CN112192419B

CN112192419B - Sheet metal polishing robot convenient to operate for machining

Info

Publication number: CN112192419B
Application number: CN202010887901.2A
Authority: CN
Inventors: 李振; 彭明花; 刘娜
Original assignee: Nanjing Yusheng Robot Technology Co Ltd
Current assignee: Qingdao Hailai Machinery Manufacturing Co ltd
Priority date: 2020-08-28
Filing date: 2020-08-28
Publication date: 2021-10-15
Anticipated expiration: 2040-08-28
Also published as: CN112192419A

Abstract

The invention discloses a metal plate polishing robot for machining, which is convenient to operate, relates to the technical field of robots and particularly comprises a robot body frame, a guide rod and a movable sleeve, wherein the movable sleeve is movably sleeved on the surface of the guide rod, two ends of the guide rod are fixedly connected with the inner wall of the robot body frame, a motor is arranged on the front surface of the movable sleeve, and an inclination adjusting structure is arranged on the side surface of the movable sleeve. Through setting up the fixture block device, connector structure and slope adjustment structure, the quick replacement connector has been reached, and the effect of emery wheel angularly adjustable grinds, the connector that the hookup location on the panel beating polishing robot can not be fine dismouting renewal and emery wheel have been solved, all need be long time when the operation need be changed the connector and the emery wheel grinds, the work progress has been influenced greatly, and the position of emery wheel of grinding can not carry out the regulation of slope, just can't carry out the problem of polishing when meetting the polishing article on inclined plane.

Description

Sheet metal polishing robot convenient to operate for machining

Technical Field

The invention relates to a robot, in particular to a metal plate polishing robot for machining, which is convenient to operate.

Background

The robot is a device for carrying out automatic operation through a combination of machinery and software, wherein the polishing robot is one of the robots, the name is to distinguish the types by utilizing different operations, the polishing robot is provided with a simulated mechanical arm and also provided with equipment for automating the polishing device through a guide rail, and the devices for realizing the automatic operation belong to the range of the large-scale robots.

In the robot of current panel beating polishing usefulness, the new connector of dismouting renewal and the emery wheel that the hookup location on some panel beating polishing robots can not be fine, all need be very long time when the operation needs to be changed the connector and grind the emery wheel, has influenced the work progress greatly, and the position of grinding the emery wheel can not carry out the regulation of slope, just can't polish when meetting the polishing article on inclined plane, influences actual adaptation effect.

Disclosure of Invention

The invention aims to provide a metal plate polishing robot for machining, which is convenient to operate and aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

a sheet metal polishing robot for machining convenient to operate comprises a robot body frame, a guide rod and a movable sleeve, wherein the movable sleeve is movably sleeved on the surface of the guide rod, two ends of the guide rod are fixedly connected with the inner wall of the robot body frame, a motor is arranged on the front side of the movable sleeve, an inclination adjusting structure is arranged on the side surface of the movable sleeve, a universal joint is arranged at the bottom of an output shaft of the motor, a connecting shaft is fixedly connected to the bottom of the universal joint, a limiting ring is fixedly connected to the surface of the connecting shaft, a linear bearing is movably sleeved on the surface of the connecting shaft, one end, far away from the movable sleeve, of the inclination adjusting structure is fixedly connected to the side surface of the linear bearing, the surface of the linear bearing is movably connected with the surface of the limiting ring, a fixture block device is fixedly connected to the bottom of the connecting shaft, a connector structure is clamped inside the fixture block device, and a thread groove is formed in the lower surface of the connector structure, the bottom swing joint of connector structure has the dull polish wheel, and the bottom of dull polish wheel is provided with the fixed block, and the bottom of fixed block is provided with fixing bolt and extrusion bolt respectively, and fixing bolt's top runs through fixed block and dull polish wheel and extends to the inside of thread groove, and the top of extrusion bolt runs through fixed block, dull polish wheel and connector structure and extends to the inside of fixture block device and the top fixed connection of fixture block device inner wall.

