CN109732425B - Auxiliary device of polishing robot and application thereof - Google Patents
Auxiliary device of polishing robot and application thereof Download PDFInfo
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- CN109732425B CN109732425B CN201910091157.2A CN201910091157A CN109732425B CN 109732425 B CN109732425 B CN 109732425B CN 201910091157 A CN201910091157 A CN 201910091157A CN 109732425 B CN109732425 B CN 109732425B
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- central shaft
- robot
- polishing
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- wind mill
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- 238000005498 polishing Methods 0.000 title claims abstract description 46
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 230000002146 bilateral effect Effects 0.000 claims 1
- 210000003437 trachea Anatomy 0.000 claims 1
- 241001541997 Allionia Species 0.000 abstract description 4
- 210000000078 claw Anatomy 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000007517 polishing process Methods 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an auxiliary device of a polishing robot, which comprises a wind mill frame, wherein two wind mills are symmetrically arranged on the wind mill frame left and right, the wind mill frame is fixed on a shaft sleeve, the shaft sleeve is sleeved on a central shaft, a cruising gear is sleeved on the central shaft, the central shaft is in a tubular structure, a pen-shaped air cylinder is arranged in the middle of the central shaft, an air pipe of the pen-shaped air cylinder is led out from the tail part and penetrates out from the upper part of the central shaft, a supporting structure for supporting the wall of the vertical inner circle of a workpiece is arranged at the bottom of the central shaft, the upper part of the central shaft is fixedly connected with a central shaft seat, the central shaft seat is arranged at one end of a bridge frame, a motor is arranged on the bridge frame, a driving gear is arranged on a driving shaft of the motor, the driving gear is meshed with the cruising gear, and a polishing head is inserted at the lower end of the wind mill. According to the invention, the two air grinders are symmetrically arranged, the polishing acting forces are balanced, the polishing quality is improved, meanwhile, the two air grinders work simultaneously, and the working efficiency is improved in half cycles.
Description
Technical Field
The invention relates to a polishing robot auxiliary device and application thereof, and belongs to the technical field of robots.
Background
The device that polishes to juncture burr in the inside of two intercrossing pipelines owing to its inner space is limited, adopts the method of artifical file to remove the burr always before, tries to adopt the robot to snatch the wind mill instrument directly and polishes, owing to receive the restriction of robot structure, the wind mill can only work with oblique plug-in mode, is difficult to reach satisfactory effect.
When the robot directly holds the wind mill to polish a workpiece, a three-dimensional curve formed at the junction of two circular pipes is difficult to accurately track, and meanwhile, the size of burrs in the polishing process easily causes the wind mill to be stressed by a large margin and fluctuate instantly, so that the robot arm shakes, and the robot is easy to break down.
In the past, the work piece is polished by adopting the robot, no matter the robot grasps that grinding device is close to the work piece, or the work piece is close to grinding device, the end of the robot arm works under the condition of no support, this can also work steadily under the condition that some work pieces are right angles with the grinding device, if the 3D curve work piece is polished, because the grinding device constantly changes the angle with the work piece position, the change of the grinding force that it receives is great, not only influence the smoothness of polishing, simultaneously also great to the life-span influence of the robot, the user often can select the robot that the bearing capacity is great, improve the rigidity of the robot arm and deal with, the cost is increased, the space occupation is also great.
Common walking tracks of the polisher robot are all carried out in a programming mode, and polishing effects are poor when preset tracks are adopted for polishing some workpieces with larger form and position tolerances.
Disclosure of Invention
The invention aims to solve the technical problems that: the problem of how to accurately track the three-dimensional curve formed at the junction of two circular pipes and how to avoid shaking of the robot arm is solved.
In order to solve the technical problems, the technical scheme of the invention provides an auxiliary device for a polishing robot, which is characterized by comprising a wind mill frame, wherein two wind mills are symmetrically arranged on the wind mill frame in a left-right symmetry manner, the wind mill frame is fixed on a shaft sleeve, the shaft sleeve is sleeved on a central shaft, a cruising gear is sleeved on the central shaft, the central shaft is in a tubular structure, a pen-shaped air cylinder is arranged in the middle of the central shaft, an air pipe of the pen-shaped air cylinder is led out from the tail part and penetrates out from the upper part of the central shaft, a supporting structure for supporting the wall of the vertical inner circle of a workpiece is arranged at the bottom of the central shaft, the upper part of the central shaft is fixedly connected with a central shaft seat, the central shaft seat is arranged at one end of a bridge, a motor is arranged on the bridge, a driving gear is arranged on a driving shaft of the motor, the driving gear is meshed with the cruising gear, and a polishing head is inserted at the lower end of the wind mill.
