CN214979830U

CN214979830U - Robot polishing device with weld joint detection and force feedback functions

Info

Publication number: CN214979830U
Application number: CN202121212537.6U
Authority: CN
Inventors: 王林; 李煜明; 王钦若; 张远鹏; 罗志韬
Original assignee: Guogongxin Cangzhou Robot Co ltd
Current assignee: Guogongxin Cangzhou Robot Co ltd
Priority date: 2021-06-01
Filing date: 2021-06-01
Publication date: 2021-12-03
Anticipated expiration: 2031-06-01

Abstract

The utility model relates to the technical field of polishing robots, in particular to a robot polishing device with welding seam detection and force feedback, which realizes welding seam flatness detection and polishing force monitoring, can well improve polishing quality and refine polishing, and has higher cost performance compared with other polishing robot schemes because the technology adopted by the invention has low comprehensive cost; including the upper end ring flange, dustproof subassembly, the upper cover plate, it is spacing that the multiunit movable rod, multiunit linear bearing, well apron, the multiunit spring, the spacing seat of multiunit spring, the multiunit movable rod, lower cover plate, the lower extreme ring flange, the magnetic head mounting panel, high-speed motor, the socket of inserting by plane, the outlet box, electric capacity ranging module, and a housing, electric capacity detects the seat, the fixing sleeve, polish head and two sets of fixation nut, the upper end ring flange is with external terminal actuating mechanism fixed connection of arm, and pass through bolt screw dress with the lower extreme ring flange and be connected, and dustproof subassembly suit is on the lower extreme ring flange.

Description

Robot polishing device with weld joint detection and force feedback functions

Technical Field

The utility model relates to a polishing robot's technical field especially relates to a take welding seam to detect and force feedback's robot grinding device.

Background

A robot polishing device with weld detection and force feedback is an auxiliary device for polishing parts, and is widely used in the field of polishing robots; under the wave of transformation and upgrading of the current manufacturing industry, the idea of 'robot changing' is deeply mastered, intelligent manufacturing is a necessary trend of future development of industrial manufacturing enterprises, an industrial robot is a key of the industrial robot, and a grinding robot is an industrial robot widely applied to industries such as machining and the like, and is concerned by the characteristics of short processing time, high profile precision, small surface roughness, good processing consistency and the like. At the present stage, a semi-automatic machine which is simple in manual operation and combines a specific process to polish a product is a method adopted by most domestic manufacturers, the method depends on the proficiency of workers, the polishing efficiency is not high, the consistency is difficult to be well ensured, the problems of difficult recruitment, high recruitment cost, frequent worker flow and the like are increasingly highlighted along with the rapid rise of labor cost, the reduction of the production cost by using a robot becomes an inevitable choice for improving the competitiveness of enterprises, but the current polishing robot acquires the stress information of a polishing tool during the polishing operation of a workpiece by mounting a multi-dimensional force sensor on an end effector of a mechanical arm, feeds the stress information back to a robot control system, utilizes the difference between the stress information and an expected stress state, combines PID control, dynamically adjusts the posture of the tail end of the robot, and further realizes constant-force polishing, due to the adoption of the multi-dimensional sensor, stress information can be acquired accurately, the cost is high, most of small and medium-sized enterprises are difficult to bear, and the stress condition of the tail end of the robot arm is acquired by part of robots through internal current, so that the grinding force of the grinding tool on a workpiece is calculated, and a constant-force output grinding mode is realized. However, in practice, the accuracy of the method for calculating the tail end stress of the mechanical arm directly by detecting the current of the motor is difficult to ensure, so that the constant-force grinding effect of the method is not too good, and a new grinding robot is urgently needed to solve the problems

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a realized welding seam roughness and monitored the power of polishing, can finely promote the quality of polishing, polish meticulously, in addition, because the technological comprehensive cost that the invention adopted is not high, compare in other polishing robot schemes, the higher robot grinding device who takes welding seam detection and force feedback of price/performance ratio.

