Metal workpiece surface grinding robot

Abstract

The invention relates to the technical field of grinding machining, in particular to a metal workpiece surface grinding robot. Comprising an equipment frame; a bottom plate is fixedly mounted on the equipment frame, and a grinding mechanism and a fixing mechanism are arranged on the bottom plate; the arc-shaped plate is fixed through the clamping part, then the arc-shaped plate is driven to move, the outer ring wall is ground through the grinding part, then the arc-shaped plate is driven to rotate reversely, the grinding part is driven to rotate by 180 degrees through the switching part, and then the inner ring wall of the arc-shaped plate can be ground through the grinding part; and in the grinding process, the clamping part can alternately change the clamping position of the arc-shaped plate, on one hand, interference to grinding of the arc-shaped plate is avoided, on the other hand, it is guaranteed that the arc-shaped plate is fixed all the time, and the grinding efficiency and quality of the arc-shaped plate are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of grinding and polishing technology, and in particular to a metal workpiece surface grinding robot. Background Technology

[0002] Curved metal sheets are metal sheets with curved shapes. They can be bent into different curvatures according to design requirements and are widely used in many fields, such as building decoration, furniture manufacturing, industrial equipment, automobile manufacturing, and aerospace. After the curved metal sheet is formed, its two curved surfaces need to be polished. Generally, robotic technology is used for automatic polishing to quickly remove burrs, oxide layers, rust, and other impurities from the surface of the curved metal sheet, thereby improving the appearance quality of the product and reducing safety hazards caused by surface roughness.

[0003] However, the following problems exist in the current grinding process of curved metal plates: After grinding one curved surface, the existing grinding method requires disassembling and reassembling the curved plate for grinding. Furthermore, the contact between the fixture that fixes the curved plate and the curved surface of the plate is obstructed, so it is necessary to disassemble and reassemble the fixture in sections for grinding. This makes the grinding process of curved plates cumbersome and affects the efficiency of the grinding. Moreover, the grinding operation is interrupted during the disassembly and reassembly of the fixture in sections, which affects the consistency of the ground surface. The grinding quality and grinding continuity need to be improved. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a metal workpiece surface grinding robot to solve the aforementioned technical problems.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The present invention provides a metal workpiece surface grinding robot, including a frame; a base plate is fixedly installed on the frame, and a grinding mechanism and a fixing mechanism are provided on the base plate.

[0006] The grinding mechanism includes a shaft column, which is rotatably mounted on the base plate. The upper end of the shaft column passes through the base plate and is fixedly mounted on a U-shaped plate. The upper ends of the two vertical sections of the U-shaped plate are fixedly mounted on a support plate. The support plate is provided with a grinding part for grinding the inner and outer ring walls of the arc-shaped plate in sequence.

[0007] The fixing mechanism includes a rotating shaft. The rotating shaft is rotatably mounted on the base plate and located on the right side of the shaft column. The lower end of the rotating shaft passes through the base plate. A No. 1 motor is fixedly mounted on the upper end of the base plate. The output shaft of the No. 1 motor rotates through the base plate and is connected to the rotating shaft via a No. 1 belt. The rotating shaft is provided with a clamping part for clamping and fixing the arc-shaped plate and a locking part for limiting the rotation of the U-shaped plate.

[0008] The base plate is provided with a switching part that cooperates with the rotating shaft to drive the shaft column to rotate so as to switch the grinding position of the grinding part to the arc plate.

[0009] As a preferred embodiment, the grinding section includes a C-shaped plate. Two symmetrical C-shaped plates are slidably mounted on the upper end of the support plate. A grinding roller is rotatably mounted between the two horizontal sections of the left C-shaped plate, and a pressure roller is rotatably mounted between the two horizontal sections of the right C-shaped plate. A U-shaped groove is provided on the support plate at the position corresponding to the grinding roller. The lower end of the grinding roller passes through the C-shaped plate and is located in the U-shaped groove. A driving component for driving the grinding roller to rotate and the two C-shaped plates to move is provided on the support plate.

[0010] As a preferred embodiment, the clamping part includes a fan-shaped plate. The upper part of the rotating shaft passes through the bottom plate and is fixedly installed with a fan-shaped plate located above the C-shaped plate. Four sets of extrusion components are evenly arranged along the circumference of the lower end of the fan-shaped plate. Each set of extrusion components consists of two extrusion plates that slide radially along the fan-shaped plate. The two extrusion plates in the same set slide along the same radial line. A support plate is fixedly installed at the lower end of the extrusion plate near the rotating shaft in the extrusion component. Slide grooves are opened at positions corresponding to the extrusion plates on the fan-shaped plate. Slide plates are slidably installed in the slide grooves. The lower end of the slide plate passes through the corresponding slide groove and is fixedly connected to the corresponding extrusion plate. An actuator for driving the slide plate to move is provided on the fan-shaped plate.

