Full-automatic polishing robot for metal part machining

Abstract

The invention relates to the field of polishing, and particularly discloses a full-automatic polishing robot for metal part machining, which comprises a robot body, a mechanical arm is arranged at the output end of the robot body, a supporting block is arranged on the mechanical arm, a floating assembly is arranged on the supporting block, and a floating seat is arranged on the floating assembly. And a polishing assembly is arranged on the floating seat. During normal work, the automatic control effect on the polishing assembly can be achieved, the protection effect on the polishing assembly is improved, the function of automatically adapting to the concave face and the convex face of a part is achieved, long-time work pressure balance is achieved by additionally arranging the heavy assembly during long-time concave face work and convex face work, and the service life of the polishing assembly is prolonged. Therefore, the phenomenon of fatigue damage of the floating assembly and the polishing assembly is reduced, control over the polishing pressure is facilitated, the phenomenon of over-polishing or insufficient polishing is avoided, the polishing quality is improved, the system reliability is improved, and the service life of the robot body is prolonged.

Description

Technical Field

[0001] This invention relates to the field of polishing technology, and in particular to a fully automated polishing robot for processing metal parts. Background Technology

[0002] Polishing is a key process in the processing and manufacturing of metal parts to ensure the surface smoothness and quality of the product. In traditional processes, manual polishing or mechanically assisted polishing is generally used, which has problems such as low efficiency, poor consistency and high labor intensity. With the development of technology, polishing robots have gradually emerged and greatly improved efficiency. However, polishing robots also have many problems, which require relevant researchers to optimize and improve the robots. At present, polishing robots have a wide range of applications.

[0003] Existing patent CN211540799U discloses a metal parts polishing machine, including a frame and a fixing block. The fixing block is fixedly connected to the top right side of the frame, and a polishing mechanism is provided on the upper inner side of the frame. A polishing cylinder is fixedly connected to the inner side of the first straight rod, and a filter plate is fixedly connected to the inner lower end of the polishing cylinder. A cover plate is attached to the lower end of the filter plate, and the cover plate is fixedly connected to the polishing cylinder by external bolts. This metal parts polishing machine avoids the problem of parts being difficult to pick out from particulate matter through the connection and cooperation of the filter plate, baffle, and polishing cylinder. It also avoids the situation where large vibrations generated during operation can easily damage the internal parts of the device through the connection and cooperation of the spring, connecting rod, and slider. Finally, it avoids the situation where starting up is complicated and polishing is inconvenient through the connection and cooperation of the motor, belt, first transmission wheel, and second transmission wheel.

[0004] The above structure can achieve the polishing effect on metal parts. However, when polishing metal parts, the movement of the robot or device is used to move the polishing head. When dealing with uneven parts, a floating principle is generally used so that the polishing head can adapt to the uneven parts and achieve a better polishing effect. However, when encountering concave or convex surfaces for a long time, the floating principle causes fatigue of the polishing head after long-term operation. For example, when working on a concave surface for a long time, the polishing head descends for a long time, causing fatigue of the robot and the polishing head, resulting in fatigue damage to related robot components, and even causing uncontrolled polishing pressure, resulting in over-polishing or under-polishing, affecting the polishing quality, thereby reducing the reliability of the system and reducing the service life of the robot.

[0005] Therefore, how to provide a fully automated polishing robot for metal parts processing is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] One object of the present invention is to provide a fully automated polishing robot for processing metal parts. The fully automated polishing robot for processing metal parts according to the present invention includes a robot body, a robotic arm disposed at the output end of the robot body, a support block disposed on the robotic arm, a floating component disposed on the support block, a floating seat disposed on the floating component, a polishing component disposed on the floating seat, a damping component disposed on the floating component, a lever component disposed between the support block and the floating seat, a counterweight component disposed on the lever component, and a pulling component disposed between the floating seat and the lever component. The floating seat is equipped with a transmission component, and the support block is equipped with an adjustment component electrically connected to the damping component. An amplification component is provided between the adjustment component and the transmission component to amplify the movement amplitude of the floating seat. During normal polishing, the counterweight component is removed, the robotic arm adjusts the trajectory of the polishing component, and the polishing component works normally. When working continuously on the concave or convex surface, the counterweight component is assembled, and the polishing component moves up or down, so that the counterweight component acts on the floating seat through the pulling component and the lever component to achieve a pressure equalization effect on the polishing component.

