Floating eccentric grinding mechanism of six-axis industrial robot

Abstract

The utility model belongs to the technical field of polishing equipment, and provides a six-axis industrial robot floating eccentric polishing mechanism which comprises a six-axis industrial robot and an eccentric polishing mechanism connected with the six-axis industrial robot. The eccentric grinding mechanism comprises a grinding mounting base, a first air cylinder part, a grinding connecting part, a grinding head assembly and a grinding sliding rail part. The shell product polishing device is applied to the polishing procedure of a shell product, firstly, a first air cylinder part and a polishing sliding rail part structure are arranged in a polishing mounting base of the shell product polishing device, so that a polishing connecting part can form a relative sliding structure in the polishing mounting base, and a polishing head assembly can make corresponding actions through the polishing connecting part when encountering large machining force impact; floating is realized; and secondly, the first quick-change disc piece and the second quick-change disc piece of the quick-change disc device can be quickly locked and connected or unlocked, so that the grinding device can be quickly replaced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of polishing equipment, specifically relates to a six -axis industrial robot floating eccentric polishing mechanism. BACKGROUND

[0002] Now metal appearance product has strict control to appearance, generally need to polish and polish the shell of product. The traditional polishing mode is manual polishing, and manual polishing needs to rely on the experience and skill of workers to guarantee the uniformity and precision of polishing, and the polishing quality is difficult to guarantee, the polishing efficiency is low, and the labor cost is high. UTILITY MODEL CONTENTS

[0003] In order to overcome the above-mentioned shortcomings of prior art, the utility model aims at providing a six-axis industrial robot floating eccentric polishing mechanism.

[0004] The utility model solves the technical scheme that adopts:

[0005] A six-axis industrial robot floating eccentric polishing mechanism, including six-axis industrial robot and eccentric polishing mechanism, the eccentric polishing mechanism is connected with the six-axis industrial robot;

[0006] The eccentric polishing mechanism includes a polishing mounting seat, a first cylinder piece, a polishing connecting piece, a polishing head assembly and a polishing sliding rail piece;

[0007] The polishing mounting seat is provided with a first cavity for placing the first cylinder piece and the polishing connecting piece, the polishing sliding rail piece is arranged on the inner wall surface of the first cavity, the polishing connecting piece is in sliding fit with the polishing sliding rail piece, the first cylinder piece is arranged on the polishing connecting piece, the piston rod of the first cylinder piece is arranged towards the inner wall surface of the first cavity, a first opening part communicating with the first cavity is arranged on the polishing mounting seat, one end of the polishing connecting piece passes through the first opening part and is connected with the polishing head assembly, and a first air joint connected with the first cylinder piece is arranged on the polishing mounting seat;

[0008] The polishing head assembly includes a quick-change disc device and a polishing device, the quick-change disc device includes a first quick-change disc piece and a second quick-change disc piece, the first quick-change disc piece is connected with the polishing connecting piece, the second quick-change disc piece is connected with the polishing device, the first quick-change disc piece is provided with a first quick-change connecting part, a second cylinder piece and a locking steel ball are arranged in the first quick-change connecting part, the locking steel ball is in sliding fit with the first quick-change connecting part, the second quick-change disc piece is arranged in a second quick-change connecting groove, the first quick-change connecting part is matched with the second quick-change connecting groove, and a second air joint connected with the second cylinder piece is arranged on the first quick-change disc piece;

[0009] The piston rod of the second cylinder piece can act on one end of the locking steel ball, and the one end of the locking steel ball extends from the first quick-change connecting part and matches with the second quick-change connecting groove, so that the first quick-change disc piece and the second quick-change disc piece are in a locked state.

[0010] Preferably, the first opening part is provided with a damping connecting seat, the damping connecting seat comprises a flexible damping part and a damping connecting part, the damping connecting part is connected with the polishing mounting seat, and the flexible damping part is provided with a flexible opening part matched with one end of the polishing connecting piece.

[0011] Preferably, the number of the polishing sliding rail pieces is two or more, and the polishing sliding rail pieces are symmetrically arranged on both sides of the width end of the polishing connecting piece.

