TW201943493A - Grinding kit mounted on a robot arm including a body, an air motor, a bridge member, and a grinding tool - Google Patents

Abstract

A grinding kit mounted on a robot arm includes a body, an air motor, a bridge member, and a grinding tool. The body is formed of a first space, a second space, a communication hole connecting the first space and the second space, a connecting wall disposed in the first space, an intake passage, and an exhaust passage. The openings of the first space and the second space are respectively located on one of the parallel sides of the body, and the connecting wall is provided with a vent hole. The air motor includes a body disposed in the first space and a transmission shaft that connects the body and extends through the communication hole to be disposed in the second space. The bridge member is assembled with the body and the robot arm so that it encloses the first space. The grinding tool faces the second space and is mounted on the transmission shaft.

Description

Grinding kit mounted on the robot arm

The invention relates to an application component of a robot arm, in particular to a grinding kit assembled on the robot arm.

Today, grinding tools on robot arms are generally implemented using electric motors, such as those disclosed in JP2000-216124, JP2007-152502, JP2007-260850, JP2018-1328A, JP2012-121133, JP-A-5-16065, and CN 204195518U Few implementers are driven by air.

According to the patent, although the CN 206632836U patent case discloses that the robotic arm has a grinding machine implemented by an air motor, the patent merely loads the existing grinding machine sold by other manufacturers directly on the robotic arm. Although this allows the robotic arm to perform grinding operations, the structure on which the grinding tool is mounted on the robotic arm affects the work of the robotic arm, restricting the grinding operation of the robotic arm to part of its movements, and cannot be flexible. motion. In addition, due to the non-mechanical arm's native structure or application structure, there are still doubts as to whether the structure is stable even if other structures are used to aid installation.

The main purpose of the present invention is to solve the problem that the movement of a robot arm is restricted by a conventional structure.

To achieve the above object, the present invention provides a grinding kit assembled on a robot arm, which includes a body, an air motor, a bridge, and a grinding tool. The body is formed with a first space, a second space, a communication hole connecting the first space and the second space, and is provided in the first space and divides the first space into an air intake area and a work The connecting wall of the region, an intake channel communicating with the intake area, and an exhaust channel communicating with the working area, the openings of the first space and the second space are respectively located on one of the two parallel sides of the body. The connecting wall is provided with a vent hole that communicates the air inlet area and the working area. The air motor includes a motor body disposed in the working area, and a transmission shaft connected to the motor body and passing through the communication hole to extend in the second space. The bridge is assembled with the body and the robotic arm, and the bridge closes the first space, so that a working gas entering from the intake passage can only pass through the intake area and the working area through the exhaust passage. discharge. The grinding tool faces the second space and is assembled on the transmission shaft. The grinding tool is rotated when the motor body is pushed by the working gas to rotate the transmission shaft.

In one embodiment, the body includes a first component and a second component that can be selectively disassembled, and the first component is formed with the first space, the connecting wall, the intake passage and the exhaust passage. The second part is formed with the second space and the communication hole.

In one embodiment, the first component has at least one first screw hole, and the second component has a second screw hole that can face the first screw hole after the second component is assembled with the first component.

In one embodiment, the second component has an assembly protrusion assembled in the first space and having the communication hole.

In an embodiment, the body has a Palin mounting groove disposed in the second space and corresponding to the communication hole, and the grinding kit has a first Liner installed in the Palin mounting groove and providing the transmission shaft to pass therethrough Palin.

In one embodiment, the air motor has a cover plate, the cover plate has a plate body that can be restricted by the body and the bridge, and a through hole is provided on the plate body and the transmission shaft passes through it. And a first ring wall arranged on the plate body and taking the through hole as a circle center, the grinding kit has a second bearing which is arranged in the space surrounded by the first ring wall and is connected with the transmission shaft.

In one embodiment, the bridge has a second ring wall protruding in the direction of the first space and engaged with the first ring wall.

In one embodiment, the bridge has a ventilation hole provided in an area surrounded by the second annular wall.

In one embodiment, the air motor has an eccentric block assembled on the transmission shaft and located in the second space, the eccentric block is connected with the grinding tool and offsets the axis of the grinding tool from the transmission shaft.

In one embodiment, the body has at least a third screw hole, and the bridge member has a fourth screw hole that can face the third screw hole after the bridge member is connected to the body.

In one embodiment, the bridge member has a plurality of fifth screw holes respectively for connecting the robot arm.

Through the foregoing disclosure of the present invention, it has the following characteristics compared with conventional use: After the grinding kit of the present invention is directly assembled with the robot arm, it does not need to add other additional structural reinforcements to achieve better structural stability. On the other hand, the use of the grinding kit makes the movement of the robot arm no longer limited.

