A polishing robot and workstation

Abstract

This utility model discloses a polishing robot and workstation. The polishing robot includes a robotic arm, a grinding component, and a clamping component. The grinding component includes a first base and a first motor fixed to the lower surface of the first base. The output end of the first motor is vertically downward and coaxially connected to a first execution module. The clamping component includes a second base and a second motor fixed to the lower surface of the second base. A second execution module is also vertically arranged on the lower surface of the second base, and the output end of the second motor is orthogonally connected to the second execution module. The end of the robotic arm is provided with a quick-release base. The upper surfaces of the first base and the second base are respectively provided with a first quick-release plate and a second quick-release plate. The center of the quick-release base is provided with a protruding quick-release part, which engages with the center of the first quick-release plate or the second quick-release plate. The polishing robot of this application can quickly switch between grinding and clamping states, and can also cooperate with multiple robotic arms to realize multiple processes simultaneously, effectively improving polishing efficiency and polishing accuracy, and saving costs.

Description

Technical Field

[0001] This utility model relates to the field of grinding and polishing technology, and in particular to a polishing robot and workstation. Background Technology

[0002] Polishing is a precision machining process primarily used to achieve desired surface roughness. This process is typically performed at high speeds, utilizing the cutting action of fine abrasive particles and the shaping effect created by compression. Polishing not only improves surface smoothness but also enhances surface quality and helps reduce localized stress concentrations.

[0003] For complex-shaped workpieces, such as molds, automotive parts, and blades, the surfaces of these parts are mostly free-form, and the polishing process typically accounts for about 40% of the total production time. These processes mostly rely on workers using traditional methods, which are not only time-consuming and labor-intensive but also require long hours of work in dusty and noisy environments. Furthermore, manual polishing can lead to workpiece scrapping due to operational errors, making polishing a critical step in workpiece production.

[0004] Therefore, it is essential to design a polishing robot that can automatically polish workpieces, adapt to different workpiece surface morphologies, and perform different polishing actions. Utility Model Content

[0005] To address the problems of time-consuming and labor-intensive manual polishing in existing technologies, as well as the inaccurate surface treatment of complex-shaped workpieces and the easy scrapping of workpieces, this utility model proposes a polishing robot and workstation to solve the above problems.

[0006] According to a first aspect of this application, a polishing robot is proposed, including a robotic arm, a polishing component, and a clamping component. The polishing component includes a first base and a first motor fixed to the lower surface of the first base. The output end of the first motor is vertically downward and coaxially connected to a first execution module. The clamping component includes a second base and a second motor fixed to the lower surface of the second base. A second execution module is also vertically arranged on the lower surface of the second base. The output end of the second motor is orthogonally connected to the second execution module. The end of the robotic arm is provided with a quick-release base. The upper surfaces of the first base and the second base are respectively provided with a first quick-release plate and a second quick-release plate. The center of the quick-release base is provided with a protruding quick-release part, which engages with the center of the first quick-release plate or the second quick-release plate.

[0007] By adopting the above technical solution, the robot can quickly connect and disconnect with the first or second quick-release plate via the quick-release base at the end, thereby enabling rapid replacement of the robot's end-effector components. The actuator components include a grinding component and a clamping component, allowing the robot to quickly switch between two working states: fine polishing and coarse polishing.

[0008] Preferably, the first execution module includes an upper connecting plate and a lower connecting plate that are parallel to each other. The top surface of the upper connecting plate is coaxially connected to the output end of the first motor, and the upper connecting plate and the lower connecting plate are connected by a guide mechanism. The two ends of the guide mechanism are respectively vertically arranged on the edges of the upper connecting plate and the lower connecting plate.

[0009] By adopting the above technical solution, the upper connecting plate cooperates with the first motor, enabling the first motor to directly drive the entire first execution module to rotate. The setting of the guide mechanism helps the first execution module to make the direction of the subsequent polishing work more accurate, while effectively resisting large lateral pressure.

