A polishing robot

Abstract

The utility model relates to industrial robot technical field, especially a polishing manipulator, including the connecting flange, the connecting flan bottom fixed connection has the damping spring shock absorber, the damping spring shock absorber bottom is installed with the support frame, the support frame inside is installed with the servo motor, the support frame bottom is installed with the shaft coupling, the shaft coupling bottom is installed with the dust absorption subassembly, and the dust absorption subassembly includes the dust removal pipe, and the dust removal pipe lower extreme plugs into the dust absorption cover, is equipped with the cooling assembly on the dust absorption cover, and the cooling assembly includes annular cooling pipe, and the annular cooling pipe outer wall is fixedly connected with the dust absorption cover inner wall, and the annular cooling pipe inner wall is communicated with a plurality of nozzles. Realize the adjustment of cooling spray angle, and the flexible deformation of first spring pipe occurs with the angle change of nozzle, guarantees the continuity of cooling medium delivery, and the workpiece of different shapes, different polishing position is cooled and covered conveniently, ensures that cooling medium reaches the polishing area smoothly, and reduces the risk of local overheating.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and in particular to a grinding robot. Background Technology

[0002] In fields such as machining, automobile manufacturing, and aerospace, automated grinding robots have become core equipment for improving production efficiency and ensuring processing consistency because they can replace manual labor in performing high-precision, highly repeatable tasks such as workpiece surface grinding and deburring. With the improvement of industrial automation, the market has placed higher demands on the functional integration, operational adaptability, and processing quality of grinding robots. In particular, the high temperature generated during the grinding process directly affects the workpiece processing accuracy, surface quality, and service life of grinding tools. Therefore, the design of the cooling system is one of the key technologies for grinding robots.

[0003] A search revealed a Chinese patent with publication number CN106826422B, which provides an automated grinding robot. Through a combination of mechanical structures, it achieves a soft connection between the diamond workpiece and the grinding wheel, avoiding the safety hazards caused by hard contact. At the same time, it adopts a closed environment to prevent dust diffusion and integrates automated transportation and collection functions, improving processing efficiency and environmental friendliness.

[0004] However, during use, it was found that there are significant differences in the shape of the workpiece, the grinding position, and the material of the workpiece. The fixed-angle cooling spray method is difficult to cover the grinding area under different working conditions. The fixed nozzle is prone to the cooling medium not reaching some grinding areas, resulting in local overheating, which in turn causes workpiece deformation or surface quality defects. It is difficult to adapt to the cooling requirements under different grinding speeds and grinding loads, which affects the operational adaptability and processing quality of the grinding robot. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this utility model provides a grinding robot that uses a connecting rod to drive a rotating rod to deflect, thereby driving the nozzle to rotate around the connection point and adjusting the cooling spray angle. The first spring tube undergoes flexible deformation as the nozzle angle changes, ensuring the continuity of cooling medium delivery. This facilitates cooling and covering workpieces of different shapes and grinding positions, ensuring that the cooling medium reaches the grinding area smoothly and reducing the risk of local overheating.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a grinding robot, including a connecting flange, a damping spring shock absorber fixedly connected to the bottom surface of the connecting flange, a support frame installed on the bottom surface of the damping spring shock absorber, a servo motor installed inside the support frame, a coupling installed on the bottom surface of the support frame, a dust collection assembly installed on the bottom surface of the coupling, the dust collection assembly including a dust removal pipe, a dust collection hood inserted into the lower end of the dust removal pipe, and a cooling assembly provided on the dust collection hood;

[0007] The cooling assembly includes an annular cooling pipe, the outer peripheral wall of which is fixedly connected to the inner wall of the dust collection hood. Multiple nozzles are connected to the inner wall of the annular cooling pipe, and a first spring tube is connected to the middle of each nozzle. Two rotating rods are fixedly connected to the outer peripheral wall of each nozzle, and connecting rods are rotatably connected to the rotating rods. A movable ring is provided at the upper end of the annular cooling pipe, and the upper ends of the multiple connecting rods are respectively rotatably connected to the movable ring.

[0008] Preferably, a plurality of push rods are rotatably connected to the movable ring, the push rods are slidably connected to the dust collection hood, the upper end of the dust collection hood is provided with an arc-shaped block, and the inner wall of the arc-shaped block is slidably connected to the outer peripheral wall of the dust removal pipe.

