A robotic shell sanding and polishing apparatus

Abstract

The application provides a robot shell polishing equipment, and relates to the technical field of shell polishing, which comprises a mounting flange, a motor and a multi-stage grinding and polishing structure. A constant force self-adapting structure is formed on one side of the mounting flange. The constant force self-adapting structure comprises a reset assembly and a constant force assembly. The reset assembly comprises a guide pipe which is fixedly connected with the mounting flange. Three first limiting plates are fixedly connected with the inner wall of the guide pipe. The guide pipe is slidingly connected with a first guide disc through the three first limiting plates. A guide rod is fixedly connected with the side of the first guide disc away from the mounting flange. The application solves the problem that the conventional grinding and polishing head lacks an effective constant force floating mechanism in the prior art, and the polishing pressure is easily affected by the fluctuation of the curved surface and the robot trajectory error, which leads to problems such as overcutting, insufficient polishing or uneven polishing on the surface, and cannot guarantee the consistency of the machining.

Description

Technical Field

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

[0002] Robot shell grinding and polishing equipment refers to the core device that performs grinding and polishing operations on robot shells. It typically integrates key components such as a drive mechanism, a grinding and polishing execution mechanism, and a positioning and adjustment mechanism. This main body aims to perform precise and efficient grinding and polishing of the robot shell surface through automated or semi-automated methods to remove burrs, scratches, defects, etc., so as to achieve the required surface quality requirements such as flatness and smoothness.

[0003] In the production and processing of robot shells, surface grinding and polishing is a key process to ensure the appearance quality, surface precision and assembly compatibility of the shell. At present, robot shells mostly adopt irregular curved surface structure design, and their surface grinding and polishing operations mainly rely on the robot to carry grinding and polishing equipment. The core requirements are to achieve constant force bonding of curved surfaces, continuous processing and dust control, so as to balance processing efficiency and surface quality. In the existing technology, grinding and polishing equipment mostly uses fixed force grinding heads with a single grinding and polishing station. Some equipment integrates a simple dust removal structure to meet basic grinding requirements.

[0004] The following defects were found in the above-mentioned content: Traditional polishing heads lack an effective constant force floating mechanism, and the polishing pressure is easily affected by surface undulations and robot trajectory errors, resulting in problems such as over-cutting, under-polishing, or uneven polishing, which cannot guarantee the consistency of processing. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies, such as the lack of an effective constant force floating mechanism in traditional grinding and polishing heads, the susceptibility of grinding pressure to surface undulations and robot trajectory errors, leading to problems such as over-cutting, under-polishing, or uneven grinding, which cannot guarantee processing consistency. Therefore, this invention proposes a robot shell grinding and polishing device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: It includes a mounting flange, a motor, and a multi-stage grinding and polishing structure. A constant force adaptive structure is provided on one side of the mounting flange. The constant force adaptive structure includes a reset component and a constant force component. The reset component includes a guide tube, which is fixedly connected to the mounting flange. Three first limiting plates are fixedly connected to the inner wall of the guide tube. A first guide disc is slidably connected to the guide tube via the three first limiting plates. A guide rod is fixedly connected to the side of the first guide disc away from the mounting flange. A second guide disc is fixedly connected to the end of the guide rod away from the first guide disc. An inner sleeve is installed at the end of the rod away from the first guide plate. A return spring is fixedly connected to the end of the guide tube near the inner sleeve. The end of the return spring away from the guide tube is fixedly connected to the second guide plate. An assembly plate is fixedly connected to the side of the inner sleeve away from the guide tube. A motor is installed on the assembly plate using a multi-stage grinding and polishing structure. The constant force component includes an outer sleeve. The outer sleeve is fixedly connected to a mounting flange. A first embedding groove is formed on the inner wall of the outer sleeve. A fixed magnetic ring is installed on the outer sleeve using the first embedding groove. A second embedding groove is formed on the arc surface of the inner sleeve. A movable magnetic ring is installed on the inner sleeve using the second embedding groove.

[0007] The effect achieved by the above components is that by adding a constant force adaptive structure, flexible contact with the robot shell can be achieved during the grinding and polishing process, avoiding the problem of excessive grinding or damage to the shell surface caused by rigid contact.

[0008] Preferably, the inner wall of the inner sleeve is fixedly connected with three second limiting plates, and the three second limiting plates abut against the second guide plate.

[0009] The effects achieved by the above components are as follows: the addition of a second limiting plate that abuts against the second guide plate can further increase the contact area between the guide rod and the guide plate and the inner sleeve, avoid deviation or deformation after long-term use, improve the stability of the constant force adaptive structure in the dynamic adjustment process, ensure that the movement of the inner sleeve is always along the axial direction of the guide tube, and reduce the impact of radial deviation on the grinding pressure accuracy.

[0010] Preferably, a corrugated pipe is fixedly connected to one end of the outer sleeve near the assembly plate, and the end of the corrugated pipe away from the outer sleeve is fixedly connected to the assembly plate.

[0011] The effect achieved by the above components is that the bellows can effectively wrap and protect the core components such as the guide tube, reset spring, fixed magnetic ring and moving magnetic ring inside the constant force adaptive structure, preventing metal chips, dust and impurities from the external environment generated during the grinding and polishing process from entering the structure, and preventing the components from getting stuck, worn or having their magnetic force weakened due to contamination.