[0012] The first cylinder piece is arranged on one side and the other side of the length end of the polishing connecting piece respectively.

[0013] Preferably, the number of the first cylinder pieces is four, and two first cylinder pieces are arranged on one side and the other side of the length end of the polishing connecting piece respectively.

[0014] Preferably, the first quick-change connecting part is in a cylindrical shape, and the number of the locking steel balls is two or more, and the locking steel balls are uniformly distributed on the outer wall surface of the first quick-change connecting part in the radial direction of the first quick-change connecting part.

[0015] Preferably, the bottom end surface of the first quick-change connecting part is provided with a first positioning pin piece, and the top end surface of the second quick-change disc piece is provided with a second positioning hole matched with the first positioning pin piece.

[0016] Preferably, the first quick-change connecting part is internally provided with a first quick-change containing cavity for placing the second cylinder piece, and a plurality of first quick-change channel parts matched with the locking steel balls are uniformly distributed on the outer wall surface of the first quick-change connecting part in the radial direction of the first quick-change connecting part.

[0017] Preferably, the second quick-change connecting groove is internally provided with a slope clamping surface, and when the locking steel ball is matched with the slope clamping surface, the first quick-change disc piece and the second quick-change disc piece are in a locked state.

[0018] Preferably, the polishing device comprises a polishing fixed seat, a polishing rotating motor and a polishing grinding head piece, the polishing rotating motor is arranged on the polishing fixed seat, and the polishing grinding head piece is connected with the driving end of the polishing rotating motor.

[0019] Preferably, the number of the polishing rotating motors is two, and the polishing rotating motors are symmetrically arranged on both sides of the polishing fixed seat.

[0020] Compared with the prior art, the polishing device has the following beneficial effects:

[0021] The six-axis industrial robot floating eccentric polishing mechanism of the application is applied to the polishing process of a shell product, first, the first cylinder piece and the polishing sliding rail piece structure in the polishing mounting seat can make the polishing connecting piece form a relative sliding structure in the polishing mounting seat, so that the polishing head assembly can make a response action through the polishing connecting piece when encountering a relatively large machining force impact, and floating is realized; second, the first quick change disc piece and the second quick change disc piece of the quick change disc device can be quickly locked or unlocked, facilitating quick replacement of the polishing device. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0023] Figure 1 It is a schematic view of the present application.

[0024] Figure 2 It is a schematic view of the internal structure of the polishing mounting seat of the present application.

[0025] Figure 3 It is a schematic view of the eccentric polishing mechanism of the present application.

[0026] Figure 4 It is a schematic view of the first quick change disc piece of the present application.

[0027] Figure 5 It is a schematic view of the second quick change disc piece of the present application.

[0028] Figure 6 It is a schematic view of the cooperation between the first quick change disc piece and the second quick change disc piece of the present application.

[0029] Among them:

[0030] 201-six-axis industrial robot,

[0031] 202-eccentric polishing mechanism,

[0032] 2021-polishing mounting seat,

[0033] 2022-first cylinder piece,

[0034] 2023 - Grinding head assembly; 20231 - Quick-change disc device; 202311 - First quick-change disc component; 2023111 - First quick-change connecting part; 2023112 - Second cylinder component; 2023113 - Locking steel ball; 2023114 - First positioning pin component; 2023115 - First quick-change channel part; 202312 - Second quick-change disc component; 2023121 - Second quick-change connecting groove; 2023122 - Second positioning hole; 2023123 - Angled clamping surface; 202313 - Second vent connector.

[0035] 20232 - Grinding device, 202321 - Grinding mounting base, 202322 - Grinding rotary motor, 202323 - Grinding head assembly.

[0036] 2024 - Grinding the connectors,

[0037] 2025 - Grinding the sliding track components.

[0038] 2026-Vibration damping connector, 20261-Flexible vibration damping part, 2027-First ventilation connector. Detailed Implementation

[0039] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Many specific details are set forth in the following description to provide a thorough understanding of this utility model; the described embodiments are merely some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0040] 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 this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0041] Example:

[0042] like Figures 1-6 As shown, this embodiment provides a floating eccentric grinding mechanism for a six-axis industrial robot, including a six-axis industrial robot 201 and an eccentric grinding mechanism 202, wherein the eccentric grinding mechanism 202 is connected to the six-axis industrial robot 201.

