the body of the staff and affecting the health of the staff. Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of a teaching-free cutting and grinding robot of the present invention; Figure 2 It is a schematic diagram of the position structure of the heat sink of the present invention; Figure 3 It is a schematic diagram of the position structure of the robot connection block of the present invention; Figure 4 It is a schematic diagram of the position structure of the grinding floating bracket of the present invention; Figure 5 It is a schematic diagram of the internal structure of the cooling water storage tank of the present invention; Figure 6 It is Figure 5 The enlarged view of part A in Figure 7 It is a schematic diagram of the position structure of the centering lifting device of the present invention; Figure 8 It is a schematic diagram of the internal structure of the garbage storage tank of the present invention.

[0017] In the figure: 1. First mounting base; 2. Robot control cabinet; 3. Second mounting base; 4. Third mounting base; 5. Industrial robot; 6. Robot connection block; 7. Grinding floating bracket; 8. Grinding mechanism; 9. Cutting mechanism; 10. Connecting box body; 11. Laser distance sensor; 12. Sensor protection plate; 13. Cooling water storage tank; 14. Water pump; 15. Spraying hose; 16. Circular fixing plate; 17. First filter hole; 18. Annular slide rail; 19. Cleaning soft brush; 20. Centering lifting device; 21. Bidirectional electric roller device; 22. Workpiece; 23. Connecting frame; 24. Garbage storage tank; 25. Rectangular fixing plate; 26. Second filter hole; 27. Vacuum cleaner; 28. Vacuum suction vertical pipe; 29. Dust collection bin; 30. Heat dissipation fins. Detailed implementation manners

[0018] 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. Embodiment

[0019] Please refer to Figure 1 - Figure 8, A teaching-free cutting and grinding robot, including a first mounting base 1, a second mounting base 3 and a third mounting base 4. A robot control cabinet 2 is fixedly connected to the top of the first mounting base 1. A centering lifting device 20 is fixedly connected to the top of the third mounting base 4. A bidirectional electric roller device 21 is movably connected to the top of the centering lifting device 20. A workpiece 22 is movably connected to the side wall of the bidirectional electric roller device 21. An industrial robot 5 is movably connected to the top of the second mounting base 3. A robot connection block 6 is movably connected to one end of the industrial robot 5. A grinding floating bracket 7 is rotatably connected to the inner wall. A grinding mechanism 8 is movably connected to one side of the grinding floating bracket 7. A cutting mechanism 9 is fixedly connected to the side wall of the robot connection block 6. A laser distance sensor 11 is movably connected to the robot connection block 6 through a protection mechanism. A cooling water storage tank 13 is fixedly connected to the inner wall of the robot connection block 6. A water pump 14 is fixedly connected to the inner wall of the cooling water storage tank 13. A water spraying hose 15 is communicated with one side of the water pump 14.

[0020] It should be noted that the staff places the workpiece 22 on the inner wall of the bidirectional electric roller device 21, starts the centering lifting device 20, and the centering lifting device 20 drives the workpiece 22 to rise to the working position height through the bidirectional electric roller device 21. Then the laser distance sensor 11 is started, and the laser distance sensor 11 measures the data of the workpiece 22 and transmits it to the robot control cabinet 2. After receiving the data, the robot control cabinet 2 controls the bidirectional electric roller device 21 to start, and the bidirectional electric roller device 21 drives the workpiece 22 to move to the cutting position, improving the automation degree of the device; After the laser distance sensor 11 transmits the data to the robot control cabinet 2, the robot control cabinet 2 controls the industrial robot 5 to start. The industrial robot 5 drives the grinding floating bracket 7 to move to the side wall of the workpiece 22 through the robot connection block 6. Then the cutting mechanism 9 is started to perform cutting processing on the workpiece 22. After the cutting mechanism 9 finishes cutting the workpiece 22, the robot control cabinet 2 controls the robot connection block 6 to rotate. The robot connection block 6 drives the grinding mechanism 8 to move to the cutting part of the workpiece 22 through the grinding floating bracket 7. Then the grinding mechanism 8 is started, and the grinding mechanism 8 polishes the cutting part of the workpiece 22. It is not necessary for the staff to use other equipment to polish the cutting part of the workpiece 22, reducing the labor intensity of the staff and further improving the automation degree of the equipment. Through the setting of the grinding floating bracket 7, the magnitude of the grinding axial force can be automatically adjusted to achieve perfect grinding; When the cutting mechanism 9 or the grinding mechanism 8 processes the workpiece 22, the water pump 14 is started, and the water pump 14 sprays the cooling water in the cooling water storage tank 13 to the cutting and grinding part of the workpiece 22 through the water spraying hose 15 for cooling and temperature reduction, avoiding damage to the workpiece 22 due to excessive temperature.

