A tool bit structure of a polishing apparatus and a polishing apparatus for a robot arm

Abstract

The application relates to a tool bit structure of a polishing device and a polishing device for a mechanical arm, and relates to the technical field of polishing tools. The tool bit structure comprises a consumable fixing module and a clamping module. The consumable fixing module comprises a consumable and a locking tool handle, and the consumable is fixed on the locking tool handle. The clamping module comprises a clamping shaft, a locking sleeve, a limiting bead and an elastic fixing piece. An fixing groove is formed in one end of the clamping shaft facing the locking tool handle. The locking sleeve is at least partially sleeved on the clamping shaft. The limiting bead is arranged on the clamping shaft. The elastic fixing piece can drive the locking sleeve to move towards the locking tool handle. The locking tool handle is clamped in the fixing groove, and a second limiting groove is formed in the locking tool handle. When the locking sleeve moves towards the locking tool handle, the limiting bead can be partially pressed into the second limiting groove. The tool bit structure provided by the application can realize quick and automatic replacement of the consumable, improve the replacement efficiency and adapt to the automatic production process.

Description

Technical Field

[0001] This application relates to the field of polishing tool technology, specifically to a blade structure for a polishing device and a polishing device for a robotic arm. Background Technology

[0002] Grinding is a common machining process that uses friction from grinding wheels and other structures to change the surface roughness of a workpiece. Meanwhile, with the increasing adoption of smart manufacturing, traditional manual grinding is gradually being replaced by automated equipment such as robotic arms.

[0003] In existing technologies, when using robotic arm grinding equipment, the grinding tool is usually fixed directly to the end of the robotic arm, and the grinding process is controlled and adjusted by the movement of the robotic arm. However, in existing technologies, when fixing the grinding tool to the end of the robotic arm, a separate tooling fixture is usually required. The tooling fixture makes the overall size of the robotic arm more bulky, which may affect the posture and movement of the robotic arm during grinding.

[0004] Furthermore, consumables will wear down during the polishing process, requiring timely replacement. Current technology necessitates manual replacement of these consumables, which is inefficient and unsuitable for automated production processes.

[0005] Therefore, there is an urgent need to provide a grinding equipment that can achieve rapid and automated replacement of consumables, thereby improving replacement efficiency to adapt to automated production processes. Utility Model Content

[0006] The purpose of this application is to provide a cutting head structure for a grinding device and a grinding device for a robotic arm, which can realize rapid and automated replacement of consumables, improve replacement efficiency, and adapt to automated production processes.

[0007] To achieve the above objectives, in a first aspect, this application provides a cutting head structure for a grinding device. The cutting head structure includes a consumable fixing module and a clamping module. The consumable fixing module includes consumables and a locking shank, with the consumables fixed to the locking shank. The clamping module includes a clamping shaft, a locking sleeve, a limiting bead, and an elastic fixing member. A fixing groove is formed at the end of the clamping shaft facing the locking shank. The locking sleeve is at least partially fitted onto the clamping shaft, and the limiting bead is disposed on the clamping shaft. The elastic fixing member can push the locking sleeve to move towards the locking shank. The locking shank is engaged within the fixing groove, and a second limiting groove is formed on the locking shank. When the locking sleeve moves towards the locking shank, it can partially press the limiting bead into the second limiting groove.

[0008] Based on the above embodiments of this application, when the tool head structure is in use, the consumable is fixed to the tool holder for grinding. Then, the locking tool holder is engaged in the fixing groove to connect the consumable fixing module and the clamping module. At this time, the elastic fixing member pushes the locking sleeve towards the locking tool holder. When the limiting bead moves with the locking sleeve to the second limiting groove position, the limiting bead partially engages in the second limiting groove, thereby fixing the relative position between the consumable fixing module and the clamping module. When the consumable needs to be replaced, the locking sleeve is pushed away from the locking tool holder, compressing the elastic fixing member. The locking sleeve moves with the limiting bead and disengages from the second limiting groove, thus separating the consumable fixing module from the clamping module. When installing a new consumable fixing module, simply align the fixing groove of the clamping shaft with the locking shank, insert the locking shank into the fixing groove, and the elastic fixing element will automatically push the locking sleeve to move, causing the limit bead to engage in the second limit groove, thus fixing the newly replaced consumable fixing module to the clamping module. The replacement process is then complete. In summary, with the above settings, when replacing consumables in the tool head structure, the consumable fixing module and the clamping module can be quickly separated by pressing the locking sleeve. Then, aligning the new consumable fixing module with the fixing groove and inserting it will automatically lock it in place. The entire replacement process is simple and quick, enabling rapid and automated consumable replacement, improving replacement efficiency to adapt to automated production processes.

