Polishing apparatus for curved workpieces

Abstract

The application provides a polishing device for a curved workpiece, and multiple cleaning and dust collecting components in a ring array are arranged on the outer peripheral edge of a grinding wheel, each of the cleaning and dust collecting components comprising a dust collecting part and a detection part. The detection part can first roll against the curved surface to be polished and move along the axial direction of the grinding wheel according to the profile of the curved surface, and the dust collecting part is synchronously adjusted by a first transmission part, so that the dust collecting end rotates correspondingly while moving along the axial direction of the grinding wheel, so that the position and orientation of the dust collecting end can be adaptively adjusted according to the curvature of the curved surface, the dust collecting port is always close to the polishing area and the dust flying area, the dust collecting efficiency is improved, and the influence of the secondary falling of dust on the polishing quality of the curved surface is reduced.

Description

Technical Field

[0001] This invention relates to the field of grinding, specifically to grinding equipment for curved workpieces. Background Technology

[0002] With the development of aerospace, shipbuilding, rail transportation, energy equipment, and large mold industries, the application of large-sized curved surface workpieces is becoming increasingly widespread. To ensure the dimensional accuracy, surface roughness, and subsequent painting, welding, or assembly quality of curved surface workpieces, it is usually necessary to use robots equipped with high-speed rotating grinding wheels to automatically grind the curved surfaces. Compared with manual grinding, robotic grinding has advantages such as high processing efficiency, good processing consistency, and low labor intensity, and has gradually become an important method for processing complex curved surfaces.

[0003] When performing curved surface grinding with existing robots, a disc-shaped grinding wheel is typically used as the grinding tool. The circular end face of the grinding wheel faces the surface to be ground, and the robotic arm continuously adjusts the wheel's posture to ensure that the wheel always conforms to the surface with different curvatures. Because the normal direction and curvature of the surface continuously change along the processing path, the tilt angle and contact position of the grinding wheel relative to the surface also continuously change, resulting in a constant change in the direction of dust dispersion and the area of ​​dust accumulation during the grinding process.

[0004] To reduce dust dispersion, existing equipment typically features a fixed dust hood or fixed dust inlet around the grinding wheel, using negative pressure to suck away the dust generated during grinding. However, the position and orientation of this fixed dust collection structure remain unchanged. When the grinding wheel's posture changes, the relative position of the dust inlet to the curved surface and the suction direction cannot be adjusted accordingly, causing the dust inlet to easily deviate from the main dust dispersion area. In convex curved surfaces, dust is more likely to disperse outwards tangentially; while in concave curved surfaces, dust is easily confined by local space, leading to backflow or accumulation. When the dust inlet remains in a fixed position, some dust cannot enter the negative pressure area in time, not only reducing dust collection efficiency but also easily falling back into the grinding area to participate in secondary grinding, causing scratches on the workpiece surface, reduced grinding quality, and grinding wheel clogging.

[0005] On the other hand, to improve dust collection efficiency, existing technologies typically employ methods such as increasing suction power, raising negative pressure, or enlarging the size of the dust hood. However, these methods essentially optimize suction capacity without considering the changes in dust dispersion direction caused by the continuous changes in the grinding wheel's posture during curved surface processing. Therefore, even with increased suction negative pressure, it remains difficult to ensure that the suction area consistently covers the main dust dispersion path when the suction port position and orientation cannot actively adapt to changes in curvature. This problem is particularly pronounced during continuous grinding of large, complex curved surfaces. Summary of the Invention

[0006] This invention addresses the technical problems in existing curved surface grinding processes where fixed dust collection structures cannot adaptively adjust their dust collection position and orientation according to changes in the grinding wheel's posture. This results in the dust collection area easily deviating from the main dust dispersion path, low dust collection efficiency, and the tendency for secondary dust fall, thus affecting the quality of curved surface grinding. Therefore, this invention provides a grinding device for curved surface workpieces.

[0007] The present invention solves the above-mentioned technical problems through the following technical solutions: The present invention provides a grinding device for curved workpieces, including a robotic arm, a grinding component is provided on the mobile terminal of the robotic arm, the grinding component includes a grinding wheel that is rotatably arranged along the axial direction, and a cleaning mechanism is provided at the outer peripheral edge of the grinding wheel; The cleaning mechanism includes multiple cleaning and dust-collecting components arranged in a circular array along the circumference of the grinding wheel, with each component located at the outer peripheral edge of the grinding wheel. The cleaning and dust collection assembly includes a dust collection part and a detection part. The detection part is located on the side of the dust collection part facing the grinding end of the grinding wheel, and the detection part has the freedom to move along the axis of the grinding wheel. The detection part is used to roll and abut against the curved surface to be polished. The detection unit and the dust collection unit are connected by a first transmission unit. When the detection unit moves along the axis of the grinding wheel, the dust collection end of the dust collection unit moves in the same direction as the detection unit and rotates towards the side closer to the grinding wheel or away from the grinding wheel to adjust the position and orientation of the dust collection end relative to the grinding wheel. The cleaning and vacuuming assembly is fixed to the annular outer wall of the mounting frame, and the mounting frame is fixed to the mobile terminal of the robotic arm or to a mounting component that is fixed relative to the position of the mobile terminal of the robotic arm. That is, the mounting frame can be fixed to a motor that is fixed relative to the position of the mobile terminal of the robotic arm or to a component used to fix the motor.

