Furniture collaborative welding and polishing manipulator and machining method

Abstract

The invention discloses a furniture collaborative welding and grinding manipulator and a machining method, and belongs to the technical field of furniture machining, the furniture collaborative welding and grinding manipulator comprises an adjusting support and a mechanical arm, the adjusting support is provided with a machining position adjusting structure, and the machining position adjusting structure is in sliding fit with the adjusting support; the mechanical arm is located on the side of the adjusting support, a mounting frame, a machining rotating structure, a welding structure and a polishing structure are arranged on the mechanical arm, the machining rotating structure is arranged on the mounting frame, and the welding structure and the polishing structure are both located on the machining rotating structure. The polishing belt can be adjusted at any angle from parallel to vertical 0-90 degrees, and various angles of welded metal parts can be accurately matched. No matter coaxial parallel welding seams or L-shaped, T-shaped and other different-face angle welding seams, grinding can be completed in a one-stop mode without replacing equipment or tools, the problem that multiple sets of tools are needed in the traditional technology is solved, and the diversified welding and grinding requirements in furniture production are effectively met.

Description

Technical Field

[0001] The present invention belongs to the technical field of furniture processing, and in particular relates to a furniture collaborative welding and polishing robot and a processing method. Background Art

[0002] In the furniture manufacturing industry, the welding and polishing of metal parts are crucial. The collaborative furniture welding and polishing robot is an automated device that integrates industrial robotics technology, intelligent control algorithms, and a multi-sensor fusion system. It is primarily used for the welding and polishing of metal components (such as table and chair brackets and cabinet frames) in furniture manufacturing. Its collaborative nature is reflected in: Multi-robot collaboration: Through the coordination of robotic arms, welding and grinding can be synchronized or streamlined, improving efficiency. Human-machine collaboration: Supports manual assisted loading and parameter adjustment, while also providing safety protection to prevent human-machine collisions. Process collaboration: Integrates welding (such as argon arc welding and resistance welding) and grinding (belt grinding and polishing) processes to form an integrated solution.

[0003] However, existing robotic arms have significant limitations in their practical application when welding furniture. Their welding systems, primarily based on a concentric axis design, can only precisely process two metal parts on the same axis, completing the welding and polishing processes through the standard coordination of the robotic arm and welding torch. However, when faced with the common furniture manufacturing requirements of welding metal parts at any angle between 0 and 90 degrees, the robotic arm's range of motion and the welding torch's posture adjustment accuracy limit complex angles, making it difficult for the robotic arm to achieve a full, tight fit.

[0004] This lack of fit can lead to problems such as uneven solder distribution and inconsistent penetration depth during the welding process, directly affecting the quality of the weld formation, making the weld surface rough and presenting hidden dangers of pores and cracks, seriously weakening the mechanical properties and durability of the welded joint, thereby reducing the overall quality and service life of the finished furniture, making it difficult to meet the stringent requirements of high-end furniture manufacturing for refined technology and quality stability. Summary of the Invention

[0005] The embodiment of the present invention provides a furniture collaborative welding and polishing robot and a processing method to solve the problems in the prior art.

[0006] The embodiment of the present invention adopts the following technical solution: a furniture collaborative welding and polishing robot, comprising an adjustment bracket and a robot arm, the adjustment bracket is provided with a processing position adjustment structure, and the processing position adjustment structure and the adjustment bracket are slidably matched; the robot arm is located beside the adjustment bracket, and the robot arm is provided with an installation frame, a processing rotation structure, a welding structure and a polishing structure, the processing rotation structure is arranged on the installation frame, and the processing rotation structure is rotatably connected to the installation frame, the welding structure and the polishing structure are both located on the processing rotation structure, and the processing rotation structure can drive the welding structure and the polishing structure to rotate around the metal parts and perform welding and polishing.

[0007] Furthermore, the adjustment bracket includes a fixed frame and a rotating frame, the rotating frame is rotatably connected to the fixed frame and a rotating motor is provided at the bottom of the fixed frame to drive the rotating frame to rotate, a rotating wheel is provided at the bottom of the rotating frame, and two parallel slide grooves are provided at the top of the fixed frame and the rotating frame.

