CN115157077A - Polishing manipulator end effector and polishing manipulator - Google Patents
Polishing manipulator end effector and polishing manipulator Download PDFInfo
- Publication number
- CN115157077A CN115157077A CN202211093752.8A CN202211093752A CN115157077A CN 115157077 A CN115157077 A CN 115157077A CN 202211093752 A CN202211093752 A CN 202211093752A CN 115157077 A CN115157077 A CN 115157077A
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- Prior art keywords
- station
- polishing
- abrasive paper
- sandpaper
- support
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—Accessories therefor
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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 utility model relates to a rotatory grinding apparatus technical field especially relates to a polishing manipulator end effector, polishing manipulator. Manipulator end effector polishes includes: the device comprises a grinding station, an abrasive paper removing station, an abrasive paper adhering station, an actuator main body, a station switching motor and a multi-station support; each tail end of the multi-station support is provided with a grinding rotating wheel, and the number of the tail ends of the multi-station support is equal to the sum of the grinding station, the abrasive paper removing station and the abrasive paper adhering station; station switching motor is according to presetting the frequency drive the multistation support is rotatory for the terminal swiveling wheel of polishing of multistation support is according to presetting the frequency according to the preface circulation between the station of polishing, going the abrasive paper station and pasting the abrasive paper station. The polishing manipulator end effector provided by the disclosure only needs to pause polishing work when stations are switched, and the overall efficiency of polishing work is improved.
Description
Technical Field
The utility model relates to a rotatory grinding apparatus technical field especially relates to a polishing manipulator end effector, polishing manipulator.
Background
When the polishing manipulator polishes the surface of the mold, since the sand paper is an easily consumable product, the sand paper needs to be frequently replaced.
Among the prior art, generally be at manipulator end effector's the operation position of polishing through magic subsides bonding abrasive paper, after abrasive paper consumes, stop the operation of polishing, remove manipulator end effector and tear old abrasive paper from the operation position of polishing to the abrasive paper tearing mechanism that has clamping device, then remove and paste new abrasive paper toward the operation position of polishing on pasting the mechanism of abrasive paper, go back to at last and continue to polish on the station of polishing.
Therefore, when the abrasive paper of the end effector of the polishing manipulator is replaced, the end effector of the polishing manipulator needs to be moved for many times to consume a large amount of working hours in the prior art, and meanwhile, the abrasive paper of the polishing manipulator needs to be frequently replaced in the polishing operation process, so that the overall efficiency of polishing operation is not high finally.
Disclosure of Invention
In order to solve the above technical problem or at least partially solve the above technical problem, the present disclosure provides a manipulator end effector and a manipulator for polishing, which can improve the efficiency of polishing work.
In a first aspect, the present disclosure provides a polishing robot end-effector comprising: the device comprises at least one grinding station for grinding operation, at least one abrasive paper removing station for removing abrasive paper, at least one abrasive paper adhering station for adhering abrasive paper, an actuator main body, a station switching motor and a multi-station bracket;
each tail end of the multi-station support is provided with a grinding rotating wheel, and the number of the tail ends of the multi-station support is equal to the sum of the grinding station, the abrasive paper removing station and the abrasive paper adhering station;
station switching motor fixes in the executor main part, station switching motor's rotatory end with multistation support fixed connection, so that station switching motor is according to presetting the frequency drive the multistation support is rotatory for the terminal swiveling wheel of polishing of multistation support is at the station of polishing, is gone the abrasive paper station and is pasted the abrasive paper station and according to presetting the frequency and circulate according to the preface.
