Four-degree-of-freedom manipulator polishing device

Abstract

The utility model discloses a four-degree-of-freedom manipulator polishing device which comprises a rotating base, a supporting column is arranged on the rotating base, one side of the supporting column is connected with a lifting sliding seat through a guide rail structure, a large supporting arm is installed on the lifting sliding seat, and the head end of the large supporting arm is movably connected with a small supporting arm through a joint. An adjusting air cylinder is movably connected between the small supporting arm and the large supporting arm. The utility model relates to the technical field of mechanical polishing devices, in particular to a four-degree-of-freedom manipulator polishing device, which adopts a four-degree-of-freedom arrangement, and is characterized in that a stabilizing mechanism is arranged on a small supporting arm and a large supporting arm in a supporting manner, and an air supporting structure follow-up supporting rod is adopted at the connecting position of the head end of the small supporting arm and a positioning seat for supporting; the symmetrically-arranged follow-up supporting rods can limit the two sides of the positioning base, and meanwhile vibration generated by polishing is eliminated through the follow-up supporting rods which are pneumatically supported.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical polishing devices, in particular to a four-degree-of-freedom manipulator polishing device. Background Art

[0002] Among the modern mechanical and optical processing methods, polishing is a relatively common mechanical processing method. For some special-shaped parts or optical lenses, if conventional three-axis machining centers are used for polishing, some surfaces will not be polished, while some surfaces will not be polished vertically. The current solution is mostly to use four-axis or five-axis robotic arms for polishing. However, in the application process of four-degree-of-freedom mechanical polishing robotic arms, the contact between the polishing mechanism and the material will cause the vibration and reaction force generated by the contact between the polishing mechanism and the material to cause the execution end of the four-axis robotic arm to shake and bounce slightly. This is because the end of the four-axis robotic arm is small in size and does not have a limit and shock-absorbing mechanism, which causes shaking during four-axis grinding. In view of this, in-depth research on the above problems has led to the creation of this case. Utility Model Content

[0003] In view of the deficiencies of the prior art, the utility model provides a four-degree-of-freedom manipulator polishing device, which solves the problems of the prior art.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a four-degree-of-freedom manipulator polishing device, comprising a rotating base, a support column provided on the rotating base, a lifting slide seat connected to one side of the support column via a guide rail structure, a supporting arm mounted on the lifting slide seat, the head end of the supporting arm being movably connected to a supporting small arm via a joint, and an adjusting cylinder being movably connected between the supporting small arm and the supporting arm;

[0005] The head end of the supporting arm is provided with a rotating slot, a positioning seat is mounted on the rotating slot, a grinding motor is provided on the positioning seat, and one side of the grinding motor is connected to a grinding head via a connecting shaft;

[0006] The rotating groove is provided with a rotating shaft connected to the positioning seat, the rotating shaft is sleeved with a transmission worm gear, a transmission worm is arranged on one side of the rotating groove and meshes with the transmission worm gear, and the end of the transmission worm is connected to the adjustment motor;

[0007] A follower seat is provided on the supporting arm, and a pair of follower support rods are movably connected to one side of the positioning seat, and the pair of follower support rods are movably connected to the follower seat.

[0008] Preferably, the support seat can rotate 180° on the rotating base.

[0009] Preferably, a pair of stabilizing rods are movably connected to the supporting arm on both sides of the adjusting cylinder. The pair of stabilizing rods are connecting rod structures and the two ends are movably connected to the supporting arm and the supporting arm respectively.

[0010] Preferably, the pair of follower support rods are a pair of telescopic gas struts, and a pair of movable seats are provided on one side of the positioning seat and are movably connected to the telescopic ends of the pair of follower support rods.

[0011] Preferably, a stabilizing bearing sleeve is provided on the positioning seat and is arranged on the outside of the connecting shaft. Beneficial effects

[0012] The utility model provides a four-degree-of-freedom manipulator polishing device. It has the following beneficial effects: the four-degree-of-freedom manipulator polishing device adopts a four-degree-of-freedom setting. In addition to providing a stabilizing mechanism on the supporting arm and the supporting arm, a pneumatic support structure follower support rod is used to support the connection between the head end of the supporting arm and the positioning seat. The symmetrically arranged follower support rods can limit the two sides of the positioning seat. At the same time, the pneumatically supported follower support rods can eliminate vibrations generated by polishing. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the three-dimensional structure of a four-degree-of-freedom manipulator polishing device described in the utility model.

[0014] Figure 2 This is a side structural schematic diagram of a four-degree-of-freedom manipulator polishing device described in the utility model.

[0015] Figure 3 This is a partially enlarged structural schematic diagram of a four-degree-of-freedom manipulator polishing device described in the utility model.

[0016] In the figure: 1. Rotating base; 2. Support column; 3. Lifting sliding seat; 4. Supporting arm; 5. Supporting arm; 6. Adjusting cylinder; 7. Rotating groove; 8. Positioning seat; 9. Grinding motor; 10. Grinding head; 11. Rotating shaft; 12. Transmission worm gear; 13. Transmission worm; 14. Adjusting motor; 15. Follower seat; 16. Follower support rod; 17. Stabilizing rod; 18. Stabilizing bearing. DETAILED DESCRIPTION

[0017] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] See also Figure 1-3 The present invention provides an implementation scheme: In the current processing process, when polishing some mechanical parts with high precision requirements, conventional three-axis processing cannot meet the processing accuracy, so four-axis and five-axis polishing equipment are more widely used in processing. However, during the application process, the existing four-degree-of-freedom polishing machine is usually not equipped with a stabilizing mechanism at its end. Therefore, during the polishing process, when the polishing head 10 contacts the workpiece, it often vibrates slightly, resulting in processing defects.

