CN215092672U - Tool replacing device for polishing robot - Google Patents

Abstract

The utility model provides a device is changed to instrument for polishing robot, the device includes: the at least two auxiliary connecting discs are used for clamping and fixing the grinding machine so as to grind a workpiece to be ground; the main connecting disc is arranged at the tail end of a manipulator of the polishing robot; and the locking assembly is arranged on the main connecting disc. The utility model discloses a solid same or different types of polisher of card of at least two auxiliary connection pads or the card is solid other spare parts that need to be changed to the manipulator end of the polishing robot, lock any auxiliary connection pad to set up on the main connection pad of the manipulator end of the polishing robot through locking Assembly, and then realize the polishing of the surface of the work piece of waiting to polish, this change device is changed simply and is improved the efficiency of construction; meanwhile, the main connecting disc is arranged at the tail end of the manipulator, and the position of the main connecting disc can be adjusted through the posture change of the polishing robot so as to replace the auxiliary connecting disc.

Description

Tool replacing device for polishing robot

Technical Field

The utility model relates to a burnishing and polishing technical field particularly, relates to a device is changed to instrument for robot that polishes.

Background

For the work piece raw material of polishing, generally need polish and polish after the casting is accomplished to the casting work piece, the work piece raw material of polishing forms casting work piece finished product (work piece finished product) after the processing of polishing, need put in order, arrange, fix a position spare part before using professional equipment to polish, and the in-process of polishing also needs go on unloading. Although the feeding, discharging and finishing processes of the cast workpiece are automated by special machine tools, most of the grinding and polishing processes can still be finished only manually.

However, when the cast workpiece is polished by the polisher on the polishing robot, the polisher needs to be adapted to different polishing requirements due to the timeliness of the polisher and the different polishing requirements of the cast workpiece, and the polisher connected with the end of the manipulator of the polishing robot needs to be replaced manually, so that the operation is complicated and the efficiency is low.

Disclosure of Invention

In view of this, the utility model provides a device is changed to instrument for polishing robot aims at solving the terminal polisher complex operation and the inefficiency problem of manipulator is changed to the mode that current polishing robot adopted the manual work to change.

The utility model provides a device is changed to instrument for polishing robot, the device includes: the at least two auxiliary connecting discs are used for clamping and fixing the grinding machine so as to grind a workpiece to be ground; the main connecting disc is arranged at the tail end of a manipulator of the polishing robot; and the locking assembly is arranged on the main connecting disc and used for locking the main connecting disc and the auxiliary connecting disc when any one of the auxiliary connecting discs is pressed against the connecting wall surface of the main connecting disc.

Further, according to the tool replacing device for the polishing robot, the mounting column is convexly arranged at the axis position of the main connecting disc, and the mounting groove for inserting the mounting column is concavely arranged at the axis position of the auxiliary connecting disc, so that the mounting column is inserted into the mounting groove.

Further, according to the tool changing device for the polishing robot, the mounting column is provided with the mounting hole along the radial direction, the locking assembly is at least partially located in the mounting hole, and the locking assembly is connected with the mounting column along the length direction of the mounting hole in an adjustable mode so that part of the locking assembly is arranged outside the mounting hole in a protruding mode, contacts the inner side wall of the mounting groove and exerts jacking pressure on the inner side wall of the mounting groove, and locking between the main connecting disc and the auxiliary connecting disc is achieved.

Further, in the tool replacing device for the polishing robot, the main connecting disc is provided with an air hole which is communicated with the mounting hole and is used for being connected with an air suction and blowing device so as to blow air into the mounting hole to enable the locking assembly to move towards the opening end of the mounting hole until top pressure is applied to the inner side wall of the mounting groove; or, the mounting hole is sucked so that the locking assembly moves away from the opening end of the mounting hole, a gap is reserved between the locking assembly and the inner side wall of the mounting hole, and unlocking between the main connecting disc and the auxiliary connecting disc is achieved.

Further, the tool changing device for a grinding robot further includes: and the tool library is used for storing the auxiliary connecting disc so that the grinding robot can replace the auxiliary connecting disc according to the requirement.

Further, the tool changer for a grinding robot described above, the tool magazine includes: one end of the tool supporting frame is provided with an opening; the backup pad sets up the inside of instrument support frame, and, be equipped with a plurality of card in the backup pad and establish the structure, be used for to pair connection pad carries out the card and firmly supports, in order to realize interim the depositing of polisher.

