Automobile wheel hub polishing robot device
Patent Information
- Application Number
- CN202521796094.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-21
- Publication Date
- 2026-08-21
- Estimated Expiration
- 2035-08-21
AI Technical Summary
[0003]本实用新型的目的在于提供一种汽车轮毂打磨机器人装置，以解决现有技术中轮毂打磨效率低、自动化程度不足的问题
[0010]本实用新型的有益效果是：(1)自动化程度高：通过搬运机器人与打磨机器人的协同作业，结合传送带输送，实现轮毂从送料到出料的全流程自动化，无需人工干预；(2)打磨质量稳定：机器人通过精确的运动控制和力反馈调节，保证轮毂表面打磨的一致性，避免人工操作的误差；(3)安全性提升：机器人替代人工在粉尘环境中作业，降低工人健康风险，同时减少生产事故；(4)效率优化：多设备协同配合，缩短生产节拍，适用于规模化生产需求。
Smart Images
Figure CN224658927U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of industrial robot technology, specifically to a robot device for grinding automobile wheel hubs. Background Technology
[0002] As a key component of automobiles, the surface quality of car wheels directly affects the vehicle's safety and aesthetics. Traditional wheel grinding relies on manual operation, resulting in low efficiency, poor precision, and high labor intensity. Furthermore, the dust generated during the grinding process seriously harms worker health. While some companies have introduced single-robot grinding equipment, it suffers from low automation, inability to perform wheel wheel rotation grinding, and insufficient quality consistency, making it difficult to meet the demands of large-scale production. Therefore, there is an urgent need to design an integrated and automated wheel grinding system to improve production efficiency and quality while reducing reliance on manual labor. Utility Model Content
[0003] The purpose of this invention is to provide a robot device for grinding automobile wheel hubs, so as to solve the problems of low grinding efficiency and insufficient automation in the existing technology.
[0004] To achieve the above objectives, the present invention adopts the following technical solution:
[0005] This utility model discloses a robot device for grinding automobile wheel hubs, including a feeding conveyor belt, a transport robot, a grinding conveyor belt, a grinding robot, and a discharge conveyor belt. The feeding conveyor belt is used to transport automobile wheel hubs to be ground; the transport robot is disposed between the feeding conveyor belt and the grinding conveyor belt. The grinding conveyor belt is used to carry the wheel hubs to be ground and provide a grinding workstation. The transport robot can clamp the automobile wheel hubs to be ground and perform a grinding surface flipping operation; the grinding robot is disposed on one side of the grinding conveyor belt and is used to grind the end face of the automobile wheel hub; the discharge conveyor belt is used to transport the ground automobile wheel hubs.
[0006] The handling robot includes a base, a large arm, a forearm, and a wrist structure. A gripper is mounted at the end of the robot. The base is fixed to the ground, and the output shaft of the RV reducer for the waist joint is fixed to the base. The housing of the RV reducer is fixedly connected to the drive arm seat of the large arm via a base pad. The body of the waist rotation motor in the base is fixed to the bottom of the drive arm seat, and the output shaft of the waist rotation motor is fixedly connected to the input shaft of the RV reducer for the waist joint. The body of the large arm drive servo motor in the large arm is fixed to one side of the drive arm seat, and the output shaft of the large arm drive servo motor is fixedly connected to the input shaft of the shoulder joint harmonic reducer. The output shaft of the shoulder joint harmonic reducer is fixedly connected to the large arm. The body of the forearm drive servo motor in the forearm is fixed to the other side of the drive arm seat. The output shaft of the forearm drive servo motor is fixedly connected to the input shaft of the elbow joint harmonic reducer. The output shaft of the elbow joint harmonic reducer is fixedly connected to the connecting rod drive shaft. The connecting rod drive shaft is rotatably connected to one end of the connecting rod via a bearing. The other end of the connecting rod is rotatably connected to the forearm seat connection hole via a bearing. The end of the forearm seat is fixedly connected to the motor gearbox. The end of the motor gearbox is connected to the forearm rotating flange. The connecting rod bearing cover is used to seal the bearings at both ends of the connecting rod. The wrist structure uses three rotating arm motors to drive the rotating arm reducer to achieve the overall posture change movement of the clamping part through the forearm rotating flange, the front claw flange, and the wrist front rotating flange. The handling gripping flange of the clamping part is fixedly connected to the wrist front rotating flange. The handling clamp is fixedly connected to the handling gripping flange. The end of the handling clamp has the circumferential outline of a car wheel hub and can realize opening and closing movement.
[0007] The grinding robot has the same structure as the handling robot, including a base, an upper arm, a forearm, and a wrist structure, with a grinder installed at the end of the grinding robot.
[0008] The feeding conveyor belt, grinding conveyor belt and discharge conveyor belt are roller conveyor belts driven by servo motors.
[0009] Preferably, the grinder is an electric brushless grinder with force feedback function to ensure the stability of grinding quality.
