Force control device for robotic grinding and polishing

Abstract

This utility model discloses a force control device for grinding and polishing industrial robots, including a control box detachably mounted at the end of the industrial robot. The control box comprises a housing consisting of a top plate, a shell, and a bottom plate. Multiple sliding rods are slidably mounted through the bottom of the bottom plate, and the bottom of the multiple sliding rods is fixedly mounted on the same fixed plate I. A motor I is fixedly mounted on the bottom of the fixed plate I, and a grinding head is detachably connected to the output end of the motor I. An adaptive adjustment mechanism, including a pressure adjustment plate, a detection component, and a motor II, is mounted inside the control box and works in conjunction with the sliding rods. During the grinding process according to the programmed trajectory, the grinding force is automatically adjusted according to the unevenness of the workpiece surface. This solves the problems of cumbersome loading and unloading of grinding devices from industrial robots in existing technologies, and the difficulty in adaptively adjusting the grinding force according to the unevenness of the workpiece surface during grinding.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robot grinding and polishing, and relates to a force control device for robot grinding and polishing. Background Technology

[0002] In industrial production, industrial robot grinding and polishing technology has been widely used in the surface treatment of workpieces such as metals and plastics. In traditional industrial robot grinding and polishing operations, the grinding device is usually connected to the end effector of the industrial robot through a fixed structure. This connection method makes the loading and unloading process of the grinding device relatively cumbersome, requiring the use of various tools to disassemble bolts and other connecting parts. This is not only time-consuming, but may also cause wear on the connecting parts due to repeated loading and unloading, affecting the installation accuracy.

[0003] In terms of grinding force control, most existing industrial robot grinding and polishing devices lack an effective adaptive adjustment mechanism. Industrial robots usually move according to a preset programming trajectory, while the actual workpiece surface often has certain unevenness. When the grinding head encounters a protrusion on the workpiece surface, it is easy to damage the workpiece surface due to excessive grinding force; when it encounters a depression, it may not be thoroughly ground due to insufficient grinding force, making it difficult to ensure the overall grinding quality of the workpiece. Utility Model Content

[0004] In view of this, in order to solve the problem that the grinding force of existing industrial robot grinding and polishing devices cannot be adaptively adjusted, resulting in unstable workpiece grinding quality, this utility model provides a force control device for robot grinding and polishing.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A force control device for grinding and polishing industrial robots includes a control box detachably mounted at the end of the industrial robot.

[0007] The control box includes a box body consisting of a top plate, an outer shell, and a bottom plate. Multiple sliding rods are slidably arranged through the bottom of the bottom plate. The bottom of the multiple sliding rods is fixedly provided with the same fixed plate I. The bottom of the fixed plate I is fixedly provided with a motor I. The output end of the motor I is detachably connected to a grinding head.

[0008] The adaptive adjustment mechanism, which includes a pressure adjustment plate, a detection component and a motor II, is set in the control box and works in conjunction with a sliding rod. During the grinding process according to the programmed trajectory, it automatically adjusts the grinding force according to the unevenness of the workpiece surface.

[0009] Furthermore, an installation plate is fixedly installed at the bottom of the end of the industrial robot. Multiple electromagnet rings are embedded in the bottom of the installation plate, and a positioning pin that matches the electromagnet rings is fixedly installed on the top of the top plate. The top plate is fixed to the bottom of the installation plate by using the electromagnet rings to attract the positioning pin.

[0010] Furthermore, multiple studs are fixedly installed on the top of the base plate, with the top ends of the studs extending to the top of the top plate. The outer wall of the top end of the studs is threaded with a nut ring I that abuts against the top plate, and the outer shell is located between the top plate and the base plate.

[0011] Furthermore, the outer walls of multiple studs are fixedly fitted with the same fixing plate II, and the top of the fixing plate II is fixedly fitted with a motor II. A screw is rotatably connected between the fixing plate II and the base plate via a bearing. The outer walls of the multiple studs are slidably fitted with the same pressure regulating plate, and the top of the pressure regulating plate is fixedly fitted with a nut ring II. The nut ring II is threaded onto the screw. The pressure regulating plate is equipped with a detection component that works with the sliding rod. The sliding rod abuts against the pressure regulating plate, and the detection component detects the pressure of the grinding head to control the lifting and lowering movement of the grinding head.

