CN113829369A - Multi-shaft polishing robot - Google Patents
Multi-shaft polishing robot Download PDFInfo
- Publication number
- CN113829369A CN113829369A CN202111217961.4A CN202111217961A CN113829369A CN 113829369 A CN113829369 A CN 113829369A CN 202111217961 A CN202111217961 A CN 202111217961A CN 113829369 A CN113829369 A CN 113829369A
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- China
- Prior art keywords
- motor
- arm rod
- rotating shaft
- arm
- polishing
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- 238000005498 polishing Methods 0.000 title claims abstract description 41
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a multi-shaft polishing robot, which comprises a robot body, wherein the robot body is provided with a trunk, a stretching arm is arranged on the trunk, a polishing head is connected to the stretching arm, a base is arranged below the robot body, and the robot body is arranged on the base; the base is provided with a rotary sleeve which is transversely arranged, the rotary sleeve is a base rotary sleeve, an arm rod is arranged below the trunk, the arm rod is a first arm rod, the lower end of the first arm rod is matched with the base rotary sleeve, and the first arm rod can horizontally rotate in the base rotary sleeve; a first motor is arranged between the base rotating sleeve and the lower end of the first arm rod. Such polishing robot has the advantage that the flexibility is better, the result of use is better.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a polishing robot.
Background
The polishing robot comprises a robot body, wherein the robot body is provided with a trunk, the trunk is provided with a stretching arm, a polishing head is connected to the stretching arm, and the polishing head rotates to polish a workpiece.
The trunk is provided with a plurality of shafts, and joints are arranged on the connecting shafts; in the prior art, the shaft of the robot body is unreasonable, and the robot has the defect of inflexible operation, so that the use flexibility of the polishing robot is influenced.
Disclosure of Invention
The invention aims to overcome the defects and provide a grinding robot with better flexibility and better use effect, namely a multi-shaft grinding robot
The technical scheme of the invention is realized as follows: a multi-axis polishing robot comprises a robot body, wherein the robot body is provided with a trunk, a stretching arm is arranged on the trunk, a polishing head is connected to the stretching arm, a base is arranged below the robot body, and the robot body is arranged on the base; the method is characterized in that: the base is provided with a transversely arranged rotating sleeve which is a base rotating sleeve, an arm rod is arranged below the trunk and is a first arm rod, the lower end of the first arm rod is matched with the base rotating sleeve, and the first arm rod can horizontally rotate in the base rotating sleeve; a first motor is arranged between the base rotating sleeve and the lower end of the first arm rod;
the first arm rod is provided with an ear piece, the ear piece is a first ear piece, the first ear piece is internally provided with a round hole, the round hole is a first round hole, the first arm rod is provided with a second arm rod, a rotating shaft which is arranged in the first round hole in a matched mode is arranged below the second arm rod, the rotating shaft is a second rotating shaft, and a second motor is arranged between the first round hole and the second rotating shaft;
the lug is arranged on the second arm rod, the lug is a second lug, a round hole is formed in the second lug, the round hole is a second round hole, a third arm rod is arranged in front of the second arm rod, a rotating shaft which is arranged in the second round hole in a matched mode is arranged behind the third arm rod, and the rotating shaft is a third rotating shaft; a third motor is arranged between the second round hole and the third rotating shaft;
a rotating sleeve is arranged in front of the third arm rod, the rotating sleeve is a third rotating sleeve, a fourth arm rod is arranged in front of the third rotating sleeve, a shaft head which is arranged in the third rotating sleeve in a matched mode is arranged behind the fourth arm rod, and the shaft head is a fourth shaft head; a fourth motor is arranged between the fourth shaft head and the third rotating sleeve;
the front of the fourth arm lever is provided with a lug which is a fourth lug, a fifth arm lever is arranged below the fourth arm lever, a rotating shaft is arranged on the fifth arm lever and is a fifth rotating shaft, and a fifth motor is arranged between the fourth lug and the fifth rotating shaft;
a sixth motor is arranged below the fifth arm rod, and the polishing head is arranged on an output shaft of the sixth motor;
the third arm lever and the fourth arm lever form a protruding arm.
