CN119927744A - A grinding robot for grinding non-continuous welding points - Google Patents
A grinding robot for grinding non-continuous welding points Download PDFInfo
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- CN119927744A CN119927744A CN202510429116.5A CN202510429116A CN119927744A CN 119927744 A CN119927744 A CN 119927744A CN 202510429116 A CN202510429116 A CN 202510429116A CN 119927744 A CN119927744 A CN 119927744A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The application relates to a polishing robot for polishing discontinuous welding spots, and belongs to the technical field of grinding and polishing equipment. The polishing device comprises a mechanical arm, wherein the operation tail end of the mechanical arm is detachably connected with a front end part, and the front end part comprises a polishing assembly and a linear module. The sliding part of the linear module is arranged in a vertical sliding way, the sliding part is connected with the polishing assembly, and the linear module is detachably connected with the operation tail end of the mechanical arm through the connecting seat. The polishing assembly comprises a driving part, the driving part is arranged in parallel with the linear module, the output end of the driving part is arranged vertically downwards and detachably connected with a grinding head, and the driving part drives the grinding head to rotate. According to the application, the mechanical arm drives the polishing assembly to automatically polish the discontinuous welding spots of the workpiece, so that the labor intensity of operators is effectively reduced, the operators are prevented from sucking dust, the occupational health risk is reduced, the consistency of polishing quality is ensured, and the qualification rate is improved.
Description
Technical Field
The application belongs to the technical field of grinding and polishing equipment, and particularly relates to a grinding manipulator for grinding discontinuous welding spots.
Background
Welding is an indispensable connection technology in modern manufacturing industry and is widely applied to the fields of aerospace, rail transit, engineering machinery and the like. In the welding process, the metal materials are fused and combined through local heating or pressurizing to form a permanent connection structure. However, due to factors such as welding process parameters, material characteristics, operating environment and the like, irregular bulge defects such as splashing, flash, undercut and the like often exist on the surface of the welding seam. For discontinuous welds (e.g., intermittent welds, spot welds, etc.), the weld bead exhibits a discrete distribution characteristic, further increasing the complexity of the surface treatment.
In order to ensure the structural strength, fatigue life and appearance quality of the welded parts, post-welding surface treatment becomes a key process. The polishing process removes welding slag, burrs and surplus height in a mechanical cutting mode, so that the stress concentration coefficient can be effectively reduced, the adhesive force of the anti-corrosion coating can be improved, and the assembly dimensional accuracy requirement can be met. According to statistics, in the field of heavy tooling preparation, the post-welding polishing procedure accounts for 15% -20% of the whole manufacturing period, and the efficiency and quality of the post-welding polishing procedure directly influence the product delivery period and the production cost.
Currently, polishing operations of discontinuous welding spots still highly depend on manual operation, and operators use handheld devices such as angle grinders, grinding machines and the like to polish the welding spots point by point.
The polishing time of the single product is as long as 0.5-4 hours, the operator needs to frequently adjust the tool angle, the average time is 5-7 times per minute, and the effective cutting time is less than 40%. The vibration acceleration of the hand-held grinding machine can reach 15-20m/s2, the vibration syndrome (HAVS) of the arm is easy to cause in long-term operation, and the incidence rate of musculoskeletal diseases is increased by 32% due to the unnatural postures such as bending down, lifting the arm and the like. The concentration of metal dust generated in the polishing process can reach 10-50mg/m < 3 >, wherein the respiratory dust with the particle size of less than 5 mu m accounts for more than 60%, and long-term exposure can induce pneumoconiosis and heavy metal poisoning. The fluctuation of manual operation force causes obvious difference of surface removal rate, and the repair rate is up to 15% -25%.
Disclosure of Invention
The application aims to solve the technical problems that: the application provides the polishing robot arm for polishing the discontinuous welding spots, which drives the polishing assembly to automatically polish the discontinuous welding spots of the workpiece through the mechanical arm, thereby effectively reducing the labor intensity of operators, avoiding the operators from sucking dust, reducing the risk of occupational health, ensuring the consistency of polishing operation quality and improving the qualification rate.