Further, in the tool replacing device for the polishing robot, the support plate is rotatably arranged in the tool support frame to drive the vision mechanism or the polishing machine clamped and fixed on the support plate to rotate, so that the auxiliary connecting disc required to be replaced at present is rotated to a position to be replaced; the supporting plate is connected with a rotating motor to drive the supporting plate to rotate.

Furthermore, above-mentioned tool changing device for robot that polishes, the opening part is equipped with dust guard for shelter from debris in order to avoid it to get into in the tool support frame.

Further, according to the tool changing device for the polishing robot, the connection assembly in an L-shaped structure is arranged on the auxiliary connection disc and used for connecting the auxiliary connection disc and the polishing machine.

Further, according to the tool replacing device for the polishing robot, the auxiliary connecting disc is further provided with a clamping piece used for being clamped on the tool library, so that the auxiliary connecting disc can be temporarily stored.

The utility model provides a polishing robot is with instrument change device, through at least two vice connection pad card solid the same or different types of polisher or card solid other need change to polishing robot's the terminal spare part of manipulator such as vision mechanism, lock any vice connection pad to set up on polishing robot's the terminal main connection pad of manipulator through locking Assembly, change same or different types of polisher or other spare parts to manipulator end promptly, and then realize waiting to polish the position collection of the surface of work piece or wait to polish the polishing of the surface of work piece, this change device is changed and is simply improved the efficiency of construction; meanwhile, the main connecting disc is arranged at the tail end of the manipulator, the position of the main connecting disc can be adjusted through the posture change of the polishing robot, the main connecting disc is driven to move to the storage position of the polishing machine, the auxiliary connecting disc is replaced, the replacement mode is further simplified, and the construction efficiency is further improved.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic partial structural view of a tool changing device for a grinding robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a tool changing device for a grinding robot according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a main connection pad provided in an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a secondary connection pad provided in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a tool library in use according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a tool magazine according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a tool magazine in use according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a tool magazine according to an embodiment of the present invention;

fig. 9 is a block diagram of a tool library according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Referring to fig. 1 to 3, a preferred structure of a tool changer for a grinding robot according to an embodiment of the present invention is shown. As shown in the drawings, the tool exchange device 1 for a grinding robot includes: a main connecting disc 11 and at least two auxiliary connecting discs 12; wherein the content of the first and second substances,

at least two auxiliary connecting discs 12 are used for clamping and fixing the grinding machine 2 so as to grind a workpiece to be ground. Specifically, the number of the pair of connection pads 12 may be at least two, and the pair of connection pads 12 may be used to clamp and fix the polishing machine 2, and of course, may also be used to clamp and fix other parts, such as the vision mechanism 3, to be mounted to the end of the manipulator of the polishing robot 4, so as to perform image acquisition on the outer surface of the workpiece to be polished (not shown in the figure) to obtain the position of the outer surface of the workpiece to be polished 8, and to adjust the posture trajectory of the polishing robot 4 to perform polishing based on the position of the outer surface of the workpiece to be polished. In order to facilitate mounting of the vision mechanism 3 or the sander 2 on the sub-land 12, it is preferable that the sub-land 12 is provided with a connection assembly 13 for connecting the vision mechanism 3 or the sander 2, and further, the vision mechanism 3 or the sander 2 is mounted on the sub-land 12, and further, by replacing the sub-land 12 connected on the main land 11, that is, by replacing a different sub-land 12, replacement of the vision mechanism 3 or the sander 2 connected on the main land 11 is performed; the connection unit 13 has one end connected to the sub-land 12 and the other end connected to the vision mechanism 3 or the grinder 2. Preferably, the connection assembly 13 and the sub-land 12 are detachably connected to each other, so that the connection assembly 13 connected to the sub-land 12 can be replaced, and when the grinder 2 used in the connection assembly 13 is damaged, the connection assembly 13 connected to the sub-land 12 and provided with other qualified grinders can be replaced, thereby prolonging the service life of the sub-land 12.

The main land 11 is provided on the hand end of the polishing robot 4. Specifically, the main connecting disc 11 may be disposed at the end of a manipulator of the polishing robot 4, so as to adjust the position of the main connecting disc 11 through the posture change of the polishing robot 4, and then drive the main connecting disc 11 to move to the tool magazine 5, so as to replace the auxiliary connecting disc 12, and further enable the vision mechanism 3 or the polishing machine 2 on the replaced auxiliary connecting disc 12 to move therewith.