The utility model discloses a robot grinding device with weld joint detection and force feedback, which comprises an upper end flange plate, a dustproof component, an upper cover plate, a plurality of groups of movable rod limit, a plurality of groups of linear bearings, a middle cover plate, a plurality of groups of springs, a plurality of groups of spring limit seats, a plurality of groups of movable rods, a lower cover plate, a lower end flange plate, a magnetic head mounting plate, a high-speed motor, an aviation plug socket, a wire outlet box, a capacitance ranging module, a shell, a capacitance detection seat, a fixed sleeve, a grinding head and two groups of fixed nuts, wherein the upper end flange plate is fixedly connected with an external mechanical arm end executing mechanism and is connected with the lower end flange plate through bolt screwing, the dustproof component is sleeved on the lower end flange plate and is connected with the upper cover plate through bolt screwing, the upper cover plate is fixed at the top end of the shell, a through hole is arranged in the middle part of the upper cover plate, the lower end flange plate passes through the through hole of the upper cover plate, and a cavity is arranged in the shell, the lower end flange is positioned at the upper part of the cavity of the shell, the lower end flange is fixed at the top end of the middle cover plate, a plurality of groups of linear bearings are uniformly fixed on the middle cover plate, a plurality of groups of movable rods are respectively in sliding connection with the plurality of groups of linear bearings, the movable rods are fixed at the upper parts of the movable rods in a limiting way and are positioned above the linear bearings, a plurality of groups of spring limiting seats are respectively fixed on the plurality of groups of movable rods through jackscrews, springs are fixed between the middle cover plate and the spring limiting seats, the plurality of groups of movable rods are uniformly fixed on the lower cover plate, the lower cover plate is positioned at the bottom part of the cavity of the shell and is in sliding connection with the shell, a high-speed motor is fixed at the middle part of the top end of the lower cover plate, a magnetic head is fixed at the bottom end of the middle cover plate through a magnetic head mounting plate, an aviation plug socket is fixed at the top end of a wire outlet box and is electrically connected with the wire outlet box, the wire box is fixed at the left end of the shell, and a capacitance distance measuring module is also fixed at the bottom end of the shell, the outlet box is electrically connected with the capacitance distance measuring module, the capacitance detecting seat is fixed at the left end of the shell, a detecting terminal is arranged on the capacitance detecting seat and electrically connected with the capacitance distance measuring module, and the polishing head is connected with the output end of the high-speed motor through a fixing sleeve and a fixing nut.

The utility model discloses a take welding seam to detect and force feedback's robot grinding device, dustproof subassembly include dirt proof boot clamping ring and dirt proof boot, and the dirt proof boot clamping ring is fixed on the dirt proof boot to be connected with upper cover plate spiral shell dress, and the dirt proof boot suit is located between lower extreme ring flange and the upper end ring flange on the lower extreme ring flange.

The utility model discloses a take welding seam to detect and force feedback's robot grinding device can install the magnetic scale of certain length in the casing be close to magnetic head one side.

The utility model discloses a take welding seam to detect and force feedback's robot grinding device, the electric capacity range finding terminal of pre-installation on electric capacity detection seat becomes the in-line and arranges.

Compared with the prior art, the beneficial effects of the utility model are that: in the polishing process, because the action distance of the capacitance distance measuring module is short, in order to prevent the possible collision between the capacitance detecting seat and the welding seam, the flatness of the welding seam is monitored by adopting a mode of polishing firstly and then detecting periodically, firstly, the system can match with the prior knowledge of an expert experience library according to the information of the type, the material and the like of the welding seam to be polished, when the polishing head is in polishing operation, the pose of the mechanical arm is adjusted according to the information of the welding seam to be polished, so that the polishing head with high-speed rotation can probe the position of the welding seam, when the polishing head touches the welding seam, due to the extrusion effect, the high-speed motor can generate the micro-motion along the straight line of the rod, the high-speed motor can drive the movable rod to move upwards, meanwhile, the spring is extruded, a certain induced potential is generated through the magnetic head fixed on the middle cover plate, and the upward moving distance of the movable rod can be obtained through the near-step processing of the induced potential signal, namely the deformation of the spring, the compression force of the spring can be obtained according to the stiffness coefficient of a preset spring, the polishing force of a polishing head can be obtained through simple stress analysis of the device, polishing is carried out for 1-2 times by the specific initial polishing force, the specific polishing force can be obtained by utilizing a magnetic grating displacement sensor and a related mechanism in the polishing process, the posture of the tail end of the mechanical arm is dynamically adjusted by comparing the specific initial polishing force with the preset polishing force, the polishing force is stabilized at the preset value, most of the protruding parts of the sharp ends of the welding seam are polished off through the first round of polishing, then, the system can ensure that the connecting line of the axes of three terminals on the capacitance detection seat is different from the straight line of the welding seam through adjusting the posture of the tail end mechanical arm, then, the flatness condition of each area of the welding seam can be obtained through a capacitance distance measuring module by traversing along the welding seam track, according to an expert experience library, and setting the most appropriate grinding force of each part for grinding, repeating the process until the flatness of the welding line meets the requirement threshold, and after the requirements of the relevant threshold are met, automatically lifting and moving the mechanical arm backwards, and determining whether to move to the next workpiece position for further grinding or stopping according to the requirements.

