CN102689312A - Polishing robot mechanism - Google Patents
Polishing robot mechanism Download PDFInfo
- Publication number
- CN102689312A CN102689312A CN2012101864990A CN201210186499A CN102689312A CN 102689312 A CN102689312 A CN 102689312A CN 2012101864990 A CN2012101864990 A CN 2012101864990A CN 201210186499 A CN201210186499 A CN 201210186499A CN 102689312 A CN102689312 A CN 102689312A
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- motor
- polishing
- revolute pair
- robot mechanism
- grinding head
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a polishing robot mechanism comprising a multi-joint mechanism hand (I) and a universal polishing head (II) which is fixed at the front part of a tail component (1) of the multi-joint mechanism hand (I).. The polishing robot mechanism is characterized in that: the universal polishing head (II) is composed of a base plate (2), a spherical roller (3), a motor seat (4), a motor (5), a polishing head (7) and a spring (8), wherein the base plate (2) is mechanically connected with the spherical roller (3) by the motor seat (4) to form a sphere pair, and then the base plate (2) is mechanically connected with the spherical roller (3) through one group of a plurality of the uniformly-distributed springs (8); the motor (5) is fixed on the motor seat (4); and extending shafts of the polishing head (7) and the motor (5) are connected through a flange (6). The polishing robot mechanism is simple in structure and easy to control; the polishing robot mechanism has good adaptability to an irregular curved surface and has high polishing efficiency.
Description
Technical field
The present invention relates to a kind of robot mechanism that is used for the curved surface sanding and polishing, specifically,, a kind of new and effective polishing robot mechanism is provided for operations such as the surperficial polishing of irregular surfaces such as automobile case, polishing, cleanings.
Background technology
At present; Automobile making is towards scale, intensivization development, and a large amount of industrial robots are applied in auto manufacturing, mainly is various import spray robots, Glue Spreading Robot; And the sanding and polishing process operations personnel before and after the spraying are maximum, automatization level is minimum; Not only efficiency lowly restricts production, and a large amount of dust that produce in the labout process are serious threat labourer healthy especially, is the inducement of occupational diseases such as pneumoconiosis.On commercial Application; Company of external robot such as ABB AB, Ku Ka company, Fa Nake company has developed some sanding and polishing machine people; But grinding head adaptability is relatively poor, for the body of a motor car sanding and polishing of large tracts of land irregular surface, and present also very imperfect polishing robot mechanism.
Therefore, need invention novel, have fine adaptivity efficient polishing robot, effectively to enhance productivity, improve the workshop environment.
Summary of the invention
The object of the invention provides a kind of efficient polishing robot mechanism; Its concrete technical scheme is: a kind of polishing machine robot mechanism; Comprise multi-joint manipulator (I) and be fixed in the anterior universal grinding head (II) of multi-joint manipulator (I) terminal link (1), multi-joint manipulator (I) comprises revolute pair one (R
1), revolute pair two (R
2), revolute pair three (R
3), revolute pair four (R
4), revolute pair five (R
5), revolute pair six (R
6); And universal grinding head (II) is made up of substrate (2), ball roller (3), motor cabinet (4), motor (5), grinding head (7) and spring (8); Substrate (2) and motor cabinet (4) are with ball roller (3) mechanical connection and after constituting the ball pair; Again with one group of several spring that is uniformly distributed with (8) with the two mechanical connection; And motor (5) is fixed on the motor cabinet (4), and grinding head (7) is connected through flange (6) with the projecting shaft of motor (5).
The characteristics of this polishing robot mechanism are: (1) grinding head has good flexibility and adaptivity, the pressure of surface to be machined is remained at the normal direction of surface to be machined; (2) grinding head is simple in structure, and motion is easy to control flexibly; (3) can effectively realize the sanding and polishing of large tracts of land irregular surfaces such as vehicle complete vehicle covering.
Description of drawings
Accompanying drawing 1 is a structural scheme of mechanism of the present invention
The specific embodiment
Through accompanying drawing technology of the present invention is given to explain further below.