[0019] In response to the above problems, the present application discloses a four-degree-of-freedom manipulator polishing device, which has four processing degrees of freedom. The first degree of freedom is based on a rotating base 1. A support column 2 is provided on the rotating base 1, which can drive the polishing device as a whole to rotate horizontally and adjust the grinding direction. The second degree of freedom of adjustment is based on a lifting sliding seat 3. The lifting sliding seat 3 is installed on one side of the support column 2 through a guide rail structure. The height of the lifting sliding seat 3 can be adjusted through the guide rail structure, and the rotation mechanism on the lifting sliding seat 3 can be adjusted to rotate around the horizontal axis, thereby driving the supporting arm 5 and the grinding device arranged at the front end of the supporting arm 5 to rotate. The third degree of automation is based on the joint connection between the supporting arm 5 and the supporting arm 4. The supporting arm 5 can be adjusted to swing by adjusting the cylinder 6. The fourth degree of freedom is based on the movable connection between the rotating slot 7 at the end of the supporting arm 5 and the positioning seat 8, so as to adjust the posture of the positioning seat 8, thereby adjusting the posture of the grinding head 10.

[0020] Specifically, the head end of the supporting arm 5 is provided with a rotating groove 7, and a positioning seat 8 is assembled on the rotating groove 7. A rotating shaft 11 is provided on the rotating groove 7 and connected to the positioning seat 8. A transmission worm gear 12 is sleeved on the rotating shaft 11. The transmission worm 13 is driven to rotate by the adjusting motor 14, so that the transmission worm 13 is engaged with the transmission worm gear 12, so that the rotating shaft 11 drives the positioning seat 8 to rotate. A grinding motor 9 is provided on the positioning seat 8 to drive the grinding head 10 to rotate, and the posture of the grinding head 10 is adjusted in this way;

[0021] Furthermore, in order to stabilize the posture of the positioning seat 8 during the grinding process, a follower seat 15 is connected to a pair of follower support rods 16 by setting a connection between the follower support rod 16 and the positioning seat 8. The follower support rod 16 adopts the principle of air pressure balance. When a small vibration occurs, the posture of the positioning seat 8 is kept stable through the supporting effect of the follower support rod 16.

[0022] Specifically, the support seat can rotate 180° on the rotating base 1 to cover a wider area.

[0023] Furthermore, a pair of stabilizing rods 17 are movably connected to the supporting arm 4 on both sides of the adjusting cylinder 6. The pair of stabilizing rods 17 are connecting rod structures and the two ends are movably connected to the supporting arm 4 and the supporting arm 5 respectively, thereby playing the role of stabilizing the connection between the supporting arm 4 and the supporting arm 5.

[0024] Furthermore, a stabilizing bearing 18 is provided on the positioning seat 8 and sleeved on the outside of the connecting shaft, so as to stabilize the rotation state of the connecting shaft during the rotation of the grinding head 10 .

[0025] From the above, it can be seen that the four-degree-of-freedom manipulator polishing device adopts a four-degree-of-freedom setting. In addition to setting a stabilizing mechanism on the supporting arm 5 and the supporting arm 4, a pneumatic support structure follower support rod 16 is used to support the connection position between the head end of the supporting arm 5 and the positioning seat 8. The symmetrically arranged follower support rods 16 can limit the two sides of the positioning seat 8, and at the same time, the vibration generated by polishing is eliminated by the pneumatically supported follower support rods 16.

[0026] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A four-degree-of-freedom manipulator polishing device, comprising a rotating base (1), a support column (2) provided on the rotating base (1), a lifting slide seat (3) connected to one side of the support column (2) via a guide rail structure, a supporting arm (4) installed on the lifting slide seat (3), a head end of the supporting arm (4) being connected to a supporting arm (5) via a joint, characterized in that: An adjusting cylinder (6) is movably connected between the supporting small arm (5) and the supporting large arm (4); The head end of the supporting arm (5) is provided with a rotating groove (7), a positioning seat (8) is mounted on the rotating groove (7), a grinding motor (9) is provided on the positioning seat (8), and one side of the grinding motor (9) is connected to a grinding head (10) via a connecting shaft; The rotating groove (7) is provided with a rotating shaft (11) connected to the positioning seat (8), the rotating shaft (11) is sleeved with a transmission worm wheel (12), a transmission worm (13) is arranged on one side of the rotating groove (7) and meshes with the transmission worm wheel (12), and the end of the transmission worm (13) is connected to an adjustment motor (14); A follower seat (15) is provided on the supporting arm (5), and a pair of follower support rods (16) are movably connected to one side of the positioning seat (8), and the pair of follower support rods (16) are movably connected to the follower seat (15).

2. A four-degree-of-freedom manipulator polishing device according to claim 1, characterized in that: The support column (2) can rotate 180° on the rotating base (1).

3. A four-degree-of-freedom manipulator polishing device according to claim 2, characterized in that: A pair of stabilizing rods (17) are movably connected to the supporting arm (4) on both sides of the regulating cylinder (6). The pair of stabilizing rods (17) are connecting rod structures, and the two ends are movably connected to the supporting arm (4) and the supporting arm (5) respectively.

4. A four-degree-of-freedom manipulator polishing device according to claim 3, characterized in that: The pair of follower support rods (16) are a pair of telescopic gas struts, and a pair of movable seats are provided on one side of the positioning seat (8) and are movably connected to the telescopic ends of the pair of follower support rods (16).

5. A four-degree-of-freedom manipulator polishing device according to claim 4, characterized in that: The positioning seat (8) is provided with a stabilizing bearing (18) sleeved on the outside of the connecting shaft.

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