[0007] Preferably, the floating assembly includes a floating cylinder disposed on the floating seat, a floating piston disposed inside the floating cylinder, a floating rod disposed on the floating piston and passing through the floating cylinder, the floating rod being disposed on the support block, and a floating spring sleeved on the outer ring of the floating rod being disposed between the floating cylinder and the support block.

[0008] Preferably, the polishing assembly includes a polishing motor mounted on the floating seat, a rotating rod connected to the floating seat by a bearing, the rotating rod being connected to the output shaft of the polishing motor, and a polishing roller adapted to the floating seat being fixedly sleeved on the rotating rod.

[0009] Preferably, the damping component includes an electromagnet ring sleeved on the outer ring of the floating cylinder. The floating cylinder is filled with magnetorheological fluid. When the electromagnet ring is not energized, the magnetorheological fluid is a low-viscosity fluid. When the electromagnet ring is energized, the magnetorheological fluid quickly aligns along the direction of the magnetic field lines to form a chain structure, thereby achieving a damping effect.

[0010] Preferably, the lever assembly includes a support rod disposed on the floating seat, a connecting rod hinged to the support rod, a load-bearing rod hinged to the connecting rod, the load-bearing rod hinged to the support block, and a counterweight assembly installed at the end of the load-bearing rod.

[0011] Preferably, the counterweight assembly includes a counterweight block disposed on the load-bearing rod, a screw disposed on the counterweight block, the screw having threads that penetrate the load-bearing rod, and a nut threadedly connected to the screw.

[0012] Preferably, the pulling assembly includes a supporting outer rod hinged to the floating seat, a supporting inner rod passing through the supporting outer rod, a baffle on the supporting inner rod, a connecting block hinged to the baffle, the connecting block being disposed on the load-bearing rod, and a pulling spring sleeved on the outer ring of the supporting inner rod between the supporting outer rod and the baffle.

[0013] Preferably, the transmission assembly includes a mounting rod disposed on the floating seat, a transmission rack disposed on the mounting rod, a support frame disposed on the support block, a shaft connected to the support frame by a bearing, and a transmission gear meshing with the transmission rack fixedly sleeved on the shaft.

[0014] Preferably, the amplification component includes a sliding rack disposed on the support block, a rotating gear one fixedly sleeved on the shaft, and a rotating gear two meshing with the rotating gear one and the sliding rack connected to a bearing on the support frame.

[0015] Preferably, the adjustment assembly includes an adjustment resistor disposed on the support frame, an adjustment rod disposed on the sliding rack, and a conductive ring disposed on the adjustment rod that is adapted to the adjustment resistor, wherein the adjustment resistor and the electromagnet ring are connected in series in the circuit.