[0012] Furthermore, the detection component includes two spring pads sleeved on the outer wall of the sliding rod. The lower spring pad is fixedly sleeved on the outer wall of the sliding rod to limit the sliding rod, and the upper spring pad is slidably sleeved on the sliding rod. A spring II is sleeved on the outer wall of the sliding rod, with both ends of the spring II abutting against the two spring pads respectively. A pressure sensor is sleeved on the outer wall of the sliding rod, and the pressure sensor is fixedly installed at the bottom of the pressure regulating plate. The top end of the sliding rod passes through the top of the pressure regulating plate.

[0013] Furthermore, a spring rod is provided between the sliding rod and the top plate. The spring rod includes a rotating seat I fixedly installed at the bottom of the top plate. A rotating cylinder is rotatably installed inside the rotating seat I. A piston rod is slidably installed inside the rotating cylinder. A spring I is installed inside the rotating cylinder. The two ends of the spring I respectively abut against one side of the inner wall of the rotating cylinder and one end of the piston rod. The other end of the piston rod is rotatably installed on the rotating seat II. The rotating seat II is fixedly installed on the top of the sliding rod.

[0014] Furthermore, positioning grooves for limiting the outer shell are provided between the top plate and the bottom plate.

[0015] Furthermore, an aviation plug I is embedded at the bottom of the mounting plate, and an aviation plug II, which is inserted into the top of the top plate, is embedded at the top of the mounting plate.

[0016] The beneficial effects of this utility model are as follows:

[0017] 1. The force control device for robotic grinding and polishing disclosed in this utility model, with a pressure regulating plate, a detection component, and motor II, can precisely control the raising and lowering of the grinding head. Combined with the buffering effect of springs and spring rods, it can ensure accurate adjustment of grinding force, reduce the impact on components, and extend the service life of the device. The pressure regulating plate can slide stably along the stud. The pressure sensor in the detection component can monitor the change of grinding pressure in real time and transmit the signal to the control unit. The control unit controls the operation of motor II according to the signal. Motor II drives the screw to rotate, which drives the pressure regulating plate to rise and fall through the nut ring II, thereby adjusting the position of the grinding head to change the grinding force. The accuracy of this adjustment method can be controlled within a small range. When the grinding head suddenly encounters a protrusion or depression on the surface of the workpiece, the sliding rod will move quickly. At this time, the spring and spring rod will absorb part of the impact force through their own elastic deformation, avoiding rigid collision between the sliding rod and other components, reducing wear and damage to components, and thus extending the service life of the entire device.

[0018] 2. The force control device for robot grinding and polishing disclosed in this utility model allows for quick loading and unloading of the control box and the end of the industrial robot via an electromagnet ring and a positioning pin. The grinding head is detachably connected to the output end of motor I. When loading and unloading the control box, only the on and off power of the electromagnet ring needs to be controlled to complete the fixing and disassembly without the need for complex tools, which greatly shortens the time for loading, unloading and replacing parts and improves work efficiency.

[0019] 3. The force control device for robot grinding and polishing disclosed in this utility model has a stable box structure due to the cooperation between the stud and the nut ring I. The outer shell and the positioning groove can effectively block debris and dust, reducing the probability of damage to internal components. After the nut ring I is tightened, it will tightly abut against the top plate, firmly fixing the top plate to the stud, so that the top plate, outer shell and bottom plate form a whole. When the device vibrates during operation, the parts will not loosen. A large amount of debris and dust will be generated during the grinding process. The outer shell can isolate the inside of the control box from the external environment, and the positioning groove makes the gap between the outer shell and the top plate and bottom plate smaller, making it difficult for debris and dust to enter the inside of the control box through the gap.

[0020] Other advantages, objectives, and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination and study, or may be learned from practice of this invention. The objectives and other advantages of this invention can be realized and obtained through the following description. Attached Figure Description

[0021] To make the objectives, technical solutions, and advantages of this utility model clearer, the preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings, wherein:

[0022] Figure 1This is a three-dimensional structural schematic diagram of the force control device for robotic grinding and polishing according to this utility model;

[0023] Figure 2 This utility model Figure 1 Schematic diagram of the connection structure between the middle mounting plate and the top plate;

[0024] Figure 3 This utility model Figure 1 Schematic diagram of the control box without its outer casing;

[0025] Figure 4 This utility model Figure 1 Schematic diagram of the installation structure of spring II;

[0026] Figure 5 This utility model Figure 1 Sectional view of the middle spring rod.

