CN112692675A - Shell polishing device for intelligent robot manufacturing and intelligent robot manufacturing method - Google Patents

Shell polishing device for intelligent robot manufacturing and intelligent robot manufacturing method Download PDF

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Publication number
CN112692675A
CN112692675A CN202011593795.3A CN202011593795A CN112692675A CN 112692675 A CN112692675 A CN 112692675A CN 202011593795 A CN202011593795 A CN 202011593795A CN 112692675 A CN112692675 A CN 112692675A
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China
Prior art keywords
polishing
shell
robot
dust
conveying
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Granted
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CN202011593795.3A
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Chinese (zh)
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CN112692675B (en
Inventor
刘玉明
柴伦旺
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Southern Power Grid Energy Storage Co ltd Information And Communication Branch
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Peng Zuxi
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
    • B24B9/04Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B1/00Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/02Frames; Beds; Carriages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/06Work supports, e.g. adjustable steadies
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00Drives or gearings; Equipment therefor
    • B24B47/02Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
    • B24B47/04Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by mechanical gearing only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00Drives or gearings; Equipment therefor
    • B24B47/10Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/12Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06Dust extraction equipment on grinding or polishing machines

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The invention relates to a shell polishing device for manufacturing an intelligent robot and a manufacturing method of the intelligent robot, which comprises a base, a conveying mechanism, a clamping mechanism, a polishing driving mechanism and a dust suction mechanism, wherein the conveying mechanism is arranged on the base, the clamping mechanism is arranged on the conveying mechanism, the robot shell is clamped and fixed through the clamping mechanism, the robot shell is repeatedly moved back and forth through the conveying mechanism, the polishing mechanism comprises a polishing roller, polishing plates and cleaning brushes are uniformly and alternately distributed in the polishing roller, the polishing roller is driven to rotate through the polishing driving mechanism, so that the polishing plates repeatedly polish and clean burrs of the robot shell, the dust suction mechanism comprises a dust collector, a dust suction pipe and a suction head, the suction head is close to two ends of the bottom of the polishing roller, and polishing dust falling from the bottom of an inner cavity of the polishing roller can be sucked through the dust collector, the grinding machine is suitable for grinding the shell which is cylindrical and has different bending radians at all positions.

Description

Shell polishing device for intelligent robot manufacturing and intelligent robot manufacturing method
Technical Field
The invention relates to a shell polishing device for manufacturing an intelligent robot and a manufacturing method of the intelligent robot, and belongs to the technical field of robot manufacturing and processing.
Background
An intelligent robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like, the intelligent robot is called as an intelligent robot, the intelligent robot has a relatively developed 'brain', a central processing unit plays a role in the brain, the computer is directly connected with a person operating the intelligent robot, most importantly, the computer can perform actions arranged according to purposes, in the manufacturing process of an intelligent robot shell, shell burrs need to be polished to enable the surface of the shell to be smooth so as to facilitate paint spraying, wherein shells of a mechanical arm and limbs of the robot are generally cylindrical, the surface of the shell is mostly a curved surface, most of existing shell burr polishing devices are plane straight line polishing, the polishing of the shells with regular shapes is easier, and for the shells of the mechanical arm and the limbs of the robot, because the curved surface cylindricality, and the crooked radian is different everywhere, has brought the difficulty for polishing, and in addition when the shell deckle edge was polished, the dirt bits of production attached on the shell surface easily, lead to polishing more coarse, influence the smooth degree on its surface, produce a large amount of dirt bits simultaneously, pollute operational environment, for this reason, we propose intelligent robot and make and use shell grinding device to solve current technical problem.
Disclosure of Invention
The invention aims to provide a shell polishing device for manufacturing an intelligent robot, which is characterized in that a robot shell is clamped and fixed through a clamping mechanism, the robot shell is repeatedly moved back and forth through a conveying mechanism, a polishing roller is driven to rotate through a polishing driving mechanism, so that burrs of the robot shell are repeatedly polished and cleaned through a polishing sheet, the polishing sheet and a cleaning brush can be tightly pressed on each part of the surface of the robot shell through the action of a telescopic rod, comprehensive polishing and cleaning can be performed on the shell, the polishing effect is improved, the shell polishing device is suitable for polishing shells which are cylindrical in shape and different in bending radian at each part, polishing dust falling from the bottom of an inner cavity of the polishing roller can be sucked away through a dust collector, dust pollution is avoided, and the problems in the background technology can be effectively solved.
