Polishing robot end effector with bias adjustment function

Abstract

The utility model belongs to the field of intelligent polishing, especially a polishing robot end effector with function is adjusted to the deviation. The technology includes end effector and cylinder flange, the quick detachable mechanism that is convenient for installing and disassembling to end effector is installed on the cylinder flange, and the quick detachable mechanism includes T socket that is installed on the cylinder flange, and the T socket is horizontally inserted with the plug -in post, one end of plug -in post is fixedly connected with end effector, and the front and back sidewall of plug -in post all are installed with the sleeve, and the front and back of plug -in post all are provided with the limiting rod for inserting into the sleeve, and the top of T socket is vertically installed with the support rod, and the support rod is installed with the drive assembly for driving the limiting rod to insert into the sleeve. The utility model is convenient for disassembling and installing to end effector.

Description

Technical Field

[0001] This utility model belongs to the field of intelligent grinding, and in particular relates to an end effector of a grinding robot with a deviation adjustment function. Background Technology

[0002] Existing technology, patent CN216179329U, discloses a grinding robot end effector with a deviation adjustment function. A cylindrical flange is connected to the robot's end effector, and the other side of the flange is connected to a main beam. A drive wheel assembly is mounted on the main beam, providing grinding power to the actuator via a drive motor assembly. A tension cylinder and a constant force execution cylinder are fixed on the main beam. The tension cylinder is connected to a tension wheel assembly with a deviation adjustment function, and the constant force execution cylinder is connected to a contact wheel assembly. A vision sensor assembly is fixedly mounted on the contact wheel assembly. The grinding belt is supported by the drive wheel, tension wheel, and contact wheel as fulcrums. The tension cylinder extends to push the tension wheel to tension the grinding belt, achieving grinding and polishing of the target position. This invention can be used for grinding and polishing the surfaces of large, difficult-to-move workpieces in confined working spaces with complex conditions and poor operational flexibility.

[0003] When in use, the device is connected to the end effector of the grinding robot via a cylindrical flange. The cylindrical flange and the end effector of the grinding robot need to be fixed with multiple bolts, which is inconvenient for the installation of the end effector, as well as for the disassembly, maintenance or replacement of the end effector. In addition, the end effector is composed of multiple parts, and if the moving parts are not lubricated for a long time, it will cause wear and tear on the end effector. Utility Model Content

[0004] The purpose of this invention is to provide a grinding robot end effector with an adjustment function, which facilitates the disassembly and installation of the end effector.

[0005] The aforementioned grinding robot end effector with a deviation adjustment function includes an end effector and a cylindrical flange. The cylindrical flange is equipped with a quick-release mechanism for easy installation and removal of the end effector. The quick-release mechanism includes a T-shaped socket installed on the cylindrical flange, with a horizontally inserted post on the T-shaped socket. One end of the post is fixedly connected to the end effector. Sleeves are installed on the front and rear side walls of the post. Limiting rods for insertion into the sleeves are provided on both the front and rear sides of the post. A support rod is vertically installed on the top of the T-shaped socket, and a drive component for driving the limiting rods to insert into the sleeves is installed on the support rod.

[0006] Furthermore, the drive assembly protects a screw rod horizontally mounted on the left side wall of the support rod, the screw rod being rotatably engaged with the support rod, and a sliding plate rotatably engaged with the screw rod. A guide rod is horizontally mounted on the left side wall of the support rod to allow the sliding plate to slide only left and right. A movable plate is horizontally mounted on the left side wall of the sliding plate, and a sliding groove with an upward opening is horizontally mounted on the limiting rod. The sliding groove has no bottom. Both the front and rear ends of the movable plate are horizontally hinged with rotating rods, which rotate left and right along the hinge points. A round pin rotatably engages with one end of the rotating rod, and the lower end of the round pin is installed in the sliding groove, where the round pin and the sliding groove are slidably engaged left and right. A guide sleeve slidably engages with the limiting rod, which allows the limiting rod to move only back and forth. The guide sleeve is mounted on the T-shaped socket via a connecting rod.

[0007] Furthermore, a fixing plate is horizontally installed on the top of the support rod, and a lubrication mechanism for lubricating the moving parts inside the end effector is installed on the top of the fixing plate. The lubrication mechanism includes a lubricating fluid tank installed on the top of the fixing plate, a pump body installed inside the lubricating fluid tank, the inlet of the pump body being connected to the inside of the lubricating fluid tank through a pumping pipe, and the outlet of the pump body being connected to a delivery pipe, which is detachably connected to a flexible hose.

