CN217728275U - Rotatable robot polishing end effector - Google Patents
Rotatable robot polishing end effector Download PDFInfo
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- CN217728275U CN217728275U CN202221792193.5U CN202221792193U CN217728275U CN 217728275 U CN217728275 U CN 217728275U CN 202221792193 U CN202221792193 U CN 202221792193U CN 217728275 U CN217728275 U CN 217728275U
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- end effector
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- robot
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- 238000005498 polishing Methods 0.000 title claims abstract description 55
- 239000012636 effector Substances 0.000 title claims abstract description 27
- 239000000428 dust Substances 0.000 claims abstract description 39
- 238000007664 blowing Methods 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000005611 electricity Effects 0.000 abstract 2
- 238000010521 absorption reaction Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003754 machining Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Abstract
The utility model discloses a rotatable robot polishing end effector, which comprises an L-shaped supporting frame, an electric rotating platform and a polishing head driven by an electric main shaft, wherein the L-shaped supporting frame is connected with a robot through a robot connecting flange, a six-dimensional force and torque sensor and an end effector connecting flange, and the electric rotating platform is fixed on the left side of the L-shaped supporting frame; the electric spindle fixing seat is fixed on the electric rotating table, and the laser ranging sensor is also fixed on one side of the electric spindle fixing seat; the dust hood is installed in the one end of connecting sleeve, and connecting sleeve's the other end links to each other with the electricity main shaft, and connecting sleeve can prevent to polish the dust that produces and get into the electricity main shaft, forms airtight cavity between dust hood and the head of polishing. The actuator is used for the polishing robot, is simple in structure, easy to control and high in universality, and achieves the purposes of improving the labor production efficiency and effectively reducing the production cost.
Description
Technical Field
The utility model relates to an intelligence processing field is exactly a rotatable robot end effector of polishing.
Background
China is a large country in manufacturing industry, and industrial output value is the first in the world. In China, polishing is widely applied to various fields of manufacturing industry. However, most of domestic factories still adopt manual or hand-held pneumatics, and electric tools are used for polishing, deburring and other work, so that the production efficiency is low due to manual polishing, the product quality cannot be guaranteed, dust and noise generated by polishing seriously affect the physical and mental health of people, and the workers cannot continuously concentrate their energy due to long-time tension and repeated labor, and are prone to accidents.
The robot has the advantages of high polishing automation degree, strong controllability, easy expansion, strong universality and relatively low price. At present, polishing actuators aiming at deep-hole workpieces on the market are very few, and a very few robots which can be used for polishing the deep-hole workpieces also need to continuously replace end actuators according to working conditions in the polishing process, so that the production efficiency is reduced to a certain extent, and the cost is increased.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a rotatable robot polishing end effector, this executor sets up on polishing robot, executor itself can be in vertical direction through rotation regulation work gesture, the joint with the help of the robot, can multidimension degree adjust, satisfy the needs of different processing, and in the course of the work, measure data such as working force and distance through the sensor, be convenient for utilize above-mentioned data further regulation and control, satisfy the control needs of processing, a structure is simple, easy control, the commonality is strong, in order to reach improvement work production efficiency, effective reduction in production cost's purpose.
In order to solve the technical problem, the utility model adopts the following technical means:
a rotatable robot polishing end effector comprises a robot connecting flange, an end effector connecting flange, an L-shaped supporting frame, a polishing head, an electric main shaft and an electric rotating table, wherein the upper end of the robot connecting flange is connected with a robot, the lower end of the robot connecting flange is connected with the upper end of a six-dimensional force and torque sensor, and the upper end of the end effector connecting flange is connected with the lower end of the six-dimensional force and torque sensor; the lower end of the end effector connecting flange is connected with a top plate of the inverted L-shaped support frame, and the electric rotating table is fixed on a vertical plate of the L-shaped support frame; the electric spindle is fixed on the electric rotating table through an electric spindle fixing seat, a polishing head is arranged at the bottom end of the electric spindle, the polishing head is driven by the electric spindle, a laser ranging sensor is fixed on one side of the electric spindle fixing seat, the laser ranging sensor is fixed at the left end of the electric spindle fixing seat through a bolt, a laser emitting element of the laser ranging sensor faces the polishing head and is fixed at the left end of the electric spindle fixing seat through a bolt, and the laser emitting element of the laser ranging sensor faces the polishing head; the grinding head is provided with a dust hood, the dust hood is installed at the bottom end of a connecting sleeve, the connecting sleeve is sleeved on the electric main shaft, and the dust hood covers the grinding head to prevent grinding dust from flying.
The utility model discloses a set up six-dimensional power and torque sensor, laser rangefinder sensor, be convenient for utilize the atress information of above-mentioned sensor measurement during operation, and by the distance information between the processing workpiece surface, control system is given to above-mentioned information, and control system further adjusts the work of polishing head according to above-mentioned information to realize the constant force and polish.
The further preferred technical scheme is as follows:
and a ribbed plate is arranged between the top plate and the vertical plate of the L-shaped support frame to increase the rigidity of the support frame. Through setting up the floor, effectively increased the part bearing capacity.