[0011] As a preferred embodiment, the driving component includes a second motor. The second motor is fixedly installed at the left end of the left-side C-shaped plate. The output shaft of the second motor is located in the U-shaped groove and is connected to the grinding roller via a second belt. A bidirectional electric push rod located between the two C-shaped plates is fixedly installed at the front end of the support plate. Both telescopic sections of the bidirectional electric push rod are fixedly connected to the corresponding C-shaped plates via connecting plates.

[0012] As a preferred embodiment, the actuator includes a tension spring. Tension springs are fixedly installed between the opposite ends of the two slide plates in the same group and the inner walls of the corresponding slide grooves. Except for the two middle sets of extrusion assemblies, the other two sets of extrusion assemblies each have a guide wheel on the side near the rotating shaft. The guide wheel is rotatably mounted on the upper end of the fan-shaped plate. A rope is fixedly installed on the slide plate near the rotating shaft in the extrusion assembly corresponding to the guide wheel. The rope passes around the corresponding guide wheel and is fixedly connected to another slide plate in the same group via a support plate. The two middle sets of extrusion assemblies have a guide wheel on the side away from the rotating shaft, rotatably connected to the upper end of the fan-shaped plate. A rope is fixedly installed on the extrusion plate away from the rotating shaft in the two middle sets of extrusion assemblies. The rope passes around the corresponding guide wheel and is fixedly connected to another slide plate in the same group via a support plate. A pushing component is provided between the extrusion assembly near the edge of the fan-shaped plate and the adjacent extrusion assembly.

[0013] As a preferred embodiment, the pushing component includes a slider, and the upper end of the fan-shaped plate is slidably mounted on the slider along its radial direction. A connecting rod is fixedly mounted on the upper end of the slider, and two waist grooves are opened on the connecting rod. Guide posts that slide through the corresponding waist grooves are fixedly mounted on the upper end of the slide plate near the first guide wheel and the upper end of the slide plate near the second guide wheel. The side of the slider away from the rotating shaft is fixedly connected to the telescopic section of the first electric push rod fixedly mounted on the upper end of the fan-shaped plate.

[0014] As a preferred embodiment, the switching part includes a sleeve. The lower end of the shaft is slidably fitted with the sleeve after penetrating the base plate. Two guide rods that slide through the sleeve are symmetrically installed at the lower end of the base plate. A spiral groove is formed along the circumference of the lower part of the shaft. A rectangular groove is formed on the left side of the sleeve. A rectangular block is slidably installed in the rectangular groove. A circular groove is formed on the lower wall of the rectangular groove. A return spring is fixedly installed between the lower end of the rectangular block and the bottom wall of the circular groove. A roller that cooperates with the spiral groove is installed on the rectangular block. Two drive plates that are symmetrical about the shaft are slidably installed at the lower end of the base plate. A guide groove is formed on the opposite surface of the two drive plates. The guide groove has a parallelogram structure. Rollers that slide and cooperate with the corresponding guide grooves are symmetrically installed on the outer wall of the sleeve. A linkage is provided between the drive plate and the rotating shaft.

[0015] As a preferred embodiment, the linkage includes a spur gear, a spur gear is fixedly mounted on the rotating shaft, the spur gear is located between the lower end face of the base plate and the first belt, a rack located behind the spur gear and meshing with the spur gear is slidably mounted on the lower end of the base plate, a connecting plate is fixedly mounted on the right end of the two drive plates, and the left end of the rack is fixedly connected to the connecting plate.

[0016] As a preferred embodiment, the locking part includes a vertical plate, and the upper end of the base plate is fixedly installed with a vertical plate located on the right side of the support plate. A limit post is provided on the left side of the vertical plate, and a protruding ring is fixedly sleeved on the right end of the limit post after it slides through the vertical plate. A compression spring is installed between the protruding ring and the vertical plate. Limiting holes that cooperate with the limit post are opened at both ends of the horizontal section of the U-shaped plate. A pushing component for pushing the limit post to move is provided on the rotating shaft.

[0017] As a preferred embodiment, the pushing assembly includes a roller, the right end of the limiting post is rotatably mounted with the roller, and a cam that abuts against the roller is fixedly mounted on the rotating shaft, with the cam 334 located on the upper side of the base plate 11.