Drawings

Fig. 1 is an exploded schematic view of a three-dimensional structure of a robot polishing device of the present invention;

fig. 2 is a schematic perspective view of the robot polishing device of the present invention;

fig. 3 is an enlarged schematic view of the utility model at a;

in the drawings, the reference numbers: 1. an upper flange plate; 2. a dustproof sleeve compression ring; 3. a dust-proof sleeve; 4. an upper cover plate; 5. limiting by a movable rod; 6. a linear bearing; 7. a middle cover plate; 8. a spring; 9. a spring limiting seat; 10. a movable rod; 11. a lower cover plate; 12. a lower end flange plate; 13. a magnetic head; 14. a magnetic head mounting plate; 15. a high-speed motor; 16. an aerial socket; 17. an outlet box; 18. a capacitance ranging module; 19. a housing; 20. a capacitance detection base; 21. fixing the sleeve; 22. polishing head; 23. and (5) fixing the nut.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

As shown in fig. 1 to 3, the utility model discloses a robot polishing device with weld seam detection and force feedback, which comprises an upper end flange 1, a dustproof component, an upper cover plate 4, a plurality of groups of movable rod limit 5, a plurality of groups of linear bearings 6, a middle cover plate 7, a plurality of groups of springs 8, a plurality of groups of spring limit seats 9, a plurality of groups of movable rods 10, a lower cover plate 11, a lower end flange 12, a magnetic head 13, a magnetic head mounting plate 14, a high-speed motor 15, a navigation socket 16, a wire outlet box 17, a capacitance ranging module 18, a shell 19, a capacitance detection seat 20, a fixed sleeve 21, a polishing head 22 and two groups of fixed nuts 23, wherein the upper end flange 1 is fixedly connected with an external mechanical arm end executing mechanism and is connected with the lower end flange 12 through bolt screwing, the dustproof component is sleeved on the lower end flange 12 and is connected with the upper cover plate 4 through bolt screwing, the upper cover plate 4 is fixed on the top end of the shell 19, the middle part of the upper cover plate 4 is provided with a through hole, a lower end flange 12 passes through the through hole of the upper cover plate 4, a cavity is arranged inside the shell 19, the lower end flange 12 is positioned at the upper part of the cavity of the shell 19, the lower end flange 12 is fixed at the top end of the middle cover plate 7, a plurality of groups of linear bearings 6 are uniformly fixed on the middle cover plate 7, a plurality of groups of movable rods 10 are respectively connected with the plurality of groups of linear bearings 6 in a sliding way, movable rod limit parts 5 are fixed at the upper parts of the movable rods 10 and are positioned above the linear bearings 6, a plurality of groups of spring limit seats 9 are respectively fixed on the plurality of groups of movable rods 10 through jackscrews, springs 8 are fixed between the middle cover plate 7 and the spring limit seats 9, the plurality of groups of movable rods 10 are uniformly fixed on the lower cover plate 11, the lower cover plate 11 is positioned at the bottom of the cavity of the shell 19 and is connected with the shell 19 in a sliding way, and a high-speed motor 15 is fixed at the middle part of the top end of the lower cover plate 11, the magnetic head 13 is fixed at the bottom end of the middle cover plate 7 through the magnetic head mounting plate 14, the aviation plug socket 16 is fixed at the top end of the outlet box 17 and is electrically connected with the outlet box 17, the outlet box 17 is fixed at the left end of the shell 19, the capacitance distance measuring module 18 is also fixed at the bottom end of the shell 19, the outlet box 17 is electrically connected with the capacitance distance measuring module 18, the capacitance detecting seat 20 is fixed at the left end of the shell 19, the capacitance detecting seat 20 is provided with a detecting terminal and is electrically connected with the capacitance distance measuring module 18, and the polishing head 22 is connected with the output end of the high-speed motor 15 through a fixing sleeve 21 and a fixing nut 23; in the grinding process, because the action distance of the capacitance distance measuring module 18 is short, in order to prevent the possible collision between the capacitance detecting seat 20 and the welding seam, the flatness of the welding seam is monitored by adopting a mode of grinding firstly and then detecting periodically, firstly, the system can match with the prior knowledge of an expert experience library according to the information of the type, the material and the like of the welding seam to be ground, when the grinding head 22 touches the welding seam, the pose of the mechanical arm is adjusted according to the information of the welding seam to be ground, so that the grinding head 22 with high-speed rotation can detect the position of the welding seam, when the grinding head 22 touches the welding seam, the high-speed motor 15 can generate the micro-motion along the straight line of the rod due to the extrusion action, the high-speed motor 15 can drive the movable rod 10 to move upwards, simultaneously extrude the spring 8, generate a certain induced potential through the magnetic head 13 fixed on the middle cover plate 7, and through the further processing of the induced potential signal, the upward moving distance of the movable rod 10, namely the deformation amount of the spring 8, can be obtained, the compression force of the spring 8 can be obtained according to the stiffness coefficient of the preset spring 8, the polishing force of the polishing head 22 can be obtained through simple stress analysis of the device, the specific initial polishing force is used for polishing for 1-2 times, in the polishing process, the specific polishing force can be obtained through a magnetic grating displacement sensor and a related mechanism, the posture of the tail end of the mechanical arm is dynamically adjusted through comparison with the preset polishing force, the polishing force is stabilized at the preset value, most of the convex parts of the tips of the welding seams are polished through the first round of polishing, then, the system can enable the axis connecting lines of three terminals on the capacitance detection seat 20 to be different from the straight lines where the welding seams are located through adjusting the posture of the tail end mechanical arm, then, the flatness condition of each area of the welding seams can be obtained through the capacitance distance measurement module 18, and (3) setting the most appropriate grinding force of each part according to an expert experience library to grind, repeating the process until the flatness of the welding line meets the required threshold, automatically lifting and moving the mechanical arm backwards after meeting the related threshold requirements, and determining whether to move to the next workpiece position to continue grinding or stop the machine as required.