[0012] Preferably, the fixed magnetic ring and the movable magnetic ring have the same axial width.

[0013] The effect achieved by the above components is as follows: the fixed magnetic ring and the moving magnetic ring have the same axial width, which ensures that the magnetic force interaction area between the two changes more uniformly during the movement of the moving magnetic ring relative to the fixed magnetic ring. This makes the repulsive force exhibit a more linear characteristic as the displacement changes. This linear characteristic helps the constant force component to provide a relatively stable and easily controllable constant force output at different extension and retraction positions, avoiding excessive fluctuations in constant force due to sudden changes in the magnetic force interaction area. This further improves the accuracy and reliability of the constant force adaptive structure in adjusting the grinding pressure, ensuring that the pressure of the grinding and polishing tool remains within the set ideal range when grinding complex curved surfaces.

[0014] Preferably, the multi-stage polishing structure includes a multi-stage component, a polishing component, and an auxiliary component. The multi-stage component includes an assembly frame, which is fixedly connected to an assembly plate. The assembly plate is fixedly connected to a motor via the assembly frame. A connector is fixedly connected to the output end of the motor. An outer tube is fixedly connected to the side of the connector away from the motor. A first top plate is fixedly connected to one side of the outer tube. An inner tube is slidably connected to the inner walls of the outer tube and the first top plate. A second top plate is fixedly connected to the side of the inner tube away from the outer tube. A micro spring is fixedly connected to the bottom wall of the outer tube and is fixedly connected to the inner tube. An abutment is fixedly connected to the bottom wall of the outer tube. The polishing component includes a coarse polishing pad, which abuts against the inner wall of the inner tube. The coarse abrasive pad is a nylon abrasive pad. A retaining ring abuts against the inner wall of the coarse abrasive pad. The retaining ring and the inner tube are threaded together with a retaining nail. The auxiliary component includes a first hidden groove, which is opened on the surface of the second top plate. A first female sticker is fixedly connected to the inner wall of the first hidden groove. A first female sticker is adhesively connected to one side of the first female sticker. A middle abrasive pad, which is a sponge abrasive pad, is fixedly connected to the side of the first female sticker away from the first female sticker. A second hidden groove is opened on one side of the first top plate. A second female sticker is fixedly connected to the inner wall of the second hidden groove. A second female sticker is adhesively connected to one side of the second female sticker. A fine polishing pad, which is a wool abrasive pad, is fixedly connected to the side of the second female sticker away from the second female sticker.

[0015] The effect achieved by the above components is that by setting up a multi-stage grinding and polishing structure, it is possible to achieve integrated processing of the robot shell from coarse grinding to fine polishing, without the need to frequently change grinding tools, thus significantly improving grinding and polishing efficiency.

[0016] Preferably, a reserved groove is provided on the side of the first top plate near the second top plate, and the reserved groove matches the size of the second top plate.

[0017] The effect achieved by the above components is as follows: when the inner tube is fully retracted into the outer tube, the second top plate can be embedded in the reserved groove, so that the surfaces of the first top plate and the second top plate are kept flush, ensuring that the polishing pad can form a stable and uniform contact with the outer shell surface during operation, avoiding the problem of uneven local pressure during the polishing process caused by the protrusion or depression of the second top plate, and further ensuring the flatness and smoothness of the outer shell surface during the polishing stage.

[0018] Preferably, the inner wall of the first hidden groove is fixedly connected with three first anti-detachment protrusions, which penetrate the first female adhesive strip; the inner wall of the second hidden groove is fixedly connected with three second anti-detachment protrusions, which penetrate the second female adhesive strip; the hook surface of the first female adhesive strip has three first reserved holes; and the hook surface of the second female adhesive strip has three second reserved holes.

[0019] The effect achieved by the above components is as follows: when the first sub-attachment is bonded to the first mother-attachment, the first anti-detachment protrusion can pass through the first reserved hole, and the second anti-detachment protrusion passes through the second reserved hole. Through the dual fixation of mechanical limiting and adhesive action, the intermediate grinding pad and the fine polishing pad are effectively prevented from falling off or shifting due to centrifugal force or frictional resistance during high-speed rotational grinding.

[0020] Preferably, the assembly plate has an auxiliary structure on the side near the motor. The auxiliary structure includes an installation tube, which is fixedly connected to the assembly plate. Three arc-shaped strips are fixedly connected to the inner wall of the installation tube, and a connecting tube is slidably connected to the inner wall of the installation tube. The surface of the connecting tube has three sliding grooves, and the arc-shaped strips are slidably connected to the inner wall of the sliding grooves. The axial length of the sliding groove is greater than the axial length of the arc-shaped plate, and the difference between the two lengths is 35mm. A dust collection tube is fixedly connected to the arc surface of the connecting tube, and a connecting spring is fixedly connected to the side of the connecting tube near the assembly plate. The connecting spring is fixedly connected to the assembly plate. The arc surface of the dust collection tube has a mating interface, and the arc surface of the mating interface has threads.

[0021] The effect achieved by the above-mentioned components is that by adding auxiliary structures, metal shavings and dust can be efficiently collected during the grinding and polishing process, effectively improving the working environment and reducing the impact of dust on the health of operators and the pollution of equipment.