[0016] The beneficial effects of this invention are as follows: This invention achieves continuous polishing of metal parts by using the movement of a robotic arm to drive the movement of a polishing component. When encountering a concave surface, since the polishing component is not in contact with the metal part, the floating component moves downward, causing the floating seat and polishing component to move downward as well. During this downward movement, the floating seat drives the transmission component, amplification component, and adjustment component to move, reducing the resistance value of the connected circuit, increasing the current, and increasing the damping effect of the damping component. This results in the floating component moving slowly, preventing the polishing component from colliding with the part due to rapid descent. When encountering a convex surface, since the polishing component contacts the protrusion of the metal part, the floating component moves upward, causing the floating seat and polishing component to move upward. During this upward movement, the floating seat drives the transmission component, amplification component, and adjustment component to move, increasing the resistance value of the connected circuit, thereby reducing the current. This weakens the damping effect of the damping component, allowing the floating component to move faster, preventing excessive pressure from the polishing component contacting the protrusion. When working on a concave surface for an extended period, a counterweight component is installed. The downward force of the counterweight component causes the lever to... The lever assembly generates an upward lifting force. When the device is in force balance, it compensates for the upward lifting tendency of the floating seat, reducing the upward lifting tendency of the floating seat and causing the overall balance point to drop, achieving long-term pressure balance on the concave surface. Similarly, when working on the convex surface for a long time, the weight of the counterweight assembly is downward, causing the lever assembly to generate an upward lifting force, pulling the assembly to stretch, and simultaneously generating an upward force on the floating seat, forcing the overall balance point to rise, achieving long-term pressure balance on the convex surface. This invention can achieve automatic control of the polishing assembly, improve the protection of the polishing assembly, ensure that the contact pressure is within the normal range, and achieve automatic adaptation to the concave and convex surfaces of the parts. When facing long-term concave and convex surface work, by adding a counterweight assembly, long-term working pressure balance is achieved, thereby reducing fatigue damage to the floating assembly and polishing assembly, facilitating the control of polishing pressure, avoiding over-polishing or under-polishing, improving polishing quality, improving system reliability, and extending the service life of the robot body. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a partial structural diagram of the present invention; Figure 3 This is a diagram showing the connection relationship between the floating component and the polishing motor of the present invention; Figure 4 This is a structural entity diagram of the floating component of the present invention; Figure 5 This is a structural schematic diagram of the polishing assembly of the present invention; Figure 6 This is a structural schematic diagram of the counterweight component of the present invention; Figure 7 This is a structural entity diagram of the pull assembly of the present invention; Figure 8 This is a diagram showing the connection relationship between the transmission component, adjustment component, and amplification component of the present invention. Figure 9 This is a structural entity diagram of the transmission assembly of the present invention; Figure 10 This is a structural entity diagram of the adjustment component of the present invention.

[0018] In the diagram: 1. Robot body; 2. Robotic arm; 3. Support block; 4. Floating assembly; 401. Floating cylinder; 402. Floating piston; 403. Floating rod; 404. Floating spring; 5. Floating seat; 6. Polishing assembly; 601. Polishing motor; 602. Rotating rod; 603. Polishing roller; 7. Damping assembly; 701. Electromagnetic ring; 8. Lever assembly; 801. Support rod; 802. Connecting rod; 803. Load-bearing rod; 9. Counterweight assembly; 901. Counterweight block; 902. Screw; 903. Nut; 10. Pull... Moving component; 1001, outer support rod; 1002, inner support rod; 1003, baffle; 1004, connecting block; 1005, pulling spring; 11, transmission component; 1101, mounting rod; 1102, transmission rack; 1103, support frame; 1104, shaft; 1105, transmission gear; 12, adjusting component; 1201, adjusting resistor; 1202, adjusting rod; 1203, conductive ring; 13, amplifying component; 1301, sliding rack; 1302, rotating gear one; 1303, rotating gear two. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention. Example

[0020] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10As shown, a fully automatic polishing robot for processing metal parts according to the present invention includes a robot body 1, a robotic arm 2 at the output end of the robot body 1, a support block 3 on the robotic arm 2, a floating component 4 on the support block 3, a floating seat 5 on the floating component 4, a polishing component 6 on the floating seat 5, a damping component 7 on the floating component 4, a lever component 8 between the support block 3 and the floating seat 5, a counterweight component 9 on the lever component 8, a pulling component 10 between the floating seat 5 and the lever component 8, and a transmission mechanism on the floating seat 5. Component 11, support block 3 is provided with adjustment component 12 electrically connected to damping component 7, and amplification component 13 is provided between adjustment component 12 and transmission component 11 to amplify the movement amplitude of floating seat 5; wherein, during normal polishing, counterweight component 9 is removed, robotic arm 2 adjusts the trajectory of polishing component 6, and polishing component 6 works normally; when working continuously on concave or convex surfaces, counterweight component 9 is installed, polishing component 6 moves up or down, so that counterweight component 9 acts on floating seat 5 through pulling component 10 and lever component 8 to achieve pressure balance effect on polishing component 6.

