Robot polishing device

Abstract

The utility model discloses a robot polishing device which specifically comprises a clamping assembly, a rotating assembly and a polishing assembly, the clamping assembly is used for positioning and clamping a superconducting cavity workpiece, and the rotating assembly is used for driving the clamping assembly to rotate. The robot drives the first grinding shaft, the second grinding shaft and the third grinding shaft to move, and the first grinding motor, the second grinding motor and the third grinding motor provide grinding power, so that the first grinding shaft, the second grinding shaft and the third grinding shaft can grind the superconducting cavity workpiece, and burrs on the superconducting cavity workpiece are removed. As the rotating assembly plays a rotating role, the superconducting cavity workpiece can rotate flexibly, and the requirement for different grinding positions of the superconducting cavity workpiece is met. Therefore, the robot polishing device solves the technical problems that in the prior art, the burr removing efficiency of the superconducting cavity workpiece is low, and the controllable degree is not high.

Description

TECHNICAL FIELD

[0001] The utility model relates to superconducting cavity workpiece polishing field especially, relates to a robot polishing device. BACKGROUND

[0002] The superconducting accelerator is the preferred component in the current accelerator field research and application. The superconducting cavity is the core component in the superconducting accelerator, which is located in the superconducting accelerator cryostat and used for accelerating the charged particle beam.

[0003] In the prior art, burrs cannot be avoided in the processing of the superconducting cavity workpiece due to the particularity of niobium material, and need to be polished, otherwise the performance of the high-frequency working surface of the superconducting cavity will be affected. However, the burr removal of the conventional superconducting cavity workpiece is mostly performed by manual polishing, and the burr removal efficiency is low and the controllability is not high by using the manual polishing method. UTILITY MODEL CONTENT

[0004] The utility model discloses a robot polishing device, solve the burr removal efficiency of superconducting cavity workpiece in prior art and the technical problem that controllable degree is not high.

[0005] To achieve this purpose, the utility model adopts the following technical scheme:

[0006] A robot polishing device, comprising: a clamping assembly, a rotating assembly and a polishing assembly, the clamping assembly is used for positioning and clamping the superconducting cavity workpiece, the clamping assembly is connected with the rotating assembly, and the rotating assembly is used to drive the clamping assembly to rotate;

[0007] Wherein, the polishing assembly is located at one side of the rotating assembly, the polishing assembly includes a robot, one end of the robot is provided with a polishing base plate, the polishing base plate is arranged in Y shape, and a first polishing motor, a second polishing motor and a third polishing motor are sequentially installed on the polishing base plate.

[0008] A first polishing shaft is installed on the first polishing motor, a second polishing shaft is installed on the second polishing motor, and a third polishing shaft is installed on the third polishing motor, and the first polishing shaft, the second polishing shaft and the third polishing shaft are used to polish the superconducting cavity workpiece to remove the burrs on the superconducting cavity workpiece.

[0009] Optionally, the clamping assembly includes a clamping base plate, a first clamping seat and a fixed table are fixedly installed on the clamping base plate, a second clamping seat is arranged between the first clamping seat and the fixed table, and the second clamping seat is lapped on the clamping base plate.

[0010] Wherein, a clamping screw is threadedly connected to the fixed table, and one end of the clamping screw is rotatably connected with the second clamping seat.

[0011] Optionally, the second clamping seat is sequentially provided with a first slot, a second slot and a third slot which are mutually through, the second slot and the third slot are circular slots; the first slot is a long slot, and the inner diameter of the third slot is greater than that of the second slot;

[0012] One end of the clamping screw rod located in the third slot is provided with a protrusion, and the outer wall of the protrusion is arc-shaped.

[0013] Optionally, the first clamping seat is provided with a first clamping surface which is L-shaped, and the second clamping seat is provided with a second clamping surface corresponding to the first clamping surface.

[0014] The first clamping seat is provided with a plurality of first grooves which are through the first clamping surface, and the second clamping seat is provided with a plurality of second grooves which are through the second clamping surface.

[0015] Optionally, the clamping base plate is provided with a first avoiding hole, and the rotating assembly is provided with a second avoiding hole corresponding to the first avoiding hole.