[0010] A further preferred embodiment includes a low-friction cylinder disposed between the upper connecting plate and the lower connecting plate, wherein a force sensor is disposed on the upper connecting plate facing the low-friction cylinder, and the top of the cylinder body of the low-friction cylinder cooperates with the force sensor.

[0011] By adopting the above technical solution, during the rotation of the first execution module with the first motor, the piston rod of the low-friction cylinder can be displaced, thereby changing the distance between it and the workpiece to be polished. At the same time, when polishing in contact with the workpiece surface, the force sensor can obtain the contact force between the first execution modules, and then use this as a basis to adjust the piston rod of the cylinder to change the contact force between it and the workpiece, so as to achieve the best polishing effect.

[0012] In a further preferred embodiment, a cylinder fixing plate is provided between the upper connecting plate and the lower connecting plate, with the end of the cylinder body passing through and fixed to the center of the cylinder fixing plate, and the edge of the cylinder fixing plate being perpendicularly passed through by a guide mechanism.

[0013] By adopting the above technical solution, the cylinder fixing plate provides stable support for the low-friction cylinder, ensuring that the first execution module in the polishing process can have stable support force, thereby improving the polishing accuracy.

[0014] More preferably, it also includes a grinding wheel at the end of the piston rod of the low-friction cylinder. The end of the piston rod passes through the center of the cylinder fixing plate and the lower connecting plate in sequence and then engages with the grinding wheel. The side of the lower connecting plate facing the grinding wheel is also uniformly provided with damping elements.

[0015] By adopting the above technical solution, the piston rod directly controls the grinding wheel to polish the workpiece surface. The setting of the damping element can avoid the lower connecting plate from directly and rigidly contacting the workpiece, further ensuring that the workpiece and the first execution module will not be damaged during the polishing process.

[0016] Preferably, the second execution module includes a mounting base that is perpendicularly connected to the lower surface of the second base. The mounting base is a hollow cylinder, and a camshaft passes orthogonally through the upper part of the mounting base. The cam portion at the center of the camshaft is placed in the internal cavity of the mounting base, and one end of the camshaft is connected to the output end of the second motor through a coupling.

[0017] By adopting the above technical solution, the second motor controls the camshaft to rotate inside the mounting base, thereby changing the clamping state of the workpiece by the second execution module. This driving method can be achieved simply by the second motor reversing, which can further improve production efficiency and accuracy.

[0018] In a further preferred embodiment, the camshaft also includes shafts at both ends, the shafts protruding from the surface of the mounting base, and a positioning ring provided on the shaft corresponding to the position of the inner surface of the mounting base. The shaft passes through a bearing and a bearing cover in sequence in the direction away from the positioning ring. The bearing is embedded in the mounting base, and the bearing cover is fixed to the outer surface of the mounting base by bolts and presses the bearing towards the positioning ring.

[0019] By adopting the above technical solution, the bearing position is precisely restricted by the positioning ring, and the bearing is fixed in conjunction with the bearing cover, so that the shaft rotates more smoothly, ensuring the stability of the transmission, and also facilitating the maintenance and replacement of the internal structure of the mounting base in the later stage.

[0020] A further preferred embodiment includes an expansion clamp and a pressure cap disposed at the lower part of the mounting base. The expansion clamp passes through the center of the pressure cap, and the pressure cap is engaged with the lower part of the mounting base by bolts, pressing the upper part of the expansion clamp against the mounting base.

[0021] By adopting the above technical solution, the upper part of the expansion chuck is pressed onto the mounting base by the pressure cap, and the expansion chuck is used to clamp the workpiece. When the expansion chuck extends into the workpiece, the drive motor can expand the expansion chuck through the camshaft and press it against the inner surface of the workpiece to achieve clamping of the workpiece. When it is necessary to put the workpiece down, the second motor reverses to make the expansion chuck retract.

[0022] More preferably, it also includes a top head, the expansion chuck includes a plurality of expansion columns, the top of each expansion column is arranged in an equally spaced circumferential array along the bottom inner edge of the mounting base, and the upper outer surface and bottom of the top head respectively abut against the inner surface of each expansion column and the cam portion.