[0021] Working principle: When polishing metal parts, the metal parts are placed in a designated position. The robot body 1 moves, driving the robotic arm 2 to the polishing position along a trajectory. During normal polishing, the polishing component 6 is activated. The polishing component 6 polishes the metal parts. The movement of the robotic arm 2 drives the polishing component 6 to move, achieving continuous polishing of the metal parts. When encountering a concave surface, since the polishing component 6 is not in contact with the metal part, the floating component 4 moves downward, causing the floating seat 5 to move downward. This causes the floating seat 5 to drive the polishing component 6 downward. During this downward movement, the floating seat 5 drives the transmission component 11, which in turn drives the amplification component 13. This causes the amplification component 13 to drive the adjustment component 12, reducing the resistance value of the circuit and increasing the current. This enhances the damping effect of the damping component 7, causing the floating component 4 to move slowly until the floating seat 5 drives the polishing component 6 to slowly move downwards and contact the concave surface of the component, preventing the polishing component 6 from colliding with the component due to rapid descent. When encountering a convex surface, the floating component 4 moves upwards, causing the floating seat 5 to move upwards, which in turn drives the polishing component 6 upwards. During this upward movement, the floating seat 5 drives the transmission component 11, which in turn drives the amplification component 13, which in turn drives the adjustment component 12. This increases the resistance of the circuit, reducing the current and weakening the damping effect of the damping component 7. This causes the floating component 4 to move faster until the floating seat 5 moves the polishing component 6 upwards, preventing excessive pressure between the polishing component 6 and the protrusion. When working on the concave surface for an extended period, after the counterweight component 9 is installed, the increased damping effect of the damping component 7 causes the floating seat 5 to exert an upward lifting force on the polishing component 6 to ensure it operates at a level. At this time, the downward movement of the floating seat 5 causes the lever component 8 to move, which in turn moves the counterweight component 9 upwards. This causes the weight of the counterweight component 9 to drop downwards, resulting in an upward lifting force from the lever component 8. When the device is in force balance, the lifting force effectively compensates for the upward lifting tendency of the floating seat 5, reducing the upward lifting tendency of the floating seat 5 and causing the overall balance point to drop, thereby achieving long-term pressure balance on the concave surface. Similarly, when working on the convex surface for a long time, due to the reduced damping effect of the damping component 7, the floating seat 5 is in a relatively free state. In order to ensure that the polishing component 6 works at the same level, the weight of the counterweight component 9 is downward, which causes the lever component 8 to generate an upward lifting force, pulling the component 10 to stretch, and simultaneously generating an upward force on the floating seat 5, preventing the floating seat 5 from moving downward freely, forcing the overall balance point to rise, thereby achieving long-term pressure balance on the convex surface.In summary, the fully automatic polishing robot for metal parts processing disclosed in this application can achieve automatic control of the polishing component 6 during normal operation, improving the protection of the polishing component 6, ensuring that the contact pressure is within the normal range, and achieving automatic adaptation to the concave and convex surfaces of the parts. When facing long-term concave and convex surface work, the addition of the counterweight component 9 achieves long-term working pressure balance, thereby reducing fatigue damage to the floating component 4 and the polishing component 6, facilitating the control of polishing pressure, avoiding over-polishing or under-polishing, improving polishing quality, increasing system reliability, and extending the service life of the robot body 1. Example

[0022] like Figure 2 , Figure 3 and Figure 4 As shown, the present invention discloses a fully automatic polishing robot for processing metal parts. The floating component 4 includes a floating cylinder 401 disposed on a floating seat 5. A floating piston 402 is disposed inside the floating cylinder 401. A floating rod 403 is disposed on the floating piston 402 and passes through the floating cylinder 401. The floating rod 403 is disposed on a support block 3. A floating spring 404 is disposed between the floating cylinder 401 and the support block 3 and is sleeved on the outer ring of the floating rod 403.

