Six-degree-of-freedom telescopic mechanical arm for polishing operation

Abstract

The utility model discloses a six-degree-of-freedom telescopic mechanical arm for polishing operation, and relates to the technical field of mechanical arms, the six-degree-of-freedom telescopic mechanical arm for polishing operation comprises a mechanical arm body, and the mechanical arm body comprises a base joint, a shoulder joint and a wrist joint. According to the six-degree-of-freedom telescopic mechanical arm for grinding operation, a pitching joint is arranged below the wrist joint, a grinding wheel is arranged on the right side of the pitching joint, the base joint is rotationally connected with the shoulder joint, the shoulder joint is rotationally connected with the wrist joint, and in the grinding process, the posture is continuously adjusted through stretching and retracting and the six-degree-of-freedom joint; the grinding tool can be accurately positioned to each part, needing to be ground, of the workpiece by combining a high-precision position sensor and an advanced motion control algorithm, the stable posture is kept in the grinding process, and the grinding uniformity and consistency are ensured.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a six-degree-of-freedom telescopic robotic arm for grinding operations. Background Technology

[0002] As an important piece of equipment in the field of modern industrial automation, robotic arms play a key role in many industries. Especially in grinding operations that require high-precision operation, the optimization of their performance and functions is crucial for improving product quality and production efficiency.

[0003] In practical applications, robotic arms typically require the use of the following technologies:

[0004] 1. Base joint: Composed of components such as a high-power motor, a high-precision slewing bearing, and a mounting base;

[0005] 2. Shoulder and elbow joints: Both use servo motors and harmonic reducers as drive units. The motor output shaft is connected to the wave generator of the harmonic reducer, and the flexible wheel of the harmonic reducer is fixed to the joint connecting rod.

[0006] 3. Telescopic boom: It adopts a nested structure, with the outer boom being a fixed shell, usually made of high-strength alloy steel, which has good rigidity and stability;

[0007] 4. End effector: The end effector is connected to the wrist joint or rotary joint of the robotic arm via a quick-change interface, which adopts a mechanical lock, positioning pin and other structures.

[0008] Currently, in order to achieve efficient operation of robotic arms in different industrial scenarios, manufacturers have adopted a variety of robotic arm technologies and design solutions. Some manufacturers use traditional serial robotic arms, which form a chain structure by connecting multiple joints in sequence. This structure can move flexibly in a large space. Other manufacturers use parallel robotic arms, which connect the end effector and the base through multiple parallel branches and are equipped with high-precision transmission mechanisms and position detection elements inside.

[0009] However, the above-mentioned implementation methods still have the following problems: some robotic arms have limited degrees of freedom, such as only being able to perform simple planar grinding or adjust their posture within a limited range. When faced with workpieces of complex shapes, they cannot flexibly adjust the grinding position and angle, making it difficult to achieve the ideal grinding effect. In addition, the existing robotic arm control systems are not intelligent enough and cannot automatically adjust grinding parameters, such as grinding speed and pressure, according to the material, shape, and grinding requirements of the workpiece. This results in poor system versatility and adaptability, requiring frequent manual intervention and debugging. To address these problems, a six-degree-of-freedom telescopic robotic arm has been developed. This robotic arm can precisely control the grinding position, angle, and force, and is expected to overcome many shortcomings of existing technologies, bringing new solutions to grinding operations and meeting the needs of modern industrial production for high-quality and high-efficiency grinding. Utility Model Content

[0010] To address the shortcomings of existing technologies, this utility model provides a six-degree-of-freedom telescopic robotic arm for grinding operations. It solves the problem that some robotic arms have limited degrees of freedom, such as only being able to perform simple planar grinding or adjust their posture within a limited range. When faced with workpieces of complex shapes, they cannot flexibly adjust the grinding position and angle, making it difficult to achieve the desired grinding effect.