[0023] By adopting the above technical solution, the second motor drives the camshaft to rotate, the cam pushes the top head to move downward, and the inner surface of each expansion column is squeezed and expands outward, thereby realizing the control of the expansion / contraction of the expansion clamp.

[0024] According to a second aspect of this application, a polishing workstation is proposed, including a polishing robot as described above, and further including a belt sander and a workpiece placement rack disposed on both sides of the polishing robot. A robotic arm drives a first execution module to polish the workpiece on the workpiece placement rack or drives a second execution module to clamp the workpiece to the belt sander for polishing.

[0025] By adopting the above technical solution, the polishing workstation can achieve fine polishing of the workpiece surface using the first execution module. When using the second execution module, the workpiece can be clamped to the belt sander for rough polishing. One workstation can simultaneously realize two automated processes: rough polishing and fine polishing, saving labor costs and improving the fineness of workpiece polishing and the surface quality of the workpiece.

[0026] The advantages of this application compared to the prior art are as follows:

[0027] The polishing robot's end effector quickly connects and disconnects from the grinding and clamping components via a quick-release base, allowing for rapid switching between fine polishing and rough polishing modes, thus improving work efficiency. In the grinding component, the guiding mechanism of the first execution module ensures precise polishing direction and resists lateral pressure. A low-friction cylinder, in conjunction with a force sensor, adjusts the distance between the piston rod and the workpiece based on contact force to achieve optimal polishing results. A cylinder mounting plate provides stable support, and the grinding wheel, combined with shock-absorbing elements, prevents damage to the workpiece and the module. The second execution module of the clamping component uses a camshaft-driven expansion chuck, allowing for changes in clamping state simply by rotating the motor forward and backward. A positioning ring and bearing cover ensure smooth shaft rotation, stable transmission, and easy maintenance. The polishing workstation features belt sanders and workpiece racks on both sides, enabling simultaneous automated rough and fine polishing processes, saving labor costs, improving workpiece surface quality, and effectively solving problems such as time-consuming manual polishing, inaccurate handling of complex workpieces, and the risk of workpiece failure. Attached Figure Description

[0028] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and, together with the description, serve to explain the principles of the present invention. Other embodiments and many anticipated advantages of the embodiments will be readily recognized as they become better understood through reference to the following detailed description. Elements in the drawings are not necessarily to scale. The same reference numerals refer to corresponding similar parts.

[0029] Figure 1 This is a schematic diagram of the polishing robot structure according to an embodiment of this application;

[0030] Figure 2 This is an exploded view of the structure of a first execution module according to an embodiment of this application;

[0031] Figure 3 This is an exploded view of the structure of the second execution module according to an embodiment of this application;

[0032] Figure 4 This is a cross-sectional structural schematic diagram of the second execution module according to an embodiment of this application;

[0033] Figure 5 This is a schematic diagram of workpiece clamping according to a specific embodiment of this application;

[0034] Figure 6 This is a schematic diagram of the polishing workstation structure according to an embodiment of this application.

[0035] The meaning of each number in the diagram:

[0036] 01. Robotic arm; 02. Grinding assembly; 03. Clamping assembly; 04. First base; 05. First motor; 06. First execution module; 07. Second base; 08. Second motor; 09. Second execution module; 10. Quick-release base; 11. First quick-release disc; 12. Second quick-release disc; 13. Quick-release part; 14. Upper connecting disc; 15. Lower connecting disc; 16. Guide mechanism; 17. Low-friction cylinder; 18. Force sensor; 19. Cylinder fixing disc; 20. Piston rod; 21. Grinding wheel; 22. Shock absorber; 23. Mounting seat; 24. Camshaft; 25. Cam part; 26. Coupling; 27. Shaft; 28. Positioning ring; 29. ​​Bearing; 30. Bearing cover; 31. Expansion chuck; 32. Pressure cover; 33. Top head; 34. Expansion column; 35. Workpiece; 36. Belt sander; 37. Workpiece placement rack. Detailed Implementation

