Multi-face matched hardware precision grinding device

Abstract

The invention relates to the technical field of hardware polishing, in particular to a multi-face matched precise hardware polishing device which comprises a mechanical arm, a connecting part is installed at the moving end of the mechanical arm, and the connecting part comprises a butt joint column and a shell rotationally arranged on the outer arc face of the butt joint column in a sleeving mode; the output end of the connecting part is in butt joint with an inclined part, and the inclined part comprises a universal joint and a transmission shaft fixedly connected with the bottom of the universal joint; the outer cambered surface of the transmission shaft is rotationally sleeved with a rotary disc, the bottom face of the rotary disc is provided with a plurality of rotationally-connected butt joint frames, the butt joint frames are rotationally connected with the elastic telescopic end of the elastic telescopic rod, and the grinding head can actively incline through an inclined part formed by a universal joint, so that the mechanical arm can grind the area which cannot be touched by a traditional rigid structure; and the application range of the mechanical arm polishing process is greatly expanded, and the problem of'machining dead angles' existing in the industry for a long time is solved.

Description

Technical Field

[0001] This invention relates to the field of hardware polishing technology, and more specifically, to a precision polishing device for hardware with multi-faceted operation. Background Technology

[0002] Hardware parts often become rough and worn during production and transportation, so it is necessary to grind and polish the surface of the hardware parts to achieve a smooth and bright product surface.

[0003] In the process of polishing the surface of hardware parts, the polishing effect is usually achieved by moving the polishing structure in close contact with the surface of the hardware parts. When the polishing structure is performing polishing, the function of the polishing head is limited by its polishing surface, and the polishing surface is fixed at an angle with the rotating shaft. When facing some narrow spaces (such as polishing the inner wall of a groove), the polishing methods that the polishing head can achieve are even more limited.

[0004] In view of this, we propose a precision grinding device for hardware parts with multi-faceted cooperation. Summary of the Invention

[0005] The purpose of this invention is to provide a precision grinding device for multi-faceted hardware parts to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides a precision grinding device for multi-faceted hardware parts, including a robotic arm, wherein a connecting part is installed on the moving end of the robotic arm, characterized in that: The connecting part includes a docking post and a housing that is rotatably fitted with the outer arc surface of the docking post. The inner cavity of the housing is provided with an inclined part. An extension rod is connected to the output end of the inclined part. The end of the extension rod extends out of the inner cavity of the housing and is fixedly connected to a grinding head. The extension rod and the grinding head are driven to tilt synchronously through the inclined part. The grinding head includes a bottom flat grinding surface, a side conical grinding surface, and a side arc grinding surface. The width of the side arc grinding surface is greater than the width of the side conical grinding surface. The side conical grinding surface is used to grind surfaces whose width is smaller than the width of the side arc grinding surface.

[0007] As a further improvement to this technical solution, the inclined part includes a universal joint and a drive shaft fixedly installed at the bottom of the universal joint. A turntable is rotatably sleeved on the outer arc surface of the drive shaft, and multiple rotatably connected docking frames are provided on the bottom surface of the turntable.

[0008] As a further improvement to this technical solution, several horizontally rotating frames are fixedly arranged in a circular pattern on the inner arc surface of the outer shell. The rotating ends of the horizontally rotating frames are rotatably connected to vertically rotating frames, and the vertically rotating frames are rotatably connected to elastic telescopic rods. The docking frame is rotatably connected to the elastic telescopic rods at their elastic telescopic ends.

[0009] As a further improvement to this technical solution, a conical limiting sleeve is slidably fitted on the bottom of the inner wall of the outer shell. The inner arc surface of the conical limiting sleeve is conical, and a limiting wheel is rotatably fitted on the outer arc surface of the extension rod. The limiting wheel contacts the inner conical surface of the conical limiting sleeve.

[0010] As a further improvement to this technical solution, the outer arc surface of the outer shell is provided with a through hole, and the outer arc surface of the tapered limiting sleeve is provided with multiple circular grooves that are linearly and equally spaced in a vertical direction. A locking pin is slidably arranged inside the through hole of the outer arc surface of the outer shell, and the locking pin extends into the circular groove. A magnet is provided at one end of the locking pin near the circular groove.

[0011] As a further improvement to this technical solution, the taper of the side conical grinding surface is r2. When the conical limiting sleeve slides to the top, the grinding head is in the maximum tilt range. Let the maximum tilt angle of the grinding head be r1, and r2≥r1.

[0012] As a further improvement to this technical solution, the moving end of the robotic arm is equipped with a high-speed motor, and the output end of the high-speed motor is equipped with a gripper, which is installed and connected to the docking column.

[0013] As a further improvement to this technical solution, a rotating ring is rotatably fitted on the outer arc surface of the docking post, which allows the docking post to rotate relative to the outer shell. A through hole is provided at the center of the top of the outer shell, and the outer surface of the top of the outer shell is fixedly connected to the rotating ring. The bottom end of the docking post passes through the through hole at the center of the top of the outer shell and is fixedly connected to the top of the universal joint.