[0011] To achieve the above objectives, this utility model provides the following technical solution:

[0012] A six-degree-of-freedom telescopic robotic arm for grinding operations includes a robotic arm body, which includes a base joint, a shoulder joint, and a wrist joint. The six-degree-of-freedom telescopic robotic arm further includes: a pitch joint located below the wrist joint; a grinding wheel located on the right side of the pitch joint; a base joint rotatably connected to the shoulder joint; a shoulder joint rotatably connected to the wrist joint; a cylinder and a connecting block fixedly mounted on the lower surface of the wrist joint; two locking blocks fixedly connected to each side of the connecting block; a fixing rod fixedly connected to each pair of locking blocks; two connecting frames rotatably connected inside the motor; and a U-shaped block fixedly connected to the right surface of the pitch joint, the U-shaped block being rotatably connected to the grinding wheel.

[0013] Preferably, a motor is fixedly installed inside the pitch joint, the output shaft of the motor is fixedly connected to the grinding wheel connecting shaft, a fixing block is fixedly connected between the two connecting frames, and the fixing block is fixedly connected to the cylinder piston.

[0014] Preferably, each of the two connecting frames has a locking block two fixedly connected to its back side, and each of the two fixing rods has an extension rod movably sleeved inside it, with the two extension rods respectively fixedly connected to the two locking blocks two.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. When the cylinder is activated, its piston will move along with the fixed block. During the movement of the fixed block, the pitch joint will move, and the pitch joint will move the grinding wheel. During the grinding process, the posture is continuously adjusted through extension and six-degree-of-freedom joints to adapt to the shape changes of the workpiece surface. Combined with high-precision position sensors and advanced motion control algorithms, the grinding tool can be accurately positioned to each part of the workpiece that needs to be ground, and maintain a stable posture during the grinding process to ensure the uniformity and consistency of the grinding.

[0017] 2. The control system records various data during the grinding operation, including the robotic arm's motion trajectory, joint angle changes, grinding force changes, and grinding time. This data can be stored in a local database or transmitted to a host computer for further analysis. By analyzing the data, the robotic arm's performance can be evaluated, grinding parameters and motion trajectory planning algorithms can be optimized, and the efficiency and quality of subsequent grinding operations can be improved. The control system plans an optimized motion trajectory based on workpiece information and grinding requirements, and performs real-time trajectory correction based on sensor feedback during the grinding process, enabling the robotic arm to perform grinding operations along the fastest and most reasonable path, reducing unnecessary movement time and energy consumption. Attached Figure Description

[0018] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0019] Figure 1 This is an overall structural diagram of the present invention;

[0020] Figure 2 This is a structural diagram of the connecting block of this utility model;

[0021] Figure 3 This is a structural diagram of the pitch joint of this utility model;

[0022] Figure 4 This is a structural diagram of the fixing block of this utility model.

[0023] Legend: 1. Base joint; 2. Shoulder joint; 3. Wrist joint; 4. Pitch joint; 5. Grinding wheel; 6. Connecting block; 7. Cylinder; 8. Locking block one; 9. Fixing rod; 10. Extension rod; 11. Motor; 12. U-shaped block; 13. Connecting frame; 14. Fixing block; 15. Locking block two. Detailed Implementation

[0024] This application provides a six-degree-of-freedom telescopic robotic arm for grinding operations, effectively solving the problem of limited degrees of freedom in some robotic arms. For example, they can only perform simple planar grinding or adjust their posture within a limited range. When faced with workpieces of complex shapes, they cannot flexibly adjust the grinding position and angle, making it difficult to achieve the ideal grinding effect. The robotic arm of this solution can precisely control the grinding position, angle, and force, and is expected to overcome many shortcomings of the prior art, bringing a new solution to grinding operations and meeting the needs of modern industrial production for high-quality and high-efficiency grinding.

[0025] Example 1

[0026] The technical solution in this application effectively solves the problem that some robotic arms have limited degrees of freedom, such as only being able to perform simple planar grinding or adjust their posture within a limited range. When faced with workpieces of complex shapes, they cannot flexibly adjust the grinding position and angle, making it difficult to achieve the ideal grinding effect. The overall idea is as follows:

