Constant-force floating grinding robot

Abstract

The utility model relates to the technical field of polishing robots, and discloses a constant-force floating polishing robot which comprises a mechanical arm, a polishing mechanism used for adjusting the direction is arranged on the mechanical arm, and one end of the mechanical arm is fixedly connected with a fixing shell. The air cylinder retracts, the air cylinder pulls the pushing arm to move through the connecting base, the pushing arm drives the rotating arm to move together, the rotating arm drives the first rolling wheel to move in the first sliding groove, and the rotating arm also drives the second rolling wheel to move in the second sliding groove; when the air cylinder retracts, the rotating arm drives the second roller to rotate with the first roller as a circle point, when the air cylinder stops retracting, the second roller and the first roller move to the same plane, the rotating arm drives the second grinding block to rotate to be perpendicular, and therefore the second grinding block rotates to be perpendicular from parallel, and the side face of the part to be ground can be ground quickly. And the grinding block does not need to be replaced, so that the working efficiency of the constant-force floating grinding robot is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a polishing robot technical field, concretely is a constant force floating polishing robot. BACKGROUND

[0002] The polishing robot is an automatic equipment for replacing manual polishing work, and the technical principle of the polishing robot mainly includes two ways of robot end effector clamping a polishing tool and workpiece close contact with the polishing tool, the control system usually includes sensing and processing of polishing pressure, own posture, acceleration and other information, and unique gravity compensation algorithm to ensure that the polishing equipment and workpiece surface are in stable contact in any posture and ensure the constancy of polishing force, at present, the polishing robot has been widely applied to various industries, such as hardware furniture, medical equipment, automobile parts, small household appliances and the like.

[0003] The existing polishing robot needs to replace the polishing block when polishing the side surface of the workpiece after polishing the surface of the workpiece, so as to polish the side surface of the workpiece, so that the work efficiency of the polishing robot is reduced by replacing the polishing block back and forth every time. UTILITY MODEL CONTENTS

[0004] In order to achieve the above object, the utility model provides a constant force floating polishing robot.

[0005] The technical scheme of the utility model is realized as follows: a constant force floating polishing robot, including a mechanical arm, the mechanical arm is provided with a polishing mechanism for adjusting the direction, one end of the mechanical arm is fixedly connected with a fixed shell, a first motor is fixedly connected in the fixed shell, a first polishing block is fixedly connected at the bottom of the first motor, a cylinder is fixedly connected in the fixed shell, a connecting seat is fixedly connected on one side of the cylinder, the connecting seat is hinged with a pushing arm, the pushing arm is hinged with a rotating arm, a first roller and a second roller are rotatably connected at one end of the pushing arm, a fixed block is fixedly connected on one side of the rotating arm, a second motor is fixedly connected in the fixed block, a second polishing block is fixedly connected at the bottom of the second motor, a fixed plate is fixedly connected in the fixed shell, a first sliding groove is formed at one end of the fixed plate, and a second sliding groove is formed at the other end of the fixed plate.

[0006] Preferably, the initial state of the cylinder is the extended state.

[0007] Preferably, the pushing arm is 90 degrees as a whole.

[0008] Preferably, the center of the first roller coincides with the hinge point of the pushing arm and the rotating arm.

[0009] Preferably, the first sliding groove on the fixed plate is communicated with the second sliding groove on the fixed plate.

[0010] Preferably, the first roller is rotationally connected with the first sliding groove on the fixed plate, and the second roller is rotationally connected with the second sliding groove on the fixed plate.

[0011] Preferably, the bottom of the fixed shell is provided with a groove.