[0037] In the following detailed description, reference is made to the accompanying drawings, which form part of the detailed description and illustrate illustrative specific embodiments in which the present invention may be practiced. In this regard, directional terms such as “top,” “bottom,” “left,” “right,” “up,” “down,” etc., are used with reference to the orientation of the described figures. Because components of the embodiments can be positioned in several different orientations, directional terms are used for illustrative purposes and are by no means limiting. It should be understood that other embodiments may be utilized or logical changes may be made without departing from the scope of the present invention. Therefore, the following detailed description should not be taken in a limiting sense, and the scope of the present invention is defined by the appended claims.

[0038] According to the first aspect of this application, a polishing robot is proposed. Figure 1 A schematic diagram of a polishing robot structure according to an embodiment of this application is shown, as follows: Figure 1As shown, the polishing robot includes a robotic arm 01, a grinding component 02, and a clamping component 03. The grinding component 02 includes a first base 04 and a first motor 05 fixed to the lower surface of the first base 04. The output end of the first motor 05 is vertically downward and coaxially connected to the first execution module 06. The clamping component 03 includes a second base 07 and a second motor 08 fixed to the lower surface of the second base 07. A second execution module 09 is also vertically arranged on the lower surface of the second base 07. The output end of the second motor 08 is orthogonally connected to the second execution module 09. The end of the robotic arm 01 is provided with a quick-release base 10. The upper surfaces of the first base 04 and the second base 07 are respectively provided with a first quick-release plate 11 and a second quick-release plate 12. The center of the quick-release base 10 is provided with a protruding quick-release part 13, which is engaged with the center of the first quick-release plate 11 or the second quick-release plate 12.

[0039] Specifically, a number of locking elements are arranged around the circumference of the quick-release part 13. Locking beads can be used here to achieve quick release while ensuring a stable connection when the quick-release part 13 is engaged in the center of the first quick-release plate 11 or the second quick-release plate 12. At the same time, positioning elements such as positioning pins can be provided on the first quick-release plate 11 and the second quick-release plate 12 to achieve quick positioning when the quick-release part 13 is engaged with the first quick-release plate 11 and the second quick-release plate 12, saving engagement time.

[0040] By adopting the above technical solution, the robot 01 can be quickly connected and disconnected from the first quick-release plate 11 or the second quick-release plate 12 through the quick-release base 10 at the end, so as to quickly change the execution component at the end of the robot 01. The execution component includes a grinding component 02 and a clamping component 03, so that the robot 01 can quickly switch between two working states: fine polishing and clamping coarse polishing.

[0041] Figure 2 An exploded view of the structure of a first execution module according to an embodiment of this application is shown, as follows: Figure 1-2 As shown, the first execution module 06 includes an upper connecting plate 14 and a lower connecting plate 15 that are parallel to each other. The top surface of the upper connecting plate 14 is coaxially connected to the output end of the first motor 05, and the upper connecting plate 14 and the lower connecting plate 15 are connected by a guide mechanism 16. The two ends of the guide mechanism 16 are respectively vertically arranged on the edges of the upper connecting plate 14 and the lower connecting plate 15.

[0042] Specifically, in this embodiment, both the upper connecting plate 14 and the lower connecting plate 15 are flanges, and the guide mechanism 16 consists of two guide columns, with both ends of the guide columns fixed to the upper connecting plate 14 and the lower connecting plate 15 by fasteners and bolts.

[0043] By adopting the above technical solution, the upper connecting plate 14 cooperates with the first motor 05, so that the first motor 05 can directly drive the entire first execution module 06 to rotate. The setting of the guide mechanism 16 is conducive to making the direction of the polishing work of the first execution module 06 more accurate in the later stage, and at the same time, it can effectively resist the large lateral pressure.

[0044] A further preferred embodiment includes a low-friction cylinder 17 disposed between the upper connecting plate 14 and the lower connecting plate 15, with a force sensor 18 disposed on the upper connecting plate 14 facing the low-friction cylinder 17, and the top of the cylinder body of the low-friction cylinder 17 cooperating with the force sensor 18.