Further, the distance K between the second motor and the third motor is less than 100 cm.
Further, the distance L between the third motor and the fifth motor is less than 100 cm.
Further, the first motor rotates horizontally, the second motor, the third motor and the fifth motor rotate vertically, and the fourth motor rotates along the front surface.
Furthermore, the base rotating sleeve, the second rotating shaft and the third rotating shaft are made of high-strength steel.
Furthermore, the polishing head also comprises a shell, a polishing motor is arranged in the shell, and the output end of the polishing motor extends out of the shell and is connected with the polishing head or the polishing head.
The invention has the beneficial effects that: such polishing robot has the advantage that the flexibility is better, the result of use is better.
Drawings
Fig. 1 is a schematic top view of the present invention.
Wherein: 1. The first arm rod 12, the first lug 2, the second arm rod 21, the second rotating shaft 22, the second lug 3, the third arm rod 31, the third rotating shaft 4, the fourth arm rod 41, the fourth shaft head 42, the fourth lug 5, the fifth arm rod 6, the sixth motor 7, the base 71, the base swivel 8, the polishing head 81, the polishing disc or the polishing head.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, a multi-axis grinding robot comprises a robot body, wherein the robot body is provided with a trunk, a protruding arm is arranged on the trunk, a grinding head 8 is connected to the protruding arm, a base 7 is arranged below the robot body, and the robot body is arranged on the base; the method is characterized in that: the base is provided with a transversely arranged rotating sleeve which is a base rotating sleeve 71, an arm rod is arranged below the trunk and is a first arm rod 1, the lower end of the first arm rod is matched with the base rotating sleeve, and the first arm rod can horizontally rotate in the base rotating sleeve; a first motor is arranged between the base rotating sleeve and the lower end of the first arm rod, and the direction of an arrow a in the figure is the running direction of the first motor;
the first arm rod is provided with a lug which is a first lug 12, the first lug is internally provided with a round hole which is a first round hole, the first arm rod is provided with a second arm rod 2, the lower part of the second arm rod is provided with a rotating shaft which is arranged in the first round hole in a matching way, the rotating shaft is a second rotating shaft 21, and a second motor is arranged between the first round hole and the second rotating shaft; the direction of arrow b in the figure is the direction in which the second motor operates;
the second arm rod is provided with a lug which is a second lug 22, a round hole which is a second round hole is arranged in the second lug, the front of the second arm rod is provided with a third arm rod 3, the rear of the third arm rod is provided with a rotating shaft which is arranged in the second round hole in a matching way, and the rotating shaft is a third rotating shaft 31; a third motor is arranged between the second round hole and the third rotating shaft; the direction of arrow c in the figure is the direction in which the third motor operates;
a rotating sleeve is arranged in front of the third arm rod, the rotating sleeve is a third rotating sleeve, a fourth arm rod 4 is arranged in front of the third rotating sleeve, a shaft head which is arranged in the third rotating sleeve in a matched mode is arranged behind the fourth arm rod, and the shaft head is a fourth shaft head 41; a fourth motor is arranged between the fourth shaft head and the third rotating sleeve; the direction of arrow d in the figure is the direction in which the fourth motor operates;
a lug is arranged in front of the fourth rotating arm rod and is a fourth lug 42, a fifth arm rod 5 is arranged below the fourth arm rod, a rotating shaft is arranged above the fifth arm rod and is a fifth rotating shaft, and a fifth motor is arranged between the fourth lug and the fifth rotating shaft; the direction of arrow e in the figure is the direction in which the fifth motor operates;
a sixth motor 6 is arranged below the fifth arm rod, and the polishing head 8 is arranged on an output shaft of the sixth motor; the direction of arrow f in the figure is the direction in which the sixth motor operates;
the third arm lever and the fourth arm lever form a protruding arm.