[0014] As a further improvement to this technical solution, four identical horizontal and vertical rotating frames are provided inside the outer shell. Both the horizontal and vertical rotating frames are U-shaped and their rotation directions are perpendicular to each other. The four sets of horizontal and vertical rotating frames are distributed in a circle inside the outer shell. The top and bottom of the turntable are equipped with limiting rings that are rotatably connected to the outer arc surface of the drive shaft. The top of the docking frame is equipped with a rotating connector that is rotatably connected to the bottom surface of the turntable.

[0015] As a further improvement to this technical solution, the bottom end of the extension rod is provided with a mounting groove, and the top of the grinding head is provided with a mounting joint corresponding to the mounting groove; The surface roughness of the bottom flat grinding surface is different from that of the side conical grinding surface.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this multi-faceted precision grinding device for hardware parts, the inclined part formed by the universal joint allows the device to achieve different grinding effects by switching between vertical grinding and inclined grinding when different grinding needs are met. When grinding a vertical surface, the side arc surface of the grinding head can be used to grind a large area of ​​the vertical surface. When the area of ​​the surface to be ground is small and the grinding accuracy requirement is high, the grinding head is pressed and tilted so that the side conical grinding surface of the grinding head contacts the surface to be ground. Since the area of ​​the side conical grinding surface is smaller than that of the side arc surface, the grinding accuracy is higher and over-grinding is avoided. For the concave and narrow spaces inside hardware parts, the grinding head can be tilted and inserted into the narrow space to grind, thus avoiding the problem of not being able to grind completely due to the limited tilt angle of the robotic arm.

[0017] This multi-faceted precision grinding device for hardware uses a spindle-shaped grinding head combined with an elastic system. The grinding head can adaptively conform to non-standard curved surfaces. The robotic arm only needs to control the general path and apply pressure, without the need for extremely complex and precise trajectory programming to fit the curved surface contour, which greatly reduces the technical operation threshold and equipment debugging time.

[0018] In this multi-faceted precision grinding device for hardware parts, a circumferentially distributed elastic system composed of a horizontal rotating frame, a vertical rotating frame, and an elastic telescopic rod provides a balanced return force to the inclined drive shaft, effectively absorbing and offsetting vibrations during the grinding process, and ensuring that the grinding head stably fits the workpiece surface, thereby achieving higher processing accuracy and better surface finish.

[0019] In this multi-faceted precision grinding device for hardware parts, the grinding head integrates grinding surfaces of different roughness, such as the bottom flat grinding surface and the side conical grinding surface. By simply changing the tilt angle of the grinding head, grinding surfaces of different roughness can be made to contact the workpiece, achieving a fast and seamless switch from coarse grinding to fine grinding. This avoids the frequent stops for tool replacement in traditional operations and greatly improves the efficiency of continuous operation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure assembly of the present invention; Figure 2 This is a schematic diagram of the outer shell structure in this invention; Figure 3 This is a schematic diagram of the conical limiting sleeve in this invention; Figure 4 for Figure 3 A sectional view; Figure 5 for Figure 4 Enlarged view of the structure at point A in the middle; Figure 6 This is a schematic diagram of the turntable structure in this invention; Figure 7This is a schematic diagram of the grinding head of the present invention in a vertical position; Figure 8 This is a schematic diagram of the grinding head of the present invention in an inclined state; Figure 9 This is a schematic diagram of the tilt angle of the grinding head in this invention; Figure 10 This is a schematic diagram of the working process of the spindle-shaped grinding head in this invention when grinding non-standard curved surfaces; Figure 11 This is a schematic diagram of the operation of the grinding head tilting for high-precision grinding in this invention.

[0021] The labels in the diagram represent the following: 1. Robotic arm; 2. Connecting part; 21. Docking post; 22. Outer shell; 23. Limiting wheel; 3. Inclined part; 31. Universal joint; 32. Drive shaft; 33. Horizontal rotating frame; 34. Vertical rotating frame; 35. Elastic telescopic rod; 36. Docking frame; 37. Turntable; 4. Grinding head; 41. Bottom flat grinding surface; 42. Side conical grinding surface; 43. Side arc grinding surface; 5. Extension rod; 6. Conical limiting sleeve; 7. Spindle-shaped grinding head. Detailed Implementation

