A mechanical arm-based counter-hanging polishing device

Abstract

The utility model relates to the technical field of polishing equipment, concretely relates to a reverse suspension polishing device based on mechanical arm, a reverse suspension polishing device based on mechanical arm of the present application, through installing polishing mechanism, cutting off sand paper mechanism, sand paper replacement mechanism on the frame, polishing mechanism includes the reverse suspension mechanical arm fixed in the top of frame through the way of upside down, and the polishing head driven by the reverse suspension mechanical arm tail end, the fixed part for fixing sand paper is set up on the operation surface of polishing head, cutting off sand paper mechanism sets up in the moving range of polishing head and is adjacent to one side of its replacement work station, is used for under the drive of reverse suspension mechanical arm to make the old sand paper on polishing head and cutting piece relatively move and be cut off, sand paper replacement mechanism sets up in the moving range of polishing head and is opposite another side with cutting off sand paper mechanism, is used for under the drive of reverse suspension mechanical arm to deliver and press tightly new sand paper to the fixed part of polishing head, realizes the polishing of big width product full coverage.

Description

Technical Field

[0001] This utility model relates to the field of grinding equipment technology, specifically to a reverse-lift grinding device based on a robotic arm. Background Technology

[0002] In existing robotic grinding equipment applications, the common layout is to mount the robot upright on the worktable. However, when dealing with large workpieces, especially those exceeding width limits, the drawbacks of this upright layout become increasingly apparent. Due to the limitations of the robot's mechanical structure and range of motion, its grinding arm cannot effectively cover all areas of the workpiece, especially certain complex curved surfaces and narrow parts in the center or edges, resulting in unsatisfactory grinding effects and even dead zones that cannot be ground. This not only affects the consistency of the workpiece's surface quality but also often requires manual intervention for touch-up grinding, increasing labor intensity and costs, and creating numerous inconveniences and safety hazards for handling large workpieces.

[0003] On the other hand, to meet the grinding needs of large workpieces, simply increasing the size of the grinding equipment proportionally would result in a bulky and cumbersome overall structure, making the workpiece loading and unloading process extremely difficult and severely restricting production cycle and operational efficiency. While existing technologies possess functions such as automatic sandpaper replacement, the overall system integration and flexibility remain insufficient. When dealing with workpieces of different specifications, the replacement and adaptive adjustments of supporting parts are still not convenient enough.

[0004] Therefore, there is an urgent need in this field for a new technical solution that can fundamentally overcome the spatial limitations of existing formal wear robot polishing, optimize equipment layout to improve operational convenience, and enhance the versatility and efficiency of the equipment through higher functional integration. Utility Model Content

[0005] The purpose of this invention is to at least solve one of the technical problems existing in the prior art and to provide a reverse-hanging grinding device based on a robotic arm.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a reverse-suspension grinding device based on a robotic arm, comprising a frame, and a grinding mechanism, a sandpaper cutting mechanism, and a sandpaper replacement mechanism mounted on the frame. The grinding mechanism includes a reverse-suspension robotic arm fixed to the top of the frame by an inverted mounting method, and a grinding head driven by the end of the reverse-suspension robotic arm. A fixing part for fixing sandpaper is provided on the working surface of the grinding head. The sandpaper cutting mechanism is located within the moving range of the grinding head and adjacent to one side of its replacement station, and is used to cut off the old sandpaper on the grinding head by relative movement with the cutting part under the drive of the reverse-suspension robotic arm. The sandpaper replacement mechanism is located within the moving range of the grinding head and on the other side opposite to the sandpaper cutting mechanism, and is used to transport and press new sandpaper onto the fixing part of the grinding head under the drive of the reverse-suspension robotic arm.

[0007] Furthermore, the grinding mechanism also includes a connecting plate installed at the end of the reverse-lifting robotic arm, and an adapter plate is installed on the connecting plate, the adapter plate being L-shaped.

