A highly adaptable robotic arm assembly for grinding

Abstract

The utility model discloses a kind of high adaptability mechanical arm assemblies for grinding, it relates to the field of grinding and polishing, to solve the problem that the effect is difficult to achieve best when traditional fixed mechanical arm cannot adjust itself when facing different configuration and size overall blisk, its technical scheme main point is including tubular mounting base, telescopic mounting setting is provided with telescopic rod in mounting base extension direction, horizontal cross bar is fixedly installed in telescopic rod terminal, rotating rod is fixedly installed in horizontal cross bar terminal, horizontal cross bar rotatably connects telescopic rod setting, telescopic rod is set with the driving cylinder of being set in pairs in matched manner, horizontal cross bar is set with the first driving motor in matched manner, rotating rod is set with the second driving motor in matched manner, workpiece clamp of mounting workpiece is fixedly set in rotating rod terminal, high degree of freedom mechanical mechanism has stronger adaptability to different size workpiece and different model grinding material tank, and application is wider.

Description

Technical Field

[0001] This utility model relates to the technical field of grinding and polishing, specifically to a highly adaptable robotic arm assembly for grinding. Background Technology

[0002] The manufacturing level of advanced aero-engines is an important indicator of a nation's comprehensive scientific and technological level, industrial foundation strength, and overall national power. As a core component of aero-engines, the integral bladed disk innovatively integrates the blades and disk as a single structure, replacing the traditional tenon and mortise structure. This reduces the number of parts, greatly simplifies the structure, facilitates assembly and balance, and improves working efficiency and reliability.

[0003] In terms of structure, integral bladed disks exhibit characteristics such as thin and uneven blade thickness, complex blade shape, large bending and twisting, long blade span, and deep and narrow flow channels. Moreover, since the components of integral bladed disks are not detachable, their size is enormous, which greatly increases the difficulty and cost of polishing integral bladed disks. Traditional fixed robotic arms, due to their inability to adjust themselves, often fail to achieve optimal results when dealing with integral bladed disks of different configurations and sizes. Therefore, a highly adaptable robotic arm assembly is needed to polish different integral bladed disks. Utility Model Content

[0004] The purpose of this invention is to provide a highly adaptable robotic arm assembly for grinding.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The device includes a cylindrical mounting base, on which a telescopic rod is telescopically mounted in the extension direction. A horizontal crossbar is fixedly mounted at the end of the telescopic rod, and a rotating rod is fixedly mounted at the end of the horizontal crossbar. The horizontal crossbar is rotatably connected to the telescopic rod. The telescopic rod is equipped with a pair of drive cylinders. The horizontal crossbar is equipped with a first drive motor, and the rotating rod is equipped with a second drive motor. A workpiece clamp for mounting the workpiece is fixedly mounted at the end of the rotating rod.

[0006] By adopting the above technical solution, the external hydraulic system of the drive cylinder drives the telescopic rod to extend and retract, thereby controlling the up and down movement of the telescopic rod and achieving the effect of adjusting the height of the horizontal bar. The first drive motor drives the horizontal bar to rotate along the center of the telescopic rod, and the second drive motor drives the rotating rod to rotate. The workpiece clamp is used for the integral impeller. This robotic arm has a high degree of freedom, can extend and retract in the vertical direction and rotate in the horizontal direction, which facilitates the assembly of large integral impellers and subsequent polishing work. On the one hand, when polishing with a vibrating trough, the high degree of freedom of the mechanical mechanism can be used to disassemble and assemble the integral impeller. During disassembly and assembly, the telescopic rod is first raised to lift the horizontal bar. The horizontal bar is rotated to disengage the blade from the grinding trough. Then, the horizontal bar is rotated to turn the rotating rod at a certain angle away from the grinding trough. Finally, the telescopic rod is lowered to a height suitable for the operator to disassemble and assemble, thus easily completing the disassembly and assembly of the entire bladed disk. On the other hand, after the entire bladed disk is installed, the reverse operation can be performed to accurately place the entire bladed disk into the grinding trough for polishing. Moreover, the position of the entire bladed disk in the grinding trough can be adjusted in real time according to the size of the entire bladed disk and different stages of grinding, ensuring that the entire bladed disk is located in the efficient grinding area for polishing. Therefore, it has strong adaptability to workpieces of different sizes and different types of grinding troughs, and has a wide range of applications.

[0007] Furthermore, one end of the mounting base is provided with a sliding groove for the telescopic rod to slide. Several sets of positioning rollers are fixedly installed on the outer wall of the mounting base along the sliding direction of the telescopic rod. The mounting base is provided with roller slots for the positioning rollers to be embedded. The outer wall of the telescopic rod is spaced apart from the inner wall of the mounting base, and the outer edge of the positioning rollers abuts against the outer wall of the telescopic rod.

[0008] By adopting the above technical solution, the positioning roller is slotted to make it abut against the outer wall of the telescopic rod, and the traditional static friction is replaced by rolling friction between the telescopic rod and the positioning roller. The frictional resistance is greatly reduced and the telescopic movement is smoother.