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1 Please see Figures 1-11 As shown, this embodiment provides a multi-faceted precision grinding device for hardware parts, including a robotic arm 1 for precise movement. In the field of industrial processing, the robotic arm 1 performs automated processing of hardware parts, which is a precision process integrating planning, sensing, execution and inspection. By programming multiple joints of the robotic arm 1, the effect of driving the grinding structure to move precisely can be achieved. The moving end of the robotic arm 1 is equipped with a connecting part 2. The robotic arm 1 is mostly a three-axis robotic arm or a five-axis robotic arm. The connecting part 2 is driven to move by the combined rotation of multiple joints, which assists in the precise movement of subsequent grinding. The grinding effect is achieved by adding a high-speed motor to the moving end of the robotic arm 1 to drive the grinding end to rotate. For hardware parts with an inwardly recessed structure, the mechanical arm 1 is relatively large and the grinding structure is limited by the rigidity of the transmission shaft 32, which prevents it from being far from the drive end. As a result, the grinding end cannot be fully inserted into the groove to grind the inner wall of the groove. To improve the above grinding situation, the connecting part 2 includes a docking post 21 and a housing 22 that is rotatably fitted with the outer arc surface of the docking post 21. The inner cavity of the housing 22 is provided with an inclined part 3. The output end of the inclined part 3 is connected to an extension rod 5. The end of the extension rod 5 extends out of the inner cavity of the housing 22 and is fixedly connected to a grinding head 4. The extension rod 5 and the grinding head 4 are driven to tilt synchronously through the inclined part 3.

[0024] like Figure 7 and Figure 8 As shown, the tiltable grinding head 4 can expand its grinding range. When grinding the inner wall of the groove in the hardware, the robotic arm 1 does not need to adjust the angle over a large range. It only needs to adjust the grinding head 4 to tilt into the groove. The robotic arm 1 adjusts the angle over a small range so that the outer wall of the grinding head 4 fits the position to be ground in the groove. Then, the grinding effect on the inner wall of the groove is achieved by high-speed rotation (the end of the docking column 21 is connected to the output shaft of the motor, so that the motor drives the connecting part 2, the tilting part 3, the grinding head 4 and the extension rod 5 to rotate synchronously). This reduces the problem that the grinding methods that the grinding head 4 can achieve in some narrow spaces are limited, and improves the scope of use. In addition, the tilted grinding head 4 means that the robotic arm 1 does not need to be located directly above the groove, avoiding the problem that the large structure of the robotic arm 1 will block the processing path. Specifically, such as Figure 7 and Figure 8 As shown, the grinding head 4 includes a bottom flat grinding surface 41, a side conical grinding surface 42, and a side arc grinding surface 43. The bottom flat grinding surface 41 is used to grind the horizontal surface of the hardware directly below the grinding head 4 when the grinding head 4 is in a vertical state. The side conical grinding surface 42 is used to contact and fit against the inner wall of the groove of the hardware when the grinding head 4 is in an inclined state. The side arc grinding surface 43 is used to grind the vertical side wall by the grinding head 4 being driven to rotate at high speed by a motor when the grinding head 4 is performing side grinding. The bottom flat grinding surface 41, the side conical grinding surface 42, and the side arc grinding surface 43 enable the grinding head 4 to have a suitable grinding surface to contact the surface of the hardware to be ground when targeting different areas of the hardware, thereby achieving the effect of targeted grinding of different types of hardware surfaces by the grinding head 4.

[0025] Furthermore, in order to enable the tilting part 3 to drive the grinding head 4 and the extension rod 5 to adjust the angle, such as... Figure 5As shown, the tilting part 3 includes a universal joint 31 and a drive shaft 32 fixedly installed at the bottom of the universal joint 31. The outer arc surface of the drive shaft 32 is rotatably sleeved with a turntable 37. The bottom surface of the turntable 37 is provided with multiple rotatably connected docking frames 36. The structure of the turntable 37 and the docking frames 36 is used to limit the tilting angle of the drive shaft 32. The grinding head 4 is initially in a vertical position. When grinding the surface of horizontal hardware parts, the mechanical arm 1 drives the grinding head 4 to press down vertically, thereby achieving the grinding effect on the horizontal surface. When the grinding head 4 needs to grind the interior of a narrow space in the hardware, the large structure of the robotic arm 1 makes it easy for it to be blocked by other structures of the hardware, or the limited tilt angle of the robotic arm 1 prevents the grinding head 4 from fully extending into the narrow space. Therefore, it is necessary to tilt the grinding head 4 into the narrow space to overcome the problem of the limited angle of the robotic arm 1. At this time, the rotation of the grinding head 4 is stopped, and the grinding head 4 is in a vertical downward position under the action of gravity. At this time, the robotic arm 1 drives the grinding head 4 to squeeze the edge of the opening of the narrow space, thereby causing the universal joint 31 to bend and rotate. Under the squeezing and guiding action at the opening of the narrow space, the grinding head 4 can be extended into the narrow space along the inner wall edge of the narrow space. After the grinding head 4 is in the area to be ground inside the narrow space, the motor is started. Through the structure of the universal joint 31 and the drive shaft 32, the extension rod 5 and the grinding head 4 can be driven to rotate at high speed. It should be noted that when the grinding head 4 is rotating at high speed in an inclined state, the law of conservation of angular momentum will generate a deflection force to restore it to a vertical state. However, since the grinding head 4 is inserted into the narrow space and is blocked by the inner wall of the narrow space, the deflection force can ensure that the grinding head 4 squeezes the inner wall of the narrow space, thereby ensuring the grinding stability of its inner wall. At this time, the robotic arm 1 is located on the side of the narrow space and can "drag" the grinding head 4 by moving horizontally, so as to ensure that the grinding head 4 can fully grind the inside of the narrow space. After grinding is completed, the robotic arm 1 pulls the grinding head 4 out of the narrow space. Based on the principle of conservation of angular momentum, the grinding head 4 will automatically return to the center after leaving the narrow space.

