A Rotary Robotic Grinding End Effector

Abstract

This utility model belongs to the field of electronic equipment, and specifically relates to a rotatable robotic grinding end effector. The technology includes a vertically arranged electric spindle, with a grinding head detachably mounted at its bottom. The electric spindle drives the grinding head to rotate. Two cooling arc plates for cooling the grinding head are mounted on the side wall of the electric spindle, and a drive assembly for driving the two cooling arc plates to contact the grinding head. The cooling arc plates are hollow, and a liquid supply assembly for supplying liquid to the cooling arc plates is mounted on the drive assembly. This utility model rapidly cools the grinding head using the coolant within the cooling arc plates, allowing operators to change the grinding head more quickly.

Description

Technical Field

[0001] This utility model belongs to the field of electronic equipment, and in particular relates to a rotatable robot grinding end effector. Background Technology

[0002] In the prior art, patent CN217728275U discloses a rotatable robot grinding end effector, including an L-shaped support frame, an electric rotary table, and a grinding head driven by an electric spindle. The L-shaped support frame is connected to the robot via a robot connecting flange, a six-dimensional force and torque sensor, and an end effector connecting flange. The electric rotary table is fixed to the left side of the L-shaped support frame. The electric spindle mounting base is fixed to the electric rotary table, and a laser rangefinder is also fixed to one side of the electric spindle mounting base. A dust suction hood is installed at one end of a connecting sleeve, and the other end of the connecting sleeve is connected to the electric spindle. The connecting sleeve can prevent grinding dust from entering the electric spindle, and a sealed cavity is formed between the dust suction hood and the grinding head. This actuator is used in grinding robots. The actuator has a simple structure, is easy to control, and has strong versatility, thereby improving labor productivity and effectively reducing production costs.

[0003] In actual use, although the aforementioned equipment can perform constant force grinding through the intelligent control system and remove grinding debris using a dust hood, the grinding head rotates continuously at high speed during grinding, generating high temperatures. When the grinding head needs to be replaced, the existing equipment cannot cool it down quickly, resulting in a long cooling time and making it inconvenient to replace the grinding head quickly. Utility Model Content

[0004] The purpose of this invention is to provide a rotatable robotic grinding end effector that can quickly reduce the temperature of the grinding head, allowing workers to quickly replace the grinding head.

[0005] The rotatable robot grinding end effector includes a vertically arranged electric spindle. A grinding head is detachably mounted on the bottom end of the electric spindle. The electric spindle is used to drive the grinding head to rotate. Two cooling arc plates for cooling the grinding head and a drive assembly for driving the two cooling arc plates to fit against the grinding head are mounted on the side wall of the electric spindle. The cooling arc plates are hollow structures. A liquid supply assembly for supplying liquid to the cooling arc plates is mounted on the drive assembly.

[0006] Furthermore, the drive assembly includes a mounting plate horizontally mounted on the outer wall of the electric spindle. The mounting plate has two vertically connected sliding grooves, which are distributed front to back. Each groove contains a slider that slides back and forth with it. A slide plate is mounted on the bottom of the slider, and an L-shaped rod is vertically mounted on the bottom of the slide plate. The L-shaped rod is fixedly connected to the cooling arc plate by a positioning rod. A servo motor is mounted on the outer wall of the electric spindle, and the servo motor drives the slider to slide along the sliding groove through a transmission assembly.

[0007] Furthermore, the liquid supply assembly includes a constant temperature chamber mounted on a mounting plate. A liquid pump for extracting coolant from the constant temperature chamber is installed on the side wall of the constant temperature chamber. The outlet of the liquid pump is connected to the interior of a cooling arc plate through a drain pipe. The interior of another cooling arc plate is connected to the interior of the constant temperature chamber through a return pipe. The two cooling arc plates are connected to each other through a connecting pipe.

[0008] Furthermore, the cooling arc plate is made of copper.