[0018] The above-mentioned one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: First, the present invention fixes the arc-shaped plate by clamping part, and then drives the arc-shaped plate to move through the grinding part to grind the outer ring wall first, and then drives the arc-shaped plate to reverse, and drives the grinding part to rotate 180 degrees through the switching part. After that, the grinding part can grind the inner ring wall of the arc-shaped plate. During the grinding process, the clamping part can alternately change the clamping position of the arc-shaped plate, which avoids interference with the grinding of the arc-shaped plate on the one hand, and ensures that the arc-shaped plate is always fixed on the other hand, so as to ensure the efficiency and quality of the grinding of the arc-shaped plate.

[0019] Second, the clamping part of this invention drives the corresponding drive plate by pushing and pulling the first electric push rod. Through the cooperation of the corresponding first rope and second rope, the two sets of extrusion components alternately extrude and fix the arc-shaped plate. As a result, the extrusion component closer to the grinding part moves away from the arc-shaped plate, ensuring that the extrusion component can move past the grinding part as the arc-shaped plate moves. Meanwhile, the other set of extrusion components extrudes and fixes the arc-shaped plate. This ensures that the extrusion plate is fixed while avoiding interference with the movement and grinding of the arc-shaped plate, thereby ensuring the efficiency and quality of the arc-shaped plate grinding.

[0020] Third, the switching unit of this invention drives the fixed arc plate to rotate in both directions via a rotating shaft, thereby driving the grinding unit to rotate and switch the grinding rollers on the arc plate. By rotating the arc plate once in one round trip, the grinding of two arc surfaces can be achieved, further improving the efficiency of grinding the arc plate. After the grinding unit is switched, the locking unit further restricts the rotation of the grinding unit, thereby further improving the stability of the grinding process and thus further improving the quality of grinding the arc plate.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the process of grinding and processing an arc-shaped plate according to the present invention.

[0024] Figure 2 for Figure 1 A schematic diagram of the structure behind the concealed curved plate.

[0025] Figure 3 for Figure 2 Enlarged view of the structure at point A in the image.

[0026] Figure 4 This is a schematic diagram of the grinding part of the present invention.

[0027] Figure 5 This is a schematic diagram of the linkage component of the present invention.

[0028] Figure 6 for Figure 5 Enlarged view of the structure at point B in the middle.

[0029] Figure 7 This is a schematic diagram of the structure of the actuator of the present invention.

[0030] Figure 8 for Figure 7 Enlarged view of the structure at point C.

[0031] Reference numerals: 10. Equipment frame; 11. Base plate; 2. Grinding mechanism; 20. Shaft column; 21. U-shaped plate; 22. Support plate; 23. Grinding section; 230. C-shaped plate; 231. Grinding roller; 232. Pressure roller; 4. Driving component; 40. Motor No. 2; 41. Bidirectional electric push rod; 42. Connecting plate; 3. Fixing mechanism; 30. Rotating shaft; 31. Motor No. 1; 32. Clamping part; 320. Sector plate; 321. Extrusion plate; 322. Support plate; 323. Slide plate; 5. Actuating component; 50. Tension spring; 51. Rope No. 1; Rope No. 2; Connecting rod; Guide post; Electric push rod No. 1; Locking part; Limiting post; Compression spring; Limiting hole; Roller; Cam; Switching part; Sleeve; Spiral groove; Rectangular groove; Rectangular block; Return spring; Roller; Drive plate; Guide groove; Roller shaft; Linkage component; Spur gear; Rack; Connecting plate. Detailed Implementation

[0032] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] like Figure 1As shown, a metal workpiece surface grinding robot includes an equipment frame 10; a base plate 11 is fixedly installed on the equipment frame 10, and a grinding mechanism 2 and a fixing mechanism 3 are provided on the base plate 11.

[0034] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the grinding mechanism 2 includes a shaft column 20, which is rotatably mounted on the base plate 11. The upper end of the shaft column 20 passes through the base plate 11 and is fixedly mounted on a U-shaped plate 21. The upper ends of the two vertical sections of the U-shaped plate 21 are jointly fixedly mounted on a support plate 22. The support plate 22 is provided with a grinding part 23 for grinding the inner and outer ring walls of the arc plate in sequence.