[0022] Preferably, the dust collection pipe has a flexible lip on the side away from the assembly plate, and the flexible lip is made of modified weather-resistant silicone.

[0023] The effects achieved by the above components are as follows: the flexible lip is made of modified weather-resistant silicone material, which has good flexibility and elasticity. When the dust collection tube is close to the surface of the robot shell, it can form a tight fit with the shell surface. Even if the shell surface has a certain curvature or slight unevenness, it can adapt to the surface contour through its own deformation, effectively reducing the possibility of dust escaping from the edge of the dust collection port.

[0024] Preferably, a flexible dustproof cloth is fixedly connected to the side of the connecting tube away from the assembly plate, and the flexible dustproof cloth is fixedly connected to the arc surface of the motor.

[0025] The effect achieved by the above components is that the flexible dustproof cloth can effectively shield the connection area between the motor and the connecting pipe, preventing fine dust generated during the grinding and polishing process from entering the equipment or drifting into the external environment through the gap between the two.

[0026] Compared with the prior art, the advantages and positive effects of the present invention are as follows: 1. In this invention, when the polishing tool contacts the surface of the outer shell, if the surface is uneven or has protrusions, the outer shell will generate a reaction force on the assembly plate, pushing the inner sleeve to move closer to the mounting flange. At this time, the second guide plate compresses the return spring, and the inner sleeve drives the moving magnetic ring to approach the fixed magnetic ring. Since the magnetic poles of the opposite surfaces of the fixed magnetic ring and the moving magnetic ring are the same, a repulsive force will be generated. This repulsive force and the elastic force of the return spring work together to form a relatively stable constant force output, so that the polishing tool always acts on the surface of the outer shell with appropriate pressure, ensuring the uniformity and consistency of the polishing effect. By adding a constant force adaptive structure, flexible contact with the robot shell can be achieved during the polishing process, avoiding the problem of over-polishing or damage to the surface of the outer shell due to rigid contact.

[0027] 2. In this invention, when the outer shell surface is concave, the elastic force of the return spring will push the second guide disk to move the inner sleeve outward. The moving magnetic ring moves away from the fixed magnetic ring, reducing the repulsive force and maintaining relatively stable pressure. This effectively improves the adaptability to polishing robot shells with different curved surfaces and complex shapes. The fixed magnetic ring and the moving magnetic ring have the same axial width, ensuring that the magnetic force interaction area between them changes more uniformly during the movement of the moving magnetic ring relative to the fixed magnetic ring. This makes the repulsive force exhibit a more linear characteristic with displacement. This linear characteristic helps the constant force component provide consistent pressure at different extension and retraction positions. The relatively stable and easily controllable constant force output avoids excessive fluctuations in constant force due to sudden changes in the magnetic field area, further improving the accuracy and reliability of the constant force adaptive structure in adjusting the grinding pressure. This ensures that the pressure of the grinding and polishing tool remains within the set ideal range when grinding complex curved surfaces. By setting a bellows, the core components such as the guide tube, reset spring, fixed magnetic ring, and moving magnetic ring inside the constant force adaptive structure can be effectively wrapped and protected, preventing metal chips, dust, and impurities from the external environment generated during the grinding and polishing process from entering the structure. This also prevents problems such as component jamming, wear, or magnetic force attenuation due to contamination.

[0028] 3. In this invention, during rough grinding, the inner tube is extended under the action of a micro spring. At this time, the rough grinding pad, as the main working component, contacts the outer shell surface, using its high grinding force to quickly remove burrs, flash, and deep scratches from the outer shell surface. As rough grinding is completed, the downward pressing force is increased, compressing the micro spring to retract the inner tube into the outer tube. The intermediate grinding pad is flush with the rough grinding pad and contacts the outer shell, using its good flexibility and moderate grinding force to finish the surface after rough grinding, eliminating rough grinding marks and making the surface smoother. Pressing continues until the inner tube is completely retracted into the outer tube, and the fine polishing pad is flush with the rough grinding pad and contacts the outer shell, using its fine material to finely polish the surface, improving the smoothness and texture of the outer shell surface. When the inner tube is completely retracted into the outer tube, the second top plate can be embedded. The pre-reserved groove ensures that the surfaces of the first and second top plates are flush, guaranteeing stable and uniform contact between the polishing pad and the outer shell surface during operation. This prevents uneven pressure caused by the protrusion or depression of the second top plate during polishing, further ensuring the flatness and smoothness of the outer shell surface during the polishing stage. The first anti-detachment protrusion passes through the first pre-reserved hole, and the second anti-detachment protrusion passes through the second pre-reserved hole. Through the dual fixation of mechanical limiting and adhesive action, it effectively prevents the intermediate grinding pad and the polishing pad from falling off or shifting due to centrifugal force or frictional resistance during high-speed rotational grinding. By setting up a multi-stage grinding and polishing structure, it is possible to achieve integrated processing of the robot shell from rough grinding to fine polishing, eliminating the need for frequent changes of grinding tools and significantly improving grinding and polishing efficiency.

