Robot applied to metal surface grinding

Abstract

The utility model relates to the related technical field of polishing robots, and provides a robot applied to metal surface polishing, which comprises a six-axis robot body and a shell, the shell is arranged at the output end of the six-axis robot body, a fixed seat is fixedly connected with the output end of the six-axis robot body, and a butt joint assembly is arranged between the shell and the fixed seat. The grinding motor is arranged in the shell, the force control assembly is arranged in the shell, the grinding disc is arranged at the output end of the grinding motor, the connecting assembly is arranged at the output ends of the grinding disc and the grinding motor, and the fixing shafts are fixed to the two opposite end faces in the shell. By means of the technical scheme, the problems that in the existing welding repair field in the related technology, in the prior art, grinding of large workpieces with the outer diameter being 2.5 m and the weight being 20 tons or above is basically manually or semi-manually operated, the efficiency is limited, an existing grinding robot does not have the force control function effect at the grinding position, and the grinding efficiency is affected are solved. And the abrasion force of some positions is too heavy or too light.

Description

Technical Field

[0001] This utility model relates to the technical field of polishing robots, specifically to a robot used for polishing metal surfaces. Background Technology

[0002] Workpiece grinding has always been a major obstacle to the development of high-precision industries. Traditionally, grinding of various workpieces has been done manually, using only angle grinders with carbide end mills, grinding heads, ordinary grinding wheels, abrasive belts, and polishing wheels to perform milling, grinding, and polishing processes, satisfying roughing, fine, and finishing needs. Traditional grinding tools are inefficient, prone to clogging, and unable to grind; they also result in poor product precision, difficulty in ensuring dimensional consistency, short product lifespan, poor wear resistance, harsh working conditions for production personnel, and high employee turnover.

[0003] Meanwhile, with the rapid rise in labor costs and the loss of my country's demographic dividend, labor-intensive manufacturing models that rely on cheap labor as their main competitive advantage have been severely impacted, forcing the acceleration of the industrial robot industry and promoting the transformation and upgrading of the manufacturing sector. In the current field of welding repair, the grinding of large workpieces with an outer diameter of up to 2.5 meters and a weight of over 20 tons is primarily done manually or semi-manually, which is a bottleneck limiting efficiency. Furthermore, current grinding robots lack force control capabilities at the grinding point, resulting in excessive or insufficient wear in some areas.

[0004] Therefore, improvements have been made to address the aforementioned issues. Utility Model Content

[0005] This invention proposes a robot for grinding metal surfaces, which solves the problem that in the existing welding repair field, the grinding of large workpieces with an outer diameter of up to 2.5 meters and a weight of up to 20 tons is basically done manually or semi-manually, which is also a bottleneck that limits efficiency. Moreover, current grinding robots do not have force control function at the grinding point, resulting in the problem that the grinding force is too heavy or too light in some places.

[0006] The technical solution of this utility model is as follows: including...

[0007] A six-axis robot body and a housing, wherein the housing is disposed at the output end of the six-axis robot body;

[0008] A fixed base and a docking assembly are provided, wherein the fixed base is fixedly connected to the output end of the six-axis robot body, and the docking assembly is disposed between the outer shell and the fixed base;

[0009] A grinding motor and a force control component, wherein the grinding motor is disposed within the housing and the force control component is disposed inside the housing;

[0010] A grinding disc and a connecting assembly, wherein the grinding disc is disposed at the output end of the grinding motor, and the connecting assembly is disposed between the grinding disc and the output end of the grinding motor;

[0011] The force control assembly includes a pair of fixed shafts, which are fixed to opposite end faces inside the housing. A movable seat is slidably connected to the fixed shaft, and the grinding motor is fixed to the movable seat. Springs are fitted at both ends of the fixed shaft.

[0012] As a further technical solution, a pair of telescopic hydraulic cylinders are provided on the surface of the fixed base. The telescopic hydraulic cylinders are inserted and connected to a connecting frame. A pair of hydraulic rods are provided at the front end of the connecting frame. The output end of the hydraulic rods is connected to the movable base.