[0009] Preferably, the upper ends of the plurality of push rods are respectively fixedly connected to the arc-shaped block, and two first electric push rods are installed on the top surface of the dust collection hood, with the upper ends of the two first electric push rods respectively fixedly connected to the arc-shaped block.

[0010] Through the above technical solution, the arc-shaped block is simultaneously driven by two first electric push rods to slide axially along the outer peripheral wall of the dust removal pipe. The arc-shaped block drives the push rod to move synchronously. The push rod is rotatably connected to the movable ring, thereby pushing the movable ring to move axially. Through the connecting rod, the rotating rod is deflected, driving the nozzle to rotate around the connection point, thereby realizing the adjustment of the cooling spray angle.

[0011] Preferably, the annular cooling pipe is connected to a liquid inlet pipe, which extends through the dust collection hood to the outside. Multiple supports are installed on the top surface of the dust collection hood, and connectors are threaded onto the supports. The lower end of the dust collection pipe is threaded to the inner end of the connector through a threaded hole.

[0012] Through the above technical solution, the dust hood is connected to the lower end of the dust removal pipe by the connector on the top support, enabling quick disassembly and maintenance.

[0013] Preferably, the damping spring shock absorber is fitted with a telescopic dust cover, the output shaft of the servo motor is coaxially connected to the coupling, the output end of the coupling is coaxially connected to a grinding shaft, and a grinding component is installed at the lower end of the grinding shaft.

[0014] Preferably, the dust collection hood is connected to a second spring tube in the middle, the bottom surface of the dust collection hood is embedded with a plurality of ball bearings, the upper end of the dust removal tube is fixedly connected to the bottom surface of the coupling, and the outer peripheral wall of the grinding shaft is rotatably connected to the dust removal tube.

[0015] Through the above technical solution, the servo motor transmits power to the grinding shaft through a coupling, and the grinding part at the lower end of the grinding shaft rotates with the shaft to realize the workpiece grinding operation.

[0016] Preferably, the upper end of the dust removal pipe is connected to an exhaust pipe, and the dust removal pipe is equipped with a dust suction fan blade inside, the upper end of which is fixedly connected to the outer peripheral wall of the grinding shaft.

[0017] Preferably, a dust suction duct is formed between the outer wall of the dust suction fan blade and the inner wall of the dust removal pipe, and a duct sealing ring is installed at the lower end of the dust suction fan blade. The duct sealing ring is rotatably connected to the inner wall of the dust removal pipe, and the top surface of the duct sealing ring is inclined.

[0018] With the above technical solution, when the grinding shaft rotates, it synchronously drives the dust suction fan blades inside the dust removal pipe to rotate, forming a negative pressure in the dust suction duct. The dust generated by grinding is sucked into the dust suction hood, flows upward along the dust suction duct, and is discharged through the exhaust pipe.

[0019] The beneficial effects of this utility model are as follows: When cooling is required during the grinding process, the annular cooling pipe outputs cooling medium through multiple nozzles. When the movable ring moves axially, it drives the rotating rod to deflect through the connecting rod, thereby driving the nozzle to rotate around the connection point, realizing the adjustment of the cooling spray angle. The first spring tube undergoes flexible deformation with the change of the nozzle angle, ensuring the continuity of cooling medium delivery. This facilitates cooling and covering workpieces of different shapes and grinding positions, ensuring that the cooling medium reaches the grinding area smoothly, reducing the risk of local overheating, reducing workpiece deformation and surface quality defects, protecting the grinding tools, extending their service life, improving the adaptability of the robot, and thus ensuring the consistency of processing quality. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a bottom perspective view of the dust hood structure of this utility model;

[0022] Figure 3 This is a schematic diagram of the dust suction fan blade structure of this utility model;

[0023] Figure 4 This is a schematic diagram of the arc-shaped block structure of this utility model;

[0024] Figure 5 This is a schematic diagram of the annular cooling pipe structure of this utility model;

[0025] Figure 6 This is a schematic diagram of the nozzle structure of this utility model.