[0010] The beneficial effects of this utility model are: (1) High degree of automation: Through the collaborative operation of the handling robot and the grinding robot, combined with the conveyor belt conveyor, the entire process of wheel hub from feeding to discharging is automated without human intervention; (2) Stable grinding quality: The robot ensures the consistency of wheel hub surface grinding through precise motion control and force feedback adjustment, avoiding errors in manual operation; (3) Improved safety: The robot replaces human workers in dusty environments, reducing the health risks of workers and reducing production accidents; (4) Optimized efficiency: The collaboration of multiple devices shortens the production cycle and is suitable for large-scale production needs. Attached Figure Description
[0011] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0012] Figure 1 The diagram shown is a structural layout of an automotive wheel hub grinding robot device according to an embodiment of this utility model.
[0013] Figure 2 The diagram shown is an overall structural diagram of the handling robot in one embodiment of this utility model.
[0014] Figure 3 The image shown is a front view of the transport robot structure in one embodiment of this utility model.
[0015] Figure 4 The image shown is a left view of the transport robot structure in one embodiment of this utility model.
[0016] Figure 5 The image shown is a top view of the transport robot structure in one embodiment of this utility model.
[0017] Figure 6 The diagram shown is a structural diagram of a grinding robot according to one embodiment of this utility model.
[0018] In the diagram: 1. Feeding conveyor belt; 2. Handling robot; 3. Grinding conveyor belt; 4. Grinding robot; 5. Discharge conveyor belt; 21. Base section; 211. Base; 212. Waist joint RV reducer; 213. Base pad; 214. Waist rotary motor; 22. Upper arm section; 221. Drive arm base; 222. Shoulder joint harmonic reducer; 223. Upper arm drive servo motor; 224. Upper arm; 23. Forearm section; 231. Forearm drive servo motor. 232. Arm motor, elbow joint harmonic reducer, 233. Linkage drive shaft, 234. Linkage, 235. Forearm seat, 236. Linkage bearing cap, 237. Motor gearbox, 238. Forearm rotating flange, 24. Wrist structure, 241. Rotary arm motor, 242. Rotary arm reducer, 243. Front claw flange, 244. Wrist front rotating flange, 25. Clamping part, 251. Handling gripper flange, 252. Handling clamp, 26. Grinding tool. Detailed Implementation
[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0020] Please see Figure 1-6 As shown, a car wheel hub grinding robot device includes a feeding conveyor belt 1, a handling robot 2, a grinding conveyor belt 3, a grinding robot 4, and a discharge conveyor belt 5. The feeding conveyor belt 1 is used to transport car wheel hubs to be ground; the handling robot 2 is disposed between the feeding conveyor belt 1 and the grinding conveyor belt 3, the grinding conveyor belt 3 is used to carry the wheel hubs to be ground and provide a grinding work station, and the handling robot 2 can clamp the car wheel hubs to be ground and perform a grinding surface flipping operation; the grinding robot 4 is disposed on one side of the grinding conveyor belt and is used to grind the end face of the car wheel hub; the discharge conveyor belt 5 is used to transport the ground car wheel hubs.
[0021] As a technical optimization of this utility model, the handling robot 2 includes a base part 21, a large arm part 22, a forearm part 23, and a wrist structure 24. A clamping part 25 is installed at the end of the handling robot 2. The base 211 of the base part 21 is fixed to the ground, the output shaft of the waist joint RV reducer 212 is fixed to the base 211, and the outer shell of the waist joint RV reducer 212 is fixedly connected to the drive arm seat 221 of the large arm part 22 via a base pad 213. The waist rotation motor 214 of the base part 21 is fixed to the body. At the bottom of the drive arm base 221, the output shaft of the waist rotation motor 214 is fixedly connected to the input shaft of the waist joint RV reducer 212; the upper arm drive servo motor 223 of the upper arm part 22 is fixedly mounted on one side of the drive arm base 221, the output shaft of the upper arm drive servo motor 223 is fixedly connected to the input shaft of the shoulder joint harmonic reducer 222, and the output shaft of the shoulder joint harmonic reducer 222 is fixedly connected to the upper arm 224; the lower arm drive servo motor 231 of the forearm part 23 is fixedly mounted on the drive arm base 221. On the other side, the output shaft of the forearm drive servo motor 231 is fixedly connected to the input shaft of the elbow joint harmonic reducer 232. The output shaft of the elbow joint harmonic reducer 232 is fixedly connected to the connecting rod drive shaft 233. The connecting rod drive shaft 233 is rotatably connected to one end of the connecting rod 234 via a bearing. The other end of the connecting rod 234 is rotatably connected to the forearm seat 235 via a bearing. The end of the forearm seat 235 is fixedly connected to the motor gearbox 237. The end of the motor gearbox 237 is connected to the forearm rotating flange 238. (The last part, "connecting rod bearing cover 2," appears to be an unrelated detail and is omitted from the translation.) 36 is used for the bearings at both ends of the sealing connecting rod 234; the wrist structure 24 drives the rotating arm reducer 242 through three rotating arm motors 241 to realize the overall posture change movement of the clamping part 25 via the forearm rotating flange 238, the front claw flange 243, and the wrist front rotating flange 244; the transport gripping flange 251 of the clamping part 25 is fixedly connected to the wrist front rotating flange 244, the transporting clamp 252 is fixedly connected to the transport gripping flange 251, and the end of the transporting clamp 252 has the circumferential outline of a car wheel hub and can realize opening and closing movement.