[0013] As a further technical solution, a load-bearing block is provided on the side end face of the grinding motor, a fixed frame is provided on the connecting frame, a pressure sensor is installed in the fixed frame, and the output end of the pressure sensor is attached to the surface of the load-bearing block.

[0014] As a further technical solution, the connecting assembly includes a shaft seat, which is fixed to the output end of the grinding motor. A transmission groove is formed on the surface of the shaft seat, and the grinding disc is inserted into the transmission groove.

[0015] As a further technical solution, a pair of slots are provided on the surface of the bearing seat, a pair of positioning rods are provided on the surface of the grinding disc, the positioning rods are inserted into the slots, a limit groove is provided on the surface of the positioning rods, and a transmission cavity is provided inside the bearing seat.

[0016] As a further technical solution, rectangular grooves are provided on both sides of the bearing seat, the rectangular grooves are connected to the slot, and a drive screw is rotatably connected in the transmission cavity, with both ends of the drive screw located in the rectangular groove.

[0017] As a further technical solution, both ends of the drive screw are connected to limit rods through threaded engagement. One end of the limit rod is inserted into the limit groove. A drive rod is rotatably connected in the transmission cavity. Both the upper end of the drive rod and the drive screw are provided with transmission gears.

[0018] As a further technical solution, the docking assembly includes several splicing slots, which are formed on the outer surface of the housing. Several splicing rods are provided on the surface of the fixing base, and the splicing rods are inserted into the splicing slots. The splicing rods and the splicing slots are fixedly connected by bolts.

[0019] As a further technical solution, the transmission gear is a bevel gear with 90° transmission, and the threads at both ends of the drive screw have opposite directions.

[0020] As a further technical solution, a screwing block is provided at the lower end of the drive rod, and the surface of the screwing block is a concave hexagonal structure.

[0021] The working principle and beneficial effects of this utility model are as follows:

[0022] 1. This utility model is equipped with a force control component. Through the interaction of structures such as a fixed shaft, a moving seat, a spring, a hydraulic rod, a pressure sensor, and a telescopic hydraulic cylinder, the pressure generated during the grinding process can be detected in real time by the pressure sensor and adjusted according to the current grinding pressure to avoid excessive or insufficient pressure in some areas.

[0023] 2. This utility model is equipped with a connecting component. Through the interaction of structures such as the bearing seat, positioning rod, transmission cavity, drive screw and drive rod, the grinding disc can be firmly connected to the bearing seat through multi-point connection, and there will be no loosening during the grinding process. Moreover, the loading and unloading method is simple and convenient. Attached Figure Description

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is an isometric drawing of the present invention;

[0027] Figure 3 This is an isometric sectional view of the present invention;

[0028] Figure 4 This is an isometric sectional view of the present invention from another perspective;

[0029] Figure 5 Appendix to this utility model Figure 3 Enlarged view of part A in the middle;

[0030] Figure 6 Appendix to this utility model Figure 4 Enlarged view of part B in the middle section;

[0031] In the diagram: 1. Six-axis robot body; 2. Shell; 3. Fixed base; 4. Grinding motor; 5. Grinding disc; 6. Force control assembly; 6-1. Fixed axis; 6-2. Moving base; 6-3. Spring; 6-4. Telescopic hydraulic cylinder; 6-5. Connecting frame; 6-6. Hydraulic rod; 6-7. Load-bearing block; 6-8. Fixed frame; 6-9. Pressure sensor; 7. Connecting assembly; 7-1. Shaft seat; 7-2. Transmission groove; 7-3. Slot; 7-4. Positioning rod; 7-5. Limiting groove; 7-6. Transmission cavity; 7-7. Rectangular groove; 7-8. Drive screw; 7-9. Limiting rod; 7-10. Drive rod; 7-11. Transmission gear; 8. Docking assembly; 8-1. Splicing groove; 8-2. Splicing rod; 9. Twisting block. Detailed Implementation

[0032] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this utility model.

[0033] like Figures 1-6 As shown, this embodiment proposes a robot for metal surface polishing, including...