As a further scheme of the invention: the quantity of slope adjustment structure is two, two slope adjustment structure use the vertical axis of connecting axle to be the axisymmetric setting as the symmetry axis, the slope adjustment structure includes the fixing base, the fixed axle, the cylinder piece, the perforation, the threaded rod, fixing nut, rotate seat and easily get the bolt, easily get bolt swing joint in the inside of rotating the seat, it is on linear bearing's surface to rotate seat fixed connection, the one end activity of threaded rod is cup jointed on the surface of easily getting the bolt, fixed axle fixed connection is in the inside of fixing base, fixing base fixed connection is in the both sides of movable sleeve, the cylinder piece rotates and cup joints the surface at the fixed axle, the surface at the cylinder piece is seted up in the perforation, the one end swing joint that the seat was kept away from to the threaded rod is in fenestrate inside, fixing nut screw thread cup joints the surface at the threaded rod, fixing nut is located the top and the below of cylinder piece.

As a further scheme of the invention: the number of the limiting rings is two, the two limiting rings are fixedly sleeved on the surface of the connecting shaft, and the linear bearing is movably connected between the two limiting rings.

As a further scheme of the invention: the fixture block device comprises a fixture block, a clamping groove, a movable rod, a movable groove, a limiting block and a spring, the fixture block is fixedly connected to the bottom of the connecting shaft, the clamping groove is formed in the bottom of the fixture block, the movable groove is formed in the side face of the fixture block, the spring and the movable rod are movably connected to the inside of the movable groove, the spring is movably sleeved on the surface of the movable rod, the limiting block is fixedly sleeved on the surface of the movable rod, one end, close to the clamping groove, of the spring is movably connected with one side, far away from the clamping groove, of the limiting block, and the connector structure is movably connected to the inside of the clamping groove.

As a further scheme of the invention: the quantity of activity groove is two, and every activity groove corresponds the quantity of spring, stopper and movable rod and is one, and two activity grooves use the vertical axis of draw-in groove to be axisymmetric setting as the symmetry axis.

As a further scheme of the invention: the connector structure includes fixed disk and kelly, and the thread groove is seted up in the bottom of fixed disk, and kelly fixed connection is at the upper surface of fixed disk, and the kelly joint is in the inside of draw-in groove, and the movable rod joint is on the surface of kelly.

As a still further scheme of the invention: the robot operation steps are as follows:

firstly, rotating an extrusion bolt to enable the top end of the extrusion bolt to be far away from the inner wall of a clamping groove, then pulling two movable rods to two sides of a clamping block to enable the movable rods to be separated from the clamping rod, then moving downwards to separate the clamping rod from the clamping groove, and replacing a new connector structure according to the reverse operation of the steps;

step two, when the inclination angle needs to be adjusted, the threaded rod on the other side is taken down through the easy-to-take bolt to be separated from the rotating seat if the inclination angle needs to be adjusted to the left, then the fixing nut on the left side is rotated to enable the threaded rod to move upwards, the threaded rod moves upwards to drive the linear bearing to move upwards through the rotating seat, so that the grinding wheel inclines towards the left side, and then the fixing nut can be rotated to fix the threaded rod on the cylindrical block after the inclination angle is adjusted;

and step three, starting the motor, wherein an output shaft of the motor drives the universal joint to rotate, the universal joint drives the connecting shaft to rotate in the linear bearing, and the connecting shaft rotates to drive the clamping block device, the connector structure and the grinding wheel to rotate.

Compared with the prior art, the invention has the beneficial effects that: by arranging the clamping block device, the connector structure and the inclination adjusting structure, when the connector structure is replaced, firstly, the extrusion bolt is rotated to separate the extrusion bolt from the clamping groove, the movable rod on the clamping block device is pulled to separate the movable rod from the clamping rod, then the clamping rod on the connector is taken down, when a new connector is replaced by reverse operation according to the method, and the polishing angle can be adjusted, the threaded rod on the inclination adjusting structure at the other side of the adjustment angle is separated from the rotating seat, the fixing nut at the position is required to be rotated to enable the threaded rod to drive the connecting shaft to incline through the linear bearing, after the required angle is reached, the threaded rod can be rotated by rotating the fixing nut again, the position of the connecting shaft is limited, the connecting shaft is enabled to rotate stably, the connector is replaced quickly, the angle-adjustable effect of the grinding wheel is achieved, and the problem that the connecting position on a metal plate polishing robot cannot be well disassembled and replaced by the new connector and the grinding wheel is solved, the problem that the work progress is greatly influenced because a long time is needed when the connector and the grinding wheel need to be replaced in operation, the position of the grinding wheel cannot be adjusted in an inclined mode, and polishing cannot be performed when a polishing object with an inclined plane is encountered.

