Grinding self-adaptive structure driven by servo motor and pressed down by air cylinder and guide rail

Abstract

The utility model relates to the technical field of robots, in particular to a grinding self-adaptive structure driven by a servo motor pressed by an air cylinder and a guide rail, which comprises a connecting plate connected with the side edge of a robot and a switch electromagnetic valve arranged on one side of the connecting plate, and a communicating pipeline for communicating the electromagnetic valve with the connecting plate is arranged between the electromagnetic valve and the connecting plate. The connecting plate is further provided with a grinding structure capable of moving up and down through a lifting frame.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a grinding adaptive structure driven by a servo motor with a cylinder and a guide rail pressing downwards. Background Art

[0002] The grinding wall-climbing robot is applicable to the metal surfaces of planes and curved surfaces of equipment such as ships, storage tanks, and wind power tower barrels. When performing manual grinding in these places with relatively high heights and relatively smooth surfaces, it is necessary to carefully protect the safety of the staff. Even so, dangerous events such as slipping and falling of the staff are very likely to occur, and the work risk is very high. The grinding wall-climbing robot can replace manual operations in occasions. It can be remotely controlled to move and grind the contacted surface, greatly reducing the construction risk and effectively ensuring the personal safety of the staff.

[0003] Although the above-mentioned prior art can solve the corresponding technical problems, there are still certain defects: the existing grinding robot is composed of a moving structure and a grinding structure. The moving structure controls the movement of the grinding robot on the surface of the equipment, and the grinding structure can grind the rough protrusions on the surface of the equipment. Generally, the grinding structure uses a sliding table and a force control sensor to control the grinding force, and the structure and control process are relatively complex, and the cost is high. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a grinding adaptive structure driven by a servo motor with a cylinder and a guide rail pressing downwards, which has a simple structure and low cost, aiming at the defects and deficiencies of the prior art.

[0005] To achieve the above purpose, the utility model adopts the following technical solutions: a grinding adaptive structure driven by a servo motor with a cylinder and a guide rail pressing downwards, including a connecting plate connected to the side of the robot and a switching solenoid valve arranged on one side of the connecting plate. A connecting pipe for connecting the two is arranged between the solenoid valve and the connecting plate, and a grinding structure that can move up and down through a lifting frame is also arranged on the connecting plate.

[0006] Further improvement is: the grinding structure includes a connecting frame arranged on the connecting plate and a servo motor arranged on the top of the connecting frame. A grinding wheel is movably clamped at the bottom of the connecting frame, and a transmission belt is arranged between the end of the grinding wheel and the rotating shaft of the servo motor.

[0007] Further improvement is: the connecting plate includes a plate body connected to the side of the robot and a pressing cylinder arranged on the plate body. The pressing cylinder is connected to the solenoid valve through a connecting pipe, and a pressing block connected to the grinding structure is arranged at the bottom of the pressing cylinder.

[0008] Further improvements are as follows: A number of slide rails are also provided on the plate body, and sliders are slidably arranged on the slide rails, and the sliders are fixedly connected to the grinding structure.

[0009] Further improvements are as follows: Reinforcing ribs are also provided on the back surface of the plate body.

[0010] Further improvements are as follows: A buffer pipe section is provided in the middle section of the connecting pipe.

[0011] Further improvements are as follows: A proportional valve that is mutually connected to the on-off solenoid valve is also provided on the on-off solenoid valve.

[0012] Further improvements are as follows: A number of signal interfaces are also provided on the servo motor.

[0013] After adopting the above technical solutions, the beneficial effects of the present utility model are as follows: The present utility model uses an on-off solenoid valve in cooperation with a pressing cylinder to enable the grinding structure to move up and down along the plate body. Furthermore, when the robot moves to the convex point of the grinding plane, the air pressure in the pressing cylinder can be increased to make the grinding wheel press down more fully and fit on the grinding plane for grinding. The structure is simple and the cost is relatively low. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0015] Figure 1 is a three-dimensional structural schematic diagram of the grinding adaptive structure of the present utility model;

[0016] Figure 2 is a side-view structural schematic diagram of the grinding adaptive structure of the present utility model;

[0017] Figure 3 is a three-dimensional structural schematic diagram of the connecting plate of the present utility model;

[0018] Figure 4 is a structural schematic diagram of the back surface of the connecting plate of the present utility model. Detailed Embodiments

[0019] The present utility model will be further described below in conjunction with the drawings and specific embodiments.