[0034] A six-axis robot body 1 and a shell 2, with the shell 2 located at the output end of the six-axis robot body 1;

[0035] The fixed base 3 and the docking component 8 are fixedly connected to the output end of the six-axis robot body 1, and the docking component 8 is set between the outer shell 2 and the fixed base 3.

[0036] Grinding motor 4 and force control component 6, the grinding motor 4 is installed inside the housing 2, and the force control component 6 is installed inside the housing 2;

[0037] Grinding disc 5 and connecting component 7, the grinding disc 5 is located at the output end of the grinding motor 4, and the connecting component 7 is located at the output end of the grinding disc 5 and the grinding motor 4;

[0038] The force control component 6 includes a pair of fixed shafts 6-1, which are fixed to opposite end faces inside the housing 2. A movable seat 6-2 is slidably connected to the fixed shafts 6-1. The grinding motor 4 is fixed to the movable seat 6-2. Springs 6-3 are fitted at both ends of the fixed shafts 6-1. A pair of telescopic hydraulic cylinders 6-4 are provided on the surface of the fixed seat 3. A connecting frame 6-5 is inserted into the telescopic hydraulic cylinders 6-4. A pair of hydraulic rods 6-6 are provided at the front end of the connecting frame 6-5. The output end of the hydraulic rods 6-6 is connected to the movable seat 6-2. A load-bearing block 6-7 is provided on the side end face of the grinding motor 4. A fixed frame 6-8 is provided on the connecting frame 6-5. A pressure sensor 6-9 is installed inside the fixed frame 6-8. The output end of the pressure sensor 6-9 is attached to the surface of the load-bearing block 6-7.

[0039] In this embodiment, to achieve a grinding effect with controllable force, a force control component 6 is designed. Two fixed shafts 6-1 are provided in the outer casing 2, and a movable seat 6-2 is slidably mounted on its surface. The grinding motor 4 is fixed to the movable seat 6-2. Two springs 6-3 are mounted on the fixed shafts 6-1, allowing the movable seat 6-2 to move back and forth a certain distance on the fixed shafts 6-1 via the springs 6-3. Two hydraulic rods 6-6 are provided on the surface of the movable seat 6-2 and connected to a connecting frame 6-5. Two telescopic hydraulic cylinders 6-4 are provided on the fixed seat 3, and the output ends of the telescopic hydraulic cylinders 6-4 are inserted into the surface of the connecting frame 6-5. Inside, the movable seat 6-2 can be moved by the output end of the telescopic hydraulic cylinder 6-4. When the grinding motor 4 contacts the workpiece surface, it will generate pressure. The pressure is buffered by the spring 6-3 and the hydraulic rod 6-6. When the pressure is low after retraction, the telescopic hydraulic cylinder 6-4 can be activated to increase the thrust and strengthen the pressure. A fixed frame 6-8 is set on the connecting frame 6-5 and a pressure sensor 6-9 is installed. A load-bearing block 6-7 is set on the surface of the grinding motor 4. When the movable seat 6-2 moves, the pressure sensor 6-9 can be used in conjunction with the load-bearing block 6-7 to monitor the current pressure, so that the telescopic hydraulic cylinder 6-4 can be activated in time to adjust the pressure.

[0040] Furthermore, the connecting assembly 7 includes a bearing 7-1, which is fixed to the output end of the grinding motor 4. A transmission groove 7-2 is formed on the surface of the bearing 7-1, and the grinding disc 5 is inserted into the transmission groove 7-2. A pair of slots 7-3 are formed on the surface of the bearing 7-1, and a pair of positioning rods 7-4 are provided on the surface of the grinding disc 5. The positioning rods 7-4 are inserted into the slots 7-3, and limit grooves 7-5 are formed on the surface of the positioning rods 7-4. A transmission cavity 7-6 is formed inside the bearing 7-1. Both sides of the bearing 7-1 are... A rectangular slot 7-7 is provided, which is connected to the slot 7-3. A drive screw 7-8 is rotatably connected in the transmission cavity 7-6. Both ends of the drive screw 7-8 are located in the rectangular slot 7-7. Both ends of the drive screw 7-8 are connected to a limit rod 7-9 by threaded engagement. One end of the limit rod 7-9 is inserted into the limit slot 7-5. A drive rod 7-10 is rotatably connected in the transmission cavity 7-6. Both the upper end of the drive rod 7-10 and the drive screw 7-8 are provided with a transmission gear 7-11.