[0045] By adopting the above technical solution, during the rotation of the first execution module 06 with the first motor 05, the piston rod 20 of the low-friction cylinder 17 can be displaced, thereby changing the distance between it and the workpiece 35 to be polished. At the same time, when polishing in contact with the surface of the workpiece 35, the force sensor 18 can obtain the contact force between the first execution modules 06, and then use this as a basis to adjust the piston rod 20 of the cylinder to change the contact force between it and the workpiece 35, so as to achieve the best polishing effect.

[0046] The low-friction cylinder 17 has low friction characteristics, faster response speed, and can generate stable and precise thrust even under low pressure difference. This ensures that the first execution module 06 maintains constant pressure during the polishing operation, which helps to achieve high-quality polishing results and avoids surface damage or uneven treatment caused by excessive or insufficient pressure.

[0047] In a further preferred embodiment, a cylinder fixing plate 19 is provided between the upper connecting plate 14 and the lower connecting plate 15. The end of the cylinder body of the low friction cylinder 17 passes through and is fixed in the center of the cylinder fixing plate 19, and the edge of the cylinder fixing plate 19 is perpendicularly passed through by the guide mechanism 16.

[0048] By adopting the above technical solution, the cylinder fixing plate 19 is configured to provide stable support for the low-friction cylinder 17, ensuring that the first execution module 06 can have stable support force during the polishing process, thereby improving the polishing accuracy.

[0049] More preferably, it also includes a grinding wheel 21 disposed at the end of the piston rod 20 of the low friction cylinder 17. The end of the piston rod 20 passes through the center of the cylinder fixing plate 19 and the lower connecting plate 15 in sequence and then cooperates with the grinding wheel 21. Furthermore, the side of the lower connecting plate 15 facing the grinding wheel 21 is also uniformly provided with damping elements 22.

[0050] Specifically, the grinding wheel 21 can be a V-shaped grinding wheel, which is more conducive to polishing the workpiece 35 at different angles. Meanwhile, the damping element 22 can be made of elastic materials such as foam and rubber.

[0051] By adopting the above technical solution, the piston rod 20 directly controls the grinding wheel 21 to polish the surface of the workpiece 35. The setting of the damping element 22 can prevent the lower connecting plate 15 from directly and rigidly contacting the workpiece 35, further ensuring that the workpiece 35 and the first execution module 06 will not be damaged during the polishing process.

[0052] In this embodiment, the upper connecting plate 14, the lower connecting plate 15, the cylinder fixing plate 19 and other connecting parts are all surface-strengthened, which significantly improves the strength of the parts. At the same time, the low-friction cylinder 17 is selected as the power element, and the guide mechanism 16 is set to effectively resist lateral pressure and reduce the impact on the piston rod 20 during operation.

[0053] Specifically, the first execution module 06 is effectively connected to the robot arm 01 through components such as the upper connecting plate 14 and the first base 04. During operation, the grinding wheel 21 moves along the guide mechanism 16, powered by the low-friction cylinder 17, to achieve precise movement during the polishing process. Before use, the initial air pressure of the low-friction cylinder 17 is adjusted to ensure that the low-friction cylinder 17 can effectively extend and retract. Before polishing, the position of the robot arm 01 is adjusted to change the direction of the guide mechanism 16, thereby changing the contact point between the grinding wheel 21 and the workpiece 35. After polishing begins, the contact force between the grinding wheel 21 and the workpiece 35 is collected by the force sensor 18. The air pressure inside the low-friction cylinder 17 can be collected by an air pressure sensor. By changing the air pressure inside the low-friction cylinder 17, the contact force between the grinding wheel 21 and the workpiece 35 is changed. At the same time, the position adjustment of the robot arm 01 and the guide mechanism 16 can also change the contact force, thereby ensuring that the contact force during the polishing process remains at a stable value, achieving constant force polishing, and improving the polishing effect of the workpiece 35.