Preferably, both sides of the wind mill frame are provided with limiting columns, and the oblique position of the lower end of each limiting column is provided with a limiting rod.
Preferably, a compression spring is arranged between the lower part of the central shaft seat and the cruising gear, and a buffer spring is arranged between the lower part of the shaft sleeve and the positioning frame.
Preferably, the supporting structure comprises a positioning frame, the bottom of the central shaft is connected with the positioning frame below the central shaft, a hole is formed in the middle of the positioning frame, a cylinder piston rod of the pen-shaped cylinder extends out of the hole, the end part of the cylinder piston rod is fixedly connected with the pushing disc, a supporting foot is arranged below the positioning frame, a claw is arranged on the supporting foot, a short arm is arranged on the claw, and a pulley is arranged at the end part of the short arm.
Preferably, the cruise gear is arranged above the wind mill frame; two windmills pass through the cruise gear.
Preferably, the other end of the bridge is provided with a flange connected with the tail end of the robot.
Preferably, the top of the air mill is provided with connecting pipes.
The application of the polishing robot auxiliary device is characterized in that the polishing robot auxiliary device is sent into a workpiece through a robot, a claw is opened to prop against a vertical inner hole of the workpiece, the workpiece is polished in an automatic track searching mode after the polishing robot auxiliary device is positioned, and a polishing part of the workpiece is a three-dimensional curve formed by two mutually-intersected round holes; the automatic tracking is performed as follows: the polishing robot auxiliary device synchronously moves along the surface of the horizontal round hole of the workpiece while horizontally rotating, the two sides of the horizontal round hole are high and low in the middle, and the whole polishing robot auxiliary device moves up and down along the edge of the three-dimensional curve under the pushing action of the limiting rod and the compression spring to form a three-dimensional track walking along the polishing edge of the workpiece.
According to the auxiliary device, the air mill is fed into the workpiece in the vertical direction by adopting the method of setting the supporting points, the clamping jaws are supported on the vertical inner circular hole wall of the workpiece to play a role in stabilizing, the device moves around the circumference and along the surface of the workpiece in a fluctuating manner, and the grinding head and the grinding edge always keep the same angle and distance, so that the air mill stably rotates to work, the grinding quality is ensured, the problem of grinding stability is effectively solved, and a better grinding effect can be achieved by using a light robot.
The invention effectively solves the problem that when a robot directly holds a wind mill to polish a workpiece, a three-dimensional curve formed at the junction of two circular pipes is difficult to accurately track, meanwhile, the size of burrs in the polishing process easily causes the wind mill to be stressed and greatly fluctuates instantly, so that the robot arm shakes, the problem of faults of the robot is easily caused, the two wind mills are symmetrically arranged, polishing acting forces are balanced mutually, the polishing quality is improved, and meanwhile, the two wind mills work simultaneously, and the working efficiency is improved in each half cycle.
According to the invention, an automatic track searching mode is adopted, the robot and the polishing device are matched in a labor division manner, the robot is responsible for positioning, the polishing device automatically searches for tracks, so that the polishing head always keeps the most appropriate distance from the workpiece, and the polishing efficiency and quality are improved.
Drawings
FIG. 1 is a working isometric view of a grinding robot aid;
FIG. 2 is a front view of a grinding robot aid;
FIG. 3 is a partial cross-sectional view of a grinding robot aid;
fig. 4 is a bottom view of a sanding robot assistance device.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
The invention relates to a polishing robot auxiliary device, which is shown in fig. 1-4, and comprises a wind mill frame 1, a wind mill 2, a shaft sleeve 3, a central shaft 4, a cruise gear 5, a pen-type air cylinder 6, a positioning frame 7, an air cylinder piston rod 8, a pushing disc 9, a support leg 10, a claw 11, a short arm 12, a pulley 13, a bridge 14, a flange 15, a central shaft seat 16, an air joint 17, a compression spring 18, a buffer spring 19, a motor frame 20, a motor 21, a driving gear 22, a limiting column 23, a limiting rod 24 and a polishing head 25.