Optionally, the abrasive paper pasting station comprises an abrasive paper box and an abrasive paper pressing cylinder, the abrasive paper box is used for placing abrasive paper, the length of the abrasive paper is smaller than the circumference of the grinding rotating wheel, and a gap for removing abrasive paper is reserved when the abrasive paper is adhered to the grinding rotating wheel;
the surface of the sand paper box, which is close to the grinding rotating wheel, is provided with a sand paper outlet, and the sand paper pressing cylinder is pressed on the sand paper in the sand paper box so that the bonding surface of the sand paper in the sand paper box is tightly attached to the sand paper outlet;
station switching motor is rotatory extremely with the terminal swiveling wheel of polishing of multistation support by the paper station that goes sand the paper mouth of going out of sand paper box so that the swiveling wheel contact of polishing is to the bonding face of abrasive paper, the swiveling wheel rotation of polishing is in order to incite somebody to action abrasive paper in the abrasive paper box takes out to bond on the swiveling wheel of polishing.
Optionally, the paper sanding station comprises a pen-shaped cylinder and a telescopic scraper;
station switching motor is rotatory extremely with the terminal swiveling wheel of polishing of multistation support by the station of polishing the bottom of flexible scraper, the form of a stroke or a combination of strokes cylinder is connected to flexible scraper is with the drive flexible scraper whereabouts contacts to the surface of the swiveling wheel of polishing, the swiveling wheel of polishing is rotatory so that flexible scraper inserts to in the sand paper gap of going to along with the continuation rotation of the swiveling wheel of polishing and make flexible scraper peel off abrasive paper.
Optionally, abrasive paper is thick in the middle of the structure that both ends are thin to the surface that makes the rotatory wheel of polishing behind the bonding abrasive paper is at the in-process that continues to rotate, and the surface that the rotatory wheel of polishing behind the bonding abrasive paper can contact the edge of sand paper mouth makes abrasive paper and the rotatory wheel of polishing closely bond.
Optionally, sand paper and the mode that the swiveling wheel of polishing pasted through the magic, the bonding face of sand paper is the matte of magic subsides, the surface of the swiveling wheel of polishing is the needle face.
Optionally, the length of the sandpaper is 5 mm less than the circumference of the sanding rotary wheel.
Optionally, the multi-station support includes a support rotating shaft, a conductive slip ring, and a wire, and is fixedly connected to a rotating end of the station switching motor through the support rotating shaft, so that the multi-station support is driven by the station switching motor to rotate;
the electric conduction slip ring is sleeved on the support rotating shaft, the fixed part of the electric conduction slip ring is fixed on the actuator main body, and the rotating part of the electric conduction slip ring is connected to the polishing rotating wheel at the tail end of the multi-station support through a wire respectively so as to provide electric energy for the polishing rotating wheel.
Optionally, the polishing manipulator end effector further comprises a buffer, and the buffer is disposed on an end portion of the polishing manipulator end effector, where the end portion is used for being connected with an external polishing manipulator.
Optionally, the station switching motor is a stepping motor or a servo motor.
In a second aspect, the present disclosure provides a buffing manipulator comprising a buffing manipulator end-effector as described in any of the first aspects.
Compared with the prior art, the technical scheme provided by the disclosure has the following advantages:
the utility model provides a pair of polish manipulator end effector has at least one and is used for polishing the operation the station, at least one is used for getting rid of the abrasive paper station of going of abrasive paper and at least one is used for pasting abrasive paper station of abrasive paper, the multistation support have with polish the station, go the abrasive paper station and paste the same end of abrasive paper station sum figure and install the swiveling wheel of polishing at the end, station switching motor can switch the swiveling wheel of polishing that the multistation support is terminal between these stations according to the preface circulation and switch over, and the swiveling wheel of polishing of the station of polishing can switch over to going to the abrasive paper station and get rid of abrasive paper when needing to change abrasive paper, and originally the swiveling wheel of polishing on pasting the abrasive paper station then can switch over to and continue the operation of polishing on pasting the station, originally the abrasive paper of polishing that has accomplished abrasive paper and got rid of on going to the abrasive paper station then can switch over to pasting the station. The utility model provides a pair of polish manipulator end effector passes through the multistation support and is polishing the station, go the abrasive paper station and paste the abrasive paper station between according to predetermineeing the frequency according to the preface circulation, only need the work of polishing of suspending when switching the station, improve the whole efficiency of the operation of polishing.
