Grinding robot and grinding system

Abstract

The utility model provides a grinding robot and grinding system.The grinding robot comprises a base and a mechanical arm, a clamping base, an air cylinder, a cutter and a connecting block which are installed on the base, the clamping base is fixedly connected to the end, away from the base, of the mechanical arm, the air cylinder is rotationally connected to the clamping base, and the cutter is used for grinding a workpiece; one end of the connecting block is fixedly connected to the air cylinder, the other end of the connecting block is fixedly connected to the cutter, the air cylinder comprises a floating seat and a cylinder barrel, one end of the floating seat is directly or indirectly movably connected to the cylinder barrel, and the other end of the floating seat is fixedly connected to the connecting block, so that the cutter can move relative to the cylinder barrel along with the connecting block and the floating seat, and the cutter breaking risk is reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of machining equipment, and particularly relates to a grinding robot and a grinding system. BACKGROUND

[0002] In the deburring process in the field of machining, burrs or flash formed at the intersection of part surfaces are removed.

[0003] Most of the workpiece deburring operations in domestic factories and even large manufacturing companies are performed manually or by using handheld pneumatic or electric tools to polish, grind, file and perform other deburring operations, which can easily lead to an increase in the workpiece defect rate and very low efficiency. Some manufacturers have begun to use robots equipped with electric or pneumatic tools to perform automatic grinding. Compared with handheld grinding, robot grinding can effectively improve production efficiency, reduce costs and improve workpiece yield.

[0004] However, due to the rigidity of the cutter of the robot, the cutter can be broken, the grinding can not be completed, or the workpiece can be scrapped due to excessive grinding. SUMMARY

[0005] To overcome the above-mentioned shortcomings of the prior art, the utility model aims to provide a grinding robot with a floating cutter.

[0006] The utility model solves the technical problems by adopting the following technical scheme:

[0007] In a first aspect, the utility model provides a grinding robot, comprising:

[0008] a base and a mechanical arm mounted on the base;

[0009] a clamping seat fixedly connected to one end of the mechanical arm away from the base;

[0010] a cylinder rotatably connected to the clamping seat;

[0011] a cutter for grinding a workpiece;

[0012] a connecting block, one end of which is fixedly connected to the cylinder and the other end of which is fixedly connected to the cutter;

[0013] The cylinder comprises a floating seat and a cylinder barrel, one end of the floating seat is directly or indirectly movably connected to the cylinder barrel, and the other end of the floating seat is fixedly connected to the connecting block.

[0014] As a preferred implementation form, the cutter comprises a cutter base, a rotating shaft and a cutter head, a motor is integrated in the cutter base, an output end of the motor is drivingly connected to the rotating shaft, and the cutter head is directly or indirectly fixedly connected to the rotating shaft.

[0015] As a preferred implementation form, the cutter further comprises a clamping member, one end of the clamping member is detachably connected to the rotating shaft, and the other end of the clamping member is detachably connected to the cutter head.

[0016] As a preferred implementation form, the cylinder further comprises a guide seat and a limiting bolt, one end of the guide seat is slidingly connected to the cylinder barrel, and the other end of the guide seat is fixedly connected to the floating seat.

[0017] The limiting bolt is provided in plurality and annularly arranged at the circumferential side of the guide seat, and the guide seat is at least partially abutted against the limiting bolt.

[0018] As a preferred implementation form, the maximum axial length of the clamping member is less than the minimum axial length of the cutter base.

[0019] As a preferred implementation form, the mechanical arm comprises an electric control module, and a main arm and a sub-arm which are rotationally connected, and the electric control module is used to drive the main arm to move relative to the sub-arm.

[0020] As a preferred implementation form, a force sensor is further comprised, the force sensor is arranged in the cutter base and is used to measure the torsion force borne by the rotating shaft.

[0021] In the second aspect, the utility model further provides a grinding system, including the grinding robot and multiple workstations as described above, multiple workstations are movably arranged at the circumferential side of the base of the grinding robot.

[0022] As a preferred implementation form, the workstations are configured as three, the base of the grinding robot is taken as a central axis, three workstations are arrayed around the central axis, and the included angle between any two adjacent workstations is the same.