[0008] In this technical solution, the detection unit includes a detection rod that slides along the axial direction of the grinding wheel. One end of the detection rod extends out of the grinding end face of the grinding wheel and is provided with an overlapping member for rolling contact with the surface to be ground. The detection rod is connected to the dust collection unit through a first transmission unit. When the detection rod is displaced along the axial direction of the grinding wheel by the pressure of the surface to be ground, it drives the dust collection end of the dust collection unit to move along the axial direction of the grinding wheel and simultaneously drives the dust collection end to rotate towards the side closer to the grinding wheel or away from the grinding wheel.

[0009] Specifically, the detection rod is distributed along the axial direction of the grinding wheel, and the surface of the detection rod is fitted with a first guide sleeve. The detection rod can slide inside the guide sleeve. The guide sleeve is fixed to the annular outer wall of the mounting frame or to the mounting component that is fixed relative to the annular outer wall of the mounting frame by the first support frame. That is, the first support frame can be fixed to the support ring that constitutes the annular outer wall of the mounting frame or to the guide rail surface fixed on the support ring. A self-rotating ball is installed on the end of the detection rod near the grinding wheel. A first spring is sleeved on the surface of the detection rod, and the two ends of the first spring are fixed to the first guide sleeve and the detection rod, respectively.

[0010] In this technical solution, the dust collection part includes a dust collection component, which includes a dust collection shell constituting the dust collection end. The dust collection shell is rotatably connected to the slider via a connector. The slider is slidably connected to a guide rail distributed along the axis of the grinding wheel. The guide rail is fixed to the annular outer wall of the mounting bracket. The connector is connected to the detection unit via a transmission unit, and the vacuuming unit also includes a guide unit connected between the vacuuming housing and the external air pump; The connecting piece that slides along the guide rail with the slider drives the vacuum cleaner housing to rotate via the drive component.

[0011] In this technical solution, the connector includes a first connecting frame, one side of which is fixed to the slider and the other side is fixed to a mounting horizontal shaft. A self-rotating sleeve is sleeved on the surface of the mounting horizontal shaft and the self-rotating sleeve is fixed to the dust collection shell. The driving component includes an adjusting gear, one side of which is meshed with an adjusting rack arranged along the axial direction of the grinding wheel. The adjusting rack is fixed to the annular outer wall of the guide rail or mounting bracket by a rod.

[0012] Furthermore, the adjusting rack is located between the adjusting gear and the guide rail or between the adjusting gear and the dust collection housing.

[0013] In this technical solution, the flow guide includes a connecting rigid tube, one end of which is connected to the dust collection shell and the other end is connected to the dust collection shell. The dust collection shell is fixed on the top of the guide rail or the bearing ring. The dust collection shell is connected to the bottom of the annular confluence shell through the flow guide tube. The confluence shell is connected to an external air pump through a pipe. The air pump is installed on the mobile terminal of the robotic arm. A flexible and retractable corrugated hose is inserted into the connecting rigid pipe, and a filter screen is covered at the connection between the guide pipe and the dust collection shell.

[0014] In this technical solution, the first transmission part is two crossbars arranged on opposite sides or a transmission component that can change the transmission ratio of the detection rod; Two crossbars are fixed on both sides of the first connecting frame, and both crossbars are fixed on the detection rod; The transmission component includes a fixed frame that is fixed relative to the position of the detection rod, meaning that the fixed frame does not move with the movement of the detection rod. Two meshing transmission gears are installed on the fixed frame. A first rack and a second rack are respectively meshed on one side of the two transmission gears. The first rack and the second rack are both distributed along the axial direction of the grinding wheel. The first rack and the second rack are respectively fixed on the first connecting frame and the detection rod. The two transmission gears have different diameters.

[0015] This technical solution also includes multiple auxiliary vacuuming components, which are also distributed circumferentially along the annular sidewall of the mounting frame, with at least one auxiliary vacuuming component between two adjacent cleaning vacuuming components. The auxiliary vacuuming component includes a vacuuming section, which has the same structure as the vacuuming section in the cleaning vacuuming component; The two adjacent vacuuming sections are connected by a linkage mechanism. The linkage mechanism can transmit the movement of one vacuuming section to the other vacuuming section, and make the other vacuuming section move less than the former, thus forming a differential transmission.

[0016] In this technical solution, the auxiliary dust collection component also includes a guide part for guiding the movement of the corresponding dust collection shell. The guide part includes a guide vertical shaft arranged along the axis of the grinding wheel. A second guide sleeve is sleeved on the surface of the guide vertical shaft. The second guide sleeve is fixed to the annular outer wall of the guide rail or mounting bracket by a second support frame. The first connecting bracket on the auxiliary vacuuming assembly is fixed to the guide vertical shaft via the second transmission part. A second spring is sleeved on the surface of the guide vertical shaft, and the two ends of the second spring are respectively fixed to the guide vertical shaft and the second guide sleeve.