The application solves the problems existing in the prior art by adopting the technical scheme that:
The polishing robot for polishing the discontinuous welding spots comprises a mechanical arm, wherein the operation tail end of the mechanical arm is detachably connected with a front end part, and the front end part comprises a polishing assembly and a linear module.
The sliding part of the linear module is arranged in a vertical sliding way, the sliding part is connected with the polishing assembly, and the linear module is detachably connected with the operation tail end of the mechanical arm through the connecting seat.
The polishing assembly comprises a driving part, the driving part is arranged in parallel with the linear module, the output end of the driving part is arranged vertically downwards and detachably connected with a grinding head, and the driving part drives the grinding head to rotate.
Preferably, the output end of the driving part is provided with a connecting block, and the connecting block is detachably connected with the grinding head.
Preferably, 2 to 3 groups of grinding head replacement units are arranged on the outer side of the circumference of the driving part, and each grinding head replacement unit comprises a switching rod, a transmission part, a servo motor and a connection driving assembly.
The connecting drive assembly is fixedly connected with the outer wall of the drive part, the servo motor is fixedly connected with the connecting drive assembly, and the servo motor drives the switching rod to move in an arc curve through the transmission part.
When the switching rod moves to the bottom dead center, the switching rod is positioned under the connecting block, and the switching rod is spliced with the connecting block. When the switching rod moves to the upper dead point, the switching rod is positioned at the side of the driving part.
The bottom of the transfer rod is detachably connected with the grinding head.
Preferably, the bottom surface of the connecting block is concavely provided with a slot, and the slot is in a shape of a Chinese character 'yi'.
The adapter rod comprises a rotating shaft, wherein a straight-shaped inserting part is arranged at the upper end of the rotating shaft and is connected with the slot in a matched mode, a mounting part is arranged at the lower end of the rotating shaft, and the mounting part is connected with the grinding head.
The rotating shaft is sleeved with a rotating sleeve, and is connected with the transmission part through the rotating sleeve.
Preferably, the transmission part comprises two connecting plates and a transmission device which are arranged at intervals, the rotating shafts at the two radial ends of the rotating sleeve penetrate through the through holes at the end parts of the connecting plates, the tail end of the rotating shaft at one end of the rotating sleeve is fixed with a first conical gear, and the end, far away from the rotating sleeve, of the connecting plate is fixed with a gear.
The connecting driving assembly comprises a vertical plate, a rack is convexly arranged on the vertical plate, and the rack is meshed with the gear.
The output end of the servo motor is connected with a screw rod which is vertically arranged, the screw rod is connected with a nut sleeve in a threaded manner, rotating shafts at two radial ends of the nut sleeve penetrate through a through hole in the center of the gear, and a third bevel gear is fixed at the tail end of the rotating shaft at one end of the nut sleeve.
The transmission device is used for connecting the first bevel gear with the third bevel gear in a transmission way.
Preferably, the transmission device comprises a rotating rod and second bevel gears fixed at two ends of the rotating rod, the rotating rod is rotationally connected with the connecting plate, and the two second bevel gears are respectively meshed with the first bevel gear and the third bevel gear.
Preferably, the vertical plate is provided with a chute, a slide block is fixed outside the nut sleeve, and the slide block is arranged inside the chute in a sliding way.
Preferably, the drive below be connected with connecting block positioner, connecting block positioner includes controller and two screens ware of relative arrangement, two screens ware symmetry set up in the connecting block both sides.
The controller controls the two clamping devices to move relatively or reversely, after the two clamping devices move relatively, the connecting block is clamped, and after the two clamping devices move reversely, the clamping of the connecting block is released.
Preferably, the outside of the circumference of the connecting block is convexly provided with at least two convex blocks, wherein one end of the clamping device, which faces the connecting block, is provided with an L-shaped plate which is vertically arranged, and the L-shaped plate is clamped with the convex blocks.
Preferably, the controller adopts an electric telescopic rod.