[0023] As a preferred implementation form, the included angle between any two adjacent workstations is 90°.

[0024] Compared with the prior art, the utility model has the beneficial effects that:

[0025] The utility model provides a kind of grinding robot and grinding system, the grinding robot includes base and installation on the base arm, clamping seat, cylinder, tool and connecting block, wherein, clamping seat is fixedly connected to the one end of arm far from base, cylinder is rotatably connected to clamping seat, tool is used to grind workpiece, one end of connecting block is fixedly connected to cylinder, and the other end is fixedly connected to tool, cylinder includes floating seat and cylinder barrel, one end of floating seat is directly or indirectly movably connected to cylinder barrel, and the other end is fixedly connected to connecting block, so set, tool can be followed connecting block and floating seat together relative cylinder barrel activity, reduce broken knife risk. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical scheme of the utility model embodiment, the drawings needed to be used in the embodiment description will be simply introduced below, and obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0027] Figure 1 It is the three-dimensional structure diagram of the grinding robot of the utility model embodiment;

[0028] Figure 2 It is the plane structure diagram of the grinding robot of the utility model embodiment;

[0029] Figure 3 It is the three-dimensional structure diagram of part of cylinder and tool and other components of the utility model embodiment;

[0030] Figure 4 It is the exploded three-dimensional structure diagram of cylinder and tool and other components of the utility model embodiment;

[0031] Figure 5 It is the three-dimensional structure diagram of the grinding system of the utility model embodiment.

[0032] Among them:

[0033] 1-base;2-hinge seat;3-secondary arm;4-electric control module;5-main arm;6-clamping seat;7-cylinder;71-cylinder barrel;72-guide seat;73-limit bolt;74-floating seat;8-connecting block;9-tool;91-tool seat;92-rotating shaft;93-clamping piece;94-tool bit;

[0034] 100-first workbench;200-second workbench;300-third workbench. DETAILED DESCRIPTION

[0035] In order to enable the above-mentioned purpose, features and advantages of the present application to be more clearly understood, the present application will be described in detail below with reference to the drawings and specific embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict. In the following description, a large number of specific details are set forth in order to facilitate a full understanding of the present application. The described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the specification of the present application herein is only for the purpose of describing specific embodiments and is not intended to limit the present application.

[0037] Please refer to Figures 1 to 4 The embodiment of the present application discloses a grinding robot, comprising a base 1 and a mechanical arm, a clamping seat 6, a cylinder 7, a cutter 9 and a connecting block 8 installed on the base 1, wherein the clamping seat 6 is fixedly connected to one end of the mechanical arm away from the base 1, the cylinder 7 is rotatably connected to the clamping seat 6, the cutter 9 is used for grinding workpieces, one end of the connecting block 8 is fixedly connected to the cylinder 7, and the other end is fixedly connected to the cutter 9. The cylinder 7 comprises a floating seat 74 and a cylinder barrel 71, one end of the floating seat 74 is directly or indirectly movably connected to the cylinder barrel 71, and the other end is fixedly connected to the connecting block 8.

[0038] Specifically, the mechanical arm in the embodiment is a five-axis mechanical arm, and it can be understood that a six-axis mechanical arm or other multi-axis mechanical arm can also be selected. The mechanical arm comprises a hinge seat 2, a secondary arm 3 and a main arm 5, wherein the hinge seat 2 is rotatably connected to the base 1 in the horizontal direction and rotatably connected to the secondary arm 3 in the vertical direction, and the secondary arm 3 is rotatably connected to the main arm 5. The mechanical arm further comprises an electric control module 4, which is used to drive the main arm 5 to move relative to the secondary arm 3. The clamping seat 6 is fixedly connected to one end of the main arm 5 away from the secondary arm 3, and the cylinder 7 is rotatably connected to the clamping seat 6. Figure 3 and Figure 4As shown, the tool 9 of the grinding robot comprises a tool holder 91, a rotating shaft 92 and a tool head 94, a motor is integrated in the tool holder 91, the output end of the motor is drivingly connected to the rotating shaft 92, the tool head 94 is directly or indirectly fixedly connected with the rotating shaft 92, the tool 9 further comprises a clamping piece 93, one end of the clamping piece 93 is detachably connected to the rotating shaft 92, and the other end is detachably connected to the tool head 94. In the deburring operation, the size information of the workpiece is input into the electric control module 4 in advance, the motor drives the rotating shaft 92 to rotate, the rotating shaft 92 drives the clamping piece 93 and the tool head 94 to rotate, when the tool head 94 abuts against the periphery of the workpiece, the motor stops working, the position of the tool head 94 is fixed, the electric control module 4 controls the main arm 5 and further controls the tool head 94 to move along the periphery of the workpiece, and the tool head 94 performs the grinding process of deburring on the workpiece in the process of moving along the track of the periphery of the workpiece.