[0009] In some embodiments, the elastic fastener is configured as a spring, which is sleeved on the clamping shaft and abuts against the locking sleeve to push the locking sleeve toward the locking tool holder.

[0010] Based on the embodiments described above, the elastic fastener is specifically configured as a spring. The spring's own elastic force pushes the locking sleeve, thereby causing the limiting bead to engage in the second limiting groove, thus securing the tool holder and the locking sleeve, and consequently securing the consumable fixing module and the clamping module. Furthermore, compared to other elastic structures, the spring itself has a simple structure, resulting in lower cost and easier maintenance and replacement. Moreover, the spring's deformation is a linear deformation along the axial direction, with a stable and more controllable deformation path, thereby improving the overall reliability of the clamping module.

[0011] In some embodiments, the clamping module further includes a protective cover, which is sleeved on the outside of the clamping shaft and forms a clamping cavity between the protective cover and the clamping shaft. The locking sleeve and the elastic fastener are both disposed in the clamping cavity.

[0012] Based on the embodiments described above, by providing a protective cover, on the one hand, the locking sleeve and elastic fasteners can be protected, preventing foreign objects from entering and affecting their movement and fixing process. On the other hand, it can also form a closed space, facilitating lubrication and protection of the locking sleeve and other structures.

[0013] In some embodiments, the consumable fixing module includes a fixing nut, wherein the consumable is directly or indirectly sleeved on the locking handle, and the fixing nut is disposed on the locking handle to fix the consumable to the locking handle.

[0014] Based on the above embodiments of this application, the consumables and the locking tool holder constitute the entire consumable fixing module. When replacing, the entire consumable fixing module is replaced. Furthermore, the consumables are fixed to the locking tool holder by a fixing nut. After the entire consumable fixing module is replaced, the consumables can be replaced individually, realizing the recycling of the fixing nut and the locking tool holder, which facilitates replacement and maintenance and reduces production and processing costs.

[0015] According to a second aspect of this application, a grinding device for a robotic arm is provided. The grinding device includes a power module, a transmission module, a mounting module, and the aforementioned cutting head structure. The power module is directly or indirectly connected to a clamping module to drive the clamping module and the consumable fixing module to rotate. The transmission module is disposed between the power module and the clamping module for power transmission. The mounting module is used for connecting and fixing the grinding device to the robotic arm. The cutting head structure is connected to the power module via the transmission module.

[0016] Based on the above embodiments of this application, the grinding equipment for robotic arms provided in this application includes the aforementioned grinding head structure. When the grinding equipment for robotic arms is in use, the power module provides power output, which is then transmitted to the clamping module via the transmission module, ultimately driving the consumable to rotate and perform the grinding work. Through the above-mentioned configuration of this application, rapid and automated replacement of consumables can be achieved, improving replacement efficiency and meeting the requirements of high-efficiency automated processing.

[0017] In some embodiments, the grinding device for the robotic arm further includes a detection module, which includes a temperature sensor, a speed sensor, and a vibration sensor. The temperature sensor detects the operating temperature of the grinding device. The speed sensor detects the operating speed of the grinding device. The vibration sensor detects the vibration frequency of the grinding device during operation. The temperature sensor, speed sensor, and vibration sensor are directly or indirectly connected to the power module for feedback control of the power module.

[0018] Based on the above embodiments of this application, by setting up a detection module, the temperature, rotation speed and vibration of the grinding equipment during operation are detected respectively, and the feedback adjustment is made in real time according to the detection results, so as to achieve high-precision and high-quality grinding work.

[0019] In some embodiments, a temperature sensor is connected to both the power module and the cutter head structure to detect the operating temperature of both. A speed sensor is connected to both the power module and the cutter head structure to detect the operating speed of both. A vibration sensor is connected to the cutter head structure to detect the vibration frequency of the cutter head structure during operation.

