A robot arm sand belt polishing device and adaptive path planning method

Abstract

The application relates to the technical field of polishing equipment, and discloses a robot mechanical arm abrasive belt polishing equipment and an adaptive path planning method, which comprises a base, a mechanical arm main body and a control cabinet fixed on the upper surface of the base, a sand belt polishing assembly is fixedly installed on the side surface of the control cabinet, and a dust removal assembly is further arranged on the upper surface of the base; the dust removal assembly is used for cleaning dust generated in the machining process. The robot mechanical arm abrasive belt polishing equipment can clean dust generated in the polishing process through the dust removal assembly, avoids dust adhesion on the surface of a workpiece to influence the polishing quality, and reduces the abrasion of dust on internal parts of the equipment. A blow-and-suction dual-purpose air pump is connected with a flow guide plate through a connecting pipe, a negative pressure suction force is generated at the air inlet of one shell to suck in dust-containing air, and filtered air is reversely blown on the filter plate of another shell through the flow guide plate.

Description

Technical Field

[0001] This invention relates to the field of polishing equipment technology, specifically to a robotic arm belt polishing device and an adaptive path planning method. Background Technology

[0002] To achieve the required precision, workpieces manufactured by machining usually need to be polished. However, different workpieces have different precision requirements, and different parts of the same workpiece also have different precision requirements. Therefore, when dealing with workpieces or parts with different precision requirements, it is necessary to replace the polishing head on the polishing machine, which is time-consuming, labor-intensive, and results in long downtime, seriously affecting polishing efficiency.

[0003] An existing patent (publication number: CN222680506U) discloses an arc grinding and polishing device, including a robotic arm, a clamping component and an arc grinding component. The robotic arm and the clamping component are located on the same plane and there is a gap between them. The arc grinding component is located at the end of the robotic arm and can be moved by controlling the arc grinding component through the robotic arm.

[0004] Although this application uses a robotic arm to polish the curved surface of the crystal boat's pillars via a curved surface polishing component, and the robotic arm can precisely control the curved surface polishing component, thus eliminating the need for secondary manual polishing; and the constant force cylinder can adjust the tension of the polishing belt during application, thereby ensuring better contact between the polishing belt and the curved surface of the crystal boat's pillars and maintaining the polishing force within an appropriate range, thus improving polishing accuracy; however, this application cannot clean the dust during the polishing process, causing dust to adhere to the workpiece surface, affecting polishing quality, and even accelerating the wear of internal parts of the equipment, reducing the equipment's service life. Furthermore, for workpieces or parts with different precision requirements, different models of polishing belts or polishing components still need to be manually replaced, resulting in long downtime and reduced polishing efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a robotic arm belt polishing device and an adaptive path planning method, which solves the problems of existing polishing equipment where dust removal is not timely during the polishing process, affecting polishing quality, and requiring manual replacement of polishing belts or components for workpieces or parts with different precision requirements, resulting in long downtime and low polishing efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm belt polishing device, comprising a base, a robotic arm body and a control cabinet fixed on the upper surface of the base, wherein a belt polishing component is fixedly installed on the side of the control cabinet, and a dust removal component is also provided on the upper surface of the base, the dust removal component being used to clean the dust generated during the processing.

[0007] The dust removal assembly includes a fixed rod mounted on the base, a support rod fixed to the side of the fixed rod, a housing fixed to the lower surface of the support rod, a dust removal chamber inside the housing, a rotating rod rotatably connected inside the dust removal chamber, a filter plate fixed to the side of the rotating rod, and an air inlet and an air outlet on both sides of the housing, both of which are connected to the dust removal chamber.

[0008] Furthermore, the dust removal assembly also includes a blower-suction dual-purpose air pump fixed to the upper surface of the support rod. A guide plate is fixed to the side of the housing, and the position of the guide plate corresponds to the air outlet. The air inlet of the blower-suction dual-purpose air pump is connected to the guide plate through a connecting pipe. There are two housings and two guide plates, and the air outlet of the blower-suction dual-purpose air pump is connected to another guide plate through a connecting pipe.