[0029] 4. In this invention, when the equipment is performing a grinding operation, the dust collection pipe can be connected to an external negative pressure dust collection device via the interface. At this time, the connecting pipe is in an extended state under the action of the connecting spring. The flexible lip is made of modified weather-resistant silicone material, which has good flexibility and elasticity. It can form a tight fit with the surface of the robot shell when the dust collection pipe is close to the shell surface. Even if the shell surface has a certain curvature or slight unevenness, it can adapt to the surface contour through its own deformation. The suction inlet of the dust collection pipe is close to the grinding area, which can capture the debris and dust generated during grinding at close range. When the grinding tool moves axially due to the constant force adaptive structure adjusting its position, the connecting pipe will move synchronously with the assembly plate. The arc strip slides in the sliding groove to ensure that the dust collection pipe always stays in the ideal dust collection position. The 35mm length difference provides sufficient space for the movement of the connecting pipe. Sufficient adjustment space prevents a decrease in dust collection efficiency due to tool displacement. Simultaneously, the combination of the arc-shaped strip and sliding groove guides the movement of the connecting pipe, preventing radial swaying during equipment operation and ensuring stable and continuous dust collection. When the connecting pipe moves axially with the constant force adaptive structure, the flexible dustproof cloth stretches or contracts accordingly. Its excellent flexibility does not hinder the normal movement of the connecting pipe while maintaining constant coverage of the area, further enhancing the dustproof effect of the auxiliary structure, reducing dust corrosion of core components such as the motor, and helping to maintain long-term stable operation of the equipment. The addition of the auxiliary structure enables efficient collection of metal shavings and dust during grinding and polishing, effectively improving the working environment and reducing the impact of dust on operator health and equipment contamination. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural diagram of a robot shell grinding and polishing device proposed in this invention; Figure 2 This invention proposes a robot shell grinding and polishing device. Figure 1 Schematic diagram of partial structural disassembly; Figure 3 This invention proposes a robot shell grinding and polishing device. Figure 2 Schematic diagram of a partial structural section; Figure 4 This invention proposes a robot shell grinding and polishing device. Figure 2 Schematic diagram of partial structural disassembly; Figure 5 This invention proposes a robot shell grinding and polishing device. Figure 4 Schematic diagram of partial structural disassembly; Figure 6 This invention proposes a robot shell grinding and polishing device. Figure 5 Schematic diagram of partial structural disassembly; Figure 7This invention proposes a robot shell grinding and polishing device. Figure 2 Schematic diagram of a partial structure; Figure 8 This is a partial structural diagram of a multi-stage grinding and polishing structure for a robot shell grinding and polishing device proposed in this invention; Figure 9 This invention proposes a robot shell grinding and polishing device. Figure 8 Cross-sectional diagram; Figure 10 This invention proposes a robot shell grinding and polishing device. Figure 8 Schematic diagram of partial structural disassembly; Figure 11 This invention proposes a robot shell grinding and polishing device. Figure 10 Partial structural disassembly diagram; Figure 12 This is a partial structural disassembly diagram of a multi-stage grinding and polishing structure for a robot shell grinding and polishing device proposed in this invention; Figure 13 This invention proposes a robot shell grinding and polishing device. Figure 11 Schematic diagram of partial structural disassembly; Figure 14 This is a schematic diagram of the internal structure of the fine polishing pad and the medium polishing pad of a robot shell polishing device proposed in this invention; Figure 15 This is a schematic diagram of the auxiliary structure of a robot shell grinding and polishing equipment proposed in this invention; Figure 16 This invention proposes a robot shell grinding and polishing device. Figure 15 Cross-sectional diagram; Figure 17 This invention proposes a robot shell grinding and polishing device. Figure 15 Schematic diagram of partial structural disassembly.

[0031] Legend: 1. Mounting flange; 2. Constant force adaptive structure; 21. Reset assembly; 211. Guide tube; 212. Guide rod; 213. First limiting plate; 214. First guide plate; 215. Second guide plate; 216. Inner sleeve; 217. Second limiting plate; 218. Reset spring; 219. Assembly plate; 22. Constant force assembly; 221. Outer sleeve; 222. First embedded groove; 223. Fixed magnetic ring; 224. Second embedded groove; 225. Moving magnetic ring; 226. Bellows; 3. Multi-stage polishing structure; 31. Multi-stage assembly; 311. Assembly frame; 312. Connector; 313. Outer tube; 314. First top plate; 315. Inner tube; 316. Second top plate; 317. Miniature spring; 3 18. Fixing ring; 319. Fixing nail; 32. Grinding and polishing assembly; 321. Coarse grinding pad; 322. First female pad; 323. First female pad; 324. Medium grinding pad; 325. Second female pad; 326. Second female pad; 327. Fine polishing pad; 33. Auxiliary assembly; 331. First hidden groove; 332. Second hidden groove; 333. Abutting piece; 334. Reserved groove; 335. First anti-detachment protrusion; 336. First reserved hole; 337. Second anti-detachment protrusion; 338. Second reserved hole; 4. Auxiliary structure; 41. Adding tube; 42. Arc strip; 43. Connecting tube; 44. Sliding groove; 45. Dust collection tube; 46. Connecting spring; 47. Interface; 48. Flexible lip; 49. Flexible dustproof cloth; 5. Motor. Detailed Implementation

[0032] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0033] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0034] Example 1, as Figure 1-17 As shown, the present invention provides a robot shell grinding and polishing equipment, including a mounting flange 1, a motor 5 and a multi-stage grinding and polishing structure 3. A constant force adaptive structure 2 is provided on one side of the mounting flange 1, and an auxiliary structure 4 is provided on the side of the assembly plate 219 near the motor 5.