[0035] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the fixing mechanism 3 includes a rotating shaft 30. The rotating shaft 30 is rotatably mounted on the base plate 11 and is located on the right side of the shaft column 20. The lower end of the rotating shaft 30 passes through the base plate 11, and a No. 1 motor 31 is fixedly mounted on the upper end of the base plate 11. The output shaft of the No. 1 motor 31 rotates through the base plate 11 and is connected to the rotating shaft 30 via a No. 1 belt. The rotating shaft 30 is provided with a clamping part 32 for clamping and fixing the arc plate and a locking part 33 for limiting the rotation of the U-shaped plate 21.

[0036] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the base plate 11 is provided with a switching part 34 that cooperates with the rotating shaft 30 to drive the shaft column 20 to rotate so as to switch the grinding position of the grinding part 23 on the arc plate.

[0037] In practice, the arc-shaped plate is placed on the clamping part 32 and clamped and fixed by the clamping part 32. Then, the first motor 31 drives the rotating shaft 30 to rotate forward via the first belt. The rotating shaft 30 then drives the fixed arc-shaped plate to move towards the grinding part 23 through the clamping part 32. The grinding part 23 first grinds the outer ring wall of the arc-shaped plate. After the outer ring wall of the arc-shaped plate is ground, the first motor 31 reverses and drives the rotating shaft 30 to reverse. The rotating shaft 30 then drives the fixed arc-shaped plate to move in the opposite direction to the grinding part 23. During the movement, the grinding part 23 is rotated and the grinding position is switched by the switching part 34. Then the arc-shaped plate passes through the grinding part 23, and the grinding part 23 grinds the inner ring wall of the arc-shaped plate.

[0038] like Figure 1 , Figure 4 and Figure 5 As shown, the grinding section 23 includes a C-shaped plate 230. Two C-shaped plates 230 are slidably mounted on the upper end of the support plate 22. A grinding roller 231 is rotatably mounted between the two horizontal sections of the left C-shaped plate 230, and a pressure roller 232 is rotatably mounted between the two horizontal sections of the right C-shaped plate 230. A U-shaped groove is provided on the support plate 22 at the position corresponding to the grinding roller 231. The lower end of the grinding roller 231 passes through the C-shaped plate 230 and is located in the U-shaped groove. A driving component 4 is provided on the support plate 22 for driving the grinding roller 231 to rotate and the two C-shaped plates 230 to move.

[0039] like Figure 1 , Figure 4 and Figure 5 As shown, the driving component 4 includes a second motor 40. The second motor 40 is fixedly installed at the left end of the left chamfered plate 230. The output shaft of the second motor 40 is located in the U-shaped groove and is connected to the grinding roller 231 through the second belt. The front end of the support plate 22 is fixedly installed with a bidirectional electric push rod 41 located between the two chamfered plates 230. The two telescopic sections of the bidirectional electric push rod 41 are fixedly connected to the corresponding chamfered plates 230 through the connecting plate 42.

[0040] like Figures 1-7 As shown, the clamping part 32 includes a fan-shaped plate 320. The upper part of the rotating shaft 30 passes through the bottom plate 11 and is fixedly installed above the U-shaped plate 230. Four sets of extrusion components are evenly arranged along the circumference of the lower end of the fan-shaped plate 320. Each set of extrusion components consists of two extrusion plates 321 that slide radially along the fan-shaped plate 320. The two extrusion plates 321 in the same set slide along the same radial line. The lower end of the extrusion plate 321 near the rotating shaft 30 is fixedly installed with a support plate 322. The fan-shaped plate 320 is provided with a sliding groove at a position corresponding to the extrusion plate 321. A sliding plate 323 is slidably installed in each sliding groove. The lower end of the sliding plate 323 passes through the corresponding sliding groove and is fixedly connected to the corresponding extrusion plate 321. An actuator 5 for driving the sliding plate 323 to move is provided on the fan-shaped plate 320.

[0041] In actual operation, the actuator 5 drives the two extrusion plates 321 in the same group to move closer to each other to press and fix the arc plate. Then, the first motor 31 drives the fixed arc plate to move towards the grinding part 23 through the rotating shaft 30. At this time, the bidirectional electric push rod 41 drives the two C-shaped plates 230 to move through the connecting plate 42, so that the pressure roller 232 and the grinding roller 231 move closer to the required distance. Then, the second motor 40 drives the grinding roller 231 to rotate. After that, the arc plate passes between the grinding roller 231 and the pressure roller 232. The grinding roller 231 grinds the outer ring wall of the arc plate. After the processing is completed, the first motor 31 drives the fixed arc plate to reverse, and the switching part 34 drives the shaft column 20 to rotate 180 degrees, so that the grinding roller 231 rotates to the right side of the shaft column 20, thereby grinding the inner ring wall of the arc plate that has passed through.