[0027] Reference numerals: 1. Industrial robot; 2. Control box; 3. Motor I; 4. Grinding head; 5. Mounting plate; 6. Aviation connector I; 7. Electromagnetic ring; 8. Top plate; 9. Housing; 10. Stud; 11. Nut ring I; 12. Aviation connector II; 13. Positioning pin; 14. Base plate; 15. Positioning groove; 16. Sliding rod; 17. Fixing plate I; 18. Pressure regulating plate; 19. Fixing plate II; 20. Motor II; 21. Screw; 22. Nut ring II; 23. Spring rod; 231. Rotating seat I; 232. Rotating cylinder; 233. Spring I; 234. Piston rod; 235. Rotating seat II; 24. Spring washer; 25. Spring II; 26. Pressure sensor. Detailed Implementation

[0028] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this utility model. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0029] like Figure 1The force control device shown is for robotic polishing. The control box 2 is detachably installed at the end of the industrial robot 1. The control box 2 consists of a top plate 8, a shell 9, and a bottom plate 14. Multiple sliding rods 16 pass through and slide along the bottom of the bottom plate 14. The bottoms of these sliding rods 16 are all fixed to a fixed plate I 17. A motor I 3 is installed at the bottom of the fixed plate I 17. The output end of the motor I 3 is connected to the polishing head 4. The polishing head 4 is detachably connected to the output end of the motor I 3, for example, by bolts. When it is necessary to replace the polishing head 4 with a different model, the bolts can be removed to complete the replacement.

[0030] The control box 2 is equipped with an adaptive adjustment mechanism, including a pressure adjustment plate 18, a detection component, and a motor II 20. This mechanism works in conjunction with the sliding rod 16 to automatically adjust the grinding force according to the unevenness of the workpiece surface when the industrial robot 1 grinds according to the programmed trajectory, ensuring a uniform grinding effect. Figure 2 As shown, the bottom of the end of the robotic arm of industrial robot 1 is fixed with a mounting plate 5. Multiple electromagnet rings 7 are embedded in the bottom of the mounting plate 5. The positioning pin 13 fixed on the top of the top plate 8 is adapted to the electromagnet rings 7. In use, the positioning pin 13 is aligned with the position of the electromagnet ring 7 and lowered. The power supply to the electromagnet ring 7 is turned on, and the electromagnet ring 7 generates a magnetic force to attract the positioning pin 13, thereby fixing the top plate 8 to the bottom of the mounting plate 5. The operation is simple. After the power is turned off, the magnetic force disappears, and the control box 2 can be quickly removed from the end of industrial robot 1 for subsequent maintenance or replacement.

[0031] like Figure 3 As shown, multiple studs 10 are fixed to the top of the base plate 14. The top ends of the studs 10 extend to the top of the top plate 8. A nut ring I 11 is threaded onto the outer wall of the top end of the stud 10, and the nut ring I 11 abuts against the top of the top plate 8. The outer shell 9 is located between the top plate 8 and the base plate 14. By tightening the nut ring I 11, the top plate 8 can be firmly fixed to the studs 10, thus forming a stable box with the top plate 8, the outer shell 9, and the base plate 14. If it is necessary to disassemble the outer shell 9 for internal component maintenance, simply loosen the nut ring I 11 and move the top plate 8 upward to remove the outer shell 9, which is convenient. Furthermore, positioning grooves 15 are opened on the sides of the top plate 8 and the base plate 14 that are close to each other. The upper and lower edges of the outer shell 9 are respectively embedded in the positioning grooves 15 of the top plate 8 and the base plate 14. The positioning grooves 15 can limit the movement of the outer shell 9 and prevent it from shifting during device operation.

[0032] A fixing plate II 19 is fixedly sleeved on the outer wall of multiple studs 10. A motor II 20 is mounted on the top of the fixing plate II 19. A screw 21 is rotatably mounted between the fixing plate II 19 and the base plate 14 via a bearing, and the screw 21 can rotate freely around the bearing. A pressure regulating plate 18 is slidably sleeved on the outer wall of the multiple studs 10. A nut ring II 22 is fixed on the top of the pressure regulating plate 18, and the nut ring II 22 is threaded onto the screw 21. The output end of the motor II 20 is connected to the screw 21. When the motor II 20 starts, it drives the screw 21 to rotate. Due to the threaded engagement between the nut ring II 22 and the screw 21, the rotation of the screw 21 causes the pressure regulating plate 18 to slide up and down along the studs 10. The pressure regulating plate 18 is equipped with a detection component. A sliding rod 16 abuts against the pressure regulating plate 18. The detection component can detect the pressure of the grinding head 4. By controlling the forward and reverse rotation of the motor II 20, the position of the pressure regulating plate 18 is adjusted, thereby controlling the raising and lowering of the grinding head 4 to adjust the grinding pressure.