[0008] Furthermore, a drip ball is installed at the outlet of the hose.

[0009] Furthermore, the fixed top is equipped with a reel for winding and unwinding the hose.

[0010] Furthermore, the top of the lubricant tank is provided with an inlet that communicates with both the inside and outside. An inlet tube is vertically inserted into the inlet tube, and a sealing cap is detachably installed on the upper end of the inlet tube for sealing the upper end of the inlet tube.

[0011] Furthermore, a level bar is installed on the lubricant tank.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] This invention involves inserting the plug into the T-shaped socket, then rotating the screw clockwise to move the sliding plate to the right, which in turn rotates the rotating rod. The rotation of the rotating rod causes the round pin 48 to slide to the left along the slide groove. Simultaneously, the round pin pushes the two slide grooves and the two limit rods closer together, causing the lower end of the limit rod to insert into the retaining sleeve, thus facilitating the installation of the end effector. For disassembly, the screw is reversed, causing the sliding plate to move to the left, which in turn rotates the rotating rod. The rotation of the rotating rod causes the round pin to slide to the right along the slide groove. Simultaneously, the round pin moves the two slide grooves and the two limit rods away from each other, pulling the lower end of the limit rod out of the retaining sleeve. After the limit rod is pulled out, the end effector is pulled to the left, pulling the plug out of the T-shaped socket, completing the disassembly of the end effector. Disassembly is very convenient. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model;

[0015] Figure 2 This is a structural diagram of the quick-assembly / disassembly mechanism;

[0016] Figure 3 This is a schematic diagram of the lubrication mechanism;

[0017] Figure 4 This is a schematic diagram of the structure of the tubing and the drip ball;

[0018] The components in the diagram are named as follows: 1. End effector; 2. Grinding robot end effector; 3. Cylindrical flange; 4. Quick-release mechanism; 41. T-socket; 42. Insert; 43. Sleeve; 44. Connecting rod; 45. Guide sleeve; 46. Limiting rod; 47. Slide groove; 48. Round pin; 49. Rotating rod; 410. Moving plate; 411. Support rod; 412. Guide rod; 413. Screw; 414. Slide plate; 5. Lubrication mechanism; 51. Lubricating fluid tank; 52. Pump body; 53. Pumping pipe; 54. Delivery pipe; 55. Hose; 56. Drop ball; 57. Adding pipe; 58. Sealing cap; 59. Rewinding reel; 510. Liquid level bar. Detailed Implementation

[0019] 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.

[0020] Example 1

[0021] This embodiment describes a grinding robot end effector with a deviation adjustment function, comprising an end effector 1 and a cylindrical flange 3. The cylindrical flange 3 is equipped with a quick-release mechanism 4 for easy installation and removal of the end effector 1. The quick-release mechanism 4 includes a T-shaped socket 41 mounted on the cylindrical flange 3, such as... Figure 1 ,and Figure 2 As shown, the T-type socket 41 consists of a vertical plate and a horizontal rectangular tube. The center of the right side wall of the plate is fixedly connected to the cylindrical flange 3, and the rectangular tube is horizontally installed at the center of the left side wall of the plate, with the rectangular tube connected to the left and right sides.

[0022] A plug 42 is horizontally inserted into the T-shaped socket 41, and one end of the plug 42 is fixedly connected to the end effector 1, such as... Figure 1 and Figure 2As shown, the right end of the plug 42 is inserted into the rectangular tube on the T-shaped socket 41, and the plug 42 and the rectangular tube are in a plug-in fit. The left end of the plug 42 is installed on the end effector 1. In actual application, the end effector 1 is an adjustable bias end effector.

[0023] Both the front and rear side walls of the insertion post 42 are equipped with retaining sleeves 43, and both the front and rear sides of the insertion post 42 are provided with limiting rods 46 for insertion into the retaining sleeves 43, such as... Figure 1 and Figure 2 As shown, when the right end of the insertion post 42 is inserted into the T-shaped socket 41, there is a gap between the card sleeve 43 and the T-shaped socket 41.

[0024] like Figure 2 As shown, the sleeve 43 has a front-to-back through structure. The rear end of the front sleeve 43 is installed on the front side wall of the insertion post 42, and the front end of the rear sleeve 43 is installed on the rear side wall of the insertion post 42. The internal structure of the insertion post 42 is a convex structure. The limiting rod 46 has an overall U-shaped structure. The end of the lower side wall of the limiting rod 46 is used to insert into the sleeve 43, and the end of the lower side wall of the limiting rod 46 has a convex structure. The ends of the upper and lower horizontal side walls of the limiting rod 46 are in sliding fit with the insertion post 42. The end surfaces of the upper and lower horizontal side walls of the limiting rod 46 are in contact with the inner surface of the sleeve 43 to prevent the insertion post 42 from shaking during use.