[0026] In the diagram: 100, connecting flange; 101, damping spring shock absorber; 102, support frame; 103, servo motor; 104, coupling; 105, dust extraction hood; 106, telescopic dust cover; 107, grinding shaft; 108, grinding parts; 109, second spring tube; 110, ball bearing;

[0027] 200. Vacuum suction assembly; 201. Dust removal pipe; 202. Exhaust pipe; 203. Vacuum suction fan blades; 204. Air duct sealing ring;

[0028] 300. Cooling assembly; 301. Annular cooling pipe; 302. Nozzle; 303. First spring tube; 304. Rotating rod; 305. Connecting rod; 306. Movable ring; 307. Push rod; 308. Arc block; 309. First electric push rod; 310. Liquid inlet pipe; 311. Support; 312. Connector. Detailed Implementation

[0029] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0030] like Figures 1-6 As shown, this embodiment provides a grinding robot, including a connecting flange 100. A damping spring shock absorber 101 is fixedly connected to the bottom surface of the connecting flange 100. A support frame 102 is installed on the bottom surface of the damping spring shock absorber 101. A servo motor 103 is installed inside the support frame 102. A coupling 104 is installed on the bottom surface of the support frame 102. A dust collection assembly 200 is installed on the bottom surface of the coupling 104. The dust collection assembly 200 includes a dust removal pipe 201. A dust collection hood 105 is inserted into the lower end of the dust removal pipe 201. A cooling assembly 300 is provided on the dust collection hood 105.

[0031] The cooling assembly 300 includes an annular cooling pipe 301. The outer peripheral wall of the annular cooling pipe 301 is fixedly connected to the inner wall of the dust collection hood 105. Multiple nozzles 302 are connected to the inner wall of the annular cooling pipe 301. A first spring tube 303 is connected to the middle of each nozzle 302. Two rotating rods 304 are fixedly connected to the outer peripheral wall of the nozzles 302. Connecting rods 305 are rotatably connected to the rotating rods 304. A movable ring 306 is provided at the upper end of the annular cooling pipe 301. The upper ends of the multiple connecting rods 305 are rotatably connected to the movable ring 306 respectively.

[0032] Multiple push rods 307 are rotatably connected to the movable ring 306. The push rods 307 are slidably connected to the dust collection hood 105. An arc-shaped block 308 is provided at the upper end of the dust collection hood 105. The inner wall of the arc-shaped block 308 is slidably connected to the outer peripheral wall of the dust collection pipe 201. The upper ends of the multiple push rods 307 are fixedly connected to the arc-shaped block 308 respectively. Two first electric push rods 309 are installed on the top surface of the dust collection hood 105. The upper ends of the two first electric push rods 309 are fixedly connected to the arc-shaped block 308 respectively. The two first electric push rods 309 simultaneously drive the arc-shaped block 308 to slide axially along the outer peripheral wall of the dust collection pipe 201. The arc-shaped block 308 drives the push rods 307 to move synchronously. The push rods 307 are rotatably connected to the movable ring 306, thereby pushing the movable ring 306 to move axially. The connecting rod 305 drives the rotating rod 304 to deflect, driving the nozzle 302 to rotate around the connection point, thereby realizing the adjustment of the cooling spray angle.

[0033] An inlet pipe 310 is connected to the annular cooling pipe 301. The inlet pipe 310 extends through the dust collection hood 105 to the outside. Multiple supports 311 are installed on the top surface of the dust collection hood 105. Connectors 312 are threadedly connected to the supports 311. The lower end of the dust collection pipe 201 is threadedly connected to the inner end of the connector 312 through a threaded hole. The dust collection hood 105 is threadedly connected to the lower end of the dust collection pipe 201 through the connector 312 on the top support 311, so as to realize quick disassembly and maintenance.

[0034] A telescopic dust cover 106 is fitted around the outer periphery of the damping spring shock absorber 101. The output shaft of the servo motor 103 is coaxially connected to the coupling 104. A grinding shaft 107 is coaxially connected to the output end of the coupling 104. A grinding component 108 is installed at the lower end of the grinding shaft 107. A second spring tube 109 is connected to the middle of the dust collection cover 105. Multiple ball bearings 110 are embedded on the bottom surface of the dust collection cover 105. The upper end of the dust removal pipe 201 is fixedly connected to the bottom surface of the coupling 104. The outer peripheral wall of the grinding shaft 107 is rotatably connected to the dust removal pipe 201. The servo motor 103 transmits power to the grinding shaft 107 through the coupling 104. The grinding component 108 at the lower end of the grinding shaft 107 rotates with the shaft to realize the workpiece grinding operation.