[0035] The specific settings and functions of its constant force adaptive structure 2, multi-stage polishing structure 3, and auxiliary structure 4 are explained below.

[0036] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 16 and Figure 17 As shown, the constant force adaptive structure 2 includes a reset assembly 21 and a constant force assembly 22. The reset assembly 21 includes a guide tube 211, which is fixedly connected to the mounting flange 1. Three first limiting plates 213 are fixedly connected to the inner wall of the guide tube 211. A first guide plate 214 is slidably connected to the guide tube 211 via the three first limiting plates 213. A guide rod 212 is fixedly connected to the side of the first guide plate 214 away from the mounting flange 1. A second guide plate 215 is fixedly connected to the end of the guide rod 212 away from the first guide plate 214. An inner sleeve 216 is installed at the end of the guide rod 212 away from the first guide plate 214. A return spring 218 is fixedly connected to one end of the inner sleeve 216 near the guide tube 211. The end of the return spring 218 away from the guide tube 211 is fixedly connected to the second guide plate 215. An assembly plate 219 is fixedly connected to the side of the inner sleeve 216 away from the guide tube 211. A motor 5 is mounted on the assembly plate 219 using a multi-stage grinding and polishing structure 3. The constant force assembly 22 includes an outer sleeve 221, which is fixedly connected to the mounting flange 1. A first embedding groove 222 is provided on the inner wall of the outer sleeve 221. A fixing magnetic ring 223 is mounted on the outer sleeve 221 using the first embedding groove 222. A second embedding groove 224 is provided on the arc surface of the inner sleeve 216. The inner sleeve 216 is fitted with a movable magnetic ring 225 via the second embedded groove 224. Three second limiting plates 217 are fixedly connected to the inner wall of the inner sleeve 216. These three second limiting plates 217 abut against the second guide plate 215. The addition of the second limiting plates 217 abutting against the second guide plate 215 further increases the contact area between the guide rod 212 and the guide plate and the inner sleeve 216, preventing displacement or deformation after prolonged use. This improves the stability of the constant force adaptive structure 2 during dynamic adjustment, ensuring that the movement of the inner sleeve 216 always follows the axial direction of the guide tube 211, and reducing the impact of radial deviation on the grinding pressure. Due to the influence of the degree, a bellows 226 is fixedly connected to one end of the outer sleeve 221 near the assembly plate 219, and the other end of the bellows 226 away from the outer sleeve 221 is fixedly connected to the assembly plate 219. The bellows 226 can effectively wrap and protect the core components inside the constant force adaptive structure 2, such as the guide tube 211, the return spring 218, the fixed magnetic ring 223, and the moving magnetic ring 225, to prevent metal chips, dust and impurities from the external environment generated during the grinding and polishing process from entering the structure, and to prevent the components from jamming, wearing or magnetic attenuation due to contamination. The fixed magnetic ring 223 and the moving magnetic ring 225 have the same axial width.

[0037] like Figure 1 , Figure 2 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 and Figure 16 As shown, the multi-stage polishing structure 3 includes a multi-stage component 31, a polishing component 32, and an auxiliary component 33. The multi-stage component 31 includes an assembly frame 311, which is fixedly connected to an assembly plate 219. The assembly plate 219 is fixedly connected to a motor 5 via the assembly frame 311. A connector 312 is fixedly connected to the output end of the motor 5. An outer tube 313 is fixedly connected to the side of the connector 312 away from the motor 5. A first top plate 314 is fixedly connected to one side of the outer tube 313. An inner tube 315 is slidably connected to the inner walls of the outer tube 313 and the first top plate 314. The side of the inner tube 315 away from the outer tube 313 is fixedly connected to the inner tube 315. A second top plate 316 is fixedly connected to the outer tube 313. A miniature spring 317 is fixedly connected to the bottom wall of the outer tube 313. The miniature spring 317 is fixedly connected to the inner tube 315. An abutment member 333 is fixedly connected to the bottom wall of the outer tube 313. The polishing assembly 32 includes a coarse polishing pad 321, which abuts against the inner wall of the inner tube 315. The coarse polishing pad 321 is a nylon polishing pad. A retaining ring 318 abuts against the inner wall of the coarse polishing pad 321. The retaining ring 318 and the inner tube 315 are threaded together by a retaining pin 319. The auxiliary assembly 33 includes a first hidden groove 331, which is formed on the surface of the second top plate 316. On the surface, a first female adhesive pad 322 is fixedly connected to the inner wall of the first hidden groove 331. A first female adhesive pad 323 is bonded to one side of the first female adhesive pad 322. A middle grinding pad 324, which is a sponge grinding pad, is fixedly connected to the side of the first female adhesive pad 323 away from the first female adhesive pad 322. A second hidden groove 332 is opened on one side of the first top plate 314. A second female adhesive pad 325 is fixedly connected to the inner wall of the second hidden groove 332. A second female adhesive pad 326 is bonded to one side of the second female adhesive pad 325. A fine polishing pad 327, which is a sheepskin polishing pad, is fixedly connected to the side of the second female adhesive pad 326 away from the second female adhesive pad 325. The abrasive pad has a pre-reserved groove 334 on the side of the first top plate 314 near the second top plate 316. The pre-reserved groove 334 matches the size of the second top plate 316. The inner wall of the first hidden groove 331 is fixedly connected with three first anti-detachment protrusions 335, which penetrate the first female sticker 322. The inner wall of the second hidden groove 332 is fixedly connected with three second anti-detachment protrusions 337, which penetrate the second female sticker 325. The hook surface of the first female sticker 323 has three first pre-reserved holes 336, and the hook surface of the second female sticker 326 has three second pre-reserved holes 338.

