CN111730618A - Automatic grinding tool switching device for grinding robot and implementation method thereof - Google Patents
Automatic grinding tool switching device for grinding robot and implementation method thereof Download PDFInfo
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- CN111730618A CN111730618A CN202010669989.0A CN202010669989A CN111730618A CN 111730618 A CN111730618 A CN 111730618A CN 202010669989 A CN202010669989 A CN 202010669989A CN 111730618 A CN111730618 A CN 111730618A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000005498 polishing Methods 0.000 claims abstract description 58
- 230000001681 protective effect Effects 0.000 claims description 14
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 8
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 8
- 241001330002 Bambuseae Species 0.000 claims description 8
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 8
- 239000011425 bamboo Substances 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 230000001174 ascending effect Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Abstract
The invention discloses an automatic grinding tool switching device for a grinding robot and an implementation method thereof, wherein a robot arm of the grinding robot can freely move around a preset line, so that grinding of workpieces and replacement of grinding tools are facilitated, an extending column and an assembling and combining female part are both used for assembly, the workpieces can be ground after a grinding assembly is installed, a stepping motor is used for changing the positions of grinding wheels on the grinding assembly, so that two grinding wheels can be used for grinding, the working procedure of replacing the grinding assembly is reduced, the assembly and combining female part is matched with an assembling and combining male part to complete assembly of the grinding assembly, wherein the assembling and combining female part can be used for completing assembly of the grinding assembly by moving downwards for the first time, the assembling and combining female part can be used for detaching the grinding assembly by moving downwards and ascending for the second time, the assembling process of the grinding tools is simple, and meanwhile, the speed of replacing the grinding tools is reduced by the arrangement of double grinding wheels, the practical use efficiency of the polishing robot can be effectively improved.
Description
Technical Field
The invention relates to a grinding tool robot, in particular to an automatic grinding tool switching device for a grinding robot and an implementation method thereof.
Background
At present, the metal product production in China generally adopts skilled workers to manually polish and polish by electric and pneumatic grinding tools. The flammable and explosive dust generated during polishing and sanding is undoubtedly a potential hazard to human bodies. In China, serious safety accidents caused by much grinding and polishing dust occur every year, and therefore, great personnel and property losses are caused. In order to avoid the reoccurrence of the production accidents, the production mode needs to be converted and upgraded, namely, a grinding and polishing robot is used for replacing manual grinding and polishing.
The polishing robot can not only liberate workers from dangerous production environment, but also improve the production efficiency and reduce the production cost. The polishing robot generally comprises a basic support, a stretching arm and a polishing assembly, wherein the polishing assembly is installed at one end of the stretching arm, the polishing assembly polishes a workpiece, but the problem that the replacement process of the polishing assembly is complex easily exists when the existing polishing robot is used, and the actual use efficiency of the polishing robot is influenced.
Disclosure of Invention
The invention aims to provide an automatic grinding tool switching device for a grinding robot and an implementation method thereof.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a burnishing tool automatic switching control equipment for polishing robot, includes the cantilever arm and the subassembly of polishing, the bottom mounting of cantilever arm has the female piece of protrusion post and assembly combination, the one end of cantilever arm is connected to the subassembly of polishing, and the subassembly of polishing includes a disc, the public piece of assembly combination, motor, the wheel of polishing, circle frame and step motor, the public piece of assembly combination is installed on the top of a disc, and a disc and the public piece of assembly combination all with cantilever arm swing joint, the top surface center department of top disc has seted up spacing square hole, and step motor is installed to the below of top disc, and the top of circle frame is connected to step motor's output, and the motor is installed to the inboard of circle frame, and the output of motor runs through the circle frame and connects the center department of the wheel of polishing.
Preferably, the protective frame is installed in the outside of step motor, and the top disc welded fastening of protective frame, protective frame pass through the fixed step motor of support, and spacing ring is installed to protective frame's bottom, and protective frame passes through spacing ring and circle frame swing joint.
Preferably, the motors and the grinding wheels are arranged in two groups, and the motors and the grinding wheels are symmetrically distributed.