In order to solve the technical problems, the invention provides the following technical scheme:
the shell polishing device for manufacturing the intelligent robot comprises a base, a conveying mechanism, a clamping mechanism, a polishing driving mechanism and a dust collection mechanism, wherein the conveying mechanism is installed on the base, the clamping mechanism is installed on the conveying mechanism, the robot shell is clamped and fixed through the clamping mechanism, and the robot shell moves back and forth repeatedly through the conveying mechanism, the polishing mechanism is used for polishing and cleaning the robot shell, the polishing mechanism comprises a polishing roller, polishing plates and cleaning brushes are uniformly and alternately distributed in the polishing roller, the polishing roller is driven to rotate through the polishing driving mechanism, so that the polishing plates repeatedly polish and clean burrs of the robot shell, the polishing is more comprehensive and clean, the dust collection mechanism comprises a dust collector, a dust collection conduit and a suction head, the suction head is close to two ends of the bottom of the polishing roller, and in the polishing process, grinding dust falling from the bottom of the inner cavity of the grinding roller can be sucked away through the dust collector, so that dust pollution is avoided; the grinding driving mechanism is used for driving the grinding mechanism.
Further, transport mechanism is including installing servo motor, conveying lead screw and the conveying board on the base, servo motor passes through the conveying lead screw and is connected with the transmission of conveying board, conveying board bottom both sides are passed through slider sliding connection in the spout of base top one side, conveying board top both ends symmetric connection has the support frame.
In above-mentioned technical scheme, drive the conveying lead screw through servo motor and rotate for the conveying board removes at the base top along the conveying lead screw, through servo motor's reversal, can make conveying board antiport, thereby can realize that the conveying board makes a round trip to move repeatedly at the base top.
Further, fixture includes that the symmetry is installed at the centre gripping cylinder at the carriage top, the tailpiece of the piston rod of centre gripping cylinder is connected with the centre gripping tray, centre gripping tray inboard is connected with fixed cushion, fixed cushion surface evenly distributed has the fixed slot.
In the technical scheme, the clamping tray is relatively pushed by the two symmetrical clamping cylinders, so that the two ends of the shell of the robot can be clamped by the fixing rubber pads, and the clamping and fixing effects are realized.
Furthermore, the polishing roller is horizontally arranged between the two clamping trays, positioning plates are connected to two ends of the polishing roller through evenly distributed screws, and the positioning plates are connected to two ends of the mounting plate in a pressing mode.
In the technical scheme, the mounting plate can be fixed at the two ends of the polishing roller through the arrangement of the positioning plate, when the polishing roller needs to be overhauled and replaced, the mounting plate is detached and taken out of the mounting groove, and the polishing plate and the cleaning brush are convenient to overhaul and replace.
Further, the polishing mechanism comprises a fixed frame symmetrically connected to the base, a fixed ring is symmetrically connected to the fixed frame, a polishing roller is rotatably sleeved on the inner side of the fixed ring through a sliding groove, mounting grooves are uniformly formed in the inner wall of the polishing roller, a mounting plate is inserted in the mounting grooves, telescopic rods are uniformly connected to the side faces of the mounting plate, the end portions of the telescopic rods are rotatably connected with polishing sheets and cleaning brushes, the polishing sheets and the cleaning brushes are distributed in a staggered mode, and a driving ring is fixedly sleeved in the middle of the outer side of the polishing roller;
the polishing sheets and the cleaning brushes form a cylindrical structure and are positioned on the same mounting plate, and the polishing sheets and the cleaning brushes are arranged at equal intervals.
Furthermore, the polishing sheets and the cleaning brushes are both arc-shaped plate-shaped, and are distributed in a staggered manner in the axial direction and the circumferential direction of the polishing roller.
In the technical scheme, when the polishing roller rotates, the polishing and cleaning actions in the polishing roller are alternatively performed through the distribution of the polishing disc and the cleaning brush, dust is prevented from being attached to the surface of the shell of the robot, polishing is more comprehensive and clean, and the polishing effect is improved.
Further, the telescopic link includes the sleeve pipe, the sleeve pipe inboard is connected with compression spring, compression spring end connection has the slide bar, just the slide bar slides and cup joints at the sleeve pipe inboard, slide bar end connection has universal ball joint, the side center of polishing piece, brush cleaner is connected with the slide bar rotation through universal ball joint.
In the technical scheme, when the polishing roller is placed in the robot shell for polishing, the polishing sheet and the cleaning brush can be tightly pressed on each part of the surface of the robot shell under the action of the telescopic rod, comprehensive polishing and cleaning can be performed on the robot shell, and the polishing effect is improved.
Further, the driving mechanism of polishing is including installing the driving motor on the base, driving motor's output passes through the belt and is connected with the drive ring transmission, drives the drive ring through driving motor and rotates for the cylinder of polishing rotates, then polishes through polishing piece and brush cleaner and cleans the deckle edge on robot housing surface, thereby realizes polishing deckle edge and cleans the dirt bits, the belt groove has been seted up to the drive ring periphery, driving motor's output meshing is connected with the reducing gear box, the output of reducing gear box is connected with the drive ring transmission through drive wheel, belt.