The invention has the advantage of more flexible operation due to the arrangement of a plurality of rotating parts, and can realize the purpose of the invention.
Further, the distance between the second motor and the third motor is less than 100 cm.
Further, the distance between the third motor and the fifth motor is less than 100 cm.
The grinding bearing strength of the whole grinding robot is ensured by the arrangement of the grinding robot.
Further, the first motor rotates horizontally, the second motor, the third motor and the fifth motor rotate vertically, and the fourth motor rotates along the front surface.
Furthermore, the first rotating sleeve, the second rotating shaft and the third rotating shaft are made of high-strength steel.
The grinding bearing strength of the whole grinding robot is ensured by the arrangement of the grinding robot.
Further, the polishing head further comprises a shell, a polishing motor is arranged in the shell, and the output end of the polishing motor extends out of the shell and is connected with a polishing disc or a polishing head 81.
The invention has the advantage of more convenient use.
The above description is only an embodiment of the present invention, but the structural features of the present invention are not limited thereto, and any changes or modifications within the field of the present invention by those skilled in the art are covered within the scope of the present invention.
Claims (7)
1. A multi-axis polishing robot comprises a robot body, wherein the robot body is provided with a trunk, a stretching arm is arranged on the trunk, a polishing head is connected to the stretching arm, a base is arranged below the robot body, and the robot body is arranged on the base; the method is characterized in that: the base is provided with a transversely arranged rotating sleeve which is a base rotating sleeve, an arm rod is arranged below the trunk and is a first arm rod, the lower end of the first arm rod is matched with the base rotating sleeve, and the first arm rod can horizontally rotate in the base rotating sleeve; a first motor is arranged between the base rotating sleeve and the lower end of the first arm rod;
the first arm rod is provided with an ear piece, the ear piece is a first ear piece, the first ear piece is internally provided with a round hole, the round hole is a first round hole, the first arm rod is provided with a second arm rod, a rotating shaft which is arranged in the first round hole in a matched mode is arranged below the second arm rod, the rotating shaft is a second rotating shaft, and a second motor is arranged between the first round hole and the second rotating shaft;
the lug is arranged on the second arm rod, the lug is a second lug, a round hole is formed in the second lug, the round hole is a second round hole, a third arm rod is arranged in front of the second arm rod, a rotating shaft which is arranged in the second round hole in a matched mode is arranged behind the third arm rod, and the rotating shaft is a third rotating shaft; a third motor is arranged between the second round hole and the third rotating shaft;
a rotating sleeve is arranged in front of the third arm rod, the rotating sleeve is a third rotating sleeve, a fourth arm rod is arranged in front of the third rotating sleeve, a shaft head which is arranged in the third rotating sleeve in a matched mode is arranged behind the fourth arm rod, and the shaft head is a fourth shaft head; a fourth motor is arranged between the fourth shaft head and the third rotating sleeve;
a lug is arranged in front of the fourth rotating arm rod, the lug is a fourth lug, a fifth arm rod is arranged below the fourth arm rod, a rotating shaft is arranged above the fifth arm rod, the rotating shaft is a fifth rotating shaft, and a fifth motor is arranged between the fourth lug and the fifth rotating shaft;
a sixth motor is arranged below the fifth arm rod, and the polishing head is arranged on an output shaft of the sixth motor;
the third arm lever and the fourth arm lever form a protruding arm.
2. The multi-axis sanding robot of claim 1, wherein: the first motor rotates in the horizontal direction, the second motor, the third motor and the fifth motor rotate in the vertical plane, and the fourth motor rotates in the front plane.
3. The multi-axis sanding robot of claims 1 or 2, wherein: the base rotating sleeve, the second rotating shaft and the third rotating shaft are made of high-strength steel.
4. The multi-axis sanding robot of claims 1 or 2, wherein: the polishing head further comprises a shell, a polishing motor is mounted in the shell, and the output end of the polishing motor extends out of the shell and is connected with the polishing disc or the polishing head.