The laser ranging sensor is fixed on the electric spindle fixing seat through a bolt. The bolt is fixed, the fixation is simple and reliable, and the disassembly, the assembly and the maintenance are convenient.
The electric rotating platform consists of a motor with a coder, a worm gear structure, an electric rotating platform base and an electric rotating platform upper cover, wherein the worm gear structure is positioned in a space formed by the electric rotating platform base and the electric rotating platform upper cover, and the motor with the coder is connected with the worm gear structure through a coupler. Through setting up electric turntable base, electric turntable upper cover, be convenient for utilize its inside space to connect and set up relevant part.
The dust collection cover is provided with two connecting ports, one is a blowing port, and the other is a dust collection port. When the dust collector works, the air pressure of the air blowing port is smaller than that of the dust collection port so as to ensure enough suction. The air blowing port can raise dust and the dust suction port to form a closed cavity with vortex so as to better remove dust generated by polishing, and meanwhile, the air blowing port can cool the polishing head running at high speed.
The shaft of the electric spindle is connected with the upper end of the chuck, and the lower end of the chuck is connected with the polishing head. The arrangement of the chuck facilitates the quick installation of the polishing head by using the chuck.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the utility model when rotating 90 degrees.
Fig. 3 is a perspective view of the support frame of the present invention.
Fig. 4 is a perspective view of a six-dimensional force and torque sensor of the present invention.
Fig. 5 is a perspective view of the laser ranging sensor of the present invention.
Fig. 6 is a perspective view of the electric rotary table of the present invention.
Fig. 7 is a perspective view of the electric spindle fixing base of the present invention.
Fig. 8 is a perspective view of the suction hood of the present invention.
Fig. 9 is a perspective view of the electric spindle of the present invention.
Description of the reference numerals: 1-robot connecting flange; 2-six-dimensional force and moment sensors; 3-connecting the end effector with a flange; 4-electric spindle fixing seat; 5-connecting the sleeve; 6-dust hood; 7-polishing head; 8-laser ranging sensor; 9-electric spindle; 10-electric rotating table; 11-L-shaped support frame.
Detailed Description
The following describes the present invention with reference to the following examples.
As shown in fig. 1, the utility model discloses a rotatable robot end effector of polishing comprises robot flange 1, six-dimensional power and torque sensor 2, end effector flange 3, L type support frame 11, electronic revolving stage 10, electric main shaft fixing base 4, electric main shaft 9, laser ranging sensor 8, the head of polishing 7, connecting sleeve 5, suction hood 6.
The L-shaped support frame 11 is in an inverted L shape, and rib plates are arranged between a top plate and vertical plates of the L-shaped support frame 11 to increase the rigidity of the L-shaped support frame.
The upper end of the robot connecting flange 1 is connected with a robot, the lower end of the robot connecting flange 1 is connected with the upper end of the six-dimensional force and torque sensor 2, the upper end of the end effector connecting flange 3 is connected with the lower end of the six-dimensional force and torque sensor 2, and the lower end of the end effector connecting flange 3 is installed on a top plate of the L-shaped support frame 11, so that the six-dimensional force and torque sensor 2 is protected, and the connection stability is enhanced.
The laser distance measuring sensor 8 is fixed on the electric spindle fixing seat 4 through a bolt. The shaft 901 of the electric spindle 9 is connected with the upper end of the clamping head 902, and the lower end of the clamping head 902 is connected with the polishing head 7.
The dust hood 6 is arranged at one end of the connecting sleeve 5, and the other end of the connecting sleeve 5 is sleeved on the electric spindle 9; the dust hood 6 and the polishing head 7 form a small-range protective space which can be formed by airflow flow, so that dust generated by processing is prevented from flying, and meanwhile, the connecting sleeve 5 can prevent dust generated by polishing from entering the electric spindle 9; the dust hood 6 has two connectors, one is the mouth of blowing 601, and one is the dust absorption mouth 602, and the mouth of blowing 601 both can be raised the dust and form the protection space that has the vortex with dust absorption mouth 602 together so that the better dust of getting rid of the production of polishing, can give the high-speed operation again simultaneously and polish head 7 cooling.
Electric rotary table 10 is by the motor of taking the encoder, the worm gear structure, the electric rotary table base, the electric rotary table upper cover is constituteed, the worm gear structure is located among electric rotary table base and the electric rotary table upper cover component space, the motor of taking the encoder passes through the shaft coupling and links to each other with the worm gear structure, the during operation can be assigned the instruction to the motor by the controller according to the operating mode, the motor drives fixes the rotatory operation of polishing to suitable position of electric main shaft 9 on the revolving stage.
The dust hood 6 is provided with two connecting ports, one is a blowing port, the other is a dust absorption port, the blowing port is connected with a blower, the dust absorption port is connected with vacuum dust absorption equipment, and a small-range closed space is formed between the dust hood 6 and the polishing device; during polishing, the dust generated by polishing is raised by the airflow blown out from the air blowing port and forms a closed cavity with vortex together with the dust suction port, so that the dust generated by polishing can be better discharged, and meanwhile, the airflow blown out from the air blowing port can also cool the polishing head 7 running at high speed.