In the technical scheme, the driving ring is driven to rotate stably through the rotation of the driving motor, so that the polishing roller can rotate stably, and the polishing of burrs of the robot shell is realized.
Furthermore, the suction head is fixed on the fixing frame through a supporting rod, the opening of the suction head is larger than the thickness of the polishing roller, the suction head is of an arc-shaped structure matched with the bottom of the polishing roller, the dust collector is movably mounted at one end of the base, and a dust suction inlet of the dust collector is movably connected to the outlet end of the suction head through a dust suction pipe.
In above-mentioned technical scheme, when the cylinder of polishing rotates, polish the deckle edge on robot housing surface through the polishing piece, sweep the cylinder inner chamber bottom of polishing through the dust bits that the brush cleaner will polish the production, through the setting of dust catcher and suction head, can inhale away the dust bits of cylinder inner chamber bottom of polishing fast, effectively collect the dust bits that polish the production, avoid causing the dust bits to pollute.
The invention also provides a use method of the shell polishing device for manufacturing the intelligent robot, which comprises the following specific steps:
A. the robot mechanical arm and the limb shell are fed, firstly, the cylindrical shell of the robot horizontally penetrates through the polishing roller, and then the two symmetrical clamping cylinders on the supporting frame are started to relatively push the clamping tray, so that the two ends of the shell of the robot can be clamped by the fixed rubber pads through the fixed grooves, the clamping and fixing effects are realized, and the two ends of the shell can be protected;
B. the robot shell surface polishing device has the advantages that the surfaces of a robot mechanical arm and a limb shell are polished, the driving ring is driven to rotate through the driving motor, the polishing roller rotates, the polishing sheet and the cleaning brush can be tightly pressed on all parts of the surface of the robot shell under the action of the telescopic rod in the polishing roller, and then burrs on the surface of the robot shell are polished and cleaned through the polishing sheet and the cleaning brush in the rotation process of the polishing roller, so that the polishing burrs and the cleaning of dust are realized, the shell can be comprehensively polished and cleaned, and the polishing effect is improved;
C. the robot mechanical arm and the limb shell are repeatedly conveyed back and forth, when the polishing roller rotates, the servo motor drives the conveying screw rod to rotate, so that the conveying plate moves at the top of the base along the conveying screw rod, the conveying plate 23 can reversely move through the reverse rotation of the servo motor, and the back and forth repeated movement of the conveying plate at the top of the base can be realized;
D. collect the dirt bits that the grinding produced, when the cylinder that polishes rotates, polish the deckle edge on robot housing surface through the piece of polishing, at the in-process of polishing, sweep the dirt bits that the production will polish through the brush cleaner and fall to the cylinder inner chamber bottom of polishing, then through the setting of dust catcher, dust absorption pipe and suction head, can inhale away the dirt bits of the cylinder inner chamber bottom of polishing fast, effectively collect the dirt bits that produce of polishing, prevent to influence and polish, avoid causing the dirt bits to pollute.
A smart robot manufacturing method using the housing polishing apparatus for smart robot manufacturing according to any one of claims 1 to 8 in a smart robot manufacturing process.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the polishing disc and the cleaning brush can be tightly pressed on each part of the surface of the shell of the robot by utilizing the telescopic action of the telescopic rod arranged in the polishing roller, the driving ring is driven to rotate by the driving motor, so that the polishing roller rotates, and burrs on the surface of the shell of the robot can be polished and cleaned by the polishing disc and the cleaning brush, so that the shell can be comprehensively polished and cleaned, the polishing effect is improved, and the polishing device is suitable for polishing the shell which is cylindrical and has different bending radians at each part;
2. according to the invention, when the polishing roller rotates, the conveying plate can repeatedly move back and forth on the top of the base along the conveying screw rod through the positive and negative rotation of the servo motor, and the clamping mechanism is fixedly connected to the two ends of the top of the conveying plate through the supporting frame, so that the robot shell clamped on the clamping mechanism can be driven to synchronously repeatedly move back and forth, the shell can be polished back and forth in the rotating polishing roller, the polishing and cleaning of the whole shell surface are completed, and the polishing is more comprehensive and thorough.