5. The multi-axis sanding robot of claim 3 wherein: the polishing head further comprises a shell, a polishing motor is mounted in the shell, and the output end of the polishing motor extends out of the shell and is connected with the polishing head or the polishing head.
6. The multi-axis sanding robot of claim 1, wherein: the distance between the second motor and the third motor is less than 100 cm.
7. The multi-axis sanding robot of claims 1 or 2, wherein: the distance between the third motor and the fifth motor is less than 100 cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111217961.4A CN113829369A (en) | 2021-10-20 | 2021-10-20 | Multi-shaft polishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111217961.4A CN113829369A (en) | 2021-10-20 | 2021-10-20 | Multi-shaft polishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113829369A true CN113829369A (en) | 2021-12-24 |
Family
ID=78965372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111217961.4A Withdrawn CN113829369A (en) | 2021-10-20 | 2021-10-20 | Multi-shaft polishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113829369A (en) |
Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05116084A (en) * | 1991-10-25 | 1993-05-14 | Mitsubishi Electric Corp | Industrial robot |
| US5498121A (en) * | 1994-05-16 | 1996-03-12 | Director-General Of Agency Of Industrial Science And Technology | Robot which is capable of receiving impact load |
| CN2747030Y (en) * | 2004-10-09 | 2005-12-21 | 南京航空航天大学 | Three-axis laying manipulator wrist easy to keep stable tension of tows |
| JP2007118144A (en) * | 2005-10-28 | 2007-05-17 | Toshiba Mach Co Ltd | Industrial robot |
| JP2008142829A (en) * | 2006-12-11 | 2008-06-26 | National Institute Of Advanced Industrial & Technology | Daily life support manipulator device |
| CN201132315Y (en) * | 2007-11-08 | 2008-10-15 | 浙江万丰科技开发有限公司 | Seven-degree of freedom robot casting machine |
| WO2010100362A1 (en) * | 2009-03-06 | 2010-09-10 | Equipements Techniques Des Industries Alimentaires Et Connexes Tecnal | Robot assembly for turning over blocks of cheese moulds |
| CN102431040A (en) * | 2011-12-14 | 2012-05-02 | 杭州英若飞科技有限公司 | Dynamic balance manipulator |
| CN202344543U (en) * | 2011-12-05 | 2012-07-25 | 杭州硕实机械有限公司 | Six-axis robot transmission mechanism |
| CN102744730A (en) * | 2011-04-19 | 2012-10-24 | 株式会社安川电机 | Robot |
| CN103029123A (en) * | 2012-12-22 | 2013-04-10 | 浙江万丰科技开发有限公司 | Light-weight six-shaft universal robot |
| CN204135851U (en) * | 2014-10-09 | 2015-02-04 | 中国汽车工业工程有限公司 | Robot automatic tool changer buffing work-piece device |
| CN104552288A (en) * | 2014-12-30 | 2015-04-29 | 青岛中信欧德机械科技股份有限公司 | Flexible six-shaft robot |
| CN104786129A (en) * | 2015-04-28 | 2015-07-22 | 北京航空航天大学 | Full-automatic grinding and polishing robot |
| CN205734320U (en) * | 2016-06-24 | 2016-11-30 | 珠海桑贝思精密科技有限公司 | Polisher |
| CN108154787A (en) * | 2018-01-05 | 2018-06-12 | 山东劳动职业技术学院（山东劳动技师学院） | A kind of mechanical arm for teaching demonstration |
| CN207858497U (en) * | 2017-12-28 | 2018-09-14 | 昆山锐莱恩特精密机械有限公司 | High-precision burr automatically grinding mechanism |