[0042] like Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, the actuator 5 includes a tension spring 50. Tension springs 50 are fixedly installed between the opposite ends of the two sliding plates 323 in the same group and the inner walls of the corresponding sliding grooves. Except for the two middle groups of extrusion components, the other two groups of extrusion components are provided with a first guide wheel on the side near the rotating shaft 30. The first guide wheel is rotatably installed on the upper end of the fan-shaped plate 320. A first rope 51 is fixedly installed on the sliding plate 323 near the rotating shaft 30 in the extrusion component corresponding to the first guide wheel. The first rope 51 passes around the corresponding first guide wheel and is fixedly connected to the other sliding plate 323 in the same group through the first support plate. The middle two groups of extrusion components are provided with a second guide wheel on the side away from the rotating shaft 30, which is rotatably connected to the upper end of the fan-shaped plate 320. A second rope 52 is fixedly installed on the extrusion plate 321 away from the rotating shaft 30 in the middle two groups of extrusion components. The second rope 52 passes around the corresponding second guide wheel and is fixedly connected to the other sliding plate 323 in the same group through the second support plate. A pushing component is provided between the extrusion component near the edge of the fan-shaped plate 320 and the adjacent extrusion component.

[0043] like Figures 1-8 As shown, the pushing assembly includes a slider. The upper end of the fan-shaped plate 320 is slidably mounted on the slider along its radial direction. The upper end of the slider is fixedly mounted on a connecting rod 53. Two waist grooves are opened on the connecting rod 53. The upper end of the slide plate 323 near the first guide wheel and the upper end of the slide plate 323 near the second guide wheel are both fixedly mounted with guide posts 54 that slide through the corresponding waist grooves. The side of the slider away from the rotating shaft 30 is fixedly connected to the telescopic section of the first electric push rod 55 fixedly mounted on the upper end of the fan-shaped plate 320.

[0044] In operation, motor 31 drives the fixed arc-shaped plate to move from the rear of the rotating shaft 30 towards the grinding roller 231. When the leftmost extrusion assembly (i.e., the first extrusion assembly) approaches the grinding roller 231, the corresponding electric push rod 55 pushes the connecting rod 53 closer to the rotating shaft 30 via the slider. The connecting rod 53, through the cooperation of the guide post 54 and the waist groove, drives the corresponding slide plate 323 to move. The slide plate 323 then drives the corresponding extrusion plate 321 away from the arc-shaped plate. At this time, the corresponding rope 51 loosens, and the two corresponding slide plates 323, under the action of the corresponding tension spring 50, drive the two corresponding extrusion plates 321 away from each other, releasing the clamping of the arc-shaped plate to avoid interfering with the movement of the arc-shaped plate between the grinding roller 231 and the pressure roller 232. Simultaneously, connecting rod 53 drives another corresponding slide plate 323 (i.e., the corresponding slide plate 323 in the second extrusion assembly) closer to the curved plate. This slide plate 323, in turn, drives another slide plate 323 in the same group closer to the curved plate via rope 52, while simultaneously stretching the corresponding tension spring 50. The two slide plates 323 approaching each other drive the two corresponding extrusion plates 321 to press and fix the curved plate. When the second extrusion assembly approaches the grinding roller 231, electric push rod 55 pulls connecting rod 53 away from the rotating shaft 30 via a slider. With the cooperation of rope 51, the extrusion plate 321 in the first extrusion assembly clamps the curved plate, while the extrusion plate 321 in the second extrusion assembly moves away from the curved plate through the cooperation of rope 52 and tension spring 50. Subsequently, the above operation alternately changes the pressing and fixing of the curved plate by the two sets of extrusion assemblies, thereby ensuring that the curved plate can completely pass between the grinding roller 231 and the pressure roller 232, and remains clamped and fixed by the extrusion assembly during the passage, thus achieving complete grinding processing of the curved plate.

[0045] like Figure 4 , Figure 5 and Figure 6 As shown, the switching part 34 includes a sleeve 340. The lower end of the shaft 20 passes through the base plate 11 and is slidably fitted with the sleeve 340. Two guide rods that slide through the sleeve 340 are symmetrically installed at the lower end of the base plate 11. A spiral groove 341 is formed along the circumference of the lower part of the shaft 20. A rectangular groove 342 is formed on the left side of the sleeve 340. A rectangular block 343 is slidably installed in the rectangular groove 342. A circular groove is formed on the lower wall of the rectangular groove 342. The lower end of the rectangular block 343 is fixed to the bottom wall of the circular groove. A return spring 344 is fixedly installed. A roller 345 that mates with the spiral groove 341 is installed on the rectangular block 343. Two drive plates 346 that are symmetrical about the front and back of the shaft column 20 are slidably installed on the lower end of the base plate 11. Guide grooves 347 are opened on the opposite surfaces of the two drive plates 346. The guide grooves 347 have a parallelogram structure. Rollers 348 that slide and mate with the corresponding guide grooves 347 are symmetrically installed on the outer wall of the sleeve 340. A linkage 6 is provided between the drive plate 346 and the rotating shaft 30.