The detailed description and technical contents of the present invention are described below with reference to the drawings:

Please refer to FIG. 1 to FIG. 6. The present invention provides a grinding kit 200 assembled on a robot arm 100. The grinding kit 200 is an application kit of the robot arm 100. And is controlled by an electric control module (not shown in the figure) of the robot arm 100.

The grinding kit 200 includes a main body 20, an air motor 30, a bridge 40, and a grinding tool 50. Wherein, the body 20 is formed with a first space 21 and a second space 22, and the first space 21 and the second space 22 may be a slot-shaped structure, respectively, and the first space 21 and the second space 22 have openings. (211, 221) are respectively located on one of two parallel sides of the body 20 (shown as 201 and 202 in FIG. 3 and FIG. 4), that is, the openings of the first space 21 and the second space 22 ( 211, 221) are in opposite directions. The first space 21 and the second space 22 are located on the same axis. In addition, the body 20 is further formed with a communication hole 23 connecting the first space 21 and the second space 22, a connecting wall 24 provided in the first space 21, and a communication with the first space 21 And an exhaust passage 26 communicating with the second space 22. The diameter of the communication hole 23 is significantly smaller than the diameters of the openings 211 and 221 of the first space 21 and the second space 22. In addition, the connecting wall 24 and the body 20 are integrally formed, and the connecting wall 24 is horizontally disposed in the first space 21, so that the first space 21 is divided into an air inlet area 212 and a working area 213, and The intake passage 25 corresponds to the intake area 212, and the exhaust passage 26 corresponds to the working area 213. Further, the connecting wall 24 is not disposed at the center of the first space 21, so that the air intake area 212 is smaller than the working area 213, and the working area 213 is more circular. In addition, the height of the connecting wall 24 is not equal to the depth of the first space 21, that is, the top end of the connecting wall 24 is not flush with one side edge 201 of the body 20. In an embodiment, the connecting wall 24 may be a ring structure. A portion 241 of the connecting wall 24 is horizontally disposed in the first space 21, and the remaining portion 242 may be along an inner wall of the first space 21. 214 settings. In addition, the connecting wall 24 is further provided with a vent hole 243 that communicates the air intake region 212 with the working region 213. In one embodiment, the vent hole 243 may be an elongated hole. Please refer to FIGS. 3 to 6 again. The air motor 30 includes a motor body 31 disposed in the working area 213 and a transmission shaft 32 connected to the motor body 31. The motor body 31 is inserted through the opening 211 of the first space 21. The motor body 31 is located in the work area 213, and the transmission shaft 32 passes through the air motor 30 when the air motor 30 is installed in the work area 213. The communication hole 23 extends in the second space 22. Further, the air motor 30 has an eccentric block 33 assembled on the transmission shaft 32 and located in the second space 22. The eccentric block 33 is connected to the grinding tool 50 and makes an axis 92 of the grinding tool 50. Off-center of the transmission shaft 32. On the other hand, the bridge member 40 may be a plate-like structure. The bridge member 40 is assembled with the body 20 and the robot arm 100. The bridge member 40 is mounted on the body 20 provided with the opening 211 of the first space 21. On one side 201, the bridge member 40 closes the first space 21, so that a working gas 91 entering from the intake passage 25 can only pass from the exhaust passage 26 through the intake area 212 and the working area 213. Discharge, further, the bridge 40 is assembled with a set of sockets 101 of the robot arm 100. Furthermore, the grinding tool 50 may be a grinding disc or other elements capable of being ground. The grinding tool 50 faces the second space 22 and is assembled on the transmission shaft 32. The grinding tool 50 is rotated by the motor The main body 31 is pushed by the working gas 91 to rotate the transmission shaft 32.

Please refer to FIG. 5 again to further explain the implementation process of the present invention. After the grinding kit 200 is assembled with the robot arm 100, an object (not shown in the figure) is polished according to the movement of the robot arm 100. Before the grinding, the exhaust channel 26 is connected to an exhaust module (not shown in the figure). When the grinding operation is performed, the air extraction module is activated and the gas in the first space 21 is extracted through the exhaust passage 26, so that the first space 21 is formed into a negative pressure. Thereafter, the working gas 91 originally located outside the main body 20 is attracted, and sequentially enters the air intake area 212 and the working area 213 from the air intake passage 25, and when the working gas 91 enters the working area 213 The working gas 91 will drive the motor body 31 to rotate and drive the transmission shaft 32 to rotate. In addition, when the transmission shaft 32 rotates, the grinding tool 50 is driven to rotate, so that the grinding operation can be performed. As a result, after the motor body 31 is pushed by the working gas 91, it will leave the first space 21 from the exhaust passage 26 and proceed toward the suction module.

