Grinding assembly and robot grinding device

Abstract

The utility model discloses a polishing assembly and a robot polishing device, and the polishing assembly comprises a connecting piece used for connecting a robot body; the grinding piece is movably connected to the connecting piece, and the grinding piece is used for making contact with the workpiece to conduct grinding; the fixed end of the buffer piece is connected to the connecting piece, and the movable end of the buffer piece is connected with the polishing piece; the control element is used for controlling the buffer part to abut against the polishing part so as to polish the to-be-polished surface on the workpiece; when protruding burrs on the to-be-polished face make contact with the polishing piece, the polishing piece pushes the moving end of the buffering piece to make the moving end move relative to the fixed end of the buffering piece so as to achieve buffering. According to the grinding assembly, the buffering piece is used for buffering when the grinding piece makes contact with the protruding burrs, the grinding piece is effectively protected while the grinding operation continuity is guaranteed, and the use cost is low.

Description

Technical Field

[0001] This utility model relates to the field of workpiece grinding technology, and more specifically, to a grinding assembly. Furthermore, this utility model also relates to a robotic grinding device including the aforementioned grinding assembly. Background Technology

[0002] Grinding and polishing are crucial processes in workpiece machining, used to remove surface roughness, burrs, welding slag, and other defects, thereby improving workpiece surface quality. With the continuous development and advancement of industrial automation technology, using robotic automated grinding to perform high-precision surface treatment on workpieces, replacing manual labor, has been a hot research topic.

[0003] In related technologies, force sensors are installed at the end of a robot, and the pressure information reflected by the force sensors is used to change the robot's working trajectory to achieve automated grinding. However, the hardware of the force sensors is relatively expensive, and the operating algorithms are relatively complex, resulting in high usage costs.

[0004] In conclusion, how to provide a low-cost workpiece grinding device is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a grinding component that can continuously and reliably grind the surface of a workpiece. The inclusion of a buffer component prevents the grinding component from getting stuck, providing effective protection and ensuring its service life, while also reducing operating costs. Another purpose of this utility model is to provide a robotic grinding device including the aforementioned grinding component.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A polishing component, comprising:

[0008] Connectors are used to connect the robot body;

[0009] A grinding element, movably connected to the connector, the grinding element being used to contact the workpiece for grinding;

[0010] A buffer component, wherein the fixed end of the buffer component is connected to the connecting component, and the movable end of the buffer component is connected to the grinding component;

[0011] A control element controls the buffer to press against the grinding element to grind the surface to be ground on the workpiece;

[0012] When the protruding burrs on the surface to be polished come into contact with the polishing component, the polishing component pushes the moving end of the buffer component to move relative to the fixed end of the buffer component to achieve buffering.

[0013] Preferably, the buffer component is a buffer cylinder.

[0014] Preferably, the buffer cylinder is equipped with a pressure regulating valve, and the control element is signal-connected to the pressure regulating valve to control the clamping force of the buffer cylinder on the grinding workpiece.

[0015] Preferably, either the connector or the grinding component is provided with a guide rail, and the other is provided with a sliding component that slides in cooperation with the guide rail.

[0016] Preferably, the guide rail has a limiting groove, and the slider is nested in the limiting groove to prevent it from falling.

[0017] Preferably, the guide rail is arranged parallel to the length direction of the connector, and the length direction of the connector is parallel to the moving direction of the moving end of the buffer.

[0018] At least two guide rails are provided along the width direction of the connector;

[0019] The guide rail is provided with a limiter at its end to limit the sliding distance of the slider.

[0020] Preferably, the connector is connected to a distance sensor for measuring the distance between the workpiece surface and the grinding part, and the control element is signal-connected to the distance sensor.

[0021] Preferably, the grinding component includes a grinding spindle and a drive assembly connected thereto, wherein the output end of the drive assembly is connected to the grinding spindle to achieve driving;

[0022] The end of the grinding spindle is connected to a grinding disc, which is used to contact the workpiece for grinding.