[0009] With the above solution, during belt polishing, the blow-suction dual-purpose air pump generates negative pressure suction at the air inlet of the corresponding housing through the cooperation of the connecting pipe and the guide plate. The air containing dust generated during the polishing process is drawn into the dust removal chamber from the air inlet. The air filtered by the filter plate is blown into the other housing through the air outlet, the guide plate, and the blow-suction dual-purpose air pump. The dust on the surface of the filter plate is swept in the opposite direction, causing the dust attached to the surface of the filter plate to fall off under the impact of the airflow.

[0010] Furthermore, a second motor is fixedly installed on the upper surface of the support rod, and the output end of the second motor is fixed to the upper end of the rotating rod. The lower end of the rotating rod passes through the inside of another housing. The filter plate moves inside the dust removal chamber through the second motor and the rotating rod. A baffle is fixed on the inner wall of the dust removal chamber. The surface of the baffle has an arc-shaped opening, and the baffle is located below the filter plate. A chamber door is rotatably connected to the side of the housing, and the chamber door is located at the bottom of the dust removal chamber.

[0011] Through the above scheme, the second motor can drive the rotating rod and the filter plate fixed on the rotating rod to rotate, so that the filter plate can alternately suck up dust and be blown in the opposite direction. At the same time, the baffle surface has an arc-shaped surface, which can guide the dust falling on the filter plate, so that the dust slides down the arc-shaped surface to the bottom of the dust collection chamber for easy collection.

[0012] Furthermore, the top wall of the dust removal chamber is provided with a placement groove, and a hammer is rotatably connected to the inner wall of the placement groove. A buffer plate is embedded on the surface of the filter plate. Both the hammer and the buffer plate are made of rubber. There are multiple hammers, which are evenly arranged in a ring inside the dust removal chamber.

[0013] Through the above scheme, the filter plate can drive the hammer to rotate during rotation. When the filter plate and the hammer are no longer in contact, the hammer rotates in the opposite direction under its own gravity and strikes the buffer plate, causing the filter plate to vibrate slightly. This removes the dust attached to the surface of the filter plate, further improving the cleaning effect of the filter plate and preventing dust from clogging the filter holes and affecting the dust removal efficiency.

[0014] Furthermore, the dust removal assembly also includes a first motor, and the base has a movable chamber inside. The first motor is fixed to the inner wall of the movable chamber, and the output end of the first motor is connected to a fixed rod. The fixed rod and the support rod are movably arranged above the base through the first motor.

[0015] With the above scheme, the first motor drives the fixed rod, support rod and housing to rotate above the base, so that the air inlet on the housing can be aligned with the contact area between the sand belt polishing component and the workpiece. At the same time, in the non-working state, it can also avoid affecting the maintenance of the control cabinet.

[0016] Furthermore, there are four belt polishing assemblies, and each belt polishing assembly is equipped with an independent drive motor and tension adjustment device, and the polishing precision of each belt polishing assembly is different.

[0017] With the above solution, the four belt polishing components can be quickly switched according to the precision requirements of different parts of the workpiece, eliminating the need for frequent manual replacement of belts or grinding components, reducing downtime. The belt polishing components with different polishing precisions, combined with the flexible operation of the robotic arm, can meet the processing requirements of the same workpiece from rough polishing to fine polishing, thus improving polishing efficiency.

[0018] Furthermore, the placement slots are evenly distributed around the circumference of the dust removal chamber, and the hammer is rotatably connected to the inner wall of the placement slot through a pin. The lower end of the hammer extends to the top of the filter plate. The buffer plate is embedded in the edge of the filter plate in a ring shape, and the top surface of the buffer plate corresponds to the lower end of the hammer. Both are made of rubber and their contact surfaces are compatible.

[0019] Furthermore, the movable chamber is located in the middle of the base, and the first motor is fixed to the bottom wall of the movable chamber by bolts. The output end of the first motor is coaxially fixed to the lower end of the fixed rod. The support rod is horizontal, with one end welded to the side wall of the fixed rod and the other end extending above the belt polishing assembly. The housing is vertically fixed to the lower surface of the support rod, and the air inlet of the housing faces the polishing area of ​​the belt polishing assembly.