[0026] When high-precision grinding is required on the horizontal or vertical surfaces of hardware parts, the large area of ​​the bottom and side curved grinding surfaces (43) makes it impossible to achieve accurate grinding results. In traditional grinding scenarios, a smaller grinding structure is needed. However, when using this structure, such as... Figure 11As shown, the mechanical arm 1 drives the grinding head 4 to contact and squeeze the surface of the surface to be processed, and simultaneously drags the grinding head 4, causing the grinding head 4 to tilt on the surface of the surface to be processed. At this time, the side conical grinding surface 42 of the grinding head 4 contacts the surface of the surface to be processed, thereby improving the grinding accuracy by having a smaller contact area on the grinding head 4 with the surface of the surface to be processed, and avoiding the need to frequently change the grinding structure.

[0027] To reduce the vibration amplitude generated by the grinding head 4 during high-speed rotating grinding, several horizontally rotating frames 33 are fixedly installed on the inner arc surface of the outer shell 22 in a circular arrangement. A vertically rotating frame 34 is rotatably connected to the rotating end of each horizontally rotating frame 33, and an elastic telescopic rod 35 is rotatably connected to each vertically rotating frame 34. The mutually perpendicular horizontal and vertical rotating frames 33 and 34 allow the elastic telescopic rod 35 to tilt at any angle. A docking frame 36 is rotatably connected to the elastic telescopic end of the elastic telescopic rod 35. Through the elastic connection between the elastic telescopic rod 35 and the docking frame 36, and because the elastic telescopic rod 35 is circumferential... Distributed inside the outer casing 22, the elastic constraint forces generated by the circumferentially distributed elastic telescopic rods 35 are balanced with each other, so that the turntable 37 and the drive shaft 32 have a self-aligning elastic force that automatically returns to the center inside the outer casing 22. Through the circumferentially distributed elastic telescopic rods 35, the elastic force generated by all the elastic telescopic rods 35 on the turntable 37 is directed towards the center inside the outer casing 22. Therefore, when the grinding head 4 generates grinding vibration, the eccentric force and elastic force generated by the vibration on the drive shaft 32 cancel each other out, thereby reducing the vibration amplitude of the drive shaft 32 during the grinding process, and further reducing the grinding vibration amplitude of the grinding head 4, making the ground surface smoother. When grinding is required on the inner wall of a narrow space in a hardware part, the grinding head 4 is subjected to external pressure, causing it to deviate. At this time, the universal joint 31 causes the drive shaft 32 to deflect and maintain high-speed rotation. The elastic telescopic rod 35 on the side closer to the deviation is compressed and retracts inward, while the elastic telescopic rod 35 on the side farther from the deviation is stretched outward. At this time, the resultant force of the elastic telescopic rod 35 is opposite to the pressure force on the grinding head 4 and the resultant force is zero. The grinding head 4 is tilted and inserted into the groove of the hardware part for grinding. After being removed from the pressure on the surface of the hardware part, it automatically returns to the center position through the principle of conservation of angular momentum. The automatic return of the grinding head 4 can improve the grinding efficiency and avoid the process of centering the grinding head 4 after tilted grinding. This allows the grinding head 4 to directly grind the horizontal surface of the hardware part after returning to the center position, thus improving the overall grinding efficiency. like Figure 7As shown, to prevent excessive tilting of the grinding head 4 from damaging the elastic telescopic rod 35, a conical limiting sleeve 6 is slidably fitted at the bottom of the inner wall of the outer casing 22. The inner arc surface of the conical limiting sleeve 6 is conical, and the outer arc surface of the extension rod 5 is rotatably fitted with a limiting wheel 23. The combination of the limiting wheel 23 and the conical limiting sleeve 6 can limit the maximum tilt angle of the grinding head 4. By vertically sliding the conical limiting sleeve 6, when the conical limiting sleeve 6 is at different heights, the inner diameter of the conical surface at the same height as the limiting wheel 23 is different. Thus, the maximum tilt angle of the transmission shaft 32 is limited by the contact between the limiting wheel 23 and the inner conical surface. When the limiting wheel 23 contacts the inner conical surface, the grinding head 4 is already at its maximum tilt angle. The maximum tilt angle of the grinding head 4 is limited by vertically sliding and adjusting the height of the conical limiting sleeve 6.

