Flexible polishing device for double-mechanical-arm robot

Abstract

The utility model provides a double-mechanical-arm robot flexible polishing device which comprises a polishing structure, the polishing structure comprises a polishing belt body and an electric push rod, a fitting strip is arranged on the outer wall of the polishing belt body, gear tooth bodies are arranged on the two sides of the inner wall of the polishing belt body, a servo motor is arranged at the output end of the electric push rod, and the servo motor is connected with the polishing belt body. A rotating gear is arranged at the output end of the servo motor and engaged with the gear tooth body. According to the tubular part polishing device, the flexible polishing belt body is arranged, a tubular part penetrates through the polishing belt body, then the electric telescopic rod pulls the inner wall of the polishing belt body to be attached to the outer wall of the tubular part, the polishing belt body is kept in a tight state, and then the polishing belt body rotates to flexibly polish the outer wall of the tubular part; and meanwhile, the tubular part can rotate, the electric telescopic rod detects the tightness of the polishing belt body through an arranged sensor, and the length of the electric telescopic rod is adjusted in real time.

Description

Technical Field

[0001] This utility model belongs to the field of flexible polishing technology, specifically relating to a flexible polishing device for a dual-arm robotic robot. Background Technology

[0002] Flexible grinding is a grinding method that utilizes flexible force control technology. It aims to ensure processing quality and efficiency by controlling the force and pressure during the grinding process. Flexible grinding systems can quickly adapt to the surface contours and coherence of the materials or parts being processed, thereby improving processing results, product quality, and production efficiency.

[0003] The core of flexible grinding lies in force control, which means that during the grinding process, sensors monitor the force between the robotic arm and the workpiece in real time, and adjust the position and force of the grinding tool accordingly to avoid positioning errors and excessive force caused by the rigidity of the robotic arm.

[0004] However, during the flexible grinding process of tubular parts, the flexible grinding belt cannot fully adhere to the outer wall of the pipe, making it impossible for the grinding belt to grind the tubular parts evenly, resulting in an uneven surface on the tubular parts after grinding. Utility Model Content

[0005] Purpose of utility model

[0006] To address the aforementioned technical problems, this utility model provides a dual-arm robotic flexible grinding device to solve the technical problems mentioned in the background art.

[0007] Technical solution

[0008] To achieve the above objectives, the present invention provides a flexible grinding device for a dual-arm robotic system, comprising a pipe mounting shell, movable structures on both sides of the top of the pipe mounting shell, and a grinding structure on the inner side of the movable structures.

[0009] A grinding structure includes a grinding belt body and an electric push rod. The outer wall of the grinding belt body is provided with a bonding strip, and the two sides of the inner wall of the grinding belt body are provided with gear bodies. The output end of the electric push rod is provided with a servo motor, and the output end of the servo motor is provided with a rotating gear. The rotating gear meshes with the gear bodies.

[0010] Preferably, a transmission screw is rotatably connected to the bottom of the inner wall of the pipe mounting shell, and pipe fastening structures are provided at both ends of the transmission screw, while a guide rail is provided at the top of the pipe mounting shell.

[0011] Preferably, the pipe fastening structure includes a movable plate, the bottom of which has a mating hole that mates with a transmission screw, and the outer wall of the mating hole is provided with a support strip.

[0012] Preferably, one end of the support strip is provided with an adhesive block, the outer side of the adhesive block is inclined, and the number of adhesive blocks is set to multiple, with multiple adhesive blocks provided on the top and both sides of the movable plate.

[0013] Preferably, the movable structure includes a movable rail that is slidably connected to a guide rail, a vertical rod at the bottom of the movable rail, and side strips at the top and bottom of one side of the outer wall of the vertical rod.

[0014] Preferably, a groove is provided on the inner side of the side strip, and the groove is slidably connected to the bonding strip.

[0015] Beneficial effects

[0016] The technical solution provided by this utility model has the following advantages compared with the prior art:

[0017] This invention features a flexible grinding belt body through which a tubular part passes. An electric telescopic rod then pulls the inner wall of the grinding belt body against the outer wall of the tubular part, keeping the grinding belt body taut. The grinding belt body then rotates to perform flexible grinding on the outer wall of the tubular part, while the tubular part can rotate on its own axis. The electric telescopic rod uses sensors to detect the tension of the grinding belt body and adjusts its length in real time. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present utility model;

[0019] Figure 2 This is a perspective view of the pipe fastening structure of this utility model;

[0020] Figure 3 This is a three-dimensional cross-sectional view of the movable structure of this utility model;

[0021] Figure 4 This is a three-dimensional cross-sectional view of the grinding structure of this utility model.

[0022] Figure Labels

[0023] 1. Pipe mounting shell; 2. Drive screw; 3. Pipe fastening structure; 301. Moving plate; 302. Mating hole; 303. Support bar; 304. Adhesive block; 4. Guide rail; 5. Moving structure; 501. Moving rail; 502. Vertical rod; 503. Side strip; 504. Slide groove; 6. Grinding structure; 601. Grinding belt body; 602. Adhesive strip; 603. Gear body; 604. Electric push rod; 605. Servo motor; 606. Rotary gear. Detailed Implementation

[0024] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "page", "bottom", "inner", "outer", "clockwise", "counterclockwise", "coaxial", "bottom", "one end", "top", "other end", "one side", "front", "both ends", "both sides", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," and "equipped with" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] Referring now to the accompanying drawings, the various figures are intended only to illustrate certain exemplary embodiments and are not intended to limit the scope of the invention. In the various figures, the same reference numerals denote the same or corresponding parts. The dimensions and scales in the various figures are also for illustrative purposes only and should not be construed as limiting the scope of the invention; these dimensions may be enlarged relative to actual products.

