Floating grinding device and grinding robot
By designing a floating grinding device, the angle rotation and elastic floating of the grinding head are achieved by using a spring-connected grinding head suspension bracket, which solves the problem of uneven grinding of uneven workpiece surfaces and achieves a more uniform grinding effect.
Patent Information
- Application Number
- CN202421616461.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-09
- Publication Date
- 2025-07-11
- Estimated Expiration
- 2034-07-09
AI Technical Summary
When existing grinding robots deal with uneven workpiece surfaces, it is difficult to achieve uniform grinding, especially when the grinding effect is significant on the convex and concave surfaces.
A floating grinding device is designed. By providing a spring-connected grinding head on the grinding head suspension bracket, the grinding head is allowed to rotate reciprocatingly within a predetermined angle range, and uniform grinding is achieved through elastic floating. Combined with the coaxial connection between the mounting frame and the grinding head suspension bracket, the consistency of grinding force is ensured.
A uniform grinding at the unevenness of the workpiece surface is achieved, reducing grinding differences and ensuring uniformity and consistency within the grinding range.
Smart Images
Figure CN223084476U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of grinding machinery and equipment, in particular to a floating grinding device and a grinding robot. Background Art
[0002] For large-area grinding operations, grinding robots are usually used for operation. Specifically, a grinding device is installed on the robotic arm of the robot, and the robotic arm drives the grinding device to uniformly operate on the plate surface of the workpiece. In the renovation industry of workpieces, some flat or long-strip plate-like parts have special coatings on their surfaces. During renovation, these coatings need to be uniformly removed, but the workpiece body under the coatings cannot be ground. This actually places high requirements on the grinding uniformity of the grinding device.
[0003] It is relatively easy to implement in the prior art for the grinding robot to press the grinding device with a certain force to walk on the workpiece surface. However, the workpiece surface is very likely to be uneven. With the same force, the grinding effects on the convex surface and the concave surface will be very different. Therefore, the grinding device needs to have good floating characteristics. Summary of the Utility Model
[0004] Based on this, it is necessary to provide a floating grinding device and a grinding robot for at least one of the above-mentioned problems.
[0005] In a first aspect, a floating grinding device provided by the application of the utility model is connected to the robotic arm of an industrial robot and includes a mounting frame, a grinding head suspension bracket, and a plurality of grinding heads. The grinding heads are connected to the grinding head suspension bracket through springs. The grinding head suspension bracket is coaxially connected to the mounting frame, and the grinding head suspension bracket can reciprocally rotate relative to the mounting frame within a predetermined angle range.
[0006] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, a plurality of quick-connect joints for connecting with the robotic arm are provided at the top end of the mounting frame.
[0007] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, the top end of the grinding head suspension bracket is connected to the mounting frame through a bearing.
[0008] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, the grinding head suspension bracket includes a bracket portion and a rotating shaft that are integrally connected. The bottom end of the grinding head is connected to the bracket portion through a spring; the mounting frame covers the grinding head suspension bracket.
[0009] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, a cooling water pipe is further included; a through hole is provided at the central axis of the rotating shaft, and the cooling water pipe passes through the through hole.
[0010] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, sliding protrusions are provided on the inner wall of the cover of the mounting frame, and an annular sliding groove is provided on the outer peripheral side wall of the support portion.
[0011] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, matching limit blocks are respectively provided on the connecting shafts of the mounting frame and the grinding head suspension bracket that rotate relative to each other.
[0012] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, a hollowed-out portion is provided on the peripheral side wall of the mounting shaft of the mounting frame, and a detachable protrusion portion is provided on the shaft surface of the rotating shaft of the grinding head suspension bracket, and the protrusion portion is arranged in the hollowed-out portion.
[0013] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, a plurality of horn covers corresponding to the grinding heads one by one are further provided on the grinding head suspension bracket, and the grinding heads are connected in the horn covers through springs.