[0027] To address the problems existing in the prior art, this utility model provides a six-degree-of-freedom telescopic robotic arm for grinding operations, including a robotic arm body. The robotic arm body includes a base joint 1, a shoulder joint 2, and a wrist joint 3. This six-degree-of-freedom telescopic robotic arm for grinding operations further includes: a pitch joint 4 disposed below the wrist joint 3, a grinding wheel 5 disposed on the right side of the pitch joint 4; the base joint 1 is rotatably connected to the shoulder joint 2, and the shoulder joint 2 is rotatably connected to the wrist joint 3; a cylinder 7 and a connecting block 6 are fixedly installed on the lower surface of the wrist joint 3; two locking blocks 8 are fixedly connected to both sides of the connecting block 6, and a fixing rod 9 is fixedly connected inside each pair of locking blocks 8; two connecting frames 13 are rotatably connected inside the motor 11; a U-shaped block 12 is fixedly connected to the right surface of the pitch joint 4, and the U-shaped block 12 is rotatably connected to the grinding wheel 5. During operation, the operator uses a human-machine interface... Detailed parameters for the grinding task are input. Based on the input parameters and the acquired workpiece information, the control system plans the initial motion trajectory of the robotic arm according to the kinematic and dynamic model of the robotic arm. Following the planned trajectory, the robotic arm begins to move. The base joint 1 rotates first, moving the entire robotic arm to a general position near the workpiece. Then, the shoulder joint 2 and wrist joint 3 extend or bend in coordination, and the pitch joint 4 adjusts the direction of the end effector, so that the grinding wheel 5 gradually approaches the starting position of the workpiece. After the grinding wheel 5 contacts the workpiece surface, the force sensor on the end effector begins to monitor the grinding force in real time. By starting the motor 11, its output shaft will drive the grinding wheel 5 to rotate and grind. The cylinder 7 starts its piston, which will drive the fixed block 14 to move together. During the movement of the fixed block 14, the pitch joint 4 will move, and during the movement of the pitch joint 4, the grinding wheel 5 will move.

[0028] A motor 11 is fixedly installed inside the pitch joint 4. The output shaft of the motor 11 is fixedly connected to the connecting shaft of the grinding wheel 5. A fixing block 14 is fixedly connected between the two connecting frames 13. The fixing block 14 is fixedly connected to the piston of the cylinder 7. During the grinding process, the posture is continuously adjusted through the telescopic and six-degree-of-freedom joints to adapt to the shape changes of the workpiece surface. Combined with high-precision position sensors and advanced motion control algorithms, the grinding tool can be accurately positioned to each part of the workpiece that needs to be ground, and a stable posture is maintained during the grinding process to ensure the uniformity and consistency of the grinding. When the control system determines that the grinding operation is completed according to the preset grinding allowance and surface roughness requirements, the robotic arm stops grinding. The vision sensor performs a full scan of the ground workpiece to check whether the expected grinding effect has been achieved. After the grinding is completed, the robotic arm lifts the grinding wheel 5 from the workpiece surface, the telescopic arm retracts to its shortest state, and each joint returns to its initial position according to the predetermined path, ready for the next grinding task.

[0029] Both connecting frames 13 have locking blocks 15 fixedly connected to their backs. Both fixed rods 9 have extension rods 10 movably sleeved inside them. The two extension rods 10 are fixedly connected to the two locking blocks 15 respectively. The control system records various data during the grinding operation, including the movement trajectory of the robotic arm, changes in joint angles, changes in grinding force, grinding time, etc. This data can be stored in a local database or transmitted to a host computer for further analysis. By analyzing the data, the working performance of the robotic arm can be evaluated, grinding parameters and motion trajectory planning algorithms can be optimized, and the efficiency and quality of subsequent grinding operations can be improved. The control system plans an optimized motion trajectory based on workpiece information and grinding requirements, and performs real-time trajectory correction based on sensor feedback during the grinding process, enabling the robotic arm to perform grinding operations in the fastest and most reasonable path, reducing unnecessary movement time and energy consumption.