[0041] In this embodiment, to achieve a detachable connection for the grinding disc 5, a connecting component 7 is designed. A bearing seat 7-1 is provided at the output end of the grinding motor 4. A polygonal transmission groove 7-2 is formed on the surface of the bearing seat 7-1. The grinding disc 5 is inserted into the bearing seat 7-1. Two slots 7-3 are formed on the outer surface of the grinding disc 5. A positioning rod 7-4 is provided on the surface of the grinding disc 5 and is inserted into the slot 7-3, which can strengthen the limiting function. A transmission cavity 7-6 is formed inside the bearing seat 7-1, and two rectangular slots 7-7 are formed inside. The transmission cavity 7-6 is equipped with a drive screw 7-8 and a drive rod 7-10. Both the drive screw 7-8 and the drive rod 7-10 are equipped with transmission gears 7-11. The drive rod 7-10 can be turned to control the rotation of the drive screw 7-8. The two ends of the drive screw 7-8 are connected to limit rods 7-9. The surface of the positioning rod 7-4 is provided with a limit groove 7-5. The limit rod 7-9 can be moved by the drive screw 7-8 and inserted into the limit groove 7-5 to further strengthen the fastening effect between the bearing seat 7-1 and the grinding disc 5.

[0042] Furthermore, the docking assembly 8 includes several splicing slots 8-1, which are formed on the outer surface of the housing 2. Several splicing rods 8-2 are provided on the surface of the fixing base 3. The splicing rods 8-2 are inserted into the splicing slots 8-1, and the splicing rods 8-2 and the splicing slots 8-1 are fixedly connected by bolts.

[0043] In this embodiment, in order to achieve the effect of detachable housing 2, a docking component 8 is designed. Multiple splicing slots 8-1 are opened on the surface of housing 2. The surface of the fixing base 3 is provided with splicing rods 8-2 that can be inserted into the splicing slots 8-1 and fixedly connected by bolts, which facilitates loading and unloading and ensures a firm connection.

[0044] Furthermore, the transmission gear 7-11 is a bevel gear with 90° transmission, and the threads at both ends of the drive screw 7-8 are in opposite directions.

[0045] In this embodiment, the bevel gear facilitates the control of the drive rod 7-10 to rotate the drive screw 7-8 with two threaded sections. The drive screw 7-8 with two threaded sections allows the drive rod 7-10 to move outward simultaneously.

[0046] Furthermore, a screwing block 9 is provided at the lower end of the drive rod 7-10, and the surface of the screwing block 9 is a concave hexagonal structure.

[0047] In this embodiment, the screwing block 9 with a hexagonal concave structure facilitates the insertion of a wrench to turn the drive rod 7-10.

[0048] When grinding is required, first connect the outer shell 2 to the splicing rod 8-2 through the splicing groove 8-1 and tighten the bolts. During connection, insert the output end of the telescopic hydraulic cylinder 6-4 into the connecting frame 6-5. Then, insert the grinding disc 5 into the transmission groove 7-2 of the shaft seat 7-1. Use a hex wrench to insert into the tightening block 9 and turn the drive rod 7-10 to control the drive screw 7-8 to rotate, so that the two limit rods 7-9 are inserted into the limit grooves 7-5 of the positioning rod 7-4. After fixing, start the six-axis robot body 1 to control the grinding disc 5 to adjust the angle, and start the grinding motor 4 to make the grinding disc 5 rotate at high speed. When the grinding disc 5 contacts the workpiece surface, it will generate pressure. The moving seat 6-2 will retract through the spring 6-3 and the hydraulic rod 6-6. When retracting, the pressure sensor 6-9 detects the pressure and adjusts according to the current pressure. When a larger pressure is required, start the telescopic hydraulic cylinder 6-4 to push the grinding motor 4.