[0020] Furthermore, the guide plate has an arc-shaped structure and is fixed to the outer wall of the housing by bolts. The inner side of the guide plate completely covers and fits the air outlet. The air inlet connecting pipe of the blow-suction dual-purpose air pump is connected to the middle of one of the guide plates, and the air outlet connecting pipe is connected to the middle of the other guide plate. The two housings are symmetrically distributed on both sides of the fixing rod, and the two air inlets face the same direction.

[0021] Furthermore, an adaptive path planning method for a robotic arm belt polishing device includes the following steps:

[0022] Step 1: Input the 3D model of the workpiece to be polished and the polishing accuracy requirements of each part through the control cabinet, and identify the outline and spatial position of the area to be processed on the workpiece;

[0023] Step 2: Based on the precision requirements of different areas of the workpiece, match the corresponding belt polishing components and determine the start-up sequence and working parameters of each belt polishing component;

[0024] Step 3: Plan the movement path of the robotic arm body to ensure precise alignment between the workpiece to be processed area and the matching belt polishing component, while avoiding interference areas from other parts of the equipment.

[0025] Step 4: Synchronously plan the working path of the dust removal component, and drive the fixed rod to rotate through the first motor so that the air inlet of the housing is aligned with the contact area between the sand belt polishing component and the workpiece;

[0026] Step 5: During the polishing process, the dust adhesion status data of the filter plate is acquired in real time. When the dust accumulation reaches the set value, the rotation angle of the first motor is adjusted so that the air inlet of the other housing is switched to the polishing contact area. At the same time, the blow-suction dual-purpose air pump is started to blow the original filter plate in reverse.

[0027] Step Six: Adjust the moving speed of the robotic arm body according to the rotation speed of the filter plate driven by the second motor to ensure that the dust removal and polishing actions are coordinated and synchronized, and avoid airflow interference with polishing accuracy;

[0028] Step 7: During the movement of the workpiece driven by the robotic arm, the striking frequency of the hammer and the buffer plate is detected in real time. Based on the vibration feedback generated by the striking, the feed amount of the robotic arm is finely adjusted to compensate for the positional deviation that may be caused by the vibration.

[0029] Step 8: When switching between belt polishing components of different precision, update the path coordinates of the robotic arm body based on the preset component position parameters to ensure that the workpiece and the newly switched belt polishing component can be quickly and accurately docked, shortening the switching time.

[0030] Step 9: Record the path data, dust removal efficiency, and polishing accuracy results for each polishing operation, and store and analyze the data patterns through the control cabinet;

[0031] Step 10: For subsequent polishing operations on similar workpieces, call up historical optimization data, adjust the robotic arm movement path, the switching sequence of the belt polishing components, and the working parameters of the dust removal components, optimize the rationality of the path planning, and improve work efficiency and processing consistency; reserve maintenance intervals for opening the chamber door in the path planning to ensure that centralized dust cleaning does not affect continuous polishing operations.

[0032] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0033] This robotic arm belt polishing equipment uses a dust removal component to clean up dust generated during the polishing process, preventing dust from adhering to the workpiece surface and affecting the polishing quality. It also reduces wear on internal parts caused by dust. A dual-purpose air pump, connected to a guide plate via a pipe, generates negative pressure at the air inlet of one housing to draw in dusty air. The filtered air is then blown in the opposite direction by the guide plate of the other housing, which in turn blows the filter plate. During this process, the filter plate rotates, pushing a rubber hammer. After contact is lost, the hammer rotates in the opposite direction, striking a buffer plate on the filter plate surface. The resulting slight vibration further removes adhering dust, improving the cleaning effect. Furthermore, four belt polishing components with independent drive motors and tension adjustment devices, each with different polishing precision, can be quickly switched according to the precision requirements of different parts of the workpiece, eliminating the need for frequent manual changes of belts or polishing components and reducing downtime. Attached Figure Description

[0034] Figure 1 This is a front-view stereoscopic structural diagram of this application;

[0035] Figure 2 This is a partial sectional view of the structure of this application;

[0036] Figure 3 This is a cross-sectional view of the dust removal component in this application;

[0037] Figure 4 This is a cross-sectional view of the hammer in this application;

[0038] Figure 5 For this application Figure 4 Enlarged structural diagram at point A in the middle;

[0039] Figure 6 This is a three-dimensional structural diagram of the present application under dust removal conditions.