Compared with the prior art, the application has the beneficial effects that:
(1) The mechanical arm drives the polishing assembly to polish the discontinuous welding spots on the workpiece, and manual operation is not needed. The labor intensity is reduced, fatigue is not generated, long-time operation can be continued, the consistency of polishing effect is ensured, and the yield is improved.
(2) During the polishing process, operators do not need to monitor or operate in an operation area, so that the operators cannot inhale dust generated by polishing, and the incidence rate of occupational diseases is reduced.
(3) The grinding head replacement unit can automatically replace the grinding head, so that the grinding operation of multiple working procedures on the same station of the welding spot is realized, and the operation efficiency is improved.
Drawings
The application will be further described with reference to the drawings and examples.
FIG. 1 is a schematic view of a polishing robot for polishing discontinuous welding spots according to the present application,
FIG. 2 is a view showing a structure of a front end portion of a polishing robot for polishing a discontinuous welding spot according to the present application,
Figure 3 is a left side view of figure 2,
Figure 4 is a front view of figure 3,
Figure 5 is a first block diagram of a grinding assembly in the front end of a grinding robot for grinding discrete weld points in accordance with the present application,
FIG. 6 is a second construction view of a grinding assembly in the front end of a grinding robot for grinding discrete spot welds in accordance with the present application,
Figure 7 is a block diagram of the polishing assembly of the present application after the transfer rod is connected to the drive section,
Figure 8 is a cross-sectional view of the center of the connection block of figure 7,
Figure 9 is a view showing a construction of the grinding assembly of the present application after the transfer rod is lifted in the grinding head changing unit,
Figure 10 is an exploded view of figure 9,
Figure 11 is a block diagram of the positioning device of the connection block in the grinding assembly of the present application,
Figure 12 is a cross-sectional view of figure 11,
Figure 13 is a block diagram of the block positioning device of the present application,
Fig. 14 is a construction diagram of a connection sleeve according to the present application.
In the figure, the mechanical arm, the 2-driving part, the 3-connecting block, the 301-slot, the 302-lug, the 4-connecting rod, the 401-rotating shaft, the 402-mounting part, the 403-inserting part, the 404-clamping ring, the 5-rotating sleeve, the 501-first conical gear, the 6-connecting plate, the 601-gear, the 7-transmission device, the 701-rotating rod, the 702-second conical gear, the 8-nut sleeve, the 801-third conical gear, the 802-sliding block, the 9-screw, the 10-servo motor, the 11-connecting driving assembly, the 1101-vertical plate, the 1102-rack, the 1103-sliding groove, the 12-grinding head, the 13-clamping device, the 1301-L-shaped plate, the 1302-polygonal sliding rod, the 1303-inclined surface part, the 14-spring, the 15-supporting rod, the 16-fixed ring, the 17-clamping block, the 1701-pulling rod, the 18-telescopic device, the 19-connecting sleeve, the 1901-connecting frame, the 1902-mounting plate, the 20-linear module and the 21-connecting seat are shown.
Detailed Description
A polishing robot for polishing discontinuous pads according to the present application will be described in further detail with reference to the accompanying drawings, but is not intended to limit the present application.
As shown in fig. 1, a polishing robot for polishing discontinuous welding spots comprises a mechanical arm 1, wherein the mechanical arm 1 is in the prior art, the operation tail end of the mechanical arm 1 is detachably connected with a front end part, and as shown in fig. 2 to 4, the front end part comprises a polishing assembly and a vertical linear module 20.
The sliding part of the linear module 20 is arranged in a vertical sliding way, the sliding part is connected with the polishing assembly, the linear module 20 adopts an electric linear module, and the linear module 20 is detachably connected with the operation tail end of the mechanical arm 1 through a connecting seat 21.
The polishing assembly comprises a driving part 2, the driving part 2 is arranged in parallel with the linear module 20, the output end of the driving part 2 is arranged vertically downwards and detachably connected with a grinding head 12, and the driving part 2 drives the grinding head 12 to rotate.
The driving part 2 adopts an electric sander body, a connecting sleeve 19 fixedly connected with the driving part 2 is sleeved outside the driving part 2, and as shown in fig. 14, a mounting plate 1902 is arranged at one end of the connecting sleeve 19 facing the linear module 20, and the mounting plate 1902 is detachably connected with the sliding part of the linear module 20 through bolts.