[0009] Furthermore, a rotating gear is fixedly provided at the end of the telescopic rod, and a rotating groove is provided at the end of the telescopic rod where the rotating gear is located. A mounting plate is fixedly provided on the side of the horizontal crossbar near the telescopic rod, and a locking shaft is provided on the mounting plate to engage the rotating groove. The first drive motor is fixedly mounted on the mounting plate, and a first drive gear is engaged on the rotating shaft of the first drive motor. The first drive gear meshes with the rotating gear.

[0010] By adopting the above technical solution, the locking shaft is fitted into the rotating groove, and the mounting plate is fixed on the telescopic rod to prevent it from falling off. When in use, the first drive motor rotates and meshes with the rotating gear plate to drive the horizontal mounting plate to rotate. When the mounting plate rotates, it drives the horizontal crossbar to rotate, thereby achieving the effect of adjusting the position of the rotating rod.

[0011] Furthermore, a locking plate is provided on the outer edge of the mounting plate, and a telescopic motor is fixedly mounted on the locking plate. A parking gear plate that meshes with the rotating gear disk is fixedly mounted on the telescopic end of the telescopic motor.

[0012] By adopting the above technical solution, the telescopic motor can control the parking tooth plate to move away from or near the rotating tooth plate. When the horizontal bar rotates to a specified angle, the two approach and engage to lock, thereby locking the rotating tooth plate and the mounting plate, effectively positioning the horizontal bar. When rotation adjustment is required, the two move away and engage to lock, facilitating angle adjustment.

[0013] In summary, the beneficial technical effects of this utility model are as follows: 1. It adopts a telescopic rod, drive cylinder, horizontal crossbar, first drive motor, rotating rod and second drive motor, so as to make it easy to complete the assembly and disassembly of the whole impeller and to easily and accurately place it into the grinding material tank, and to adjust the grinding and polishing position with a high degree of freedom. 2. Positioning rollers and grooved rollers are adopted, and rolling friction is used between the telescopic rod and the positioning rollers instead of traditional static friction, which greatly reduces frictional resistance and makes the telescopic movement smoother; 3. It adopts a telescopic motor and a parking toothed plate, which can effectively position the horizontal bar while facilitating angle adjustment. Attached Figure Description

[0014] The accompanying drawings are provided to further illustrate the present invention and form part of the specification, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall bladed disk structure; Figure 2 This is a schematic diagram of the overall structure of this utility model; Figure 3 yes Figure 2 Enlarged schematic diagram of section A in the middle; Figure 4 This is an exploded view of the overall structure of this utility model; Figure 5 This is an exploded view of the overall structure of this utility model.

[0015] In the diagram, 1 is the mounting base; 11 is the sliding groove; 2 is the telescopic rod; 21 is the drive cylinder; 3 is the horizontal crossbar; 31 is the first drive motor; 4 is the rotating rod; 41 is the second drive motor; 5 is the workpiece clamp; 6 is the positioning roller; 61 is the roller slot; 7 is the rotating gear plate; 71 is the rotating groove; 8 is the mounting plate; 81 is the retaining shaft; 9 is the first drive gear; 10 is the retaining plate; 101 is the telescopic motor; and 102 is the parking gear plate. Detailed Implementation

[0016] The present invention will be further described in detail below with reference to the accompanying drawings.

[0017] 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.

[0018] Please see Figure 2-5 The present invention provides the following technical solution: The robotic arm includes a cylindrical mounting base 1, on which a telescopic rod 2 is telescopically mounted. A horizontal crossbar 3 is fixedly mounted at the end of the telescopic rod 2, and a rotating rod 4 is fixedly mounted at the end of the horizontal crossbar 3. The horizontal crossbar 3 is rotatably connected to the telescopic rod 2. The telescopic rod 2 is equipped with a pair of drive cylinders 21. The horizontal crossbar 3 is equipped with a first drive motor 31, and the rotating rod 4 is equipped with a second drive motor 41. A workpiece clamp 5 is fixedly mounted at the end of the rotating rod 4. In use, the drive cylinders 21 are connected to an external hydraulic system to drive the telescopic rod 2 to extend and retract, thereby controlling the vertical movement of the telescopic rod 2 and adjusting the height of the horizontal crossbar 3. The first drive motor 31 drives the horizontal crossbar 3 to rotate along the center of the telescopic rod 2, and the second drive motor 41 drives the rotating rod 4 to rotate. The workpiece clamp 5 is used for the integral impeller. This robotic arm has a high degree of freedom, capable of extending and retracting in the vertical direction and horizontally. The rotating mechanism facilitates the assembly and subsequent polishing of large integral impellers. When used in conjunction with a vibrating trough for polishing, the highly flexible mechanical mechanism allows for easy assembly and disassembly of the integral impeller. Assembly and disassembly involve first raising the telescopic rod 2 to lift the horizontal bar 3 and rotating the rod 4 to detach it from the grinding trough. Then, rotating the horizontal bar 3 causes the rotating rod 4 to deviate from the grinding trough by a certain angle. Finally, lowering the telescopic rod 2 lowers the rotating rod 4 to a suitable height for the operator, easily completing the assembly and disassembly of the integral impeller. Furthermore, after assembling the integral impeller, the reverse operation allows for accurate placement into the grinding trough for polishing. Moreover, the position of the integral impeller within the grinding trough can be adjusted in real-time according to its size and the different stages of grinding, ensuring it is positioned within a highly efficient grinding area. Therefore, it is highly adaptable to workpieces of different sizes and grinding trough models, making it widely applicable.