The utility model discloses a take welding seam to detect and force feedback's robot grinding device, dustproof subassembly includes dirt proof boot clamping ring 2 and dirt proof boot 3, and dirt proof boot clamping ring 2 is fixed on dirt proof boot 3, and with upper cover plate 4 spiral shell attach and connect, and dirt proof boot 3 suit is on lower extreme ring flange 12, lie in between lower extreme ring flange 12 and upper end ring flange 1; through setting up dirt proof boot clamping ring 2 and dirt proof boot 3, avoid external dust to enter into shell 19 in, improve device's use cleanliness factor.

The utility model discloses a robot polishing device with weld seam detection and force feedback, a magnetic scale with a certain length is arranged on one side of a shell 19 close to a magnetic head 13; through setting up the magnetic scale of certain length, with the first relative motion of magnetic head 13, carry out the interact, improve the result of use of device.

The utility model discloses a robot polishing device with weld seam detection and force feedback, the capacitance distance measuring terminals pre-installed on the capacitance detecting seat 20 are arranged in a straight line; the detection range is expanded, the detection precision is improved, and the use effect of the device is further improved.

The utility model discloses a take welding seam to detect and force feedback's robot grinding device, it is in the process of polishing, because the working distance of electric capacity ranging module 18 is shorter, in order to prevent the collision that probably appears between electric capacity detection seat 20 and the welding seam, what adopt is polished earlier then the roughness of periodic detection's mode monitoring welding seam, firstly, the system can match with the priori knowledge of expert's experience storehouse according to the information such as the type of the welding seam that needs to polish, material, etc., during the operation of polishing, according to the welding seam information that needs to polish, the arm adjusts its position appearance, make and have the position of probing the welding seam under the head 22 of polishing that rotates at a high speed, when the head 22 of polishing touches the welding seam, because of the extrusion, high-speed motor 15 can produce the ascending micro-motion along the pole straight line, high-speed motor 15 will drive movable rod 10 upward motion, extrude spring 8 simultaneously, produce certain response electric potential through fixing the magnetic head 13 at well apron 7, the upward moving distance of the movable rod 10, namely the deformation of the spring 8, can be obtained by further processing the induced potential signal, the compression force of the spring 8 can be obtained according to the stiffness coefficient of the preset spring 8, the polishing force of the polishing head 22 can be obtained by simple stress analysis of the device, polishing is carried out for 1-2 times with the specific initial polishing force, during the polishing process, the specific polishing force can be obtained by utilizing a magnetic grating displacement sensor and a related mechanism, the tail end posture of the mechanical arm is dynamically adjusted by comparing the specific polishing force with the preset polishing force, the polishing force is stabilized at the preset value, most of the convex parts of the tips of the welding seams are polished off by the first round of polishing, and then, the system can enable the axis connecting lines of the three terminals on the capacitance detection seat 20 to be different from the straight lines where the welding seams are located by adjusting the posture of the tail end mechanical arm, traversing along the welding seam track, acquiring the flatness condition of each area of the welding seam through the capacitance distance measuring module 18, setting the most appropriate polishing force of each part for polishing according to an expert experience library, repeating the process until the flatness of the welding seam meets a required threshold, and after the requirement of a related threshold is met, automatically lifting and moving the mechanical arm backwards, and determining whether to move to the next workpiece position for continuous polishing or stopping according to the requirement.