The main land 11 is provided with a locking assembly 14 for locking the main land 11 and the sub-land 12 when any one of the sub-lands 12 is pressed against a connection wall surface (a right wall surface as shown in fig. 2) of the main land 11. Specifically, the locking assemblies 14 may be multiple and may be uniformly arranged at intervals along the circumferential direction of the main connecting disc 11, so that the main connecting disc 11 and the auxiliary connecting disc 12 pressed against the main connecting disc 11 may be connected through one or more locking assemblies 14, and locking between the main connecting disc 11 and the auxiliary connecting disc 12 is achieved. Meanwhile, the locking assembly 14 can also unlock the main connecting disc 11 and the auxiliary connecting disc 12 so as to connect the main connecting disc 11 with other auxiliary connecting discs 12, further realize replacement of the auxiliary connecting discs 12 to replace different or same polishing machines 2, further realize replacement between the vision mechanism 3 and the polishing machines 2, and further perform polishing or replace the vision mechanism 3 to perform image acquisition.

The sub-pad 12 or the connection module 13 may be provided with a locking member 15 for locking to the tool magazine 5 to store the sub-pad 12 and the vision mechanism 3 or the sander 2 provided on the sub-pad 12. Specifically, the clamping member 15 may be disposed on a side (right side as shown in fig. 2) of the connection assembly 13 away from the sub connection pad 12, and the clamping member 15 is provided with a limiting groove 151 to clamp and limit to the support plate 52 of the tool magazine 5, that is, the clamping member is supported to the clamping structure 521 through a bottom wall of the limiting groove 151, and the limiting of two sides of the support plate 52 is performed through a side wall of the limiting groove 151, so that the limiting groove 151 is clamped and limited to the support plate 52. The clamping member 15 may be fixedly connected to the sub-connection pad 12 by screws penetrating through the clamping member 15 and the connection assembly 13, or may be connected by other connection methods.

The apparatus further comprises a tool magazine 5 for storing the sander 2 and the vision mechanism 3 so that the sanding robot 4 can replace the sander 2 and the vision mechanism 3 as required. Specifically, the tool magazine 5 may be disposed on the ground rail traveling mechanism 4, or may be disposed at other positions, which is not limited in this embodiment.

Refer to fig. 3, which is a schematic structural diagram of a main connection pad provided in an embodiment of the present invention. As shown in the figure, the axis position of the main connecting disc 11 is convexly provided with a plurality of mounting posts 111, and the number of the mounting posts 111 can be multiple; the main connecting disc 11 can also be provided with a guiding and positioning structure 112 for guiding and positioning the approaching movement of the auxiliary connecting disc 12 so as to enable the auxiliary connecting disc 12 to be pressed against the connecting wall surface of the main connecting disc 11, the auxiliary connecting disc 12 and the main connecting disc 11 are coaxially arranged and avoid relative rotation between the auxiliary connecting disc 12 and the main connecting disc 11, and further the auxiliary connecting disc 12 is mounted at the relative mounting position between the main connecting disc 11, and further the grinding machine 2 or the vision mechanism 3 is mounted at the relative mounting position at the tail end of the manipulator, and further grinding or image acquisition is realized through the grinding machine 2 or the vision mechanism 3. The mounting column 111 may be a frustum-shaped structure to guide the mounting of the secondary connecting disc 12; of course, other structures are possible, and no limitation is made in this embodiment.

Referring to fig. 4, it is a schematic structural diagram of the auxiliary connection pad provided in the embodiment of the present invention. As shown in the figure, the axis position of the auxiliary connecting disc 12 is concavely provided with a mounting groove (not shown in the figure), so that the mounting column 111 is inserted into the mounting groove to ensure the axial positioning of the main connecting disc 11 and the auxiliary connecting disc 12, namely to ensure the coaxial arrangement between the main connecting disc 11 and the auxiliary connecting disc 12; the locking assemblies 14 on the mounting columns 111 can be arranged along the radial direction of the mounting columns 111, so that the locking assemblies 14 apply jacking pressure to the inner side walls of the mounting grooves, and locking between the main connecting disc 11 and the auxiliary connecting disc 12 is achieved.