[0046] like Figure 4 , Figure 5 and Figure 6 As shown, the linkage 6 includes a spur gear 60. The spur gear 60 is fixedly installed on the rotating shaft 30. The spur gear 60 is located between the lower end face of the base plate 11 and the first belt. The lower end of the base plate 11 is slidably installed with a rack 61 located behind the spur gear 60 and meshing with the spur gear 60. The right ends of the two drive plates 346 are jointly fixedly installed with a connecting plate 62. The left end of the rack 61 is fixedly connected to the connecting plate 62.

[0047] like Figure 2 , Figure 3 and Figure 4 As shown, the locking part 33 includes a vertical plate. The upper end of the base plate 11 is fixedly installed with a vertical plate located on the right side of the support plate 22. A limit post 330 is provided on the left side of the vertical plate. The right end of the limit post 330 slides through the vertical plate and is fixedly fitted with a protruding ring. A compression spring 331 is installed between the protruding ring and the vertical plate. Limiting holes 332 that cooperate with the limit post 330 are opened at both ends of the horizontal section of the U-shaped plate 21. A pushing component for pushing the limit post 330 to move is provided on the rotating shaft 30.

[0048] like Figures 1-8 As shown, the pushing assembly includes a roller 333. The roller 333 is rotatably mounted on the right end of the limiting post 330. A cam 334 that abuts against the roller 333 is fixedly mounted on the rotating shaft 30. The cam 334 is located on the upper side of the base plate 11.

[0049] In specific operation, the No. 1 motor 31 drives the fixed arc plate to grind by rotating the shaft 30 in the forward direction. During this process, the shaft 30 drives the rack 61 to move to the left through the spur gear 60. The rack 61 then drives the two drive plates 346 to move to the left through the connecting plate 62. Initially, the roller shaft 348 is located in the lower part of the left inclined section of the guide groove 347. As the drive plate 346 moves, it pushes the sleeve 340 upward through the engagement of the roller shaft 348 with the left inclined section of the guide groove 347. As the sleeve 340 moves upward, the elasticity of the return spring 344 cannot drive the shaft column 20 to rotate. As a result, the bottom wall of the rectangular groove 342 will fit against the lower end face of the rectangular block 343. At this time, the return spring 344 is compressed. Then, the upward movement of the sleeve 340 drives the shaft column 20 to rotate 180 degrees through the engagement of the roller 345 with the spiral groove 341. The shaft column 20 then drives the U-shaped plate 21 to rotate. The grinding roller 231 and pressure roller 232 are rotated by the support plate 22, so that the grinding roller 231 is located on the left side of the shaft column 20. At this time, the roller shaft 348 is located at the junction of the left inclined section and the upper horizontal section of the guide groove 347. Then, as the rotating shaft 30 continues to rotate forward, the roller shaft 348 will slide in the upper horizontal section of the guide groove 347. The rotating shaft 30 will drive the cam 334 to rotate, and the protrusion of the cam 334 will be pushed and limited by the roller 333. The column 330 moves toward the U-shaped plate 21 to insert the limiting column 330 into the limiting hole 332, thereby further restricting the movement of the support plate 22 and ensuring the stability of the grinding roller 231 after the position is changed. Then the rotating shaft 30 continues to rotate forward, and the arc plate will pass between the grinding roller 231 and the pressure roller 232. The grinding roller 231 grinds the outer ring wall of the arc plate, and during the grinding process, the roller shaft 348 moves in the upper horizontal section of the guide groove 347.