[0012] The utility model has the advantages of the following:

[0013] The constant force floating polishing robot is retracted through the cylinder, the cylinder pulls the pushing arm to move through the connecting seat, the pushing arm drives the rotating arm to move, the rotating arm drives the first roller to move in the first sliding groove on the fixed plate, at the same time, the rotating arm also drives the second roller to move in the second sliding groove on the fixed plate, and in the moving process of the rotating arm, the rotating arm drives the second roller to rotate with the first roller as the center, when the cylinder stops retracting, the second roller and the first roller move to the same plane, the rotating arm drives the second polishing block to rotate to be perpendicular, so that the second polishing block rotates from parallel to perpendicular, the side of the workpiece to be polished can be quickly polished without replacing the polishing block, so that the working efficiency of the constant force floating polishing robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is the whole structure schematic diagram of the utility model;

[0015] Figure 2 It is the cylinder related position schematic diagram of the utility model;

[0016] Figure 3 It is the rotating arm related position schematic diagram of the utility model;

[0017] Figure 4 It is the first sliding groove related position schematic diagram of the utility model.

[0018] In the drawing, various reference signs are as follows:

[0019] 1, mechanical arm; 2, polishing mechanism; 201, fixed shell; 202, first motor; 203, first polishing block; 204, cylinder; 205, connecting seat; 206, pushing arm; 207, rotating arm; 208, first roller; 209, second roller; 210, fixed block; 211, second motor; 212, second polishing block; 213, fixed plate; 214, first sliding groove; 215, second sliding groove; 3, groove. DETAILED DESCRIPTION

[0020] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described, obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0021] As shown in Figures 1-4 The constant force floating polishing robot provided by the embodiment comprises a mechanical arm 1, a polishing mechanism 2 for adjusting a direction is arranged on the mechanical arm 1, one end of the mechanical arm 1 is fixedly connected with a fixed shell 201, the fixed shell 201 is fixedly connected with a first motor 202 inside, the first motor 202 is fixedly connected with a first polishing block 203 at the bottom, the fixed shell 201 is fixedly connected with a pneumatic cylinder 204 inside, the pneumatic cylinder 204 is fixedly connected with a connecting seat 205 on one side, the connecting seat 205 is hinged with a pushing arm 206, the pushing arm 206 is hinged with a rotating arm 207, the pushing arm 206 is rotatably connected with a first roller 208 and a second roller 209 at one end, the rotating arm 207 is fixedly connected with a fixed block 210 on one side, the fixed block 210 is fixedly connected with a second motor 211 inside, the second motor 211 is fixedly connected with a second polishing block 212 at the bottom, the fixed shell 201 is fixedly connected with a fixed plate 213 inside, a first sliding groove 214 is formed at one end of the fixed plate 213, and a second sliding groove 215 is formed at the other end of the fixed plate 213.

[0022] Further, the initial state of the pneumatic cylinder 204 is an extended state.

[0023] By adopting the above technical scheme, the first polishing block 203 and the second polishing block 212 are ensured to be in the same plane by the extended state of the pneumatic cylinder 204.

[0024] Further, the pushing arm 206 is 90 degrees as a whole.

[0025] By adopting the above technical scheme, the pushing arm 206 is 90 degrees as a whole, so that the pushing arm 206 drives the second polishing block 212 to rotate from the parallel state to the vertical state.

[0026] Further, the center of the first roller 208 coincides with the hinge point of the pushing arm 206 and the rotating arm 207.

[0027] By adopting the above technical scheme, the pushing arm 206 drives the rotating arm 207 to move, so that the rotating arm 207 rotates around the first roller 208 during the movement.

[0028] Further, the first sliding groove 214 on the fixed plate 213 is communicated with the second sliding groove 215 on the fixed plate 213.

[0029] Further, the first roller 208 is rotationally connected with the first sliding groove 214 on the fixed plate 213, and the second roller 209 is rotationally connected with the second sliding groove 215 on the fixed plate 213.

[0030] By adopting the above technical scheme, the rotating arm 207 is rotated by moving the second roller 209 in the second sliding groove 215 on the fixed plate 213, and the rotating arm 207 is kept parallel or perpendicular to the fixed shell 201 by moving the first roller 208 in the first sliding groove 214 on the fixed plate 213.

[0031] Further, the fixed shell 201 is provided with a groove 3 at the bottom.