[0017] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0018] The positive and progressive effects of this invention are as follows: This application provides multiple cleaning and dust-collecting components arranged in a circular array along the outer periphery of the grinding wheel. Each component includes a dust-collecting part and a detection part. The detection part rolls and contacts the surface to be ground before the grinding wheel during the grinding process, and displaces along the grinding wheel axis as the local contour of the surface changes, thus sensing the relative posture changes between the grinding wheel and the surface in real time. The detection part drives the dust-collecting part to adjust synchronously via a transmission part, causing the dust-collecting end to rotate accordingly while moving along the grinding wheel axis. This allows the position and orientation of the dust-collecting end to adaptively adjust with changes in the surface contour.

[0019] Compared to traditional fixed dust collection structures, this application enables the dust collection end to always maintain a working posture that adapts to surfaces with different curvatures, allowing the dust collection port to be closer to the polishing area and the dust dispersion area, improving dust collection efficiency, reducing dust diffusion and secondary fall back to the polishing area, causing repeated grinding, surface scratches and other problems, thereby improving the polishing quality of complex curved surfaces.

[0020] Furthermore, this application utilizes the rolling contact between the detection unit and the curved surface to achieve mechanical detection of changes in the curved surface contour, and directly drives the suction unit to complete the posture adjustment through the transmission unit. It can achieve adaptive adjustment of the suction end without the need for vision, laser or other electronic detection devices, which not only reduces the overall structural complexity, but also improves the real-time performance and reliability of the suction adjustment, making the cleaning mechanism more suitable for continuous automatic polishing of large and complex curved surfaces by robots.

[0021] This application does not improve dust removal efficiency by increasing suction negative pressure. Instead, it uses a detection unit to mechanically sense the curved surface contour and drive the suction end to synchronously adjust its spatial position and suction direction. This allows the suction area to actively adapt to changes in curvature, shifting from "increasing suction power" to "optimizing suction posture." This ensures that the suction end always maintains effective coverage of the main dust dispersion area. It is especially suitable for grinding large curved surfaces with continuously changing curvature and can significantly improve the dust collection effect during complex curved surface processing. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the grinding component and cleaning mechanism of the present invention; Figure 3 This is a schematic diagram showing the positional relationship between the cleaning mechanism and the grinding wheel of the present invention; Figure 4 This is a schematic diagram of the cleaning mechanism of the present invention; Figure 5 For the present invention Figure 4 A top-view structural diagram; Figure 6 For the present invention Figure 5 Schematic diagram of the cross-sectional structure at point AA; Figure 7 For the present invention Figure 6 A magnified schematic diagram of the structure at point I; Figure 8 This is a schematic diagram of the structure of the cleaning and vacuuming component of the present invention; Figure 9 For the present invention Figure 8 A structural diagram from another perspective; Figure 10 For the present invention Figure 8 A schematic diagram of the structure viewed from below; Figure 11 This is a schematic diagram of the auxiliary dust collection component of the present invention.

[0023] Explanation of reference numerals in the attached figures 101. Robotic arm; 102. Cleaning mechanism; 103. Cleaning and vacuuming assembly; 104. Auxiliary vacuuming assembly; 1. Bearing ring; 2. Dust suction unit; 21. Guide rail; 22. Slider; 23. First connecting frame; 24. Mounting horizontal shaft; 25. Rotating sleeve; 26. Adjusting gear; 27. Adjusting rack; 28. Dust suction component; 281. Dust suction shell; 282. Connecting rigid tube; 283. Corrugated flexible hose; 284. Dust collection shell; 285. Guide tube; 29. ​​First transmission unit; 291. Fixing frame; 292. Transmission gear; 293. First rack; 294. Second rack; 3. Detection section; 31. First guide sleeve; 32. First support frame; 33. Detection rod; 34. First spring; 35. Walking ball; 4. Guide section; 41. Second guide sleeve; 42. Second support frame; 43. Guide vertical shaft; 44. Second spring; 5. Manifold shell; 6. Second transmission unit; 7. Linkage components; 8. Motor; 81. Spindle; 82. Grinding wheel; 9. Second connecting frame. Detailed Implementation

[0024] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments.