[0054] Figure 3 An exploded view of the structure of a second execution module according to an embodiment of this application is shown. Figure 4 A cross-sectional structural schematic diagram of a second execution module according to an embodiment of this application is shown, as follows. Figure 1-4 As shown, the second execution module 09 includes a mounting base 23 that is perpendicularly connected to the lower surface of the second base 07. The mounting base 23 is a hollow cylinder. A camshaft 24 passes orthogonally through the upper part of the mounting base 23. The cam portion 25 at the center of the camshaft 24 is placed in the cavity inside the mounting base 23. One end of the camshaft 24 is connected to the output end of the second motor 08 through a coupling 26.

[0055] By adopting the above technical solution, the second motor 08 controls the camshaft 24 to rotate inside the mounting base 23, thereby changing the clamping state of the second execution module 09 on the workpiece 35. This driving method can be achieved simply by the second motor 08 rotating in both directions, which can further improve production efficiency and accuracy.

[0056] In a further preferred embodiment, the camshaft 24 also includes shafts 27 at both ends. The shafts 27 extend from the surface of the mounting base 23. A positioning ring 28 is provided on the shafts 27 at a position corresponding to the inner surface of the mounting base 23. A bearing 29 and a bearing cover 30 pass through the shafts 27 in sequence in a direction away from the positioning ring 28. The bearing 29 is embedded in the mounting base 23. The bearing cover 30 is fixed to the outer surface of the mounting base 23 by bolts and presses the bearing 29 towards the positioning ring 28.

[0057] By adopting the above technical solution, the position of the bearing 29 is precisely limited by the positioning ring 28, and the bearing 29 is fixed in conjunction with the bearing cover 30, so that the shaft 27 rotates more smoothly, ensuring the stability of the transmission, and also facilitating the maintenance and replacement of the internal structure of the mounting base 23 in the future.

[0058] Further preferably, it also includes an expansion clamp 31 and a pressure cap 32 disposed at the lower part of the mounting base 23. The center of the pressure cap 32 is passed through by the expansion clamp 31, and the pressure cap 32 is engaged with the lower part of the mounting base 23 by bolts, and presses the upper part of the expansion clamp 31 against the mounting base 23.

[0059] By adopting the above technical solution, the upper part of the expansion chuck 31 is pressed onto the mounting base 23 by the pressure cap 32, and the workpiece 35 is clamped by the expansion chuck 31. When the expansion chuck 31 extends into the workpiece 35, the drive motor can expand the expansion chuck 31 through the camshaft 24 and press it against the inner surface of the workpiece 35 to achieve clamping of the workpiece 35. When it is necessary to put down the workpiece 35, the second motor 08 reverses to make the expansion chuck 31 retract.

[0060] More preferably, it also includes a top head 33, and the expansion chuck 31 includes a plurality of expansion pillars 34, the top of each expansion pillar 34 is arranged in an equally spaced circumferential array along the bottom inner edge of the mounting base 23, and the upper outer surface and bottom of the top head 33 respectively abut against the inner surface of each expansion pillar 34 and the cam portion 25.

[0061] Specifically, in this embodiment, the diameter of the central circle formed by the cooperation of each expansion column 34 gradually decreases from the top of the expansion clamp 31 downwards, and remains unchanged after reaching one-third of the distance from the bottom. At the same time, the top head 33 is shaped as a conical column. When the top head 33 moves downwards under the force of the cam part 25, each expansion column 34 will expand outwards due to compression.

[0062] By adopting the above technical solution, the second motor 08 drives the camshaft 24 to rotate, the cam part 25 pushes the top head 33 to move downward, and then the inner surface of each expansion column 34 is squeezed and expands outward, thereby realizing the control of the expansion / contraction of the expansion clamp 31.