[0023] Preferably, the drive assembly includes a motor mounting plate and a motor connected thereto, the motor being connected to the moving end of the buffer cylinder via the motor mounting plate.

[0024] This utility model also provides a robotic polishing device, comprising:

[0025] The robot itself;

[0026] A connecting flange is provided, through which the robot body is connected to a grinding assembly, wherein the grinding assembly is any of the grinding assemblies described above.

[0027] The grinding assembly provided by this utility model includes a connector, a grinding component, a buffer component, and a control element. The connector is used to connect to the robot body, and the robot body can drive the grinding assembly to move as a whole to reach the grinding operation position. The grinding component is used to contact the workpiece for grinding, specifically, the grinding component and the surface of the workpiece to be ground are in contact.

[0028] The grinding part is movably connected to the connecting part. The moving end of the buffer is connected to the grinding part, and the fixed end is connected to the connecting part. During the grinding operation, the control element controls the buffer to press the grinding part with a certain clamping force to carry out the grinding operation of the workpiece. When there are burrs on the surface of the workpiece to be ground, the grinding part will push the moving end of the buffer to move relative to the fixed end to buffer, so as to effectively buffer and protect the grinding part. The structure is simple and the cost is low.

[0029] The beneficial effects of the above-mentioned grinding components are: they can continuously and reliably grind the surface of the workpiece, prevent the grinding parts from getting stuck by setting the buffer, provide effective protection for the grinding parts, and ensure the service life of the grinding parts. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of the grinding assembly provided by this utility model;

[0032] Figure 2 for Figure 1 The front view;

[0033] Figure 3 for Figure 1 The right view;

[0034] Figure 4 for Figure 1 Top view;

[0035] Figure 5 This is a schematic diagram showing the connection between the grinding component and the robot body provided by this utility model.

[0036] Figures 1-5 In the accompanying drawings, the reference numerals include:

[0037] 01-Grinding parts;

[0038] 1-Robot body; 2-Connecting flange; 3-Connector; 4-Guide rail; 5-Grinding disc; 6-Motor mounting plate; 7-Distance sensor; 8-Grinding spindle; 9-Buffer; 10-Pressure regulating valve; 11-Sliding component. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0040] The core of this invention is to provide a grinding component that uses a buffer to cushion the contact between the workpiece and protruding burrs, ensuring the continuity of the grinding operation while effectively protecting the workpiece, and at a low cost. Another core aspect of this invention is to provide a robotic grinding device including the aforementioned grinding component.

[0041] The grinding assembly provided by this utility model includes a connector 3, a grinding component 01, a buffer component 9, and a control element. Please refer to [reference needed]. Figure 2 , Figure 5 .

[0042] The connector 3 is used to connect the robot body 1. The grinding component 01 and the buffer component 9 are both connected to the connector 3. The entire grinding assembly can be transferred by the robot body 1 driving the connector 3 to move.

[0043] The grinding part 01 is movably connected to the connecting part 3 and is used to contact the workpiece to grind the surface of the workpiece. When the grinding part 01 contacts the protruding burrs on the surface to be ground, it can move and act on the buffer part 9 to achieve buffering. The protruding burrs are the parts that protrude from the surface to be ground and have a large protrusion height. The protrusions can also be weld beads, weld slag, etc. on the surface of the workpiece. The buffer part 9 provides effective protection for the grinding part 01 during grinding.

[0044] Specifically, the buffer 9 includes a fixed end and a movable end. The movable end is movable relative to the fixed end. The fixed end is fixedly connected to the connecting member 3 to fix the entire buffer 9. The movable end is connected to the grinding member 01. During grinding, the grinding member 01 moves forward relative to the connecting member 3 until it contacts the surface to be ground on the workpiece for flat grinding and polishing. When the grinding member 01 contacts the burrs on the workpiece, it moves backward relative to the connecting member 3 to push the movable end of the buffer 9 to move relative to the fixed end of the buffer 9 to achieve buffering.