[0020] Refer to Figures 1-4As shown in the figure, the technical solution adopted in this specific embodiment is as follows: A grinding adaptive structure driven by a servo motor relying on the downward pressure of a cylinder and a guide rail, including a connecting plate 3 connected to the side of the robot and a switch solenoid valve 2 arranged on one side of the connecting plate 3. The connecting plate 3 includes a plate body 31 connected to the side of the robot and a downward pressure cylinder 32 arranged on the plate body 31. The downward pressure cylinder 32 is connected to the solenoid valve 2 through a connecting pipe 8. A downward pressure block 33 connected to the grinding structure is arranged at the bottom of the downward pressure cylinder 32. A connecting pipe 8 for connecting the two is arranged between the solenoid valve 2 and the connecting plate 3. A grinding structure that can move up and down through a lifting frame 4 is also arranged on the connecting plate 3. The grinding structure includes a connecting frame 4 arranged on the connecting plate 3 and a servo motor 5 arranged at the top of the connecting frame 4. A grinding wheel 7 is movably engaged at the bottom of the connecting frame 4. A transmission belt 6 is arranged between the end of the grinding wheel 7 and the rotating shaft of the servo motor 5. During use, the connecting plate 3 is installed on the moving structure of the grinding robot. Subsequently, the air compressor outlet on the robot is connected to the switch solenoid valve 2 to make them connected to each other. Then, the high-pressure air of the air compressor can be controlled by the switch solenoid valve 2 to enter the downward pressure cylinder 32 through the connecting pipe 8, thereby controlling the upward and downward movement of the downward pressure block 33 of the downward pressure cylinder 32, and then synchronously driving the upward and downward movement of the connecting frame 4 connected to it. The servo motor 5 outputs power, and the grinding wheel 7 rotates through the transmission belt 6. When grinding is required, high-pressure air is output through the switch solenoid valve 2 to make the downward pressure cylinder 32 press down the downward pressure block 33, so that the grinding wheel 7 is pushed downward and pressed against the grinding plane for sufficient grinding. When movement is required, the air in the downward pressure cylinder 32 is pumped away through the switch solenoid valve 2, so that the downward pressure block 33 at the bottom of the downward pressure cylinder 32 moves upward, and then the grinding wheel 7 is separated from the grinding plane. When the grinding structure encounters large-area protrusions or local small-particle protrusions on the grinding plane, the gas pressure output by the switch solenoid valve 2 is gradually or instantaneously increased, so that the grinding pressure will gradually or instantaneously increase. When the grinding surface is concave, the downward pressure cylinder 32 is driven to continue moving downward by the gas pressure to realize the adaptive fitting of the grinding wheel 7 and the grinding plane. The servo motor 5 adopts current loop control, which can feedback the magnitude of the grinding force and realize the quantitative feedback of the grinding force. The structure is simple and the cost is low;

[0021] A plurality of slide rails 35 are also arranged on the plate body 31, which can be dust-proof slide rails. Two are provided in this embodiment. A slider 34 is slidably arranged on the slide rail 35. The slider 34 is fixedly connected to the grinding structure, which is beneficial to making the lifting trajectory of the grinding structure smoother and avoiding skewing to affect the fitting effect of the grinding wheel 7;

[0022] Reinforcing ribs 36 are also arranged on the back of the plate body 31, which is beneficial to improving the strength of the plate body 31 and avoiding damage under the influence of the vibration generated during grinding;

[0023] A buffer pipe section 9 is provided in the middle of the connecting pipe 8. Through the buffer pipe 9 with a certain volume, the grinding structure can be adaptively lifted by means of the compressibility of the gas, so as to maintain the stability of the downward pressure, significantly reduce the impact on the grinding structure during grinding, and realize flexible adaptive grinding;

[0024] A proportional valve 1 is also provided on the on-off solenoid valve 2 and is connected to it. It is beneficial to control the opening degree of the on-off solenoid valve 2 through the proportional valve 1 to control the downward pressure of the grinding mechanism, and the opening degree of the proportional valve 1 can be controlled by the proportional valve 1 in cooperation with the feedback of the grinding force of the servo motor 5, so as to realize the closed-loop control of the adaptive downward pressure of the grinding, making the adaptability of the grinding structure stronger;

[0025] A number of signal interfaces are also provided on the servo motor 5, which is beneficial to control the rotation speed of the servo motor 5 by accessing electrical signals, etc., and output the grinding pressure data through the signal interfaces.