[0028] However, during use, if the tapered limiting sleeve 6 accidentally slides vertically, the maximum deflection angle of the grinding head 4 will change, leading to inaccurate grinding accuracy. Therefore, a locking and limiting structure needs to be added to the tapered limiting sleeve 6, such as... Figure 6 As shown, the outer arc surface of the outer shell 22 is provided with a through hole, and the outer arc surface of the tapered limiting sleeve 6 is provided with multiple circular grooves that are linearly and equally spaced in a vertical direction. A locking post is slidably arranged inside the through hole of the outer arc surface of the outer shell 22. The locking post extends into the circular groove. A magnet is provided at one end of the locking post near the circular groove. Through the locking post, it can be ensured that the tapered limiting sleeve 6 will not slide relative to the outer shell 22 during the high-speed rotation of the grinding head 4, thereby ensuring that the limit on the maximum offset angle of the grinding head 4 will not change, and ensuring the accuracy of the grinding process of the grinding head 4.

[0029] To ensure sufficient contact between the conical grinding surface 42 and the confined inner wall of the hardware during the tilting grinding process of the grinding head 4, it is also necessary to limit the taper of the conical grinding surface 42 and the maximum tilt angle of the grinding head 4, such as... Figure 8 As shown, let the taper of the side conical grinding surface 42 be r2. When the conical limiting sleeve 6 slides to the top, the grinding head 4 is in the maximum tilt range. Let the maximum tilt angle of the grinding head 4 be r1, and r2≥r1. When the grinding head 4 is in the maximum tilt state, the conical surface of the side conical grinding surface 42 is in a vertical state, which facilitates contact grinding with the inner wall of the groove. In addition, since the limiting wheel 23 is in contact with the inner conical surface of the conical limiting sleeve 6 at this time, it can be regarded as the extension rod 5 having lateral support in the tilt state. By abutting and limiting, the vibration amplitude generated at the end of the grinding head 4 can be reduced.

[0030] Furthermore, in order to ensure the stable rotation transmission of the grinding head 4, it is also necessary to disclose the internal transmission structure and its connection relationship of the outer shell 22: the moving end of the robotic arm 1 is equipped with a high-speed motor, and the output end of the high-speed motor is equipped with a chuck, which is installed and connected to the docking post 21; the combination structure of the high-speed motor and the chuck can facilitate the installation and connection of the docking post 21 to the end of the robotic arm 1, and prevent the high-speed motor and the docking post 21 from loosening and slipping. The docking method of using the chuck can reduce the difficulty of assembly and installation.

[0031] like Figure 4 As shown, during actual grinding, the grinding head 4 rotates at a high speed. If the outer shell 22 rotates synchronously with the grinding head 4, it will result in a large overall inertia of the structure and pose a safety risk when in contact with the outer shell 22. Therefore, to prevent the outer shell 22 from rotating synchronously during grinding, a rotating ring is fitted onto the outer arc surface of the mating post 21. The structure of the rotating ring allows the mating post 21 to rotate relative to the outer shell 22, thereby keeping the outer shell 22 at a low speed during grinding, which will not pose a danger to the external environment or personnel. Furthermore, since the turntable 37 and the drive shaft 32 are also connected by a rotating mechanism, it can... When the drive shaft 32 is rotating at high speed, the elastic telescopic rod 35 elastically limits the turntable 37 and the drive shaft 32. The top center of the outer shell 22 is provided with a through hole. The outer surface of the top of the outer shell 22 is fixedly connected to the rotating ring. The bottom end of the docking post 21 passes through the through hole at the top center of the outer shell 22 and is fixedly connected to the top of the universal joint 31. The structure of the rotating ring can ensure that the outer shell 22 can rotate relative to the docking post 21. Thus, when the docking post 21 rotates at high speed, the outer shell 22 remains stationary, avoiding the synchronous rotation of the entire structure. At this time, the staff can safely contact the outer surface of the outer shell 22.