[0035] The upper end of the dust removal pipe 201 is connected to the exhaust pipe 202. The dust removal pipe 201 is equipped with a dust suction fan 203. The upper end of the dust suction fan 203 is fixedly connected to the outer peripheral wall of the grinding shaft 107. A dust suction duct is opened between the outer wall of the dust suction fan 203 and the inner wall of the dust removal pipe 201. A duct sealing ring 204 is installed at the lower end of the dust suction fan 203. The duct sealing ring 204 is rotatably connected to the inner wall of the dust removal pipe 201. The top surface of the duct sealing ring 204 is inclined. When the grinding shaft 107 rotates, it synchronously drives the dust suction fan 203 inside the dust removal pipe 201 to rotate, forming a negative pressure in the dust suction duct. The dust generated by grinding is sucked into the dust suction hood 105 and flows upward along the dust suction duct, and is discharged through the exhaust pipe 202.

[0036] Working principle: The connecting flange 100 serves as the connection interface between the device and the robotic arm. Its bottom surface is connected to the support frame 102 through the damping spring shock absorber 101. The servo motor 103 inside the support frame 102 transmits power to the subsequent actuator through the coupling 104, providing a power foundation for the grinding operation.

[0037] When cooling is required during the grinding process, the annular cooling pipe 301 outputs cooling medium through multiple nozzles 302. When the movable ring 306 moves axially, it drives the rotating rod 304 to deflect through the connecting rod 305, thereby driving the nozzles 302 to rotate around the connection point, realizing the adjustment of the cooling spray angle. The first spring tube 303 undergoes flexible deformation with the change of the nozzle 302 angle, ensuring the continuity of cooling medium delivery. This facilitates cooling and covering of workpieces of different shapes and grinding positions, ensuring that the cooling medium reaches the grinding area smoothly, reducing the risk of local overheating, reducing workpiece deformation and surface quality defects, protecting the grinding tools, extending their service life, improving the adaptability of the robot, and thus ensuring the consistency of processing quality.

[0038] The servo motor 103 transmits power to the grinding shaft 107 through the coupling 104. The grinding part 108 at the lower end of the grinding shaft 107 rotates with the shaft to realize the workpiece grinding operation. The telescopic dust cover 106 sleeved on the outer periphery of the damping spring shock absorber 101 prevents grinding dust from entering the shock absorption structure and ensures stable shock absorption performance.

[0039] During cooling, the external cooling medium is pumped to the inlet pipe 310 and then to the annular cooling pipe 301, and then sprayed out through multiple nozzles 302. If the spray angle needs to be adjusted, the arc block 308 is driven to slide axially along the outer peripheral wall of the dust removal pipe 201 by two first electric push rods 309. The arc block 308 drives the push rod 307 to move synchronously. The push rod 307 is rotatably connected to the movable ring 306, which in turn pushes the movable ring 306 to move axially. The connecting rod 305 drives the rotating rod 304 to deflect, which drives the nozzle 302 to rotate around the connection point, thereby realizing the adjustment of the cooling spray angle, improving the work efficiency and adapting to mass production scenarios.

[0040] The dust hood 105 is connected to the lower end of the dust removal pipe 201 by the connector 312 on the top support 311, enabling quick disassembly and maintenance. The multiple ball bearings 110 embedded on the bottom surface of the dust hood 105 can reduce the contact friction between it and the workpiece surface, making it easy to adjust the fitting position of the dust hood 105, which is convenient for grinding and dust removal of irregularly shaped workpieces. The second spring tube 109 can be easily adapted to the changes of the dust hood 105, ensuring the continuity of dust removal or auxiliary cooling.