Drawings
Fig. 1 is a schematic structural view of a first viewing angle of an end effector of a grinding robot provided in an embodiment of the present disclosure;
fig. 2 is a schematic structural view of a second viewing angle of an end effector of a grinding robot provided in an embodiment of the present disclosure;
fig. 3 is a schematic structural view of a third viewing angle of an end effector of a grinding robot provided in an embodiment of the present disclosure;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
fig. 5 is a schematic structural view of a fourth viewing angle of an end effector of a grinding robot provided in an embodiment of the present disclosure;
FIG. 6 is a partial enlarged view of the area B shown in FIG. 5;
fig. 7 is a schematic structural diagram of a grinding manipulator provided in an embodiment of the present disclosure.
Wherein, 1, polishing the end effector of the manipulator; 11. polishing a station; 12. a sand paper removing station; 121. a pen-shaped cylinder; 122. a telescopic scraper; 13. pasting a sand paper station; 131. a sand paper box; 1311. a sand paper outlet; 132. a sand paper pressing cylinder; 14. an actuator body; 141. a conductive slip ring; 142. a wire; 15. a multi-station bracket; 16. polishing the rotating wheel; 161. removing gaps of the sand paper; 17. a buffer; 18. a station switching motor;
2. a polishing manipulator.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Fig. 1 is a schematic structural diagram of a first viewing angle of an end effector of a grinding robot according to an embodiment of the present disclosure. Fig. 2 is a schematic structural diagram of a second viewing angle of an end effector of a grinding robot according to an embodiment of the present disclosure. As shown in fig. 1 and 2, an end effector 1 of a grinding robot provided by an embodiment of the present disclosure includes: the sanding machine comprises at least one sanding station 11 for sanding operation, at least one sandpaper removing station 12 for removing sandpaper, at least one sandpaper pasting station 13 for pasting the sandpaper, an actuator body 14, a station switching motor 18 and a multi-station bracket 15;
each tail end of the multi-station support 15 is provided with a grinding rotating wheel 16, and the number of the tail ends of the multi-station support 15 is equal to the sum of the grinding station 11, the sand paper removing station 12 and the sand paper pasting station 13;
The manipulator end effector 1 of polishing that the embodiment provided can pass through station switching motor 18 switches 15 terminal the swiveling wheel 16 of polishing of multistation support is at the station 11 of polishing, the abrasive paper station 12 of removing and paste sand paper station 13 and switch according to the preface circulation between, the swiveling wheel 16 of polishing of station 11 can switch to the abrasive paper station 12 of removing and get rid of sand paper when needing to change sand paper, originally the swiveling wheel 16 of polishing on pasting sand paper station 13 then can switch to and continue the operation of polishing on the station 11 of polishing, originally the swiveling wheel 16 of polishing that has accomplished the abrasive paper and got rid of on the abrasive paper station 12 of removing then can switch to and continue pasting sand paper on pasting sand paper station 13. The polishing manipulator end effector 1 provided by the disclosure only needs to pause polishing work when stations are switched, and the overall efficiency of polishing work is improved.
The station switching motor 18 is a stepping motor, and the preset frequency of the station switching can be adjusted by adjusting the rotating frequency of the stepping motor, and the preset frequency is determined by testing according to the wear rate of the abrasive paper during actual polishing operation. The station switching motor 18 is fixed on the execution main body 14 through a screw and nut structure.
In other embodiments, the station switching motor 18 may be a servo motor. The station switching motor may also be fixed to the actuating body 14 by welding.
Wherein, the terminal figure of multistation support 15 equals the total of polishing station 11, paper station 12 and paste abrasive paper station 13 to install the swiveling wheel 16 that polishes additional on each end of multistation support 15, make when station switching motor 18 makes multistation support 15 rotatory at every turn, every station can both correspond a swiveling wheel 16 that polishes that comes from a station.