3. According to the dust collection device, dust generated by polishing can be collected through the arrangement of the dust collection mechanism, when the polishing roller rotates, burrs on the surface of a shell of the robot are polished through the polishing plate, the dust generated by polishing is swept to the bottom of the inner cavity of the polishing roller through the cleaning brush, and then the dust at the bottom of the inner cavity of the polishing roller can be quickly sucked away through the arrangement of the dust collector, the dust collection guide pipe and the suction head, so that the dust generated by polishing is effectively collected, rough polishing caused by the dust is prevented, and pollution of the dust is avoided;
4. according to the invention, the polishing sheets and the cleaning brushes which are axially and circumferentially distributed in a staggered manner are arranged in the polishing roller, so that when the polishing roller rotates, polishing and cleaning actions in the polishing roller are alternately carried out, dust is effectively prevented from attaching to the surface of the shell of the robot, the smoothness of surface polishing is improved, and the polishing and cleaning effects are improved;
5. according to the invention, the clamping mechanism is arranged, so that the shell can be conveniently fixed and detached, the clamping tray is oppositely pushed by the two symmetrical clamping cylinders, the fixing rubber pads can clamp two ends of the shell of the robot, the clamping and fixing effects are realized, and the operation is simple and convenient.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a schematic view of the overall side structure of a shell polishing device for manufacturing an intelligent robot according to the present invention;
FIG. 2 is a schematic diagram of the overall top-view structure of the shell polishing device for manufacturing the intelligent robot of the invention;
FIG. 3 is a schematic structural diagram of the end of a polishing roller of the shell polishing device for manufacturing the intelligent robot of the invention;
FIG. 4 is a schematic diagram of a vertical cross-sectional structure of a polishing drum of the housing polishing device for manufacturing the intelligent robot according to the present invention;
FIG. 5 is a schematic structural diagram of a part of the grinding drum of the shell grinding device for manufacturing the intelligent robot after being circumferentially unfolded;
FIG. 6 is a schematic structural diagram of a telescopic rod of the shell polishing device for manufacturing the intelligent robot, provided by the invention;
FIG. 7 is a schematic structural diagram of a clamping tray of a clamping mechanism of the shell polishing device for manufacturing the intelligent robot;
reference numbers in the figures: 1. a base; 2. a transport mechanism; 21. a servo motor; 22. a conveying screw rod; 23. a transfer plate; 24. a support frame; 3. a clamping mechanism; 31. a clamping cylinder; 32. clamping the tray; 321. fixing the rubber pad; 322. fixing grooves; 4. a polishing mechanism; 41. polishing the roller; 411. mounting grooves; 412. mounting a plate; 413. a telescopic rod; 414. grinding the sheets; 415. cleaning with a brush; 42. a fixed mount; 43. a fixing ring; 44. a drive ring; 45. positioning a plate; 5. a polishing driving mechanism; 51. a drive motor; 52. a reduction gearbox; 6. a dust suction mechanism; 61. a vacuum cleaner; 62. a dust collection duct; 63. a suction head; 7. a sleeve; 8. a compression spring; 9. a slide bar; 10. a ball and socket joint.
Detailed Description
The present invention will be further described with reference to the following detailed description, wherein the drawings are for illustrative purposes only and are not intended to be limiting, wherein certain elements may be omitted, enlarged or reduced in size, and are not intended to represent the actual dimensions of the product, so as to better illustrate the detailed description of the invention.
Example 1
As shown in fig. 1-7, the invention provides a shell polishing device for manufacturing an intelligent robot, comprising a base 1, a conveying mechanism 2, a clamping mechanism 3, a polishing mechanism 4, a polishing driving mechanism 5 and a dust suction mechanism 6, wherein the conveying mechanism 2 is installed on the base 1, the clamping mechanism 3 is installed on the conveying mechanism 2, the robot shell is clamped and fixed by the clamping mechanism 3, and the robot shell is repeatedly moved back and forth by the conveying mechanism 2, the polishing mechanism 4 comprises a polishing roller 41, polishing sheets 414 and cleaning brushes 415 are uniformly distributed in the polishing roller 41 in a staggered manner, the polishing roller 41 is driven to rotate by the polishing driving mechanism 5, so that the polishing sheets 414 repeatedly polish and clean burrs of the robot shell, the polishing is more comprehensive and clean, the dust suction mechanism 6 comprises a dust collector 61, a dust suction pipe 62 and a suction head 63, and the suction heads 63 are close to two ends of the bottom of the polishing roller 41, in the polishing process, polishing dust falling from the bottom of the inner cavity of the polishing roller 41 can be sucked away through the dust collector 61, so that dust pollution is avoided;
as shown in fig. 1 to 5, the polishing mechanism 4 includes a fixing frame 42 symmetrically connected to the base 1, a fixing ring 43 is symmetrically connected to the fixing frame 42, the inner side of the fixing ring 43 is rotatably sleeved with the polishing drum 41 through a sliding chute, the inner wall of the polishing drum 41 is uniformly provided with a mounting groove 411, a mounting plate 412 is inserted in the mounting groove 411, the side surface of the mounting plate 412 is uniformly connected with a telescopic rod 413, the end of the telescopic rod 413 is rotatably connected with a polishing sheet 414 and a cleaning brush 415, the polishing sheet 414 and the cleaning brush 415 are distributed in a staggered manner, and a driving ring 44 is fixedly sleeved in the middle of the outer side of the polishing drum 41 and;
as shown in fig. 1 and 2, the grinding driving mechanism 5 includes a driving motor 51 installed on the base 1, an output end of the driving motor 51 is in transmission connection with the driving ring 44 through a belt, the driving ring 44 is driven to rotate through the driving motor 51, so that the grinding roller 41 rotates, and then burrs on the surface of the robot housing are ground and cleaned through the grinding sheet 414 and the cleaning brush 415, thereby realizing grinding burrs and cleaning dust.