[0038] like Figure 1 , Figure 2 , Figure 15 , Figure 16 and Figure 17 As shown, the auxiliary structure 4 includes an installation tube 41, which is fixedly connected to the assembly plate 219. Three arc-shaped strips 42 are fixedly connected to the inner wall of the installation tube 41. A connecting tube 43 is slidably connected to the inner wall of the installation tube 41. Three sliding grooves 44 are formed on the surface of the connecting tube 43. The arc-shaped strips 42 are slidably connected to the inner wall of the sliding grooves 44. The axial length of the sliding grooves 44 is greater than the axial length of the arc-shaped strips, with a length difference of 35mm. A dust collection tube 45 is fixedly connected to the arc surface of the connecting tube 43. A connecting spring 46 is fixedly connected to the side of the connecting tube 43 closest to the assembly plate 219. The connecting spring 46 is fixedly connected to the assembly plate 219. A mating interface 47 is formed on the arc surface of the dust collection tube 45, and the arc surface of the mating interface 47 is threaded. The dust collection tube 45 is located away from the assembly plate 219. One side of the tube 43 is fitted with a flexible lip 48, which is made of modified weather-resistant silicone. The flexible lip 48 is made of modified weather-resistant silicone and has good flexibility and elasticity. When the dust collection tube 45 is close to the surface of the robot shell, it can form a tight fit with the surface of the shell. Even if the surface of the shell has a certain curvature or slight unevenness, it can adapt to the surface contour through its own deformation, effectively reducing the possibility of dust escaping from the edge of the dust collection port. A flexible dustproof cloth 49 is fixedly connected to the side of the connecting tube 43 away from the assembly plate 219. The flexible dustproof cloth 49 is fixedly connected to the arc surface of the motor 5. The flexible dustproof cloth 49 can effectively shield the connection area between the motor 5 and the connecting tube 43, preventing fine dust generated during the grinding and polishing process from entering the equipment or drifting into the external environment through the gap between the two.

[0039] The overall working principle is as follows: when the polishing tool contacts the surface of the outer shell, if the surface is uneven or has protrusions, the outer shell will generate a reaction force on the assembly plate 219, pushing the inner sleeve 216 to move closer to the mounting flange 1. At this time, the second guide plate 215 compresses the return spring 218, and the inner sleeve 216 drives the moving magnetic ring 225 to approach the fixed magnetic ring 223. Since the magnetic poles of the opposite surfaces of the fixed magnetic ring 223 and the moving magnetic ring 225 are the same, a repulsive force will be generated. This repulsive force, together with the elastic force of the return spring 218, forms a relatively stable constant force output, so that the polishing tool always acts on the surface of the outer shell with appropriate pressure, ensuring the uniformity and consistency of the polishing effect. By adding the constant force adaptive structure 2, flexible contact with the robot shell can be achieved during the polishing process, avoiding the problem of over-polishing or damage to the surface of the outer shell due to rigid contact.

[0040] When the outer shell surface is concave, the elastic force of the return spring 218 will push the second guide disk 215 to move the inner sleeve 216 outward. The moving magnetic ring 225 moves away from the fixed magnetic ring 223, reducing the repulsive force and maintaining relatively stable pressure. This effectively improves the adaptability to grinding and polishing robot shells with different curved surfaces and complex shapes. The fixed magnetic ring 223 and the moving magnetic ring 225 have the same axial width, which ensures that the magnetic force interaction area between the two changes more uniformly during the movement of the moving magnetic ring 225 relative to the fixed magnetic ring 223. This makes the repulsive force exhibit a more linear characteristic with displacement. This linear characteristic helps the constant force component 22 to maintain its position at different extension and retraction positions. It provides a relatively stable and easily controllable constant force output, avoiding excessive fluctuations in constant force due to sudden changes in the magnetic field area. This further improves the accuracy and reliability of the constant force adaptive structure 2 in adjusting the grinding pressure, ensuring that the pressure of the grinding and polishing tool remains within the set ideal range when grinding complex curved surfaces. By setting the bellows 226, the core components inside the constant force adaptive structure 2, such as the guide tube 211, the return spring 218, the fixed magnetic ring 223, and the moving magnetic ring 225, can be effectively wrapped and protected, preventing metal chips, dust, and impurities from the external environment generated during the grinding and polishing process from entering the structure. This prevents the components from getting stuck, worn, or experiencing magnetic attenuation due to contamination.