In this embodiment, the mounting post 111 is provided with a mounting hole along a radial direction thereof, and the locking assembly 14 is at least partially connected in the mounting hole in a position-adjustable manner along a length direction of the mounting hole; the mounting hole can be communicated with an air hole 113 and is used for being connected with an air suction and blowing device so as to blow air into the mounting hole to enable the locking component 14 to move towards the opening end of the mounting hole until the locking component 14 is partially arranged outside the mounting hole in a protruding mode to contact the inner side wall of the mounting hole and apply jacking pressure to the inner side wall of the mounting hole; alternatively, suction applied to the mounting hole causes the locking assembly 14 to move away from the open end of the mounting hole, thereby allowing clearance between the locking assembly 14 and the inside wall of the mounting groove. Preferably, the locking component 14 is a ball structure, and the inner side wall of the mounting groove is provided with a jacking groove which is matched with the outer surface of the ball structure, so that the ball structure is completely attached to the clamping structure, the contact area between the ball structure and the clamping structure is increased, and the jacking force applied to the inner side wall of the mounting groove by the locking component 14 is further increased. The jacking groove can be an arc spherical structure matched with the ball or an arc cylindrical surface matched with the ball, which is arranged along the axial direction of the auxiliary connecting disc 12; the arc-shaped spherical structure can further limit the position between the ball and the mounting groove.

With continued reference to fig. 2, the connection assembly 13 includes: a first connecting plate 131 and a second connecting plate 132; the first connecting plate 131 and the second connecting plate 1321 are arranged at an included angle, the first connecting plate 131 is used for being connected to the auxiliary connecting disc 12, the second connecting plate 132 is used for clamping and fixing the grinding machine 2 or the vision mechanism 3, interference between the grinding machine 2 or the vision mechanism 3 and the auxiliary connecting disc 12 can be avoided due to the included angle arrangement between the two, and meanwhile, the clamping piece 15 can be moved away, so that the clamping piece 15 can be clamped and fixed on the supporting plate 52. That is, the connecting member 13 has an L-shaped structure.

Referring to fig. 5 to 8, a preferred structure of a tool magazine provided in an embodiment of the present invention is shown. As shown, the tool library 5 includes: a tool support 51 and a support plate 52; wherein the content of the first and second substances,

an opening 511 is provided at one side of the tool support 51. Specifically, the tool support frame 51 has a hollow interior and an open end, so that the manipulator of the polishing robot 4 extends into the tool support frame 51 to replace the vision mechanism 3 or the polishing machine 2 disposed in the tool support frame 51.

The support plate 52 is provided inside the tool support frame 51, and is used for clamping the vision mechanism 3 and the sander 2. Specifically, the supporting plate 52 may be disposed inside the tool supporting frame 51, and is used to fix the vision mechanism 3 or the sander 2, so as to fix the vision mechanism 3 or the sander 2, i.e., temporarily store the vision mechanism or the sander 2, and further facilitate replacement of parts at the end of the manipulator of the sanding robot 4. Preferably, the supporting plate 52 may be provided with a clamping structure 521 for clamping the vision mechanism 3 or the sander 2; in this embodiment, the fastening structure may be an arc groove structure, so that the connecting assembly 13 connected to the vision mechanism 3 or the sander 2 is fastened to the arc groove structure, and the fastening support of each connecting assembly is realized, thereby fixing the vision mechanism 3 or the sander 2; preferably, the opening of the arc groove structure is arranged upward, so that the connecting assembly 13 is clamped and fixed into the arc groove structure from the opening, and the supporting and limiting of the connecting assembly 13 are realized through the supporting plate 52. In the embodiment, the vision mechanism 3 or the polisher 2 and the sub-connection pad 12 are connected by the connection assembly 13, so that the three are formed into an integrated connection structure, and then different sub-connection pads 12 are connected by replacing the main connection pad 11 arranged at the end of the manipulator of the polishing robot 4, so that the replacement between different polishers 1 or the same kind of polisher 1 is realized, and the replacement of the vision mechanism 3 or the polisher 2 is also realized, so that the vision mechanism 3 or the polisher 2 is mounted to the end of the manipulator, and the manipulator end moves in position; the auxiliary connecting disc 12 can be clamped and fixed through the clamping and fixing of the connecting assembly 13, and further the clamping and fixing, namely temporary storage, of the vision mechanism 3 or the grinding machine 2 can be realized. The number of the clamping mechanisms is at least two, so that temporary storage of one grinding machine 2 and one vision mechanism 3 can be realized simultaneously, and replacement between the grinding machine 2 and the vision mechanism 3 can be realized, and certainly, the clamping mechanisms can also be multiple, so that temporary storage of the vision mechanism 3 and the grinding machines 2 can be realized.