[0045] During the above operation, it should be noted that the control element continuously controls the buffer 9 to press against the grinding part 01 with a certain preload, so that the grinding part 01 and the workpiece maintain reliable contact for grinding operation, which can ensure the continuity and reliability of grinding operation.

[0046] The grinding part 01 is ground by rotating during operation. The buffer part 9 is set to prevent it from being affected by protruding burrs and getting stuck or locked, thus avoiding damage to the grinding part 01, ensuring the reliable performance of the grinding part 01, and ensuring the service life of the grinding part 01.

[0047] In one specific embodiment, the buffer 9 is a cylinder. Before use, the control element controls the cylinder's ejection pressure to control its clamping force on the grinding part 01. When the grinding part 01 contacts the protruding burrs on the surface to be ground, the cylinder is pushed backward by the grinding part 01, compressing the compressed gas inside the cylinder and achieving a buffering effect on the grinding part 01, thus providing effective protection. Here, "backward" refers to the direction in which the cylinder is relatively away from the workpiece.

[0048] In one specific embodiment, the buffer 9 is a hydraulic cylinder. Before use, the control element controls the pushing pressure of the hydraulic cylinder to control its clamping force on the grinding part 01. When the grinding part 01 contacts the protruding burrs on the surface to be ground, the hydraulic cylinder is pushed backward by the grinding part 01, which compresses the hydraulic oil in the cylinder, achieving a buffering effect on the grinding part 01 and playing an effective protective role. Here, "backward" refers to the direction in which the hydraulic cylinder is relatively away from the workpiece.

[0049] In the above-mentioned grinding assembly, during the grinding operation, the control element controls the buffer 9 to press the grinding part 01 with a certain clamping force to perform the grinding operation on the workpiece; when there are burrs on the surface of the workpiece to be ground, the grinding part 01 will push the moving end of the buffer 9 to move relative to the fixed end to perform buffering, so as to effectively buffer and protect the grinding part 01. The structure is simple, the cost is low, and the continuity, stability and reliability of the grinding operation are guaranteed.

[0050] Based on the above embodiment, the buffer 9 is a buffer cylinder. The end of the cylinder rod of the buffer cylinder is connected to the grinding component 01, and the end of the cylinder barrel of the buffer cylinder is connected to the connecting component 3.

[0051] By setting up a buffer cylinder, pneumatic buffering is applied to the grinding process to ensure the continuity and reliability of the grinding operation. It achieves reliable and effective protection of the grinding part 01 during surface grinding with a relatively simple structure and low cost.

[0052] In addition, the buffer cylinder is pneumatically driven, which makes it easy to set up, has low operating costs, and is reliable and safe to operate.

[0053] Based on any of the above embodiments, the buffer cylinder is provided with a pressure regulating valve 10, and the control element is signal connected to the pressure regulating valve 10 to control the clamping force of the buffer cylinder on the grinding part 01.

[0054] Please refer to Figure 1 , Figure 3 , Figure 5 The buffer cylinder is equipped with a pressure regulating valve 10. Before the grinding operation begins, the push-out air pressure of the buffer cylinder is set according to the specific condition of the workpiece. Specifically, the control element controls the operation of the pressure regulating valve 10 according to the specific condition of the workpiece to achieve adjustment.

[0055] By controlling the pressure regulating valve 10 with control elements, the buffer cylinder is always pressed against the workpiece 01 with a certain constant force when grinding the workpiece, thus ensuring the reliability of the grinding operation.

[0056] Taking one specific implementation as an example, different workpiece types correspond to different sizes of ejection air pressure. The correspondence between different workpiece types and ejection air pressure is preset in the control element. During operation, the control element can automatically determine the ejection air pressure of the buffer cylinder according to the workpiece type.