[0033] like Figure 4 As shown, the detection assembly includes two spring pads 24 fitted onto the outer wall of the sliding rod 16. The lower spring pad 24 is fixed to the sliding rod 16, limiting its movement, while the upper spring pad 24 can slide on the sliding rod 16. A spring II 25 is positioned between the two spring pads 24, with both ends of the spring II 25 contacting the two spring pads 24 respectively. A pressure sensor 26 is fitted onto the outer wall of the sliding rod 16 and fixed to the bottom of the pressure regulating plate 18. The top of the sliding rod 16 passes through the top of the pressure regulating plate 18. When the grinding head 4 contacts the workpiece for grinding, the unevenness of the workpiece surface causes the sliding rod 16 to move up and down. This movement of the sliding rod 16 moves the lower spring pad 24, thereby compressing or stretching the spring II 25. The change in the elastic force of the spring II 25 is transmitted to the pressure sensor 26, which then transmits the pressure signal to the control system, enabling real-time detection of the grinding pressure.

[0034] like Figure 5 As shown, a spring rod 23 is provided on the side of the sliding rod 16 that is close to the top plate 8. The rotating seat I 231 of the spring rod 23 is fixed to the bottom of the top plate 8. The rotating cylinder 232 rotates inside the rotating seat I 231, and the piston rod 234 slides inside the rotating cylinder 232. The two ends of the spring I 233 inside the rotating cylinder 232 abut against the inner wall of the rotating cylinder 232 and one end of the piston rod 234, respectively. The other end of the piston rod 234 rotates inside the rotating seat II 235, which is fixed to the top of the sliding rod 16. When the sliding rod 16 moves up and down, the piston rod 234 slides inside the rotating cylinder 232. At the same time, the rotating cylinder 232 and the piston rod 234 rotate around the rotating seat I 231 and the rotating seat II 235, respectively. The spring I 233 can buffer the movement of the sliding rod 16, reducing the impact when the sliding rod 16 moves. At the same time, it can assist the sliding rod 16 to return to its original position after the grinding head 4 leaves the workpiece.

[0035] The bottom of the mounting plate 5 is embedded with aviation plug I6, and the top plate 8 is embedded with aviation plug II12. When the positioning pin 13 is attracted and fixed by the electromagnet ring 7, aviation plug I6 and aviation plug II12 are just plugged in, realizing the circuit connection between the industrial robot 1 and the control box 2, ensuring the power supply and signal transmission of components such as motor I3, motor II20, and pressure sensor 26.

[0036] When the device is in operation, the operator first selects a suitable grinding head 4 based on the material of the workpiece and the grinding requirements, and installs it on the output end of motor I3. Then, the grinding trajectory and preset pressure value are set through the control system of industrial robot 1. After the device is started, industrial robot 1 moves control box 2 and grinding head 4 according to the preset programmed trajectory. Motor I3 drives grinding head 4 to rotate at high speed to grind the workpiece. When grinding head 4 contacts a protrusion on the surface of the workpiece, grinding head 4 is subjected to an upward reaction force. This force is transmitted to sliding rod 16 through fixed plate I17, causing sliding rod 16 to move upward. When sliding rod 16 moves upward, the lower spring pad 24 compresses spring II 25, increasing the elastic force of spring II 25. This force is transmitted to pressure sensor 26 through upper spring pad 24. Pressure sensor 26 detects that the pressure value is greater than the preset value and immediately transmits the signal to the control system. Upon receiving a signal, the control system controls motor II 20 to rotate forward, driving screw 21 to rotate. This causes pressure regulating plate 18 to move upward, reducing the pressure on sliding rod 16 and thus decreasing the grinding force of grinding head 4 on the workpiece, preventing damage to the workpiece surface due to excessive pressure. When grinding head 4 moves to a recessed area on the workpiece surface, the reaction force on grinding head 4 decreases. Sliding rod 16 moves downward under the elastic force of spring II 25 and spring rod 23. The pressure of spring pad 24 on spring II 25 decreases, and the elastic force of spring II 25 weakens. Pressure sensor 26 detects that the pressure value is less than the preset value and transmits a signal to the control system. The control system then controls motor II 20 to rotate in the reverse direction, driving screw 21 to rotate in the reverse direction. This causes pressure regulating plate 18 to move downward, increasing the pressure on sliding rod 16, thereby increasing the grinding force of grinding head 4 on the workpiece and ensuring that even recessed areas are adequately ground. Through this real-time adaptive adjustment, grinding head 4 maintains a suitable grinding force at different uneven areas on the workpiece surface, ensuring consistent surface roughness and improving grinding quality. Meanwhile, when it is necessary to replace the grinding head 4 or repair the internal components of the control box 2, simply cut off the power supply to the electromagnet ring 7 through the control system. The electromagnet ring 7 loses its magnetic force, and then the control box 2 is removed from the end of the industrial robot 1. The aviation plug I 6 and aviation plug II 12 can be unplugged to carry out the operation. The whole process is quick and convenient, which improves work efficiency.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of this technical solution, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A force control device for robotic grinding and polishing, characterized in that, Includes a control box (2) that is detachably mounted at the end of the robotic arm of the industrial robot (1); The control box (2) includes a top plate (8), a bottom plate (14) and a fixed plate I (17) located below the bottom plate (14). The bottom of the bottom plate (14) is slidably provided with multiple sliding rods (16) fixed on the bottom of the fixed plate I (17). The bottom of the fixed plate I (17) is fixed with a motor I (3) with a grinding head (4). Multiple studs (10) are fixedly provided on the top of the base plate (14). The same fixed plate II (19) for placing motor II (20) is fixedly sleeved on the outer wall of the studs (10). A screw (21) is provided between the fixed plate II (19) and the base plate (14) through a bearing. A pressure regulating plate (18) located below the fixed plate II (19) is slidably sleeved on the outer wall of the multiple studs (10). A nut ring II (22) is fixedly provided through the top of the pressure regulating plate (18). The nut ring II (22) is threaded on the screw (21). A spring rod (23) is provided between the sliding rod (16) and the top plate (8).

