High-load grinding robot

Abstract

The invention relates to a grinding robot, in particular to a high-load grinding robot. The top of the base is provided with a supporting piece and a Z-axis moving assembly; a balancer connected with a moving plate of the Z-axis moving arm is arranged in the Z-axis moving assembly. A Y-axis moving assembly is mounted on a Z-axis moving arm of the Z-axis moving assembly; a Y-axis moving arm of the Y-axis moving assembly is provided with an A-axis moving assembly, and the top of an A-axis moving arm of the A-axis moving assembly is provided with a positioning rotating assembly and a clamping mechanism matched with the positioning rotating assembly to clamp a workpiece; a grinding assembly is arranged at the top of the supporting piece. And the grinding assembly is matched with the Z-axis moving assembly, the Y-axis moving assembly, the A-axis moving assembly, the positioning rotating assembly and the clamping mechanism to grind the workpiece. By arranging the balancer, the overall weight of the equipment is reduced, and carrying and conveying of the equipment are facilitated; and meanwhile, the load bearing capacity of the equipment can be improved, so that the equipment can be suitable for polishing heavy or large workpieces.

Description

TECHNICAL FIELD

[0001] The present application relates to a polishing robot, in particular to a high-load polishing robot. BACKGROUND

[0002] In industrial production, polishing is an important process for removing burrs on the surface of workpieces and improving surface finish. Traditional polishing methods rely heavily on manual operation, which is not only inefficient but also labor-intensive, making it difficult to ensure the consistency of polishing quality. With the development of automation technology, robotic polishing technology has emerged, which can improve polishing efficiency and quality and reduce labor intensity.

[0003] However, existing robotic polishing technology usually uses counterweights and oil pump systems to counterbalance the workpieces being polished, which occupies a large amount of space and makes the equipment heavy and inconvenient to move. The load capacity is small, making it difficult to handle heavy workpieces or large polishing tasks. SUMMARY

[0004] The purpose of the present application is to solve the technical problems of traditional polishing robot equipment, which is heavy and inconvenient to move, and has weak load capacity, and is not suitable for polishing heavy workpieces. The present application provides a high-load polishing robot.

[0005] To solve the above technical problems, the technical solutions provided by the present application are as follows:

[0006] A high-load polishing robot comprises a base, and a support and a Z-axis moving assembly are arranged on the top of the base;

[0007] The Z-axis moving assembly is provided with a balancer connected to the moving plate of the Z-axis moving arm;

[0008] The Z-axis moving assembly is provided with a Y-axis moving assembly on the Z-axis moving arm;

[0009] The Y-axis moving assembly is provided with an A-axis moving assembly on the Y-axis moving arm, and the top of the A-axis moving arm of the A-axis moving assembly is provided with a positioning and rotating assembly, and a clamping mechanism cooperating with the positioning and rotating assembly to clamp the workpiece;

[0010] The top of the support is provided with a polishing assembly;

[0011] The polishing assembly cooperates with the Z-axis moving assembly, the Y-axis moving assembly, the A-axis moving assembly, the positioning and rotating assembly, and the clamping mechanism to polish the workpiece.

[0012] Further, the Z-axis moving assembly comprises a fixed frame fixed to the top of the base;

[0013] The two sides of the fixed frame are provided with guide rails, and the fixed frame is slidably installed with the moving plate through the two guide rails, and the side of the moving plate is installed with the Z-axis moving arm;

[0014] The interior of the fixed frame is rotatably provided with a screw rod arranged along the Z direction, the screw rod is threadedly connected with the moving plate, and the top of the screw rod penetrates through the fixed frame and is provided with a servo motor, the servo motor is connected with the top of the fixed frame.

[0015] Further, the balancer comprises a balance cylinder arranged at the top of the fixed frame, and a high-pressure tank connected with the balance cylinder and arranged in the interior of the fixed frame.

[0016] The piston rod of the balance cylinder is connected with the moving plate.

[0017] Further, the Y-axis moving assembly comprises the Y-axis moving arm rotatably arranged on the Z-axis moving arm.