Fig. 3 is a schematic structural diagram of a third viewing angle of an end effector of a grinding robot according to an embodiment of the present disclosure. Referring to fig. 3, the sandpaper pasting station 13 provided by the embodiment of the present disclosure includes a sandpaper box 131 and a sandpaper pressing cylinder 132, wherein the sandpaper box 131 is used for placing sandpaper, and the length of the sandpaper is smaller than the circumference of the grinding rotor 16, so that a sandpaper removing gap 161 is left when the sandpaper is pasted on the grinding rotor 16.
Specifically, in this embodiment, the length of the sand paper box 131 is the same as the length of the placed sand paper, and the length of the sand paper is 5 mm smaller than the circumference of the grinding rotating wheel 16 at the end of the multi-station bracket 15.
The surface of the sand paper box 131 close to the grinding rotating wheel 16 is provided with a sand paper outlet 1311, and the sand paper pressing cylinder 132 applies pressure to the sand paper in the sand paper box 131 through extending a piston thereof, so that the bonding surface of the sand paper in the sand paper box 131 is tightly attached to the sand paper outlet 1311.
Specifically, the sand paper pressing cylinder 132 in the embodiment of the present disclosure extends its own piston to press the sanding surface of the sand paper in the sand paper box 131, so that the bonding surface of the sand paper in the sand paper box 131 is tightly close to the sand paper outlet 1311 at the bottom of the sand paper box 131.
The station switching motor 18 rotates the polishing rotating wheel 16 at the end of the multi-station bracket 15 from the paper removing station 12 to the paper outlet 1311 of the sand paper box 131 so that the polishing rotating wheel 16 contacts with the bonding surface of sand paper, and the polishing rotating wheel 16 rotates to pull out the sand paper in the sand paper box 131 and bond the sand paper on the polishing rotating wheel 16.
Specifically, in this embodiment of the disclosure sand paper is pasted through the mode of magic subsides with the swiveling wheel 16 that polishes, sand paper's bonding face is the matte of magic subsides, the surface of the swiveling wheel 16 that polishes is the needle face. When the station switching motor 18 rotates the polishing rotation wheel 16 at the end of the multi-station bracket 15 to the sand paper outlet 1311 of the sand paper box 131, the needle surface of the outer surface of the polishing rotation wheel 16 is adhered to the suede of the adhesion surface of the sand paper adhered to the sand paper outlet 1311, and a piece of sand paper closest to the sand paper outlet 1311 in the sand paper box 131 is wound on the polishing rotation wheel 16 along with the continuous rotation of the polishing rotation wheel 16, so that the process of polishing the sand paper on the rotation wheel 16 is completed.
Fig. 4 is a partially enlarged view of a portion a shown in fig. 3. Referring to fig. 4, in a preferred embodiment, the sandpaper has a structure with a thick middle part and thin ends, so that after the sandpaper is bonded to the grinding rotation wheel 16, the outer surface of the grinding rotation wheel 16 bonded with the sandpaper contacts the edge of the sandpaper outlet 1311 during the process that the grinding rotation wheel 16 continues to rotate to bond the sandpaper, and the lower edge of the sandpaper outlet 1311 in fig. 4 enables the sandpaper to be pressed simultaneously during the process that the sandpaper is bonded to the grinding rotation wheel 16, so that the sandpaper can be firmly bonded to the grinding rotation wheel 16. In the preferred embodiment, no additional means for pressing the sandpaper is required.
Fig. 5 is a schematic structural view of a fourth observation angle of an end effector of a grinding robot according to an embodiment of the present disclosure, and fig. 6 is a partially enlarged view of a portion B shown in fig. 5.
Referring to fig. 5 and 6, the sandpaper removing station 12 provided by the embodiment of the disclosure includes a pen-shaped air cylinder 121 and a telescopic scraper 122.
The station switching motor 18 rotates the polishing rotary wheel 16 at the tail end of the multi-station support 15 from the polishing station 11 to the bottom of the telescopic scraper 122, the pen-shaped air cylinder 121 is connected to the telescopic scraper 122 to drive the telescopic scraper 122 to fall and contact the surface of the polishing rotary wheel 16, and the polishing rotary wheel 16 rotates to enable the telescopic scraper 122 to be inserted into the sand removing paper gap 161 and enable the telescopic scraper 122 to strip sand paper along with the continuous rotation of the polishing rotary wheel 16.