[0016] Optionally, the rotating assembly comprises two rotating bases which are oppositely arranged, the rotating bases are rotationally connected with rotating rods, the rotating rods are fixedly installed with rotating frames, and the clamping assembly is installed on the rotating frames.

[0017] One of the rotating bases is installed with a rotating motor for driving the rotating rod to rotate.

[0018] Optionally, the rotating rod is fixedly installed with a rotating cam, and the rotating base is installed with a limit switch corresponding to the rotating cam.

[0019] Optionally, the rotating base is fixedly installed with a machine cover, and the machine cover is used for covering the rotating motor, the rotating cam and the limit switch.

[0020] Compared with the prior art, the utility model has the following beneficial effects:

[0021] The utility model provides a kind of robot polishing device, specifically includes: clamping assembly, rotating assembly and polishing assembly, clamping assembly is positioned and clamped to superconducting cavity workpiece, rotating assembly is used to drive clamping assembly to rotate movement. First polishing shaft, second polishing shaft and third polishing shaft are moved by robot drive, and first polishing motor, second polishing motor and third polishing motor provide polishing power, so that first polishing shaft, second polishing shaft and third polishing shaft can be polished to superconducting cavity workpiece, remove burr on superconducting cavity workpiece. Since rotating assembly plays a rotating role, superconducting cavity workpiece can be flexibly rotated, and the needs of different polishing positions of superconducting cavity workpiece are adapted. Therefore, the utility model provides a kind of robot polishing device, solves the technical problem of low burr removal efficiency and low controllability of superconducting cavity workpiece in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can obtain other drawings according to these drawings without creating labor intensity.

[0023] The structure, proportion, size and the like shown in the drawings of the present specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not used to limit the implementation conditions of the utility model, so they do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effect and purpose of the utility model, should still fall within the scope of the technical content disclosed by the utility model.

[0024] Figure 1 A perspective structural schematic diagram of a robot polishing device disclosed by the embodiments of the utility model is shown in the drawings.

[0025] Figure 2 A connection structure schematic diagram of clamping assembly and rotating assembly in a robot polishing device disclosed by the embodiments of the utility model is shown in the drawings.

[0026] Figure 3 A partial structure schematic diagram of polishing assembly in a robot polishing device disclosed by the embodiments of the utility model is shown in the drawings.

[0027] Figure 4 A perspective structural schematic diagram of clamping assembly in a robot polishing device disclosed by the embodiments of the utility model is shown in the drawings.

[0028] Figure 5The utility model discloses an explosion structure schematic diagram of clamping subassembly in a robot polishing device.

[0029] Figure 6 For Figure 5 The enlarged structure schematic diagram of A of

[0030] Figure 7 The utility model discloses a half cut structure schematic diagram of second clamping seat in a robot polishing device.

[0031] Figure 8 The utility model discloses a partial structure schematic diagram of another robot polishing device.

[0032] Illustration:

[0033] 10, clamping subassembly, 11, clamping base plate, 111, first avoiding hole, 12, first clamping seat, 121, first clamping surface, 122, first recess, 13, fixed platform, 14, second clamping seat, 141, first slot, 142, second slot, 143, third slot, 144, second clamping surface, 145, second recess, 15, clamping screw rod, 151, protruding, 20, rotating assembly, 21, rotating base, 22, rotating rod, 23, rotating frame, 231, second avoiding hole, 24, rotating motor, 25, rotating cam, 26, limit switch, 27, machine cover, 30, polishing assembly, 31, robot, 32, polishing base plate, 33, first polishing motor, 34, second polishing motor, 35, third polishing motor, 36, first polishing shaft, 37, second polishing shaft, 38, third polishing shaft. Specific implementation

[0034] In order to make the utility model's utility model purpose, feature, advantage can be more obvious and easy to understand, below will combine the utility model embodiment's drawing, to the technical scheme in the utility model embodiment of the present utility model is clearly, completely described, obviously, the following described embodiment only the utility model part embodiment, not all the embodiment. Based on the embodiment in the utility model, all other embodiments that the ordinary skill in the art obtains without making creative labor are within the scope of the utility model protection.