[0020] Based on the embodiments described above, a temperature sensor is used to detect the temperature of the power module and the cutter head structure during operation, thereby better controlling and adjusting their working states and preventing overheating and damage. Similarly, a speed sensor is used to detect the rotational speeds of the power module and the cutter head structure during operation. This allows for separate detection of their rotational speeds to understand and control their working states. Furthermore, the difference in rotational speeds between the power module and the cutter head structure can be used to understand the working state of the transmission module. In addition, a vibration sensor is used to detect the vibration of the cutter head structure during operation, enabling better detection and regulation of its working state.

[0021] In some embodiments, the power module includes a drive motor, the output shaft of which is indirectly connected to the clamping shaft via a transmission module to drive the cutter head structure to rotate.

[0022] Based on the embodiments described above in this application, a drive motor is specifically used as the power source for the power module to drive the grinding operation of the cutting head structure. Simultaneously, a transmission module is used as the power transmission structure between the drive motor and the cutting head structure.

[0023] In some embodiments, the transmission module includes a gear set, which includes a driving gear and a driven gear. The driving gear is directly or indirectly fixed to the output shaft of the drive motor, and the driven gear is directly or indirectly fixed to the clamping shaft. The driven gear meshes with the driving gear for transmission.

[0024] Based on the embodiments described above in this application, the transmission module is specifically configured as a gear set, which serves as the power transmission structure between the drive motor and the cutter head structure. By adjusting the transmission ratio between the driving gear and the driven gear, the speed ratio between the drive motor and the cutter head structure can be controlled, thereby expanding the range of selectable drive motors in actual production processes.

[0025] In some embodiments, the mounting module includes a mounting frame and a mounting plate. A drive motor is fixedly connected to the mounting frame, and the mounting plate is fixed to the mounting frame and connected to the robotic arm.

[0026] Based on the embodiments described above, the mounting frame and mounting plate are specifically designed. The mounting frame is fixed to the outside of the drive motor, ensuring stable support while also providing some protection for the drive motor. The mounting plate structure can be specifically designed according to factors such as the installation station conditions to better connect the grinding equipment and the robotic arm, reducing space occupation while achieving a quick and stable connection.

[0027] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the following detailed description to explain the present application, but do not constitute a limitation thereof. In the drawings:

[0029] Figure 1 This is a schematic diagram of the blade structure of the grinding equipment provided in the embodiments of this application.

[0030] Figure 2 This is a cross-sectional schematic diagram of the blade structure of the grinding equipment provided in the embodiments of this application.

[0031] Figure 3 yes Figure 2 An enlarged schematic diagram of part A in the middle.

[0032] Figure 4 This is a schematic diagram of the structure of the grinding equipment for the robotic arm provided in the embodiments of this application.

[0033] Explanation of reference numerals in the attached figures

[0034] 1. Consumable fixing module; 11. Consumable; 12. Locking tool holder; 13. Second limiting groove; 14. Fixing nut; 2. Clamping module; 21. Clamping shaft; 22. Locking sleeve; 23. Limiting bead; 25. Fixing groove; 27. Protective cover; 271. Front cover; 272. Front baffle; 29. ​​Inclined surface; 3. Power module; 31. Drive motor; 4. Transmission module; 41. Drive gear; 42. Driven gear; 5. Mounting module; 51. Mounting frame; 52. Mounting plate. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0038] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0039] In the description of this application, it should be noted that, unless otherwise stated, the terms "inner," "outer," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and simplifying the description, and do not 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 on this application. In addition, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0040] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" 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 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 application according to the specific circumstances.

[0041] In existing technologies, when using robotic arm grinding equipment, the grinding tool is usually fixed directly to the end of the robotic arm, and the grinding process is controlled and adjusted by the movement of the robotic arm. However, in existing technologies, when fixing the grinding tool to the end of the robotic arm, a separate tooling fixture is usually required. The tooling fixture makes the overall size of the robotic arm more bulky, which may affect the posture and movement of the robotic arm during grinding.

[0042] Furthermore, consumables will wear down during the polishing process, requiring timely replacement. Current technology necessitates manual replacement of these consumables, which is inefficient and unsuitable for automated production processes.