[0023] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, the present invention discloses a fully automatic polishing robot for processing metal parts. The polishing assembly 6 includes a polishing motor 601 mounted on a floating seat 5. A rotating rod 602 is connected to the floating seat 5 by a bearing. The rotating rod 602 is connected to the output shaft of the polishing motor 601. A polishing roller 603 adapted to the floating seat 5 is fixedly sleeved on the rotating rod 602.

[0024] like Figure 3 As shown, the present invention discloses a fully automatic polishing robot for processing metal parts. The damping component 7 includes an electromagnet ring 701 sleeved on the outer ring of a floating cylinder 401. The floating cylinder 401 is filled with magnetorheological fluid. When the electromagnet ring 701 is not energized, the magnetorheological fluid is a low-viscosity fluid. When the electromagnet ring 701 is energized, the magnetorheological fluid quickly aligns along the direction of the magnetic field lines to form a chain structure, thereby achieving a damping effect.

[0025] like Figure 1 and Figure 2 As shown, the present invention discloses a fully automatic polishing robot for processing metal parts. The lever assembly 8 includes a support rod 801 disposed on a floating seat 5, a connecting rod 802 hinged to the support rod 801, a load-bearing rod 803 hinged to the connecting rod 802, the load-bearing rod 803 hinged to the support block 3, and a counterweight assembly 9 installed at the end of the load-bearing rod 803.

[0026] like Figure 2 and Figure 6 As shown, the present invention discloses a fully automatic polishing robot for processing metal parts. The counterweight assembly 9 includes a counterweight block 901 disposed on a load-bearing rod 803. A screw 902 is disposed on the counterweight block 901. The screw 902 is threaded through the load-bearing rod 803. A nut 903 adapted to the screw 902 is threadedly connected to the screw 902.

[0027] like Figure 2 and Figure 7 As shown, a fully automatic polishing robot for processing metal parts according to the present invention includes a pulling assembly 10 comprising a supporting outer rod 1001 hinged to a floating seat 5, a supporting inner rod 1002 passing through the supporting outer rod 1001, a baffle 1003 on the supporting inner rod 1002, a connecting block 1004 hinged to the baffle 1003, the connecting block 1004 being disposed on a load-bearing rod 803, and a pulling spring 1005 sleeved on the outer ring of the supporting inner rod 1002 between the supporting outer rod 1001 and the baffle 1003.

[0028] like Figure 2 , Figure 8 and Figure 9 As shown, the present invention discloses a fully automatic polishing robot for processing metal parts. The transmission assembly 11 includes a mounting rod 1101 disposed on a floating seat 5, a transmission rack 1102 disposed on the mounting rod 1101, a support frame 1103 disposed on the support block 3, a shaft 1104 connected to the support frame 1103 by a bearing, and a transmission gear 1105 that meshes with the transmission rack 1102 is fixedly sleeved on the shaft 1104.

[0029] like Figure 8 As shown, the fully automatic polishing robot for processing metal parts according to the present invention includes a magnified component 13 comprising a sliding rack 1301 disposed on a support block 3, a rotating gear 1302 fixedly sleeved on a shaft 1104, and a rotating gear 2 1303 connected to a bearing on a support frame 1103, which meshes with the rotating gear 1302 and the sliding rack 1301.

[0030] like Figure 8 and Figure 10 As shown, the present invention discloses a fully automatic polishing robot for processing metal parts. The adjustment component 12 includes an adjustment resistor 1201 disposed on a support frame 1103, an adjustment rod 1202 disposed on a sliding straight rack 1301, and a conductive ring 1203 adapted to the adjustment resistor 1201 disposed on the adjustment rod 1202. The adjustment resistor 1201 and the electromagnet ring 701 are connected in series in the circuit.