[0040] In the diagram: 1. Base; 101. Movable chamber; 2. Main body of robotic arm; 3. Control cabinet; 4. Belt polishing assembly; 5. Dust removal assembly; 501. First motor; 502. Fixed rod; 503. Support rod; 504. Second motor; 505. Housing; 506. Dust removal chamber; 507. Filter plate; 508. Air inlet; 509. Air outlet; 510. Guide plate; 511. Dual-purpose air pump (blowing and suction); 512. Baffle; 513. Chamber door; 514. Placement slot; 515. Hammer; 516. Buffer plate; 517. Rotating rod. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] Please see Figure 1-6 The robotic arm belt polishing device in this embodiment includes a base, a robotic arm body and a control cabinet fixed on the upper surface of the base. A belt polishing component is fixedly installed on the side of the control cabinet, and a dust removal component is also provided on the upper surface of the base. The dust removal component is used to clean the dust generated during the processing.

[0043] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4The dust removal assembly 5 includes a fixed rod 502 mounted above the base 1, a support rod 503 fixed to the side of the fixed rod 502, a housing 505 fixed to the lower surface of the support rod 503, a dust removal chamber 506 inside the housing 505, a rotating rod 517 rotatably connected inside the dust removal chamber 506, a filter plate 507 fixed to the side of the rotating rod 517, an air inlet 508 and an air outlet 509 respectively on both sides of the housing 505, both of which are connected to the dust removal chamber 506. The dust removal assembly 5 also includes a blower / suction dual-purpose air pump 511 fixed to the upper surface of the support rod 503, a guide plate 510 fixed to the side of the housing 505, the position of the guide plate 510 corresponding to the air outlet, and the air inlet of the blower / suction dual-purpose air pump 511 through... The connecting pipe is connected to the guide plate 510. There are two housings 505 and two guide plates 510. The air outlet of the blow-suction dual-purpose air pump 511 is connected to another guide plate 510 through the connecting pipe. During the belt polishing operation, the blow-suction dual-purpose air pump 511 generates negative pressure suction at the air inlet 508 of the corresponding housing 505 through the cooperation of the connecting pipe and the guide plate 510. The air containing dust generated during the polishing process is sucked into the dust removal chamber 506 from the air inlet 508. The air filtered by the filter plate 507 is blown into the other housing 505 through the air outlet 509, the guide plate 510 and the blow-suction dual-purpose air pump 511. The dust on the surface of the filter plate 507 is swept in the opposite direction, so that the dust attached to the surface of the filter plate 507 is dislodged under the impact of the airflow.

[0044] Please see Figure 2 , Figure 3 and Figure 4 A second motor 504 is fixedly mounted on the upper surface of the support rod 503. The output end of the second motor 504 is fixed to the upper end of the rotating rod 517. The lower end of the rotating rod 517 passes through the interior of another housing 505. The filter plate 507 moves within the dust collection chamber 506 via the second motor 504 and the rotating rod 517. A baffle 512 is fixed to the inner wall of the dust collection chamber 506. The surface of the baffle 512 has an arc-shaped opening, and the baffle 512 is positioned below the filter plate 507. The side of the housing 505 rotates... The dust collection chamber 506 is connected to a door 513, which is located at the bottom of the dust collection chamber 506. The second motor 504 can drive the rotating rod 517 and the filter plate 507 fixed on the rotating rod 517 to rotate, so that the filter plate 507 can alternately suck up and filter dust and be blown in the opposite direction. At the same time, the baffle 512 has an arc-shaped surface, which can guide the dust falling on the filter plate 507, so that the dust slides down the arc-shaped surface to the bottom of the dust collection chamber 506 for easy collection.