[0032] To ensure that the return elasticity of the drive shaft 32 is uniform and stable, and that the elastic forces acting on the drive shaft 32 cancel each other out when the drive shaft 32 is in a vertical state, four sets of identical horizontal rotating frames 33 and vertical rotating frames 34 are also required inside the housing 22. The horizontal rotating frames 33 and vertical rotating frames 34 are both U-shaped and their rotation directions are perpendicular to each other. The four sets of horizontal rotating frames 33 and vertical rotating frames 34 are circumferentially distributed inside the housing 22. By setting up the combination of horizontal rotating frames 33 and vertical rotating frames 34 with the same circumferential distribution as the elastic telescopic rod 35, the rotational connection of the elastic return structure can be ensured to be stable. Furthermore, the circumferential distribution structure can make the horizontal component forces generated by the multiple elastic telescopic rods 35 cancel each other out, preventing the extension rod 5 from shifting and becoming out of center when the grinding head 4 is not being squeezed. To prevent the turntable 37 from rotating synchronously with the drive shaft 32, which would cause the elastic telescopic rod 35 to be pulled by rotation, such as... Figure 5As shown, limit rings that are rotatably connected to the outer arc surface of the drive shaft 32 are provided at the top and bottom of the turntable 37. A rotating connector is provided at the top of the docking frame 36, and the rotating connector is rotatably connected to the bottom surface of the turntable 37. When the drive shaft 32 tilts, the turntable 37 tilts synchronously with the drive shaft 32, and the turntable 37 does not rotate with the drive shaft 32. The circumferentially distributed elastic telescopic rods 35 can provide elastic support for the docking frame 36. Thus, the combination of the docking frame 36 and the turntable 37 can achieve the effect of driving the drive shaft 32 to return to the correct position. It should be noted that when the elastic telescopic rod 35 is compressed, the central rod retracts into the outer tube, compressing the internal spring; after the pressure is removed, the spring pushes the central rod out, restoring its original length. The fully extended length of the elastic telescopic rod 35 is 50.0 ± 0.5 mm; The fully compressed length of the elastic telescopic rod 35 is 30.0 ± 0.5 mm; The spring stiffness of the elastic telescopic rod 35 is 0.5 N / mm; The elastic telescopic rod 35 with different mechanical parameters can be replaced according to the actual grinding and processing needs.

[0033] In actual grinding operations, after a period of use, the surface shape of the grinding head 4 will deform due to wear. At this time, the grinding accuracy of the grinding head 4 will decrease, and the grinding head 4 accessories need to be replaced in time. Therefore: The extension rod 5 has a mounting groove at the bottom and the grinding head 4 has a mounting connector at the top that corresponds to the mounting groove. The grinding head 4 can be replaced separately during use through the dockable connector structure, which reduces the maintenance cost of the device and allows for the replacement of different types of grinding head 4 structures according to actual grinding needs. The bottom flat grinding surface 41 and the side conical grinding surface 42 have different surface roughness. By tilting and shifting the grinding head 4, the grinding surfaces with different roughnesses can come into contact with the surface of the hardware, thereby achieving different degrees of grinding effect. This allows for quick switching between different roughnesses for grinding, avoiding the need to frequently change grinding structures with different roughnesses and improving the efficiency of switching grinding roughness when different degrees of grinding are required.

[0034] Example 2 Traditional grinding structures achieve surface grinding by programming the movement trajectory of robotic arm 1, which moves its moving end in contact with the surface of the hardware. However, in actual grinding processes, robotic arm 1 has great difficulty in contacting non-standard curved surfaces, and because the curvature of non-standard curved surfaces is difficult to measure, the accurate grinding time for non-standard curved surfaces is too long. To improve the above polishing situation, this embodiment includes an improvement scheme for Embodiment 1, such as... Figure 10As shown, this embodiment includes replacing the grinding head 4 with a spindle-shaped grinding head 7; Among them, the spindle-shaped grinding head 7 has an oval cross section. The oval arc structure makes the surface of the spindle-shaped grinding head 7 more rounded, so that when it is in contact with the arc surface, the contact is more sufficient and tight. When the spindle-shaped grinding head 7 is in contact with a non-standard arc surface, it should be ensured that the tilt angle of the grinding head 4 is less than r1, and the limiting wheel 23 never contacts the inner conical surface of the conical limiting sleeve 6 during the grinding process. Furthermore, when grinding non-standard curved surfaces, the spindle-shaped grinding head 7 can adaptively tilt according to the surface of the curved surface, so that the spindle-shaped grinding head 7 can fully fit the convex or concave parts of the curved surface. For the robotic arm 1, during the curved surface grinding process, it is only necessary to keep the spindle-shaped grinding head 7 pressing on the curved surface while sliding horizontally linearly to achieve the grinding effect of the non-standard curved surface. This avoids the traditional process of fitting the curved surface through the programmed trajectory of the robotic arm 1 and skips the process of measuring the curvature of the non-standard curved surface.

[0035] Based on the above embodiments, the overall working principle is as follows: After the bottom end of the robotic arm 1 is fixed to the ground, the moving end of the robotic arm 1 is made to face the hardware part to be processed. At this time, the hardware part to be processed is clamped by the external fixture, so as to prevent the hardware part to be processed from shifting during the grinding process. Install the docking post 21 into the chuck of the high-speed motor, and then program the motion trajectory of the robotic arm 1 according to the shape of the hardware and the surface to be processed and polished. After programming is completed, start the high-speed motor. At this time, the combination of the docking column 21 and the universal joint 31 drives the transmission shaft 32 to high speed. The combination of the extension rod 5 and the grinding head 4 further realizes the high-speed rotation of the grinding end for grinding. The mechanical arm 1 drives the grinding head 4 to move on the surface of the hardware, thereby achieving the effect of grinding the surface of the hardware.

