Mechanical hand changeable omnidirectional polishing system

Abstract

The utility model discloses a kind of full direction polishing systems of quick-change of manipulator, belong to industrial robot technical field, including six-axis manipulator, polishing execution unit library, polishing execution unit main body and tool quick-change unit, the six-axis manipulator is fixed on ground through base, tail end of the six-axis manipulator is connected with polishing execution unit main body through tool quick-change unit, the polishing execution unit library is set on six-axis manipulator side, for placing polishing execution unit main body with different specifications polishing wheel, the tool quick-change unit is divided into robot side quick-change disc and tool side quick-change disc, and the both are realized by program control on-off of compressed air Clenching and loosening, the utility model realizes that polishing tool is automatically and quickly replaced, directivity line is eliminated by revolution and rotation compound motion, guarantee superhigh surface quality, accurately control edge and corner processing, realize intelligent planning, parameter is traceable, substantially improve production efficiency and intelligent level technical effect.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robot technology, and in particular relates to an omnidirectional polishing system with a quick-change robotic arm. Background Technology

[0002] Currently, in the manufacturing industry, traditional manual polishing heavily relies on the experience of technicians, resulting in low efficiency, high cost, poor quality consistency, and harsh working environments. Conventional automated polishing, on the other hand, often uses a single rotating polishing wheel or a fixed-path grinding tool, which has significant drawbacks: 1. The single path easily creates directional patterns (polishing wheel) on the product surface, making it difficult to achieve high-grade optical surface requirements; 2. Edge and corner treatment is difficult, with poor consistency in the treatment of sharp corners and edges, easily leading to defects such as over-polishing (larger rounded corners) or under-polishing (dark edges); 3. Poor flexibility, a set of tools typically can only complete one specific process. When changing products or processes, manual tool replacement and recalibration are required, which is time-consuming, labor-intensive, and interrupts the automated process.

[0003] This invention aims to overcome the shortcomings of existing technologies and provide a high-performance automated polishing system that integrates quick tool change, omnidirectional polishing, and intelligent planning. Its core objective is to efficiently and stably obtain a high-gloss surface with non-directional textures and uniform edges, while improving the intelligence level and efficiency of flexible polishing production lines. Utility Model Content

[0004] To address the problems existing in the prior art, this utility model provides an omnidirectional polishing system with a quick-change robotic arm. It features automatic and rapid tool replacement, elimination of directional lines through a combined rotational and centrifugal motion, ensuring ultra-high surface quality, precise control of edge and corner treatment, good consistency, intelligent planning, and traceable parameters, significantly improving production efficiency and intelligence. It solves the problems of low efficiency in manual polishing, easy generation of directional lines in automated polishing, poor edge and corner treatment, and cumbersome tool replacement in the prior art.

[0005] This utility model is implemented as follows: an omnidirectional polishing system with a quick-change robotic arm includes a six-axis robotic arm, a polishing execution unit library, a polishing execution unit body, and a tool quick-change unit. The six-axis robotic arm is fixed to the ground by a base, and the tail end of the six-axis robotic arm is connected to the polishing execution unit body through the tool quick-change unit. The polishing execution unit library is set next to the six-axis robotic arm and is used to place the polishing execution unit body equipped with polishing wheels of different specifications.

[0006] This setup organically combines a six-axis robot, a polishing execution unit library, the main body of the polishing execution unit, and a tool quick-change unit to form a complete automated polishing system. The six-axis robot provides a flexible three-dimensional motion foundation, the tool quick-change unit enables rapid replacement of the polishing execution unit, and the polishing execution unit library provides storage space for tools of different specifications. The overall structure is compact and functionally coordinated, providing hardware support for omnidirectional automated polishing and solving the problems of traditional polishing equipment having limited functionality and cumbersome tool replacement.

[0007] As a preferred embodiment of this utility model, the tool quick-change unit is divided into a robot-side quick-change disc and a tool-side quick-change disc. The robot-side quick-change disc is fixed to the tail end of the six-axis manipulator, and the tool-side quick-change disc is fixed to the top of the polishing execution unit body. The two are engaged and disengaged by controlling the on and off of compressed air through a program, and are integrated with air circuits, circuits and signal communication interfaces.