After the sandpaper is peeled off, in this embodiment, after the sanding rotary wheel 16 rotates twice in the sandpaper removing station 12, the pen cylinder 121 drives the telescopic blade 122 to lift up, so that the telescopic blade 122 does not obstruct the rotation of the multi-station frame 15 when the multi-station frame 15 rotates by the station switching motor 18.
In the embodiment of the present disclosure, by setting the length of the sandpaper, a sandpaper gap 161 can be left when the sandpaper is adhered to the polishing rotor 16, and the telescopic scraper 122 is inserted into the sandpaper gap 161 by the pen-shaped cylinder 121, and the sandpaper adhered to the surface of the polishing rotor 16 can be removed by rotating the polishing rotor 16. The abrasive paper removing station 12 provided by the embodiment of the disclosure does not need a clamping device to clamp abrasive paper on the surface of the polishing rotating wheel 16, does not need to consider the clamping force of the clamping device, does not cause abrasive paper clamping damage when the clamping force is too large, and does not cause the problem that abrasive paper cannot be removed due to too small clamping force.
The multi-station support 15 provided by the embodiment of the present disclosure includes a support rotating shaft, a conductive slip ring 141, and a wire 142, and the multi-station support 15 is fixedly connected to a rotating end of the station switching motor 18 through the support rotating shaft, so that the multi-station support 15 is driven by the station switching motor 18 to rotate. The rack rotation axis is blocked by the conductive slip ring 141 in fig. 2 and not shown.
The conductive slip ring 141 is sleeved on the bracket rotating shaft, the fixed part of the conductive slip ring 141 is fixed on the actuator main body 14, and the rotating part of the conductive slip ring 141 is respectively connected to the polishing rotating wheels 16 at the tail ends of the multi-station brackets 15 through the wires 142 to provide electric energy for the polishing rotating wheels 16.
In particular, the conductive slip ring 141 used in the disclosed embodiments is a standard conductive slip ring 141 known in the art. The conductive slip rings 141, also known as slip rings, may be used in any electromechanical system that requires continuous rotation while also requiring power and signals to be transmitted from a fixed location to a rotating location.
Wherein the polishing manipulator end effector 1 further comprises a buffer 17, said buffer 17 being arranged on the end of the polishing manipulator end effector 1 for connection with an external polishing manipulator.
In the preferred embodiment, the buffers 17 are located in the same vertical direction of the grinding station 11 for the end connected to an external grinding robot to improve the grinding accuracy of the grinding rotor 16 during grinding.
Fig. 7 is a schematic structural diagram of a grinding robot provided in the embodiment of the present disclosure. The end effector of the polishing manipulator 2 adopts the polishing manipulator end effector 1 provided by the above embodiment.
It is noted that, in this document, relational terms such as "first" and "second," and the like, are 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. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The previous description is only for the purpose of describing particular embodiments of the present disclosure, so as to enable those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. Manipulator end effector polishes, its characterized in that manipulator end effector polishes includes: the device comprises at least one grinding station for grinding operation, at least one abrasive paper removing station for removing abrasive paper, at least one abrasive paper adhering station for adhering abrasive paper, an actuator main body, a station switching motor and a multi-station bracket;
each tail end of the multi-station support is provided with a grinding rotating wheel, and the number of the tail ends of the multi-station support is equal to the sum of the grinding station, the abrasive paper removing station and the abrasive paper adhering station;
station switching motor fixes in the executor main part, station switching motor's rotatory end with multistation support fixed connection, so that station switching motor is according to presetting the frequency drive the multistation support is rotatory for the terminal swiveling wheel of polishing of multistation support is at the station of polishing, is gone the abrasive paper station and is pasted the abrasive paper station and circulate according to the preface according to presetting the frequency.