[0057] Taking one specific implementation as an example, different workpiece sizes correspond to different ejection air pressures. The correspondence between workpiece size and ejection air pressure is preset in the control element. During operation, the control element can automatically determine the ejection air pressure of the buffer cylinder based on the workpiece size.

[0058] Based on any of the above embodiments, either the connector 3 or the grinding member 01 is provided with a guide rail 4, and the other is provided with a sliding member 11 that slides in cooperation with the guide rail 4.

[0059] Please refer to Figure 1 , Figure 3 , Figure 5 When the buffer cylinder achieves the buffering effect, the cylinder rod end will move backward relative to the cylinder barrel end, and the grinding part 01 will also move backward relative to the connecting part 3. To ensure the accuracy of this movement process, guide rail 4 and sliding part 11 are provided on the connecting part 3 and the grinding part 01.

[0060] Taking one specific embodiment as an example, a guide rail 4 is provided on the connecting member 3, and a sliding member 11 is provided on the grinding member 01. When the grinding member 01 contacts the burr protrusion on the surface to be ground of the workpiece, the sliding member 11 slides along the guide rail 4 to push the cylinder rod end of the cylinder to move, thereby compressing the compressed gas in the cylinder to achieve a buffering effect. In this state, the sliding member 11 can be a slider or a sliding bar. When the sliding member 11 is a sliding bar, the sliding bar is inserted into the guide rail 4 and the two are slidably connected. This situation can be referred to as the drawer pull-out design, where the sliding bar and the guide rail 4 are reliably connected.

[0061] Taking another specific embodiment as an example, a sliding member 11 is provided on the connecting member 3, and a guide rail 4 is provided on the grinding member 01. In this case, the sliding member 11 can be a sliding groove nested inside or outside the guide rail 4. The sliding groove can slide relative to the guide rail 4, so that when the grinding member 01 and the burr protrusion on the surface to be ground of the workpiece come into contact, the sliding groove drives the grinding member 01 to move, thereby pushing the cylinder rod end of the cylinder and compressing the compressed gas in the cylinder to achieve a buffering effect.

[0062] Based on any of the above embodiments, the guide rail 4 has a limiting groove, and the sliding member 11 is nested in the limiting groove to limit its fall.

[0063] A limiting groove is set on the guide rail 4. The limiting groove can nest the sliding part 11 inside it to achieve a reliable connection between the grinding part 01 and the connecting part 3. When the robot body 1 drives the grinding component to move, the sliding part 11 and the guide rail 4 will not separate, ensuring the integrity of the grinding component and the reliability of the operation.

[0064] The specific shape of the limiting groove can be a groove that is larger at both ends and smaller in the middle, where "size" refers to the external dimensions. The smaller middle part is used to nest the sliding part 11 to prevent the grinding part 01 and the connecting part 3 from separating and falling off.

[0065] Based on any of the above embodiments, the guide rail 4 is arranged parallel to the length direction of the connector 3, and the length direction of the connector 3 is parallel to the moving direction of the moving end of the buffer 9.

[0066] At least two guide rails 4 are provided along the width direction of the connector 3;

[0067] The end of the guide rail 4 is provided with a limiter to limit the sliding distance of the slider 11.

[0068] Please refer to Figure 1 , Figure 5 The guide rail 4 is parallel to the length direction of the connector 3, and the length direction of the connector 3 is parallel to the moving direction of the moving end of the buffer 9, ensuring the consistency of the direction of the buffer 9 and the grinding part 01.

[0069] The guide rail 4 is specifically located at the lower end of the connector 3, and the sliding member 11 is located at the upper end of the grinding part 01. At least two guide rails 4 are provided along the width direction of the connector 3, and the sliding member 11 is configured to cooperate with the guide rail 4. The provision of at least two guide rails 4 can further improve the reliability and stability of the movement of the grinding part 01 and the buffer cylinder.