[0035] In the description of the utility model, it is understood that the terms "upper", "lower", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there can be a component disposed therebetween.

[0036] The technical solutions of the utility model are further illustrated below in combination with the drawings and through specific embodiments.

[0037] The utility model embodiment provides a kind of robot polishing device, as shown in Figures 1-8 The utility model provides a kind of robot polishing device, as shown in

[0038] Wherein, polishing assembly 30 is located in the side of rotating assembly 20, and polishing assembly 30 includes robot 31, one end of robot 31 is provided with polishing base plate 32, and polishing base plate 32 is arranged in Y shape, and first polishing motor 33, second polishing motor 34 and third polishing motor 35 are sequentially installed on polishing base plate 32.

[0039] First polishing shaft 36 is installed on first polishing motor 33, second polishing shaft 37 is installed on second polishing motor 34, and third polishing shaft 38 is installed on third polishing motor 35;First polishing shaft 36, second polishing shaft 37 and third polishing shaft 38 are used to polish superconducting cavity workpiece to remove burr on superconducting cavity workpiece.In the embodiment, first polishing shaft 36, second polishing shaft 37 and third polishing shaft 38 can be the same size, when one of the polishing shafts is damaged, only by rotating polishing base plate 32 through robot 31, another polishing shaft can be replaced, without stopping to replace, save processing time, and improve polishing efficiency;The size of first polishing shaft 36, second polishing shaft 37 and third polishing shaft 38 can also be different, to improve the adaptability of polishing assembly 30.Robot 31 in the embodiment is robot 31 with five degrees of freedom movement, through the setting of robot 31, first polishing shaft 36, second polishing shaft 37 and third polishing shaft 38 can be driven to move position, to facilitate subsequent polishing operation.

[0040] It needs to be explained that the robot polishing device provided by the utility model, specifically includes: clamping assembly 10, rotating assembly 20 and polishing assembly 30, clamping assembly 10 is used for positioning and clamping superconducting cavity workpieces, rotating assembly 20 is used for driving clamping assembly 10 to rotate. Through the robot 31 driving the first polishing shaft 36, the second polishing shaft 37 and the third polishing shaft 38 to move, the first polishing motor 33, the second polishing motor 34 and the third polishing motor 35 provide polishing power, so that the first polishing shaft 36, the second polishing shaft 37 and the third polishing shaft 38 can polish the superconducting cavity workpiece and remove the burrs on the superconducting cavity workpiece. Since the rotating assembly 20 plays a rotating role, the superconducting cavity workpiece can rotate flexibly and adapt to the needs of different polishing positions of the superconducting cavity workpiece. Therefore, the robot polishing device provided by the utility model solves the technical problems of low burr removal efficiency and low controllability of the superconducting cavity workpiece in the prior art.

[0041] As Figures 1-7 The clamping assembly 10 includes a clamping base plate 11, a first clamping seat 12 and a fixed table 13 are fixedly installed on the clamping base plate 11, a second clamping seat 14 is arranged between the first clamping seat 12 and the fixed table 13, and the second clamping seat 14 is lapped on the clamping base plate 11; in this embodiment, the first clamping seat 12 and the clamping base plate 11 can be welded and fixed, or can be integrally formed; the fixed table 13 and the clamping base plate 11 can be welded and fixed, or can be integrally formed; through the clamping action of the first clamping seat 12 and the second clamping seat 14, the superconducting cavity workpiece can be effectively positioned and clamped.

[0042] The fixed table 13 is threadedly connected with a clamping screw 15, and one end of the clamping screw 15 is rotatably connected with the second clamping seat 14. It needs to be explained that through the rotating movement of the clamping screw 15, since one end of the clamping screw 15 is rotatably connected with the second clamping seat 14, the clamping screw 15 drives the second clamping seat 14 to move close to the first clamping seat 12, and the superconducting cavity workpiece is effectively positioned and clamped.