In this embodiment, as shown in fig. 1 and fig. 2, the conveying mechanism 2 includes a servo motor 21, a conveying screw 22 and a conveying plate 23 installed on the base 1, the servo motor 21 is in transmission connection with the conveying plate 23 through the conveying screw 22, two sides of the bottom of the conveying plate 23 are in sliding connection in a sliding groove on one side of the top of the base 1 through a sliding block, and two ends of the top of the conveying plate 23 are symmetrically connected with supporting frames 24.
Drive conveying lead screw 22 through servo motor 21 and rotate for conveying board 23 moves at base 1 top along conveying lead screw 22, through servo motor 21's reversal, can make conveying board 23 reverse movement, thereby can realize conveying board 23 and make a round trip to move repeatedly at base 1 top.
In this embodiment, as shown in fig. 1, 2 and 7, the clamping mechanism 3 includes a clamping cylinder 31 symmetrically installed on the top of the supporting frame 24, a clamping tray 32 is connected to a piston rod end of the clamping cylinder 31, a fixing rubber pad 321 is connected to an inner side of the clamping tray 32, and fixing grooves 322 are uniformly distributed on a surface of the fixing rubber pad 321.
The clamping tray 32 is relatively pushed by the two symmetrical clamping cylinders 31, so that the fixing rubber pads 321 can clamp two ends of the robot shell to realize the clamping and fixing effects.
In the present embodiment, as shown in fig. 1-3, the grinding roller 41 is horizontally disposed between two clamping trays 32, the positioning plates 45 are connected to both ends of the grinding roller 41 through evenly distributed screws, and the positioning plates 45 are connected to both ends of the mounting plate 412 in an overlapping manner.
Through the setting of locating plate 45, can fix mounting panel 412 at polishing cylinder 41 both ends, when needing to overhaul the change, dismantle behind locating plate 45, with mounting panel 412 take out in mounting groove 411 can, be convenient for overhaul the change to polishing piece 414 and brush cleaner 415.
In the present embodiment, as shown in fig. 3-5, a cylindrical structure is formed between the polishing sheet 414 and the cleaning brush 415, the polishing sheet 414 and the cleaning brush 415 on the same mounting plate 412 are arranged at equal intervals, the polishing sheet 414 and the cleaning brush 415 are both arc-shaped plate-shaped, and the polishing sheet 414 and the cleaning brush 415 are both distributed in a staggered manner in the axial direction and the circumferential direction of the polishing drum 41.
When the grinding drum 41 rotates, the grinding sheet 414 and the cleaning brush 415 are distributed, so that grinding and cleaning actions in the grinding drum 41 are performed alternately, dust is prevented from attaching to the surface of the shell of the robot, grinding is more comprehensive and clean, and the grinding effect is improved.
In this embodiment, as shown in fig. 3-6, the telescopic rod 413 includes a sleeve 7, a compression spring 8 is connected to the inner side of the sleeve 7, a sliding rod 9 is connected to the end of the compression spring 8, the sliding rod 9 is slidably sleeved inside the sleeve 7, a universal ball joint 10 is connected to the end of the sliding rod 9, and the polishing blade 414 and the side center of the cleaning brush 415 are rotatably connected to the sliding rod 9 through the universal ball joint 10.
When the robot housing is put into the polishing roller 41 for polishing, the polishing sheet 414 and the cleaning brush 415 can be tightly pressed on all parts of the surface of the robot housing through the action of the telescopic rod 413, so that the robot housing can be comprehensively polished and cleaned, and the polishing effect is improved.
In the embodiment, as shown in fig. 1 and fig. 2, a belt groove is formed on the periphery of the drive ring 44, an output end of the drive motor 51 is engaged with a reduction gearbox 52, and an output end of the reduction gearbox 52 is in transmission connection with the drive ring 44 through a transmission wheel and a belt.