[0043] To address the aforementioned problems in the prior art, according to a first aspect of this application, embodiments of this application provide a blade structure for a grinding device. (Reference) Figures 1 to 3 As shown, the cutter head structure includes a consumable fixing module 1 and a clamping module 2. The consumable fixing module 1 includes a consumable 11 and a locking handle 12, with the consumable 11 fixed to the locking handle 12. The clamping module 2 includes a clamping shaft 21, a locking sleeve 22, a limiting bead 23, and an elastic fixing member (not shown). The clamping shaft 21 has a fixing groove 25 at one end facing the locking handle 12. The locking sleeve 22 is at least partially sleeved on the clamping shaft 21. The limiting bead 23 is disposed on the clamping shaft 21. The elastic fixing member can push the locking sleeve 22 to move towards the locking handle 12. The locking handle 12 is engaged in the fixing groove 25, and a second limiting groove 13 is provided on the locking handle 12. When the locking sleeve 22 moves towards the locking handle 12, it can partially press the limiting bead 23 into the second limiting groove 13.

[0044] Based on the above embodiments of this application, when the tool head structure is in use, the consumable 11 is fixed on the locking handle 12 for grinding. Then, the locking handle 12 is engaged in the fixing groove 25 to connect the consumable fixing module 1 and the clamping module 2. At this time, the elastic fixing member pushes the locking sleeve 22 toward the locking handle 12. When the limiting bead 23 moves with the locking sleeve 22 to the position of the second limiting groove 13, the limiting bead 23 partially engages in the second limiting groove 13, thereby fixing the relative position between the consumable fixing module 1 and the clamping module 2.

[0045] When consumable 11 needs to be replaced, the locking sleeve 22 is pushed away from the locking handle 12, compressing the elastic fixing member. The locking sleeve 22 moves the limiting bead 23 along with it, causing the limiting bead 23 to disengage from the second limiting groove 13. This separates the consumable fixing module 1 from the clamping module 2. When installing a new consumable fixing module 1, simply align the fixing groove 25 of the clamping shaft 21 with the locking handle 12 and insert the locking handle 12 into the fixing groove 25. The elastic fixing member automatically pushes the locking sleeve 22, causing the limiting bead 23 to engage in the second limiting groove 13, thus fixing the newly replaced consumable fixing module 1 to the clamping module 2. The replacement process is then complete.

[0046] In summary, with the above settings, when replacing the consumable 11 of the cutter head structure, the consumable fixing module 1 and the clamping module 2 can be quickly separated by pressing the locking sleeve 22. Then, the new consumable fixing module 1 can be aligned with the fixing groove 25 and inserted to automatically lock. The whole replacement process is simple and quick, thereby enabling the rapid and automated replacement of the consumable 11, improving replacement efficiency to adapt to the automated production process.

[0047] Specifically, when consumable 11 needs to be replaced, the consumable fixing module 1 and clamping module 2 are moved together to the disengagement station, and the locking sleeve 22 is pressed to disengage the consumable fixing module 1 from the clamping module 2. Then, the clamping module 2 is moved to the replacement station, the fixing groove 25 is aligned with the locking tool holder 12 to be replaced, and then the clamping module 2 is moved so that the locking tool holder 12 is inserted into the fixing groove 25 to complete the replacement and locking.

[0048] When the cutter head structure is specifically installed at the end of automated equipment such as a robotic arm, the movement of the cutter head structure to the disengagement station and between the replacement station during the aforementioned consumable replacement process can be automatically and precisely achieved by the robotic arm. Simultaneously, the pressing of the locking sleeve 22 can also be automatically controlled by the robotic arm. For example, by providing a protruding structure on the outside of the locking sleeve 22, the cutter head structure is moved to the edge of the disengagement station. Subsequently, the protruding structure of the locking sleeve 22 abuts against the edge of the disengagement station, and the pressing clamping module 2 compresses the locking sleeve 22 and the elastic fixing member. The old consumable fixing module 1 then naturally falls into the collection structure, thus achieving rapid and automated replacement.