[0043] As Figures 5-7 The second clamping seat 14 is sequentially provided with a first groove 141, a second groove 142 and a third groove 143 which are mutually penetrated, and the second groove 142 and the third groove 143 are circular grooves; the first groove 141 is a long slot, and the inner diameter of the third groove 143 is greater than that of the second groove 142;

[0044] The clamping screw 15 is provided with a protrusion 151 at one end located in the third groove 143, and the outer wall of the protrusion 151 is arc-shaped. It should be noted that the protrusion 151 is an integral structure with the clamping screw 15; after the protrusion 151 enters the third groove 143 along the first groove 141, the one end of the clamping screw 15 is limitedly installed in the third groove 143, and the second clamping seat 14 is not easy to separate during the rotating movement of the clamping screw 15; the rotating movement of the clamping screw 15 drives the second clamping seat 14 to move close to the first clamping seat 12, thereby effectively positioning and clamping the superconducting cavity workpiece.

[0045] As shown in Figures 5-7 , the first clamping seat 12 is provided with a first clamping surface 121 arranged in an L shape, and the second clamping seat 14 is provided with a second clamping surface 144 corresponding to the first clamping surface 121; in this embodiment, the first clamping surface 121 and the second clamping surface 144 are arranged to effectively position and clamp the superconducting cavity workpiece.

[0046] The first clamping seat 12 is provided with a plurality of first grooves 122 penetrating the first clamping surface 121, and the second clamping seat 14 is provided with a plurality of second grooves 145 penetrating the second clamping surface 144. In this embodiment, the first grooves 122 and the second grooves 145 are arranged to increase the friction between the superconducting cavity workpiece and the first clamping surface 121 and the second clamping surface 144, respectively.

[0047] As shown in Figure 8 , the clamping base plate 11 is provided with a first avoiding hole 111, and the rotating assembly 20 is provided with a second avoiding hole 231 corresponding to the first avoiding hole 111. In this embodiment, the second avoiding hole 231 is arranged on the rotating frame 23, and the first avoiding hole 111 and the second avoiding hole 231 are both circular holes, which can avoid the polishing of the first polishing shaft 36, the second polishing shaft 37 and the third polishing shaft 38, and prevent the first polishing shaft 36, the second polishing shaft 37 and the third polishing shaft 38 from colliding with the polishing base plate 32 or the rotating frame 23, respectively.

[0048] As shown in Figures 1-8 , the rotating assembly 20 includes two rotating bases 21 arranged oppositely, the rotating base 21 is rotatably connected with a rotating rod 22, the rotating rod 22 is fixedly installed with a rotating frame 23, and the clamping assembly 10 is installed on the rotating frame 23; in this embodiment, the rotating frame 23 is fixedly connected with the clamping base plate 11.

[0049] One of the rotating base 21 is mounted for driving the rotating rod 22 rotating movement of the rotating motor 24. In this embodiment, the rotating motor 24 drives the rotating rod 22 rotating movement, rotating the rotating frame 23, since the rotating frame 23 and clamping base plate 11 fixedly connected, and then drive the superconducting cavity workpiece rotating movement, facilitate polishing components 30 on the burr to remove the superconducting cavity workpiece polishing.

[0050] As shown in Figure 2 The rotating rod 22 is fixedly installed with rotating cam 25, rotating base 21 is installed with limit switch 26 of rotating cam 25. It should be noted that the use of rotating cam 25 and limit switch 26 can control the working state of the rotating motor 24, so that the superconducting cavity workpiece moves to the appropriate position for polishing.

[0051] As shown in Figure 2 The rotating base 21 is fixedly installed with machine cover 27, machine cover 27 is used for covering rotating motor 24, rotating cam 25 and limit switch 26. It should be noted that the machine cover 27 and the rotating base 21 are fastened by screws; through the setting of the machine cover 27, the rotating motor 24, the rotating cam 25 and the limit switch 26 are covered, which can beautify the appearance of the rotating assembly 20.