The driving ring 44 is driven to rotate stably by the rotation of the driving motor 51, so that the grinding roller 41 can rotate stably, and the grinding of the rough edges of the robot shell is realized.
In this embodiment, as shown in fig. 1 and 2, the suction head 63 is fixed on the fixing frame 42 by a support rod, the opening of the suction head 63 is larger than the thickness of the grinding roller 41, the suction head 63 is provided with an arc-shaped structure matched with the bottom of the grinding roller 41, the dust collector 61 is movably arranged at one end of the base 1, and the dust collection inlet of the dust collector 61 is movably connected to the outlet end of the suction head 63 by a dust collection conduit 62.
When grinding roller 41 rotated, polished the deckle edge on the surface of the robot housing through polishing piece 414, swept the dirt that produces through sweeper 415 and fallen to grinding roller 41 inner chamber bottom, through the setting of dust catcher 61, dust absorption pipe 62 and suction head 63, can inhale away the dirt of grinding roller 41 inner chamber bottom fast, effectively collected the dirt that produces of polishing, avoided causing the dirt pollution.
Example 2
As shown in fig. 1 to 7, the present invention further provides a method for using the shell polishing device for manufacturing the intelligent robot, which comprises the following specific steps:
A. the robot mechanical arm and the limb shell are fed, firstly, the cylindrical shell of the robot horizontally penetrates through the polishing roller 41, and then the two symmetrical clamping cylinders 31 on the support frame 24 are started to relatively push the clamping tray 32, so that the two ends of the robot shell can be clamped by the fixed rubber pads 321 through the fixed grooves 322, the clamping and fixing effects are realized, and the two ends of the shell can be protected;
B. the surfaces of a robot mechanical arm and a limb shell are polished, the driving ring 44 is driven to rotate by the driving motor 51, the polishing roller 41 rotates, the polishing sheet 414 and the cleaning brush 415 can be tightly pressed on all parts of the surface of the robot shell under the action of the telescopic rod 413 in the polishing roller 41, and then burrs on the surface of the robot shell are polished and cleaned by the polishing sheet 414 and the cleaning brush 415 in the rotation process of the polishing roller 41, so that the burrs and the dust are polished and cleaned, the shell can be comprehensively polished and cleaned, and the polishing effect is improved;
C. the robot mechanical arm and the limb shell are repeatedly conveyed back and forth, when the polishing roller 41 rotates, the servo motor 21 drives the conveying screw rod 22 to rotate, so that the conveying plate 23 moves on the top of the base 1 along the conveying screw rod 22, the conveying plate 23 can reversely move through the reverse rotation of the servo motor 21, and the back and forth repeated movement of the conveying plate 23 on the top of the base 1 can be realized;
D. collect the dirt bits that produce the polishing, when cylinder 41 rotates polishing, polish the deckle edge on robot housing surface through polishing piece 414, at the in-process of polishing, sweep the dirt bits that produce the polishing to cylinder 41 inner chamber bottom of polishing through cleaning brush 415, then through dust catcher 61, dust absorption pipe 62 and suction head 63's setting, can inhale away the dirt bits of cylinder 41 inner chamber bottom of polishing fast, effectively collect the dirt bits that produce of polishing, prevent to influence and polish, avoid causing the dirt bits to pollute.
In the present embodiment, as shown in fig. 3 and 4, when the polishing sheet 414 and the cleaning brush 415 need to be repaired and replaced, after the positioning plate 45 is removed, the mounting plate 412 is pulled out from the mounting groove 411, so that the polishing sheet 414 and the cleaning brush 415 can be removed from the polishing roller 41, and the repairing and replacing of the polishing sheet 414 and the cleaning brush 415 are facilitated.
A smart robot manufacturing method using the housing polishing apparatus for smart robot manufacturing according to any one of claims 1 to 8 in a smart robot manufacturing process.