[0008] Furthermore, the fixed frame and the rotating frame are both provided with two processing position adjustment structures, one of which is fixedly connected to the fixed frame or the rotating frame, and the other is slidably connected to the bottom of the slide groove.

[0009] Furthermore, each of the processing position adjustment structures includes a fixed seat, a lifting plate, a lifting cylinder, a circular frame and two sliding rods. The fixed seat is located at the top of the fixed frame or the rotating frame, the lifting cylinder is vertically arranged inside the fixed seat, the lifting plate is horizontally connected to the telescopic end of the lifting cylinder, the two sliding rods are symmetrically arranged on the lifting plate and the sliding rods and the fixed seat are slidably matched, the circular frame is located at the top of the lifting plate, one of the slide grooves is provided with a threaded rod with a rotation connection, the end of the threaded rod is provided with a turntable, the bottom of one of the fixed seats is provided with a slider that slides with the two slide grooves, and the slider is threadedly connected to the threaded rod.

[0010] Furthermore, each of the circular frames is provided with a metal part fixing structure, and each of the metal part fixing structures includes two fixing plates and two fixed cylinders. The two fixed cylinders are symmetrically and horizontally arranged inside the circular frame, and the two fixing plates are respectively connected to the telescopic ends of the two fixed cylinders, and each of the fixing plates is provided with an anti-slip pad on the side wall.

[0011] Furthermore, the processing rotation structure includes a rotating motor, a motor base, an arc-shaped circular frame, several pulleys and several sliding wheels, the arc-shaped circular frame is provided with a notch, the mounting frame is provided with a through slot, the arc-shaped circular frame is provided with an arc block, the arc-shaped circular frame is slidably connected to the mounting frame through the arc block, the arc-shaped side wall of the arc-shaped circular frame is provided with a driving groove, the pulley and the sliding wheel are connected by a rotating shaft, the rotating shaft is rotatably connected to the mounting frame, several sliding wheels are arranged at equal intervals around the through slot, the motor base is provided on the back of the motor base, the rotating motor is located on the motor base, the rotating motor is connected to one of the rotating shafts, a belt is sleeved between several pulleys, the sliding wheel rotates in the driving groove to drive the arc-shaped circular frame to rotate.

[0012] Furthermore, the welding structure includes a mounting plate and a welding head. The mounting plate is located on the side wall of the arc-shaped circular frame. The welding head is connected to the mounting plate. The position of the welding head can be adjusted on the mounting plate.

[0013] Furthermore, the grinding structure includes an installation box, a driving motor, a grinding belt and four driving wheels. The installation box is located on the side wall of the arc-shaped circular frame. The four driving wheels are connected to the inside of the installation box in a rectangular rotation. The driving motor is located on the side wall of the installation box and is connected to one of the driving wheels. The grinding belt is mounted on the four driving wheels.

[0014] Furthermore, a grinding adjustment assembly is provided inside the mounting box, and the grinding adjustment assembly includes an adjustment motor, a first gear, two mounting plates, two second gears and two rotating shafts. The two mounting plates are symmetrically arranged in the mounting box, and the two rotating shafts are respectively connected to the two second gears. The two rotating shafts are rotatably connected to the two mounting plates, and the two second gears are meshed with each other. The adjustment motor is located inside the mounting box, the first gear is located on the main shaft of the adjustment motor and the first gear is meshed with one of the second gears. Adjustment plates are provided at both ends of the two rotating shafts, and two T-blocks are provided on the adjustment plate. The grinding belt is provided with a T-shaped through slot that slides with the T-block.

[0015] A method for processing a furniture collaborative welding and polishing robot comprises the following steps: The first step is to place the metal parts to be welded horizontally on the two processing position adjustment structures. The positions of the metal parts are fixed by the corresponding metal part fixing structures. The distance between the two processing position adjustment structures on the fixed frame and the rotating frame can be adjusted according to the processing needs to accommodate metal parts of different lengths. The height between the two metal parts can also be adjusted. In the second step, the rotating motor drives the rotating frame to rotate on the fixed frame, so that the rotating frame stops at any position between 0 and 90 degrees between the fixed frame 11, so that the two metal parts are at the 0-90 degree position for welding and subsequent grinding work; In the third step, the welding structure and the grinding structure perform welding and grinding work on the connection between the two metal parts. The processing rotating structure can drive the welding structure and the grinding structure to perform comprehensive welding and grinding work around the connection; The fourth step is to adjust the angle of the grinding belt through the grinding adjustment component during grinding to adapt to the grinding after welding of two metal parts at different angles; Step 5. After welding is completed, take out the metal parts.