To improve the smoothness and the aesthetic appearance of the workpiece surface after the welding spot polishing, the grinding heads 12 of various specifications need to be replaced. In order to facilitate automatic replacement of the grinding head, a connecting block 3 is arranged at the output end of the driving part 2, and the connecting block 3 is detachably connected with the grinding head 12.
As shown in fig. 5 to 10, 2 to 3 groups of grinding head replacement units are arranged on the outer side of the circumference of the driving part 2, and each grinding head replacement unit comprises a switching rod 4, a transmission part, a servo motor 10 and a connecting driving assembly 11.
The outer wall of the connecting driving assembly 11 is fixedly connected with the outer wall of the driving part 2 through a connecting frame 1901 of a connecting sleeve 19, the servo motor 10 is fixedly connected with the connecting driving assembly 11, and the servo motor 10 drives the transfer rod 4 to move along an arc-shaped curve motion track through a transmission part.
When the switching rod 4 moves to the bottom dead center, the switching rod 4 is positioned under the connecting block 3, and the switching rod 4 is spliced with the connecting block 3. When the transfer rod 4 moves to the upper dead point, the transfer rod 4 is located at the side of the driving part 2. The bottom of the adapter rod 4 is detachably connected with the grinding head 12.
The bottom surface of connecting block 3 concave be equipped with slot 301, slot 301 be a style of calligraphy.
The adapter rod 4 comprises a rotating shaft 401, a linear inserting part 403 is arranged at the upper end of the rotating shaft 401, the inserting part 403 is connected with the slot 301 in a matched mode, a mounting part 402 is arranged at the lower end of the rotating shaft 401, the mounting part 402 is connected with the grinding head 12, and the structure of the mounting part 402 is identical with that of a grinding head mounting part of a grinding machine.
The rotating shaft 401 is sleeved with a rotating sleeve 5, the rotating sleeve 5 is connected with the transmission part, the rotating shaft 401 is sleeved with two clamping rings 404, and the two clamping rings 404 are respectively arranged on the upper side and the lower side of the rotating sleeve 5.
The connection mode of the adapter rod 4 and the connecting block 3 is that the inserting part 403 of the adapter rod 4 is inserted into the slot 301 from one side, so that the slot 301 is positioned in the opening of the circumferential surface of the connecting block 3 and is a V-shaped opening for facilitating the insertion, and meanwhile, the adapter rod 4 is always in a vertical state.
In order to realize that the rotating rod 4 is always in a vertical state in the moving process, in this embodiment, the transmission part includes two connecting plates 6 and a transmission device 7 which are arranged at intervals, the rotating shafts at two radial ends of the rotating sleeve 5 penetrate through the through holes at the end parts of the connecting plates 6, the tail end of the rotating shaft at one end of the rotating sleeve 5 is fixed with a first conical gear 501, and the end, away from the rotating sleeve 5, of the connecting plates 6 is fixed with a gear 601.
The connection driving assembly 11 comprises a vertical plate 1101, wherein a rack 1102 is convexly arranged on the vertical plate 1101, and the rack 1102 is in meshed connection with the gear 601.
The output end of the servo motor 10 is connected with a screw rod 9 which is vertically arranged, the screw rod 9 is in threaded connection with a nut sleeve 8, rotating shafts at two radial ends of the nut sleeve 8 penetrate through a through hole in the center of the gear 601, and a third bevel gear 801 is fixed at the tail end of the rotating shaft at one end of the nut sleeve 8.
In order to avoid the rotation of the nut sleeve 8, a sliding groove 1103 is provided on the vertical plate 1101, a sliding block 802 is fixed on the outside of the nut sleeve 8, and the sliding block 802 is slidably disposed inside the sliding groove 1103.
The transmission device 7 comprises a rotating rod 701 and second bevel gears 702 fixed at two ends of the rotating rod 701, the rotating rod 701 is rotatably connected with the connecting plate 6, and the two second bevel gears 702 are respectively meshed with the first bevel gear 501 and the third bevel gear 801. The first bevel gear 501 is in turn in driving connection with the third bevel gear 801 via the transmission 7.