[0009] Furthermore, it also includes a vertically arranged L-shaped support frame, on which an electric rotary table is vertically installed on the left side wall of the vertical side wall of the L-shaped support frame. The base of the electric rotary table is installed on the left side wall of the vertical side wall of the L-shaped support frame, and the upper end of the electric spindle is installed on the rotating surface of the electric rotary table.

[0010] Furthermore, a six-dimensional force and torque sensor for detecting grinding force is installed on the upper side wall of the horizontal side wall of the L-shaped support frame.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] This invention utilizes a servo motor to drive a drive shaft, which in turn drives an adapter plate. The adapter plate then drives a transmission rod, which in turn drives two fixed shafts to move in opposite directions. This causes two sliders to move in opposite directions along a groove. The sliders, via a slide plate, an L-shaped rod, and a positioning rod, drive two cooling arc plates to move in opposite directions, thereby bringing the inner arc surface of the cooling arc plate into contact with the side wall of the grinding head. Then, a liquid pump is activated to draw coolant from the constant temperature chamber into the cavity of the cooling arc plate. This allows the coolant in the cooling arc plate to rapidly cool the grinding head, enabling workers to replace the grinding head more quickly. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model;

[0014] Figure 2 for Figure 1 The structural diagram on the left;

[0015] Figure 3 Schematic diagram of the drive and cooling components

[0016] Figure 4 A schematic diagram of the structure for mounting the drive assembly onto the electric spindle;

[0017] The components in the diagram are named as follows: 1. L-shaped support frame; 2. Six-dimensional force and torque sensor; 3. Electric rotary table; 4. Electric spindle; 5. Grinding head; 6. Cooling arc plate; 61. Connecting pipe; 62. Constant temperature chamber; 63. Liquid pump; 64. Drain pipe; 65. Return pipe; 7. Mounting plate; 71. Slide plate; 72. L-shaped rod; 73. Positioning rod; 74. Drive shaft; 75. Adapter plate; 76. Transmission rod; 77. Fixing shaft; 78. Slider; 79. Mounting bracket; 710. Servo motor; 711. Slide groove. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0019] Example 1

[0020] This embodiment describes a rotatable robotic grinding end effector, including a vertically arranged electric spindle 4. A grinding head 5 is detachably mounted at the bottom end of the electric spindle 4. The electric spindle 4 drives the grinding head 5 to rotate. Figure 1 , Figure 2 and Figure 3 As shown, a chuck is installed on the rotating shaft of the electric spindle 4. The chuck clamps and fixes the grinding head 5, thereby detachably installing the grinding head 5 at the bottom of the electric spindle 4.

[0021] Two cooling arc plates 6 are installed on the side wall of the electric spindle 4 to cool the grinding head 5, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, when the two cooling arc plates 6 are in contact with each other, they form a tubular structure, which allows the two cooling arc plates 6 to better wrap around the grinding head 5 when they are in contact with each other, increasing the contact area between the inner arc surface of the cooling arc plate 6 and the grinding head 5, thereby better dissipating heat and cooling the grinding head 5.

[0022] In practical applications, the surface of the cooling arc plate 6 that is in contact with the grinding head 5 is the inner arc surface, and the surface that is used to fix the positioning rod 73 is the outer arc surface.

[0023] To further explain, such as Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, a mounting plate 7 is horizontally mounted on the outer wall of the electric spindle 4. Two vertically connected sliding grooves 711 are opened on the mounting plate 7. The two sliding grooves 711 are distributed front and back. A slider 78 is installed in each sliding groove and slides back and forth with it. A slide plate 71 is installed at the bottom of the slider 78. An L-shaped rod 72 is vertically installed at the bottom of the slide plate 71. The L-shaped rod 72 is fixedly connected to the cooling arc plate 6 through a positioning rod 73. A servo motor 710 is mounted on the outer wall of the electric spindle 4. The servo motor 710 drives the slider 78 to slide along the sliding groove 711 through a transmission component. This paragraph as a whole constitutes a drive component for driving the two cooling arc plates 6 to fit against the grinding head 5.