[0016] The at least one technical solution adopted in the embodiment of the present invention can achieve the following beneficial effects: First, when the present invention is grinding the weld, the adjustment motor drives the first gear to rotate, which will drive the two second gears to rotate on the two mounting plates through two rotations. The rotation of the two rotating shafts will drive the angular position of the two adjustment plates to rotate respectively, thereby adjusting the angular position between the two adjustment plates, thereby adjusting the angular position of the grinding belt, so that the grinding belt is in a vertical state when it can be rotated from a parallel state, to adapt to the grinding needs of two metal parts with different welding angles. It is flexible to adapt to all angles and covers multiple processing needs: the device can adjust the grinding belt from parallel to vertical at any angle of 0-90 degrees, and can accurately match various angles after the metal parts are welded. Whether it is a coaxial parallel weld or an L-shaped, T-shaped or other angular weld, grinding can be completed in one stop without changing equipment or tooling, solving the problem that traditional processes require multiple sets of tools and effectively meeting the diverse welding and grinding needs in furniture production.

[0017] Secondly, when processing two metal parts, the present invention allows the arc-shaped circular frame to pass through the connection between the two metal parts. After that, the rotating motor drives one of the pulleys to rotate, which can drive the other pulley to rotate on the installation frame through the rotating shaft through the belt. The rotation of the rotating shaft will drive the sliding wheel to rotate in the driving groove of the arc-shaped circular frame, so that the arc-shaped circular frame can rotate on the installation frame through the arc block. The rotation of the arc-shaped circular frame will drive the welding head and the grinding belt to rotate around the connection, and the connection will be fully welded and polished. It can quickly adapt to multi-specification parts such as round table legs and arc armrests in furniture. The integrated annular motion design realizes full circumferential processing coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 A top view of the present invention; Figure 3 Schematic diagram of the three-dimensional structure of the adjusting bracket in the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the processing position adjustment structure of the present invention; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 Schematic diagram of the three-dimensional structure of the robotic arm in the present invention; Figure 7 Schematic diagram of the three-dimensional structure of the processing rotating structure in the present invention Figure 1 ; Figure 8 Schematic diagram of the three-dimensional structure of the processing rotating structure in the present invention Figure 2 ; Figure 9 Schematic diagram of the three-dimensional structure of the grinding structure in the present invention Figure 1 ; Figure 10 Schematic diagram of the three-dimensional structure of the grinding structure in the present invention Figure 2 ; Figure 11 for Figure 10 Enlarged view of point B in the middle; Figure 12 It is a schematic diagram of the three-dimensional structure of the adjustment plate in the present invention.

[0019] Reference numerals: Adjusting bracket 1, fixed frame 11, rotating frame 12, rotating motor 13, rotating wheel 14, slide 15, robotic arm 2, processing position adjustment structure 3, fixed base 31, lifting plate 32, lifting cylinder 33, round frame 34, slide rod 35, threaded rod 36, turntable 37, slider 38, metal part fixing structure 30, fixed plate 301, fixed cylinder 302, anti-slip pad 303, mounting frame 4, processing rotating structure 5, rotating motor 51, motor base 52, Arc-shaped circular frame 53, pulley 54, sliding wheel 55, rotating shaft 56, notch 57, arc block 58, drive groove 59, belt 591, welding structure 6, mounting plate 61, welding head 62, grinding structure 7, mounting box 71, drive motor 72, grinding belt 73, drive wheel 74, grinding adjustment assembly 8, adjustment motor 81, first gear 82, mounting plate 83, second gear 84, rotating shaft 85, adjustment plate 86, T-block 87, T-slot 88. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] The following describes in detail the technical solutions of a furniture collaborative welding and polishing robot and a processing method provided by various embodiments of the present invention in conjunction with the accompanying drawings.