[0045] Please see Figure 3 , Figure 4 and Figure 5The top wall of the dust collection chamber 506 has a placement groove 514, and a striking hammer 515 is rotatably connected to the inner wall of the placement groove 514. A buffer plate 516 is embedded on the surface of the filter plate 507. Both the striking hammer 515 and the buffer plate 516 are made of rubber. There are multiple striking hammers 515, which are evenly arranged in a ring inside the dust collection chamber 506. When the filter plate 507 rotates, it can push the striking hammers 515 to rotate. When the filter plate 507 loses contact with the striking hammers 515, the striking hammers 515 rotate in the opposite direction under their own gravity and strike the buffer plate 516, causing the filter plate 507 to vibrate slightly, thereby removing the dust attached to the surface of the filter plate 507 and further improving the performance of the filter plate 507. The cleaning effect is improved, and dust is prevented from clogging the filter holes and affecting the dust removal efficiency. The dust removal component 5 also includes a first motor 501. The base 1 has a movable chamber 101 inside. The first motor 501 is fixed to the inner wall of the movable chamber 101. The output end of the first motor 501 is connected to the fixed rod 502. The fixed rod 502 and the support rod 503 are movably set above the base 1 through the first motor 501. The first motor 501 drives the fixed rod 502, the support rod 503 and the housing 505 to rotate above the base 1, so that the air inlet 508 on the housing 505 can be aligned with the contact area between the sand belt polishing component 4 and the workpiece. At the same time, in the non-working state, it can also avoid affecting the maintenance of the control cabinet 3.

[0046] It should be noted that you should refer to [link / reference]. Figure 1 , Figure 2 and Figure 6 There are four belt polishing components 4, and each belt polishing component 4 is equipped with an independent drive motor and tension adjustment device. The polishing precision of each belt polishing component 4 is different. The four belt polishing components 4 can be quickly switched according to the precision requirements of different parts of the workpiece, without the need for frequent manual replacement of belts or grinding components, reducing downtime. The belt polishing components 4 with different polishing precisions, together with the flexible operation of the robotic arm body 2, can meet the processing requirements of the same workpiece from rough polishing to fine polishing, thus improving polishing efficiency.

[0047] In this invention, the placement groove 514 is evenly distributed around the circumference of the dust removal chamber 506, and the hammer 515 is rotatably connected to the inner wall of the placement groove 514 through a pin. The lower end of the hammer 515 extends to the top of the filter plate 507. The buffer plate 516 is embedded in the edge of the filter plate 507 in a ring shape. The top surface of the buffer plate 516 corresponds to the lower end of the hammer 515. Both are made of rubber and their contact surfaces are compatible.

[0048] In this invention, the movable chamber 101 is located in the middle of the base 1. The first motor 501 is fixed to the bottom wall of the movable chamber 101 by bolts. The output end of the first motor 501 is coaxially fixed to the lower end of the fixed rod 502. The support rod 503 is horizontal. One end of it is welded to the side wall of the fixed rod 502, and the other end extends to the top of the sand belt polishing assembly 4. The housing 505 is vertically fixed to the lower surface of the support rod 503, and the air inlet 508 of the housing 505 faces the polishing area of ​​the sand belt polishing assembly 4.

[0049] In this invention, the guide plate 510 has an arc-shaped structure and is fixed to the outer wall of the housing 505 by bolts. The inner side of the guide plate 510 completely covers and fits the air outlet 509. The air inlet connecting pipe of the blow-suction dual-purpose air pump 511 is connected to the middle of one of the guide plates 510, and the air outlet connecting pipe is connected to the middle of the other guide plate 510. The two housings 505 are symmetrically distributed on both sides of the fixing rod 502, and the two air inlets 508 face the same direction.