To prevent dust or polished dust from falling into the vision mechanism 3 or the polisher 2 stored in the tool support 51, a dust-proof shield (not shown) is provided at the opening 511 to shield impurities from entering the tool support 51. Specifically, one end of the dust-proof shield may be hinged on a first side of the opening 511 of the tool support frame 51, and the other end of the dust-proof shield may be detachably connected on a second side of the opening 511, so as to be opened for replacement when the vision mechanism 3 and the sander 2 are replaced; preferably, the dustproof baffle and the opening 511 can be connected through an opening and closing component to drive the dustproof baffle to be opened and closed, so that the dustproof baffle can be automatically opened and closed; further preferably, the control mechanism is further connected with the opening and closing assembly and used for controlling the opening and closing assembly to operate according to the position change and the posture change of the polishing robot 4 before the polisher 2 or the vision mechanism 3 is replaced, so that the dustproof baffle is driven to be opened, the dustproof baffle is prevented from interfering the replacement of the tail end part of the manipulator, and after the replacement is completed, the control mechanism controls the opening and closing assembly to operate so that the dustproof baffle is driven to be closed, and the dustproof effect is achieved.

With continued reference to fig. 5 and 6, in an embodiment of the tool magazine 5 in the present embodiment, the supporting plate 52 may be a square plate structure, which is vertically disposed in the tool supporting frame 51, and the fastening structures 521 are disposed side by side along the length direction of the supporting plate 52, so as to realize bottom supporting and limiting of the plurality of connecting assemblies 13, and further facilitate installation and removal of the connecting assemblies 13 on the supporting plate 52, and further facilitate installation and removal of the vision mechanism 3 and the sander 2, and further facilitate replacement of the vision mechanism 3 and the sander 2 on the sanding robot 4.

With continued reference to fig. 7 to 9, in another embodiment of the tool magazine 5 in the present embodiment, the supporting plate 52 may be a circular plate structure, which is rotatably disposed in the tool supporting frame 51 as a multi-station rotary storage plate to drive the vision mechanism 3 or the sander 2 clamped on the supporting plate 52 to rotate, so that the vision mechanism 3 or the sander 2 to be replaced at present is rotated to the position to be replaced, thereby facilitating the replacement of the vision mechanism 3 or the sander 2. Preferably, a rotating motor 53 may be connected to the support plate 52 to drive the support plate 52 to rotate. The support plate 52 may be provided with at least two clamping members 54, the clamping members 54 may be disposed on an outer wall of the support plate 52 along a circumferential direction of the support plate 52, and the clamping members 54 may be vertically disposed clamping plates, and a circular arc groove structure having an upward opening is disposed at a top of the clamping members 54, so as to be used as a clamping structure to realize clamping and limiting of the connecting assembly 13. In the present embodiment, the tool support 51 may further include a turntable position sensor 55 to detect the support plate 52 and obtain the position information of the currently required replacement vision mechanism 3 or the grinding machine 2 on the support plate 52; the turntable position sensor 55 is connected with a rotation controller 56, and is used for receiving the position information of the vision mechanism 3 or the grinding machine 2 which needs to be replaced currently and is detected by the turntable position sensor 55, determining whether the vision mechanism 3 or the grinding machine 2 which needs to be replaced currently is in a position to be replaced or not according to the position information of the vision mechanism 3 or the grinding machine 2 which needs to be replaced currently, and acquiring a replacement position result; when the replacement position result shows that the vision mechanism 3 or the grinding machine 2 which needs to be replaced currently is not located at the position to be replaced, the support plate 52 is controlled to rotate, so that the support plate 52 drives the vision mechanism 3 or the grinding machine 2 which needs to be replaced currently to rotate to the position to be replaced. Preferably, the rotation controller 56 is also used to rotate the vision mechanism 3 or the sander 2, which is currently required to be replaced, to the position to be replaced, according to the rotation direction and the rotation angle of the support plate 52. Further preferably, the rotation controller 56 is further connected to the rotating motor 53, and is configured to determine a rotation direction and a rotation number of the rotating motor 53 according to the rotation direction and the rotation angle of the supporting plate 52, determine a driving instruction according to the rotation direction and the rotation number of the rotating motor 53, and send the driving instruction to the rotating motor 53, so that the rotating motor 53 rotates according to the driving instruction, and drives the vision mechanism 3 or the sander 2, which needs to be replaced currently, to rotate to the position to be replaced. Further preferably, the rotation controller 56 is further configured to determine a rotation direction and a rotation number of the rotating motor 53 according to the rotation direction and the rotation angle of the support plate 52, and determine a driving command according to the rotation direction and the rotation number and send the driving command to the rotating motor 53, so that the rotating motor 53 rotates according to the driving command to drive the support plate 52 to rotate to the position to be replaced.