Preferably, the public piece of assembly combination includes a tensile column, short cylinder, hemisphere and a dish section of thick bamboo, and the bottom and the top disc of tensile column are fixed, and the short cylinder with the axle center is installed to the top center department of tensile column, and the hemisphere is installed on short cylindrical top, and swing joint's a dish section of thick bamboo is installed in short cylindrical outside, and the diameter value of hemisphere is less than a dish section of thick bamboo's diameter value.
Preferably, the assembly combination female part is movably connected with the assembly combination male part, the assembly combination female part comprises a cylinder, a spring, a clamping block and a guide cylinder, the top end of the cylinder is welded and fixed with the extension arm, the inner wall of the cylinder is matched with the tension column, the spring, the clamping block and the guide cylinder are installed in the inner cavity of the cylinder, the two ends of the spring are respectively connected with the clamping block and the cylinder, the cross section of the clamping block is trapezoidal, the hemisphere and the disc-shaped cylinder are in contact connection with the clamping block, the clamping block is fixed with one end of the guide cylinder, the guide cylinder and the spring are coaxial, and the guide cylinder is movably connected with the side wall of the cylinder.
Preferably, the cross section of the extending column is rectangular, the assembling and combining female part is positioned on the outer side of the extending column, and the extending column is matched with the limiting square hole.
Preferably, a tool table carrying a sharpening assembly is mounted to one side of the projecting arm.
Another technical problem to be solved by the present invention is to provide an implementation method of an automatic polishing tool switching device for a polishing robot, comprising the following steps:
s1: firstly, placing the grinding assemblies subjected to maintenance and overhaul on a tool table, wherein the plurality of grinding assemblies on the tool table are distributed in an arc shape, the grinding assemblies are the same in size, but grinding wheels of the grinding assemblies are different;
s2: adjusting the position of the extension arm to enable the rotation range of the extension arm to just cover the grinding assembly on the tool table;
s3: assembling the grinding assembly and the extension arm, wherein the extension arm moves right above the grinding assembly, the extension arm then moves downwards, and the assembling combination male part is matched with the assembling combination female part to complete the installation of the grinding assembly;
s4: polishing the workpiece by using a polishing component;
s5: the subassembly of polishing, wherein the cantilever arm rotates and drives the subassembly of polishing, and when the subassembly of polishing removed the instrument bench, the cantilever arm carried out the downstream, and the public piece of assembly combination breaks away from with the female piece of assembly combination, and the cantilever arm is then rotated and when it moved the top of waiting to change the subassembly of polishing, and then moves down and assemble new subassembly of polishing.
Preferably, in S3, grinding wheels are disposed on both sides of the grinding assembly, and when one of the grinding wheels works for a long time, the stepping motor works to drive the circular frame to rotate 180 degrees, so that the other grinding wheel can move to a working position.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an automatic grinding tool switching device for a grinding robot and an implementation method thereof, wherein a robot arm of the grinding robot can freely move around a preset line, so that grinding of workpieces and replacement of grinding tools are facilitated, an extension column and an assembly combined female part are both used for assembly, the workpieces can be ground after a grinding assembly is installed, a stepping motor is used for changing the position of a grinding wheel on the grinding assembly, so that two grinding wheels can be used for grinding, the working procedure of replacing the grinding assembly is reduced, the assembly combined female part and an assembly combined male part are matched to finish assembly of the grinding assembly, wherein the assembly combined female part can finish assembly of the grinding assembly by moving downwards for the first time, the assembly combined female part can remove the grinding assembly by moving downwards and ascending for the second time, the assembly process of the grinding tools is simple, and meanwhile, the replacement speed of the grinding tools is reduced by the arrangement of the double grinding wheels, the practical use efficiency of the polishing robot can be effectively improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the assembly of the sanding assembly of the present invention;
FIG. 3 is a schematic structural view of the assembled and assembled female part of the present invention;
FIG. 4 is a schematic view of the assembly process of the assembly combination male member and the assembly combination female member of the present invention;
FIG. 5 is a schematic view illustrating the assembly effect of the assembly combination male member and the assembly combination female member of the present invention;
FIG. 6 is a schematic view of the lowest most assembled composite female part of the present invention;
FIG. 7 is a top-most schematic view of the dished cartridge of the present invention.