[0041] Simultaneously, when the grinding shaft 107 rotates, it synchronously drives the dust suction fan 203 inside the dust removal pipe 201 to rotate, forming a negative pressure in the dust suction duct. The dust generated by grinding is sucked into the dust suction hood 105 and flows upward along the dust suction duct, and is discharged through the exhaust pipe 202. The air duct sealing ring 204 at the lower end of the dust suction fan 203 is rotatably connected to the inner wall of the dust removal pipe 201, which reduces the impact of airflow leakage on dust suction efficiency. Its inclined top surface can guide the smooth flow of dust, reduce the accumulation of dust at the seal, improve dust collection efficiency, and reduce dust diffusion and environmental pollution.

[0042] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A grinding robot, characterized in that, include: A connecting flange (100) is fixedly connected to a damping spring shock absorber (101) on its bottom surface. A support frame (102) is installed on the bottom surface of the damping spring shock absorber (101). A servo motor (103) is installed inside the support frame (102). A coupling (104) is installed on the bottom surface of the support frame (102). A dust collection assembly (200) is installed on the bottom surface of the coupling (104). The dust collection assembly (200) includes a dust removal pipe (201). A dust collection hood (105) is inserted into the lower end of the dust removal pipe (201). A cooling assembly (300) is provided on the dust collection hood (105). The cooling assembly (300) includes an annular cooling pipe (301), the outer peripheral wall of the annular cooling pipe (301) is fixedly connected to the inner wall of the dust collection hood (105), the inner wall of the annular cooling pipe (301) is connected to a plurality of nozzles (302), the middle part of the nozzles (302) is connected to a first spring tube (303), the outer peripheral wall of the nozzles (302) is fixedly connected to two rotating rods (304), the rotating rods (304) are rotatably connected to connecting rods (305), the upper end of the annular cooling pipe (301) is provided with a movable ring (306), and the upper ends of the plurality of connecting rods (305) are respectively rotatably connected to the movable ring (306).

2. The grinding robot as described in claim 1, characterized in that: Multiple push rods (307) are rotatably connected to the movable ring (306). The push rods (307) are slidably connected to the dust collection hood (105). An arc-shaped block (308) is provided at the upper end of the dust collection hood (105). The inner wall of the arc-shaped block (308) is slidably connected to the outer peripheral wall of the dust removal pipe (201).

3. The grinding robot as described in claim 2, characterized in that: The upper ends of the plurality of push rods (307) are respectively fixedly connected to the arc block (308), and two first electric push rods (309) are installed on the top surface of the dust hood (105), and the upper ends of the two first electric push rods (309) are respectively fixedly connected to the arc block (308).

4. The grinding robot as described in claim 3, characterized in that: The annular cooling pipe (301) is connected to an inlet pipe (310), which extends through the dust collection hood (105) to the outside. Multiple supports (311) are installed on the top surface of the dust collection hood (105), and connectors (312) are threaded onto the supports (311). The lower end of the dust removal pipe (201) is threaded to the inner end of the connector (312) through a threaded hole.

5. The grinding robot as described in claim 4, characterized in that: The damping spring shock absorber (101) is fitted with a telescopic dust cover (106) on its outer periphery. The output shaft of the servo motor (103) is coaxially connected to the coupling (104). The output end of the coupling (104) is coaxially connected to a grinding shaft (107). A grinding component (108) is installed at the lower end of the grinding shaft (107).

6. The grinding robot as described in claim 5, characterized in that: The dust hood (105) is connected to a second spring tube (109) in the middle. Multiple balls (110) are embedded on the bottom surface of the dust hood (105). The upper end of the dust removal tube (201) is fixedly connected to the bottom surface of the coupling (104). The outer peripheral wall of the grinding shaft (107) is rotatably connected to the dust removal tube (201).

7. The grinding robot as described in claim 6, characterized in that: The upper end of the dust removal pipe (201) is connected to the exhaust pipe (202), and the dust removal pipe (201) is provided with a dust suction fan (203). The upper end of the dust suction fan (203) is fixedly connected to the outer peripheral wall of the grinding shaft (107).

8. The grinding robot as described in claim 7, characterized in that: A dust suction duct is provided between the outer wall of the dust suction fan (203) and the inner wall of the dust removal pipe (201). A duct sealing ring (204) is installed at the lower end of the dust suction fan (203). The duct sealing ring (204) is rotatably connected to the inner wall of the dust removal pipe (201). The top surface of the duct sealing ring (204) is inclined.

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