[0039] However, due to the inevitable size error in production, the sizes of any two workpieces in the same batch cannot be completely consistent, preferably, the pneumatic cylinder 7 further comprises a guide seat 72 and a limiting bolt 73, one end of the guide seat 72 is slidingly connected to the cylinder barrel 71, and the other end is fixedly connected to the floating seat 74; the limiting bolt 73 is provided with a plurality of rings arranged on the circumferential side of the guide seat 72, and the guide seat 72 is at least partially abutted against the limiting bolt 73, if the size of a certain workpiece is greater than the preset size, when the tool head 94 is subjected to the axial force from the workpiece, the floating seat 74 is subjected to the force from the guide seat 72 and the machined workpiece respectively, the size of the two changes and the floating seat 74 is unevenly stressed on both sides, the tool 9 can follow the floating seat 74 to produce the floating effect in the axial direction relative to the limiting bolt 73; when the tool head 94 is subjected to the radial force applied by the workpiece, the tool head 94 drives the clamping piece 93 to generate a moment relative to the rotating shaft 92, drives the floating seat 74 and the guide seat 72 to be pressed to one side of the cylinder barrel 71, and the floating seat 74 can rotate relative to the limiting bolt 73 to produce the floating effect in the radial direction, thereby, the grinding robot can reduce the risk of tool breakage through the axial floating and the radial floating between the connecting block 8 and the pneumatic cylinder 7; more preferably, the grinding robot in the embodiment further comprises a force sensor arranged in the tool holder 91 and used for measuring the torsion force borne by the rotating shaft 92, when the tool head 94 abuts against the periphery of the workpiece, the force sensor receives the fluctuation of the force within a specified range, if the fluctuation exceeds the range, the motor controls the rotating shaft 92 to rotate, so that the tool head 94 re-abuts against the periphery of the workpiece and returns to the specified range, thereby ensuring sufficient grinding.

[0040] As shown in Figure 3 and Figure 4 In the embodiment, the tool holder 91 is configured in the shape of a cylinder, the maximum axial length of the clamping piece 93 is less than the minimum axial length of the tool holder 91, that is, the maximum length of the clamping piece 93 is less than the radius of the cylinder, thereby playing a role in protecting the tool head 94 in the axial direction and preventing the tool head 94 from being bumped.

[0041] It can be understood that in the embodiment, the motor can be kept in a long-time open state, at this time, the motor drives the clamping piece 93 and the tool head 94 to rotate, the tool head 94 has a shell cutting function, according to the different axial lengths of the selected clamping piece 93, the inside of the solid workpiece can be cut into shells with different inner diameters, and the tool head 94 not only has a deburring function, but also can grind the solid.

[0042] In a second aspect, referring to Figure 5 The utility model discloses an embodiment further provides a grinding system, including the grinding robot and multiple workstations as described above, multiple workstations are arranged in the periphery of the base 11 of grinding robot, the workbench is configured as three in the embodiment, and is defined as first workstation 100, second workstation 200 and third workstation 300 respectively, with the base 11 of grinding robot as the central axis, three workbenches array around the central axis, and the workbench is fixedly connected with the table body. Preferably, the included angle between any two adjacent workbenches is the same, specifically, the included angle between any two adjacent workbenches is 90 DEG. It can be understood that the number of workbenches can also be four, five or more, and the shapes and sizes of the workpieces processed on each workbench can be the same or different. In addition, the included angle between any two adjacent workbenches can be 30 DEG, 60 DEG, etc. Such transformation modes are all within the protection scope of the utility model