[0032] By adopting the above technical scheme, the rotating arm 207 and the second motor 211 can be moved out of the fixed shell 201 by providing the fixed shell 201 with the groove 3, without any obstruction.

[0033] Working principle: the fixed shell 201 is moved above the workpiece to be polished by the mechanical arm 1, then the first motor 202 and the second motor 211 are started, the first motor 202 and the second motor 211 drive the first polishing block 203 and the second polishing block 212 to rotate respectively, the first polishing block 203 and the second polishing block 212 can polish the surface of the workpiece to be polished, if the side of the workpiece to be polished is polished, the cylinder 204 is started, because the initial state of the cylinder 204 is the extended state, the cylinder 204 is retracted, the cylinder 204 pulls the pushing arm 206 to move through the connecting seat 205, the pushing arm 206 drives the rotating arm 207 to move, the rotating arm 207 drives the first roller 208 to move in the first sliding groove 214 on the fixed plate 213, at the same time, the rotating arm 207 also drives the second roller 209 to move in the second sliding groove 215 on the fixed plate 213, so that the rotating arm 207 drives the second motor 211 and the second polishing block 212 to rotate through the fixed block 210, and in the moving process of the rotating arm 207, because the first sliding groove 214 on the fixed plate 213 is a straight line and the second sliding groove 215 on the fixed plate 213 is an arc line plus a straight line, the rotating arm 207 drives the second roller 209 to rotate with the first roller 208 as the center, so that the second roller 209 moves from the arc line part to the straight line part in the second sliding groove 215 on the fixed plate 213, so that the second roller 209 and the first roller 208 are located in the same plane, so when the cylinder 204 stops retraction, the rotating arm 207 drives the second polishing block 212 to rotate to be perpendicular, so that the second polishing block 212 can polish the side of the workpiece to be polished.

[0034] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A constant force floating polishing robot comprising a robot arm (1), characterized in that: The mechanical arm (1) is provided with a polishing mechanism (2) for adjusting the direction, one end of the mechanical arm (1) is fixedly connected with a fixed shell (201), the inside of the fixed shell (201) is fixedly connected with a first motor (202), the bottom of the first motor (202) is fixedly connected with a first polishing block (203), the inside of the fixed shell (201) is fixedly connected with a pneumatic cylinder (204), one side of the pneumatic cylinder (204) is fixedly connected with a connecting seat (205), the connecting seat (205) is hinged with a pushing arm (206), the pushing arm (206) is hinged with a rotating arm (207), one end of the pushing arm (206) is rotatably connected with a first roller (208) and a second roller (209), one side of the rotating arm (207) is fixedly connected with a fixed block (210), the inside of the fixed block (210) is fixedly connected with a second motor (211), the bottom of the second motor (211) is fixedly connected with a second polishing block (212), the inside of the fixed shell (201) is fixedly connected with a fixed plate (213), one end of the fixed plate (213) is provided with a first sliding groove (214), the other end of the fixed plate (213) is provided with a second sliding groove (215).

2. A constant force floating polishing robot according to claim 1, wherein: The initial state of the pneumatic cylinder (204) is the extended state.

3. The constant force floating polishing robot of claim 1, wherein: The pushing arm (206) is 90 degrees as a whole.

4. The constant force floating polishing robot of claim 1, wherein: The center of the first roller (208) coincides with the hinge point of the pushing arm (206) and the rotating arm (207).

5. The constant force floating polishing robot of claim 1, wherein: The first sliding groove (214) on the fixed plate (213) is communicated with the second sliding groove (215) on the fixed plate (213).

6. The constant force floating polishing robot of claim 1, wherein: The first roller (208) is rotatably connected with the first sliding groove (214) on the fixed plate (213), and the second roller (209) is rotatably connected with the second sliding groove (215) on the fixed plate (213).

7. The constant force floating polishing robot of claim 1, wherein: The bottom of the fixed shell (201) is provided with a groove (3).

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