[0024] like Figure 1 , Figure 3 and Figure 4 As shown, the bottom of the slide plate 71 is equipped with two L-shaped rods 72, which are distributed front and back. The rear side of the horizontal sidewall of the front L-shaped rod 72 is opposite to the front side of the horizontal sidewall of the rear L-shaped rod 72. One end of the positioning rod 73 is installed on the left sidewall of the horizontal sidewall of the L-shaped rod 72, and the other end of the positioning rod 73 is installed on the outer arc surface of the cooling arc plate 6. The servo motor 710 is installed on the sidewall of the electric spindle 4 through the mounting bracket 79.

[0025] like Figure 3 and Figure 4 As shown, the transmission assembly consists of a drive shaft 74, an adapter plate 75, a transmission rod 76, and a retaining shaft 77. The drive shaft 74 is vertically mounted on the top of the mounting plate 7, and the drive shaft 74 is rotatably engaged with the mounting plate 7. The drive shaft 74 is located between two slide grooves 711. The upper end of the drive shaft 74 is fixedly connected to the motor shaft of the servo motor 710, so that the servo motor 710 drives the drive shaft 74 to rotate. The adapter plate 75 is horizontally mounted on the drive shaft 74. The transmission rods 76 are hinged to both ends of the top of the adapter plate 75. The transmission rods 76 rotate left and right along the hinge. One end of the transmission rod 76 is hinged to the adapter plate 75. The retaining shaft 77 is vertically mounted on the other end of the transmission rod 76, and the retaining shaft 77 is rotatably engaged with the transmission rod 76. The lower end of the retaining shaft 77 is fixedly connected to the top of the slider 78.

[0026] In practical applications, Figure 3 As shown, a through hole is provided at the center of the top of the adapter plate 75, and the adapter plate 75 is fitted onto the drive shaft 74 through the through hole. The positioning rod 73 is hinged to the adapter plate 75 through the hinge shaft. A mounting hole is provided at the end of the transmission rod 76 that is connected to the retaining shaft 77, and the retaining shaft 77 is vertically inserted into the mounting hole. The retaining shaft 77 and the mounting hole are in a rotational fit. The lower end of the retaining shaft 77 protrudes from the mounting hole and is installed on the top of the slider 78. In actual application, one end of the transmission rod 76 can also be connected to one end of the adapter plate 75 through a hinge or hinge.

[0027] In practical applications, the upper end of the retaining shaft 77 protrudes through the mounting hole, and a limiting block is installed on the top of the retaining shaft 77. The size of the limiting block is larger than the size of the mounting hole, thereby preventing the retaining shaft 77 from separating from the transmission rod 76.

[0028] In practical applications, the transmission assembly can also consist of a drive shaft, a retaining shaft, a threaded rod, and two bevel gears. The threaded rod is horizontally mounted on the top of the mounting plate 7, with the threads of the first and second halves of the threaded rod having opposite directions. One bevel gear is fitted onto the motor shaft of the servo motor 710, and the other bevel gear is fitted onto the threaded rod, located at the center of the threaded rod. Meanwhile, the retaining shaft is vertically mounted on the top of the slider. The upper end of the front retaining shaft has a first threaded hole that connects front and back, and the first thread engages with the thread of the first half of the threaded rod. The upper end of the rear retaining shaft has a second threaded hole that connects front and back, and the second threaded hole engages with the thread of the second half of the threaded rod. The front retaining shaft is fitted onto the first half of the threaded rod through the first threaded hole, and the rear retaining shaft is fitted onto the second half of the threaded rod through the second threaded hole. Thus, when the servo motor 710 is started, the servo motor 710 drives the threaded rod to rotate through the interaction of the two bevel gears. The threaded rod then drives the slider to slide along the slide groove through the retaining shaft.

[0029] All cooling arc plates 6 are hollow structures, which transfer the heat from the grinding head 5 to the coolant inside the cooling arc plate 6. At the same time, the coolant absorbs the heat, thereby reducing the temperature of the grinding head 5.

[0030] To further explain, the cooling arc plate 6 is made of copper, which allows the cooling arc plate 6 to conduct heat better and further improve the cooling speed of the grinding head 5.