[0025] like Figure 1 and Figure 2 As shown, a grinding device for curved workpieces includes a robotic arm 101. A grinding assembly is provided on the mobile terminal of the robotic arm 101. The grinding assembly includes a grinding wheel 82 that is rotatably disposed along the axial direction. A cleaning mechanism 102 is provided at the outer peripheral edge of the grinding wheel 82. The cleaning mechanism 102 includes a plurality of cleaning and dust-collecting components 103 arranged in a ring array along the circumference of the grinding wheel 82, and the plurality of cleaning and dust-collecting components 103 are all disposed at the outer peripheral edge of the grinding wheel 82; The cleaning and dust collection assembly 103 includes a dust collection part 2 and a detection part 3. The detection part 3 is disposed on the side of the dust collection part 2 facing the grinding end of the grinding wheel 82, and the detection part 3 has the freedom to move along the axial direction of the grinding wheel 82. The detection part 3 is used to roll and abut against the curved surface to be polished. The detection unit 3 and the dust collection unit 2 are connected by a first transmission unit 29. When the detection unit 3 moves along the axis of the grinding wheel 82, it drives the dust collection end of the dust collection unit 2 to move in the same direction as the detection unit 3, and drives the dust collection end to rotate towards the side closer to the grinding wheel 82 or towards the side farther away from the grinding wheel 82, so as to adjust the position and orientation of the dust collection end relative to the grinding wheel 82. The cleaning and vacuuming assembly 103 is fixed on the annular outer wall of the mounting bracket, and the mounting bracket is fixed on the mobile terminal of the robotic arm 101 or on a mounting component that is fixed relative to the position of the mobile terminal of the robotic arm 101. That is, the mounting bracket can be fixed on the motor 8 that is fixed relative to the position of the mobile terminal of the robotic arm 101 or on a component used to fix the motor 8.

[0026] Example 1 In this embodiment, as Figures 8-10 As shown, the detection unit 3 includes a detection rod 33 that is slidably disposed along the axial direction of the grinding wheel 82. One end of the detection rod 33 extends out of the grinding end face of the grinding wheel 82 and is provided with an overlapping member for rolling contact with the surface to be ground. The detection rod 33 is connected to the dust collection unit 2 via the first transmission unit 29. When the detection rod 33 is displaced along the axial direction of the grinding wheel 82 by the pressure of the surface to be ground, it drives the dust collection end of the dust collection unit 2 to move along the axial direction of the grinding wheel 82 and simultaneously drives the dust collection end to rotate toward the side closer to the grinding wheel 82 or toward the side farther away from the grinding wheel 82.

[0027] Specifically, the detection rod 33 is distributed along the axial direction of the grinding wheel 82, and the surface of the detection rod 33 is sleeved with a first guide sleeve 31. The detection rod 33 can slide inside the guide sleeve. The guide sleeve is fixed to the annular outer wall of the mounting frame or to the mounting component that is fixed relative to the annular outer wall of the mounting frame by the first support frame 32. That is, the first support frame 32 can be fixed to the support ring 1 that constitutes the annular outer wall of the mounting frame or to the surface of the guide rail 21 fixed on the support ring 1. A self-rotating ball 35 is installed on the end of the detection rod 33 near the grinding wheel 82. A first spring 34 is sleeved on the surface of the detection rod 33, and the two ends of the first spring 34 are fixed on the first guide sleeve 31 and the detection rod 33, respectively.

[0028] Specifically, the first spring 34 is used to apply an elastic restoring force to the detection rod 33 toward the initial position, so that the detection rod 33 remains in the initial position when it is not in contact with the surface to be polished; when the detection rod 33 moves due to the pressure of the surface, the first spring 34 can drive the detection rod 33 to automatically reset when the force of the surface is released, and drive the suction end to return to the initial position, so as to ensure that each cleaning and suction assembly 103 is in a uniform initial working state before the next polishing, thereby improving the reliability and repeatability of the suction end posture adjustment.

[0029] Preferably, the traveling ball 35 is made of a rubber material with micro-deformation capability. When the traveling ball 35 contacts the surface to be polished, the rubber material can produce elastic micro-deformation, allowing the traveling ball 35 to conform to surfaces with different curvatures and maintain rolling contact. This reduces contact stress and prevents scratches or indentations caused by direct contact between hard components and the surface. In addition, the micro-deformation of the traveling ball 35 can also buffer the impact of local undulations of the surface on the detection rod 33, improving the stability and accuracy of the detection process.

[0030] Example 2 like Figures 8-10 As shown, the dust collection part 2 includes a dust collection component 28, which includes a dust collection shell 281 that forms the dust collection end. The dust collection shell 281 is rotatably connected to the slider 22 via a connector. The slider 22 is slidably connected to the guide rail 21 distributed along the axial direction of the grinding wheel 82. The guide rail 21 is fixed to the annular outer wall of the mounting bracket. The connector is connected to the detection unit 3 via the transmission unit, and the vacuuming unit 28 also includes a guide member connected between the vacuuming housing 281 and the external air pump; The connecting piece that slides along the guide rail 21 with the slider 22 pushes the dust collection shell 281 to rotate through the driving component.

[0031] The connector includes a first connecting frame 23, one side of which is fixed to the slider 22, and the other side is fixed to a mounting horizontal shaft 24. A self-rotating sleeve 25 is sleeved on the surface of the mounting horizontal shaft 24, and the self-rotating sleeve 25 is fixed to the dust collection shell 281. The driving component includes an adjusting gear 26, one side of which is meshed with an adjusting rack 27 arranged along the axial direction of the grinding wheel 82. The adjusting rack 27 is fixed to the annular outer wall of the guide rail 21 or the mounting bracket by a rod. The adjusting gear 26 is fixed to the surface of the rotating sleeve 25, and the rotating sleeve 25 can rotate on the surface of the mounting horizontal shaft 24.