[0052] Working principle: the utility model provides a kind of robot polishing device, specifically includes: clamping assembly 10, rotating assembly 20 and polishing assembly 30, clamping assembly 10 is used to position the superconducting cavity workpiece and hold, rotating assembly 20 is used to drive clamping assembly 10 rotating movement. Through robot 31 drive first polishing shaft 36, second polishing shaft 37 and third polishing shaft 38 movement, first polishing motor 33, second polishing motor 34 and third polishing motor 35 provide polishing power, so that first polishing shaft 36, second polishing shaft 37 and third polishing shaft 38 can polish the superconducting cavity workpiece, remove the burr on the superconducting cavity workpiece. Since the rotating assembly 20 rotates, the superconducting cavity workpiece can rotate flexibly, adapt to the demand of different polishing position of superconducting cavity workpiece. Therefore, the utility model provides a kind of robot polishing device, solves the technical problem of low burr removal efficiency and low controllability of superconducting cavity workpiece in the prior art.

[0053] The above-described embodiments are merely used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robotic polishing device, characterized in that, include: The clamping assembly (10), the rotating assembly (20), and the grinding assembly (30) are provided. The clamping assembly (10) is used to position and clamp the superconducting cavity workpiece. The clamping assembly (10) is connected to the rotating assembly (20). The rotating assembly (20) is used to drive the clamping assembly (10) to rotate. The polishing assembly (30) is located on one side of the rotating assembly (20). The polishing assembly (30) includes a robot (31). A polishing base plate (32) is installed at one end of the robot (31). The polishing base plate (32) is Y-shaped. A first polishing motor (33), a second polishing motor (34), and a third polishing motor (35) are sequentially installed on the polishing base plate (32). The first grinding motor (33) is equipped with a first grinding shaft (36), the second grinding motor (34) is equipped with a second grinding shaft (37), and the third grinding motor (35) is equipped with a third grinding shaft (38). The first grinding shaft (36), the second grinding shaft (37), and the third grinding shaft (38) are used to grind the superconducting cavity workpiece to remove burrs from the superconducting cavity workpiece.

2. The robotic polishing device according to claim 1, characterized in that, The clamping assembly (10) includes a clamping base plate (11), on which a first clamping seat (12) and a fixing platform (13) are fixedly mounted. A second clamping seat (14) is provided between the first clamping seat (12) and the fixing platform (13), and the second clamping seat (14) overlaps the clamping base plate (11). The fixed platform (13) is threaded with a clamping screw (15), and one end of the clamping screw (15) is rotatably connected to the second clamping seat (14).

3. The robotic polishing device according to claim 2, characterized in that, The second clamping seat (14) has a first groove (141), a second groove (142) and a third groove (143) that are interconnected. The second groove (142) and the third groove (143) are both circular grooves. The first groove (141) is a long groove, and the inner diameter of the third groove (143) is larger than the inner diameter of the second groove (142). The clamping screw (15) has a protrusion (151) at one end located in the third groove (143), and the outer wall of the protrusion (151) is arc-shaped.

4. The robotic polishing device according to claim 2 or 3, characterized in that, The first clamping seat (12) is provided with a first clamping surface (121) arranged in an L shape, and the second clamping seat (14) is provided with a second clamping surface (144) corresponding to the first clamping surface (121). The first clamping seat (12) is provided with a plurality of first grooves (122) that communicate with the first clamping surface (121), and the second clamping seat (14) is provided with a plurality of second grooves (145) that communicate with the second clamping surface (144).

5. The robotic polishing device according to claim 2 or 3, characterized in that, The clamping base plate (11) is provided with a first clearance hole (111), and the rotating assembly (20) is provided with a second clearance hole (231) corresponding to the first clearance hole (111).

6. The robotic polishing apparatus according to any one of claims 1-3, characterized in that, The rotating assembly (20) includes two rotating bases (21) arranged opposite to each other. A rotating rod (22) is rotatably connected to the rotating base (21). A rotating frame (23) is fixedly installed on the rotating rod (22). The clamping assembly (10) is installed on the rotating frame (23). One of the rotating bases (21) is equipped with a rotary motor (24) for driving the rotating rod (22) to rotate.

7. The robotic polishing device according to claim 6, characterized in that, A rotating cam (25) is fixedly installed on the rotating rod (22), and a limit switch (26) for the rotating cam (25) is installed on the rotating base (21).

8. The robotic polishing device according to claim 7, characterized in that, A cover (27) is fixedly installed on the rotating base (21). The cover (27) is used to cover the rotary motor (24), the rotary cam (25) and the limit switch (26).

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