[0008] With this setup, the split structure of the tool quick-change unit, combined with pneumatic control, enables automated and rapid replacement of the polishing execution unit without manual intervention. The integrated air circuit, circuit, and signal communication interface ensure that the tool can work normally immediately after tool change, guaranteeing continuous power and signal transmission, significantly shortening tool change time, improving production continuity and equipment utilization, and enhancing the system's adaptability to different polishing processes.

[0009] As a preferred embodiment of this utility model, a DC motor is provided on the upper part of the polishing execution unit body. The output shaft of the DC motor is connected to a sun gear shaft through a coupling. A bevel gear body is fixed at the tail end of the sun gear shaft. A second bevel gear is meshed with the bevel gear body. A synchronous pulley body is provided on the fixed shaft of the second bevel gear. The synchronous pulley body drives the second synchronous pulley below to rotate through a synchronous belt. The fixed shaft of the second synchronous pulley is the polishing wheel spindle. The polishing wheel body is installed on the right end of the polishing wheel spindle, forming the rotational motion of the polishing wheel body.

[0010] With this setup, the DC motor efficiently transmits power to the polishing wheel body through a gear and synchronous pulley transmission structure, driving it to achieve high-speed rotation. This transmission method has a compact structure and low power loss, ensuring that the polishing wheel obtains a stable speed, providing uniform polishing force to the workpiece surface, avoiding differences in polishing quality caused by unstable speed, and laying the foundation for achieving a high-gloss surface.

[0011] As a preferred embodiment of this utility model, the power of the DC motor is 750W, and the bevel gear body and the second bevel gear are arranged at a 90-degree angle to each other.

[0012] With this setup, the 750W DC motor can provide sufficient power to meet the power requirements of the high-speed rotation and revolution of the polishing wheel, ensuring effective polishing of workpieces of different materials. The bevel gear body and bevel gear No. 2 are set at 90 degrees to each other, realizing the vertical conversion of the power transmission direction, making the transmission structure layout more reasonable, adapting to the compact design of the polishing execution unit, and ensuring the stability of power transmission.

[0013] In a preferred embodiment of this invention, the sun gear shaft is meshed with three planetary gears, and the planetary gears are meshed with external reduction gears, which drive the lower part of the entire polishing wheel module to rotate at a low speed around the sun gear shaft, forming the revolution motion of the polishing wheel body.

[0014] With this setup, the meshing transmission of the sun gear shaft, planetary gears, and reduction gears enables the polishing wheel body to rotate at low speed while rotating on its own axis, forming a composite motion trajectory. This omnidirectional motion fundamentally eliminates the directional patterns generated by polishing in a single direction, ensuring uniform polishing of all areas of the workpiece surface. In particular, it improves the polishing effect of the corners and edges, avoids over-polishing or under-polishing, and enhances the consistency and smoothness of the polished surface.

[0015] As a preferred embodiment of this invention, it also includes a central control unit, which comprises a path planning module, a tool changing logic module, and a process parameter library. The path planning module is used to plan the three-dimensional spatial motion trajectory of the six-axis robot. The tool changing logic module is used to automatically change the polishing execution unit body and polishing parameters according to a preset process. The process parameter library is used to store optimized parameters for different materials and different processes.

[0016] Through this setup, the modules of the central control unit work together in a collaborative manner. The path planning module ensures the precise movement trajectory of the robotic arm, the tool changing logic module enables automated switching of processes, and the process parameter library ensures optimal parameter configuration under different working conditions. The combination of these three components enables the system to have intelligent decision-making and execution capabilities, realizes digital control of the polishing process, ensures the stability and traceability of product quality, and improves the intelligence level and production efficiency of the production line.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows: Ultra-high surface quality: Through the combined motion of revolution and rotation, omnidirectional polishing is naturally achieved, resulting in a working surface with no directional texture and a true mirror effect.

[0018] Excellent edge and corner consistency: Combined with trajectory R circular programming, it can precisely control the path of sharp corners and edges, achieving perfect unity of planar and edge effects.