[0043] The eccentric polishing mechanism 202 comprises a polishing mounting seat 2021, a first cylinder piece 2022, a polishing connecting piece 2024, a polishing head assembly 2023 and a polishing sliding rail piece 2025;

[0044] The polishing mounting seat 2021 is provided with a first cavity for placing the first cylinder piece 2022 and the polishing connecting piece 2024, the polishing sliding rail piece 2025 is arranged on the inner wall surface of the first cavity, the polishing connecting piece 2024 is in sliding fit with the polishing sliding rail piece 2025, the first cylinder piece 2022 is arranged on the polishing connecting piece 2024, the piston rod of the first cylinder piece 2022 is arranged towards the inner wall surface of the first cavity, the polishing mounting seat 2021 is provided with a first opening part in communication with the first cavity, one end of the polishing connecting piece 2024 passes through the first opening part and is connected with the polishing head assembly 2023, and the polishing mounting seat 2021 is provided with a first air joint 2027 connected with the first cylinder piece 2022;

[0045] The polishing head assembly 2023 comprises a quick-change disc device 20231 and a polishing device 20232, the quick-change disc device 20231 comprises a first quick-change disc piece 202311 and a second quick-change disc piece 202312, the first quick-change disc piece 202311 is connected with the polishing connecting piece 2024, the second quick-change disc piece 202312 is connected with the polishing device 20232, the first quick-change disc piece 202311 is provided with a first quick-change connecting part 2023111, the first quick-change connecting part 2023111 is internally provided with a second cylinder piece 2023112 and a locking steel ball 2023113, the locking steel ball 2023113 is in sliding fit with the first quick-change connecting part 2023111, the second quick-change disc piece 202312 is arranged in a second quick-change connecting groove 2023121, the first quick-change connecting part 2023111 is matched with the second quick-change connecting groove 2023121, and the first quick-change disc piece 202311 is provided with a second air joint 202313 connected with the second cylinder piece 2023112;

[0046] The piston rod of the second cylinder piece 2023112 can act on one end of the locking steel ball 2023113 to make the first quick-change disc piece 202311 and the second quick-change disc piece 202312 in a locked state.

[0047] The six-axis industrial robot floating eccentric polishing mechanism of the embodiment is applied to the polishing process of a shell product. First, the first cylinder piece 2022 and the polishing sliding rail piece 2025 structure in the polishing mounting seat 2021 can make the polishing connecting piece 2024 form a relative sliding structure in the polishing mounting seat 2021, so that the polishing head assembly 2023 can make a response action through the polishing connecting piece 2024 when encountering a relatively large machining force impact, and floating is realized. Second, the first quick change disc piece 202311 and the second quick change disc piece 202312 of the quick change disc device 20231 can be quickly locked or unlocked, facilitating quick replacement of the polishing device 20232.

[0048] The polishing mounting seat 2021 of the embodiment further has the following structure:

[0049] A damping connecting seat 2026 is arranged at the first opening portion, and the damping connecting seat 2026 includes a flexible damping portion 20261 and a damping connecting portion. The damping connecting portion is connected with the polishing mounting seat 2021, and the flexible damping portion 20261 is provided with a flexible opening portion matched with one end of the polishing connecting piece 2024.

[0050] Specifically, the polishing sliding rail piece 2025 is two or more in number and is symmetrically arranged at both sides of the width end of the polishing connecting piece 2024.

[0051] The first cylinder piece 2022 is arranged at one side and the other side of the length end of the polishing connecting piece 2024, respectively.

[0052] Specifically, the first cylinder piece 2022 is four in number, and two first cylinder pieces 2022 are arranged at one side and the other side of the length end of the polishing connecting piece 2024, respectively.

[0053] In the above structure, when the polishing connecting piece 2024 is actively or passively moved under the action of the first cylinder piece 2022, the flexible damping portion 20261 of the damping connecting seat 2026 is in contact with one end of the polishing connecting piece 2024, which plays a damping role and reduces the rigid contact between one end of the polishing connecting piece 2024 and the polishing mounting seat 2021, thereby affecting the service life of the entire structure. The flexible damping portion 20261 of the embodiment can be a rubber piece.