[0030] Working principle:

[0031] During operation, the operator inputs detailed parameters of the grinding task through the human-machine interface. The control system, based on the input parameters and acquired workpiece information, and combined with the kinematic and dynamic model of the robotic arm, plans the initial motion trajectory of the robotic arm. Following the planned trajectory, the robotic arm begins to move. The base joint 1 rotates first, moving the entire robotic arm to a general position near the workpiece. Then, the shoulder joint 2 and wrist joint 3 extend or bend in coordination, while the pitch joint 4 adjusts the direction of the end effector, gradually bringing the grinding wheel 5 closer to the starting position of the workpiece. After the grinding wheel 5 contacts the workpiece surface, the end effector... The force sensor on the device begins to monitor the grinding force in real time. Starting the motor 11 causes its output shaft to drive the grinding wheel 5 to rotate and grind. The cylinder 7 activates its piston, which moves the fixed block 14 along with it. During this movement, the fixed block 14 moves the pitch joint 4, which in turn moves the grinding wheel 5. During grinding, the device continuously adjusts its posture through extension and six-degree-of-freedom joints to adapt to changes in the workpiece surface shape. Combined with high-precision position sensors and advanced motion control algorithms, the grinding tool can be precisely positioned to each part of the workpiece that needs grinding. The robotic arm maintains a stable posture during the grinding process to ensure uniformity and consistency. When the control system determines that the grinding operation is complete based on the preset grinding allowance and surface roughness requirements, the robotic arm stops grinding. The vision sensor performs a comprehensive scan of the ground workpiece to check whether the expected grinding effect has been achieved. After grinding, the robotic arm lifts the grinding wheel 5 from the workpiece surface, retracts the telescopic arm to its shortest state, and each joint returns to its initial position according to the predetermined path, ready for the next grinding task. The control system records various data during this grinding operation, including the robotic arm's motion trajectory, joint angle changes, grinding force changes, grinding time, and other information. This data can be stored in a local database or transmitted to a host computer for further analysis. Through data analysis, the working performance of the robotic arm can be evaluated, grinding parameters and motion trajectory planning algorithms can be optimized, and the efficiency and quality of subsequent grinding operations can be improved. The optimized motion trajectory planned by the control system based on workpiece information and grinding requirements, as well as the real-time trajectory correction based on sensor feedback during the grinding process, enable the robotic arm to perform grinding operations in the fastest and most reasonable way, reducing unnecessary movement time and energy consumption.

[0032] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A six-degree-of-freedom telescopic robotic arm for grinding operations, comprising a robotic arm body, the robotic arm body including a motor (11), a base joint (1), a shoulder joint (2), and a wrist joint (3); characterized in that, The six-degree-of-freedom telescopic robotic arm for grinding operations also includes: a pitch joint (4) is provided below the wrist joint (3), a grinding wheel (5) is provided on the right side of the pitch joint (4), the base joint (1) is rotatably connected to the shoulder joint (2), and the shoulder joint (2) and the wrist joint (3) are rotatably connected. Among them, a cylinder (7) and a connecting block (6) are fixedly installed on the lower surface of the wrist joint (3). Two locking blocks (8) are fixedly connected on both the left and right sides of the connecting block (6). A fixing rod (9) is fixedly connected in each pair of locking blocks (8). Two connecting frames (13) are rotatably connected in the motor (11).

2. The six-degree-of-freedom telescopic robotic arm for grinding operations as described in claim 1, characterized in that: A U-shaped block (12) is fixedly connected to the right surface of the pitch joint (4). The U-shaped block (12) is rotatably connected to the grinding wheel (5).

3. A six-degree-of-freedom telescopic robotic arm for grinding operations as described in claim 2, characterized in that: The pitch joint (4) is internally fixed with a motor (11); The output shaft of the motor (11) is fixedly connected to the connecting shaft of the grinding wheel (5).

4. A six-degree-of-freedom telescopic robotic arm for grinding operations as described in claim 3, characterized in that: A fixing block (14) is fixedly connected between the two connecting frames (13).

5. A six-degree-of-freedom telescopic robotic arm for grinding operations as described in claim 4, characterized in that: The fixing block (14) is fixedly connected to the piston of the cylinder (7).

6. A six-degree-of-freedom telescopic robotic arm for grinding operations as described in claim 5, characterized in that: Both of the two connecting frames (13) are fixedly connected to the back of each other with a second card block (15).

7. A six-degree-of-freedom telescopic robotic arm for grinding operations as described in claim 6, characterized in that: Both of the fixed rods (9) are movably sleeved with extension rods (10).

8. A six-degree-of-freedom telescopic robotic arm for grinding operations as described in claim 7, characterized in that: The two extension rods (10) are respectively fixedly connected to the two locking blocks (15).

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