[0019] High flexibility and intelligence: The tool change system enables a single robot to complete all polishing processes for complex workpieces, significantly improving equipment utilization and production efficiency.

[0020] Digitalization and traceability: All process parameters are digitally stored and retrieved, ensuring the stability and repeatability of product quality and meeting the needs of high-end manufacturing. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure provided in an embodiment of the present utility model;

[0022] Figure 2 This is a schematic diagram of the tool quick-change unit structure provided in this embodiment of the utility model;

[0023] Figure 3 This is a schematic diagram of the internal structure of the polishing execution unit body provided in this embodiment of the utility model.

[0024] In the diagram: 1. Six-axis robot; 2. Polishing execution unit library; 4. Polishing execution unit main body; 4-1. DC motor; 4-2. Coupling; 4-3. Sun gear shaft; 4-4. Bevel gear main body; 4-5. Bevel gear No. 2; 4-6. Synchronous pulley main body; 4-7. Synchronous pulley No. 2; 4-8. Polishing wheel spindle; 4-9. Polishing wheel main body; 4-10. Planetary gear; 4-11. Reduction external gear; 5. Tool quick change unit; 5-1. Robot side quick change disk; 5-2. Tool side quick change disk. Detailed Implementation

[0025] To further understand the utility model content, features and effects of this utility model, the following embodiments are provided, and detailed descriptions are given in conjunction with the accompanying drawings.

[0026] The structure of this utility model will now be described in detail with reference to the accompanying drawings.

[0027] refer to Figures 1 to 3 As shown in the figure, the present invention provides an omnidirectional polishing system with a quick-change robotic arm, including a six-axis robotic arm 1, a polishing execution unit library 2, a polishing execution unit body 4, and a tool quick-change unit 5. The six-axis robotic arm 1 is fixed to the ground by a base, and the tail end of the six-axis robotic arm 1 is connected to the polishing execution unit body 4 through the tool quick-change unit 5. The polishing execution unit library 2 is set on the side of the six-axis robotic arm 1 and is used to place the polishing execution unit body 4 equipped with polishing wheels of different specifications.

[0028] By adopting the above scheme, the six-axis robot 1, the polishing execution unit library 2, the polishing execution unit body 4, and the tool quick-change unit 5 are organically combined to form a complete automated polishing system. The six-axis robot 1 provides a flexible three-dimensional motion basis, the tool quick-change unit 5 enables the rapid replacement of the polishing execution unit, and the polishing execution unit library 2 provides storage space for tools of different specifications. The overall structure is compact and the functions are coordinated, providing hardware support for omnidirectional automated polishing and solving the problems of single function and cumbersome tool replacement in traditional polishing equipment.

[0029] Specifically, the tool quick-change unit 5 is divided into a robot-side quick-change disc 5-1 and a tool-side quick-change disc 5-2. The robot-side quick-change disc 5-1 is fixed to the tail end of the six-axis robot 1, and the tool-side quick-change disc 5-2 is fixed to the top of the polishing execution unit body 4. The two are engaged and disengaged by controlling the on and off of compressed air through a program, and are integrated with air circuits, circuits and signal communication interfaces.

[0030] By adopting the above scheme, the split structure of the tool quick-change unit 5, combined with pneumatic control, realizes the automated and rapid replacement of the polishing execution unit without manual intervention. The integrated air circuit, circuit and signal communication interface ensure that the tool can work normally immediately after tool change, guarantee the continuous transmission of power and signal, greatly shorten the tool change time, improve production continuity and equipment utilization, and enhance the system's adaptability to different polishing processes.

[0031] Specifically, the upper part of the polishing execution unit body 4 is provided with a DC motor 4-1. The output shaft of the DC motor 4-1 is connected to a sun gear shaft 4-3 through a coupling 4-2. The tail end of the sun gear shaft 4-3 is fixed with a bevel gear body 4-4. A bevel gear 4-5 is meshed with the bevel gear body 4-4. A synchronous pulley body 4-6 is provided on the fixed shaft of the bevel gear 4-5. The synchronous pulley body 4-6 drives the lower synchronous pulley 4-7 to rotate through a synchronous belt. The fixed shaft of the synchronous pulley 4-7 is the polishing wheel spindle 4-8. A polishing wheel body 4-9 is installed on the right end of the polishing wheel spindle 4-8, forming the rotation of the polishing wheel body 4-9.