[0049] Furthermore, in this application, during the manufacturing process of the locking tool holder 12 and the locking sleeve 22, the fixing groove 25 on the clamping shaft 21 can be configured as a polygonal slot structure, such as a regular hexagon. At this time, the end of the locking tool holder 12 is correspondingly configured as a cylindrical structure with a polygonal cross-section, thereby achieving relative fixation of the two along the circumferential direction after the locking tool holder 12 is inserted into the fixing groove 25, preventing relative rotation that could affect the grinding effect.

[0050] In some embodiments of this application, the elastic fastener can be configured as a spring, which is sleeved on the clamping shaft 21 and abuts against the locking sleeve 22 to push the locking sleeve 22 toward the locking handle 12.

[0051] Based on the above embodiments of this application, the elastic fastener is specifically configured as a spring. The spring's own elastic force pushes the locking sleeve 22, thereby causing the limiting bead 23 to partially engage within the second limiting groove 13, thus securing the tool holder 12 and the locking sleeve 22, and consequently securing the consumable fixing module 1 and the clamping module 2. Furthermore, compared to other elastic structures, the spring itself has a simple structure, resulting in lower cost and easier maintenance and replacement. Moreover, the spring's deformation is a linear deformation along the axial direction, with a stable and more controllable deformation path, thereby improving the overall reliability of the clamping module 2.

[0052] Specifically, when the elastic fastener is a spring, the spring is sleeved on the clamping shaft 21, and one end of the spring abuts against the locking sleeve 22, while the other end can abut against the boss structure provided on the clamping shaft 21, so as to keep the other end of the spring fixed and ensure that the spring can stably provide thrust to the locking sleeve 22.

[0053] refer to Figure 2 As shown in some embodiments of this application, the clamping module 2 may further include a protective cover 27, which is sleeved on the outside of the clamping shaft 21 and forms a clamping cavity with the clamping shaft 21. The locking sleeve 22 and the elastic fastener are both disposed in the clamping cavity.

[0054] Based on the embodiments described above, by providing the protective cover 27, on the one hand, the locking sleeve 22 and the elastic fastener and other structures can be protected to prevent foreign objects from entering and affecting their movement and fixing process. On the other hand, it can also form a closed space to facilitate lubrication and protection of the locking sleeve 22 and other structures.

[0055] Specifically, the shape of the protective cover 27 can be selected according to any suitable configuration based on the actual structure. For example, in an exemplary embodiment provided in this application, referring to... Figure 2 As shown, the protective cover 27 can be specifically divided into a front cover 271 and a front baffle 272. The main body of the front cover 271 is configured as a cylindrical structure or a frustum-shaped structure, and the front cover 271 is sleeved on the outside of the clamping shaft 21. Then, the front baffle is set at the opening of the front cover 271 to close the opening end of the front cover 271. At this time, the front baffle 272 and the front cover 271 can be fixed together by means of snap-fit ​​or other methods. The specific configuration can be set according to the actual situation, and this application does not impose specific limitations on it.

[0056] In some embodiments of this application, the clamping module 2 may also include a retaining spring (not shown), which is fixed on the clamping shaft 21. When the elastic fixing member pushes the locking sleeve 22 to move so that the limiting bead 23 is partially pressed into the second limiting groove 13, the retaining spring can press the end of the locking sleeve 22, thereby enabling the locking sleeve 22 to press the limiting bead 23 partially into the second limiting groove 13.

[0057] Furthermore, in order to ensure that the locking sleeve 22 can stably push the limiting bead 23 into the second limiting groove 13 when it moves, in some embodiments of this application, reference is made to... Figure 3 As shown, the locking sleeve 22 may have an inclined surface 29 on the side facing the limiting bead 23. As the locking sleeve 22 gradually approaches the locking handle 12 under the push of the elastic fixing member, the inclined surface 29 abuts against the limiting bead 23 and pushes the limiting bead 23 to move in a direction close to the axis of the locking handle, so that the limiting bead 23 is engaged in the second limiting groove 13.

[0058] In this application, the consumable fixing module 1 is not limited to the above structure, and can be set according to the actual situation.

[0059] refer to Figure 2 As shown in the exemplary embodiment provided in this application, the consumable fixing module 1 may further include a fixing nut 14, the consumable 11 is directly or indirectly sleeved on the locking handle 12, and the fixing nut 14 is disposed on the locking handle 12 to fix the consumable 11 to the locking handle 12.