[0022] Reference Figures 1 to 12 As shown, an embodiment of the present invention provides a furniture collaborative welding and polishing robot, including an adjusting bracket 1 and a robot arm 2, the adjusting bracket 1 is provided with a processing position adjustment structure 3, and the processing position adjustment structure 3 and the adjusting bracket 1 are slidably matched; the robot arm 2 is located at the side of the adjusting bracket 1, and the robot arm 2 is provided with an installation frame 4, a processing rotating structure 5, a welding structure 6 and a polishing structure 7, the processing rotating structure 5 is arranged on the installation frame 4, and the processing rotating structure 5 is rotatably connected to the installation frame 4, the welding structure 6 and the polishing structure 7 are both located on the processing rotating structure 5, and the processing rotating structure 5 can drive the welding structure 6 and the polishing structure 7 to rotate around the metal parts and perform welding and polishing.

[0023] Specifically, the adjustment bracket 1 includes a fixed frame 11 and a rotating frame 12. The rotating frame 12 is rotatably connected to the fixed frame 11 and a rotating motor 13 is provided at the bottom of the fixed frame 11 to drive the rotating frame 12 to rotate. A rotating wheel 14 is provided at the bottom of the rotating frame 12. Two parallel slide grooves 15 are provided at the top of the fixed frame 11 and the rotating frame 12.

[0024] When two metal parts are welded at different angles, the rotating motor 13 can drive the rotating frame 12 to rotate on the fixed frame 11. During the rotation, the rotating wheel 14 at the bottom of the rotating frame 12 can be rotated and supported. The rotating frame 12 can be locked and fixed at any position of 0-90 degrees, so that the two metal parts can be welded in parallel and at any position of 0-90 degrees to meet the needs of furniture processing. The rotating frame 12 can be locked and fixed at any angle of 0-90 degrees, breaking the limitation of traditional welding equipment that can only perform parallel or fixed angle welding.

[0025] Application scenarios: Common right-angle frame welding in furniture (such as the vertical connection between table legs and table tops, and cabinet side panels and bottom panels) can be directly precisely welded through 90-degree locking, avoiding the error of manual angle adjustment.

[0026] When special-shaped furniture (such as angled bookshelves, curved table and chair brackets) need to be welded at non-vertical angles, they can be positioned at any angle (such as 30 degrees, 45 degrees, etc.) to meet the personalized needs of the design drawings.

[0027] Such as welding into T shape or L shape.

[0028] Specifically, two processing position adjustment structures 3 are provided on the fixed frame 11 and the rotating frame 12, one of the processing position adjustment structures 3 is fixedly connected to the fixed frame 11 or the rotating frame 12, and the other processing position adjustment structure 3 is slidably connected to the bottom of the slide groove 15.

[0029] Specifically, each of the processing position adjustment structures 3 includes a fixed seat 31, a lifting plate 32, a lifting cylinder 33, a circular frame 34 and two sliding rods 35. The fixed seat 31 is located at the top of the fixed frame 11 or the rotating frame 12, the lifting cylinder 33 is vertically arranged inside the fixed seat 31, and the lifting plate 32 is horizontally connected to the telescopic end of the lifting cylinder 33. The two sliding rods 35 are symmetrically arranged on the lifting plate 32 and the sliding rods 35 slide with the fixed seat 31. The circular frame 34 is located at the top of the lifting plate 32. A threaded rod 36 with a rotational connection is provided inside one of the slide grooves 15, and a turntable 37 is provided at the end of the threaded rod 36. The bottom of one of the fixed seats 31 is provided with a slider 38 that slides with the two slide grooves 15, and the slider 38 is threadedly connected to the threaded rod 36.

[0030] When adjusting the spacing between the two processing position adjustment structures 3 on the rotating frame 12 or the fixed frame 11, the rotatable turntable 37 drives the threaded rod 36 to rotate, so that the two sliders 38 at the bottom of the fixed seat 31 move horizontally in the two slide grooves 15 respectively, thereby adjusting the position of one of the fixed seats 31 to move, so that during the processing of metal parts, the position distance between the two fixed seats 31 can be adjusted according to the different lengths of the metal parts to be suitable for the processing of metal parts of different lengths, and flexibly adapt to different length requirements. It is not only suitable for linear metal parts (such as pipes and profiles), but also can be adapted to special-shaped parts (such as arc-shaped brackets that need to be fixed in sections) or combined parts (such as multi-section metal frames) through spacing adjustment.