[0019] One end of the mounting base 1 has a groove 11 for the telescopic rod 2 to slide. Several sets of positioning rollers 6 are fixedly installed on the outer wall of the mounting base 1 along the sliding direction of the telescopic rod 2. The mounting base 1 has a roller slot 61 for the positioning rollers 6 to be embedded. The outer wall of the telescopic rod 2 is spaced apart from the inner wall of the mounting base 1. The outer edge of the positioning rollers 6 is set to abut against the outer wall of the telescopic rod 2. The positioning rollers 6 cooperate with the roller slots 61 to make the positioning rollers 6 abut against the outer wall of the telescopic rod 2. The traditional static friction is replaced by rolling friction between the telescopic rod 2 and the positioning rollers 6, which greatly reduces the frictional resistance and makes the telescopic movement smoother.

[0020] A rotating gear 7 is fixedly installed at the end of the telescopic rod 2. A rotating groove 71 is opened at the end of the telescopic rod 2 where the rotating gear 7 is located. A mounting plate 8 is fixedly installed on the side of the horizontal crossbar 3 near the telescopic rod 2. The mounting plate 8 has a retaining shaft 81 that engages with the rotating groove 71. The first drive motor 31 is fixedly installed on the mounting plate 8. The rotating shaft of the first drive motor 31 engages with the first drive gear 9. The first drive gear 9 meshes with the rotating gear 7. The retaining shaft 81 engages with the rotating groove 71. At the same time, the mounting plate 8 is fixed on the telescopic rod 2 to prevent it from falling off. When in use, the first drive motor 31 rotates and meshes with the rotating gear 7 to drive the horizontal mounting plate 8 to rotate. When the mounting plate 8 rotates, it drives the horizontal crossbar 3 to rotate, thereby achieving the effect of adjusting the position of the rotating rod 4.

[0021] A locking plate 10 is provided on the outer edge of the mounting plate 8. A telescopic motor 101 is fixedly installed on the locking plate 10. A parking toothed plate 102 that engages with the rotating toothed disc 7 is fixedly installed on the telescopic end of the telescopic motor 101. The telescopic motor 101 can control the parking toothed plate 102 to move away from or closer to the rotating toothed disc 7. When the horizontal crossbar 3 rotates to a specified angle, the two move closer together and engage to lock the rotating toothed disc 7 and the mounting plate 8, effectively positioning the horizontal crossbar 3. When rotation adjustment is required, the two move away from each other and engage to lock, facilitating angle adjustment.

[0022] 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.

[0023] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A highly adaptable robotic arm assembly for grinding, comprising a cylindrical mounting base (1), characterized in that: The mounting base (1) is extended and retractable with a telescopic rod (2). A horizontal crossbar (3) is fixedly installed at the end of the telescopic rod (2). A rotating rod (4) is fixedly installed at the end of the horizontal crossbar (3). The horizontal crossbar (3) is rotatably connected to the telescopic rod (2). The telescopic rod (2) is equipped with a pair of drive cylinders (21). The horizontal crossbar (3) is equipped with a first drive motor (31). The rotating rod (4) is equipped with a second drive motor (41). A workpiece clamp (5) for mounting the workpiece is fixedly installed at the end of the rotating rod (4).

2. The highly adaptable robotic arm assembly for grinding according to claim 1, characterized in that: The mounting base (1) has a groove (11) at one end for the telescopic rod (2) to slide. Several sets of positioning rollers (6) are fixedly installed on the outer wall of the mounting base (1) along the sliding direction of the telescopic rod (2). The mounting base (1) has a roller slot (61) for the positioning rollers (6) to be embedded. The outer wall of the telescopic rod (2) is spaced apart from the inner wall of the mounting base (1). The outer edge of the positioning rollers (6) abuts against the outer wall of the telescopic rod (2).

3. The highly adaptable robotic arm assembly for grinding according to claim 1, characterized in that: A rotating gear (7) is fixedly installed at the end of the telescopic rod (2). A rotating groove (71) is opened at the end of the telescopic rod (2) where the rotating gear (7) is located. An installation plate (8) is fixedly installed on the side of the horizontal crossbar (3) near the telescopic rod (2). The installation plate (8) is provided with a locking shaft (81) that engages with the rotating groove (71). The first drive motor (31) is fixedly installed on the installation plate (8). The rotating shaft of the first drive motor (31) is engaged with a first drive gear (9). The first drive gear (9) meshes with the rotating gear (7).

4. The highly adaptable robotic arm assembly for grinding according to claim 3, characterized in that: The mounting plate (8) has a locking plate (10) extending from its outer edge. The locking plate (10) is fixedly equipped with a telescopic motor (101). The telescopic end of the telescopic motor (101) is fixedly equipped with a parking gear plate (102) that meshes with the rotating gear disc (7).

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