[0036] When grinding the inner wall of the groove of the hardware, adjust the position of the high-speed motor according to the actual size of the moving end of the robotic arm 1 so that it is located above the inclined surface of the groove. At this time, the mechanical arm 4 drives the grinding head 4 to press down, and the universal joint 31 structure causes the transmission shaft 32 to tilt relative to the docking column 21, so that the grinding head 4 tilts towards the inner wall of the groove to be ground under the guidance of the inclined surface. Through the transmission structure of the universal joint 31, the grinding head 4 still maintains stable rotation transmission in the tilted state. Therefore, the inner wall of the groove can still be polished by the high-speed rotating tilting grinding head 4, thus avoiding the problem of incomplete polishing caused by the obstruction and interference between the moving end of the robotic arm 1 and the surface of the hardware.

[0037] When the grinding head 4 is tilted, the turntable 37 and the drive shaft 32 tilt synchronously. The elastic telescopic rod 35 near the tilted side is squeezed and thus retracts inward, while the elastic telescopic rod 35 away from the tilted end is pulled and thus extends outward. At this time, the elastic force applied by the elastic telescopic rods 35 on both sides is in the same direction and points to the center inside the outer casing 22 to achieve the effect of automatic return of the drive shaft 32. The mutually perpendicular horizontal rotating frame 33 and vertical rotating frame 34 ensure that the elastic telescopic rod 35 can tilt freely in any angle direction, so as not to get stuck when the turntable 37 tilts. After the grinding head 4 loses the pressure from the inclined plane, it automatically returns to a vertical state under the action of the elastic telescopic rod 35.

[0038] When grinding non-standard curved surfaces, it is only necessary to program the robotic arm 1 to move uniformly above the non-standard curved surface and at the same time ensure that the grinding head 4 is squeezed against the curved surface, so as to achieve an adaptive processing effect on the non-standard curved surface. When grinding non-standard curved surfaces, the grinding head 4 is replaced with an arc-shaped grinding head 4. Then, under the pressure of the robotic arm 1, the grinding head 4 comes into contact with the non-standard curved surface. At this time, the grinding head 4 tilts and squeezes the curved surface. Since the grinding head 4 is rotating at high speed at this time, the contacted curved surface is ground. When the robotic arm 1 moves, the grinding head 4 tilts and swings elastically according to the return elasticity generated by the elastic telescopic rod 35 and always keeps in contact with the non-standard arc surface, thereby achieving the processing effect of the non-standard arc surface while reducing the difficulty of programming the trajectory of the robotic arm 1.

[0039] When multiple roughness grinding processes are required, a grinding head 4 with different roughness grinding surfaces is installed below the extension rod 5. At this time, by pressing down vertically, one roughness grinding surface of the grinding head 4 can contact the surface of the hardware for grinding. After the roughness grinding is completed, the grinding head 4 is tilted on the processed surface by pressing laterally, so that the other roughness grinding surface contacts the surface of the hardware. This achieves a quick switch between different roughness grinding effects and avoids the process of frequently changing different roughness grinding heads 4 during the grinding process.

[0040] When it is necessary to limit the maximum tilt angle of the grinding head 4, the height of the sliding conical limiting sleeve 6 inside the outer shell 22 can achieve the limiting effect of the inner conical surface on the limiting wheel 23, thereby achieving the limiting effect of the maximum tilt angle of the extension rod 5. By inserting a locking pin with a magnet into the circular groove, the current height of the conical limiting sleeve 6 can be fixed and locked, thereby preventing the position of the conical limiting sleeve 6 from shifting during the grinding process.

[0041] The advantages of this device compared to existing grinding mechanisms: 1. The grinding head 4 can be tilted and inserted into the groove of the hardware to achieve comprehensive grinding of the inner wall and dead corners, solving the problem that the traditional robotic arm 1 cannot reach the deep groove due to its large structure. 2. Robotic arm 1 does not need to be precisely positioned above the processing point; it can operate obliquely to the side, effectively avoiding motion interference between the robotic arm 1 body and the workpiece and expanding the processing path range. 3. In the tilted state, the universal joint 31 structure can still stably transmit power from the end of the robotic arm 1 to the grinding head 4, ensuring that the grinding force and speed are not affected.

[0042] During tilted grinding, the elastic system can absorb and counteract vibrations, maintaining the stability of the contact between the grinding head 4 and the workpiece, thereby improving the processing accuracy and smoothness of the grinding surface. 5. The system ensures that the grinding head 4 adheres to the workpiece surface with constant elasticity, adapting to minor unevenness on the workpiece surface and achieving a more uniform grinding effect.