[0014] In a second aspect, the present application provides a grinding robot, including a robot body and a floating grinding device as described in any one of the first aspects of the present application, and the floating grinding device is detachably connected to the robotic arm of the robot body.
[0015] The floating grinding device provided by the present utility model can be towed by the grinding robot. By providing that the grinding head suspension bracket can reciprocally rotate within a predetermined angle range relative to the mounting frame, the overall rotation of the grinding working part in the floating grinding device is realized, and each grinding head can elastically float up and down under the traction of the spring, so that the grinding force can be made more uniform and the grinding within the grinding range can be made more uniform. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 is an axonometric view of the floating grinding device in an embodiment of the present utility model;
[0017] Figure 2 is a schematic plan view of one perspective of the floating grinding device in an embodiment of the present utility model
[0018] Figure 3 is Figure 2 the sectional view taken along the A-A cutting plane in
[0019] Figure 4Isometric view of the floating grinding device in another embodiment of the present utility model;
[0020] Figure 5 Isometric view of the floating grinding device in yet another embodiment of the present utility model;
[0021] Figure 6 Exploded view of the floating grinding device in an embodiment of the present utility model;
[0022] Figure 7 Isometric view of the floating grinding device in still another embodiment of the present utility model.
[0023] Explanation of reference numerals:
[0024] 100 - mounting frame, 200 - grinding head suspension bracket, 300 - grinding head;
[0025] 110 - quick - connect joint, 120 - sliding protrusion, 130 - hollow part, 140 - first limit block;
[0026] 210 - bracket part, 220 - rotating shaft, 221 - through - hole, 230 - protrusion part, 240 - annular sliding groove, 250 - second limit block, 260 - horn cover. Detailed implementation manners
[0027] Next, the technical solutions of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the implementation manners of the present utility model, rather than all of the implementation cases. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present utility model.
[0028] It should be understood that the schematic drawings are not necessarily drawn to the actual scale. The flowcharts used are exemplary displays of the implementation processes of some embodiments of the present utility model. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical context relationships may be reversed or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of the present utility model.
[0029] The phrase "embodiment" mentioned herein means that the specific features, structures or characteristics described may be included in at least one implementation case of the present utility model. The occurrence of this phrase at various positions in the specification does not necessarily refer to the same embodiment, nor is it necessarily an independent or alternative embodiment that is mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.
[0030] An embodiment of the first aspect of the present utility model application provides a floating grinding device, which is connected to the robotic arm of an industrial robot, such as Figures 1 to 3 shown, including an installation frame 100, a grinding head suspension bracket 200, and a plurality of grinding heads 300. The grinding heads 300 are connected to the grinding head suspension bracket 200 through springs. The grinding head suspension bracket 200 is coaxially connected to the installation frame 100, and the grinding head suspension bracket 200 can reciprocally rotate relative to the installation frame 100 within a predetermined angle range.
[0031] Each grinding head 300 is connected to the grinding head suspension bracket 200 through at least one spring. To reduce the assembly difficulty, usually a relatively thick linear spring that can bear the entire weight of the grinding head 300 can be used. Through the spring, when the grinding head 300 presses against the workpiece for grinding, it can press against the workpiece with the same pressure within the elastic deformation range of the spring according to the undulation of the workpiece, and perform uniform grinding. Additionally, crucially, the grinding head suspension bracket 200 is coaxially connected to the installation frame 100 to enable the grinding head suspension bracket 200 to drive each grinding head 300 to rotate relative to the installation frame 100 within a certain range. This predetermined angle range can specifically be 60 - 120°. When the robotic arm drives the installation frame 100, the grinding head suspension bracket 200 drives the grinding heads 300 to rotate around the axis, enabling each grinding head 300 to change the grinding position on the workpiece, reducing the grinding differences of each grinding head 300, and further ensuring the uniformity of grinding. The grinding head 300 used in this application includes structures such as a motor and a grinding disc, and common suitable products in the prior art can be directly selected. According to different workpieces to be ground, different existing products can be selected. The installation frame 100 is integrally in the shape of a disk cover, which can be a hollow structure, but preferably a solid cover structure, capable of concentrating the dust generated during grinding together. The grinding head suspension bracket 200 is within the coverage range of the installation frame 100.