2. The buffing manipulator end effector according to claim 1 wherein the sandpaper affixing station includes a sandpaper magazine for holding sandpaper and a sandpaper pressing cylinder, the sandpaper magazine having a length less than a circumference of the buffing rotor wheel to leave a sandpaper gap when the sandpaper is affixed to the buffing rotor wheel;
the surface of the sand paper box, which is close to the grinding rotating wheel, is provided with a sand paper outlet, and the sand paper pressing cylinder is pressed on the sand paper in the sand paper box so that the bonding surface of the sand paper in the sand paper box is tightly attached to the sand paper outlet;
station switching motor is rotatory extremely with the terminal rotatory swiveling wheel of polishing of multistation support by the paper station that goes sand the paper mouth of going out of abrasive paper box so that the swiveling wheel contact to abrasive paper's bonding face of polishing, the swiveling wheel rotation of polishing is in order to incite somebody to action abrasive paper in the abrasive paper box is taken out and is pasted on the swiveling wheel of polishing.
3. The buffing manipulator end effector of claim 2 wherein the sandpaper removal station comprises a pen cylinder and a telescopic blade;
station switching motor is rotatory extremely with the terminal swiveling wheel of polishing of multistation support by the station of polishing the bottom of flexible scraper, the form of a stroke or a combination of strokes cylinder is connected to flexible scraper is with the drive flexible scraper whereabouts contacts to the surface of the swiveling wheel of polishing, the swiveling wheel of polishing is rotatory so that flexible scraper inserts to in the sand paper gap of going to along with the continuation rotation of the swiveling wheel of polishing and make flexible scraper peel off abrasive paper.
4. The end effector of the sanding manipulator as defined in claim 2, wherein the sandpaper has a thick middle portion and thin ends, so that the outer surface of the sandpaper-bonded sanding rotary wheel can contact the edge of the sandpaper outlet during the continuous rotation of the sandpaper-bonded sanding rotary wheel, so that the sandpaper is tightly bonded to the sanding rotary wheel.
5. The end effector of the polishing manipulator according to claim 2, wherein the sand paper and the polishing rotation wheel are adhered by means of a velcro tape, the adhering surface of the sand paper is a suede surface of the velcro tape, and the outer surface of the polishing rotation wheel is a needle surface.
6. The sanding manipulator end-effector according to claim 2, characterized in that the length of the sandpaper is 5 mm smaller than the circumference of the sanding rotary wheel.
7. The buffing manipulator end effector according to claim 1, wherein the multi-station support comprises a support rotating shaft, a conductive slip ring and a wire, and the multi-station support is fixedly connected to a rotating end of a station switching motor through the support rotating shaft, so that the multi-station support is driven by the station switching motor to rotate;
the electric conduction slip ring is sleeved on the support rotating shaft, the fixed part of the electric conduction slip ring is fixed on the actuator main body, and the rotating part of the electric conduction slip ring is connected to the polishing rotating wheel at the tail end of the multi-station support through a wire respectively so as to provide electric energy for the polishing rotating wheel.
8. The buffing robot end effector of claim 1 further comprising a bumper disposed on an end of the buffing robot end effector for connection to an external buffing robot.
9. A buffing manipulator end effector according to claim 1 wherein the station switching motor is a stepper motor or a servo motor.
10. A sanding robot characterized in that it comprises a sanding robot end effector according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211093752.8A CN115157077B (en) | 2022-09-08 | 2022-09-08 | Polishing manipulator end effector and polishing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211093752.8A CN115157077B (en) | 2022-09-08 | 2022-09-08 | Polishing manipulator end effector and polishing manipulator |
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| Publication Number | Publication Date |
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| CN115157077A true CN115157077A (en) | 2022-10-11 |
| CN115157077B CN115157077B (en) | 2022-11-15 |
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| CN114248179A (en) * | 2021-12-16 | 2022-03-29 | 昂华（上海）自动化工程股份有限公司 | Paint surface reciprocating grinding and polishing sand paper system |
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