[0032] Furthermore, the adjusting rack 27 is located between the adjusting gear 26 and the guide rail 21 or between the adjusting gear 26 and the dust collection housing 281.

[0033] like Figure 9 As shown, in one embodiment, the adjusting rack 27 is disposed between the adjusting gear 26 and the guide rail 21. When the dust collection housing 281 moves away from the grinding wheel 82 under the drive of the detection rod 33, the adjusting gear 26 rolls on the fixed adjusting rack 27 and rotates. The rotating adjusting gear 26 drives the dust collection housing 281 to rotate away from the grinding wheel 82 through the rotating sleeve 25. When the dust collection housing 281 moves towards the grinding wheel 82, the adjusting gear 26 rotates in the opposite direction and drives the dust collection housing 281 to rotate towards the grinding wheel 82.

[0034] This arrangement allows the rotation direction of the dust collection housing 281 to be linked with its axial movement direction. That is, when the dust collection housing 281 moves away from the grinding wheel, it rotates to the side away from the grinding wheel, and when it moves towards the grinding wheel, it rotates to the side towards the grinding wheel. This is more conducive to making the dust collection port follow the overall shape change of the curved surface and improving the adaptability of the dust collection mechanism to curvature changes.

[0035] In another embodiment, the adjusting rack 27 is disposed between the adjusting gear 26 and the dust collection housing 281. When the dust collection housing 281 moves away from the grinding wheel 82 under the drive of the detection rod 33, the adjusting gear 26 rolls on the fixed adjusting rack 27 and rotates. The rotating adjusting gear 26 drives the dust collection housing 281 to rotate towards the side closer to the grinding wheel 82. When the dust collection housing 281 moves towards the side closer to the grinding wheel 82, the adjusting gear 26 rotates in the opposite direction and drives the dust collection housing 281 to rotate away from the grinding wheel 82.

[0036] This arrangement allows the movement of the dust collection housing 281 along the grinding wheel axis to correspond in opposite directions to its rotation. That is, when the dust collection housing 281 moves away from the grinding wheel, it deflects towards the side closer to the grinding wheel, and when it moves towards the grinding wheel, it deflects away from the grinding wheel. This ensures that the dust collection port always faces the edge of the grinding wheel 82 and the dust dispersion area, which is more conducive to forming an enveloping negative pressure flow field and improving dust collection efficiency.

[0037] In the second embodiment described above, the specific structure of the adjusting rack 27 located between the adjusting gear 26 and the dust collection housing 281 is not shown in the accompanying drawings. In actual implementation, two crossbars extending axially along the grinding wheel 82 can be provided on both sides of the rotating sleeve 25, and the two crossbars can be fixedly connected to the dust collection housing 281 to form an installation space between the two crossbars for accommodating the adjusting rack 27. The above structural form is only an example, and those skilled in the art can make equivalent transformations based on the installation space, transmission method, and structure of the dust collection housing 281, which will not be elaborated here.

[0038] Preferably, some teeth or wheel structure can be removed from the side of the adjusting gear 26 that does not mesh with the adjusting rack 27, so as to reduce the radial dimension and space occupied by the adjusting gear 26. While ensuring the meshing transmission function, this is conducive to improving the compactness of the circumferential arrangement of the dust collection assembly.

[0039] Example 3 This embodiment is derived based on Embodiment 2, such as... Figure 7 and Figure 9 As shown, the guide component includes a connecting rigid tube 282, one end of which is connected to the dust collection shell 281, and the other end is connected to the dust collection shell 284. The dust collection shell 284 is fixed to the top of the guide rail 21 or the bearing ring 1. The dust collection shell 284 is connected to the bottom of the annular confluence shell 5 through the guide tube 285. The confluence shell 5 is connected to an external air pump through a pipe. The air pump is installed on the mobile terminal of the robotic arm 101. A flexible and retractable corrugated hose 283 is inserted into the connecting rigid pipe 282, and a filter screen is covered at the connection between the guide pipe 285 and the dust collection shell 284.

[0040] Airflow is generated at the air pump. The airflow enters through the dust collection housing 281 and then passes through the connecting rigid pipe 282, the corrugated flexible hose 283, the dust collection housing 284, the guide pipe 285, and the confluence housing 5 in sequence. When the airflow carrying waste debris passes through the filter screen, the waste debris is filtered out and left in the inner cavity of the dust collection housing 284.

[0041] Preferably, the surface of the dust collection shell 284 is provided with a removable cover plate, and the waste in the dust collection shell 284 can be cleaned by removing the cover plate.