Technical scheme as one embodiment of the invention is: a kind of polishing machine robot mechanism, comprise multi-joint manipulator I and the universal grinding head II that is fixed in multi-joint manipulator I terminal link 1 front portion, and multi-joint manipulator I is by revolute pair one R
1, revolute pair two R
2, revolute pair three R
3, revolute pair four R
4, revolute pair five R
5, revolute pair six R
6Constitute; Universal grinding head II is made up of substrate 2, ball roller 3, motor cabinet 4, motor 5, grinding head 7 and spring 8; Substrate 2 is with motor cabinet 4 usefulness ball roller 3 mechanical connections and after constituting the ball pair; Again with one group of three spring that are uniformly distributed with 8 with the two mechanical connection; And motor 5 is fixed on the motor cabinet 4, and grinding head 7 is connected through flange 6 with the projecting shaft of motor 5.
Polishing machine man-hour, series connection manipulator are sent to grinding head 7 needs the polishing position, and compresses the work piece surface; Because substrate 2, ball roller 3, motor cabinet 4, three springs that are uniformly distributed with 8; Formed the parallel institution of a three-rotational-freedom, motor cabinet 4 has the universal rotational characteristic of good attitude, therefore; When the pressure of work piece surface action on grinding head 7 is delivered to 4 last times of motor cabinet; Motor cabinet 4 can be pressed on the work piece normal to a surface direction grinding head 7, thereby guarantee that the polishing amount is even according to pressure direction self adaptation adjustment attitude all the time.This polishing robot mechanism is simple in structure, be easy to control, and is good to the adaptability of irregular surface, and sanding and polishing efficient is high.
Claims (1)
1. a polishing machine robot mechanism comprises multi-joint manipulator (I) and is fixed in the anterior universal grinding head (II) of multi-joint manipulator (I) terminal link (1), and multi-joint manipulator (I) comprises revolute pair one (R
1), revolute pair two (R
2), revolute pair three (R
3), revolute pair four (R
4), revolute pair five (R
5), revolute pair six (R
6); It is characterized in that universal grinding head (II) is made up of substrate (2), ball roller (3), motor cabinet (4), motor (5), grinding head (7) and spring (8); Substrate (2) and motor cabinet (4) are with ball roller (3) mechanical connection and after constituting the ball pair; Again with one group of several spring that is uniformly distributed with (8) with the two mechanical connection, and motor (5) is fixed on the motor cabinet (4), grinding head (7) is connected through flange (6) with the projecting shaft of motor (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101864990A CN102689312A (en) | 2012-06-08 | 2012-06-08 | Polishing robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101864990A CN102689312A (en) | 2012-06-08 | 2012-06-08 | Polishing robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102689312A true CN102689312A (en) | 2012-09-26 |
Family
ID=46855131
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012101864990A Pending CN102689312A (en) | 2012-06-08 | 2012-06-08 | Polishing robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102689312A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103447946A (en) * | 2013-09-24 | 2013-12-18 | 昆山泰丰自动化技术有限公司 | Grinding head adjusting device |
| CN105150072A (en) * | 2015-08-04 | 2015-12-16 | 西宁科进工业设计有限公司 | Polishing machine |
| CN105751236A (en) * | 2016-01-12 | 2016-07-13 | 沈阳工业大学 | Flexible connection device of grinding robot |
| CN105904297A (en) * | 2016-06-12 | 2016-08-31 | 禹奕智能科技（上海）有限公司 | Flexible grinding straight mill device for tail end of robot |
| CN105904328A (en) * | 2016-06-12 | 2016-08-31 | 禹奕智能科技（上海）有限公司 | Flexible polisher device for robot end |
| CN106002562A (en) * | 2016-07-07 | 2016-10-12 | 吴志杰 | Grinding and polishing machine and universal grinding head thereof |
| CN109093461A (en) * | 2018-10-16 | 2018-12-28 | 吉林大学 | Lead screw transmission skate edge grinding apparatus based on PLC control |