[0032] As shown in the figure, in combination with the embodiment of the first aspect, in some implementation manners of the first aspect, a plurality of quick-connect joints 110 for connecting to the robotic arm are provided at the top of the installation frame 100. The quick-connect joints 110 can directly select mature products in the prior art, which can be known to those skilled in the art in this field and will not be elaborated in depth.
[0033] Optionally, in combination with the embodiment of the first aspect and the above implementation manners, in some other implementation manners of the first aspect, the top end of the grinding head suspension bracket 200 is connected to the installation frame 100 through a bearing (not shown in the figure). To facilitate the rotation of the grinding head suspension bracket 200, the grinding head suspension bracket 200 can freely rotate easily under the push of the robotic arm, and the connection part between the grinding head suspension bracket 200 and the installation frame 100 is connected by a bearing.
[0034] Optionally, in some embodiments of the first aspect, as Figures 1 to 5 shown, the polishing head suspension bracket 200 includes a bracket portion 210 and a rotating shaft 220 that are integrally connected. The bottom end of the polishing head 300 is connected to the bracket portion 210 by a spring; the mounting frame 100 covers the polishing head suspension bracket 200. The bracket portion 210 is disc-shaped and is connected to the rotating shaft 220 by a connecting beam. The polishing heads 300 are evenly distributed on the bottom end surface of the bracket portion 210. Usually, 3 to 6 polishing heads 300 are provided. The power cords of the polishing heads 300 have a certain degree of looseness, facilitating the overall position change of the polishing heads 300. At the same time, these power cords can be uniformly wired through the storage structure on the mounting frame 100.
[0035] Optionally, in some other embodiments of the first aspect, as Figure 3 shown, the floating polishing device further includes a cooling water pipe; a through hole 221 is provided at the central axis of the rotating shaft 220, and the cooling water pipe passes through the through hole 221. Cooling water is a material often present during the polishing process. By providing the through hole 221 on the rotating shaft 220 and allowing the cooling water pipe to pass through the middle of the rotating shaft 220, it is possible to achieve the diffusion of the cooling water from the center of the floating polishing device, making the distribution of the cooling water uniform and saving water.
[0036] Optionally, combining the embodiments of the first aspect and the above implementation manners, in some other implementation manners of the embodiments of the first aspect, as Figure 3 and Figure 6 shown, sliding protrusions 120 are provided on the inner wall of the cover of the mounting frame 100, and an annular slide 240 is provided on the outer peripheral side wall of the bracket portion 210. By providing the sliding protrusions 120 and the annular slide 240, the polishing head suspension bracket 200 can rotate more stably relative to the mounting frame 100. For easier rotation with less resistance, balls or needle rollers can be provided on the sliding protrusions 120.
[0037] Optionally, combining the embodiments of the first aspect and the above implementation manners, in some other implementation manners of the first aspect, in order to realize the rotation of the mounting frame 100 and the polishing head suspension bracket 200, and at the same time rotate within a predetermined range, matching limit blocks are respectively provided on the connecting shafts of the relative rotation of the mounting frame 100 and the polishing head suspension bracket 200. Specifically, as Figure 4 shown, a first limit block 140 can be provided on the mounting frame 100, and two second limit blocks 250 are provided on the polishing head suspension bracket 200. The first limit block 140 is between the two second limit blocks 250.