Referring to FIG. 7 to FIG. 9, the main body 20 of the present invention may be integrally formed or composed of multiple parts according to implementation requirements. In one embodiment, the body 20 includes a first member 27 and a second member 28 that can be selectively disassembled. The first member 27 is formed with the first space 21, the connecting wall 24, and the air inlet channel 25. With the exhaust passage 26, the second member 28 is formed with the second space 22 and the communication hole 23. Further, the first member 27 has at least one first screw hole 271, and the second member 28 has a first screw hole 271 that can face the first screw hole 271 after the second member 28 is assembled with the first member 27. Two screw holes 281. The first screw hole 271 and the second screw hole 281 provide a screw connection element 80 to fix the first member 27 and the second member 28. In addition, in an embodiment, the second component 28 has an assembly protrusion 282 assembled in the first space 21 and having the communication hole 23. The assembling protrusion 282 is formed on a side of the second component 28 where the opening 221 of the second space 22 is not provided. The bulging degree of the assembling protrusion 282 depends on the depth of the second space 22. The shape of the assembling protrusion 282 corresponds to the first space 21.

Please refer to FIG. 4, FIG. 6 and FIG. 8 again. The main body 20 has a Palin mounting groove 222 disposed in the second space 22 and corresponding to the communication hole 23. The grinding kit 200 has a Palin installation The slot 222 also provides a first bearing 60 through which the transmission shaft 32 passes. The first bearing 60 is used to assist the rotation of the transmission shaft 32 and to help fix the air motor 30. More specifically, in order to avoid excessive friction between the transmission shaft 32 and the communication hole 23 to affect work, the diameter of the communication hole 23 needs to be larger than the diameter of the transmission shaft 32. In this way, the first A Palin 60 supports the air motor 30 so that the bottom edge of the motor body 31 does not contact the bottom of the first space 21. On the other hand, the air motor 30 has a cover plate 34, which is disposed on the motor body 31 side facing the bridge member 40. The cover plate 34 has a cover which can be restricted by the body 20 and the bridge member 40. A plate body 341, a through hole 342 provided on the plate body 341 and providing the transmission shaft 32 therethrough, and a first ring wall 343 provided on the plate body 341 and centered on the through hole 342, The first ring wall 343 is not tightly adhered to the through hole 342, but is disposed around the through hole 342 at a distance. In addition, the grinding kit 200 has a second Palin 61 disposed in the space surrounded by the first annular wall 343 and connected to the transmission shaft 32. The second Palin 61 and the first Palin 60 are supported together. The air motor 30 enables the air motor 30 to rotate stably. In one embodiment, the bridge member 40 has a second ring wall 401 protruding toward the first space 21 and engaged with the first ring wall 343. Further, the inner diameter of the second annular wall 401 is equal to the outer diameter of the first annular wall 343, and the height 402 of the second annular wall 401 is greater than the height 344 of the first annular wall 343. In addition, please refer to FIG. 9. In one embodiment, the bridge member 40 has a ventilation hole 403 provided in an area surrounded by the second annular wall 401. With the arrangement of the vent hole 403, the second Palin 61 located in the area surrounded by the second annular wall 401 can perform thermal convection with the outside air, so as to avoid excessive heat accumulation on the second Palin 61.

Please refer to FIG. 3, FIG. 4 and FIG. 7 again. The body 20 has at least a third screw hole 203, and the bridge member 40 has a third screw hole that can face the third screw hole after the bridge member 40 is connected to the body 20 A fourth screw hole 404 of 203 is provided. The third screw hole 203 and the fourth screw hole 404 provide another screw connection element 81 to fix the bridge member 40 and the body 20. On the other hand, the bridge member 40 has a plurality of fifth screw holes 405 for connecting the robot arm 100 respectively. The fifth screw hole 405 can also provide a screw connection element (not shown in the figure) for assembly.

The present invention has been described in detail above, but the above is only a preferred embodiment of the present invention. When the scope of implementation of the present invention cannot be limited by this, that is, all equality made according to the scope of patent application Changes and modifications should still be covered by the patent of the present invention.