[0028] Reference Figure 1-4 The invention relates to a flexible grinding device for a dual-arm robotic system, comprising a pipe mounting shell 1, with movable structures 5 on both sides of the top of the pipe mounting shell 1, and a grinding structure 6 on the inner side of the movable structure 5.

[0029] The grinding structure 6 includes a grinding belt body 601 and an electric push rod 604. The outer wall of the grinding belt body 601 is provided with a fitting strip 602, and the two sides of the inner wall of the grinding belt body 601 are provided with gear bodies 603. A servo motor 605 is provided at the output end of the electric push rod 604, and a rotating gear 606 is provided at the output end of the servo motor 605. The rotating gear 606 meshes with the gear bodies 603. When the electric push rod 604 is activated, it drives the servo motor 605 to move inward. The servo motor 605 drives the rotating gear 606 to move, and the rotating gear 606 pulls the grinding belt body 601 to slide on the inner wall of the groove 504, so that the inner side of the grinding belt body 601 fits against the outer wall of the tubular part. Then, the servo motor 605 is activated, driving the grinding belt body 601 to rotate, and the inner wall of the grinding belt body 601 performs rapid and flexible grinding on the inner wall of the tubular part.

[0030] Furthermore, in the above technical solution, a transmission screw 2 is rotatably connected to the bottom of the inner wall of the pipe mounting shell 1, and pipe fastening structures 3 are provided at both ends of the transmission screw 2. A guide rail 4 is provided at the top of the pipe mounting shell 1. When it is necessary to perform flexible grinding on the outer wall of the tubular part, the tubular part is passed between the two grinding belt bodies 601.

[0031] Furthermore, in the above technical solution, the pipe fastening structure 3 includes a movable plate 301. The bottom of the movable plate 301 is provided with a mating hole 302, which is mated with the transmission screw 2. The outer wall of the mating hole 302 is provided with a support strip 303, and one end of the support strip 303 is provided with a bonding block 304. The outer side of the bonding block 304 is inclined. The number of bonding blocks 304 is set to multiple, and multiple bonding blocks 304 are set on the top and both sides of the movable plate 301. Then, the motor is started, and the motor drives the transmission screw 2 to rotate. The transmission screw 2 drives the movable plate 301 to move inward. The movable plate 301 drives the outer wall of the bonding block 304 to fit against the inner wall of the tubular part, fixing the inside of the tubular part. At the same time, the movable plate 301 is rotatably connected to the bottom protrusion. The motor drives the movable plate 301 to rotate, and the movable plate 301 drives the tubular part to rotate through friction.

[0032] Furthermore, in the above technical solution, the moving structure 5 includes a moving rail 501, which is slidably connected to the guide rail 4. A vertical rod 502 is provided at the bottom of the moving rail 501. Side strips 503 are provided at the top and bottom of one side of the outer wall of the vertical rod 502. A sliding groove 504 is provided on the inner side of the side strip 503. The sliding groove 504 is slidably connected to the bonding strip 602. The moving rail 501 moves on the top of the guide rail 4. The moving rail 501 drives the grinding structure 6 to move on the outer wall of the tubular part, thereby realizing the grinding of different positions of the tubular part.

[0033] The above-described embodiments are merely illustrative of certain implementations of this utility model, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A flexible grinding device for dual-arm robotic systems, characterized in that, include Pipe mounting shell (1), with movable structures (5) provided on both sides of the top of the pipe mounting shell (1), and a grinding structure (6) provided on the inner side of the movable structure (5); The grinding structure (6) includes a grinding belt body (601) and an electric push rod (604). The outer wall of the grinding belt body (601) is provided with a bonding strip (602). The inner walls of the grinding belt body (601) are provided with gear bodies (603) on both sides. The output end of the electric push rod (604) is provided with a servo motor (605). The output end of the servo motor (605) is provided with a rotating gear (606). The rotating gear (606) meshes with the gear body (603).

2. The flexible grinding device for a dual-arm robotic arm as described in claim 1, characterized in that: The bottom of the inner wall of the pipe mounting shell (1) is rotatably connected to a transmission screw (2), and the two ends of the transmission screw (2) are provided with pipe fastening structures (3). The top of the pipe mounting shell (1) is provided with a guide rail (4).

3. The flexible grinding device for a dual-arm robotic system according to claim 2, characterized in that: The pipe fastening structure (3) includes a movable plate (301), the bottom of which is provided with a mating hole (302), the mating hole (302) and the transmission screw (2) are mated together, and the outer wall of the mating hole (302) is provided with a support strip (303).

4. The flexible grinding device for a dual-arm robotic arm according to claim 3, characterized in that: One end of the support bar (303) is provided with an adhesive block (304), the outer side of the adhesive block (304) is inclined, and the number of adhesive blocks (304) is set to multiple, with multiple adhesive blocks (304) disposed on the top and both sides of the movable plate (301).

5. The flexible grinding device for a dual-arm robotic arm according to claim 1, characterized in that: The movable structure (5) includes a movable rail (501) which is slidably connected to the guide rail (4). A vertical rod (502) is provided at the bottom of the movable rail (501), and side strips (503) are provided at the top and bottom of the outer wall of one side of the vertical rod (502).

6. The flexible grinding device for a dual-arm robotic arm according to claim 5, characterized in that: The inner side of the side strip (503) is provided with a groove (504), and the groove (504) is slidably connected to the bonding strip (602).

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