[0018] The top of the Z-axis moving arm is provided with a Y-axis speed reducer, the output shaft of the Y-axis speed reducer is connected with the Y-axis moving arm.

[0019] The top of the Y-axis speed reducer is provided with a Y-axis driving motor, the output shaft of the Y-axis driving motor is connected with the input shaft of the Y-axis speed reducer.

[0020] Further, the A-axis moving assembly comprises the A-axis moving arm rotatably arranged on the Y-axis moving arm.

[0021] The top of the Y-axis moving arm is provided with an A-axis speed reducer, the output shaft of the A-axis speed reducer is connected with the A-axis moving arm.

[0022] The top of the A-axis speed reducer is provided with an A-axis driving motor, the output shaft of the A-axis driving motor is connected with the input shaft of the A-axis speed reducer.

[0023] Further, the positioning rotating assembly comprises a rotary table, the base of the rotary table is fixedly arranged on the top of the A-axis moving arm.

[0024] The mounting disc of the rotary table is fixedly provided with a positioning seat, the middle part of the positioning seat is provided with a mounting hole.

[0025] The outer side of the positioning seat is provided with a fixing ring, the top of the fixing ring is provided with a plurality of uniformly distributed supporting positioning pins.

[0026] Further, the clamping mechanism comprises a pressing base, the top of the pressing base is rotatably provided with a swing frame.

[0027] One side of the swing frame is provided with a pressing cylinder, the output end of the pressing cylinder is provided with a sliding block, the sliding block is slidably arranged on the swing frame through a sliding rail; one side of the sliding block away from the output end of the pressing cylinder is provided with a pressing rod.

[0028] The top of the pressing base is provided with an extension rod, the end of the extension rod is rotatably provided with a swing cylinder.

[0029] The top of the pressing base is rotatably installed with a triangular plate;

[0030] A connecting rod is rotatably installed at one vertex of the triangular plate and is rotatably connected between the swing frame;

[0031] The other vertex of the triangular plate is rotatably connected with the piston rod of the swing cylinder.

[0032] Further, the polishing assembly comprises a mounting base installed at the top of the support;

[0033] One side of the mounting base is fixedly installed with a polishing speed reducer, and the polishing speed reducer is provided with a polishing driving motor away from the mounting base, and the output shaft of the polishing driving motor is connected with the input shaft of the polishing speed reducer;

[0034] The output shaft of the polishing speed reducer penetrates through the mounting base and is fixedly installed with a swing arm;

[0035] The swing arm is provided with a first grinding wheel motorized spindle, a second grinding wheel motorized spindle and a grinding rod motorized spindle which are arranged in a staggered manner;

[0036] The output shafts of the first grinding wheel motorized spindle, the second grinding wheel motorized spindle and the grinding rod motorized spindle are respectively provided with a first grinding wheel, a second grinding wheel and a grinding rod.

[0037] Compared with the prior art, the high-load polishing robot has the following beneficial effects:

[0038] 1. The high-load polishing robot provided by the present application replaces the traditional chain counterweight and hydraulic counterweight by arranging a balancer, saves the space for installing the hydraulic pump and the counterweight block, reduces the overall weight of the device, and facilitates the carrying and conveying of the device. At the same time, the balancer can assist the Z-axis moving assembly in maintaining the position and lifting of the workpiece installed between the positioning rotating assembly and the clamping mechanism, which helps to reduce the load of the Z-axis moving assembly and improve the load bearing capacity of the device, so that it can be applied to the polishing of heavy or large workpieces.