[0032] Using the above scheme, the DC motor 4-1 transmits power efficiently to the polishing wheel body 4-9 through a gear and synchronous wheel transmission structure, driving it to achieve high-speed rotation. This transmission method has a compact structure and low power loss, which can ensure that the polishing wheel obtains a stable speed, provide uniform polishing force to the workpiece surface, avoid the difference in polishing quality caused by unstable speed, and lay the foundation for achieving a high-gloss surface.

[0033] Specifically, the DC motor 4-1 has a power of 750W, and the bevel gear body 4-4 and the bevel gear 4-5 are arranged at a 90-degree angle to each other.

[0034] Using the above scheme, the 750W DC motor 4-1 can provide sufficient power to meet the power requirements of the high-speed rotation and revolution of the polishing wheel, ensuring effective polishing of workpieces of different materials. The bevel gear body 4-4 and the bevel gear 4-5 are set at 90 degrees to each other, realizing the vertical conversion of the power transmission direction, making the transmission structure layout more reasonable, adapting to the compact design of the polishing execution unit, and ensuring the stability of power transmission.

[0035] Specifically, the sun gear shaft 4-3 is meshed with three planetary gears 4-10, and the planetary gears 4-10 are meshed with a reduction gear 4-11, which drives the lower part of the entire polishing wheel module to rotate at a low speed around the sun gear shaft 4-3 as the axis, forming the revolution of the polishing wheel body 4-9.

[0036] Using the above scheme, the meshing transmission of the sun gear shaft 4-3, planetary gear 4-10 and reduction external gear 4-11 enables the polishing wheel body 4-9 to rotate at low speed while rotating on its own axis, forming a compound motion trajectory. This omnidirectional motion fundamentally eliminates the directional patterns generated by polishing in a single direction, ensuring uniform polishing of all areas of the workpiece surface. In particular, it can improve the polishing effect of the corners and edges, avoid over-polishing or under-polishing, and improve the consistency and smoothness of the polished surface.

[0037] Specifically, it also includes a central control unit, which contains a path planning module, a tool changing logic module, and a process parameter library. The path planning module is used to plan the three-dimensional spatial motion trajectory of the six-axis robot 1. The tool changing logic module is used to automatically change the polishing execution unit body 4 and polishing parameters according to the preset process. The process parameter library is used to store optimized parameters for different materials and different processes.

[0038] By adopting the above scheme, the modules of the central control unit cooperate with each other. The path planning module ensures the accuracy of the robot's movement trajectory, the tool changing logic module realizes the automated switching of processes, and the process parameter library ensures the optimal parameter configuration under different working conditions. The combination of the three enables the system to have intelligent decision-making and execution capabilities, realizes the digital control of the polishing process, ensures the stability and traceability of product quality, and improves the intelligence level and production efficiency of the production line.

[0039] The working principle of this utility model:

[0040] In use, the overall linkage is based on the following: the six-axis robot 1 is fixed by the base and serves as a carrier for three-dimensional spatial movement. Its tail end is connected to the polishing execution unit body 4 through the tool quick change unit 5, which can carry polishing tools and move along the planned trajectory. The polishing execution unit library 2 stores execution units with polishing wheels of different specifications in advance, providing reserves for tool replacement.

[0041] Tool switching mechanism: The robot-side quick-change disc 5-1 and the tool-side quick-change disc 5-2 of the tool quick-change unit 5 are controlled by the central control unit program to control the on and off of compressed air, so as to achieve quick engagement or disengagement. Because it integrates air circuit, circuit and signal interface, it can immediately supply power and air to the new tool and transmit control signals after tool change, so as to ensure continuous operation.

[0042] Polishing wheel motion drive: In the main body 4 of the polishing execution unit, the DC motor 4-1 provides power, and its output shaft drives the sun gear shaft 4-3 to rotate via the coupling 4-2.