[0042] Example 4 This embodiment is derived based on Embodiment 2, such as... Figures 8-10 As shown, the first transmission part 29 is a crossbar arranged on two opposite sides or a transmission component that can change the transmission ratio of the detection rod 33. Two crossbars are fixed on both sides of the first connecting frame 23, and both crossbars are fixed on the detection rod 33; The transmission component includes a fixed frame 291 that is fixed relative to the position of the detection rod 33, meaning that the fixed frame 291 does not move with the movement of the detection rod 33. Two meshing transmission gears 292 are mounted on the fixed frame 291. A first rack 293 and a second rack 294 are respectively meshed on one side of the two transmission gears 292. The first rack 293 and the second rack 294 are both distributed along the axial direction of the grinding wheel 82. The first rack 293 and the second rack 294 are respectively fixed on the first connecting frame 23 and the detection rod 33. The two transmission gears 292 have different diameters, and the fixing frame 291 is fixed to the first bearing frame 32 or the guide rail 21 by a rod.

[0043] Preferably, there are two transmission components, which are located on both sides of the first connecting frame 23.

[0044] Specifically, the specific structure of the two crossbars fixed to the detection rod 33 can be referred to Figure 11 A fixed connection structure is provided between the second transmission unit 6 and the guide vertical shaft 43, that is, the two crossbars are fixed to the detection rod 33 by the same or equivalent connection method. Those skilled in the art can make adaptive adjustments to the specific connection form according to the actual installation needs, as long as the relative fixation of the crossbars and the detection rod 33 can be achieved, which will not be elaborated here.

[0045] Example 5 This embodiment is derived based on Embodiment 2, such as... Figure 4 and Figure 11 As shown, it also includes multiple auxiliary vacuuming components 104, which are also distributed circumferentially along the annular sidewall of the mounting frame, with at least one auxiliary vacuuming component 104 between two adjacent cleaning vacuuming components 103. The auxiliary vacuuming assembly 104 includes a vacuuming part 2, which has the same structure as the vacuuming part 2 in the cleaning vacuuming assembly 103; The two adjacent vacuuming parts 2 are connected by a linkage 7. The linkage 7 can transmit the movement of one vacuuming part 2 to the other vacuuming part 2, and make the other vacuuming part 2 move less than the former, so as to form a differential transmission.

[0046] Specifically, the linkage 7 is used to realize differential transmission between adjacent vacuuming parts 2, so that when one vacuuming part 2 changes position, the adjacent vacuuming parts 2 can synchronously generate following movements with the same direction but smaller displacement, thereby enabling multiple vacuuming parts 2 to form a gradual position adjustment, rather than completely synchronous movement or independent movement.

[0047] Preferably, the linkage 7 can be a flexible steel cable, wire rope, flexible cable, synchronous belt, elastic connecting belt, or other flexible connection structure capable of differential transmission. Taking a flexible steel cable as an example, both ends of the cable are connected to the first connecting frame 23 on the adjacent suction unit 2, and are kept in a pre-tensioned state by a tensioning mechanism. When one of the suction housings 281 moves under the drive of the detection unit 3, the steel cable synchronously pulls the adjacent suction housing 281 to move. Due to the elastic deformation of the steel cable itself, the transmission ratio design, or the effect of the limiting structure, the moving distance of the adjacent suction housing 281 is less than that of the actively moving suction housing 281, thus achieving gradual linkage.

[0048] Of course, those skilled in the art can also use linkage mechanisms, rocker arm mechanisms, elastic connectors, flexible ring connectors, or other structures that can realize differential transmission, and all of the above structures are within the protection scope of this application.

[0049] Specifically, the suction part 2 in the auxiliary suction assembly 104 and the suction part 2 in the cleaning suction assembly 103 adopt the same structural form, including the suction shell 281, the suction end and its corresponding adjustment mechanism. The only difference between the two is that the cleaning suction assembly 103 is provided with a detection part 3, which can directly contact the surface to be polished and detect local curvature changes, while the auxiliary suction assembly 104 is not provided with a detection part 3, and its position adjustment is completely driven by the adjacent suction part 2 through the linkage 7.

[0050] Therefore, the cleaning and vacuuming component 103 is mainly used to acquire information about surface changes and to act as an active adjustment unit; the auxiliary vacuuming component 104 is mainly used to receive displacement information transmitted by adjacent cleaning and vacuuming components 103 or other auxiliary vacuuming components 104 and to follow and adjust accordingly, thereby expanding the attitude adjustment range of the entire vacuuming mechanism.

[0051] By setting at least one auxiliary vacuuming component 104 between two adjacent cleaning vacuuming components 103, and using the linkage 7 to achieve differential transmission between adjacent vacuuming parts 2, the surface information can be gradually transmitted from the cleaning vacuuming component 103 to the surrounding auxiliary vacuuming components 104. This allows multiple vacuuming parts 2 to form a continuous and gradual attitude adjustment, rather than only a few vacuuming parts 2 changing position. Compared to the method where multiple vacuuming parts 2 work independently, this solution allows the entire vacuuming area to better conform to the surface contour, improves the continuity of the negative pressure flow field, reduces vacuuming dead zones, and makes it easier for dust to enter each vacuuming part 2 along the continuous vacuuming channel, thereby improving the dust collection efficiency during the surface polishing process.