Drawings

Fig. 1 is a front view of a metal plate polishing robot for machining which is easy to handle.

Fig. 2 is a front sectional view of a linear bearing position in the sheet metal polishing robot for machining which is convenient to operate.

Fig. 3 is an enlarged view of a structure a in fig. 2 of a metal plate polishing robot for machining which is easy to operate.

Fig. 4 is a schematic structural diagram of an inclination adjusting structure in a sheet metal polishing robot for machining, which is convenient to operate.

Fig. 5 is a top sectional view of a metal plate polishing robot for machining at a linear bearing position, which is easy to handle.

Fig. 6 is a sectional view of a chuck device in a metal plate polishing robot for machining which is easy to operate.

As shown in the figure: 1. a robot body frame; 2. a guide bar; 3. a movable sleeve; 4. a motor; 5. a tilt adjustment structure; 501. A fixed seat; 502. a fixed shaft; 503. a cylindrical block; 504. perforating; 505. a threaded rod; 506. fixing a nut; 507. A rotating seat; 508. the bolt is easy to take; 6. a universal joint; 7. a connecting shaft; 8. a limiting ring; 9. a linear bearing; 10. a fixture block device; 101. a clamping block; 102. a card slot; 103. a movable rod; 104. a movable groove; 105. a limiting block; 106. a spring; 11. a connector structure; 111. fixing the disc; 112. a clamping rod; 12. a thread groove; 13. grinding a grinding wheel; 14. a fixed block; 15. Fixing the bolt; 16. the bolt is pressed.

Detailed Description

Referring to fig. 1 to 6, in an embodiment of the present invention, a metal plate polishing robot for machining is convenient to operate,

example 1

The polishing robot comprises a robot body frame 1 for mounting a polishing robot, a guide rod 2 and a movable sleeve 3 for moving the polishing robot, wherein the movable sleeve 3 is movably sleeved on the surface of the guide rod 2, two ends of the guide rod 2 are fixedly connected with the inner wall of the robot body frame 1, a motor 4 for power output is arranged on the front surface of the movable sleeve 3, the motor 4 is the prior art and can be selected properly, an inclination adjusting structure 5 for adjusting an inclination angle is arranged on the side surface of the movable sleeve 3, a universal joint 6 is arranged at the bottom of an output shaft of the motor 4, the universal joint 6 has the function that the angle can still be transmitted after being changed, a connecting shaft 7 is fixedly connected at the bottom of the universal joint 6, a limit ring 8 is fixedly connected on the surface of the connecting shaft 7, a linear bearing 9 is movably sleeved on the surface of the connecting shaft 7, and limits the linear bearing 9 to ensure that the rotating position of the linear bearing is fixed, one end of the inclination adjusting structure 5 far away from the movable sleeve 3 is fixedly connected to the side surface of the linear bearing 9, and the surface of the linear bearing 9 is movably connected with the surface of the limiting ring 8.

Preferably, the number of the tilt adjusting structures 5 is two, the two tilt adjusting structures 5 are arranged in an axial symmetry manner by taking a vertical axis of the connecting shaft 7 as a symmetry axis, each tilt adjusting structure 5 comprises a fixed seat 501, a fixed shaft 502, a cylindrical block 503, a through hole 504, a threaded rod 505, a fixed nut 506, a rotating seat 507 and an easy-to-take bolt 508, the easy-to-take bolt 508 is movably connected inside the rotating seat 507, the rotating seat 507 is fixedly connected on the surface of the linear bearing 9, one end of the threaded rod 505 is movably sleeved on the surface of the easy-to-take bolt 508, the fixed shaft 502 is fixedly connected inside the fixed seat 501, the fixed seats 501 are fixedly connected on two sides of the movable sleeve 3, the cylindrical blocks 503 are rotatably sleeved on the surface of the fixed shaft 502, the through hole 504 is opened on the surface of the cylindrical blocks 503, one end of the threaded rod 505 far from the rotating seat 507 is movably connected inside the through hole 504, the fixed nut 506 is threadedly sleeved on the surface of the threaded rod 505, two fixing nuts 506 are provided above and below the cylindrical block 503, and the adjusted threaded rod 505 is fixed by two fixing nuts 506.