[0043] Self-rotation is achieved by the bevel gear body 4-4 at the tail end of the sun gear shaft 4-3 meshing with the vertical bevel gear 4-5, which directs the power to the polishing wheel main shaft 4-8 through the synchronous pulley body 4-6, synchronous belt, and synchronous pulley 4-7, thereby driving the polishing wheel body 4-9 to rotate at high speed.

[0044] Revolution is achieved by the sun gear shaft 4-3 simultaneously meshing with three planetary gears 4-10, which in turn engage with the external reduction gear 4-11, driving the entire polishing wheel module to revolve at a low speed around the sun gear shaft 4-3, forming a "compound motion of revolution and rotation".

[0045] The core of intelligent control: The path planning module of the central control unit presets a three-dimensional trajectory to guide the robot arm to move precisely; the tool changing logic module automatically controls the quick change unit to switch the corresponding polishing execution unit according to the process requirements; the process parameter library calls the appropriate parameters such as rotation speed and feed rate for the material and process to ensure that the polishing wheel acts on the workpiece with the optimal composite motion trajectory, and finally achieves high-gloss surface processing with non-directional textures and consistent edges and corners.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0047] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm-based omnidirectional polishing system with quick-change capability, characterized in that, It includes a six-axis robot (1), a polishing execution unit library (2), a polishing execution unit body (4), and a tool quick-change unit (5). The six-axis robot (1) is fixed to the ground by a base. The tail end of the six-axis robot (1) is connected to the polishing execution unit body (4) through the tool quick-change unit (5). The polishing execution unit library (2) is set next to the six-axis robot (1) and is used to place the polishing execution unit body (4) equipped with polishing wheels of different specifications.

2. The omnidirectional polishing system with quick-change robotic arm as described in claim 1, characterized in that: The tool quick-change unit (5) is divided into a robot-side quick-change disc (5-1) and a tool-side quick-change disc (5-2). The robot-side quick-change disc (5-1) is fixed to the tail end of the six-axis robot (1), and the tool-side quick-change disc (5-2) is fixed to the top of the polishing execution unit body (4). The two are engaged and disengaged by controlling the on and off of compressed air through a program. It also integrates air circuits, circuits and signal communication interfaces.

3. The omnidirectional polishing system with quick-change robotic arm as described in claim 1, characterized in that: The upper part of the polishing execution unit body (4) is provided with a DC motor (4-1). The output shaft of the DC motor (4-1) is connected to a sun gear shaft (4-3) through a coupling (4-2). A bevel gear body (4-4) is fixed at the tail end of the sun gear shaft (4-3). A bevel gear No. 2 (4-5) is meshed with the bevel gear body (4-4). A synchronous pulley body (4-6) is provided on the fixed shaft of the bevel gear No. 2 (4-5). The synchronous pulley body (4-6) drives the synchronous pulley No. 2 (4-7) below to rotate through a synchronous belt. The fixed shaft of the synchronous pulley No. 2 (4-7) is the polishing wheel spindle (4-8). A polishing wheel body (4-9) is installed on the right end of the polishing wheel spindle (4-8), forming the rotation of the polishing wheel body (4-9).

4. The omnidirectional polishing system with quick-change robotic arm as described in claim 1, characterized in that: The DC motor (4-1) has a power of 750W, and the bevel gear body (4-4) and bevel gear number two (4-5) are arranged at a 90-degree angle to each other.

5. The omnidirectional polishing system with quick-change robotic arm as described in claim 3, characterized in that: The sun gear shaft (4-3) is meshed with three planetary gears (4-10), and the planetary gears (4-10) are meshed with a reduction gear (4-11), which drives the lower part of the entire polishing wheel module to rotate at a low speed around the sun gear shaft (4-3) as the axis, forming the revolution of the polishing wheel body (4-9).

6. The omnidirectional polishing system with quick-change robotic arm as described in claim 1, characterized in that: It also includes a central control unit, which contains a path planning module, a tool changing logic module and a process parameter library. The path planning module is used to plan the three-dimensional spatial motion trajectory of the six-axis robot (1). The tool changing logic module is used to automatically change the polishing execution unit body (4) and polishing parameters according to the preset process. The process parameter library is used to store optimized parameters for different materials and different processes.

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