[0054] Meanwhile, when the polishing connecting piece 2024 moves in the polishing mounting seat 2021 under the action of the first cylinder piece 2022, the position of the polishing head assembly 2023 relative to the polishing mounting seat 2021 can be adjusted, thereby improving the polishing precision.

[0055] The specific structure of the polishing head assembly 2023 of the embodiment is as follows:

[0056] The first quick-change connecting part 2023111 of the first quick-change disc part 202311 is in a cylindrical shape, and the number of the locking steel balls 2023113 is two or more, which are uniformly distributed on the outer wall surface of the first quick-change connecting part 2023111 in the radial direction of the first quick-change connecting part 2023111.

[0057] Specifically, the bottom end surface of the first quick-change connecting part 2023111 is provided with a first positioning pin part 2023114, and the top end surface of the second quick-change disc part 202312 is provided with a second positioning hole 2023122 matched with the first positioning pin part 2023114.

[0058] Specifically, the first quick-change connecting part 2023111 is internally provided with a first quick-change accommodating cavity for placing the second cylinder part 2023112, and the outer wall surface of the first quick-change connecting part 2023111 and uniformly distributed in the radial direction thereof are provided with a plurality of first quick-change channel parts 2023115 matched with the locking steel balls 2023113.

[0059] Specifically, the second quick-change connecting groove 2023121 is internally provided with a slope clamping surface 2023123, and when the locking steel ball 2023113 is in contact with the slope clamping surface 2023123, the first quick-change disc part 202311 and the second quick-change disc part 202312 are in a locked state.

[0060] According to the above structure, the principle that the first quick-change disc part 202311 and the second quick-change disc part 202312 are in a locked state or a contact-locked state is as follows:

[0061] When the piston rod of the second cylinder part 2023112 is in a retracted state, the locking steel ball 2023113 is in the first quick-change channel part 2023115 at this time, the first quick-change connecting part 2023111 can be placed into the second quick-change connecting groove 2023121 and matched by the cooperation of the first positioning pin part 2023114 and the second positioning hole 2023122, then the piston rod of the second cylinder part 2023112 is extended and acts on the locking steel ball 2023113 to move, so that part of the locking steel ball 2023113 passes through the first quick-change channel part 2023115 and is in contact with the slope clamping surface 2023123, and the locking steel ball 2023113 is stabilized in position under the interaction force of the piston rod of the second cylinder part 2023112 and the slope clamping surface 2023123, so that the first quick-change disc part 202311 and the second quick-change disc part 202312 are in a locked state.

[0062] The second cylinder piece 2023112 is in the retracted state, and the force of the piston rod of the second cylinder piece 2023112 on the locking steel ball 2023113 is released, and the locking state is contacted, and when the first quick change connecting part 2023111 is separated from the second quick change connecting groove 2023121, the locking steel ball 2023113 is completely in the first quick change channel part 2023115, so that the first quick change disc piece 202311 and the second quick change disc piece 202312 can be separated.

[0063] The polishing device 20232 of the embodiment comprises a polishing fixed seat 202321, polishing rotating motors 202322 and polishing grinding head pieces 202323, the polishing rotating motors 202322 are arranged on the polishing fixed seat 202321, and the polishing grinding head pieces 202323 are connected with driving ends of the polishing rotating motors 202322.

[0064] Specifically, the number of the polishing rotating motors 202322 is two and they are symmetrically arranged on both sides of the polishing fixed seat 202321. The above design can have two polishing grinding head pieces 202323, thereby forming two polishing parts, and multiple products can be polished at the same time, and the polishing efficiency is improved.

[0065] The above is only a preferred embodiment of the present application, and does not limit the present application in any form, so any modification, equivalent change and modification of the above embodiment according to the technical essence of the present application, which does not deviate from the technical scheme content of the present application, still belongs to the scope of the technical scheme of the present application.