Preferably, the number of the limiting rings 8 is two, the two limiting rings 8 are fixedly sleeved on the surface of the connecting shaft 7, the linear bearing 9 is movably connected between the two limiting rings 8, and the two limiting rings are symmetrically arranged to be balanced in stress during adjustment.

Example 2

The bottom of the connecting shaft 7 is fixedly connected with a clamping block device 10, the inside of the clamping block device 10 is clamped with a connector structure 11, the lower surface of the connector structure 11 is provided with a thread groove 12, the bottom of the connector structure 11 is movably connected with a grinding wheel 13, the bottom of the grinding wheel 13 is provided with a fixed block 14, the bottom of the fixed block 14 is respectively provided with a fixed bolt 15 and an extrusion bolt 16, the grinding wheel 13 is fixed by the fixed bolt 15, the extrusion bolt 16 abuts against the clamping groove 102 to ensure that the clamping rod 112 is not easy to move when clamped in the clamping groove 102, the stability of the grinding wheel 13 during polishing is improved, the top of the fixed bolt 15 penetrates through the fixed block 14 and the grinding wheel 13 and extends to the inside of the thread groove 12, the top of the extrusion bolt 16 penetrates through the fixing block 14, the grinding wheel 13 and the connector structure 11 and extends into the fixture device 10 to be fixedly connected with the top of the inner wall of the fixture device 10.

Preferably, the fixture block device 10 includes a fixture block 101, a fixture groove 102, a movable rod 103, a movable groove 104, a limiting block 105 and a spring 106, the fixture block 101 is fixedly connected to the bottom of the connecting shaft 7, the fixture groove 102 is disposed at the bottom of the fixture block 101, the movable groove 104 is disposed at the side surface of the fixture block 101, the spring 106 and the movable rod 103 are both movably connected to the inside of the movable groove 104, the spring 106 is movably sleeved on the surface of the movable rod 103, the limiting block 105 is fixedly sleeved on the surface of the movable rod 103, one end of the spring 106 close to the fixture groove 102 and one side of the limiting block 105 far away from the fixture groove 102 are movably connected, and the connector structure 11 is movably connected to the inside of the fixture groove 102.

Preferably, the number of the movable grooves 104 is two, each movable groove 104 corresponds to one of the springs 106, the limiting blocks 105 and the movable rods 103, and the two movable grooves 104 are arranged in an axisymmetric manner by taking a vertical axis of the clamping groove 102 as a symmetry axis.

Preferably, the connecting head structure 11 includes a fixed disk 111 and a clamping rod 112, the thread groove 12 is formed at the bottom of the fixed disk 111, the clamping rod 112 is fixedly connected to the upper surface of the fixed disk 111, the clamping rod 112 is clamped inside the clamping groove 102, and the movable rod 103 is clamped on the surface of the clamping rod 112.

Example 3

The robot operation steps are as follows:

firstly, rotating the extrusion bolt 16 to enable the top end of the extrusion bolt to be far away from the inner wall of the clamping groove 102, then pulling the two movable rods 103 to two sides of the clamping block 101 to enable the movable rods 103 to be separated from the clamping rod 112, then moving downwards to separate the clamping rod 112 from the clamping groove, and replacing a new connector structure 11 according to the reverse operation of the steps;

step two, when the inclination angle needs to be adjusted, if the inclination angle needs to be adjusted to the left, the threaded rod 505 on the other side is taken down through the easy-to-take bolt 508 to be separated from the rotating seat 507, then the fixing nut 506 on the left side is rotated to enable the threaded rod 505 to move upwards, the threaded rod 505 moves upwards and drives the linear bearing 9 to move upwards through the rotating seat 507, so that the grinding wheel 13 inclines to the left side, and then the fixing nut 506 can be rotated to fix the threaded rod 505 on the cylindrical block 503 after the inclination angle is adjusted;

and step three, starting the motor 4, wherein an output shaft of the motor drives the universal joint 6 to rotate, the universal joint 6 drives the connecting shaft 7 to rotate in the linear bearing 9, and the connecting shaft 7 rotates to drive the clamping block device 10, the connector structure 11 and the grinding wheel 13 to rotate.