[0039] 2. The high-load polishing robot provided by the present application is provided with a balance cylinder, and the piston rod of the balance cylinder is connected with a moving plate. A servo motor drives the moving plate to move up and down through a lead screw, so that the balance cylinder and the servo motor work cooperatively. Moreover, the balance cylinder can bear part of the load of the servo motor, so that the load bearing capacity of the device as a whole is improved, and the Z-axis moving arm, the Y-axis moving arm and the A-axis moving arm can be kept stable during movement, the tracking performance of the spindle unit during high-speed cutting is improved, and rapid response and efficient operation are realized. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 The structure of the embodiment of the present application is shown in the schematic diagram;

[0041] Figure 2 Structure diagram of the second perspective of the embodiment of the present application;

[0042] Figure 3 Structure diagram of the Z-axis moving assembly in the embodiment of the present application;

[0043] Figure 4 Structure diagram of the Y-axis moving assembly in the embodiment of the present application;

[0044] Figure 5 Structure diagram of the A-axis moving assembly and the positioning rotating assembly in the embodiment of the present application;

[0045] Figure 6 Structure diagram of the pressing mechanism in the embodiment of the present application;

[0046] Figure 7 Structure diagram of the polishing assembly in the embodiment of the present application.

[0047] Explanation of reference numerals: 1 - base, 2 - support, 3 - Z-axis moving assembly, 31 - Z-axis moving arm, 32 - fixed frame, 33 - guide rail, 34 - moving plate, 35 - lead screw, 36 - servo motor, 4 - polishing assembly, 41 - mounting base, 42 - polishing speed reducer, 43 - polishing drive motor, 44 - swing arm, 45 - first grinding wheel electric spindle, 46 - second grinding wheel electric spindle, 47 - grinding rod electric spindle, 48 - first grinding wheel, 49 - second grinding wheel, 410 - grinding rod, 5 - Y-axis moving arm, 6 - A-axis moving arm, 7 - positioning rotating assembly, 71 - rotary table, 72 - positioning seat, 73 - mounting hole, 74 - fixed ring, 75 - support positioning pin, 8 - clamping mechanism, 81 - pressing base, 82 - swing frame, 83 - downward pressing cylinder, 84 - sliding block, 85 - pressing rod, 86 - extension rod, 87 - swing cylinder, 88 - triangular plate, 89 - connecting rod, 810 - sliding rail, 9 - balance cylinder, 10 - high-pressure tank. DETAILED DESCRIPTION

[0048] The technical solutions in the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0049] As Figure 1 and Figure 2As shown in the figure, a high-load polishing robot comprises a base 1, the top of the base 1 is provided with a support 2 and a Z-axis moving assembly 3; the Z-axis moving assembly 3 is provided with a balancer connected with a moving plate 34 of a Z-axis moving arm 31; the Z-axis moving arm 31 of the Z-axis moving assembly 3 is provided with a Y-axis moving assembly; the Y-axis moving arm 5 of the Y-axis moving assembly is provided with an A-axis moving assembly, the top of the A-axis moving arm 6 of the A-axis moving assembly is provided with a positioning rotating assembly 7, and a clamping mechanism 8 cooperating with the positioning rotating assembly 7 to clamp a workpiece; the top of the support 2 is provided with a polishing assembly 4; the polishing assembly 4 cooperates with the Z-axis moving assembly 3, the Y-axis moving assembly, the A-axis moving assembly, the positioning rotating assembly 7 and the clamping mechanism 8 to polish the workpiece.

[0050] As shown in the figure, Figure 2 and Figure 3 As shown in the figure, the Z-axis moving assembly 3 comprises a fixed frame 32 fixed to the top of the base 1; the two sides of the fixed frame 32 are provided with guide rails 33, the fixed frame 32 is slidably installed with the moving plate 34 through the two guide rails 33, and the side of the moving plate 34 is installed with the Z-axis moving arm 31; the inside of the fixed frame 32 is rotatably installed with a lead screw 35 arranged along the Z direction, the lead screw 35 is threadedly connected with the moving plate 34, and the top of the lead screw 35 penetrates through the fixed frame 32 and is provided with a servo motor 36, the servo motor 36 is connected with the top of the fixed frame 32.

[0051] As shown in the figure, Figure 1 and Figure 2 As shown in the figure, the balancer comprises a balance cylinder 9 arranged at the top of the fixed frame 32, and a high-pressure tank 10 connected with the balance cylinder 9 and located inside the fixed frame 32; the piston rod of the balance cylinder 9 is connected with the moving plate 34.