[0041] During rough grinding, the inner tube 315 is extended under the action of the micro spring 317. At this time, the rough grinding pad 321, as the main working component, contacts the outer shell surface, using its high grinding force to quickly remove burrs, flash, and deep scratches from the outer shell surface. As rough grinding is completed, the downward pressing force is increased, compressing the micro spring 317 to retract the inner tube 315 into the outer tube 313. The intermediate grinding pad 324 is flush with the rough grinding pad 321 and contacts the outer shell. With its good flexibility and moderate grinding force, it finishes the surface after rough grinding, eliminating rough grinding marks and making the surface smoother. Pressing continues until the inner tube 315 is completely retracted into the outer tube 313. The fine polishing pad 327 is flush with the rough grinding pad 321 and contacts the outer shell, using its fine material to finely polish the surface, improving the smoothness and texture of the outer shell surface. When the inner tube 315 is completely retracted into the outer tube 313, the second top plate 316 can... The first top plate 314 and the second top plate 316 are flush, ensuring that the polishing pad 327 can form a stable and uniform contact with the shell surface during operation. This avoids uneven local pressure caused by the protrusion or depression of the second top plate 316 during the polishing process, further ensuring the flatness and smoothness of the shell surface during the polishing stage. The first anti-detachment protrusion 335 can pass through the first pre-reserved hole 336, and the second anti-detachment protrusion 337 passes through the second pre-reserved hole 338. Through the dual fixation of mechanical limiting and adhesive action, the intermediate grinding pad 324 and the polishing pad 327 are effectively prevented from falling off or shifting due to centrifugal force or frictional resistance during high-speed rotational grinding. By setting up a multi-stage grinding and polishing structure 3, the robot shell can be processed in an integrated manner from coarse grinding to fine polishing, eliminating the need for frequent changes of grinding tools and significantly improving grinding and polishing efficiency.

[0042] When the equipment is performing a polishing operation, the dust collection pipe 45 can be connected to an external negative pressure dust collection device via interface 47. At this time, the connecting pipe 43 is in an extended state under the action of the connecting spring 46. The flexible lip 48 is made of modified weather-resistant silicone material, which has good flexibility and elasticity. It can form a tight fit with the surface of the robot shell when the dust collection pipe 45 is close to the surface of the shell. Even if there is a certain curvature or slight unevenness on the surface of the shell, it can adapt to the surface contour through its own deformation. The suction port of the dust collection pipe 45 is close to the polishing area, which can capture the debris and dust generated by polishing at close range. When the polishing tool moves axially due to the adjustment of the position by the constant force adaptive structure 2, the connecting pipe 43 will move synchronously with the assembly plate 219. The arc strip 42 slides in the sliding groove 44 to ensure that the dust collection pipe 45 is always kept in the ideal dust collection position. The 35mm length difference provides the movement of the connecting pipe 43. Ample adjustment space prevents a decrease in dust collection efficiency due to tool displacement. Simultaneously, the cooperation between the arc-shaped strip 42 and the sliding groove 44 guides the movement of the connecting pipe 43, preventing radial swaying of the dust collection pipe 45 during equipment operation and ensuring the stability and continuity of dust collection. When the connecting pipe 43 moves axially with the constant force adaptive structure 2, the flexible dustproof cloth 49 stretches or contracts accordingly. Its excellent flexibility does not hinder the normal movement of the connecting pipe 43, while maintaining constant coverage of the area, further enhancing the dustproof effect of the auxiliary structure 4, reducing dust corrosion of core components such as the motor 5, and helping to maintain long-term stable operation of the equipment. By adding the auxiliary structure 4, efficient collection of metal chips and dust can be achieved during grinding and polishing, effectively improving the working environment and reducing the impact of dust on operator health and equipment pollution.

[0043] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A robot shell grinding and polishing device, comprising a mounting flange (1), a motor (5), and a multi-stage grinding and polishing structure (3), characterized in that: A constant force adaptive structure (2) is provided on one side of the mounting flange (1). The constant force adaptive structure (2) includes a reset component (21) and a constant force component (22). The reset component (21) includes a guide tube (211). The guide tube (211) is fixedly connected to the mounting flange (1). Three first limiting plates (213) are fixedly connected to the inner wall of the guide tube (211). The guide tube (211) is slidably connected to a first guide plate (214) by means of the three first limiting plates (213). A guide rod (212) is fixedly connected to the side of the first guide plate (214) away from the mounting flange (1). A second guide plate (215) is fixedly connected to the end of the guide rod (212) away from the first guide plate (214). An inner sleeve (216) is installed at the end of the guide rod (212) away from the first guide plate (214). The guide tube (211) is close to A return spring (218) is fixedly connected to one end of the inner sleeve (216). The end of the return spring (218) away from the guide tube (211) is fixedly connected to the second guide plate (215). An assembly plate (219) is fixedly connected to the side of the inner sleeve (216) away from the guide tube (211). A motor (5) is installed on the assembly plate (219) by means of a multi-stage grinding and polishing structure (3). The constant force component (22) includes an outer sleeve (221). The outer sleeve (221) is fixedly connected to the mounting flange (1). A first embedding groove (222) is opened on the inner wall of the outer sleeve (221). A fixed magnetic ring (223) is installed on the outer sleeve (221) by means of the first embedding groove (222). A second embedding groove (224) is opened on the arc surface of the inner sleeve (216). A movable magnetic ring (225) is installed on the inner sleeve (216) by means of the second embedding groove (224).