Based on the above embodiment, the process of replacing the grinding head 12 is:
The servo motor 10 of the grinding head replacing unit is started to drive the screw rod 9 to rotate, the rotating screw rod 9 drives the nut sleeve 8 to move up and down, the nut sleeve 8 moves upwards to take out and detach the grinding head 12 connected with the transfer rod 4, and the nut sleeve 8 moves downwards to connect the grinding head 12 connected with the connecting block 3 connected with the transfer rod 4.
The nut sleeve 8 slides up and down to drive the gear 601 to slide along the rack 1102, and as the rack 1102 is fixed, the gear 601 rotates to drive the connecting plate 6 to rotate, and the rotation of the connecting plate 6 realizes the disassembly and assembly between the adapter rod 4 and the connecting block 3.
The third conical gear 801 on the nut sleeve 8 can only move up and down and cannot rotate, and the connecting plate 6 rotates to drive the second conical gear 702 and the third conical gear 801 of the transmission device to relatively displace, so that the second conical gear 702 rotates. The second bevel gears 702 at two ends are coaxially and fixedly connected, and the second bevel gears 702 at the other end drive the first bevel gear 501 to rotate, so that the adapter rod 4 is maintained in a vertical state.
The grinding heads 12 with different specifications are arranged on the different grinding head replacing units, so that the automatic replacement of the grinding heads 12 with different specifications is realized. When the nut sleeve 8 slides to the upper dead point, the opposite grinding head 12 is higher than the connecting block 3, so that the grinding head 12 in operation cannot be influenced.
When the connection rod 4 and the connection block 3 are assembled and disassembled, if the opening of the slot 301 on the connection block 3 is opposite to the corresponding connection plate 6, the insertion part 403 of the connection rod 4 can more conveniently enter and exit the slot 301. In order to achieve the above objective, as shown in fig. 11 to 13, in this embodiment, a connection block positioning device is connected below the driving portion 2, and the connection block positioning device includes a controller and two opposite stoppers 13, where the two stoppers 13 are symmetrically disposed on two sides of the connection block 3.
The controller controls the two clamping devices 13 to move relatively or reversely, after the two clamping devices 13 move relatively, the connecting block 3 is clamped, and after the two clamping devices 13 move reversely, the clamping of the connecting block 3 is released.
In order to position the connecting block 3 during the clamping process, at least two protruding blocks 302 are convexly arranged on the outer side of the circumferential surface of the connecting block 3, and the included angle between every two adjacent protruding blocks 302 is 90 degrees.
One of the retainers 13 is provided with an L-shaped plate 1301 vertically arranged toward one end of the connection block 3, the L-shaped plate 1301 is engaged with the bump 302, and the other retainer 13 is provided with a top plate toward one end of the connection block 3. The connection block 3 is positioned by the L-shaped plate 1301 being engaged with the bump 302, and the connection block 3 is clamped by the L-shaped plate 1301 together with the top plate.
Further, the stopper 13 includes a polygonal slide bar 1302, one end of the polygonal slide bar 1302 facing the connecting block 3 is connected with the L-shaped plate 1301 or the top plate, an upper end surface of one end of the polygonal slide bar 1302 far away from the connecting block 3 is provided with an inclined surface portion 1303, and one end of the inclined surface portion 1303 far away from the connecting block 3 is higher than one end close to the connecting block 3.
The driving part 2 is connected with a fixed ring 16, a supporting rod 15 is fixed below the fixed ring 16, a polygonal through hole is arranged on the supporting rod 15, and a polygonal sliding rod 1302 is arranged inside the polygonal through hole in a sliding mode. The polygonal slide bar 1302 is shown sleeved with a spring 14, the spring 14 being located on the side of the support bar 15 facing the connecting block 3.