[0060] Based on the above embodiments of this application, the consumable 11 and the locking tool holder 12, etc., constitute the entire consumable fixing module 1. When replacing, the entire consumable fixing module 1 is replaced as a whole. Furthermore, the consumable 11 is fixed to the locking tool holder 12 by the fixing nut 14. After the entire consumable fixing module 1 is replaced, the consumable 11 can be replaced separately, realizing the recycling of the fixing nut 14 and the locking tool holder 12, etc., which not only facilitates replacement and maintenance, but also reduces production and processing costs.

[0061] Specifically, when fixing the consumable 11, a threaded structure is provided on the locking handle 12, which, in conjunction with the fixing nut 14, better secures the consumable 11. Meanwhile, in some other embodiments of this application, the consumable fixing module 1 may also include a fixing sleeve, which is fitted onto the locking handle 12, and then the consumable 11 is fixed to the fixing sleeve. This makes it easier to fix consumables 11 of different sizes and structures.

[0062] Furthermore, it should be noted that this application does not limit the specific type of the aforementioned consumable 11. In specific use, the consumable 11 can be a grinding disc structure such as a grinding wheel, or even a cutting tool structure such as a lathe tool. In this case, the grinding device is replaced by a cutting device. The specific settings and replacements can be made according to the processing scenario, and this application does not impose specific limitations on this. Further, when the consumable 11 is specifically set as a cutting tool structure such as a lathe tool, the connection and fixing method between the consumable 11 and the locking tool holder 12 can be adaptively adjusted to meet the force and accuracy requirements during processing.

[0063] According to a second aspect of this application, a grinding device for a robotic arm is provided. (Reference) Figure 4 As shown, the grinding equipment for the robotic arm includes a power module 3, a transmission module 4, a mounting module 5, and the aforementioned cutting head structure. The power module 3 is directly or indirectly connected to the clamping module 2 to drive the clamping module 2 and the consumable fixing module 1 to rotate. The transmission module 4 is disposed between the power module 3 and the clamping module 2 for power transmission. The mounting module 5 is used for connecting and fixing the grinding equipment to the robotic arm. The cutting head structure is connected to the power module 3 via the transmission module 4.

[0064] Based on the above embodiments of this application, the grinding equipment for robotic arms provided in this application includes the aforementioned grinding head structure. When the grinding equipment for robotic arms is in use, the power module 3 provides power output, which is then transmitted to the clamping module 2 via the transmission module 4, ultimately driving the consumable 11 to rotate and perform the grinding work. Through the above-described configuration of this application, rapid and automated replacement of the consumable 11 can be achieved, improving replacement efficiency and meeting the requirements of highly efficient automated processing.

[0065] In some embodiments of this application, the grinding device for the robotic arm further includes a detection module, which includes a temperature sensor, a speed sensor, and a vibration sensor. The temperature sensor is used to detect the operating temperature of the grinding device. The speed sensor is used to detect the operating speed of the grinding device. The vibration sensor is used to detect the vibration frequency of the grinding device during operation. The temperature sensor, speed sensor, and vibration sensor are directly or indirectly connected to the power module 3 to provide feedback control for the power module 3.

[0066] Based on the above embodiments of this application, by setting up a detection module, the temperature, rotation speed and vibration of the grinding equipment during operation are detected respectively, and the feedback adjustment is made in real time according to the detection results, so as to achieve high-precision and high-quality grinding work.

[0067] Specifically, based on the aforementioned cutter head structure, this application enables rapid and automated replacement of the cutter head consumable 11. Furthermore, when the cutter head structure is mounted on the robotic arm via the power module 3, transmission module 4, and mounting module 5, the entire grinding and consumable replacement process can be controlled by the robotic arm, achieving full automation. Further, by setting up a detection module to monitor the temperature, rotation speed, and vibration of the grinding equipment during operation, not only can the control process be made more precise, but it can also assist artificial intelligence (AI) in achieving intelligent perception and intelligent control.