Two air grinders 2 are symmetrically arranged on the air grinder frame 1 left and right, the top of each air grinder 2 is provided with a connecting pipe 17, the air grinder frame 1 is fixed on a shaft sleeve 3, the shaft sleeve 3 is sleeved on a central shaft 4, a cruise gear 5 is arranged above the air grinder frame 1 and is sleeved on the central shaft 4 and the two air grinders 2, the central shaft 4 is tubular, a pen-shaped air cylinder 6 is arranged in the middle of the central shaft 4, an air pipe of the pen-shaped air cylinder 6 is led out from the tail part and penetrates out from the upper part of the central shaft 4, the bottom of the central shaft 4 is connected with a positioning frame 7 below the central shaft 4, a hole is arranged in the middle of the positioning frame 7, an air cylinder rod 8 of the pen-shaped air cylinder 6 extends out from the hole, the end part of the air cylinder rod 8 is fixedly connected with a pushing disc 9, a supporting leg 10 is arranged below the positioning frame 7, the claw 11 is arranged on the supporting leg 10, the claw 11 is provided with a short arm 12, the end part of the short arm 12 is provided with a pulley 13, one end of a bridge 14 is provided with a flange 15 and is connected with the tail end of the robot, the other end of the bridge is provided with a central shaft seat 16 and is fixedly connected with the upper part of the central shaft 4 in a matched manner, a compression spring 18 is arranged between the lower part of the central shaft seat 16 and the cruising gear 5, a buffer spring 19 is arranged between the lower part of the shaft sleeve 3 and the positioning frame 7, one side of the bridge 14 is provided with a motor frame 20, the upper part of the motor frame 20 is provided with a motor 21, the shaft of the motor 21 is provided with a driving gear 22, the driving gear 22 is meshed with the cruising gear 5, both sides of the windmill frame 1 are provided with limiting columns 23, the lower ends of the limiting columns 23 are obliquely provided with limiting rods 24, and the polishing head 25 is inserted into the windmill 2.
When the pneumatic polishing machine works, the robot sends the auxiliary device of the pneumatic polishing machine to the middle of a part to be processed from one side of a rough pipe, then the auxiliary device descends to the horizontal plane where the limiting rod 24 touches the inner hole of a workpiece, the cylinder piston rod 8 of the pen-shaped cylinder 6 stretches out of the pushing disc 9, so that the claw 11 opens and props against the vertical inner hole wall of the workpiece (namely two mutually-crossed pipelines), the stabilizing effect is achieved, the cruising gear 5 is driven to rotate by the motor 21 and the driving gear 22 in the polishing process, the limiting rod 24 horizontally rotates along the inner wall of the rough pipe of the workpiece, and meanwhile, the limiting rod is vertically fluctuated due to the change of the height of the inner wall of the rough pipe, the pneumatic polishing machine frame 1 is driven to vertically fluctuated together, and the polishing head of the pneumatic polishing machine 2 moves along the edge of the burr of the workpiece, and the burr polishing of the workpiece is completed.
According to the invention, an automatic track searching mode is adopted, the robot and the polishing device are matched in a labor division manner, the robot is responsible for positioning, the polishing device automatically searches for tracks, so that the polishing head always keeps the most appropriate distance from the workpiece, and the polishing efficiency and quality are improved.
The process of automatic tracking is as follows:
After the device is sent into a workpiece by a robot, the claw 11 at the lower end of the device is opened to prop against the vertical inner hole of the workpiece, so that the lower end of the whole polishing device is stabilized, and as the polishing part of the workpiece is a three-dimensional curve formed by two mutually-intersected round holes, the polishing device rotates horizontally and synchronously moves along the surface of the horizontal round hole of the workpiece, the two sides of the horizontal round hole are high and low in the middle, and the whole polishing device moves up and down along the edge of the three-dimensional curve under the pushing action of the limiting rod 24 and the compression spring 18, so that a three-dimensional track walking along the polishing edge of the workpiece is formed.
Claims (5)
1. The utility model provides a grinding robot auxiliary device, a serial communication port, including wind mill frame (1), wind mill frame (1) is gone up bilateral symmetry and is set up two wind mill machine (2), wind mill frame (1) is fixed on axle sleeve (3), axle sleeve (3) overcoat is on center pin (4), the cover has a cruising gear (5) on center pin (4), the structure of center pin (4) is tubular, the centre of center pin (4) is equipped with pen-type cylinder (6), the trachea of pen-type cylinder (6) is drawn forth from the afterbody and wears out from the upper portion of center pin (4), the bottom of center pin (4) is equipped with the bearing structure who is used for propping up the vertical interior round hole wall of work piece, the upper portion and the center pin seat (16) fixed connection of center pin seat (16) are located the one end of crane span structure (14), be equipped with motor (21) on crane span structure (14), be equipped with driving gear (22) on the drive shaft of motor (21), driving gear (22) and cruising gear (5) meshing, the lower extreme of wind mill machine (2) has been inserted and has been polished first (25);
Limiting columns (23) are arranged on two sides of the air mill frame (1), and limiting rods (24) are arranged at the inclined positions of the lower ends of the limiting columns (23);
A compression spring (18) is arranged between the lower part of the central shaft seat (16) and the cruise gear (5), and a buffer spring (19) is arranged between the lower part of the shaft sleeve (3) and the positioning frame (7);
the cruise gear (5) is arranged above the wind mill frame (1); two windmills (2) pass through the cruise gear (5).