[0031] To further explain, such as Figure 1 , Figure 3 and Figure 4 As shown, a constant temperature chamber 62 is installed on the mounting plate 7. A liquid pump 63 for extracting coolant from the constant temperature chamber 62 is installed on the side wall of the constant temperature chamber 62. The outlet of the liquid pump 63 is connected to the inside of a cooling arc plate 6 through a drain pipe 64. The inside of another cooling arc plate 6 is connected to the inside of the constant temperature chamber 62 through a return pipe 65. The two cooling arc plates 6 are connected to each other through a connecting pipe 61. This paragraph as a whole constitutes a liquid supply assembly for supplying liquid to the cooling arc plates 6.

[0032] like Figure 3 and Figure 4 As shown, the constant temperature chamber 62 is installed at the bottom of the mounting plate 7, the liquid pump 63 is installed on the side wall of the constant temperature chamber 62, one end of the connecting pipe 61 is connected to the inside of a cooling arc plate 6, and the other end of the connecting pipe 61 is connected to the inside of another cooling arc plate 6.

[0033] In practical applications, the liquid supply assembly consists of a constant temperature chamber, two drain pipes, two return pipes, and a liquid pump. The inlet of the liquid pump is connected to the inside of the constant temperature chamber, allowing the pump to draw out the coolant from the chamber. The outlet of the liquid pump is connected to one end of each of the two drain pipes via a three-way connector. The other ends of the two drain pipes are connected to the inside of a cooling arc plate 6. One end of each of the two return pipes is connected to the outside of a cooling arc plate 6. Both ends of the two return pipes are connected to the inside of the constant temperature chamber. Each drain pipe corresponds to a cooling arc plate 6, and each return pipe corresponds to a cooling arc plate 6.

[0034] In practical applications, the coolant is any type of coolant commonly used in existing technologies. By utilizing the cold transfer of the coolant to cool the grinding head 5, the cooling speed is not only faster than that of self-heating air cooling, but it also does not damage the grinding head 5.

[0035] In this embodiment, when the grinding head 5 needs to be replaced after deep hole grinding, the servo motor 710 is started. The servo motor 710 drives the drive shaft 74 to rotate, the drive shaft 74 drives the adapter plate 75 to rotate, the adapter plate 75 drives the transmission rod 76 to rotate, the transmission rod 76 drives the two fixed shafts 77 to move towards each other, the fixed shafts 77 drive the two sliders 78 to move towards each other along the slide groove 711, the sliders 78 then drive the slide plate 71 to move, the slide plate 71 drives the two L-shaped rods 72 to move towards each other, the L-shaped rods 72 drive the two cooling arc plates 6 to move towards each other through the positioning rod 73, so that the inner arc surface of the cooling arc plate 6 is in contact with the side wall of the grinding head 5. Then the liquid pump 63 is started, and the liquid in the constant temperature chamber 62 is pumped into the chamber. Coolant is drawn into the cavity of the cooling arc plate 6 through the drain pipe 64. After one cooling arc plate 6 cavity is filled with coolant, the coolant in the cooling arc plate 6 flows into the cavity of the other cooling arc plate 6 through the connecting pipe 61. This allows the coolant in the cooling arc plate 6 to quickly cool down the grinding head 5, enabling the operator to replace the grinding head 5 more quickly. When the coolant in the other cooling arc plate 6 is full, the excess coolant flows back into the constant temperature chamber 62 through the return pipe 65, allowing the coolant to circulate. This allows the coolant in the cooling arc plate 6, after absorbing heat, to flow back into the constant temperature chamber 62 for cooling, thus continuously cooling the grinding head 5 and allowing the coolant to be recycled.

[0036] Example 2

[0037] This embodiment further illustrates the technology, including a vertically arranged L-shaped support frame 1. An electric rotary table 3 is vertically mounted on the left side wall of the vertical sidewall of the L-shaped support frame 1. The base of the electric rotary table 3 is mounted on the left side wall of the vertical sidewall of the L-shaped support frame 1. The upper end of the electric spindle 4 is mounted on the rotating surface of the electric rotary table 3. Figure 1 and Figure 2 As shown, the upper end of the electric spindle 4 is mounted on the rotating surface of the electric rotary table 3 via an electric spindle mounting bracket.