[0008] Furthermore, the L-shaped adapter plate includes a first plate and a second plate that are perpendicular to each other. The first plate is fixedly connected to the connecting plate, and a water spraying mechanism for spraying water toward the grinding area is installed on the opposite surface of the first plate that is connected to the connecting plate. The grinding head is installed on the side of the second plate away from the water spraying mechanism.

[0009] Furthermore, the water spraying mechanism includes a water storage unit and a nozzle; the water storage unit is connected to the adapter plate; the nozzle is connected to the water storage unit through a water supply pipeline and is fixed to the periphery of the grinding head, and its spraying direction is towards the grinding area below the grinding head.

[0010] Furthermore, the connecting plate has multiple mounting positions distributed circumferentially around the end axis of the reverse hoisting robot arm, and the three different types of grinding heads can be selectively mounted on different mounting positions.

[0011] Furthermore, the sandpaper replacement mechanism includes a cylinder and a top plate driven by the cylinder, the top plate being used to support new sandpaper; the reverse-lifting robotic arm can drive the grinding head to move above the top plate and align the fixing part with the new sandpaper on the top plate; the cylinder can drive the top plate to rise, pressing and bonding the new sandpaper to the fixing part of the grinding head.

[0012] Furthermore, the sandpaper cutting mechanism includes a frame fixedly mounted on the frame, with the cutting element fixedly mounted on the top edge of the frame, and the reverse-hanging robotic arm driving a grinding head carrying the old sandpaper to move along a predetermined path onto the cutting element.

[0013] Furthermore, the cutting component is a blade.

[0014] Furthermore, the reverse-suspension robotic arm is an industrial robot with six or more degrees of freedom.

[0015] Compared with the prior art, the technical solution of this application has the following beneficial effects: 1. This application integrates the reverse-hanging robotic arm, grinding mechanism, sandpaper cutting mechanism and sandpaper changing mechanism on a single frame to construct a closed automated workstation, which realizes full coverage grinding of wide-width products, saves labor costs and effectively improves safety issues.

[0016] 2. This application saves ground space through the inverted design of the reverse-mounted robotic arm and makes the layout of the grinding area more flexible. At the same time, the robotic arm can automatically and continuously complete the cutting of old sandpaper and the pasting of new sandpaper without manual intervention, which greatly reduces equipment downtime and improves the overall efficiency of grinding operations. The sandpaper cutting mechanism and sandpaper changing mechanism ensure that the position and clamping force of each sandpaper change are consistent, thereby ensuring the stability of the grinding process and the repeatability of product quality. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the reverse-hanging grinding device based on a robotic arm in a preferred embodiment of the present invention; Figure 2 This is a schematic diagram of the grinding mechanism in a preferred embodiment of the present invention; Figure 3 This is a schematic diagram of the sandpaper cutting mechanism in a preferred embodiment of the present invention; Figure 4 This is a schematic diagram of the sandpaper replacement mechanism in a preferred embodiment of the present invention.

[0018] Reference numerals: 1. Frame; 2. Grinding mechanism; 201. Reverse lifting robotic arm; 202. Grinding head; 203. Adapter plate; 204. Connecting plate; 3. Sandpaper cutting mechanism; 301. Frame; 302. Cutting component; 4. Sandpaper changing mechanism; 5. First plate; 6. Second plate; 7. Water spraying mechanism; 701. Water storage unit; 702. Nozzle; 703. Water supply pipeline. Detailed Implementation

[0019] The technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments.