2. A grinding robot auxiliary device as claimed in claim 1, characterized in that the supporting structure comprises a positioning frame (7), the bottom of the central shaft (4) is connected with the positioning frame (7) below the positioning frame, a hole is formed in the middle of the positioning frame (7), a cylinder piston rod (8) of the pen-shaped cylinder (6) extends out of the hole, the end part of the cylinder piston rod (8) is fixedly connected with the pushing disc (9), a supporting foot (10) is arranged below the positioning frame (7), a clamping jaw (11) is arranged on the supporting foot (10), a short arm (12) is arranged on the clamping jaw (11), and a pulley (13) is arranged at the end part of the short arm (12).
3. A grinding robot aid as claimed in claim 1, characterized in that the bridge (14) is provided at its other end with a flange (15) connected to the end of the robot.
4. A grinding robot aid as claimed in claim 1, characterized in that the top of the wind mill (2) is provided with connecting pipes (17).
5. Use of a grinding robot aid according to claim 2, characterized in that the grinding robot aid is fed into the workpiece by means of a robot, the jaws (11) are opened to bear against the vertical inner holes of the workpiece, the grinding robot aid is positioned to grind the workpiece in an automatic tracking manner, the grinding position of the workpiece is a three-dimensional curve formed by two mutually intersecting circular holes; the automatic tracking is performed as follows: the polishing robot auxiliary device synchronously moves along the surface of a horizontal round hole of the workpiece while horizontally rotating, the two sides of the horizontal round hole are high and low in the middle, and under the pushing action of the limiting rod (24) and the compression spring (18), the whole polishing robot auxiliary device moves up and down along the edge of the three-dimensional curve to form a three-dimensional track walking along the polishing edge of the workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910091157.2A CN109732425B (en) | 2019-01-30 | 2019-01-30 | Auxiliary device of polishing robot and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910091157.2A CN109732425B (en) | 2019-01-30 | 2019-01-30 | Auxiliary device of polishing robot and application thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109732425A CN109732425A (en) | 2019-05-10 |
| CN109732425B true CN109732425B (en) | 2024-06-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910091157.2A Active CN109732425B (en) | 2019-01-30 | 2019-01-30 | Auxiliary device of polishing robot and application thereof |
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| Country | Link |
|---|---|
| CN (1) | CN109732425B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3446055A1 (en) * | 1984-12-18 | 1986-06-26 | Karl Dr. 7530 Pforzheim Elbel | Process and apparatus for grinding the inner surfaces of large-bore straight and bent pipes |
| JPH07186016A (en) * | 1993-12-24 | 1995-07-25 | Ougiya Koji Kk | Polishing device for inner surface of underground buried pipe |
| CN106826451A (en) * | 2017-01-11 | 2017-06-13 | 苏州阿福机器人有限公司 | Pipe fitting polishing streamline |
| CN206550770U (en) * | 2017-03-14 | 2017-10-13 | 东莞市海晟机械配件有限公司 | A kind of inner-hole burr automatic grinding device |
| CN206567948U (en) * | 2016-11-30 | 2017-10-20 | 常州星宇车灯股份有限公司 | A kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot |
-
2019
- 2019-01-30 CN CN201910091157.2A patent/CN109732425B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3446055A1 (en) * | 1984-12-18 | 1986-06-26 | Karl Dr. 7530 Pforzheim Elbel | Process and apparatus for grinding the inner surfaces of large-bore straight and bent pipes |
| JPH07186016A (en) * | 1993-12-24 | 1995-07-25 | Ougiya Koji Kk | Polishing device for inner surface of underground buried pipe |
| CN206567948U (en) * | 2016-11-30 | 2017-10-20 | 常州星宇车灯股份有限公司 | A kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot |
| CN106826451A (en) * | 2017-01-11 | 2017-06-13 | 苏州阿福机器人有限公司 | Pipe fitting polishing streamline |
| CN206550770U (en) * | 2017-03-14 | 2017-10-13 | 东莞市海晟机械配件有限公司 | A kind of inner-hole burr automatic grinding device |
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| Publication number | Publication date |
|---|---|
| CN109732425A (en) | 2019-05-10 |
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