In the figure: 1. a reach arm; 11. extending the column; 12. assembling the combined female part; 121. a cylinder; 122. a spring; 123. a clamping block; 124. a guide cylinder; 2. polishing the assembly; 21. a top disk; 211. limiting a square hole; 22. assembling the combined male part; 221. a tension column; 222. a short cylinder; 223. a hemisphere; 224. a dish-shaped cylinder; 23. a motor; 24. grinding the wheel; 25. a circular frame; 26. a stepping motor; 27. a protective frame; 271. a limit ring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, an automatic grinding tool switching device for a grinding robot includes a projecting arm 1 and a grinding assembly 2, wherein the projecting arm 1 can be regarded as a robot arm of the grinding robot, the robot arm of the grinding robot can freely move around a predetermined line, which facilitates grinding of a workpiece and replacement of the grinding tool, a tool table for carrying the grinding assembly 2 is installed at one side of the projecting arm 1, so that the robot arm of the grinding robot can implement replacement of the grinding tool, a projecting column 11 and an assembling combined female member 12 are fixed at a bottom end of the projecting arm 1, the cross section of the projecting column 11 is rectangular, the assembling combined female member 12 is located at an outer side of the projecting column 11, the projecting column 11 is matched with a limiting square hole 211, the projecting column 11 and the assembling combined female member 12 are used for assembling, the grinding assembly 2 is connected to one end of the projecting arm 1, the grinding assembly 2 can grind the workpiece after working, the polishing component 2 comprises a top disc 21, an assembly combination male part 22, a motor 23, a polishing wheel 24, a circular frame 25 and a stepping motor 26, wherein the assembly combination male part 22 is installed at the top end of the top disc 21, the top disc 21 and the assembly combination male part 22 are both movably connected with the extension arm 1, a limit square hole 211 is formed in the center of the top surface of the top disc 21, the limit square hole 211 is matched with the extension column 11, the stepping motor 26 is installed below the top disc 21, the stepping motor 26 is used for changing the position of the polishing wheel 24 on the polishing component 2, so that two polishing wheels 24 can be used for polishing, the process of replacing the polishing component 2 is reduced, the output end of the stepping motor 26 is connected with the top end of the circular frame 25, a protection frame 27 is installed on the outer side of the stepping motor 26, the top end of the protection frame 27 is fixedly welded with the top disc 21, the protection frame 27 fixes the stepping motor 26 through a support, and a limit circular ring, the protective frame 27 is movably connected with the circular frame 25 through the limiting ring 271, so that the stepping motor 26 drives the circular frame 25 to rotate, the circular frame 25 is matched with the protective frame 27, the circular frame 25 can rotate stably without falling off, the motor 23 is installed on the inner side of the circular frame 25, the output end of the motor 23 penetrates through the circular frame 25 and is connected with the center of the polishing wheel 24, the motor 23 and the polishing wheel 24 are two groups in total, the motor 23 and the polishing wheel 24 are symmetrically distributed, the motor 23 can drive the polishing wheel 24 to rotate, and the rotating polishing wheel 24 can polish the outer surface of a workpiece.
The assembly combination male part 22 is arranged at the top end of the top disc 21, the assembly combination male part 22 is used for assembly, the assembly combination male part 22 comprises a tension column 221, a short cylinder 222, a hemisphere 223 and a disc-shaped cylinder 224, the bottom end of the tension column 221 is fixed with the top disc 21, the top end center of the tension column 221 is provided with the coaxial short cylinder 222, the top end of the short cylinder 222 is provided with the hemisphere 223, the outer side of the short cylinder 222 is provided with the movably connected disc-shaped cylinder 224, the diameter value of the hemisphere 223 is smaller than that of the disc-shaped cylinder 224, the installation hemisphere 223 is not deformable, the disc-shaped cylinder 224 is a rubber component, the disc-shaped cylinder 224 can deform slightly, and the disc-shaped cylinder 224 can move up and down freely along the short cylinder 222.