It should be noted that, the invention is a shell polishing device for manufacturing an intelligent robot, when in use, the robot shell is clamped and fixed by a clamping mechanism 3, the robot shell is repeatedly moved back and forth by a conveying mechanism 2, a polishing roller 41 is driven to rotate by a polishing driving mechanism 5, so that burrs of the robot shell are repeatedly polished and cleaned by a polishing sheet 414, the polishing is more comprehensive and clean, polishing dust falling from the bottom of the inner cavity of the polishing roller 41 can be sucked away by a dust suction mechanism 6 in the polishing process, thereby avoiding dust pollution, when the polishing roller 41 rotates, the polishing sheet 414 and the cleaning brush 415 which are distributed in a staggered manner in the axial direction and the circumferential direction are arranged in the polishing roller 41, so that the polishing and cleaning actions in the polishing roller 41 are alternately carried out, thereby effectively preventing the dust from being attached to the surface of the robot shell and improving the smoothness degree of the surface polishing, through the telescopic link 413 that sets up in grinding roller 41, utilize flexible effect for grinding piece 414 and brush cleaner 415 can closely press to cover and polish everywhere and clean on the outer shell surface of robot, thereby realize carrying out comprehensive thorough polishing and cleaning to the shell, be applicable to the shape for the cylindricality and polish of the shell that the crooked radian is different everywhere, promoted and polished and cleaned the effect.
While there have been shown and described what are at present considered the preferred embodiments of the invention, the fundamental principles and essential features of the invention and advantages thereof, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are included to illustrate the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims (10)

1. Intelligent robot makes and uses shell grinding device, including base (1), transport mechanism (2), fixture (3), grinding machanism (4), drive mechanism (5) and dust absorption mechanism (6) of polishing, its characterized in that: the robot shell cleaning device is characterized in that the conveying mechanism (2) is installed on the base (1), the clamping mechanism (3) is installed on the conveying mechanism (2), the robot shell is clamped and fixed through the clamping mechanism (3), the robot shell is moved back and forth repeatedly through the conveying mechanism (2), the polishing mechanism (4) is used for polishing and cleaning the robot shell, the polishing mechanism (4) comprises a polishing roller (41), polishing plates (414) and cleaning brushes (415) are uniformly distributed in the polishing roller (41) in a staggered mode, the polishing rollers (41) are driven to rotate through the polishing driving mechanism (5), the polishing plates (414) polish and clean the burrs of the robot shell repeatedly, the polishing is more comprehensive and clean, the dust collection mechanism (6) comprises a dust collector (61), a dust collection pipe (62) and a suction head (63), and the suction head (63) is close to two ends of the bottom of the polishing rollers (41), in the polishing process, polishing dust falling from the bottom of the inner cavity of the polishing roller (41) can be sucked away through the dust collector (61), so that dust pollution is avoided; the grinding driving mechanism (5) is used for driving the grinding mechanism (4).
2. The housing grinding device for intelligent robot manufacturing of claim 1, wherein: transport mechanism (2) are including installing servo motor (21), conveying lead screw (22) and conveying board (23) on base (1), servo motor (21) are connected with conveying board (23) transmission through conveying lead screw (22), conveying board (23) bottom both sides are passed through slider sliding connection in the spout of base (1) top one side, conveying board (23) top both ends symmetric connection has support frame (24).
3. The intelligent robot manufacturing shell polishing device according to claim 2, wherein: fixture (3) are including the symmetry install centre gripping cylinder (31) at support frame (24) top, the tailpiece of the piston rod of centre gripping cylinder (31) is connected with centre gripping tray (32), centre gripping tray (32) inboard is connected with fixed cushion (321), fixed cushion (321) surface evenly distributed has fixed slot (322).
4. The intelligent robot manufacturing shell polishing device according to claim 3, wherein: the polishing mechanism (4) comprises a fixing frame (42) symmetrically connected to the base (1), a fixing ring (43) is symmetrically connected to the fixing frame (42), a polishing roller (41) is rotatably sleeved on the inner side of the fixing ring (43) through a sliding groove, mounting grooves (411) are uniformly formed in the inner wall of the polishing roller (41), mounting plates (412) are inserted in the mounting grooves (411), telescopic rods (413) are uniformly connected to the side surfaces of the mounting plates (412), the end portions of the telescopic rods (413) are rotatably connected with polishing plates (414) and cleaning brushes (415), the polishing plates (414) and the cleaning brushes (415) are distributed in a staggered mode, and a driving ring (44) is fixedly sleeved in the middle of the outer side of the polishing roller (41);
the polishing roller (41) is horizontally arranged between the two clamping trays (32), the two ends of the polishing roller (41) are connected with positioning plates (45) through uniformly distributed screws, and the positioning plates (45) are connected to the two ends of the mounting plate (412) in a pressing mode.
5. The intelligent robot manufacturing shell polishing device according to claim 4, wherein: the polishing plates (414) and the cleaning brushes (415) form a cylindrical structure, and the polishing plates (414) and the cleaning brushes (415) on the same mounting plate (412) are arranged at equal intervals.
6. The intelligent robot manufacturing shell polishing device according to claim 5, wherein: the polishing plates (414) and the cleaning brushes (415) are arc-shaped plate-shaped, and the polishing plates (414) and the cleaning brushes (415) are distributed in a staggered mode in the axial direction and the circumferential direction of the polishing roller (41).