[0063] Figure 5 A schematic diagram of workpiece clamping according to a specific embodiment of this application is shown, such as... Figure 1-5 As shown, when it is necessary to clamp the workpiece 35, the second motor 08 below rotates the camshaft 24 through the coupling 26, which in turn drives the top head 33 downward, causing the expansion chuck 31 to expand. The outer surface of the expansion chuck 31 is made of hard rubber, which has good friction properties and can effectively clamp the inner wall of the cylindrical workpiece 35; when it is necessary to release the workpiece 35, simply rotate the second motor 08 in the opposite direction to achieve retraction; this not only ensures a firm clamping of the workpiece 35, but also ensures that there will be no displacement or deformation during processing.

[0064] In this embodiment, the workpiece 35 being clamped is a water tap, which is a bathroom product. According to the structure of the expansion chuck 31, any workpiece 35 with a circular inner surface can be clamped, and it is not limited to water taps.

[0065] According to a second aspect of this application, a polishing workstation is proposed, comprising a polishing robot as described in any of the above descriptions. Figure 6 A schematic diagram of a polishing workstation structure according to an embodiment of this application is shown, as follows: Figure 1-6 As shown, the workstation also includes a belt sander 36 and a workpiece placement rack 37 located on both sides of the polishing robot. The robot arm 01 drives the first execution module 06 to polish the workpiece 35 on the workpiece placement rack 37 or drives the second execution module 09 to clamp the workpiece 35 to the belt sander 36 for polishing.

[0066] By adopting the above technical solution, the polishing workstation can achieve fine polishing of the surface of the workpiece 35 using the first execution module 06. When using the second execution module 09, the workpiece 35 can be clamped to the belt sander 36 for rough polishing. One workstation can simultaneously realize two automated processes of rough polishing and fine polishing, saving labor costs and improving the fineness of the polishing of the workpiece 35 and improving the surface quality of the workpiece 35.

[0067] Specifically, two robotic arms 01 can be set up in a polishing workstation. The two robotic arms 01 cooperate with the grinding component 02 and the clamping component 03 respectively, so that the two actions of rough polishing and fine polishing can be performed simultaneously. The workpiece 35 that needs fine polishing can be placed on the workpiece placement rack 37, or a separate platform can be set up to place the workpiece 35 after rough polishing. Then, the robotic arms 01 drive the grinding component 02 to perform fine polishing on the workpiece 35 on the platform, which helps to improve the overall work efficiency.

[0068] The advantages of this application compared to the prior art are as follows:

[0069] The end effector of the polishing robot's manipulator 01 can be quickly connected and disconnected from the grinding assembly 02 and the first quick-release plate 11 and the second quick-release plate 12 of the clamping assembly 03 via the quick-release base 10. This allows for rapid switching between fine polishing and coarse polishing modes, improving work efficiency. In the grinding assembly 02, the guide mechanism 16 of the first execution module 06 ensures precise polishing direction and resists lateral pressure. The low-friction cylinder 17, in conjunction with the force sensor 18, can adjust the distance between the piston rod 20 and the workpiece 35 based on the contact force to achieve the best polishing effect. The cylinder fixing plate 19 provides stable support, and the grinding wheel 21, combined with the shock-absorbing element 22, prevents damage to the workpiece 35 and the module. The second execution module 09 of the clamping assembly 03 uses a camshaft 24 to drive the expansion chuck 31. The clamping state can be changed simply by the forward and reverse rotation of the motor. The positioning ring 28 and the bearing cover 30 ensure smooth rotation of the shaft 27, stable transmission, and easy maintenance. The polishing workstation is equipped with a belt sander 36 and a workpiece placement rack 37 on both sides, which can simultaneously realize the automated processes of rough polishing and fine polishing, save labor costs, improve the surface quality of the workpiece 35, and effectively solve the problems of long manual polishing time, imprecise handling of complex workpieces 35, and easy scrapping of workpieces 35.

[0070] Obviously, those skilled in the art can make various modifications and changes to the embodiments of this utility model without departing from the spirit and scope of this utility model. In this way, this utility model is also intended to cover such modifications and changes if they fall within the scope of the claims of this utility model and their equivalents. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are described in mutually different dependent claims does not indicate that a combination of these measures cannot be used for profit. Any reference numerals in the claims should not be considered as limiting the scope.