In practical application, the robot grinding end effector is arranged on an end arm of an industrial robot and used for machining simple or complex surfaces, including grinding, polishing and the like, and automatic machining is realized through cooperation with the industrial robot.
The working principle of the utility model is as follows:
the axial directions of the electric spindle 9, the polishing head 7 and the laser ranging sensor 8 are all vertical, during work, the laser ranging sensor 8 is opened, the robot controls the end effector to move to approach a workpiece, and when the robot moves to a position 1-5mm above the workpiece to be processed at the lower side of the polishing head 7, the robot controls the end effector to move and decelerate until the polishing head 7 is pressed on the surface of the workpiece to be processed with required pressure; the robot controls the polishing head 7 to polish the workpiece to be processed along the planned track, and severe collision between the polishing head 7 and the workpiece is avoided in the process; in the working process, the six-dimensional force and torque sensor 2 feeds back grinding force, force information received by the grinding head 7 can be monitored in real time in the robot grinding process, the force information is transmitted to the control system, and the control system automatically adjusts the interval between the grinding head 7 and a workpiece, so that constant-force grinding is realized.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present invention in the specification and the drawings are included in the scope of the present invention. The above description is only a preferred and practical embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the specification and the drawings of the present invention are included in the scope of the present invention.
Claims (6)
1. The utility model provides a rotatable robot polishing end effector, includes robot flange (1), end effector flange (3), L type support frame (11), polishes head (7), electric main shaft (9) and electric rotary table (10), its characterized in that: the upper end of the robot connecting flange (1) is connected with a robot, the lower end of the robot connecting flange (1) is connected with the upper end of the six-dimensional force and torque sensor (2), and the upper end of the end effector connecting flange (3) is connected with the lower end of the six-dimensional force and torque sensor (2); the lower end of the end effector connecting flange (3) is connected with the top plate of the inverted L-shaped support frame (11), and the electric rotating table (10) is fixed on the vertical plate of the L-shaped support frame (11); an electric spindle (9) is fixed on an electric rotating table (10) through an electric spindle fixing seat (4), a polishing head (7) is arranged at the bottom end of the electric spindle (9), the polishing head (7) driven by the electric spindle (9), a laser ranging sensor (8) is fixed on one side of the electric spindle fixing seat (4), the laser ranging sensor (8) is fixed at the left end of the electric spindle fixing seat (4) through a bolt, a laser emitting element of the laser ranging sensor (8) faces the polishing head (7) and is fixed at the left end of the electric spindle fixing seat (4) through a bolt, and the laser emitting element of the laser ranging sensor (8) faces the polishing head (7); the polishing head (7) is provided with a dust hood (6), the dust hood (6) is installed at the bottom end of the connecting sleeve (5), the connecting sleeve (5) is sleeved on the electric main shaft (9), and the dust hood (6) covers the polishing head (7) to prevent polishing dust from flying.
2. The rotatable robotic sanding end effector of claim 1, wherein: and a ribbed plate is arranged between the top plate and the vertical plate of the L-shaped support frame (11) to increase the rigidity of the support frame.
3. The rotatable robotic sanding end effector of claim 1, wherein: the laser ranging sensor (8) is fixed on the electric spindle fixing seat (4) through a bolt.
4. The rotatable robotic sanding end effector of claim 1, wherein: the electric rotating platform (10) is composed of a motor with a coder, a worm gear structure, an electric rotating platform base and an electric rotating platform upper cover, wherein the worm gear structure is positioned in a space formed by the electric rotating platform base and the electric rotating platform upper cover, and the motor with the coder is connected with the worm gear structure through a coupler.
5. The rotatable robotic sanding end effector of claim 1, wherein: the dust hood (6) is provided with two connecting ports, one is an air blowing port (601) and the other is a dust collection port (602).
6. The rotatable robotic sanding end effector of claim 1, wherein: the shaft (901) of the electric spindle (9) is connected with the upper end of the chuck (902), and the lower end of the chuck (902) is connected with the polishing head (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221792193.5U CN217728275U (en) | 2022-07-13 | 2022-07-13 | Rotatable robot polishing end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221792193.5U CN217728275U (en) | 2022-07-13 | 2022-07-13 | Rotatable robot polishing end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217728275U true CN217728275U (en) | 2022-11-04 |
Family
ID=83844352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221792193.5U Active CN217728275U (en) | 2022-07-13 | 2022-07-13 | Rotatable robot polishing end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217728275U (en) |
-
2022
- 2022-07-13 CN CN202221792193.5U patent/CN217728275U/en active Active
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Effective date of registration: 20240108 Address after: 461500 East Road, 100 meters south of the intersection of Jiefang Road and Airport Road in Changge City, Xuchang City, Henan Province Patentee after: CHANGGE KAILIDA DIAMOND TOOL Co.,Ltd. Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Effective date of registration: 20240108 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 252000 No. 1, Hunan Road, Shandong, Liaocheng Patentee before: LIAOCHENG University |