The assembling and combining female part 12 is installed at the bottom end of the extending arm 1, the assembling and combining female part 12 is movably connected with the assembling and combining male part 22, after the assembling and combining female part 12 and the assembling and combining male part are matched, the polishing assembly 2 is assembled, the assembling and combining female part 12 comprises a cylinder 121, a spring 122, a clamping block 123 and a guide cylinder 124, the top end of the cylinder 121 is fixedly welded with the extending arm 1, the inner wall of the cylinder 121 is matched with a tension column 221, the spring 122, the clamping block 123 and the guide cylinder 124 are installed in the inner cavity of the cylinder 121, two ends of the spring 122 are respectively connected with the clamping block 123 and the cylinder 121, the cross section of the clamping block 123 is trapezoidal, the hemisphere 223 and the disc-shaped cylinder 224 are both in contact connection with the clamping block 123, the clamping block 123 can move left and right in the inner cavity of the cylinder 121, the clamping block 123 is fixed with one end of the guide.
Referring to fig. 4 to 7, an implementation method of an automatic grinding tool switching device for a grinding robot includes the following steps:
the first step is as follows: firstly, the grinding components 2 which are maintained and overhauled are placed on a tool table, wherein the plurality of grinding components 2 on the tool table are distributed in an arc shape, so that the grinding components 2 can be conveniently replaced by the extension arm 1 of the grinding robot, the grinding components 2 have the same size, but the grinding wheels 24 are different, and different grinding wheels 24 meet different grinding requirements;
the second step is that: adjusting the position of the extension arm 1 to ensure that the rotation range of the extension arm 1 just covers the grinding component 2 on the tool table;
the third step: assembling the grinding component 2 and the extension arm 1, wherein the extension arm 1 moves right above the grinding component 2, the extension arm 1 then moves downwards, as shown in figure 4, the assembly combination male part 22 is matched with the assembly combination female part 12 to complete the installation of the grinding component 2, as shown in figure 5, grinding wheels 24 are arranged on two sides of the grinding component 2, and after one grinding wheel 24 works for a long time, the stepping motor 26 works and drives the circular frame 25 to rotate 180 degrees, so that the other grinding wheel 24 can move to a working position;
the fourth step: then the extending arm 1 drives the polishing component 2 to move to a polishing station, and the polishing component 2 is used for polishing the workpiece;
the fifth step: and (3) replacing the grinding component 2, wherein the extension arm 1 rotates and drives the grinding component 2, when the grinding component 2 moves to a tool table, the extension arm 1 moves downwards, as shown in figure 6, the assembling and combining male part 22 is separated from the assembling and combining female part 12, as shown in figure 7, the extension arm 1 rotates and then moves downwards to assemble a new grinding component 2 when the extension arm moves to the upper part of the grinding component 2 to be replaced.
The automatic grinding tool switching device for the grinding robot comprises an extension arm 1 and a grinding assembly 2, wherein the extension arm 1 can be regarded as the robot arm of the grinding robot, the robot arm of the grinding robot can freely move around a preset line, the grinding of a workpiece and the replacement of the grinding tool are convenient, an extension column 11 and an assembly combined female part 12 are fixed at the bottom end of the extension arm 1, the extension column 11 and the assembly combined female part 12 are both used for assembly, the grinding assembly 2 can grind the workpiece after being installed, the grinding assembly 2 comprises a top disc 21, an assembly combined male part 22, a motor 23, a grinding wheel 24, a circular frame 25 and a stepping motor 26, a limit square hole 211 formed in the center of the top surface of the top disc 21 is matched with the extension column 11, the stepping motor 26 is used for changing the position of the grinding wheel 24 on the grinding assembly 2, and the two grinding wheels 24 can be ground by the above steps, reduce the process of changing grinding component 2, protective frame 27 passes through spacing ring 271 and circle frame 25 swing joint, step motor 26 drives circle frame 25 pivoted like this, the steady rotation of circle frame 25 can not take place to drop, two sets of motors 23 and grinding wheel 24 all are the symmetric distribution, motor 23 can drive grinding wheel 24 and rotate, assembly combination female member 12 and assembly combination male member 22 swing joint, after both cooperate, accomplish the assembly of grinding component 2, assembly combination female member 12 includes drum 121, spring 122, block 123 and guide cylinder 124, block 123 and drum 121 are connected respectively to the both ends of spring 122, hemisphere 223 and dish-shaped section of thick bamboo 224 all are connected with the contact of block 123, block 123 can remove about in drum 121 inner chamber.