Claims

1. A polishing robot characterized by comprising: The device includes a robotic arm, a grinding assembly, and a clamping assembly. The grinding assembly includes a first base and a first motor fixed to the lower surface of the first base. The output end of the first motor is vertically downward and coaxially connected to a first execution module. The clamping assembly includes a second base and a second motor fixed to the lower surface of the second base. A second execution module is also vertically arranged on the lower surface of the second base. The output end of the second motor is orthogonally connected to the second execution module. The end of the robotic arm is provided with a quick-release base. The upper surfaces of the first base and the second base are respectively provided with a first quick-release plate and a second quick-release plate. The center of the quick-release base is provided with a protruding quick-release part, which engages with the center of the first quick-release plate or the second quick-release plate.

2. The polishing robot according to claim 1, characterized by, The first execution module includes an upper connecting plate and a lower connecting plate that are parallel to each other. The top surface of the upper connecting plate is coaxially connected to the output end of the first motor, and the upper connecting plate and the lower connecting plate are connected by a guide mechanism. The two ends of the guide mechanism are respectively vertically arranged on the edges of the upper connecting plate and the lower connecting plate.

3. The polishing robot according to claim 2, characterized in that, It also includes a low-friction cylinder disposed between the upper connecting plate and the lower connecting plate, wherein a force sensor is disposed on the upper connecting plate facing the low-friction cylinder, and the top of the cylinder body of the low-friction cylinder cooperates with the force sensor.

4. The polishing robot according to claim 3, characterized by A cylinder fixing plate is also provided between the upper connecting plate and the lower connecting plate. The end of the cylinder passes through and is fixed to the center of the cylinder fixing plate, and the edge of the cylinder fixing plate is perpendicularly passed through by the guide mechanism.

5. The polishing robot according to claim 4, characterized in that, It also includes a grinding wheel at the end of the piston rod of the low-friction cylinder. The end of the piston rod passes through the center of the cylinder fixing plate and the lower connecting plate in sequence and then engages with the grinding wheel. The side of the lower connecting plate facing the grinding wheel is also uniformly provided with shock-absorbing elements.

6. The polishing robot according to claim 1, characterized in that, The second execution module includes a mounting base that is perpendicularly connected to the lower surface of the second base. The mounting base is a hollow cylinder. A camshaft passes orthogonally through the upper part of the mounting base. The cam portion at the center of the camshaft is placed in the internal cavity of the mounting base. One end of the camshaft is connected to the output end of the second motor via a coupling.

7. The polishing robot according to claim 6, characterized in that, The camshaft also includes shafts at both ends, which protrude from the surface of the mounting base. Each shaft has a positioning ring at a position corresponding to the inner surface of the mounting base. A bearing and a bearing cover pass through the shaft in sequence in a direction away from the positioning ring. The bearing is embedded in the mounting base, and the bearing cover is fixed to the outer surface of the mounting base by bolts and presses the bearing towards the positioning ring.

8. The polishing robot according to claim 6, characterized in that, It also includes an expansion clamp and a pressure cap disposed at the lower part of the mounting base. The center of the pressure cap is passed through by the expansion clamp, and the pressure cap is engaged with the lower part of the mounting base by bolts, pressing the upper part of the expansion clamp against the mounting base.

9. The polishing robot according to claim 8, characterized in that, It also includes a top head, the expansion chuck comprising a plurality of expansion columns, the tops of each expansion column being arranged in an equally spaced circumferential array along the bottom inner edge of the mounting base, the upper outer surface and the bottom of the top head respectively abutting against the inner surface of each expansion column and the cam portion.

10. A polishing workstation, comprising a polishing robot as described in any one of claims 1-9, characterized in that, It also includes a belt sander and a workpiece placement rack disposed on both sides of the polishing robot. The robotic arm drives the first execution module to polish the workpiece on the workpiece placement rack or drives the second execution module to clamp the workpiece to the belt sander for polishing.

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