[0031] When the two metal parts are polished at the same height, the lifting cylinder 33 drives the lifting plate 32 to move up and down on the fixed seat 31 through the two sliding rods 35, thereby adjusting the height position of the circular frame 34, thereby adjusting the height positions of the two metal parts, so that the heights of the two metal parts are parallel, so that the two metal parts can be welded and polished later. Specifically, each of the circular frames 34 is provided with a metal part fixing structure 30, and each of the metal part fixing structures 30 includes two fixing plates 301 and two fixing cylinders 302. The two fixing cylinders 302 are symmetrically and horizontally arranged inside the circular frame 34. The two fixing plates 301 are respectively connected to the telescopic ends of the two fixing cylinders 302, and each of the fixing plates 301 is provided with an anti-slip pad 303 on the side wall; the anti-slip pad 303 can ensure that after the metal parts are clamped and fixed, the position of the metal parts will not move or deviate, thereby affecting the accuracy of subsequent processing.

[0032] After the metal part is placed between the two fixed plates 301, the two fixed cylinders 302 respectively drive the two fixed plates 301 to move to the middle position, thereby fixing the position of the metal part to be processed, preventing the position of the metal part from being offset and moved when the metal part is fixed, thereby affecting the accuracy of subsequent processing.

[0033] Specifically, the processing rotating structure 5 includes a rotating motor 51, a motor base 52, an arc-shaped circular frame 53, several pulleys 54 and several sliding wheels 55. The arc-shaped circular frame 53 is provided with a notch 57, the mounting frame 4 is provided with a through slot, the arc-shaped circular frame 53 is provided with an arc block 58, the arc-shaped circular frame 53 is slidably connected to the mounting frame 4 through the arc block 58, and a driving groove 59 is provided on the arc side wall of the arc-shaped circular frame 53. The pulley 54 and the sliding wheel 55 are connected by a rotating shaft 56, and the rotating shaft 56 is rotatably connected to the mounting frame 4. Several sliding wheels 55 are arranged at equal intervals around the through slot, the motor base 52 is provided on the back of the motor base 52, the rotating motor 51 is located on the motor base 52, the rotating motor 51 is connected to one of the rotating shafts 56, a belt 591 is sleeved between the pulleys 54, and the sliding wheel 55 rotates in the driving groove 59 to drive the arc-shaped circular frame 53 to rotate.

[0034] When processing two metal parts, the arc-shaped circular frame 53 passes through the connection between the two metal parts. Thereafter, the rotating motor 51 drives one of the pulleys 54 to rotate, which can drive the other pulley 54 to rotate on the mounting frame 4 through the rotating shaft 56 through the belt 591. The rotation of the rotating shaft 56 will drive the sliding wheel 55 to rotate in the driving groove 59 of the arc-shaped circular frame 53, so that the arc-shaped circular frame 53 rotates on the mounting frame 4 through the arc block 58. The rotation of the arc-shaped circular frame 53 will drive the welding head 62 and the grinding belt 73 to rotate around the connection, and the connection is fully welded and polished. The integrated annular motion design realizes full circumferential processing coverage and 360° dead angle welding and polishing: the arc-shaped circular frame 53 drives the welding head 62 and the grinding belt 73 to perform circular motion around the connection between the metal parts, and the weld and the surrounding area can be uniformly processed in the entire circumference, avoiding the "dead angle" problem caused by traditional linear reciprocating motion (such as welding leaks at the top or bottom of the butt joint of circular pipes).

[0035] Application scenarios: Circular frame welding (such as the connection between the round legs and crossbars of a coffee table): Traditional processes require manual rotation of components for batch welding, which can easily lead to problems such as discontinuous welds and uneven thickness. This device can complete the entire circle of welding in one go, resulting in uniform weld formation and a strength increase of over 20%.