When the grinding wheel is used, the extrusion bolt 16 is rotated to enable the top end of the extrusion bolt to be far away from the inner wall of the clamping groove 102, then the two movable rods 103 are pulled towards the two sides of the clamping block 101 to enable the movable rods 103 to be separated from the clamping rod 112, then the clamping rod 112 is moved downwards to be separated from the clamping groove, the new connector structure 11 is changed on by the reverse operation of the steps, when the inclination angle needs to be adjusted, the threaded rod 505 at the other side is taken down through the easy-to-take bolt 508 to be separated from the rotating seat 507 if the inclination angle needs to be adjusted, then the threaded rod 505 at the left side is moved upwards by rotating the fixed nut 506 at the left side, the threaded rod 505 moves upwards by moving upwards by the rotating seat 507 to drive the linear bearing 9 to tilt towards the left side, then the fixed nut 506 can be rotated to fix the threaded rod 505 on the cylindrical block 503 after the inclination angle is adjusted, the motor 4 is started, the output shaft of the motor drives the universal joint 6 to rotate, the universal joint 6 drives the connecting shaft 7 to rotate in the linear bearing 9, the connecting shaft 7 rotates to drive the clamping block structure, the connecting head structure 11 and the grinding wheel 13 to rotate, polishing with different angles can be achieved, and practicability and convenience in connector replacement are improved.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention without departing from the spirit and scope of the invention.

Claims

1. A sheet metal polishing robot convenient to operate for machining comprises a robot body frame (1), a guide rod (2) and a movable sleeve (3), and is characterized in that the movable sleeve (3) is movably sleeved on the surface of the guide rod (2), two ends of the guide rod (2) are fixedly connected with the inner wall of the robot body frame (1), a motor (4) is arranged on the front side of the movable sleeve (3), an inclined adjusting structure (5) is arranged on the side surface of the movable sleeve (3), a universal joint (6) is arranged at the bottom of an output shaft of the motor (4), a connecting shaft (7) is fixedly connected to the bottom of the universal joint (6), a limiting ring (8) is fixedly connected to the surface of the connecting shaft (7), a linear bearing (9) is movably sleeved on the surface of the connecting shaft (7), one end, far away from the movable sleeve (3), of the inclined adjusting structure (5) is fixedly connected to the side surface of the linear bearing (9), the surface of the linear bearing (9) is movably connected with the surface of the limiting ring (8), the bottom of the connecting shaft (7) is fixedly connected with a clamping block device (10), a connector structure (11) is clamped inside the clamping block device (10), a thread groove (12) is formed in the lower surface of the connector structure (11), a grinding wheel (13) is movably connected to the bottom of the connector structure (11), a fixing block (14) is arranged at the bottom of the grinding wheel (13), a fixing bolt (15) and an extrusion bolt (16) are respectively arranged at the bottom of the fixing block (14), the top of the fixing bolt (15) penetrates through the fixing block (14) and the grinding wheel (13) and extends into the thread groove (12), the top of the extrusion bolt (16) penetrates through the fixing block (14), the grinding wheel (13) and the connector structure (11) and extends into the clamping block device (10) to be fixedly connected with the top of the inner wall of the clamping block device (10).