[0031] Working principle: When polishing metal parts, the metal parts are placed in a designated position. The robot body 1 moves on its own, driving the robotic arm 2 to move along the trajectory to the polishing position. The contact pressure is adjusted to a reasonable range. During normal polishing of the parts, the polishing motor 601 is started. The output shaft of the polishing motor 601 rotates, driving the rotating rod 602 to rotate. The rotating rod 602 rotates, driving the polishing roller 603 to rotate. When the parts come into contact with the polishing roller 603, the polishing roller 603 polishes the parts. The robot body 1 drives the robotic arm 2 to move, forcing the robotic arm 2 to drive the floating rod 403, floating spring 404, floating cylinder 401, floating seat 5 and polishing roller 603 to move continuously, thereby achieving continuous polishing of the metal parts. When encountering a concave surface, since the polishing roller 603 is not in contact with the metal parts, under the action of the floating rod 403 and the floating piston 402, as well as gravity, the floating cylinder 401 moves downward. The floating cylinder 401 drives the floating seat 5 to move downward, causing the polishing motor 601 and the polishing roller 603 to move downward. During the downward movement, the floating seat 5 drives the mounting rod 1101 and the transmission rack 1102 to move, causing the transmission rack 1102 to drive the transmission gear 1105 to rotate, forcing the shaft 1104 to rotate. The rotation of the shaft 1104 drives the first rotating gear 1302 to rotate, and the rotation of the first rotating gear 1302 drives the second rotating gear 1303 to rotate. 1303 drives the sliding rack 1301 to move, which in turn drives the adjusting rod 1202 to move. The adjusting rod 1202 drives the conductive ring 1203 to move on the adjusting resistor 1201, which reduces the resistance of the adjusting resistor 1201 connected to the circuit, thereby increasing the current. This forces the magnetic force of the electromagnet ring 701 to increase, which in turn increases the damping effect of the magnetorheological fluid in the floating cylinder 401. As a result, the floating cylinder 401 moves slowly, which in turn causes the floating seat 5 to move slowly, which in turn forces the polishing roller 603 to move slowly until the polishing roller 603 slowly moves down to contact the concave surface of the part, thus avoiding the phenomenon of the polishing roller 603 falling rapidly and colliding with the part. When encountering a convex surface, the polishing roller 603 contacts the protrusion of the metal part, forcing the polishing roller 603 to move upward. This causes the floating seat 5 to drive the floating cylinder 401 to move upward. During this upward movement, the floating seat 5 drives the mounting rod 1101 and the transmission rack 1102 to move. This causes the transmission rack 1102 to drive the transmission gear 1105 to rotate, forcing the shaft 1104 to rotate. The rotation of the shaft 1104 drives the first rotating gear 1302 to rotate, which in turn drives the second rotating gear 1303 to rotate. The second rotating gear 1303 then drives the sliding rack 1301 to move, causing the sliding rack 1301 to drive the adjustment... When the lever 1202 moves, the adjusting lever 1202 drives the conductive ring 1203 to move on the adjusting resistor 1201, which increases the resistance value of the adjusting resistor 1201 connected to the circuit, thereby reducing the current. This forces the magnetic force of the electromagnet ring 701 to decrease, which in turn weakens the damping effect of the magnetorheological fluid in the floating cylinder 401. This forces the polishing roller 603, the floating seat 5, and the floating cylinder 401 to move faster until the floating seat 5 drives the polishing roller 603 to move safely upward, avoiding excessive pressure between the polishing roller 603 and the protrusion. During the normal movement described above, when encountering a concave or convex surface, the counterweight assembly 9, the pulling assembly 10, and the lever assembly 8 do not function. When working on the concave surface for an extended period, the operator uses screws 902 and nuts 903 to install the counterweight 901. Due to the increased damping effect of the magnetorheological fluid in the floating cylinder 401, to ensure the polishing roller 603 operates at the same level as the concave surface, the floating seat 5, floating spring 404, and floating cylinder 401 exert an upward lifting force on the polishing roller 603. The floating seat 5 moves downward, causing the support rod 801 to move downward, which in turn causes the connecting rod 802 to move downward, resulting in one end of the load-bearing rod 803 moving downward while the other end moves upward—that is, the counterweight... As block 901 rises, the weight of counterweight block 901 causes the supporting rod 803 to exert an upward pulling force on the connecting rod 802. This causes the connecting rod 802 to act on the supporting rod 801, which in turn acts on the floating seat 5. When the device is in force balance, the pulling force of the supporting rod 801 on the floating seat 5 effectively compensates for the upward pulling force of the floating seat 5 on the polishing roller 603, thereby reducing the upward pulling force of the floating seat 5. This lowers the overall equilibrium point, allowing the polishing roller 603 to match the concave surface of the component, achieving long-term pressure balance on the concave surface. Similarly, when working on the convex surface for an extended period, the operator uses screws 902 and nuts 903 to install the counterweight 901. Because the damping effect of the magnetorheological fluid in the floating cylinder 401 decreases at this time, the floating seat 5 is in a relatively free state. To ensure that the polishing roller 603 works at the same level as the convex surface, although the position of the counterweight 901 changes, its weight remains unchanged and continues downward, causing the supporting rod 803 to exert an upward force on the connecting rod 802. The tension causes the connecting rod 802 to act on the support rod 801, and the support rod 801 to act on the floating seat 5. When the device is in force balance, the inner support rod 1002 slides within the outer support rod 1001, pulling the spring 1005 to stretch. This causes the pulling assembly 10 and the lever assembly 8 to exert an upward force on the floating seat 5 simultaneously, preventing the floating seat 5 and the polishing roller 603 from moving downwards freely. This forces the overall balance point to rise, allowing the polishing roller 603 to match the convex surface of the component, thereby achieving long-term pressure balance on the convex surface.