[0025] A support rod 411 is vertically mounted on the top of the T-shaped socket 41, such as Figure 1 and Figure 2 As shown, the support rod 411 is mounted on the plate of the T-shaped socket 41, and the support rod 411 is located at the center of the top of the plate.

[0026] To further explain, such as Figure 1 and Figure 2 As shown, a screw 413 is horizontally mounted on the left side wall of the support rod 411, and the screw 413 is rotatably engaged with the support rod 411. A sliding plate 414, which is rotatably engaged with the screw 413, is fitted onto the screw 413. A guide rod 412, which allows the sliding plate 414 to slide only left and right, is horizontally mounted on the left side wall of the support rod 411. A movable plate 410 is horizontally mounted on the left side wall of the sliding plate 414. A sliding groove 47 with an upward opening is horizontally mounted on the limiting rod 46. The sliding groove 47 has no bottom. Both the front and rear ends of the movable plate 410 are horizontally hinged to rotating parts. Rod 49, rotating rod 49 rotates left and right at the hinge. A pin 48 is vertically inserted at one end of the rotating rod 49 and rotates with it. The lower end of the pin 48 is installed in the slide groove 47 and slides left and right with the pin 48 and the slide groove 47. A guide sleeve 45 is fitted on the limiting rod 46 and slides with it. The guide sleeve 45 is used to make the limiting rod 46 move only back and forth. The guide sleeve 45 is installed on the T-shaped socket 41 through the connecting rod 44. This paragraph as a whole constitutes the driving assembly for driving the limiting rod 46 to be inserted into the sleeve 43.

[0027] like Figure 1 and Figure 2 As shown, the guide rod 412 is located directly below the screw 413. The right end of the guide rod 412 is installed on the left side wall of the support rod 411. The left end of the screw 413 is equipped with a rotating handle, which allows the operator to rotate the screw 413. In actual application, an installation groove is provided on the left side wall of the support rod 411. A bearing that is vertically connected to the left and right is installed in the installation groove. The right end of the screw 413 is inserted into the inner ring of the bearing, so that the screw 413 and the support rod 411 are in a rotational fit.

[0028] like Figure 1 and Figure 2 As shown, the upper end of the slide plate 414 has a threaded hole that is open to both sides. The threaded hole is threadedly engaged with the screw 413. The slide plate 414 is fitted onto the screw 413 through the threaded hole. The bottom of the slide plate 414 is in contact with the top of the guide rod 412, and the bottom of the slide plate 414 and the top of the guide rod 412 are in a left-right sliding engagement. Thus, the guide rod 412 restricts the slide plate 414, so that the slide plate 414 can only slide left and right and will not rotate with the screw 413.

[0029] like Figure 2 As shown, hinge shafts are vertically installed on both the front and rear ends of the top of the movable plate 410. One end of each of the two rotating rods 49 is provided with a through hole that is open from top to bottom. The rotating rods 49 are fitted onto the hinge shafts through the through holes, and the rotating rods 49 and the hinge shafts are in a rotating fit.

[0030] like Figure 1 and Figure 2 As shown, the slide groove 47 is installed at the end of the upper side wall of the limiting rod 46, and the lower end of the round pin 48 is located inside the slide groove 47. The lower end of the round pin 48 slides along the slide groove 47.

[0031] like Figure 1 and Figure 2 As shown, the guide sleeve 45 is fitted onto the lower side wall of the limiting rod 46, and the guide sleeve 45 and the lower side wall of the limiting rod 46 are in a sliding fit. The connecting rod 44 has an L-shaped structure, with one end of the connecting rod 44 installed on the T-shaped socket 41 and the other end of the connecting rod 44 installed on the right outer side wall of the guide sleeve 45.

[0032] In practical applications, the drive assembly can also consist of an electric push rod, a rotating rod, a round pin, a slide groove, and a movable plate. The electric push rod is horizontally mounted on the left side wall of the support rod 411, and the motor of the support rod 411 is mounted on the left side wall of the support rod 411. The movable plate is horizontally mounted on the movable end of the push rod of the electric push rod. The two rotating rods are respectively hinged to the front and rear ends of the movable rod. The rotating rods rotate back and forth along the hinge. The round pin is vertically inserted into the other end of the rotating rod. The round pin and the rotating rod are in a rotational engagement. The slide groove is installed at the end of the upper side wall of the limit rod 46. The groove opening faces upward, and the lower end of the round pin is located inside the slide groove. The round pin and the slide groove are in a sliding engagement.