[0052] Furthermore, since the auxiliary vacuuming component 104 does not require the detection unit 3, and its posture is entirely driven by the adjacent cleaning vacuuming component 103, the number of detection units 3 can be reduced while ensuring continuous changes in the vacuuming posture. This reduces the structural complexity and manufacturing cost of the detection mechanism, while also reducing the number of contacts between the detection rod 33 and the workpiece, minimizing contact interference with the curved surface, and improving the reliability and service life of the entire polishing mechanism.

[0053] Furthermore, since the auxiliary suction component 104 can supplement the suction area between adjacent cleaning suction components 103, the multiple suction parts 2 form a more continuous annular covering structure along the periphery of the grinding wheel 82. Therefore, when the posture of the grinding wheel 82 changes, the entire suction mechanism can more evenly cover the dust-scattering area, avoiding the problem of intermittent or insufficient local coverage of the suction area caused by relying solely on a small number of cleaning suction components 103 for adjustment, and improving the dust collection ability of complex curved surfaces, especially areas with large curvature changes.

[0054] As a preferred technical solution of this embodiment, the auxiliary dust collection component 104 further includes a guide part 4 for guiding the movement of the corresponding dust collection shell 281. The guide part 4 includes a guide vertical shaft 43 arranged along the axial direction of the grinding wheel 82. A second guide sleeve 41 is sleeved on the surface of the guide vertical shaft 43. The second guide sleeve 41 is fixed to the annular outer wall of the guide rail 21 or the mounting frame by the second support frame 42. The first connecting frame 23 on the auxiliary vacuuming assembly 104 is fixed to the guide vertical shaft 43 via the second transmission part 6. The second spring 44 is sleeved on the surface of the guide vertical shaft 43, and the two ends of the second spring 44 are respectively fixed to the guide vertical shaft 43 and the second guide sleeve 41.

[0055] like Figures 1-3 As shown, the grinding assembly also includes a motor 8, which is fixed on the mobile terminal of the robotic arm 101. A spindle 81 is fixed on the output end of the motor 8, and the end of the spindle 81 is fixed to the grinding wheel 82.

[0056] like Figure 2 and Figure 3As shown, the mounting frame includes a second connecting frame 9 and a bearing ring 1. The bearing ring 1 is sleeved around the main shaft 81 and is coaxially arranged with the main shaft 81. The outer wall of the bearing ring 1 forms the annular outer wall of the mounting frame. The bearing ring 1 is fixed to the moving terminal of the motor 8 or the robotic arm 101 through the second connecting frame 9.

[0057] The manifold housing 5 is also fitted around the main shaft 81 and is coaxially arranged with the main shaft 81. The manifold housing 5 is fixed on the second connecting frame 9 by a rod.

[0058] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.

Claims

1. A grinding device for curved workpieces, comprising a robotic arm (101), wherein a grinding component is provided on the mobile terminal of the robotic arm (101), the grinding component comprising a grinding wheel (82) rotatably disposed along the axial direction, and a cleaning mechanism (102) is provided at the outer peripheral edge of the grinding wheel (82). The cleaning mechanism (102) includes a plurality of cleaning and dust-collecting components (103) arranged in a circular array along the circumference of the grinding wheel (82), wherein the plurality of cleaning and dust-collecting components (103) are all disposed at the outer peripheral edge of the grinding wheel (82), characterized in that: The cleaning and dust collection assembly (103) includes a dust collection part (2) and a detection part (3). The detection part (3) is disposed on the side of the dust collection part (2) facing the grinding end of the grinding wheel (82), and the detection part (3) has the freedom to move along the axial direction of the grinding wheel (82). The detection part (3) is used to roll and abut against the curved surface to be polished. The detection unit (3) and the dust collection unit (2) are connected by a first transmission unit (29). When the detection unit (3) moves along the axial direction of the grinding wheel (82), it drives the dust collection end of the dust collection unit (2) to move in the same direction as the detection unit (3), and drives the dust collection end to rotate towards the side closer to the grinding wheel (82) or towards the side farther away from the grinding wheel (82) to adjust the position and orientation of the dust collection end relative to the grinding wheel (82). The cleaning and vacuuming assembly (103) is fixed on the annular outer wall of the mounting frame, and the mounting frame is fixed on the mobile terminal of the robotic arm (101) or on a mounting component that is fixed relative to the position of the mobile terminal of the robotic arm (101).

2. The grinding equipment for curved workpieces as described in claim 1, characterized in that: The detection unit (3) includes a detection rod (33) that is slidably disposed along the axial direction of the grinding wheel (82). One end of the detection rod (33) facing the grinding end of the grinding wheel (82) extends out of the grinding end face of the grinding wheel (82) and is provided with an overlapping member for rolling contact with the surface to be ground. The detection rod (33) is connected to the dust collection unit (2) through the first transmission unit (29). When the detection rod (33) is squeezed by the surface to be ground and causes displacement along the axial direction of the grinding wheel (82), it drives the dust collection end of the dust collection unit (2) to move along the axial direction of the grinding wheel (82) and simultaneously drives the dust collection end to rotate towards the side closer to the grinding wheel (82) or away from the grinding wheel (82).