The upper part of the inclined surface part 1303 is clamped with a clamping block 17 with a U-shaped lower end open, and the upper parts of the two clamping blocks 17 are connected with a controller through a pull rod 1701. The controller is a telescopic device 18, the telescopic device 18 adopts an electric telescopic rod, and the telescopic device 18 is fixedly connected with a connecting sleeve 19.
During use, when the connecting block 3 is not clamped, the clamping block 17 moves downwards, abuts against the inclined surface portion 1303, and pushes the polygonal slide rod 1302 to slide towards one end away from the connecting block 3 against the elastic force of the spring 14 until the clamping block 17 abuts against the polygonal slide rod 1302, and at the moment, the clamping device 13 is separated from the connecting block 3.
When the connecting block 3 needs to be clamped, the telescopic device 18 drives the clamping block 17 to move upwards, the spring 14 pushes the clamping device 13 to move towards the connecting block 3, and the L-shaped clamping plate 1301 is clamped with one of the protruding blocks 302, so that the positioning of the connecting block 3 is realized.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application.
Claims (10)
1. The utility model provides a polishing machine hand for polishing discontinuous solder joint, includes arm (1), its characterized in that:
The operating tail end of the mechanical arm (1) is detachably connected with a front end part, and the front end part comprises a polishing assembly and a linear module (20);
the sliding part of the linear module (20) is arranged in a vertical sliding way, the sliding part is connected with the polishing assembly, and the linear module (20) is detachably connected with the operation tail end of the mechanical arm (1) through the connecting seat (21);
The polishing assembly comprises a driving part (2), the driving part (2) is arranged in parallel with the linear module (20), the output end of the driving part (2) is arranged vertically downwards and detachably connected with a grinding head (12), and the driving part (2) drives the grinding head (12) to rotate.
2. A grinding robot for grinding discrete solder joints as set forth in claim 1, wherein:
the output end of the driving part (2) is provided with a connecting block (3), and the connecting block (3) is detachably connected with the grinding head (12).
3. A grinding robot for grinding discrete solder joints as set forth in claim 2, wherein:
2 to 3 groups of grinding head replacement units are arranged on the outer side of the circumference of the driving part (2), and each grinding head replacement unit comprises a switching rod (4), a transmission part, a servo motor (10) and a connecting driving assembly (11);
The connecting driving assembly (11) is fixedly connected with the outer wall of the driving part (2), the servo motor (10) is fixedly connected with the connecting driving assembly (11), and the servo motor (10) drives the switching rod (4) to move in an arc curve through the transmission part;
when the transfer rod (4) moves to the lower dead point, the transfer rod (4) is positioned under the connecting block (3), the transfer rod (4) is spliced with the connecting block (3), and when the transfer rod (4) moves to the upper dead point, the transfer rod (4) is positioned at the side of the driving part (2);
The bottom of the switching rod (4) is detachably connected with the grinding head (12).
4. A grinding robot for grinding discrete solder joints as set forth in claim 3, wherein:
the bottom surface of the connecting block (3) is concavely provided with a slot (301), and the slot (301) is in a shape of a Chinese character 'yi';
The adapter rod (4) comprises a rotating shaft (401), a straight inserting part (403) is arranged at the upper end of the rotating shaft (401), the inserting part (403) is connected with the slot (301) in a matched mode, an installing part (402) is arranged at the lower end of the rotating shaft (401), and the installing part (402) is connected with the grinding head (12);
The rotating shaft (401) is sleeved with a rotating sleeve (5), and is connected with the transmission part through the rotating sleeve (5).
5. A grinding robot for grinding discrete solder joints as set forth in claim 4, wherein:
The transmission part comprises two connecting plates (6) and a transmission device (7) which are arranged at intervals, the rotating shafts at the two radial ends of the rotating sleeve (5) penetrate through the through holes at the end parts of the connecting plates (6), the tail end of the rotating shaft at one end of the rotating sleeve (5) is fixedly provided with a first conical gear (501), and the end, far away from the rotating sleeve (5), of the connecting plates (6) is fixedly provided with a gear (601);
the connecting driving assembly (11) comprises a vertical plate (1101), wherein a rack (1102) is convexly arranged on the vertical plate (1101), and the rack (1102) is in meshed connection with the gear (601);
the output end of the servo motor (10) is connected with a screw rod (9) which is vertically arranged, the screw rod (9) is in threaded connection with a nut sleeve (8), rotating shafts at two radial ends of the nut sleeve (8) penetrate through a through hole in the center of the gear (601), and a third bevel gear (801) is fixed at the tail end of the rotating shaft at one end of the nut sleeve (8);
The transmission device (7) is used for connecting the first bevel gear (501) and the third bevel gear (801) in a transmission way.