[0043] To sum up, the grinding robot and the grinding system have at least the following technical effects:

[0044] The utility model provides a kind of grinding robot and grinding system, the grinding robot includes base 1 and the mechanical arm, chuck 6, cylinder 7, tool 9 and connecting block 8 installed on the base 1, wherein, chuck 6 is fixedly connected at the end of mechanical arm away from base 1, cylinder 7 is rotatably connected to chuck 6, tool 9 is used to grind workpiece, one end of connecting block 8 is fixedly connected to cylinder 7, and the other end is fixedly connected to tool 9, cylinder 7 includes floating seat 74 and cylinder barrel 71, one end of floating seat 74 is directly or indirectly movably connected to cylinder barrel 71, and the other end is fixedly connected to connecting block 8, so setting, tool 9 can be moved with connecting block 8 and floating seat 74 relative to cylinder barrel 71, reduce the risk of broken tool.

[0045] The above is only the preferred embodiment of the utility model, and does not limit the utility model in any form, so any modification, equivalent change and modification made according to the technical essence of the utility model to the above embodiment, without departing from the technical solution of the utility model, still belongs to the scope of the technical solution of the utility model.

Claims

1. A grinding robot, characterized in that, It comprises: a base (1) and a mechanical arm mounted on the base (1); a clamping seat (6) fixedly connected to one end of the mechanical arm away from the base (1); a cylinder (7) rotatably connected to the clamping seat (6); a cutter (9) for grinding workpieces; a connecting block (8) one end of which is fixedly connected to the cylinder (7) and the other end of which is fixedly connected to the cutter (9); The cylinder (7) comprises a floating seat (74) and a cylinder barrel (71), one end of the floating seat (74) is movably connected to the cylinder barrel (71) directly or indirectly, and the other end is fixedly connected to the connecting block (8).

2. The grinding robot according to claim 1, characterized in that The cutter (9) comprises a cutter seat (91), a rotating shaft (92) and a cutter head (94), a motor is integrated in the cutter seat (91), the output end of the motor is drivingly connected to the rotating shaft (92), and the cutter head (94) is fixedly connected to the rotating shaft (92) directly or indirectly.

3. The grinding robot according to claim 2, characterized in that The cutter (9) further comprises a clamping piece (93), one end of the clamping piece (93) is detachably connected to the rotating shaft (92), and the other end is detachably connected to the cutter head (94).

4. The grinding robot according to claim 1, characterized in that, The cylinder (7) further comprises a guide seat (72) and a limiting bolt (73), one end of the guide seat (72) is slidingly connected to the cylinder barrel (71), and the other end is fixedly connected to the floating seat (74); The limiting bolt (73) is provided with a plurality of limiting bolts (73) arranged on the circumferential side of the guide seat (72), and the guide seat (72) at least partially abuts against the limiting bolt (73).

5. The grinding robot according to claim 3, characterized in that The maximum axial length of the clamping piece (93) is less than the minimum axial length of the cutter seat (91).

6. The grinding robot according to claim 1, characterized in that, The mechanical arm comprises an electric control module (4), a main arm (5) and a sub-arm (3) rotatably connected, and the electric control module (4) is used to drive the main arm (5) to move relative to the sub-arm (3).

7. The grinding robot according to claim 2, characterized in that, It further comprises a force sensor arranged in the cutter seat (91) and used to measure the torsional force borne by the rotating shaft (92).

8. A grinding system, characterized by, It comprises the grinding robot and a plurality of workbenches according to any one of claims 1-7, and the plurality of workbenches are movably arranged on the circumferential side of the base (1) of the grinding robot.

9. The grinding system of claim 8, wherein, The workbenches are configured as three, taking the base (1) of the grinding robot as a central axis, and the three workbenches are arrayed around the central axis, and the included angle between any two adjacent workbenches is the same.

10. The grinding system of claim 9, wherein, The included angle between any two adjacent workbenches is 90°.

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