7. The intelligent robot manufacturing shell polishing device according to claim 6, wherein: the telescopic link (413) comprises a sleeve (7), a compression spring (8) is connected to the inner side of the sleeve (7), the end of the compression spring (8) is connected with a sliding rod (9), the sliding rod (9) is sleeved on the inner side of the sleeve (7) in a sliding mode, the end of the sliding rod (9) is connected with a universal ball joint (10), and the side centers of the polishing piece (414) and the cleaning brush (415) are rotatably connected with the sliding rod (9) through the universal ball joint (10).
8. The intelligent robot manufacturing shell polishing device according to claim 3, wherein: the polishing driving mechanism (5) comprises a driving motor (51) arranged on the base (1), the output end of the driving motor (51) is in transmission connection with the driving ring (44) through a belt, the driving ring (44) is driven to rotate through the driving motor (51), so that the polishing roller (41) rotates, burrs on the surface of a robot shell are polished and cleaned through a polishing sheet (414) and a cleaning brush (415), and therefore polishing burrs and cleaning dust are achieved, a belt groove is formed in the periphery of the driving ring (44), the output end of the driving motor (51) is connected with a reduction gearbox (52) in a meshing manner, and the output end of the reduction gearbox (52) is in transmission connection with the driving ring (44) through a driving wheel and a belt;
suction head (63) are fixed on mount (42) through branch, the opening of suction head (63) is greater than the thickness of cylinder (41) of polishing, just suction head (63) establish into with cylinder (41) bottom assorted arc structure of polishing, dust catcher (61) movable mounting is in base (1) one end, the dust absorption entry of dust catcher (61) passes through dust absorption pipe (62) swing joint at the exit end of suction head (63).
9. The use method of the housing polishing device for intelligent robot manufacturing according to claims 1 to 8, wherein: the method comprises the following specific steps:
A. the robot mechanical arm and the limb shell are fed, firstly, the cylindrical shell of the robot horizontally penetrates through a polishing roller (41), and then a clamping tray (32) is oppositely pushed by starting two symmetrical clamping cylinders (31) on a support frame (24), so that two ends of the shell of the robot can be clamped by a fixed rubber pad (321) through a fixed groove (322), the clamping and fixing effects are realized, and the two ends of the shell can be protected;
B. the surface of a mechanical arm and a limb shell of the robot is polished, a driving ring (44) is driven to rotate through a driving motor (51), a polishing roller (41) is enabled to rotate, a polishing plate (414) and a cleaning brush (415) can be tightly pressed on each part of the surface of the shell of the robot under the action of a telescopic rod (413) in the polishing roller (41), and then burrs on the surface of the shell of the robot are polished and cleaned through the polishing plate (414) and the cleaning brush (415) in the rotating process of the polishing roller (41), so that the burrs and the cleaning dust are polished, the shell can be comprehensively polished and cleaned, and the polishing effect is improved;
C. the robot mechanical arm and the limb shell are repeatedly conveyed back and forth, when the polishing roller (41) rotates, the servo motor (21) drives the conveying screw rod (22) to rotate, so that the conveying plate (23) moves at the top of the base (1) along the conveying screw rod (22), and the conveying plate (23) can reversely move through the reverse rotation of the servo motor (21), so that the conveying plate (23) can repeatedly move back and forth at the top of the base (1), and the clamping mechanism (3) is fixedly connected to the two ends of the top of the conveying plate (23) through the supporting frame (24), so that the conveying plate (23) repeatedly moves back and forth, the robot shell clamped on the clamping mechanism (3) is driven to synchronously repeatedly move back and forth, the shell is polished back and forth in the rotating polishing roller (41), and the polishing and cleaning of the whole shell surface are completed;
D. collect the dirt bits that produce the polishing, when cylinder (41) of polishing rotate, polish the deckle edge on robot housing surface through polishing piece (414), at the in-process of polishing, the dirt bits that produce will polish through cleaning brush (415) sweep down cylinder (41) inner chamber bottom of polishing, then through dust catcher (61), the setting of dust absorption pipe (62) and suction head (63), can inhale away the dirt bits of cylinder (41) inner chamber bottom of polishing fast, effectively collect the dirt bits that produce of polishing, prevent to influence and polish, avoid causing the dirt bits pollution.
10. A manufacturing method of an intelligent robot is characterized in that: the housing polishing apparatus for manufacturing a smart robot according to any one of claims 1 to 8 is used in a manufacturing process of a smart robot.
CN202011593795.3A 2020-12-29 2020-12-29 Shell polishing device for manufacturing intelligent robot and manufacturing method of intelligent robot Active CN112692675B (en)

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