[0050] Afterwards, the arc-shaped plate moves out from between the grinding roller 231 and the pressure roller 232 to complete the grinding of the outer ring wall of the arc-shaped plate, while the rotating shaft 30 rotates further forward. The protrusion of the cam 334 does not abut against the roller 333, and the limiting post 330 moves away from the limiting hole 332 under the action of the compression spring 331. Then, as the rotating shaft 30 rotates forward, the roller shaft 348 moves to the junction of the right inclined section and the lower horizontal section of the guide groove 347. Under the action of the return spring 344, it pushes the sleeve 340 down, thereby moving the roller shaft 348 into the right inclined section of the guide groove 347. Then, the first motor 31 drives the rotating shaft 30 to rotate in the opposite direction. The rotating shaft 30 drives the drive plate 346 through the cooperation of the spur gear 60 and the rack 61. Moving to the right, the sleeve 340 moves downward through the cooperation of the roller 348 and the inclined section on the right side of the guide groove 347. The sleeve 340 then rotates the shaft column 20 180 degrees through the cooperation of the roller 345 and the spiral groove 341, causing the grinding roller 231 to rotate and change position to grind the inner ring wall of the arc plate. As the rotating shaft 30 continues to reverse, the cam 334 pushes the limiting post 330 into the corresponding limiting hole 332 to restrict the movement of the grinding roller 231. The roller 348 moves in the lower horizontal section of the guide groove 347. Then the rotating shaft 30 continues to reverse, driving the fixed arc plate through the grinding roller 231 and the pressure roller 232. The grinding roller 231 then grinds the inner ring wall of the arc plate.

[0051] After grinding, the clamping part 32 releases its pressure on the arc plate, while the support plate 322 remains at the lower end of the arc plate to support it. At this point, the ground arc plate can be removed, and a new arc plate to be ground can be replaced. The above operation can be repeated to continue grinding the arc plate.

[0052] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0053] Furthermore, the terms "first," "second," "number one," and "number two" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," "number one," or "number two" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0054] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "connected," "installed," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0055] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A metal workpiece surface polishing robot comprising a device rack; characterized in that: The device frame is fixedly installed with a bottom plate, and a polishing mechanism and a fixing mechanism are arranged on the bottom plate. The polishing mechanism comprises a shaft column, the bottom plate is rotatably installed with the shaft column, the upper end of the shaft column penetrates through the bottom plate and is fixedly installed with a N-shaped plate, the upper ends of the two vertical sections of the N-shaped plate are fixedly installed with a supporting plate, and the supporting plate is provided with a polishing part for sequentially polishing the inner and outer ring walls of the arc-shaped plate. The fixing mechanism comprises a rotating shaft, the bottom plate is rotatably installed with the rotating shaft on the right side of the shaft column, the lower end of the rotating shaft penetrates through the bottom plate, the upper end of the bottom plate is fixedly installed with a first motor, the output shaft of the first motor rotatably penetrates through the bottom plate and is transmissionally connected with the rotating shaft through a first belt, the rotating shaft is provided with a clamping part for clamping and fixing the arc-shaped plate and a locking part for limiting the N-shaped plate after rotation, and the bottom plate is provided with a switching part matched with the rotating shaft for driving the shaft column to rotate to switch the polishing position of the polishing part. The bottom plate is provided with a switching part matched with the rotating shaft for driving the shaft column to rotate to switch the polishing position of the polishing part.

2. The metal workpiece surface polishing robot according to claim 1, wherein: The polishing part comprises a N-shaped plate, the upper end of the supporting plate is slidably installed with two left-right symmetrical N-shaped plates, the two horizontal sections of the left N-shaped plate are rotatably installed with a polishing roller, the two horizontal sections of the right N-shaped plate are rotatably installed with a pressing roller, the supporting plate is provided with a U-shaped groove at the position corresponding to the polishing roller, the lower end of the polishing roller penetrates through the N-shaped plate and is located in the U-shaped groove, and the supporting plate is provided with a driving member for driving the polishing roller to rotate and the two N-shaped plates to move.

3. The metal workpiece surface polishing robot according to claim 2, wherein: The clamping part comprises a sector plate, the upper part of the rotating shaft penetrates through the bottom plate and is fixedly installed with the sector plate above the N-shaped plate, the lower end of the sector plate is uniformly provided with four groups of extrusion assemblies along the circumferential direction of the sector plate, each group of extrusion assemblies comprises two extrusion plates slidably along the radial direction of the sector plate, the two extrusion plates in the same group slide along the same radial line, the lower end of the extrusion plate close to the rotating shaft in the extrusion assembly is fixedly installed with a supporting plate, the sector plate is provided with a sliding groove at the position corresponding to the extrusion plate, the sliding groove is slidably installed with a sliding plate, the lower end of the sliding plate penetrates through the corresponding sliding groove and is fixedly connected with the corresponding extrusion plate, and the sector plate is provided with an execution member for driving the sliding plate to move.