In summary, according to the tool replacing device for the polishing robot provided by this embodiment, at least two auxiliary connecting discs 12 are used to clamp the same or different types of polishing machines 2 or clamp other parts, such as the vision mechanism 3, which need to be replaced to the end of the manipulator of the polishing robot 4, and any one of the auxiliary connecting discs 12 is locked to the main connecting disc 11 arranged at the end of the manipulator of the polishing robot 4 through the locking assembly 14, that is, the same or different types of polishing machines 2 or other parts are replaced to the end of the manipulator, so as to realize position collection of the outer surface of the workpiece to be polished or polishing of the outer surface of the workpiece to be polished, and the replacing device is simple to replace and improves the construction efficiency; meanwhile, the main connecting disc 11 is arranged at the tail end of the manipulator, the position of the main connecting disc 11 can be adjusted through the posture change of the polishing robot 4, the main connecting disc 11 is further driven to move to the storage position of the polishing machine 2, the auxiliary connecting disc 12 is replaced, the replacement mode is further simplified, and the construction efficiency is further improved.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A tool exchange device for a grinding robot, comprising:

the at least two auxiliary connecting discs are used for clamping and fixing the grinding machine so as to grind a workpiece to be ground;

the main connecting disc is arranged at the tail end of a manipulator of the polishing robot;

and the locking assembly is arranged on the main connecting disc and used for locking the main connecting disc and the auxiliary connecting disc when any one of the auxiliary connecting discs is pressed against the connecting wall surface of the main connecting disc.

2. The tool exchange device for a grinding robot according to claim 1,

the axis position of main connection pad is protruding to be equipped with the erection column, the axis position of vice connection pad is concave to be equipped with and is used for inserting the mounting groove of establishing the erection column, so that the erection column is inserted and is established to in the mounting groove.

3. The tool exchange device for a grinding robot according to claim 2,

the mounting column is provided with a mounting hole along the radial direction, at least part of the locking assembly is located in the mounting hole, and the locking assembly is connected with the mounting column along the length direction of the mounting hole in an adjustable mode to partially protrude and arrange the mounting hole externally contact the inner side wall of the mounting groove and apply jacking force to the inner side wall of the mounting groove, so that the main connecting disc and the auxiliary connecting disc are locked.

4. The tool exchange device for a grinding robot according to claim 3,

the main connecting disc is provided with an air hole which is communicated with the mounting hole and is used for being connected with an air suction and blowing device so as to blow air into the mounting hole to enable the locking assembly to move towards the opening end of the mounting hole until top pressure is applied to the inner side wall of the mounting groove; or, the mounting hole is sucked so that the locking assembly moves away from the opening end of the mounting hole, a gap is reserved between the locking assembly and the inner side wall of the mounting hole, and unlocking between the main connecting disc and the auxiliary connecting disc is achieved.

5. The tool exchange device for an abrasive robot according to any one of claims 1 to 4, further comprising:

and the tool library is used for storing the auxiliary connecting disc so that the grinding robot can replace the auxiliary connecting disc according to the requirement.

6. The tool exchange device for an abrasive robot as claimed in claim 5, wherein said tool magazine comprises:

one end of the tool supporting frame is provided with an opening;

the backup pad sets up the inside of instrument support frame, and, be equipped with a plurality of card in the backup pad and establish the structure, be used for to pair connection pad carries out the card and firmly supports, in order to realize interim the depositing of polisher.

7. The tool exchange device for a grinding robot according to claim 6,

the supporting plate is rotatably arranged in the tool supporting frame so as to drive the vision mechanism or the grinding machine clamped and fixed on the supporting plate to rotate, so that the auxiliary connecting disc required to be replaced at present is rotated to a position to be replaced;

the supporting plate is connected with a rotating motor to drive the supporting plate to rotate.

8. The tool exchange device for a grinding robot according to claim 6,

the opening part is provided with a dustproof baffle for shielding sundries from entering the tool supporting frame.

9. The tool exchange device for an abrasive robot according to any one of claims 1 to 4,

and the auxiliary connecting disc is provided with a connecting assembly in an L-shaped structure and used for connecting the auxiliary connecting disc with the grinding machine.

10. The tool exchange device for an abrasive robot according to any one of claims 1 to 4,

and the auxiliary connecting disc is also provided with a clamping piece which is used for clamping and fixing the auxiliary connecting disc on the tool library so as to realize temporary storage of the auxiliary connecting disc.

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