[0022] As a technical optimization of this utility model, the grinding robot 4 has the same structure as the handling robot 2, including a base part 21, an upper arm part 22, a forearm part 23, and a wrist structure 24, and a grinder 26 is installed at the end of the grinding robot 4.
[0023] As a technical optimization of this utility model, the feeding conveyor belt 1, the grinding conveyor belt 3 and the discharge conveyor belt 5 are roller conveyor belts driven by servo motors.
[0024] As a technical optimization of this utility model, the grinder 26 adopts an electric brushless grinder with force feedback function to ensure the stability of grinding quality.
[0025] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.
[0026] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation schemes that can be understood by those skilled in the art.
Claims
1. A robotic device for grinding automobile wheel hubs, characterized in that: The system includes a feeding conveyor belt (1), a handling robot (2), a grinding conveyor belt (3), a grinding robot (4), and a discharge conveyor belt (5). The feeding conveyor belt (1) is used to transport the car wheel hubs to be ground. The handling robot (2) is located between the feeding conveyor belt (1) and the grinding conveyor belt (3). The grinding conveyor belt (3) is used to carry the wheel hubs to be ground and provide a grinding work station. The handling robot (2) can clamp the car wheel hubs to be ground and perform a grinding surface flipping operation. The grinding robot (4) is located on one side of the grinding conveyor belt and is used to grind the end face of the car wheel hub. The discharge conveyor belt (5) is used to transport the ground car wheel hubs.
2. The automotive wheel hub grinding robot device according to claim 1, characterized in that: The handling robot (2) includes a base part (21), an upper arm part (22), a lower arm part (23), and a wrist structure (24). The handling robot (2) has a clamp part (25) installed at its end. The base (211) of the base part (21) is fixed to the ground. The output shaft of the waist joint RV reducer (212) is fixed to the base (211). The outer shell of the waist joint RV reducer (212) is fixedly connected to the drive arm seat (221) of the upper arm part (22) via a base pad (213). The body of the waist rotation motor (214) of the base part (21) is fixed to the drive arm seat. (221) At the bottom, the output shaft of the waist rotation motor (214) is fixedly connected to the input shaft of the waist joint RV reducer (212); the upper arm drive servo motor (223) of the upper arm part (22) is fixedly mounted on one side of the drive arm seat (221), the output shaft of the upper arm drive servo motor (223) is fixedly connected to the input shaft of the shoulder joint harmonic reducer (222), and the output shaft of the shoulder joint harmonic reducer (222) is fixedly connected to the upper arm (224); the lower arm drive servo motor (231) of the lower arm part (23) is fixedly mounted on the other side of the drive arm seat (221). The output shaft of the forearm drive servo motor (231) is fixedly connected to the input shaft of the elbow joint harmonic reducer (232). The output shaft of the elbow joint harmonic reducer (232) is fixedly connected to the connecting rod drive shaft (233). The connecting rod drive shaft (233) is rotatably connected to one end of the connecting rod (234) via a bearing. The other end of the connecting rod (234) is rotatably connected to the connecting hole of the forearm seat (235) via a bearing. The end of the forearm seat (235) is fixedly connected to the motor gearbox (237). The end of the motor gearbox (237) is connected to the forearm rotating flange (238). The connecting rod bearing cover (236) is used for... The bearings at both ends of the sealing connecting rod (234); the wrist structure (24) drives the rotating arm reducer (242) through three rotating arm motors (241) to realize the overall posture change movement of the clamping part (25) via the forearm rotating flange (238), the front claw flange (243), and the wrist front rotating flange (244); the transport gripping flange (251) of the clamping part (25) is fixedly connected to the wrist front rotating flange (244), and the transporting clamp (252) is fixedly connected to the transport gripping flange (251). The end of the transporting clamp (252) has the circumferential outline of a car wheel hub and can realize opening and closing movement.
3. The automotive wheel hub grinding robot device according to claim 1, characterized in that: The grinding robot (4) has the same structure as the handling robot (2), including a base part (21), an upper arm part (22), a lower arm part (23), and a wrist structure (24). A grinder (26) is installed at the end of the grinding robot (4).
4. The automotive wheel hub grinding robot device according to claim 1, characterized in that: The feeding conveyor belt (1), grinding conveyor belt (3) and discharging conveyor belt (5) are roller conveyor belts driven by servo motors.