[0050] This invention also discloses an adaptive path planning method for a robotic arm belt polishing device, comprising the following steps:

[0051] Step 1: Input the 3D model of the workpiece to be polished and the polishing accuracy requirements of each part through control cabinet 3, and identify the outline and spatial position of the workpiece to be processed area;

[0052] Step 2: Based on the precision requirements of different areas of the workpiece, match the corresponding belt polishing components 4 and determine the start-up sequence and working parameters of each belt polishing component 4;

[0053] Step 3: Plan the movement path of the robotic arm body 2 so that the workpiece to be processed area is precisely aligned with the matching sand belt polishing component 4, and the path avoids interference areas of other equipment structures.

[0054] Step 4: Synchronously plan the working path of the dust removal component 5, drive the fixed rod 502 to rotate through the first motor 501, so that the air inlet 508 of the housing 505 is aligned with the contact area between the sand belt polishing component 4 and the workpiece.

[0055] Step 5: During the polishing process, the dust adhesion status data of the filter plate 507 is acquired in real time. When the dust accumulation reaches the set value, the rotation angle of the first motor 501 is adjusted so that the air inlet 508 of the other housing 505 is switched to the polishing contact area. At the same time, the blow-suction dual-purpose air pump 511 is started to blow the original filter plate 507 in reverse.

[0056] Step 6: Adjust the moving speed of the robotic arm body 2 according to the rotation speed of the filter plate 507 driven by the second motor 504 to ensure that the dust removal and polishing actions are coordinated and synchronized, and avoid airflow interference with polishing accuracy;

[0057] Step 7: During the movement of the workpiece driven by the main body 2 of the robotic arm, the striking frequency of the hammer 515 and the buffer plate 516 is detected in real time. Based on the vibration feedback generated by the striking, the feed amount of the main body 2 of the robotic arm is finely adjusted to compensate for the position deviation that may be caused by the vibration.

[0058] Step 8: When switching between belt polishing components 4 with different precision, update the path coordinates of the robotic arm body 2 based on the preset component position parameters to ensure that the workpiece and the newly switched belt polishing component 4 can be quickly and accurately docked, shortening the switching time.

[0059] Step 9: Record the path data, dust removal efficiency, and polishing accuracy results for each polishing operation, and store and analyze the data patterns through control cabinet 3;

[0060] Step 10: For subsequent polishing operations on similar workpieces, call up historical optimization data, adjust the robotic arm movement path, the switching sequence of the belt polishing components, and the working parameters of the dust removal components, optimize the rationality of the path planning, and improve work efficiency and processing consistency; reserve maintenance intervals for opening the chamber door 513 in the path planning to ensure that centralized dust cleaning does not affect continuous polishing operations.

[0061] The working principle of the above embodiments is as follows:

[0062] First, the device is installed in the designated location and connected to an external power source and control equipment. The control equipment is a known conventional device such as a controller or computer with control functions. Then, the control equipment inputs the 3D model of the workpiece to be polished and the polishing path parameters. Before the polishing operation begins, the corresponding abrasive belt polishing components 4 are preset and switched according to the precision requirements of different parts of the workpiece through the control cabinet 3. When polishing the coarse grinding area of ​​the workpiece, the control cabinet 3 controls the corresponding coarse precision abrasive belt polishing component 4 to start; while when polishing the fine grinding area, it automatically switches to the high precision abrasive belt polishing component 4, reducing the downtime for component replacement.

[0063] During the polishing operation, the control equipment first controls the operation of the first motor 501. The first motor 501 drives the fixed rod 502, support rod 503, and housing 505 to rotate above the base 1, so that the air inlet 508 on the housing 505 can be aligned with the contact area between the belt polishing assembly 4 and the workpiece. Subsequently, the control equipment controls the operation of the blow-suction dual-purpose air pump 511 and the second motor 504. The blow-suction dual-purpose air pump 511 sucks the dust and debris generated during the polishing process into the dust collection chamber 506 through the air inlet 508. The second motor 504 drives the rotating rod 517 to rotate, which in turn drives the filter plate 507 fixed on the side of the rotating rod 517 to rotate synchronously, thereby filtering the dust in the dust collection chamber 506 and trapping the dust on the surface of the filter plate 507. The purified air is then blown into another housing 505 through the air outlet 509 via the guide plate 510 and the blow-suction dual-purpose air pump 511, which reverses the blowing of dust on the surface of the filter plate 507, causing the dust attached to the surface of the filter plate 507 to fall off under the impact of the airflow.