[0036] Grinding of curved parts (such as grinding the welds of curved sofa armrests): The grinding belt 73 is made to fit the curved surface through circular motion, eliminating the problem of uneven force during manual grinding. The surface roughness (Ra value) can be reduced from 12.5μm to below 3.2μm.

[0037] Specifically, the welding structure 6 includes a mounting plate 61 and a welding head 62. The mounting plate 61 is located on the side wall of the arc-shaped circular frame 53. The welding head 62 is connected to the mounting plate 61, and the position of the welding head 62 can be adjusted on the mounting plate 61. The welding head 62 can automatically weld the joints, and the welding head 62 can be adjusted on the mounting plate 61. The position of the welding head 62 can be adjusted according to the diameter of the metal parts to achieve better welding results.

[0038] Specifically, the grinding structure 7 includes an installation box 71, a drive motor 72, a grinding belt 73 and four drive wheels 74. The installation box 71 is located on the side wall of the arc-shaped circular frame 53. The four drive wheels 74 are connected to the inside of the installation box 71 in a rectangular shape. The drive motor 72 is located on the side wall of the installation box 71 and is transmission-connected to one of the drive wheels 74. The grinding belt 73 is sleeved on the four drive wheels 74.

[0039] Specifically, a grinding adjustment assembly 8 is provided inside the mounting box 71. The grinding adjustment assembly 8 includes an adjustment motor 81, a first gear 82, two mounting plates 83, two second gears 84, and two rotating shafts 85. The two mounting plates 83 are symmetrically arranged inside the mounting box 71. The two rotating shafts 85 are respectively connected to the two second gears 84. The two rotating shafts 85 are rotatably connected to the two mounting plates 83. The two second gears 84 are meshed with each other. The adjustment motor 81 is located inside the mounting box 71. The first gear 82 is located on the main shaft of the adjustment motor 81 and the first gear 82 is meshed with one of the second gears 84. Adjustment plates 86 are provided at both ends of the two rotating shafts 85. Two T-blocks 87 are provided on the adjustment plates 86. The grinding belt 73 is provided with a T-slot 88 that slides with the T-block 87. During the rotation of the grinding belt 73, the T-slot 88 can slide on the T-block 87 to work on the grinding area.

[0040] When grinding the weld, the drive motor 72 drives the four drive wheels 74 to rotate in the mounting box 71, which drives the grinding belt 73 to rotate to grind the weld. At this time, the grinding belt 73 is in a parallel state, and can grind the weld of two metal parts in a coaxial position. When welding two metal parts at any angle between 0 and 90 degrees, the angle of the grinding belt 73 needs to be adjusted to adapt to the angular position of the weld. At this time, the adjustment motor 81 drives the first gear 82 to rotate, which will drive the two second gears 84 to rotate on the two mounting plates 83 through two rotations. The rotation of the two rotating shafts 85 will drive the angular position of the two adjustment plates 86 to rotate respectively, thereby adjusting the angular position between the two adjustment plates 86, thereby adjusting the angular position of the grinding belt 73, so that the grinding belt 73 is in a vertical state when it is rotatable from a parallel state, to adapt to the grinding needs of two metal parts with different welding angles. It is flexible to adapt to all angles and covers multiple processing needs: the device can adjust the grinding belt 73 from parallel to vertical at any angle of 0-90 degrees, and can accurately match various angles after the metal parts are welded. Whether it is a coaxial parallel weld or an L-shaped, T-shaped or other angular weld, grinding can be completed in one stop without changing equipment or tooling, solving the problem that traditional processes require multiple sets of tools and effectively meeting the diverse welding and grinding needs in furniture production.

[0041] It can grind both coaxial parallel welds (such as pipe butt welds) and welds with different angles (such as L-shaped and T-shaped joint welds) without changing grinding equipment or tooling.