[0052] In this embodiment, the piston rod of the balance cylinder 9 divides the inside of the balance cylinder 9 into an upper oil cavity and a lower oil cavity; the high-pressure tank 10 stores compressed nitrogen gas, and at the same time, the inside of the high-pressure tank 10 communicates with the lower oil cavity of the balance cylinder 9 through a hydraulic oil pipe; when the piston rod of the balance cylinder 9 moves downward with the Z-axis moving arm 31, the piston rod of the balance cylinder 9 press the hydraulic oil in the lower oil cavity into the high-pressure tank 10 through the oil pipe, the hydraulic oil extrudes the compressed nitrogen gas in the high-pressure tank 10 to compress the compressed nitrogen gas, and converts potential energy into potential energy of gas; when the piston rod of the balance cylinder 9 moves upward with the Z-axis moving arm 31, the expansion of the compressed nitrogen gas in the high-pressure tank 10 sends the hydraulic oil in the high-pressure tank 10 back to the lower oil cavity of the balance cylinder 9.

[0053] In the process of the piston rod of the balance cylinder 9 moving up and down with the Z-axis moving arm 31, the balance cylinder 9 can share part of the load of the servo motor 36, thereby reducing the energy consumption of the servo motor 36, and at the same time, after the balance cylinder 9 is installed, the servo motor 36 of the Z-axis moving assembly 3 can bear more load.

[0054] As shown in the figure, Figure 1 andFigure 4 As shown in

[0055] As shown in Figure 1 and Figure 5 As shown in

[0056] As shown in Figure 1 and Figure 5 As shown in

[0057] As shown in Figure 1 and Figure 6 As shown in

[0058] As shown in Figure 1 and Figure 7 As shown in

[0059] The output shafts of the first grinding wheel 48 electric spindle 45, the second grinding wheel 49 electric spindle 46 and the grinding bar 410 electric spindle 47 are respectively provided with the first grinding wheel 48, the second grinding wheel 49 and the grinding bar 410.

[0060] The workpiece to be processed is placed outside the device at the position of the positioning and rotating assembly 7, and the clamping mechanism 8 clamps the workpiece.

[0061] During the processing, the Z-axis moving arm 31, the Y-axis moving arm 5 and the A-axis moving arm 6 cooperate to move the workpiece to the polishing assembly 4 for polishing, the servo motor 36 drives the moving plate 34 to move up and down along the guide rail 33 through the screw rod 35, so that the Z-axis moving arm 31 moves up and down; the balance cylinder 9 moves together with the Z-axis moving arm 31, the positioning and rotating assembly 7 controls the rotating movement of the workpiece, the A-axis moving arm 6 and the Y-axis moving arm 5 control the forward and backward movement of the workpiece, and the polishing of the workpiece is completed.

[0062] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this, any change or replacement within the technical scope disclosed by the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A high-load grinding robot, characterized in that: Includes a base (1), and a support (2) and a Z-axis moving assembly (3) are provided on the top of the base (1); The Z-axis moving assembly (3) is equipped with a balancer connected to the moving plate (34) of the Z-axis moving arm (31); The Z-axis moving arm (31) of the Z-axis moving assembly (3) is equipped with a Y-axis moving assembly; The Y-axis moving arm (5) of the Y-axis moving assembly is equipped with an A-axis moving assembly. The top of the A-axis moving arm (6) of the A-axis moving assembly is provided with a positioning rotation assembly (7) and a clamping mechanism (8) that cooperates with the positioning rotation assembly (7) to clamp the workpiece. The top of the support member (2) is provided with a grinding component (4); The grinding component (4) works in conjunction with the Z-axis moving component (3), the Y-axis moving component, the A-axis moving component, the positioning and rotating component (7), and the clamping mechanism (8) to grind the workpiece.

2. The high-load grinding robot according to claim 1, characterized in that: The Z-axis moving assembly (3) includes a mounting bracket (32) fixed to the top of the base (1); The fixed frame (32) is provided with guide rails (33) on both sides. The fixed frame (32) is slidably mounted with the movable plate (34) through the two guide rails (33). The Z-axis movable arm (31) is mounted on the side of the movable plate (34). The fixed frame (32) is rotatably mounted with a lead screw (35) arranged along the Z direction. The lead screw (35) is threadedly connected to the moving plate (34), and the top of the lead screw (35) passes through the fixed frame (32) and is equipped with a servo motor (36). The servo motor (36) is connected to the top of the fixed frame (32).