[0033] In this embodiment, when used, as follows: Figure 1 As shown, the cylindrical flange 3 is pre-installed on the end 2 of the grinding robot, and then the insert 42 is inserted into the T-shaped socket 41. At this time, the sleeve 43 will be aligned with the end of the lower side wall of the limiting rod 46. Then, the screw 413 is rotated clockwise, causing the slide plate 414 to move to the right along the guide rod 412. The slide plate 414 simultaneously drives the moving plate 410 to move to the right, which in turn drives the rotating rod 49 to rotate. The rotation of the rotating rod 49 will cause the round pin 48 to slide to the left along the slide groove 47. At the same time, the round pin 48 pushes the two slide grooves 47 closer together. The slide grooves 47 then push the two limiting rods 46 closer together, so that the end of the lower side wall of the limiting rod 46 is inserted into the sleeve 43. After the limiting rod 46 is inserted, the screw 413 is stopped from rotating. 13, thus facilitating the installation of the end effector 1; during disassembly, reverse screw 413 to move slide plate 414 to the left along guide rod 412. Slide plate 414 simultaneously drives moving plate 410 to the left, thereby driving rotating rod 49 to rotate. Rotation of rotating rod 49 will drive pin 48 to slide to the right along slide groove 47. At the same time, pin 48 drives two slide grooves 47 to move away from each other. Slide grooves 47 then drive two limit rods 46 to move away from each other. Pull the end of the lower side wall of limit rod 46 out of sleeve 43. After limit rod 46 is pulled out, pull end effector 1 to the left to pull pin 42 out of T-socket 41, completing the disassembly of end effector 1. Disassembly is very convenient.

[0034] Example 2

[0035] This embodiment further illustrates the technology. A fixing plate is horizontally mounted on the top of the support rod 411. A lubrication mechanism 5 for lubricating the moving parts inside the end effector 1 is mounted on the top of the fixing plate. The lubrication mechanism 5 includes a lubricant tank 51 mounted on the top of the fixing plate. Figure 1 and Figure 3 As shown, the center of the bottom of the fixed plate is fixedly connected to the top of the support rod 411.

[0036] A pump body 52 is installed inside the lubricating fluid tank 51. The inlet of the pump body 52 is connected to the interior of the lubricating fluid tank 51 through a pumping pipe 53. Figure 3As shown, the pump body 52 is installed at the bottom of the lubricating fluid tank 51, and the pumping pipe 53 is located inside the lubricating fluid tank 51. One end of the pumping pipe 53 is connected to the inlet of the pump body 52, and the other end of the pumping pipe 53 is connected to the back of the lubricating fluid tank 51. In actual application, the pump body 52 is a submersible pump.

[0037] The outlet of the pump body 52 is connected to a delivery pipe 54, and the delivery pipe 54 is detachably connected to a flexible hose 55, such as... Figure 1 and Figure 3 As shown, the top of the lubricating fluid tank 51 has a fixing hole that connects the inside and outside. One end of the delivery pipe 54 is connected to the outlet of the pump body 52, and the other end of the delivery pipe 54 passes through the fixing hole and exits the lubricating fluid tank 51.

[0038] To further explain, such as Figure 4 As shown, a drip ball 56 is installed at the outlet of the hose 55; the lubricant is dripped into the moving parts of the end effector 1 through the drip ball 56, preventing a large amount of lubricant from flowing into the end effector 1 at once.

[0039] In this embodiment, the pump body 52 is started, and the pump body 52 draws the lubricating oil in the lubricating oil tank 51 into the delivery pipe 54 through the pumping pipe 53. The lubricating oil in the delivery pipe 54 flows into the hose 55, and the lubricating oil in the hose 55 is then dripped onto the moving parts in the end effector 1 through the drip ball 56 for lubrication.

[0040] Example 3

[0041] This embodiment further illustrates the technology, wherein the fixed top is equipped with a reel 59 for winding and unwinding the hose 55, as shown below. Figure 1 and Figure 3 As shown, the winding reel 59 is mounted on top of the fixed plate. The winding reel 59 is located in front of the lubricant tank 51; in actual application, the hose 55 is wound onto the winding reel 59 to store the hose 55.