[0026] Working principle of the present utility model: When the present utility model is in use, the connecting plate 3 is installed on the moving structure of the grinding robot. Subsequently, the output port of the air compressor on the robot is connected to the on-off solenoid valve 2 to make them communicate with each other. Then, the on-off solenoid valve 2 can be used to control the high-pressure air of the air compressor to enter the downward pressure cylinder 32 through the connecting pipe 8, thereby controlling the rise and fall of the pressing block 33 of the downward pressure cylinder 32, and then synchronously driving the rise and fall of the connecting frame 4 connected to it. The servo motor 5 outputs power, and the grinding wheel 7 rotates through the transmission belt 6. When grinding is required, high-pressure air is output through the on-off solenoid valve 2 to make the downward pressure cylinder 32 press down the pressing block 33, and then the grinding wheel 7 is pushed downward to make it press against the grinding plane for sufficient grinding. When movement is required, the air in the downward pressure cylinder 32 is evacuated through the on-off solenoid valve 2 to make the pressing block 33 at the bottom of the downward pressure cylinder 32 move upward, and then the grinding wheel 7 is separated from the grinding plane. When the grinding structure encounters large-area protrusions or local small-particle protrusions on the grinding plane, the output gas pressure is gradually or instantaneously increased through the on-off solenoid valve 2, and then the grinding pressure will gradually or instantaneously increase. When the grinding surface is concave, the downward pressure cylinder 32 is driven to move downward by the gas pressure to realize the adaptive fitting of the grinding wheel 7 and the grinding plane. The servo motor 5 adopts current loop control, which can feedback the magnitude of the grinding force and realize the quantitative feedback of the grinding force. The structure is simple and the cost is low.

[0027] What the present utility model wants to protect is the structure of the product. The models of each component are not the content protected by the present utility model and are also well-known technologies. As long as the components on the market can realize the above functions of the present utility model, they can be selected and applied. Therefore, the parameters such as the models of the components are not described in detail in the present utility model. The contribution of the present utility model lies in the scientific combination of each component.

[0028] The above has shown and described the basic principles, main features and advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited by the above embodiments. What is described in the above embodiments and descriptions only illustrates the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and these changes and improvements all fall within the scope of the present utility model claimed. The scope of protection claimed by the present utility model is defined by the appended claims and their equivalents. Where the present utility model is not elaborated, it is all well-known technology to those skilled in the art.

Claims

1. A grinding adaptive structure driven by a servo motor that relies on a cylinder and a guide rail to press down, characterized in that: It includes a connecting plate (3) connected to the side of the robot and a switching solenoid valve (2) arranged on one side of the connecting plate (3). A connecting pipe (8) for connecting the two is provided between the solenoid valve (2) and the connecting plate (3), and a grinding structure is also provided on the connecting plate (3).

2. The grinding adaptive structure driven by a servo motor with downward pressure by means of a cylinder and a guide rail according to claim 1, wherein: The grinding structure includes a connecting frame (4) arranged on the connecting plate (3) and a servo motor (5) arranged on the top of the connecting frame (4). A grinding wheel (7) is movably clamped at the bottom of the connecting frame (4), and a transmission belt (6) is provided between the end of the grinding wheel (7) and the rotating shaft of the servo motor (5).

3. The grinding adaptive structure driven by a servo motor with downward pressure by a cylinder and a guide rail according to claim 1, characterized in that: The connecting plate (3) includes a plate body (31) connected to the side of the robot and a pressing cylinder (32) arranged on the plate body (31). The pressing cylinder (32) is connected to the solenoid valve (2) through the connecting pipe (8), and a pressing block (33) connected to the grinding structure is provided at the bottom of the pressing cylinder (32).

4. A grinding adaptive structure driven by a servo motor with a cylinder and a guide rail pressing down according to claim 3, characterized in that: A plurality of slide rails (35) are also provided on the plate body (31), and a slider (34) is slidably arranged on the slide rails (35). The slider (34) is fixedly connected to the grinding structure.

5. An abrasive adaptive structure driven by a servo motor that relies on a cylinder and a guide rail to press down, characterized in that: Reinforcing ribs (36) are also provided on the back of the plate body (31).

6. A grinding adaptive structure driven by a servo motor that relies on a cylinder and a guide rail to press down, characterized in that: A buffer pipe section (9) is provided in the middle section of the connecting pipe (8).

7. An abrasive adaptive structure driven by a servo motor that relies on a cylinder and a guide rail to press down, characterized in that: A proportional valve (1) connected to the switching solenoid valve (2) is also provided on the switching solenoid valve (2).

8. A grinding adaptive structure driven by a servo motor that relies on a cylinder and a guide rail to press down, characterized in that: A plurality of signal interfaces are also provided on the servo motor (5).

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