[0068] Specifically, in practical use, appropriate sensor types and connection methods can be selected according to the actual situation. For example, in some other embodiments of this application, the detection module may also include a noise sensor to detect the noise level of the grinding device during operation. On the one hand, the noise level can be used to determine whether there is an abnormality in the operation of the grinding device, so as to make timely adjustments. On the other hand, adjustments can be made based on the detection results to reduce noise pollution. Alternatively, in some other embodiments of this application, the detection module may also include a torque sensor connected to the cutter head structure to detect the torque at the output end, so as to detect the working status of the grinding equipment and make timely adjustments.

[0069] Furthermore, in other embodiments of this application, the detection module may also include a vision sensor to detect the specific position of the cutting head structure or the contact state between the cutting head structure and the workpiece to be ground, thereby further realizing intelligent sensing and intelligent control. Specific settings can be made according to actual usage, and this application does not impose specific limitations in this regard.

[0070] Furthermore, in some embodiments of this application, a temperature sensor is connected to both the power module 3 and the cutter head structure to detect the operating temperatures of both. A speed sensor is connected to both the power module 3 and the cutter head structure to detect the operating speeds of both. A vibration sensor is connected to the cutter head structure to detect the vibration frequency of the cutter head structure during operation.

[0071] Based on the embodiments described above, a temperature sensor is used to detect the temperature of the power module 3 and the cutter head structure during operation, thereby better controlling and adjusting their working states and preventing overheating and damage. Similarly, a speed sensor is used to detect the rotational speeds of the power module 3 and the cutter head structure during operation. This allows for separate detection of their rotational speeds to understand and control their working states. Furthermore, the difference in rotational speeds between the power module 3 and the cutter head structure can be used to understand the working state of the transmission module 4. In addition, a vibration sensor is used to detect the vibration of the cutter head structure during operation, enabling better detection and regulation of its working state.

[0072] refer to Figure 4 As shown in some embodiments of this application, the power module 3 may include a drive motor 31, the output shaft of which is indirectly connected to the clamping shaft 21 through the transmission module 4 to drive the cutter head structure to rotate.

[0073] Based on the embodiments described above in this application, the drive motor 31 is specifically used as the power source of the power module 3 to drive the grinding operation of the cutting head structure. Simultaneously, the transmission module 4 serves as the power transmission structure between the drive motor 31 and the cutting head structure.

[0074] refer to Figure 4 As shown in some embodiments of this application, the transmission module 4 may include a gear set, which includes a driving gear 41 and a driven gear 42. The driving gear 41 is directly or indirectly fixed to the output shaft of the drive motor 31, and the driven gear 42 is directly or indirectly fixed to the clamping shaft 21. The driven gear 42 meshes with the driving gear 41 for transmission.

[0075] Based on the embodiments described above, by specifically configuring the transmission module 4 as a gear set, the gear set serves as the power transmission structure between the drive motor 31 and the cutter head structure. By adjusting the transmission ratio between the driving gear 41 and the driven gear 42, the speed ratio between the drive motor 31 and the cutter head structure can be controlled, thereby expanding the range of selectable drive motors 31 in actual production and processing.

[0076] Specifically, during production, processing, and assembly, the gear set is not limited to the driving gear 41 and driven gear 42 mentioned above; it can be configured according to actual conditions. For example, an intermediate gear can be set between the driving gear 41 and driven gear 42 to adjust the transmission path and transmission ratio. Furthermore, the driving gear 41 and driven gear 42 can be either cylindrical spur gears or bevel gears. When both the driving gear 41 and driven gear 42 are cylindrical spur gears, power is transmitted in a straight line. When both the driving gear 41 and driven gear 42 are bevel gears, power is transmitted in an L-shaped direction. The specific configuration can be adjusted according to the actual working position structure; this application does not impose any specific limitations on this.

[0077] refer to Figures 1 to 4 As shown in some embodiments of this application, the mounting module 5 includes a mounting frame 51 and a mounting plate 52. The drive motor 31 is fixedly connected to the mounting frame 51, and the mounting plate 52 is fixed to the mounting frame 51 and connected to the robotic arm.

[0078] Based on the embodiments described above, the mounting frame 51 is fixed to the outside of the drive motor 31 by the specifically configured mounting frame 51 and mounting plate 52. This ensures stable support while also providing some protection for the drive motor 31. The mounting plate 52 can be specifically designed according to factors such as the installation station conditions to better connect the grinding equipment to the robotic arm, reducing space occupation while achieving a quick and stable connection.