[0070] The end of the guide rail 4 is provided with a limiting member. In one specific embodiment, the limiting member can be a fixed block, which can block the sliding member 11, limit the sliding distance of the sliding member 11, prevent the sliding member 11 from sliding beyond the limit, and prevent the grinding part 01 from falling off.

[0071] In one specific embodiment, the limiting element is a limit switch. When the sliding element 11 reaches the limit position, the limit switch can promptly sense it and inform the control element, so that the control element can control the buffer element 9 and the grinding element 01 to continue moving or notify the operator to perform relevant operations in a timely manner.

[0072] Based on any of the above embodiments, the connector 3 is connected to a distance sensor 7 for measuring the distance between the workpiece surface and the grinding part 01, and the control element is signal connected to the distance sensor 7.

[0073] Please refer to Figure 1 , Figure 4 , Figure 5 The connecting component 3 is connected to a distance measuring sensor 7 for measuring the distance between the workpiece surface and the grinding component 01. Before the grinding operation, the control element first determines the moving distance of the grinding assembly to the workpiece position based on the measurement information of the distance measuring sensor 7, then starts the grinding component 01, and then drives the grinding assembly to move so that the grinding component 01 contacts the workpiece to perform the grinding operation.

[0074] Two sets of ranging sensors 7 can be installed on both sides of the connector 3 in the width direction to improve detection accuracy, achieve redundancy design, and reduce the failure rate of detection. The control element can be installed on the connector 3, or it can be installed in other locations while ensuring signal connection with the buffer 9, the robot body, and the ranging sensors 7.

[0075] Based on any of the above embodiments, the grinding component 01 includes a grinding spindle 8 and a drive assembly connected thereto, with the output end of the drive assembly connected to the grinding spindle 8 to achieve driving.

[0076] The end of the grinding spindle 8 is connected to the grinding disc 5, which is used to contact the workpiece for grinding.

[0077] Please refer to Figure 1 , Figure 5 The grinding component 01 includes a grinding spindle 8 and a drive assembly connected thereto. The drive assembly drives the grinding spindle 8 to rotate. The drive assembly may include a motor and transmission components, and only needs to be able to drive the rotation of the grinding spindle 8.

[0078] It should be noted that the output torque of the grinding spindle 8 needs to be greater than the axial friction force it experiences when in contact with the workpiece.

[0079] The end of the grinding spindle 8 is connected to a grinding disc 5. The grinding disc 5 can be a louvered disc, a polishing disc, a resin grinding wheel, a cast iron grinding disc, or other components used for grinding workpieces. The end of the grinding spindle 8 connected to the grinding disc 5 can be set to a universal type, and the corresponding grinding disc 5 can be connected according to the actual operation, thereby improving the overall applicability of the grinding assembly.

[0080] Before the grinding operation, the control element determines the distance between the workpiece surface and the grinding part 01 using the detection information from the distance sensor 7. After the measurement is completed, the motor drives the grinding spindle 8 to rotate, causing the grinding disc 5 to rotate at high speed. Once the grinding disc 5 reaches the set speed, the robot body 1 moves the entire grinding assembly to the grinding position according to the distance information measured by the distance sensor 7. The grinding disc 5 then contacts the workpiece and begins grinding. If the weld or burr protrusions on the workpiece surface are large, the buffer cylinder will be pushed back by these protrusions to prevent the grinding spindle 8 from getting stuck or jammed. This effectively protects the grinding spindle 8 and the robot body 1 from strong shocks, providing effective protection for both the grinding spindle 8 and the robot body 1.

[0081] Based on any of the above embodiments, the drive assembly includes a motor mounting plate 6 and a motor connected thereto, the motor being connected to the moving end of the buffer cylinder via the motor mounting plate 6.