[0020] Reference Figures 1-4As shown in the preferred embodiment of this utility model, a reverse-suspension grinding device based on a robotic arm includes a frame 1, and a grinding mechanism 2, a sandpaper cutting mechanism 3, and a sandpaper changing mechanism 4 mounted on the frame 1. The grinding mechanism 2 includes a reverse-suspension robotic arm 201 fixed to the top of the frame 1 by inverted mounting, and a grinding head 202 driven by the end of the reverse-suspension robotic arm 201. The working surface of the grinding head 202 is provided with a fixing part for fixing sandpaper. The sandpaper cutting mechanism 3 is located within the moving range of the grinding head 202 and adjacent to its changing station, and is used to cut sandpaper from the reverse-suspension robotic arm 201. Driven by 01, the old sandpaper on the grinding head 202 moves relative to the cutting part and is cut off; the sandpaper replacement mechanism 4 is located on the other side opposite to the sandpaper cutting mechanism 3 within the movement range of the grinding head 202, and is used to transport and press the new sandpaper onto the fixed part of the grinding head under the drive of the reverse lifting robotic arm 201, realizing full coverage grinding of wide products, saving labor costs, and effectively improving safety issues; at the same time, the robotic arm can automatically and continuously complete the cutting off of old sandpaper and the pasting of new sandpaper without manual intervention, greatly reducing equipment downtime and improving the overall efficiency of grinding operations.

[0021] As a preferred embodiment of this utility model, it may also have the following additional technical features: the grinding mechanism 2 further includes a connecting plate 204 installed at the end of the reverse-hanging robotic arm, and an adapter plate 203 is installed on the connecting plate 204. The adapter plate 203 is L-shaped, and the L-shaped adapter plate includes a first plate 5 and a second plate 6 that are perpendicular to each other. The first plate 5 is fixedly connected to the connecting plate 204, and a water spraying mechanism 7 for spraying water toward the grinding area is installed on the opposite surface of the first plate 5 connected to the connecting plate 202. The grinding head 202 is installed on the side of the second plate 6 away from the water spraying mechanism 7. Thus, it is convenient to quickly install and replace different functional components, and the water spraying mechanism is directly installed near the grinding head, which can realize "grinding and spraying at the same time", suppressing dust at the source of dust generation and achieving good dust reduction effect; and the water spraying direction always follows the grinding head, ensuring effective spraying in any grinding posture, realizing perfect synergy between grinding and dust removal.

[0022] In this embodiment, the water spraying mechanism 7 includes a water storage unit 701 and a nozzle 702. The water storage unit 701 is connected to the adapter plate 203. The nozzle 701 is connected to the water storage unit 701 through a water supply pipe 703 and is fixed to the periphery of the grinding head 202, with its spray direction pointing towards the grinding area below the grinding head. This ensures that the water flow accurately covers the contact point between the grinding head and the workpiece, resulting in high water efficiency and optimal dust suppression. Furthermore, fixing the nozzle to the periphery of the grinding head and pointing it towards the grinding area ensures that the water flow accurately covers the contact point between the grinding head and the workpiece, resulting in high water efficiency and optimal dust suppression.

[0023] In this embodiment, the connecting plate 204 has multiple mounting positions circumferentially distributed around the end axis of the reverse-lifting robotic arm 201. Three different types of grinding heads 202 can be selectively mounted on different mounting positions. This enables rapid switching and multi-functionality of the grinding heads, achieving "one machine for multiple uses," and enhancing the equipment's versatility and market competitiveness.

[0024] In this embodiment, the sandpaper changing mechanism 4 includes a cylinder and a top plate driven by the cylinder. The top plate supports new sandpaper. The reverse-lifting robotic arm 201 can drive the grinding head 202 to move above the top plate and align the fixing part with the new sandpaper on the top plate. The cylinder can drive the top plate to rise, pressing and bonding the new sandpaper to the fixing part of the grinding head. Thus, by using a cylinder to drive the top plate to press the sandpaper onto the grinding head, a firm bond is ensured, preventing the sandpaper from falling off during high-speed grinding. Furthermore, the top plate supports multiple stacked sheets of new sandpaper, forming a small "hopper," enabling continuous and automatic replacement, further extending the unattended operation time.

[0025] In this embodiment, the sandpaper removal mechanism 3 includes a frame 301 fixedly mounted on the frame. The cutting element 302 is fixedly mounted on the top edge of the frame 301. The reverse-hanging robotic arm 201 drives a grinding head carrying the old sandpaper to move along a predetermined path onto the cutting element, which is a blade. Thus, by utilizing the precise movement of the robotic arm, the old sandpaper is controlled to cut into the fixed blade and "scrape" off through a specific path, resulting in a clean, efficient, and effective removal action.