The implementation method of the automatic grinding tool switching device for the grinding robot comprises the steps of firstly placing a grinding component 2 which is maintained and overhauled on a tool table when in implementation, so that the grinding component 2 can be conveniently replaced by a projecting arm 1 of the grinding robot, then adjusting the position of the projecting arm 1 to enable the rotating range of the projecting arm 1 to just cover the grinding component 2 on the tool table, then assembling the grinding component 2 and the projecting arm 1, wherein the projecting arm 1 moves right above the grinding component 2, the projecting arm 1 moves downwards, an assembling combination male part 22 is matched with an assembling combination female part 12 to complete the installation of the grinding component 2, after one grinding wheel 24 works for a long time, a stepping motor 26 works and drives a circular frame 25 to rotate 180 degrees, so that the other grinding wheel 24 can move to a working position, when the grinding component 2 is replaced, the projecting arm 1 rotates and drives the grinding component 2, when the grinding module 2 is moved to the tool station, the projecting arm 1 is moved downwards, the fitting combination male part 22 is disengaged from the fitting combination female part 12, and the projecting arm 1 is then rotated when it is moved above the grinding module 2 to be replaced, and then moved downwards to assemble a new grinding module 2.
In summary, the automatic grinding tool switching device for a grinding robot and the implementation method thereof provided by the present invention have the advantages that the robot arm of the grinding robot can freely move around a predetermined line, so as to facilitate grinding of a workpiece and replacement of the grinding tool, the extending column 11 and the assembling and combining female member 12 are both used for assembly, the workpiece can be ground after the grinding assembly 2 is installed, the stepping motor 26 is used for changing the position of the grinding wheel 24 on the grinding assembly 2, so that the two grinding wheels 24 can be used for grinding, the process of replacing the grinding assembly 2 is reduced, the assembling and combining female member 12 is matched with the assembling and combining male member 22 to complete assembly of the grinding assembly 2, wherein the assembling and combining female member 12 can complete assembly of the grinding assembly 2 by moving downwards for the first time, the assembling and combining female member 12 can lift downwards and lift up again to detach the grinding assembly 2, and the grinding tool assembly process is simple, meanwhile, the double grinding wheels 24 are arranged to reduce the replacing speed of the grinding tool, so that the actual use efficiency of the grinding robot can be effectively improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (9)
1. The utility model provides a burnishing tool automatic switching control equipment for burnishing robot, includes cantilever arm (1) and subassembly (2) of polishing, its characterized in that, the bottom mounting of cantilever arm (1) has and stretches out post (11) and assembly female (12), the one end of cantilever arm (1) is connected in subassembly (2) of polishing, and subassembly (2) of polishing includes top disc (21), assembly male (22), motor (23), wheel (24), round frame (25) and step motor (26) of polishing, assembly male (22) is installed on the top of top disc (21), and top disc (21) and assembly male (22) all with cantilever arm (1) swing joint, and spacing square hole (211) have been seted up to the top surface center department of top disc (21), and step motor (26) are installed to the below of top disc (21), and the top of round frame (25) is connected to the output of step motor (26), the motor (23) is installed at the inner side of the round frame (25), and the output end of the motor (23) penetrates through the round frame (25) and is connected with the center of the grinding wheel (24).
2. An automatic grinding tool switching device for a grinding robot as claimed in claim 1, wherein: protective frame (27) are installed in the outside of step motor (26), the top and the top disc (21) welded fastening of protective frame (27), and fixed step motor (26) are passed through to protective frame (27) through the support, and spacing ring (271) are installed to the bottom of protective frame (27), and protective frame (27) pass through spacing ring (271) and round frame (25) swing joint.
3. An automatic grinding tool switching device for a grinding robot as claimed in claim 1, wherein: the motor (23) and the grinding wheel (24) are divided into two groups, and the motor (23) and the grinding wheel (24) are symmetrically distributed.