2. The robot shell grinding and polishing equipment according to claim 1, characterized in that: The inner wall of the inner sleeve (216) is fixedly connected with three second limiting plates (217), and the three second limiting plates (217) abut against the second guide plate (215).

3. The robot shell grinding and polishing equipment according to claim 1, characterized in that: A corrugated pipe (226) is fixedly connected to one end of the outer sleeve (221) near the assembly plate (219), and the other end of the corrugated pipe (226) away from the outer sleeve (221) is fixedly connected to the assembly plate (219).

4. The robot shell grinding and polishing equipment according to claim 3, characterized in that: The fixed magnetic ring (223) and the movable magnetic ring (225) have the same axial width.

5. The robot shell grinding and polishing equipment according to claim 4, characterized in that: The multi-stage grinding and polishing structure (3) includes a multi-stage component (31), a grinding and polishing component (32), and an auxiliary component (33). The multi-stage component (31) includes an assembly frame (311), which is fixedly connected to an assembly plate (219). The assembly plate (219) is fixedly connected to a motor (5) via the assembly frame (311). A connector (312) is fixedly connected to the output end of the motor (5). An outer tube (313) is fixedly connected to the side of the connector (312) away from the motor (5). A first top plate is fixedly connected to one side of the outer tube (313). (314), the inner wall of the outer tube (313) and the first top plate (314) are slidably connected to the inner tube (315), the inner tube (315) is fixedly connected to the side away from the outer tube (313) to the second top plate (316), the bottom wall of the outer tube (313) is fixedly connected to the micro spring (317), the micro spring (317) is fixedly connected to the inner tube (315), the bottom wall of the outer tube (313) is fixedly connected to the abutment (333), the polishing assembly (32) includes a coarse polishing pad (321), the coarse polishing pad (321) is connected to the inner tube (315) The inner walls of the two parts abut against each other. The coarse grinding pad (321) is a nylon grinding pad. The inner wall of the coarse grinding pad (321) abuts against a fixing ring (318). The fixing ring (318) and the inner tube (315) are threaded together with a fixing nail (319). The auxiliary component (33) includes a first hidden groove (331). The first hidden groove (331) is opened on the surface of the second top plate (316). The inner wall of the first hidden groove (331) is fixedly connected to a first female sticker (322). A first female sticker (323) is bonded to one side of the first female sticker (322). A middle abrasive pad (324) is fixedly connected to the side of the first sub-pad (323) away from the first mother pad (322). The middle abrasive pad (324) is a sponge abrasive pad. A second hidden groove (332) is opened on one side of the first top plate (314). A second mother pad (325) is fixedly connected to the inner wall of the second hidden groove (332). A second sub-pad (326) is bonded to one side of the second mother pad (325). A fine polishing pad (327) is fixedly connected to the side of the second sub-pad (326) away from the second mother pad (325). The fine polishing pad (327) is a wool abrasive pad.

6. The robot shell grinding and polishing equipment according to claim 5, characterized in that: The first top plate (314) has a reserved groove (334) on the side near the second top plate (316), and the reserved groove (334) matches the size of the second top plate (316).

7. The robot shell grinding and polishing equipment according to claim 5, characterized in that: The inner wall of the first hidden groove (331) is fixedly connected with three first anti-detachment protrusions (335), and the three first anti-detachment protrusions (335) penetrate the first female sticker (322). The inner wall of the second hidden groove (332) is fixedly connected with three second anti-detachment protrusions (337), and the three second anti-detachment protrusions (337) penetrate the second female sticker (325). The hook surface of the first female sticker (323) is provided with three first reserved holes (336), and the hook surface of the second female sticker (326) is provided with three second reserved holes (338).

8. The robot shell grinding and polishing equipment according to claim 2, characterized in that: An auxiliary structure (4) is provided on the side of the assembly plate (219) near the motor (5). The auxiliary structure (4) includes a mounting tube (41), which is fixedly connected to the assembly plate (219). Three arc-shaped strips (42) are fixedly connected to the inner wall of the mounting tube (41), and a connecting tube (43) is slidably connected to the inner wall of the mounting tube (41). Three sliding grooves (44) are provided on the surface of the connecting tube (43), and the arc-shaped strips (42) and the inner walls of the sliding grooves (44) are connected to each other. The sliding connection is provided. The axial length of the sliding groove (44) is greater than the axial length of the arc plate, and the difference between the two lengths is 35mm. The arc surface of the connecting pipe (43) is fixedly connected to the dust collection pipe (45). The connecting pipe (43) is fixedly connected to the side near the assembly plate (219) with the connecting spring (46). The connecting spring (46) is fixedly connected to the assembly plate (219). The arc surface of the dust collection pipe (45) is provided with a mating interface (47). The arc surface of the mating interface (47) is provided with a thread.

9. The robot shell grinding and polishing equipment according to claim 8, characterized in that: The dust collection pipe (45) has a flexible lip (48) on the side away from the assembly plate (219), and the flexible lip (48) is made of modified weather-resistant silicone.

10. A robot shell grinding and polishing device according to claim 8, characterized in that: A flexible dustproof cloth (49) is fixedly connected to the side of the connecting tube (43) away from the assembly plate (219), and the flexible dustproof cloth (49) is fixedly connected to the arc surface of the motor (5).

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