[0021] In an alternative embodiment: A circular fixing plate 16 is fixedly connected to the inner wall of the water spray hose 15. A plurality of first filtering holes 17 are formed inside the circular fixing plate 16, and the plurality of first filtering holes 17 are arranged at equal intervals.

[0022] It should be noted that through the arrangement of the circular fixing plate 16 and the plurality of first filtering holes 17, dust generated when the grinding mechanism 8 grinds the workpiece 22 is prevented from entering the inside of the water spray hose 15, causing the water spray hose 15 to be blocked and affecting the cooling effect of the water spray hose 15 on the workpiece 22.

[0023] In an alternative embodiment: An annular sliding rail 18 is fixedly connected to the side wall of the water spray hose 15. A cleaning soft brush 19 is slidably connected to the annular sliding rail 18 through an electronic slider, and one side of the cleaning soft brush 19 is movably connected to one side of the circular fixing plate 16.

[0024] It should be noted that as time goes by during the operation of the circular fixing plate 16 and the first filtering holes 17, the inner walls of the first filtering holes 17 may be filled with dust ground by the grinding mechanism 8. Start the annular sliding rail 18, and the annular sliding rail 18 drives the cleaning soft brush 19 to rotate to brush the dust inside the first filtering holes 17, preventing the first filtering holes 17 from being blocked by dust.

[0025] In an alternative embodiment: A connecting frame 23 is movably connected to the side wall of the lifting device 20, and a garbage storage box 24 is movably connected to the bottom of the connecting frame 23.

[0026] It should be noted that through the cooperation of the connecting frame 23 and the garbage storage box 24, chips and dust generated during the processing of the workpiece 22 by the cutting mechanism 9 and the grinding mechanism 8 can be collected and stored, preventing the chips and dust from floating around and causing environmental pollution.

[0027] In an alternative embodiment: A rectangular fixing plate 25 is fixedly connected to the inner wall of the garbage storage box 24. A plurality of second filtering holes 26 are formed inside the rectangular fixing plate 25, and the plurality of second filtering holes 26 are arranged at equal intervals.

[0028] It should be noted that through the cooperation of the rectangular fixing plate 25 and the plurality of second filtering holes 26, the chips collected in the garbage storage box 24 can be separated and stored from the cooling water, making it more convenient for the staff to recycle the chips later.

[0029] In an alternative embodiment: A vacuum cleaner 27 is fixedly connected to the inner wall of the garbage storage box 24. The top of the vacuum cleaner 27 is communicated with a dust suction vertical pipe 28, the top of the dust suction vertical pipe 28 is communicated with a dust collection bin 29, and the side wall of the dust collection bin 29 is fixedly connected to the inner wall of the garbage storage box 24.

[0030] It should be noted that when the grinding mechanism 8 processes and grinds the workpiece 22, the vacuum cleaner 27 is started. The vacuum cleaner 27 adsorbs and collects the dust ground by the grinding mechanism 8 through the dust suction vertical pipe 28 and the dust collection bin 29, preventing the dust from floating around and being inhaled by the staff, which may affect the health of the staff.

[0031] In an alternative embodiment: The protection mechanism includes a connecting box body 10. The side wall of the robot connecting block 6 is movably connected to the side wall of the connecting box body 10. One side of the connecting box body 10 is fixedly connected with a sensor protection plate 12.