100‧‧‧ robotic arm

101‧‧‧group adapter

200‧‧‧ Grinding Kit

20‧‧‧ Ontology

201, 202‧‧‧ Side

203‧‧‧Third screw hole

21‧‧‧First Space

211‧‧‧ opening

212‧‧‧Air intake area

213‧‧‧Working area

214‧‧‧Inner wall

22‧‧‧Second Space

221‧‧‧ opening

222‧‧‧Pei Lin installation trough

23‧‧‧Connecting hole

24‧‧‧ connecting wall

241, 242‧‧‧ Connecting wall

243‧‧‧Vent

25‧‧‧Air inlet channel

26‧‧‧Exhaust passage

27‧‧‧ the first part

271‧‧‧The first screw hole

28‧‧‧ The second part

281‧‧‧Second tap hole

282‧‧‧Assembly bump

30‧‧‧Air motor

31‧‧‧Motor body

32‧‧‧Drive shaft

33‧‧‧eccentric block

34‧‧‧ Cover

341‧‧‧board

342‧‧‧through hole

343‧‧‧The first ring wall

344‧‧‧ height

40‧‧‧bridge

401‧‧‧Second Ring Wall

402‧‧‧height

403‧‧‧Ventilation hole

404‧‧‧Fourth screw hole

405‧‧‧The fifth screw hole

50‧‧‧ Abrasive Tools

60‧‧‧First Palin

61‧‧‧Second Palin

80, 81‧‧‧ Screw-on components

91‧‧‧working gas

92‧‧‧Axis

FIG. 1 is a schematic diagram of a first embodiment of the present invention assembled on a robot arm. FIG. 2 is a schematic structural diagram of a first embodiment of the present invention. FIG. 3 is a structural exploded view of the first embodiment of the present invention. FIG. 4 is a schematic exploded view of the structure in another direction according to the first embodiment of the present invention. FIG. 5 is a schematic structural sectional view (a) of the first embodiment of the present invention. FIG. 6 is a schematic structural cross-sectional view of the first embodiment of the present invention (2). FIG. 7 is a structural exploded view of a second embodiment of the present invention. FIG. 8 is a schematic exploded view of the structure in another direction according to the second embodiment of the present invention. FIG. 9 is a schematic structural diagram of a third embodiment of the present invention.

Claims (11)

A grinding kit assembled on a robot arm, comprising: a body, forming a first space, a second space, a communication hole connecting the first space and the second space, and one provided in the first space And dividing the first space into a connecting wall between an air intake area and a working area, an air inlet passage communicating with the air inlet area, and an exhaust passage communicating with the working area, the first space and the second space The openings are respectively located on one of the two parallel sides of the body, and the connecting wall is provided with a vent hole connecting the air intake area and the working area; an air motor including a motor body provided in the working area, and a A transmission shaft connected to the motor body and passing through the communication hole to extend in the second space; a bridge member assembled with the body and the robot arm, the bridge member closing the first space to allow the air passage from An incoming working gas can only be discharged from the exhaust passage through the intake area and the working area; and a grinding tool facing the second space and assembled on the transmission shaft, the grinding tool turns When the motor body is pushed by the working gas, the transmission shaft is rotated. The grinding kit assembled on the robot arm according to claim 1, wherein the body includes a first part and a second part that can be selectively disassembled, and the first part is formed with the first space and the connecting wall. The air intake passage and the exhaust passage, and the second part is formed with the second space and the communication hole. The grinding kit assembled on a robot arm according to claim 2, wherein the first component has at least one first screw hole, and the second component has a surface that can be faced after the second component is assembled with the first component. A second screw hole to the first screw hole. The polishing kit assembled on the robot arm according to claim 2 or 3, wherein the second component has an assembly protrusion assembled in the first space and having the communication hole. The grinding kit assembled on the robot arm according to claim 1 or 2, wherein the body has a Perrin mounting groove provided in the second space and corresponding to the communication hole, and the grinding kit has a Perrin Lin installs the trough and provides the first bearing in which the drive shaft passes. The grinding kit assembled on a robot arm according to claim 5, wherein the air motor has a cover plate, the cover plate has a plate body which can be restricted by the body and the bridge member, and is provided on the plate body A through hole through which the transmission shaft passes is provided, and a first ring wall provided on the plate body with the through hole as a circle center is provided. The grinding kit has a space provided in the space surrounded by the first ring wall and The drive shaft is connected to a second Palin. The polishing kit assembled on the robot arm according to claim 6, wherein the bridge member has a second ring wall protruding toward the first space and engaged with the first ring wall. The grinding kit assembled on the robot arm according to claim 7, wherein the bridge member has a ventilation hole provided in an area surrounded by the second ring wall. The grinding kit assembled on the robot arm according to claim 1 or 2, wherein the air motor has an eccentric block assembled on the transmission shaft and located in the second space, and the eccentric block is connected with the grinding tool and The axis of the grinding tool is offset from the transmission shaft. The grinding kit assembled on a robot arm according to claim 1 or 2, wherein the body has at least a third screw hole, and the bridge member has a third member that can face the third after the bridge member is connected to the body. The fourth screw hole of the screw hole. The polishing kit assembled on the robot arm according to claim 10, wherein the bridge member has a plurality of fifth screw holes for connecting the robot arm, respectively.