[0042] A method for processing a furniture collaborative welding and polishing robot comprises the following steps: In the first step, the metal parts to be welded are placed horizontally on the two processing position adjustment structures 3, and the positions of the metal parts are fixed by the corresponding metal part fixing structures 30. The distance between the two processing position adjustment structures 3 on the fixed frame 11 and the rotating frame 12 can be adjusted according to the processing needs to accommodate metal parts of different lengths, and the height between the two metal parts can also be adjusted. In the second step, the rotating motor 13 drives the rotating frame 12 to rotate on the fixed frame 11, so that the rotating frame 12 stops at any position between 0 and 90 degrees relative to the fixed frame 11, so that the two metal parts are at the 0-90 degree position for welding and subsequent grinding work; In the third step, the welding structure 6 and the grinding structure 7 perform welding and grinding work on the connection between the two metal parts. The processing rotating structure 5 can drive the welding structure 6 and the grinding structure 7 to perform comprehensive welding and grinding work around the connection; In the fourth step, during grinding, the angle position of the grinding belt 73 can be adjusted by the grinding adjustment component 8 to adapt to the grinding after welding of two metal parts at different angles; Step 5. After welding is completed, take out the metal parts.

[0043] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A furniture collaborative welding and polishing robot, characterized in that: It comprises an adjustment bracket (1) and a mechanical arm (2), wherein the adjustment bracket (1) is provided with a processing position adjustment structure (3), and the processing position adjustment structure (3) is in sliding engagement with the adjustment bracket (1); The mechanical arm (2) is located beside the adjustment bracket (1), and the mechanical arm (2) is provided with a mounting frame (4), a processing rotation structure (5), a welding structure (6) and a grinding structure (7); The processing rotating structure (5) is arranged on the installation frame (4), and the processing rotating structure (5) and the installation frame (4) are rotationally connected; The welding structure (6) and the grinding structure (7) are both located on the processing rotating structure (5), and the processing rotating structure (5) can drive the welding structure (6) and the grinding structure (7) to rotate around the metal parts and perform welding and grinding.

2. The furniture collaborative welding and polishing robot according to claim 1, characterized in that: The adjusting bracket (1) comprises a fixed frame (11) and a rotating frame (12), wherein the rotating frame (12) is rotatably connected to the fixed frame (11), and a rotating motor (13) for driving the rotating frame (12) to rotate is provided at the bottom of the fixed frame (11), a rotating wheel (14) is provided at the bottom of the rotating frame (12), and two parallel slide grooves (15) are provided at the tops of the fixed frame (11) and the rotating frame (12).

3. The furniture collaborative welding and polishing robot according to claim 2, characterized in that: Two processing position adjustment structures (3) are provided on each of the fixed frame (11) and the rotating frame (12), wherein one processing position adjustment structure (3) is fixedly connected to the fixed frame (11) or the rotating frame (12), and the other processing position adjustment structure (3) is slidably connected to the bottom of the slide groove (15).

4. The furniture collaborative welding and polishing robot according to claim 3, characterized in that: Each of the processing position adjustment structures (3) includes a fixed seat (31), a lifting plate (32), a lifting cylinder (33), a circular frame (34) and two sliding rods (35), wherein the fixed seat (31) is located at the top of the fixed frame (11) or the rotating frame (12), the lifting cylinder (33) is vertically arranged inside the fixed seat (31), the lifting plate (32) is horizontally connected to the telescopic end of the lifting cylinder (33), the two sliding rods (35) are symmetrically arranged on the lifting plate (32) and the sliding rods (35) and the fixed seat (31) are slidably matched, the circular frame (34) is located at the top of the lifting plate (32), a threaded rod (36) connected in rotation is provided inside one of the slide grooves (15), a turntable (37) is provided at the end of the threaded rod (36), and a slider (38) slidably matched with the two slide grooves (15) is provided at the bottom of one of the fixed seats (31), and the slider (38) is threadedly connected to the threaded rod (36).

5. The furniture collaborative welding and polishing robot according to claim 4, characterized in that: A metal component fixing structure (30) is provided inside each of the circular frames (34), and each of the metal component fixing structures (30) includes two fixing plates (301) and two fixing cylinders (302). The two fixing cylinders (302) are symmetrically arranged horizontally inside the circular frame (34), and the two fixing plates (301) are respectively connected to the telescopic ends of the two fixing cylinders (302). An anti-slip pad (303) is provided on the side wall of each fixing plate (301).