[0042] Example 4

[0043] This embodiment further illustrates the technology. The top of the lubricant tank 51 has an inlet that communicates with both the inside and outside of the tank. An inlet tube 57 is vertically inserted into the inlet. A sealing cap 58 is detachably installed at the upper opening of the inlet tube 57 to seal it. Figure 1 and Figure 3 As shown; in actual application, the structure of the sealing cap 58 is the same as that of a mineral water bottle cap. An external thread is provided on the outer wall of the upper opening of the adding tube 57, and an internal thread is provided on the inner wall of the sealing cap 58 to engage with the external thread. The sealing cap 58 is installed at the upper opening of the adding tube 57 in a threaded manner.

[0044] To further explain, such as Figure 1 and Figure 3 As shown, a level bar 510 is installed on the lubricant tank 51; the level bar 510 is located on the left side wall of the lubricant tank 51.

[0045] In this embodiment, the sealing cap 58 is removed, and lubricant is added to the lubricant tank 51 through the adding tube 57; by observing the liquid level bar 510, it can be determined how much lubricant is left in the lubricant tank 51.

Claims

1. A grinding robot end effector with an alignment function, comprising an end effector (1) and a cylindrical flange (3), characterized in that: The cylindrical flange (3) is equipped with a quick-release mechanism (4) for easy installation and removal of the end effector (1). The quick-release mechanism (4) includes a T-shaped socket (41) installed on the cylindrical flange (3). A plug (42) is horizontally inserted into the T-shaped socket (41). One end of the plug (42) is fixedly connected to the end effector (1). A retaining sleeve (43) is installed on the front and rear side walls of the plug (42). A limiting rod (46) for inserting into the retaining sleeve (43) is provided on both the front and rear sides of the plug (42). A support rod (411) is vertically installed on the top of the T-shaped socket (41). A drive assembly for driving the limiting rod (46) to insert into the retaining sleeve (43) is installed on the support rod (411).

2. The end effector of the grinding robot with adjustment function according to claim 1, characterized in that: The drive assembly protects the screw (413) horizontally mounted on the left side wall of the support rod (411). The screw (413) is rotatably engaged with the support rod (411). A sliding plate (414) rotatably engages with the screw (413). A guide rod (412) is horizontally mounted on the left side wall of the support rod (411) to allow the sliding plate (414) to slide only left and right. A moving plate (410) is horizontally mounted on the left side wall of the sliding plate (414). A sliding groove (47) with an upward opening is horizontally mounted on the limiting rod (46). The sliding groove (47) has no bottom. The front and rear ends of the movable plate (410) are both horizontally hinged with rotating rods (49). The rotating rods (49) rotate left and right along the hinge. A round pin (48) is vertically inserted on one end of the rotating rod (49) and rotates with it. The lower end of the round pin (48) is installed in the slide groove (47). The round pin (48) and the slide groove (47) slide left and right. A guide sleeve (45) is fitted on the limiting rod (46) and slides with it. The guide sleeve (45) is used to make the limiting rod (46) move only back and forth. The guide sleeve (45) is installed on the T-type socket (41) through the connecting rod (44).

3. The end effector of the grinding robot with adjustment function according to claim 1, characterized in that: A fixing plate is horizontally installed on the top of the support rod (411). A lubrication mechanism (5) for lubricating the moving parts inside the end effector (1) is installed on the top of the fixing plate. The lubrication mechanism (5) includes a lubricating fluid tank (51) installed on the top of the fixing plate. A pump body (52) is installed inside the lubricating fluid tank (51). The inlet of the pump body (52) is connected to the inside of the lubricating fluid tank (51) through a pumping pipe (53). The outlet of the pump body (52) is connected to a delivery pipe (54). The delivery pipe (54) is detachably connected to a hose (55).

4. The end effector of the grinding robot with adjustment function according to claim 3, characterized in that: A dropper ball (56) is installed at the outlet of the hose (55).

5. The end effector of the grinding robot with adjustment function according to claim 4, characterized in that: The fixed top is equipped with a reel (59) for winding up and unwinding the hose (55).

6. The end effector of the grinding robot with adjustment function according to claim 3, characterized in that: The top of the lubricant tank (51) is provided with a filling port that communicates with both the inside and outside. A filling tube (57) is vertically inserted into the filling port. A sealing cap (58) for sealing the upper opening of the filling tube (57) is detachably installed.

7. The end effector of the grinding robot with adjustment function according to claim 6, characterized in that: A level bar (510) is installed on the lubricant tank (51).

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