[0038] In practical applications, the electric rotary table 3 is existing technology, consisting of a motor with an encoder, a worm gear structure, an electric rotary table base, and an electric rotary table top cover. The worm gear structure is located in the space formed by the electric rotary table base and the electric rotary table top cover, and the motor with the encoder is connected to the worm gear structure through a coupling.

[0039] In practical applications, the electric rotary table 3 is started according to the grinding position requirements. The rotating surface of the electric rotary table 3 drives the electric spindle 4 and the grinding head 5 to rotate, and the position of the grinding head 5 is adjusted to a suitable position for grinding operations.

[0040] To further explain, such as Figure 1 and Figure 2 As shown, a six-dimensional force and torque sensor 2 for detecting grinding force is installed on the upper side wall of the horizontal side wall of the L-shaped support frame 1. In actual application, the grinding force is detected in real time by the six-dimensional force and torque sensor 2, and the detected grinding force is transmitted to the robot. This allows the robot to monitor the force information of the grinding head 5 in real time during the grinding process. The robot controls the interval between the grinding head 5 and the workpiece to achieve constant force grinding.

Claims

1. A rotatable robotic grinding end effector, comprising a vertically arranged electric spindle (4), characterized in that: The bottom end of the electric spindle (4) is detachably equipped with a grinding head (5). The electric spindle (4) is used to drive the grinding head (5) to rotate. Two cooling arc plates (6) for cooling the grinding head (5) and a drive assembly for driving the two cooling arc plates (6) to fit into the grinding head (5) are installed on the side wall of the electric spindle (4). The cooling arc plates (6) are all hollow structures. A liquid supply assembly for supplying liquid to the cooling arc plates (6) is installed on the drive assembly.

2. The rotatable robotic grinding end effector according to claim 1, characterized in that: The drive assembly includes a mounting plate (7) horizontally mounted on the outer wall of the electric spindle (4). The mounting plate (7) has two vertically connected sliding grooves (711) and the two sliding grooves (711) are distributed front and back. Each sliding groove is equipped with a slider (78) that slides back and forth with it. A sliding plate (71) is installed at the bottom of the slider (78). An L-shaped rod (72) is vertically installed at the bottom of the sliding plate (71). The L-shaped rod (72) is fixedly connected to the cooling arc plate (6) through a positioning rod (73). A servo motor (710) is installed on the outer wall of the electric spindle (4). The servo motor (710) drives the slider (78) to slide along the sliding groove (711) through a transmission assembly.

3. The rotatable robotic grinding end effector according to claim 2, characterized in that: The liquid supply assembly includes a constant temperature chamber (62) mounted on a mounting plate (7). A pump (63) for extracting coolant from the constant temperature chamber (62) is installed on the side wall of the constant temperature chamber (62). The outlet of the pump (63) is connected to the interior of a cooling arc plate (6) through a drain pipe (64). The interior of another cooling arc plate (6) is connected to the interior of the constant temperature chamber (62) through a return pipe (65). The two cooling arc plates (6) are connected to each other through a connecting pipe (61).

4. The rotatable robotic grinding end effector according to claim 1, characterized in that: The cooling arc plate (6) is made of copper.

5. The rotatable robotic grinding end effector according to claim 1, characterized in that: It also includes a vertically arranged L-shaped support frame (1), an electric rotary table (3) is vertically installed on the left side wall of the vertical side wall of the L-shaped support frame (1), the base of the electric rotary table (3) is installed on the left side wall of the vertical side wall of the L-shaped support frame (1), and the upper end of the electric spindle (4) is installed on the rotating surface of the electric rotary table (3).

6. The rotatable robotic grinding end effector according to claim 5, characterized in that: The L-shaped support frame (1) has a six-dimensional force and torque sensor (2) installed on the upper side wall of the horizontal side wall for detecting grinding force.

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