[0043] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A precision grinding device for multi-faceted hardware parts, comprising a robotic arm (1), wherein a connecting part (2) is installed on the moving end of the robotic arm (1), characterized in that: The connecting part (2) includes a docking post (21) and a housing (22) that is rotatably fitted with the outer arc surface of the docking post (21). An inclined part (3) is provided in the inner cavity of the housing (22). An extension rod (5) is connected to the output end of the inclined part (3). The end of the extension rod (5) extends out of the inner cavity of the housing (22) and is fixedly connected to a grinding head (4). The extension rod (5) and the grinding head (4) are driven to tilt synchronously through the inclined part (3). The grinding head (4) includes a bottom flat grinding surface (41), a side conical grinding surface (42) and a side arc grinding surface (43). The width of the side arc grinding surface (43) is greater than the width of the side conical grinding surface (42). The side conical grinding surface (42) is used to grind the surface to be ground that is narrower than the width of the side arc grinding surface (43). The surface of the metal part is precisely ground by means of the flat grinding surface (41) and the side conical grinding surface (42).

2. The precision grinding device for multi-faceted hardware parts according to claim 1, characterized in that: The inclined part (3) includes a universal joint (31) and a drive shaft (32) fixedly installed at the bottom of the universal joint (31). The outer arc surface of the drive shaft (32) is rotatably fitted with a turntable (37), and the bottom surface of the turntable (37) is provided with multiple rotating docking frames (36).

3. The precision grinding device for multi-faceted hardware parts according to claim 2, characterized in that: The inner arc surface of the outer shell (22) is fixedly provided with several horizontal rotating frames (33) arranged in a circle. The rotating end of the horizontal rotating frame (33) is rotatably connected to a vertical rotating frame (34). The vertical rotating frame (34) is rotatably connected to an elastic telescopic rod (35). The docking frame (36) is rotatably connected to the elastic telescopic end of the elastic telescopic rod (35).

4. The precision grinding device for multi-faceted hardware parts according to claim 3, characterized in that: A conical limiting sleeve (6) is slidably fitted on the bottom of the inner wall of the outer shell (22). The inner arc surface of the conical limiting sleeve (6) is conical. A limiting wheel (23) is rotatably fitted on the outer arc surface of the extension rod (5). The limiting wheel (23) contacts the inner conical surface of the conical limiting sleeve (6).

5. The precision grinding device for multi-faceted hardware parts according to claim 4, characterized in that: The outer arc surface of the outer shell (22) is provided with a through hole, and the outer arc surface of the tapered limiting sleeve (6) is provided with multiple circular grooves that are linearly and equally spaced in the vertical direction. A locking post is slidably provided inside the through hole of the outer arc surface of the outer shell (22), and the locking post extends into the circular groove. A magnet is provided at one end of the locking post near the circular groove.

6. The precision grinding device for multi-faceted hardware parts according to claim 5, characterized in that: The taper of the side conical grinding surface (42) is r2. When the conical limiting sleeve (6) slides to the top, the grinding head (4) is in the maximum tilt range. Let the maximum tilt angle of the grinding head (4) be r1, and r2≥r1.

7. The precision grinding device for multi-faceted hardware parts according to claim 6, characterized in that: The robotic arm (1) has a high-speed motor at its moving end and a chuck at its output end. The chuck is installed and connected to the docking column (21).

8. The precision grinding device for multi-faceted hardware parts according to claim 7, characterized in that: The outer arc surface of the docking post (21) is fitted with a rotating ring, which allows the docking post (21) to rotate relative to the outer shell (22). The outer shell (22) has a through hole at the top center. The outer surface of the top of the outer shell (22) is fixedly connected to the rotating ring. The bottom end of the docking post (21) passes through the through hole at the top center of the outer shell (22) and is fixedly connected to the top of the universal joint (31).

9. The precision grinding device for multi-faceted hardware parts according to claim 8, characterized in that: The outer shell (22) is equipped with four sets of identical horizontal rotating frames (33) and vertical rotating frames (34). Both the horizontal rotating frames (33) and vertical rotating frames (34) are U-shaped and the rotation directions of the horizontal rotating frames (33) and vertical rotating frames (34) are perpendicular to each other. The four sets of horizontal rotating frames (33) and vertical rotating frames (34) are distributed in a circle inside the outer shell (22). The top and bottom of the turntable (37) are provided with limiting rings that are rotatably connected to the outer arc surface of the drive shaft (32), and the top of the docking frame (36) is provided with a rotating connector that is rotatably connected to the bottom surface of the turntable (37).

10. The precision grinding device for multi-faceted hardware parts according to claim 9, characterized in that: The bottom end of the extension rod (5) is provided with an installation groove, and the top of the grinding head (4) is provided with an installation joint corresponding to the installation groove; The surface roughness of the bottom flat grinding surface (41) is different from that of the side conical grinding surface (42).

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