2. The force control device for robotic grinding and polishing as described in claim 1, characterized in that, The industrial robot (1) has a mounting plate (5) fixed at the bottom of the end of the robotic arm. Multiple electromagnet rings (7) are embedded at the bottom of the mounting plate (5). A positioning pin (13) that matches the electromagnet rings (7) is fixed at the top of the top plate (8). The top plate (8) is fixed to the bottom of the mounting plate (5) by using the electromagnet rings (7) to attract the positioning pins (13).

3. The force control device for robotic grinding and polishing as described in claim 1, characterized in that, An outer shell (9) is provided between the top plate (8) and the bottom plate (14), and the top plate (8), the outer shell (9) and the bottom plate (14) constitute the main body of the control box (2).

4. The force control device for robotic grinding and polishing as described in claim 1, characterized in that, Multiple studs (10) extend to the top of the top plate (8), and the outer wall of the stud (10) is threaded with a nut ring I (11) that abuts against the top plate (8).

5. The force control device for robotic grinding and polishing as described in claim 1, characterized in that, The pressure regulating plate (18) is provided with a detection component that works in conjunction with the sliding rod (16). The detection component includes two spring pads (24) sleeved on the outer wall of the sliding rod (16). The lower spring pad (24) is fixedly sleeved on the outer wall of the sliding rod (16) to limit the sliding rod (16). The upper spring pad (24) is slidably sleeved on the sliding rod (16). A spring II (25) is sleeved on the outer wall of the sliding rod (16). The two ends of the spring II (25) abut against the two spring pads (24) respectively. A pressure sensor (26) is sleeved on the outer wall of the sliding rod (16). The pressure sensor (26) is fixedly installed at the bottom of the pressure regulating plate (18). The top end of the sliding rod (16) penetrates the top of the pressure regulating plate (18).

6. The force control device for robotic grinding and polishing as described in claim 5, characterized in that, The spring rod (23) includes a rotating seat I (231) fixedly installed at the bottom of the top plate (8). A rotating cylinder (232) is rotatably installed inside the rotating seat I (231). A piston rod (234) is slidably installed inside the rotating cylinder (232). A spring I (233) is installed inside the rotating cylinder (232). The two ends of the spring I (233) respectively abut against one side of the inner wall of the rotating cylinder (232) and one end of the piston rod (234). The other end of the piston rod (234) is rotatably installed on the rotating seat II (235). The rotating seat II (235) is fixedly installed on the top of the sliding rod (16).

7. The force control device for robotic grinding and polishing as described in claim 3, characterized in that, A positioning groove (15) for limiting the outer shell (9) is provided between the top plate (8) and the bottom plate (14).

8. The force control device for robotic grinding and polishing as described in claim 2, characterized in that, The bottom of the mounting plate (5) is fitted with an aviation plug I (6), and the top of the top plate (8) is fitted with an aviation plug II (12) that is connected to the aviation plug I (6).

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