4. An automatic grinding tool switching device for a grinding robot as claimed in claim 1, wherein: public piece of assembly combination (22) is including pulling force post (221), short cylinder (222), hemisphere (223) and dish-shaped section of thick bamboo (224), the bottom and the top disc (21) of pulling force post (221) are fixed, the top center department of pulling force post (221) installs short cylinder (222) with the axle center, hemisphere (223) are installed to the top of short cylinder (222), swing joint's dish-shaped section of thick bamboo (224) are installed to the outside of short cylinder (222), the diameter value of hemisphere (223) is less than the diameter value of dish-shaped section of thick bamboo (224).
5. An automatic grinding tool switching device for a grinding robot as claimed in claim 4, wherein: the assembly combination female part (12) is movably connected with the assembly combination male part (22), the assembly combination female part (12) comprises a cylinder (121) and a spring (122), block (123) and guide cylinder (124), the top and cantilever arm (1) welded fastening of drum (121), the inner wall and the pulling force post (221) of drum (121) cooperate, install spring (122) in the inner chamber of drum (121), block (123) and guide cylinder (124), block (123) and drum (121) are connected respectively to the both ends of spring (122), the cross-section of block (123) is personally submitted trapezoidally, hemisphere (223) and dish-shaped section of thick bamboo (224) all are connected with block (123) contact, block (123) are fixed with the one end of guide cylinder (124), guide cylinder (124) and spring (122) are coaxial, guide cylinder (124) and the lateral wall swing joint of drum (121).
6. An automatic grinding tool switching device for a grinding robot as claimed in claim 1, wherein: the cross section of the extending column (11) is rectangular, the assembling and combining female part (12) is positioned on the outer side of the extending column (11), and the extending column (11) is matched with the limiting square hole (211).
7. An automatic grinding tool switching device for a grinding robot as claimed in claim 1, wherein: and a tool table for bearing the grinding assembly (2) is arranged on one side of the extending arm (1).
8. An implementation method of an automatic grinding tool switching device for a grinding robot as claimed in claim 1, characterized by comprising the following steps:
s1: firstly, the grinding assemblies (2) which are maintained and overhauled are placed on a tool table, wherein a plurality of grinding assemblies (2) on the tool table are distributed in an arc shape, the grinding assemblies (2) have the same size, but the grinding wheels (24) are different;
s2: adjusting the position of the extension arm (1) to enable the rotation range of the extension arm (1) to just cover the grinding assembly (2) on the tool table;
s3: assembling the grinding component (2) and the extension arm (1), wherein the extension arm (1) moves right above the grinding component (2), the extension arm (1) then moves downwards, and the assembling combination male part (22) is matched with the assembling combination female part (12) to finish the installation of the grinding component (2);
s4: polishing the workpiece by using a polishing component (2);
s5: the change of subassembly (2) of polishing, wherein cantilever arm (1) rotates and drives subassembly (2) of polishing, when subassembly (2) of polishing removed the instrument bench, cantilever arm (1) moved down, and assembly combination male member (22) breaks away from with assembly combination female member (12), and cantilever arm (1) rotates then when it moves the top of waiting to change subassembly (2) of polishing, then moves down and assembles new subassembly (2) of polishing.
9. An implementation method of an automatic grinding tool switching device for a grinding robot as claimed in claim 8, characterized in that, in S3, grinding wheels (24) are provided on both sides of the grinding assembly (2), and when one of the grinding wheels (24) works for a long time, the stepping motor (26) works and drives the circular frame (25) to rotate 180 degrees, so that the other grinding wheel (24) can move to the working position.
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| CN208374927U (en) * | 2018-05-03 | 2019-01-15 | 福州鸿基自动化设备有限公司 | Multi-functional flash removed mechanical arm |
| CN108466170A (en) * | 2018-05-04 | 2018-08-31 | 冯敬新 | Robot replaces sanding and polishing head device automatically |
| CN108405744A (en) * | 2018-05-21 | 2018-08-17 | 霸州市华旺金属制品有限公司 | A kind of new radiator head automatic feeding |
| CN111283671A (en) * | 2020-04-28 | 2020-06-16 | 佛山隆深机器人有限公司 | Negative pressure type mechanical arm for carrying light objects |
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