[0032] It should be noted that the cooperation of the connecting box body 10 and the sensor protection plate 12 can protect the laser distance sensor 11, preventing the debris generated during the cutting of the cutting mechanism 9 from hitting the surface of the laser distance sensor 11 and causing damage to the laser distance sensor 11, thereby extending the working life of the laser distance sensor 11.

[0033] In an alternative embodiment: The side wall of the robot control cabinet 2 is fixedly connected with heat dissipation fins 30, and the heat dissipation fins 30 are made of copper.

[0034] It should be noted that the heat dissipation fins 30 made of copper are provided to cool down the robot control cabinet 2, preventing the robot control cabinet 2 from being damaged due to overheating caused by long-term operation.

[0035] Meanwhile, the content not described in detail in this specification belongs to the well-known prior art in the art.

[0036] During operation, the staff places the workpiece 22 inside the inner wall of the bidirectional electric roller device 21, starts the centering lifting device 20. The centering lifting device 20 drives the workpiece 22 to rise to the working position height through the bidirectional electric roller device 21. Then the laser distance sensor 11 is started. The laser distance sensor 11 measures the data of the workpiece 22 and transmits it to the robot control cabinet 2. After receiving the data, the robot control cabinet 2 controls the bidirectional electric roller device 21 to start, and the bidirectional electric roller device 21 drives the workpiece 22 to move to the cutting position, improving the automation degree of the device; After the laser distance sensor 11 transmits data to the robot control cabinet 2, the robot control cabinet 2 controls the industrial robot 5 to start. The industrial robot 5 drives the grinding floating bracket 7 to move to the side wall of the workpiece 22 through the robot connection block 6, and starts the cutting mechanism 9 to perform cutting processing on the workpiece 22. After the cutting mechanism 9 finishes cutting the workpiece 22, the robot control cabinet 2 controls the robot connection block 6 to rotate. The robot connection block 6 drives the grinding mechanism 8 to move to the cutting position of the workpiece 22 through the grinding floating bracket 7, and starts the grinding mechanism 8. The grinding mechanism 8 grinds and polishes the cutting position of the workpiece 22, eliminating the need for workers to use other equipment to polish the cutting position of the workpiece 22, reducing the labor intensity of the workers and further improving the degree of equipment automation. Through the setting of the grinding floating bracket 7, the magnitude of the grinding axial force can be automatically adjusted to achieve perfect grinding; When the cutting mechanism 9 or the grinding mechanism 8 processes the workpiece 22, the water pump 14 is started. The water pump 14 sprays the cooling water in the cooling water storage tank 13 onto the cutting and grinding position of the workpiece 22 through the water spraying hose 15 for cooling to prevent the workpiece 22 from being damaged due to excessive temperature; Through the setting of the circular fixing plate 16 and the multiple first filtering holes 17, it is avoided that the dust generated when the grinding mechanism 8 grinds the workpiece 22 enters the inside of the water spraying hose 15, causing the water spraying hose 15 to be blocked and affecting the cooling effect of the water spraying hose 15 on the workpiece 22; As time goes by during the operation of the circular fixing plate 16 and the first filtering holes 17, the inner walls of the first filtering holes 17 may be filled with the dust ground by the grinding mechanism 8. The annular slide rail 18 is started, and the annular slide rail 18 drives the cleaning soft brush 19 to rotate to brush the dust inside the first filtering holes 17 to prevent the first filtering holes 17 from being blocked by dust; Through the cooperation of the connecting frame 23 and the garbage storage box 24, the chips and dust generated when the cutting mechanism 9 and the grinding mechanism 8 process the workpiece 22 can be collected and stored, preventing the chips and dust from spreading everywhere and causing environmental pollution; Through the cooperation of the rectangular fixing plate 25 and the multiple second filtering holes 26, the chips collected by the garbage storage box 24 can be separated and stored from the cooling water, making it more convenient for workers to recycle the chips later; When the grinding mechanism 8 processes and grinds the workpiece 22, the vacuum cleaner 27 is started. The vacuum cleaner 27 adsorbs and collects the dust ground by the grinding mechanism 8 through the dust suction vertical pipe 28 and the dust collection bin 29, preventing the dust from spreading everywhere and being inhaled by the workers, which affects the health of the workers; Through the cooperation of the connecting box body 10 and the sensor protection plate 12, the laser distance sensor 11 can be protected, preventing the chips generated during the cutting of the cutting mechanism 9 from hitting the surface of the laser distance sensor 11 and causing damage to the laser distance sensor 11, and extending the working life of the laser distance sensor 11; The robot control cabinet 2 is cooled by the provision of the heat dissipation fins 30 made of copper, preventing the robot control cabinet 2 from being damaged due to overheating caused by long-term operation.