The utility model discloses a robot polishing device with weld joint detection and force feedback, the installation mode, the connection mode or the setting mode are common mechanical modes, and the robot polishing device can be implemented as long as the beneficial effects can be achieved; the utility model discloses a take welding seam to detect and power feedback's robot grinding device's magnetic head 13, electric capacity range finding module 18 and electric capacity detect seat 20 for purchase on the market, this industry technical staff only need according to its subsidiary operating specification install and operate can.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. A robot polishing device with weld joint detection and force feedback is characterized by comprising an upper end flange (1), a dustproof assembly, an upper cover plate (4), a plurality of groups of movable rod limit (5), a plurality of groups of linear bearings (6), a middle cover plate (7), a plurality of groups of springs (8), a plurality of groups of spring limit seats (9), a plurality of groups of movable rods (10), a lower cover plate (11), a lower end flange (12), a magnetic head (13), a magnetic head mounting plate (14), a high-speed motor (15), an aviation plug socket (16), a wire outlet box (17), a capacitance distance measuring module (18), a shell (19), a capacitance detection seat (20), a fixed sleeve (21), a polishing head (22) and two groups of fixed nuts (23), wherein the upper end flange (1) is fixedly connected with an external mechanical arm tail end executing mechanism and is in threaded connection with the lower end flange (12) through bolts, and the dustproof assembly is sleeved on the lower end flange (12), the upper cover plate (4) is fixed at the top end of a shell (19), a through hole is arranged in the middle of the upper cover plate (4), a lower end flange (12) penetrates through the through hole of the upper cover plate (4), a cavity is arranged in the shell (19), the lower end flange (12) is positioned at the upper part of the cavity of the shell (19), the lower end flange (12) is fixed at the top end of a middle cover plate (7), a plurality of groups of linear bearings (6) are uniformly fixed on the middle cover plate (7), a plurality of groups of movable rods (10) are respectively connected with the plurality of groups of linear bearings (6) in a sliding way, a movable rod limit (5) is fixed at the upper part of the movable rod (10) and positioned above the linear bearings (6), a plurality of groups of spring limit seats (9) are respectively fixed on the plurality of groups of movable rods (10) through jackscrews, springs (8) are fixed between the middle cover plate (7) and the spring limit seats (9), and a plurality of groups of movable rods (10) are uniformly fixed on a lower cover plate (11), the lower cover plate (11) is positioned at the bottom of a cavity of a shell (19) and is in sliding connection with the shell (19), a high-speed motor (15) is fixed in the middle of the top end of the lower cover plate (11), a magnetic head (13) is fixed at the bottom end of a middle cover plate (7) through a magnetic head mounting plate (14), an aviation socket (16) is fixed at the top end of a wire outlet box (17) and is electrically connected with the wire outlet box (17), the wire outlet box (17) is fixed at the left end of the shell (19), a capacitance distance measuring module (18) is also fixed at the bottom end of the shell (19), the wire outlet box (17) is electrically connected with a capacitance distance measuring module (18), a capacitance detecting seat (20) is fixed at the left end of the shell (19), a detecting terminal is arranged on the capacitance detecting seat (20) and is electrically connected with the capacitance distance measuring module (18), and the sanding head (22) is connected with the output end of the high-speed motor (15) through a fixed sleeve (21) and a fixed nut (23).

2. The robot grinding device with the weld joint detection and the force feedback as claimed in claim 1, characterized in that the dust-proof assembly comprises a dust-proof sleeve pressing ring (2) and a dust-proof sleeve (3), the dust-proof sleeve pressing ring (2) is fixed on the dust-proof sleeve (3) and is in threaded connection with the top end of the upper cover plate (4), and the dust-proof sleeve (3) is fixedly sleeved on the lower end flange plate (12) and is positioned between the lower end flange plate (12) and the upper end flange plate (1).

3. A robotic grinding device with weld detection and force feedback as claimed in claim 2, characterized in that a length of magnetic scale is mounted on the side of the housing (19) adjacent to the magnetic head (13).

4. A robotic grinding device with weld detection and force feedback as claimed in claim 3, characterized in that the capacitive distance measuring terminals preassembled on the capacitive detection base (20) are arranged in a straight line.