6. The furniture collaborative welding and polishing robot according to claim 1, characterized in that: The processing rotating structure (5) includes a rotating motor (51), a motor base (52), an arc-shaped circular frame (53), a plurality of pulleys (54) and a plurality of sliding wheels (55), wherein the arc-shaped circular frame (53) is provided with a notch (57), the mounting frame (4) is provided with a through groove, the arc-shaped circular frame (53) is provided with an arc block (58), the arc-shaped circular frame (53) is slidably connected to the mounting frame (4) through the arc block (58), the arc-shaped side wall of the arc-shaped circular frame (53) is provided with a driving groove (59), the pulley (54) and the sliding wheel ( 55) are connected by a rotating shaft (56), the rotating shaft (56) is rotatably connected to the mounting frame (4), a plurality of the sliding wheels (55) are arranged around the through slot at equal intervals, the motor seat (52) is arranged on the back of the motor seat (52), the rotating motor (51) is located on the motor seat (52), the rotating motor (51) is connected to one of the rotating shafts (56), a belt (591) is sleeved between the plurality of pulleys (54), and the sliding wheel (55) rotates in the driving groove (59) to drive the arc-shaped circular frame (53) to rotate.

7. The furniture collaborative welding and polishing robot according to claim 6, characterized in that: The welding structure (6) comprises a mounting plate (61) and a welding head (62), wherein the mounting plate (61) is located on the side wall of the arc-shaped circular frame (53), and the welding head (62) is connected to the mounting plate (61), and the position of the welding head (62) can be adjusted on the mounting plate (61).

8. The furniture collaborative welding and polishing robot according to claim 7, characterized in that: The grinding structure (7) comprises an installation box (71), a driving motor (72), a grinding belt (73) and four driving wheels (74); the installation box (71) is located on the side wall of the arc-shaped circular frame (53); the four driving wheels (74) are rotatably connected to the inside of the installation box (71) in a rectangular shape; the driving motor (72) is located on the side wall of the installation box (71) and is transmission-connected to one of the driving wheels (74); and the grinding belt (73) is sleeved on the four driving wheels (74).

9. The furniture collaborative welding and polishing robot according to claim 8, characterized in that: A grinding adjustment assembly (8) is provided inside the installation box (71), and the grinding adjustment assembly (8) includes an adjustment motor (81), a first gear (82), two installation plates (83), two second gears (84) and two rotating shafts (85). The two installation plates (83) are symmetrically arranged in the installation box (71), and the two rotating shafts (85) are respectively connected to the two second gears (84). The two rotating shafts (85) are rotatably connected to the two installation plates (83), and the two second gears (84) are meshed with each other. The adjustment motor (81) is located inside the installation box (71), the first gear (82) is located on the main shaft of the adjustment motor (81), and the first gear (82) is meshed with one of the second gears (84). Adjustment plates (86) are provided at both ends of the two rotating shafts (85), and two T-blocks (87) are provided on the adjustment plate (86). The grinding belt (73) is provided with a T-shaped through slot (88) that slides with the T-block (87).

10. A processing method for a furniture collaborative welding and polishing robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: In the first step, the metal parts to be welded are horizontally placed on the two processing position adjustment structures (3), and the positions of the metal parts are fixed by the corresponding metal part fixing structures (30). The distance between the two processing position adjustment structures (3) on the fixed frame (11) and the rotating frame (12) can be adjusted according to the processing needs to adapt to metal parts of different lengths, and the height between the two metal parts can also be adjusted; In the second step, the rotating motor (13) is driven to rotate the rotating frame (12) on the fixed frame (11), so that the rotating frame (12) stops at any position between 0 and 90 degrees on the fixed frame 11, so as to weld the two metal parts at the position between 0 and 90 degrees and perform subsequent grinding work; In the third step, the welding structure (6) and the grinding structure (7) perform welding and grinding work on the connection between the two metal parts. The processing rotating structure (5) can drive the welding structure (6) and the grinding structure (7) to perform comprehensive welding and grinding work around the connection; In the fourth step, during grinding, the angle position of the grinding belt (73) can be adjusted by the grinding adjustment component (8) to adapt to the grinding after welding of two metal parts at different angles; Step 5. After welding is completed, take out the metal parts.

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