3. The grinding equipment for curved workpieces as described in claim 2, characterized in that: The detection rod (33) is distributed along the axial direction of the grinding wheel (82), and the surface of the detection rod (33) is fitted with a first guide sleeve (31). The detection rod (33) can slide inside the guide sleeve. The guide sleeve is fixed to the annular outer wall of the mounting frame or to a mounting component fixed relative to the annular outer wall of the mounting frame by the first bearing frame (32). A self-rotating ball (35) is installed on the end of the detection rod (33) near the grinding wheel (82). A first spring (34) is sleeved on the surface of the detection rod (33). The two ends of the first spring (34) are respectively fixed on the first guide sleeve (31) and the detection rod (33).

4. The grinding equipment for curved workpieces as described in claim 2, characterized in that: The dust collection part (2) includes a dust collection component (28), which includes a dust collection shell (281) constituting the dust collection end. The dust collection shell (281) is rotatably connected to the slider (22) via a connector. The slider (22) is slidably connected to a guide rail (21) distributed along the axial direction of the grinding wheel (82). The guide rail (21) is fixed to the annular outer wall of the mounting bracket. The connector is connected to the detection unit (3) via a transmission unit, and the vacuum cleaner (28) also includes a guide unit connected between the vacuum cleaner housing (281) and the external air pump; The connector that slides along the slider (22) on the guide rail (21) drives the vacuum cleaner housing (281) to rotate via the drive component.

5. The grinding equipment for curved workpieces as described in claim 4, characterized in that: The connector includes a first connecting frame (23), one side of which is fixed to the slider (22), and the other side is fixed to a mounting horizontal shaft (24). A self-rotating sleeve (25) is sleeved on the surface of the mounting horizontal shaft (24), and the self-rotating sleeve (25) is fixed on the dust collection shell (281). The driving component includes an adjusting gear (26), one side of which is meshed with an adjusting rack (27) arranged axially along the grinding wheel (82). The adjusting rack (27) is fixed to the outer annular wall of the guide rail (21) or the mounting bracket by a rod.

6. The grinding equipment for curved workpieces as described in claim 5, characterized in that: The adjusting rack (27) is located between the adjusting gear (26) and the guide rail (21) or between the adjusting gear (26) and the dust collection housing (281).

7. The grinding equipment for curved workpieces as described in claim 4, characterized in that: The flow guide includes a connecting rigid tube (282), one end of which is connected to the dust collection shell (281) and the other end is connected to the dust collection shell (284). The dust collection shell (284) is fixed on the top of the guide rail (21) or the bearing ring (1). The dust collection shell (284) is connected to the bottom of the annular confluence shell (5) through the flow guide tube (285). The confluence shell (5) is connected to an external air pump through a pipe. The air pump is installed on the mobile terminal of the robotic arm (101). A flexible and retractable corrugated hose (283) is inserted into the connecting rigid tube (282), and a filter screen is covered at the connection between the guide tube (285) and the dust collection shell (284).

8. The grinding equipment for curved workpieces as described in claim 2, characterized in that: The first transmission part (29) is a transmission component consisting of two crossbars arranged on opposite sides or a transmission component that can change the transmission ratio of the detection rod (33); The two crossbars are fixed on both sides of the first connecting frame (23), and both crossbars are fixed on the detection rod (33).

9. The grinding equipment for curved workpieces as described in claim 2, characterized in that: It also includes multiple auxiliary vacuuming components (104), which are also distributed circumferentially along the annular sidewall of the mounting frame, with at least one auxiliary vacuuming component (104) between two adjacent cleaning vacuuming components (103). The auxiliary vacuuming assembly (104) includes a vacuuming part (2), which has the same structure as the vacuuming part (2) in the cleaning vacuuming assembly (103); The two adjacent suction units (2) are connected by a linkage (7). The linkage (7) can transmit the movement of one suction unit (2) to the other suction unit (2) and make the other suction unit (2) move less than the former, so as to form a differential transmission.

10. The grinding equipment for curved workpieces as described in claim 9, characterized in that: The auxiliary dust collection assembly (104) further includes a guide part (4) for guiding the movement of the corresponding dust collection shell (281). The guide part (4) includes a guide vertical shaft (43) arranged along the axial direction of the grinding wheel (82). A second guide sleeve (41) is sleeved on the surface of the guide vertical shaft (43). The second guide sleeve (41) is fixed to the annular outer wall of the guide rail (21) or the mounting frame by a second support frame (42). The first connecting frame (23) on the auxiliary dust collection assembly (104) is fixed on the guide vertical shaft (43) by the second transmission part (6). The surface of the guide vertical shaft (43) is sleeved with a second spring (44), and the two ends of the second spring (44) are respectively fixed on the guide vertical shaft (43) and the second guide sleeve (41).

Images