[0064] During the rotation of the filter plate 507, the hammer 515 is moved and pushed into the placement groove 514. When the filter plate 507 separates from the hammer 515, the hammer 515 falls from the placement groove 514 under the action of gravity and strikes the buffer plate 516 on the surface of the filter plate 507. The elastic collision between the hammer 515 and the buffer plate 516 causes the filter plate 507 to vibrate slightly, further removing the dust attached to the surface of the filter plate 507. Since the baffle 512 fixed on the inner wall of the dust collection chamber 506 has an arc-shaped surface, it can guide the dust falling from the filter plate 507, allowing the dust to slide down the arc-shaped surface to the bottom of the dust collection chamber 506 for easy collection.

[0065] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0066] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm belt polishing device, comprising a base (1), a robotic arm body (2) fixed to the upper surface of the base (1), and a control cabinet (3), wherein a belt polishing assembly (4) is fixedly installed on the side of the control cabinet (3), characterized in that: The upper surface of the base (1) is also provided with a dust removal component (5), which is used to clean the dust generated during the processing. The dust removal component (5) includes a fixed rod (502) set above the base (1), a support rod (503) fixed on the side of the fixed rod (502), a housing (505) fixed on the lower surface of the support rod (503), a dust removal chamber (506) opened inside the housing (505), a rotating rod (517) rotatably connected inside the dust removal chamber (506), a filter plate (507) fixed on the side of the rotating rod (517), an air inlet (508) and an air outlet (509) opened on both sides of the housing (505), and the air inlet (508) and the air outlet (509) are connected to the dust removal chamber (506).

2. The robotic arm belt polishing equipment according to claim 1, characterized in that: The dust removal assembly (5) also includes a blow-and-suction dual-purpose air pump (511) fixed on the upper surface of the support rod (503). A guide plate (510) is fixed on the side of the housing (505). The position of the guide plate (510) corresponds to the air outlet. The air inlet of the blow-and-suction dual-purpose air pump (511) is connected to the guide plate (510) through a connecting pipe. There are two housings (505) and two guide plates (510). The air outlet of the blow-and-suction dual-purpose air pump (511) is connected to another guide plate (510) through a connecting pipe.

3. The robotic arm belt polishing equipment according to claim 2, characterized in that: A second motor (504) is fixedly installed on the upper surface of the support rod (503). The output end of the second motor (504) is fixed to the upper end of the rotating rod (517). The lower end of the rotating rod (517) passes through the interior of another housing (505). The filter plate (507) moves inside the dust removal chamber (506) through the second motor (504) and the rotating rod (517). A baffle (512) is fixed on the inner wall of the dust removal chamber (506). The surface of the baffle (512) is provided with an arc-shaped surface, and the baffle (512) is located below the filter plate (507). A chamber door (513) is rotatably connected to the side of the housing (505). The chamber door (513) is located at the bottom of the dust removal chamber (506).

4. The robotic arm belt polishing equipment according to claim 3, characterized in that: The top wall of the dust removal chamber (506) is provided with a placement groove (514), and a hammer (515) is rotatably connected to the inner wall of the placement groove (514). A buffer plate (516) is embedded on the surface of the filter plate (507). Both the hammer (515) and the buffer plate (516) are made of rubber. There are multiple hammers (515), which are evenly arranged in a ring inside the dust removal chamber (506).

5. The robotic arm belt polishing device according to claim 4, characterized in that: The dust removal assembly (5) also includes a first motor (501). The base (1) has an open movable chamber (101) inside. The first motor (501) is fixed to the inner wall of the movable chamber (101). The output end of the first motor (501) is connected to the fixed rod (502). The fixed rod (502) and the support rod (503) are movably arranged above the base (1) through the first motor (501).

6. The robotic arm belt polishing device according to claim 1, characterized in that: There are four belt polishing components (4), and each belt polishing component (4) is equipped with an independent drive motor and tension adjustment device. The polishing precision of each belt polishing component (4) is different.