[0032] This solution, on the one hand, enables automatic control of the polishing component 6 during normal operation, enhancing its protection and ensuring contact pressure remains within the normal range, thus achieving automatic adaptation to concave and convex surfaces of the parts. On the other hand, when facing prolonged concave and convex surface work, the addition of a counterweight 901 achieves long-term working pressure balance, thereby reducing fatigue damage to the floating spring 404 and the polishing component 6, facilitating control of polishing pressure, avoiding over-polishing or under-polishing, improving polishing quality, enhancing system reliability, and extending the service life of the robot body 1.

[0033] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A fully automated polishing robot for processing metal parts, characterized in that, The system includes a robot body (1), an output end of which is provided with a robotic arm (2), a support block (3) on the robotic arm (2), a floating component (4) on the support block (3), a floating seat (5) on the floating component (4), a polishing component (6) on the floating seat (5), a damping component (7) on the floating component (4), a lever component (8) between the support block (3) and the floating seat (5), a counterweight component (9) on the lever component (8), a pulling component (10) between the floating seat (5) and the lever component (8), and a transmission component (11) on the floating seat (5). An adjustment component (12) electrically connected to the damping component (7) is provided on the floating seat (5). An amplification component (13) amplifies the movement amplitude of the floating seat (5) between the adjustment component (12) and the transmission component (11). During normal polishing, the counterweight component (9) is removed, and the mechanical arm (2) adjusts the trajectory of the polishing component (6), so that the polishing component (6) works normally. When working continuously on the concave or convex surface, the counterweight component (9) is assembled, and the polishing component (6) moves up or down, so that the counterweight component (9) acts on the floating seat (5) through the pulling component (10) and the lever component (8), thereby achieving a pressure equalization effect on the polishing component (6).