| CN109465703A (en) * | 2018-12-28 | 2019-03-15 | 宁波金凤焊割机械制造有限公司 | Sander for the polishing of metal works edge |
| CN110370299A (en) * | 2019-08-12 | 2019-10-25 | 乌鲁木齐明华智能电子科技有限公司 | A kind of perception of Robotic Dynamic and answering device |
| CN110774294A (en) * | 2019-11-15 | 2020-02-11 | 国家电网有限公司 | Positioning and laminating system and method for ultrasonic partial discharge probe of GIS detection robot |
| CN112077740A (en) * | 2020-09-14 | 2020-12-15 | 广东博智林机器人有限公司 | Follow-up grinding machine base and follow-up grinding device |
| CN112123059A (en) * | 2020-09-23 | 2020-12-25 | 广东博智林机器人有限公司 | Polishing device and polishing equipment |
| CN112720153A (en) * | 2020-12-31 | 2021-04-30 | 郑州市正升重工科技有限公司 | Universal arm of polishing |
| CN113172664A (en) * | 2021-04-27 | 2021-07-27 | 北京京东乾石科技有限公司 | Buffering assembly and manipulator |
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| CN101863035A (en) * | 2010-07-02 | 2010-10-20 | 华中科技大学 | Flexible waist for robot |
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| SU994240A1 (en) * | 1980-12-22 | 1983-02-07 | Предприятие П/Я А-7555 | Abrasive tool for grinding and polishing |
| US5377455A (en) * | 1992-04-13 | 1995-01-03 | Minnesota Mining And Manufacturing Company | Automated random orbital abrading system and method |
| RU2223168C2 (en) * | 2001-01-19 | 2004-02-10 | Евсеев Юрий Федорович | Chuck of parquet grinding machine |
| DE10248104A1 (en) * | 2001-10-17 | 2003-05-22 | Schneider Gmbh & Co Kg | Lens processing machine, especially for polishing lenses, has robot with robot arm with tool spindle attached to free end and table on which at least two working or tool stations are mounted |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103447946A (en) * | 2013-09-24 | 2013-12-18 | 昆山泰丰自动化技术有限公司 | Grinding head adjusting device |
| CN103447946B (en) * | 2013-09-24 | 2016-03-30 | 昆山泰丰自动化技术有限公司 | A kind of grinding head regulating device |
| CN105150072A (en) * | 2015-08-04 | 2015-12-16 | 西宁科进工业设计有限公司 | Polishing machine |
| CN105751236A (en) * | 2016-01-12 | 2016-07-13 | 沈阳工业大学 | Flexible connection device of grinding robot |
| CN105904297A (en) * | 2016-06-12 | 2016-08-31 | 禹奕智能科技（上海）有限公司 | Flexible grinding straight mill device for tail end of robot |
| CN105904328A (en) * | 2016-06-12 | 2016-08-31 | 禹奕智能科技（上海）有限公司 | Flexible polisher device for robot end |
| CN105904297B (en) * | 2016-06-12 | 2018-01-12 | 禹奕智能科技（上海）有限公司 | A kind of flexible polishing straight grinder device for robot end |
| CN105904328B (en) * | 2016-06-12 | 2019-01-11 | 禹奕智能科技（上海）有限公司 | A kind of flexible polishing device for robot end |
| CN106002562A (en) * | 2016-07-07 | 2016-10-12 | 吴志杰 | Grinding and polishing machine and universal grinding head thereof |
| CN109093461A (en) * | 2018-10-16 | 2018-12-28 | 吉林大学 | Lead screw transmission skate edge grinding apparatus based on PLC control |
| CN109465703A (en) * | 2018-12-28 | 2019-03-15 | 宁波金凤焊割机械制造有限公司 | Sander for the polishing of metal works edge |
| CN110370299A (en) * | 2019-08-12 | 2019-10-25 | 乌鲁木齐明华智能电子科技有限公司 | A kind of perception of Robotic Dynamic and answering device |
| CN110774294A (en) * | 2019-11-15 | 2020-02-11 | 国家电网有限公司 | Positioning and laminating system and method for ultrasonic partial discharge probe of GIS detection robot |
| CN110774294B (en) * | 2019-11-15 | 2024-02-27 | 国家电网有限公司 | GIS detection robot ultrasonic partial discharge probe positioning and attaching system and method |
| CN112077740A (en) * | 2020-09-14 | 2020-12-15 | 广东博智林机器人有限公司 | Follow-up grinding machine base and follow-up grinding device |
| CN112077740B (en) * | 2020-09-14 | 2021-11-12 | 广东博智林机器人有限公司 | Follow-up grinding machine base and follow-up grinding device |
| CN112123059A (en) * | 2020-09-23 | 2020-12-25 | 广东博智林机器人有限公司 | Polishing device and polishing equipment |
| CN112720153A (en) * | 2020-12-31 | 2021-04-30 | 郑州市正升重工科技有限公司 | Universal arm of polishing |
| CN113172664A (en) * | 2021-04-27 | 2021-07-27 | 北京京东乾石科技有限公司 | Buffering assembly and manipulator |
| CN113172664B (en) * | 2021-04-27 | 2023-09-29 | 北京京东乾石科技有限公司 | Buffering assembly and manipulator |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120926 |