4. The metal workpiece surface polishing robot according to claim 2, wherein: The driving member comprises a second motor, the left end of the left N-shaped plate is fixedly installed with the second motor, the output shaft of the second motor is located in the U-shaped groove and is transmissionally connected with the polishing roller through a second belt, the front end of the supporting plate is fixedly installed with a bidirectional electric push rod between the two N-shaped plates, and the two telescopic sections of the bidirectional electric push rod are fixedly connected with the corresponding N-shaped plates through connecting plates.

5. The metal workpiece surface polishing robot according to claim 3, wherein: The execution piece includes a tension spring, and one guide wheel is arranged on the side close to the rotating shaft of each of the remaining two groups of extrusion assemblies except the middle two groups of extrusion assemblies, the guide wheel is rotationally installed on the upper end of the sector plate, a first rope is fixedly installed on the slide plate close to the rotating shaft in the corresponding extrusion assembly, the first rope passes through the first supporting plate and is fixedly connected with the other slide plate in the same group after winding around the corresponding first guide wheel, the second guide wheel is rotationally connected with the upper end of the sector plate and is arranged on the side away from the rotating shaft of the middle two groups of extrusion assemblies, a second rope is fixedly installed on the extrusion plate away from the rotating shaft in the middle two groups of extrusion assemblies, the second rope passes through the second supporting plate and is fixedly connected with the other slide plate in the same group after winding around the corresponding second guide wheel, and the extrusion assembly close to the edge of the sector plate is provided with a pushing assembly between the extrusion assembly and the adjacent extrusion assembly.

6. The metal workpiece surface polishing robot according to claim 4, wherein: The pushing assembly includes a sliding block, the upper end of the sector plate is slidably installed with the sliding block along the radial direction, the upper end of the sliding block is fixedly installed with a connecting rod, two waist grooves are formed in the connecting rod, the upper end of the slide plate close to the first guide wheel and the upper end of the slide plate close to the second guide wheel are fixedly installed with guide columns which slidably penetrate the corresponding waist grooves, and the side away from the rotating shaft of the sliding block is fixedly connected with the extension section of the first electric push rod fixedly installed on the upper end of the sector plate.

7. The metal workpiece surface polishing robot according to claim 1, wherein: The switching part includes a sleeve, the lower end of the shaft column is slidably sleeved with the sleeve after penetrating the bottom plate, the lower end of the bottom plate is symmetrically installed with two guide rods which slidably penetrate the sleeve, the lower part of the shaft column is formed with a spiral groove along the circumferential direction, the left side of the sleeve is formed with a rectangular groove, a rectangular block is slidably installed in the rectangular groove, the lower wall of the rectangular groove is formed with a circular groove, a return spring is fixedly installed between the lower end of the rectangular block and the bottom wall of the circular groove, a roller which cooperates with the spiral groove is installed on the rectangular block, the lower end of the bottom plate is slidably installed with two driving plates which are symmetrically arranged on the front and back of the shaft column, the opposite surfaces of the two driving plates are each formed with a guide groove, the guide grooves have a parallelogram structure, the outer wall of the sleeve is symmetrically installed with rollers which slidably cooperate with the corresponding guide grooves, and the driving plates are provided with a linkage between the driving plates and the rotating shaft.

8. The metal workpiece surface polishing robot according to claim 7, wherein: The linkage includes a straight gear, the rotating shaft is fixedly installed with the straight gear, the straight gear is located between the lower end surface of the bottom plate and the first belt, the lower end of the bottom plate is slidably installed with a rack which is located on the rear side of the straight gear and is engaged with the straight gear, the right ends of the two driving plates are commonly fixedly installed with a connecting plate, and the left end of the rack is fixedly connected with the connecting plate.

9. The metal workpiece surface polishing robot according to claim 1, wherein: The locking part includes a vertical plate, the upper end of the bottom plate is fixedly installed with the vertical plate which is located on the right side of the supporting plate, the left side of the vertical plate is provided with a limiting column, the right end of the limiting column is slidably penetrated through the vertical plate and is fixedly sleeved with a convex ring, a compression spring is installed between the convex ring and the vertical plate, the left and right ends of the horizontal section of the U-shaped plate are each formed with a limiting hole which cooperates with the limiting column, and the rotating shaft is provided with a pushing assembly for pushing the limiting column to move.

10. The metal workpiece surface polishing robot according to claim 9, wherein: The pushing assembly includes a roller, the right end of the limiting column is rotationally installed with the roller, the rotating shaft is fixedly installed with a cam which abuts against the roller, and the cam is located on the upper side of the bottom plate.

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