2. The fully automatic polishing robot for metal parts processing according to claim 1, characterized in that, The floating assembly (4) includes a floating cylinder (401) disposed on the floating seat (5), a floating piston (402) disposed inside the floating cylinder (401), a floating rod (403) disposed on the floating piston (402) and passing through the floating cylinder (401), the floating rod (403) being disposed on the support block (3), and a floating spring (404) sleeved on the outer ring of the floating rod (403) being disposed between the floating cylinder (401) and the support block (3).

3. The fully automatic polishing robot for metal parts processing according to claim 1, characterized in that, The polishing assembly (6) includes a polishing motor (601) mounted on the floating seat (5), a rotating rod (602) is connected to the floating seat (5) by a bearing, the rotating rod (602) is connected to the output shaft of the polishing motor (601), and a polishing roller (603) adapted to the floating seat (5) is fixedly sleeved on the rotating rod (602).

4. The fully automatic polishing robot for metal parts processing according to claim 2, characterized in that, The damping component (7) includes an electromagnet ring (701) sleeved on the outer ring of the floating cylinder (401). The floating cylinder (401) is filled with magnetorheological fluid. When the electromagnet ring (701) is not energized, the magnetorheological fluid is a low-viscosity fluid. When the electromagnet ring (701) is energized, the magnetorheological fluid quickly aligns along the direction of the magnetic field lines to form a chain structure, thereby achieving a damping effect.

5. The fully automatic polishing robot for metal parts processing according to claim 1, characterized in that, The lever assembly (8) includes a support rod (801) mounted on the floating seat (5), a connecting rod (802) hinged to the support rod (801), a load-bearing rod (803) hinged to the connecting rod (802), the load-bearing rod (803) hinged to the support block (3), and a counterweight assembly (9) mounted on the end of the load-bearing rod (803).

6. The fully automated polishing robot for metal parts processing according to claim 5, characterized in that, The counterweight assembly (9) includes a counterweight block (901) disposed on the load-bearing rod (803), a screw (902) disposed on the counterweight block (901), the screw (902) being threaded through the load-bearing rod (803), and a nut (903) adapted to the screw (902) being threadedly connected to the screw (902).

7. The fully automatic polishing robot for metal parts processing according to claim 5, characterized in that, The pulling assembly (10) includes a supporting outer rod (1001) hinged to the floating seat (5), a supporting inner rod (1002) passing through the supporting outer rod (1001) is provided on the supporting outer rod (1001), a baffle (1003) is provided on the supporting inner rod (1002), a connecting block (1004) is hinged to the baffle (1003), the connecting block (1004) is provided on the load-bearing rod (803), and a pulling spring (1005) sleeved on the outer ring of the supporting inner rod (1002) is provided between the supporting outer rod (1001) and the baffle (1003).

8. The fully automatic polishing robot for metal parts processing according to claim 4, characterized in that, The transmission assembly (11) includes a mounting rod (1101) disposed on the floating seat (5), a transmission rack (1102) disposed on the mounting rod (1101), a support frame (1103) disposed on the support block (3), a shaft (1104) connected to the support frame (1103) by a bearing, and a transmission gear (1105) that meshes with the transmission rack (1102) is fixedly sleeved on the shaft (1104).

9. The fully automatic polishing robot for processing metal parts according to claim 8, characterized in that, The amplification component (13) includes a sliding rack (1301) disposed on the support block (3), a rotating gear (1302) fixedly sleeved on the shaft (1104), and a rotating gear (1303) connected to the support frame (1103) by a bearing to mesh with the rotating gear (1302) and the sliding rack (1301).

10. A fully automated polishing robot for processing metal parts according to claim 9, characterized in that, The adjustment assembly (12) includes an adjustment resistor (1201) disposed on the support frame (1103), an adjustment rod (1202) disposed on the sliding rack (1301), and a conductive ring (1203) adapted to the adjustment resistor (1201) disposed on the adjustment rod (1202). The adjustment resistor (1201) and the electromagnet ring (701) are connected in series in the circuit.

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