3. The high-load grinding robot according to claim 2, characterized in that: The balancer includes a balance cylinder (9) disposed on the top of the fixed frame (32), and a high-pressure tank (10) connected to the balance cylinder (9) and located inside the fixed frame (32); The piston rod of the balance cylinder (9) is connected to the moving plate (34).

4. The high-load grinding robot according to claim 1, characterized in that: The Y-axis moving assembly includes the Y-axis moving arm (5) rotatably mounted on the Z-axis moving arm (31); The top of the Z-axis moving arm (31) is provided with a Y-axis reducer, and the output shaft of the Y-axis reducer is connected to the Y-axis moving arm (5). The top of the Y-axis reducer is equipped with a Y-axis drive motor, and the output shaft of the Y-axis drive motor is connected to the input shaft of the Y-axis reducer.

5. The high-load grinding robot according to claim 1, characterized in that: The A-axis moving assembly includes the A-axis moving arm (6) rotatably mounted on the Y-axis moving arm (5); The top of the Y-axis moving arm (5) is provided with an A-axis reducer, and the output shaft of the A-axis reducer is connected to the A-axis moving arm (6). The top of the A-axis reducer is equipped with an A-axis drive motor, and the output shaft of the A-axis drive motor is connected to the input shaft of the A-axis reducer.

6. The high-load grinding robot according to claim 1, characterized in that: The positioning rotation assembly (7) includes a turntable (71), and the base (1) of the turntable (71) is fixedly installed on the top of the A-axis moving arm (6); A positioning seat (72) is fixedly installed on the mounting plate of the turntable (71), and a mounting hole (73) is opened in the middle of the positioning seat (72); The positioning seat (72) has a fixing ring (74) on its outer side, and the top of the fixing ring (74) has a plurality of evenly distributed support positioning pins (75).

7. The high-load grinding robot according to claim 1, characterized in that: The clamping mechanism (8) includes a clamping base (81), and a swing frame (82) is rotatably mounted on the top of the clamping base (81); A downward pressure cylinder (83) is provided on one side of the swing frame (82), and a slider (84) is provided on the output end of the downward pressure cylinder (83). The slider (84) is slidably mounted on the swing frame (82) via a slide rail (810). A clamping rod (85) is provided on the side of the slider (84) away from the output end of the downward pressure cylinder (83). The top of the pressing base (81) is provided with an extension rod (86), and a swing cylinder (87) is rotatably installed at the end of the extension rod (86); A triangular plate (88) is rotatably mounted on the top of the clamping base (81); A connecting rod (89) is rotatably mounted at one vertex of the triangular plate (88), and the connecting rod (89) is rotatably connected to the swing frame (82); The other vertex of the triangular plate (88) is rotatably connected to the piston rod of the swing cylinder (87).

8. The high-load grinding robot according to claim 1, characterized in that: The polishing assembly (4) includes a mounting base (41) mounted on top of the support (2); A grinding reducer (42) is fixedly installed on one side of the mounting base (41). A grinding drive motor (43) is provided on the side of the grinding reducer (42) away from the mounting base (41). The output shaft of the grinding drive motor (43) is connected to the input shaft of the grinding reducer (42). The output shaft of the grinding reducer (42) passes through the mounting base (41) and is fixedly mounted with a swing arm (44); The side of the swing arm (44) is equipped with an alternating first grinding wheel (48) electric spindle (45), second grinding wheel (49) electric spindle (46) and grinding rod (410) electric spindle (47); The first grinding wheel (48), the second grinding wheel (49), and the grinding rod (410) are respectively provided on the output shafts of the first grinding wheel (48) electric spindle (45), the second grinding wheel (49) electric spindle (46), and the grinding rod (410) electric spindle (47).

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