6. A grinding robot for grinding discrete solder joints as set forth in claim 5, wherein:
the transmission device (7) comprises a rotating rod (701) and second bevel gears (702) fixed at two ends of the rotating rod (701), the rotating rod (701) is rotationally connected with the connecting plate (6), and the two second bevel gears (702) are respectively meshed with the first bevel gear (501) and the third bevel gear (801).
7. A grinding robot for grinding non-continuous solder joints according to claim 5 or 6, wherein:
the vertical plate (1101) is provided with a sliding groove (1103), a sliding block (802) is fixed outside the nut sleeve (8), and the sliding block (802) is arranged inside the sliding groove (1103) in a sliding way.
8. A grinding robot for grinding non-continuous welding spots according to any one of claims 3 to 6, characterized in that:
The lower part of the driving part (2) is connected with a connecting block positioning device, the connecting block positioning device comprises a controller and two clamping devices (13) which are oppositely arranged, and the two clamping devices (13) are symmetrically arranged at two sides of the connecting block (3);
the controller controls the two clamping devices (13) to move relatively or reversely, after the two clamping devices (13) move relatively, the connecting block (3) is clamped, and after the two clamping devices (13) move reversely, the clamping of the connecting block (3) is released.
9. A grinding robot for grinding discrete solder joints as set forth in claim 8, wherein:
At least two protruding blocks (302) are convexly arranged on the outer side of the circumferential surface of the connecting block (3), one end, facing the connecting block (3), of one of the clamping devices (13) is provided with an L-shaped plate (1301) which is vertically arranged, and the L-shaped plate (1301) is clamped with the protruding blocks (302).
10. A grinding robot for grinding discrete solder joints as set forth in claim 9, wherein:
the controller adopts an electric telescopic rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510429116.5A CN119927744B (en) | 2025-04-08 | 2025-04-08 | A grinding robot for grinding non-continuous welding points |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510429116.5A CN119927744B (en) | 2025-04-08 | 2025-04-08 | A grinding robot for grinding non-continuous welding points |
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| CN119927744A true CN119927744A (en) | 2025-05-06 |
| CN119927744B CN119927744B (en) | 2025-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202510429116.5A Active CN119927744B (en) | 2025-04-08 | 2025-04-08 | A grinding robot for grinding non-continuous welding points |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120095569A (en) * | 2025-05-12 | 2025-06-06 | 太原理工大学 | A multi-station robot system for welding and grinding conical head welds |
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| CN112518577A (en) * | 2020-11-30 | 2021-03-19 | 廖雪松 | Grinding head assembly for spring machining equipment and using method |
| CN216328403U (en) * | 2021-10-27 | 2022-04-19 | 孔令超 | Robot capable of rapidly replacing manipulator |
| CN115890381A (en) * | 2022-06-09 | 2023-04-04 | 常州晟驱机电科技有限公司 | A robot-based sheet metal deburring workstation |
| CN219337145U (en) * | 2023-03-09 | 2023-07-14 | 广野智能装备南通有限公司 | Manipulator for die-casting island |
| CN220516277U (en) * | 2023-08-15 | 2024-02-23 | 深圳大方智能科技有限公司 | Terrace grinds machine convenient to change grinding head |
| CN116900866A (en) * | 2023-09-13 | 2023-10-20 | 南京自控仪表有限公司 | Grinding device and method for valve body machining |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN120095569A (en) * | 2025-05-12 | 2025-06-06 | 太原理工大学 | A multi-station robot system for welding and grinding conical head welds |
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| CN119927744B (en) | 2025-07-25 |
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