[0082] Please refer to Figure 1 , Figure 3 , Figure 5 The sliding member 11 is set on the motor mounting plate 6. The motor is connected to the moving end of the buffer cylinder through the motor mounting plate 6. When the grinding disc 5 contacts the burr protrusion on the surface of the workpiece, under the action of the sliding member 11 and the guide rail 4, the motor mounting plate 6 drives the motor and the grinding part 01 to move backward as a whole to push the moving end of the buffer cylinder to achieve a buffering effect.

[0083] In addition to the above-mentioned polishing components, this utility model also provides a robotic polishing device that includes the polishing components disclosed in the above embodiments. The robotic polishing device includes a robot body 1 and a connecting flange 2. The robot body 1 is connected to the polishing components through the connecting flange 2. The polishing components are the polishing components described in any of the above embodiments.

[0084] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0085] The above provides a detailed description of a grinding component and a robotic grinding device provided by this utility model. Specific examples have been used to illustrate the principle and implementation of this utility model. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core idea of ​​this utility model. It should be noted that those skilled in the art can make various improvements and modifications to this utility model without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A sharpening assembly characterized by, The polishing assembly comprises: a connecting piece (3) for connecting a robot body (1); a polishing piece (01) movably connected to the connecting piece (3), the polishing piece (01) being used for contacting a workpiece for polishing; a buffer piece (9), a fixed end of the buffer piece (9) being connected to the connecting piece (3), and a moving end of the buffer piece (9) being connected to the polishing piece (01); a control element for controlling the buffer piece (9) to press against the polishing piece (01) to polish a surface to be polished on the workpiece; when a protruding burr on the surface to be polished contacts the polishing piece (01), the polishing piece (01) pushes the moving end of the buffer piece (9) to move relative to the fixed end of the buffer piece (9) to achieve buffering.

2. The sharpening assembly of claim 1, wherein, The buffer piece (9) is a buffer air cylinder.

3. The sharpening assembly of claim 2, wherein, The buffer air cylinder is provided with a pressure regulating valve (10), and the control element is signal connected to the pressure regulating valve (10) to control the pressing force of the buffer air cylinder against the polishing piece (01).

4. The sharpening assembly of claim 1, wherein, Either the connecting piece (3) or the polishing piece (01) is provided with a guide rail (4), and the other is provided with a sliding piece (11) in sliding fit with the guide rail (4).

5. The sharpening assembly of claim 4, wherein, The guide rail (4) has a limiting groove, and the sliding piece (11) is nested in the limiting groove to limit its falling.

6. The sharpening assembly of claim 5, wherein, The guide rail (4) is arranged parallel to the length direction of the connecting piece (3), and the length direction of the connecting piece (3) is parallel to the moving direction of the moving end of the buffer piece (9). The guide rail (4) is arranged in at least two along the width direction of the connecting piece (3). The end of the guide rail (4) is provided with a limiting piece for limiting the sliding distance of the sliding piece (11).

7. The sharpening assembly of claim 1, wherein, The connecting piece (3) is connected with a distance measuring sensor (7) for measuring the distance between the surface of the workpiece and the polishing piece (01), and the control element is signal connected to the distance measuring sensor (7).

8. The sharpening assembly of claim 2, wherein, The polishing piece (01) comprises a polishing spindle (8) and a driving assembly connected thereto, and the output end of the driving assembly is connected to the polishing spindle (8) to achieve driving. The end of the polishing spindle (8) is connected with a polishing disc (5) for contacting the workpiece for polishing.

9. The sharpening assembly of claim 8, wherein, The driving assembly comprises a motor mounting plate (6) and a motor connected thereto, and the motor is connected to the moving end of the buffer air cylinder through the motor mounting plate (6).

10. A robotic sanding device, characterized in that, The polishing assembly comprises: a robot body (1); a connecting flange (2), and the robot body (1) is connected with a polishing assembly through the connecting flange (2), and the polishing assembly is the polishing assembly according to any one of claims 1 to 9.

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