[0026] In this embodiment, the reverse-lifting robotic arm 201 is an industrial robot with six or more degrees of freedom. Therefore, the industrial robot with six or more degrees of freedom possesses extremely high motion flexibility, enabling it to drive the grinding head to approach any area of ​​the complex surface of the workpiece at any angle, ensuring grinding without blind spots.

[0027] Without causing conflict, those skilled in the art can freely combine and use the above-mentioned additional technical features.

[0028] It is understood that this utility model has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this utility model. Furthermore, under the teachings of this utility model, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this utility model.

Claims

1. A reverse-suspension grinding device based on a robotic arm, characterized in that: The device includes a frame, and a grinding mechanism, a sandpaper cutting mechanism, and a sandpaper changing mechanism mounted on the frame. The grinding mechanism includes an inverted robotic arm fixed to the top of the frame, and a grinding head driven by the end of the inverted robotic arm. The working surface of the grinding head is provided with a fixing part for fixing sandpaper. The sandpaper cutting mechanism is located within the movement range of the grinding head and adjacent to its changing station, and is used to cut off the old sandpaper on the grinding head by relative movement with the cutting part under the drive of the inverted robotic arm. The sandpaper changing mechanism is located within the movement range of the grinding head and opposite to the sandpaper cutting mechanism, and is used to transport and press new sandpaper onto the fixing part of the grinding head under the drive of the inverted robotic arm.

2. The robotic arm-based reverse-lifting grinding device according to claim 1, characterized in that: The grinding mechanism also includes a connecting plate installed at the end of the reverse-lifting robotic arm, and an adapter plate is installed on the connecting plate. The adapter plate is L-shaped.

3. The robotic arm-based reverse-lifting grinding device according to claim 2, characterized in that: The L-shaped adapter plate includes a first plate and a second plate that are perpendicular to each other. The first plate is fixedly connected to the connecting plate, and a water spraying mechanism for spraying water toward the grinding area is installed on the opposite surface of the first plate that is connected to the connecting plate. The grinding head is installed on the side of the second plate away from the water spraying mechanism.

4. The robotic arm-based reverse-lifting grinding device according to claim 3, characterized in that: The water spraying mechanism includes a water storage unit and a nozzle; the water storage unit is connected to the adapter plate; the nozzle is connected to the water storage unit through a water supply pipeline and is fixed to the periphery of the grinding head, and its spraying direction is towards the grinding area below the grinding head.

5. The robotic arm-based reverse-lifting grinding device according to claim 2, characterized in that: The connecting plate has multiple mounting positions distributed circumferentially around the end axis of the reverse hoisting robot arm. Three different types of grinding heads can be selectively mounted on different mounting positions.

6. The robotic arm-based reverse-lifting grinding device according to claim 1, characterized in that: The sandpaper replacement mechanism includes a cylinder and a top plate driven by the cylinder. The top plate is used to support new sandpaper. The reverse-lifting robotic arm can drive the grinding head to move above the top plate and align the fixing part with the new sandpaper on the top plate. The cylinder can drive the top plate to rise, pressing and bonding the new sandpaper to the fixing part of the grinding head.

7. The robotic arm-based reverse-lifting grinding device according to claim 1, characterized in that: The sandpaper cutting mechanism includes a frame fixedly mounted on the frame, with the cutting component fixedly mounted on the top edge of the frame, and the reverse-hanging robotic arm driving a grinding head carrying the old sandpaper to move along a predetermined path onto the cutting component.

8. The robotic arm-based reverse-lifting grinding device according to claim 7, characterized in that: The cutting element is a blade.

9. The robotic arm-based reverse-lifting grinding device according to claim 1, characterized in that: The reverse-lifting robotic arm is an industrial robot with six or more degrees of freedom.

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