[0037] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0038] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A teaching-free cutting and grinding robot, comprising a first mounting base (1), a second mounting base (3) and a third mounting base (4), characterized in that: A robot control cabinet (2) is fixedly connected to the top of the first mounting base (1). A centering lifting device (20) is fixedly connected to the top of the third mounting base (4). A two-way electric roller device (21) is movably connected to the top of the centering lifting device (20). A workpiece (22) is movably connected to the side wall of the two-way electric roller device (21). An industrial robot (5) is movably connected to the top of the second mounting base (3). A robot connection block (6) is movably connected to one end of the industrial robot (5). A polishing floating bracket (7) is rotatably connected to the inner wall. A polishing mechanism (8) is movably connected to one side of the polishing floating bracket (7). A cutting mechanism (9) is fixedly connected to the side wall of the robot connection block (6). A laser distance sensor (11) is movably connected to the robot connection block (6) through a protective mechanism. A cooling water storage tank (13) is fixedly connected to the inner wall of the robot connection block (6). A water pump (14) is fixedly connected to the inner wall of the cooling water storage tank (13). A water spraying hose (15) is communicated with one side of the water pump (14).

2. The teaching-free cutting and grinding robot according to claim 1, characterized in that: A circular fixing plate (16) is fixedly connected to the inner wall of the water spraying hose (15). A plurality of first filtering holes (17) are formed in the circular fixing plate (16). The plurality of first filtering holes (17) are arranged at equal intervals.

3. The teaching-free cutting and grinding robot according to claim 2, wherein: An annular sliding rail (18) is fixedly connected to the side wall of the water spraying hose (15). A cleaning soft brush (19) is slidably connected to the annular sliding rail (18) through an electronic slider. One side of the cleaning soft brush (19) is movably connected to one side of the circular fixing plate (16).

4. The teaching-free cutting and grinding robot according to claim 1, wherein: A connecting frame (23) is movably connected to the side wall of the centering lifting device (20). A garbage storage box (24) is movably connected to the bottom of the connecting frame (23).

5. The teaching-free cutting and grinding robot according to claim 4, characterized in that: A rectangular fixing plate (25) is fixedly connected to the inner wall of the garbage storage box (24). A plurality of second filtering holes (26) are formed in the rectangular fixing plate (25). The plurality of second filtering holes (26) are arranged at equal intervals.

6. The teaching-free cutting and grinding robot according to claim 4, wherein: A vacuum cleaner (27) is fixedly connected to the inner wall of the garbage storage box (24). A dust suction vertical pipe (28) is communicated with the top of the vacuum cleaner (27). A dust collection bin (29) is communicated with the top of the dust suction vertical pipe (28). The side wall of the dust collection bin (29) is fixedly connected to the inner wall of the garbage storage box (24).

7. The teaching-free cutting and grinding robot according to claim 1, wherein: The protective mechanism includes a connecting box body (10). The side wall of the robot connection block (6) is movably connected to the side wall of the connecting box body (10). A sensor protection plate (12) is fixedly connected to one side of the connecting box body (10).

8. The automatic teaching-free cutting and grinding robot according to claim 1, wherein: Heat dissipation fins (30) are fixedly connected to the side wall of the robot control cabinet (2). The heat dissipation fins (30) are made of copper.

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