[0049] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A robot for grinding metal surfaces, characterized in that, include A six-axis robot body (1) and a shell (2), wherein the shell (2) is disposed at the output end of the six-axis robot body (1); The fixed base (3) and the docking assembly (8) are fixedly connected to the output end of the six-axis robot body (1), and the docking assembly (8) is disposed between the outer shell (2) and the fixed base (3). A grinding motor (4) and a force control component (6) are provided, wherein the grinding motor (4) is disposed inside the housing (2) and the force control component (6) is disposed inside the housing (2); Grinding disc (5) and connecting component (7), wherein the grinding disc (5) is disposed at the output end of the grinding motor (4), and the connecting component (7) is disposed at the grinding disc (5) and the output end of the grinding motor (4); The force control component (6) includes a pair of fixed shafts (6-1), which are fixed to opposite end faces inside the housing (2). A movable seat (6-2) is slidably connected to the fixed shaft (6-1), and the grinding motor (4) is fixed on the movable seat (6-2). Springs (6-3) are fitted at both ends of the fixed shaft (6-1).

2. The robot for metal surface polishing according to claim 1, characterized in that, The fixed base (3) is provided with a pair of telescopic hydraulic cylinders (6-4). The telescopic hydraulic cylinders (6-4) are connected to a connecting frame (6-5). The front end of the connecting frame (6-5) is provided with a pair of hydraulic rods (6-6). The output end of the hydraulic rods (6-6) is connected to the movable base (6-2).

3. The robot for metal surface polishing according to claim 2, characterized in that, A load-bearing block (6-7) is provided on the side end face of the grinding motor (4), and a fixing frame (6-8) is provided on the connecting frame (6-5). A pressure sensor (6-9) is installed inside the fixing frame (6-8), and the output end of the pressure sensor (6-9) is attached to the surface of the load-bearing block (6-7).

4. The robot for grinding metal surfaces according to claim 1, characterized in that, The connecting assembly (7) includes a bearing seat (7-1), which is fixed to the output end of the grinding motor (4). A transmission groove (7-2) is provided on the surface of the bearing seat (7-1), and the grinding disc (5) is inserted into the transmission groove (7-2).

5. A robot for grinding metal surfaces according to claim 4, characterized in that, The bearing seat (7-1) has a pair of slots (7-3) on its surface, and the grinding disc (5) has a pair of positioning rods (7-4) on its surface. The positioning rods (7-4) are inserted into the slots (7-3), and the positioning rods (7-4) have a limit groove (7-5) on their surface. The bearing seat (7-1) has a transmission cavity (7-6) inside its surface.

6. A robot for grinding metal surfaces according to claim 5, characterized in that, The bearing seat (7-1) has rectangular grooves (7-7) on both sides, which are connected to the slot (7-3). A drive screw (7-8) is rotatably connected in the transmission cavity (7-6), with both ends of the drive screw (7-8) located in the rectangular groove (7-7).

7. A robot for grinding metal surfaces according to claim 6, characterized in that, Both ends of the drive screw (7-8) are connected to limit rods (7-9) by threaded engagement. One end of the limit rod (7-9) is inserted into the limit groove (7-5). A drive rod (7-10) is rotatably connected in the transmission cavity (7-6). Both the upper end of the drive rod (7-10) and the drive screw (7-8) are provided with transmission gears (7-11).

8. The robot for metal surface polishing according to claim 1, characterized in that, The docking assembly (8) includes several splicing slots (8-1), which are formed on the outer surface of the outer shell (2). Several splicing rods (8-2) are provided on the surface of the fixing base (3). The splicing rods (8-2) are inserted into the splicing slots (8-1), and the splicing rods (8-2) and the splicing slots (8-1) are fixedly connected by bolts.

9. A robot for grinding metal surfaces according to claim 7, characterized in that, The transmission gear (7-11) is a bevel gear with 90° transmission, and the threads at both ends of the drive screw (7-8) are opposite.

10. A robot for grinding metal surfaces according to claim 7, characterized in that, The lower end of the drive rod (7-10) is provided with a screw block (9), and the surface of the screw block (9) is a concave hexagonal structure.

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