[0038] Optionally, in combination with the embodiments of the first aspect and the above implementation manners, in some further implementation manners of the first aspect, the way of using a limit block is not adopted. As Figure 5 shown, a hollowed-out portion 130 may also be provided on the circumferential side wall of the mounting shaft of the mounting frame 100, and a detachable protrusion 230 is provided on the shaft surface of the rotating shaft 220 of the grinding head suspension bracket 200. The protrusion 230 is disposed within the hollowed-out portion 130. The protrusion 230 can move within the hollowed-out portion 130. At the same time, when the protrusion 230 is blocked by the edge of the hollowed-out portion 130, the grinding head suspension bracket 200 can only rotate back and forth, thereby realizing the reciprocating rotation of the grinding head suspension bracket 200.
[0039] Optionally, in combination with the embodiments of the first aspect and the above implementation manners, in some other embodiments of the first aspect, as Figure 7 shown, a plurality of horn covers 260 corresponding to the grinding heads 300 one by one are further provided on the grinding head suspension bracket 200. The grinding heads 300 are connected in the horn covers 260 through springs. Each grinding head 300 corresponds to one horn cover 260, separating the grinding heads 300 and their working areas independently, which can achieve the dust gathering effect during dry grinding and also prevent the cooling water from being thrown out. In addition, a dust suction pipe can be additionally provided on the horn cover 260 to more quickly collect dust.
[0040] An embodiment of the second aspect of the present application provides a grinding robot, which specifically includes a robot body and a floating grinding device as described in any one of the first aspects of the present application. The floating grinding device is detachably connected to the robotic arm of the robot body. The robot body can select a common industrial robot. The robotic arm on the robot body is matched with the floating grinding device, and oil, electricity, water or gas, as well as mechanical connections are realized through the interfaces on the robotic arm and the quick-connect joints.
[0041] The floating grinding device provided by the present utility model can be towed by the grinding robot. By setting that the grinding head suspension bracket can reciprocally rotate within a predetermined angle range relative to the mounting frame, the overall rotation of the grinding working part in the floating grinding device is realized, and each grinding head can elastically float up and down under the traction of the spring, enabling the grinding force to be more uniform and the grinding within the grinding range to be more uniform.
[0042] The above are only the preferred specific implementation manners of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present utility model should be covered within the protection scope of the present utility model.
Claims
1. A floating grinding device is connected to the robotic arm of an industrial robot, characterized in that, It includes an installation frame, a grinding head suspension bracket, a cooling water pipe and a plurality of grinding heads. The grinding heads are connected to the grinding head suspension bracket by springs. The grinding head suspension bracket is coaxially connected to the installation frame, and the grinding head suspension bracket can reciprocally rotate relative to the installation frame within a predetermined angle range. The grinding head suspension bracket includes a bracket part and a rotating shaft integrally connected. The bottom end of the grinding head is connected to the bracket part by a spring. The installation frame covers the grinding head suspension bracket. A through hole is provided at the central axis of the rotating shaft, and the cooling water pipe passes through the through hole. Sliding protrusions are provided on the inner wall of the cover of the installation frame, and an annular chute is provided on the outer peripheral side wall of the bracket part.
2. The floating lapping device according to claim 1, wherein A plurality of quick-connect joints for connecting to the robotic arm are provided at the top end of the installation frame.
3. The floating lapping device according to claim 1, wherein The top end of the grinding head suspension bracket is connected to the installation frame by a bearing.
4. The floating lapping device according to claim 1, wherein, Matched limit blocks are respectively provided on the connecting shafts of the relative rotation of the installation frame and the grinding head suspension bracket.
5. The floating lapping device according to claim 1, wherein A hollowed-out part is provided on the peripheral side wall of the installation shaft of the installation frame, and a detachable protrusion part is provided on the shaft surface of the rotating shaft of the grinding head suspension bracket, and the protrusion part is arranged in the hollowed-out part.
6. The floating lapping device according to claim 1, characterized in that, A plurality of horn covers corresponding to the grinding heads one by one are further provided on the grinding head suspension bracket, and the grinding heads are connected in the horn covers by the springs.
7. A grinding robot, characterized in that, It includes a robot body and a floating grinding device according to any one of claims 1 to 6, and the floating grinding device is detachably connected to the robotic arm of the robot body.