7. The robotic arm belt polishing equipment according to claim 4, characterized in that, The placement slots (514) are evenly distributed around the circumference of the dust removal chamber (506). The hammer (515) is rotatably connected to the inner wall of the placement slots (514) through a pin. The lower end of the hammer (515) extends to the top of the filter plate (507). The buffer plate (516) is embedded in the edge of the filter plate (507) in a ring shape. The top surface of the buffer plate (516) corresponds to the lower end of the hammer (515). Both are made of rubber and their contact surfaces are compatible.

8. The robotic arm belt polishing equipment according to claim 5, characterized in that, The movable chamber (101) is located in the middle of the base (1). The first motor (501) is fixed to the bottom wall of the movable chamber (101) by bolts. The output end of the first motor (501) is coaxially fixed to the lower end of the fixed rod (502). The support rod (503) is horizontal. One end of the support rod (503) is welded to the side wall of the fixed rod (502), and the other end extends to the top of the sand belt polishing assembly (4). The housing (505) is vertically fixed to the lower surface of the support rod (503), and the air inlet (508) of the housing (505) faces the polishing area of ​​the sand belt polishing assembly (4).

9. The robotic arm belt polishing equipment according to claim 2, characterized in that, The guide plate (510) has an arc-shaped structure and is fixed to the outer wall of the housing (505) by bolts. The inner side of the guide plate (510) completely covers and fits the air outlet (509). The air inlet connecting pipe of the blow-and-suction dual-purpose air pump (511) is connected to the middle of one of the guide plates (510), and the air outlet connecting pipe is connected to the middle of the other guide plate (510). The two housings (505) are symmetrically distributed on both sides of the fixing rod (502), and the two air inlets (508) face the same direction.

10. An adaptive path planning method for a robotic arm belt polishing device, applied to the robotic arm belt polishing device according to any one of claims 1-9, characterized in that, Includes the following steps: Step 1: Input the three-dimensional model of the workpiece to be polished and the polishing accuracy requirements of each part through the control cabinet (3), and identify the outline and spatial position of the workpiece to be processed area; Step 2: Based on the precision requirements of different areas of the workpiece, match the corresponding belt polishing components (4) and determine the start-up sequence and working parameters of each belt polishing component (4); Step 3: Plan the movement path of the main body of the robotic arm (2) so that the workpiece to be processed area is precisely connected with the matching sand belt polishing component (4), and the path avoids interference areas of other structures of the equipment; Step 4: Synchronously plan the working path of the dust removal component (5), drive the fixed rod (502) to rotate through the first motor (501), so that the air inlet (508) of the housing (505) is aligned with the contact area between the sand belt polishing component (4) and the workpiece; Step 5: During the polishing process, the dust adhesion status data of the filter plate (507) is acquired in real time. When the dust accumulation reaches the set value, the rotation angle of the first motor (501) is adjusted so that the air inlet (508) of the other housing (505) is switched to the polishing contact area. At the same time, the blow-suction dual-purpose air pump (511) is started to blow the original filter plate (507) in reverse. Step 6: Adjust the moving speed of the robotic arm body (2) according to the rotation speed of the filter plate (507) driven by the second motor (504); Step 7: During the process of the robotic arm body (2) moving the workpiece, the striking frequency of the hammer (515) and the buffer plate (516) is detected in real time. Based on the vibration feedback generated by the striking, the feed amount of the robotic arm body (2) is finely adjusted to compensate for the position deviation that may be caused by the vibration. Step 8: When switching between different precision sand belt polishing components (4), update the path coordinates of the robotic arm body (2) based on the preset component position parameters; Step 9: Record the path data, dust removal efficiency and polishing accuracy results for each polishing operation, and store and analyze the data patterns through the control cabinet (3); Step 10: For subsequent polishing operations of similar workpieces, call historical optimization data to adjust the movement path of the robotic arm, the switching sequence of the belt polishing components, and the working parameters of the dust removal components; reserve maintenance intervals for opening the chamber door (513) in the path planning.

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