2. The sheet metal polishing robot convenient for machining operation is characterized in that the number of the inclination adjusting structures (5) is two, the two inclination adjusting structures (5) are arranged in an axisymmetric manner by taking a vertical axis of the connecting shaft (7) as a symmetry axis, each inclination adjusting structure (5) comprises a fixed seat (501), a fixed shaft (502), a cylindrical block (503), a through hole (504), a threaded rod (505), a fixed nut (506), a rotating seat (507) and an easy-to-take bolt (508), the easy-to-take bolt (508) is movably connected in the rotating seat (507), the rotating seat (507) is fixedly connected on the surface of the linear bearing (9), one end of the threaded rod (505) is movably sleeved on the surface of the easy-to-take bolt (508), the fixed shaft (502) is fixedly connected in the fixed seat (501), the fixed seats (501) are fixedly connected on two sides of the movable sleeve (3), the cylinder block (503) is rotatably sleeved on the surface of the fixed shaft (502), the through hole (504) is formed in the surface of the cylinder block (503), one end, far away from the rotating seat (507), of the threaded rod (505) is movably connected inside the through hole (504), the fixed nut (506) is sleeved on the surface of the threaded rod (505) in a threaded mode, and the fixed nut (506) is located above and below the cylinder block (503).

3. The metal plate polishing robot convenient to operate for machining is characterized in that the number of the limiting rings (8) is two, the two limiting rings (8) are fixedly sleeved on the surface of the connecting shaft (7), and the linear bearing (9) is movably connected between the two limiting rings (8).

4. The metal plate polishing robot for machining convenient to operate according to claim 1, characterized in that the fixture block device (10) comprises a fixture block (101), a clamping groove (102), a movable rod (103), a movable groove (104), a limiting block (105) and a spring (106), the fixture block (101) is fixedly connected to the bottom of the connecting shaft (7), the clamping groove (102) is arranged at the bottom of the fixture block (101), the movable groove (104) is arranged on the side surface of the fixture block (101), the spring (106) and the movable rod (103) are movably connected to the inner part of the movable groove (104), the surface at movable rod (103) is cup jointed in the activity to spring (106), and stopper (105) are fixed cup jointed on the surface of movable rod (103), and the one end that spring (106) is close to draw-in groove (102) and stopper (105) keep away from one side swing joint of draw-in groove (102), and connector structure (11) swing joint is in the inside of draw-in groove (102).

5. The metal plate polishing robot convenient to operate for machining is characterized in that the number of the movable grooves (104) is two, the number of each movable groove (104) corresponding to the spring (106), the limiting block (105) and the movable rod (103) is one, and the two movable grooves (104) are arranged in an axisymmetric mode by taking a vertical axis of the clamping groove (102) as a symmetry axis.

6. The sheet metal polishing robot convenient to operate for machining is according to claim 1, characterized in that connector structure (11) includes fixed disk (111) and kelly (112), and thread groove (12) are seted up in the bottom of fixed disk (111), and kelly (112) fixed connection is at the upper surface of fixed disk (111), and kelly (112) joint is in the inside of draw-in groove (102), and movable rod (103) joint is on the surface of kelly (112).

7. Use of a metal plate polishing robot for machining facilitating operation according to any one of claims 1-6, characterized in that the robot operation steps are as follows:

firstly, rotating an extrusion bolt (16) to enable the top end of the extrusion bolt to be far away from the inner wall of a clamping groove (102), then pulling two movable rods (103) towards two sides of a clamping block (101) to enable the movable rods (103) to be separated from the clamping rod (112), then moving downwards to separate the clamping rod (112) from the clamping groove, and replacing a new connector structure (11) according to the reverse operation of the steps;

step two, when the inclination angle needs to be adjusted, the threaded rod (505) on the other side needs to be adjusted to the left, and is taken down through the easy-to-take bolt (508) to be separated from the rotating seat (507), then the fixing nut (506) on the left side is rotated to enable the threaded rod (505) to move upwards, the threaded rod (505) moves upwards, the rotating seat (507) drives the linear bearing (9) to move upwards, the grinding wheel (13) is enabled to incline to the left side, and then the fixing nut (506) can be rotated to fix the threaded rod (505) on the cylindrical block (503) after the inclination angle is adjusted;

and step three, starting the motor (4), wherein an output shaft of the motor drives the universal joint (6) to rotate, the universal joint (6) drives the connecting shaft (7) to rotate in the linear bearing (9), and the connecting shaft (7) rotates to drive the clamping block device (10), the connector structure (11) and the grinding wheel (13) to rotate.