Claims

1. A six-axis industrial robot floating eccentric polishing mechanism, characterized by, The utility model relates to a six-axis industrial robot and eccentric polishing mechanism, the eccentric polishing mechanism is connected with the six-axis industrial robot; The eccentric polishing mechanism comprises a polishing mounting seat, a first cylinder, a polishing connecting piece, a polishing head assembly and a polishing sliding rail piece; The polishing mounting seat is provided with a first cavity for placing the first cylinder and the polishing connecting piece, the polishing sliding rail piece is arranged on the inner wall surface of the first cavity, the polishing connecting piece is in sliding fit with the polishing sliding rail piece, the first cylinder is arranged on the polishing connecting piece, the piston rod of the first cylinder is arranged towards the inner wall surface of the first cavity, the polishing mounting seat is provided with a first opening part communicating with the first cavity, one end of the polishing connecting piece passes through the first opening part and is connected with the polishing head assembly, and the polishing mounting seat is provided with a first air joint connected with the first cylinder; The polishing head assembly comprises a quick-change disc device and a polishing device, the quick-change disc device comprises a first quick-change disc and a second quick-change disc, the first quick-change disc is connected with the polishing connecting piece, the second quick-change disc is connected with the polishing device, the first quick-change disc is provided with a first quick-change connecting part, the first quick-change connecting part is internally provided with a second cylinder and a locking steel ball, the locking steel ball is in sliding fit with the first quick-change connecting part, the second quick-change disc is arranged in a second quick-change connecting groove, the first quick-change connecting part is matched with the second quick-change connecting groove, and the first quick-change disc is provided with a second air joint connected with the second cylinder; The piston rod of the second cylinder can act on one end of the locking steel ball to make the first quick-change disc and the second quick-change disc be in a locking state. A damping connecting seat is arranged at the first opening part, the damping connecting seat comprises a flexible damping part and a damping connecting part, the damping connecting part is connected with the polishing mounting seat, and the flexible damping part is provided with a flexible opening part matched with one end of the polishing connecting piece.

2. The six-axis industrial robot floating eccentric polishing mechanism of claim 1, wherein, The number of the polishing sliding rail pieces is two or more and they are symmetrically arranged on both sides of the width end of the polishing connecting piece.

3. The six-axis industrial robot floating eccentric polishing mechanism of claim 1, wherein, The first cylinders are respectively arranged on one side and the other side of the length end of the polishing connecting piece. The number of the first cylinders is four, and two first cylinders are respectively arranged on one side and the other side of the length end of the polishing connecting piece.

4. The six-axis industrial robot floating eccentric polishing mechanism of claim 3, wherein, The first quick-change connecting part is in the shape of a cylinder, and the number of the locking steel balls is two or more and they are uniformly distributed on the outer wall surface of the first quick-change connecting part along the radial direction of the first quick-change connecting part.

5. The six-axis industrial robot floating eccentric polishing mechanism of claim 1, wherein, The bottom end surface of the first quick-change connecting part is provided with a first positioning pin, and the top end surface of the second quick-change disc is provided with a second positioning hole matched with the first positioning pin.

6. The six-axis industrial robot floating eccentric polishing mechanism of claim 1, wherein, The first quick-change connecting part is internally provided with a first quick-change containing cavity for placing the second cylinder, and a plurality of first quick-change channel parts matched with the locking steel balls are uniformly distributed on the outer wall surface of the first quick-change connecting part along the radial direction thereof.

7. The six-axis industrial robot floating eccentric polishing mechanism of claim 5, wherein, ​ 8. The six-axis industrial robot floating eccentric polishing mechanism of claim 7, wherein, The second quick-change connection groove is provided with a slope clamping surface, and when the locking steel ball is attached to the slope clamping surface, the first quick-change disc part and the second quick-change disc part are in a locked state.

9. The six-axis industrial robot floating eccentric polishing mechanism of claim 1, wherein, The polishing device comprises a polishing fixed seat, a polishing rotating motor and a polishing grinding head part, the polishing rotating motor is arranged in the polishing fixed seat, and the polishing grinding head part is connected with the driving end of the polishing rotating motor.

10. The six-axis industrial robot floating eccentric polishing mechanism of claim 9, wherein, The number of the polishing rotating motors is two and they are symmetrically arranged on the two sides of the polishing fixed seat.

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