[0079] The preferred embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various simple modifications can be made to the technical solution of this application, and these simple modifications all fall within the protection scope of this application.

[0080] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not describe the various possible combinations separately.

[0081] Furthermore, various different implementations of this application can be combined in any way, as long as they do not violate the spirit of this application, they should also be regarded as the content disclosed in this application.

Claims

1. A cutting head structure for a grinding device, characterized in that, The cutter head structure includes: A consumable fixing module includes consumables and a locking tool holder, wherein the consumables are fixed on the locking tool holder; The clamping module includes a clamping shaft, a locking sleeve, a limiting bead, and an elastic fixing member. The clamping shaft has a fixing groove at one end facing the locking tool handle. The locking sleeve is at least partially sleeved on the clamping shaft. The limiting bead is disposed on the clamping shaft. The elastic fixing member can push the locking sleeve to move towards the locking tool handle. The locking handle is engaged in the fixing groove, and a second limiting groove is provided on the locking handle. When the locking sleeve moves toward the locking handle, it can press the limiting bead part into the second limiting groove.

2. The blade structure of the grinding equipment according to claim 1, characterized in that, The elastic fastener is configured as a spring, which is sleeved on the clamping shaft and abuts against the locking sleeve to push the locking sleeve toward the locking handle.

3. The blade structure of the grinding equipment according to claim 1, characterized in that, The clamping module also includes a protective cover, which is sleeved on the outside of the clamping shaft and forms a clamping cavity between the protective cover and the clamping shaft. The locking sleeve and the elastic fixing member are both disposed in the clamping cavity.

4. The blade structure of the grinding equipment according to claim 1, characterized in that, The consumable fixing module includes a fixing nut, and the consumable is directly or indirectly sleeved on the locking handle. The fixing nut is disposed on the locking handle to fix the consumable to the locking handle.

5. A grinding device for a robotic arm, characterized in that, The grinding equipment for the robotic arm includes: A power module is directly or indirectly connected to the clamping module to drive the clamping module and the consumable fixing module to rotate; A transmission module is disposed between the power module and the clamping module for power transmission; Mounting modules are used for connecting and securing the grinding equipment to the robotic arm; and... The cutting head structure of the grinding equipment as described in any one of claims 1-4, wherein the cutting head structure is connected to the power module via the transmission module.

6. The grinding equipment for a robotic arm according to claim 5, characterized in that, The grinding equipment for the robotic arm also includes a detection module, which comprises: Temperature sensor used to detect the operating temperature of the grinding equipment used in robotic arms; A speed sensor is used to detect the operating speed of the grinding equipment used in the robotic arm; and... Vibration sensors are used to detect the vibration frequency of the grinding equipment used by the robotic arm during operation; The temperature sensor, the speed sensor, and the vibration sensor are directly or indirectly connected to the power module to provide feedback control of the power module.

7. The grinding equipment for a robotic arm according to claim 6, characterized in that, The temperature sensor is connected to the power module and the cutter head structure respectively to detect the operating temperature of the power module and the cutter head structure; The speed sensor is connected to the power module and the cutter head structure respectively, so as to detect the operating speed of the power module and the cutter head structure respectively; The vibration sensor is connected to the cutter head structure to detect the vibration frequency of the cutter head structure during operation.

8. The grinding equipment for a robotic arm according to claim 5, characterized in that, The power module includes a drive motor, and the output shaft of the drive motor is indirectly connected to the clamping shaft through the transmission module to drive the cutter head structure to rotate.

9. The grinding equipment for a robotic arm according to claim 8, characterized in that, The transmission module includes a gear set, which includes a driving gear and a driven gear. The driving gear is directly or indirectly fixed to the output shaft of the drive motor, and the driven gear is directly or indirectly fixed to the clamping shaft. The driven gear meshes with the driving gear for transmission.

10. The grinding equipment for a robotic arm according to claim 8, characterized in that, The mounting module includes a mounting frame and a mounting plate; The drive motor is fixedly connected to the mounting frame, the mounting plate is fixed to the mounting frame, and connected to the robotic arm.

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