| CN108705406A (en) * | 2018-08-31 | 2018-10-26 | 广州每通自动化设备有限公司 | A single-station deburring device |
| CN109759922A (en) * | 2019-03-22 | 2019-05-17 | 安徽新境界自动化技术有限公司 | A kind of full-automatic linkage robot grinding apparatus |
| CN211439982U (en) * | 2019-11-18 | 2020-09-08 | 杨元秀 | Mechanical arm for machine-building |
| CN211916851U (en) * | 2020-03-28 | 2020-11-13 | 河南睿辰机器人智能科技有限公司 | A five-axis machining robot |
| CN211916117U (en) * | 2020-03-30 | 2020-11-13 | 河南睿辰机器人智能科技有限公司 | A cutting robot machining center |
| CN216180525U (en) * | 2021-10-20 | 2022-04-05 | 河南睿辰机器人智能科技有限公司 | A multi-axis grinding robot |
-
2021
- 2021-10-20 CN CN202111217961.4A patent/CN113829369A/en not_active Withdrawn
Patent Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05116084A (en) * | 1991-10-25 | 1993-05-14 | Mitsubishi Electric Corp | Industrial robot |
| US5498121A (en) * | 1994-05-16 | 1996-03-12 | Director-General Of Agency Of Industrial Science And Technology | Robot which is capable of receiving impact load |
| CN2747030Y (en) * | 2004-10-09 | 2005-12-21 | 南京航空航天大学 | Three-axis laying manipulator wrist easy to keep stable tension of tows |
| JP2007118144A (en) * | 2005-10-28 | 2007-05-17 | Toshiba Mach Co Ltd | Industrial robot |
| JP2008142829A (en) * | 2006-12-11 | 2008-06-26 | National Institute Of Advanced Industrial & Technology | Daily life support manipulator device |
| CN201132315Y (en) * | 2007-11-08 | 2008-10-15 | 浙江万丰科技开发有限公司 | Seven-degree of freedom robot casting machine |
| WO2010100362A1 (en) * | 2009-03-06 | 2010-09-10 | Equipements Techniques Des Industries Alimentaires Et Connexes Tecnal | Robot assembly for turning over blocks of cheese moulds |
| CN102744730A (en) * | 2011-04-19 | 2012-10-24 | 株式会社安川电机 | Robot |
| CN202344543U (en) * | 2011-12-05 | 2012-07-25 | 杭州硕实机械有限公司 | Six-axis robot transmission mechanism |
| CN102431040A (en) * | 2011-12-14 | 2012-05-02 | 杭州英若飞科技有限公司 | Dynamic balance manipulator |
| CN103029123A (en) * | 2012-12-22 | 2013-04-10 | 浙江万丰科技开发有限公司 | Light-weight six-shaft universal robot |
| CN204135851U (en) * | 2014-10-09 | 2015-02-04 | 中国汽车工业工程有限公司 | Robot automatic tool changer buffing work-piece device |
| CN104552288A (en) * | 2014-12-30 | 2015-04-29 | 青岛中信欧德机械科技股份有限公司 | Flexible six-shaft robot |
| CN104786129A (en) * | 2015-04-28 | 2015-07-22 | 北京航空航天大学 | Full-automatic grinding and polishing robot |
| CN205734320U (en) * | 2016-06-24 | 2016-11-30 | 珠海桑贝思精密科技有限公司 | Polisher |
| CN207858497U (en) * | 2017-12-28 | 2018-09-14 | 昆山锐莱恩特精密机械有限公司 | High-precision burr automatically grinding mechanism |
| CN108154787A (en) * | 2018-01-05 | 2018-06-12 | 山东劳动职业技术学院（山东劳动技师学院） | A kind of mechanical arm for teaching demonstration |
| CN108705406A (en) * | 2018-08-31 | 2018-10-26 | 广州每通自动化设备有限公司 | A single-station deburring device |
| CN109759922A (en) * | 2019-03-22 | 2019-05-17 | 安徽新境界自动化技术有限公司 | A kind of full-automatic linkage robot grinding apparatus |
| CN211439982U (en) * | 2019-11-18 | 2020-09-08 | 杨元秀 | Mechanical arm for machine-building |
| CN211916851U (en) * | 2020-03-28 | 2020-11-13 | 河南睿辰机器人智能科技有限公司 | A five-axis machining robot |
| CN211916117U (en) * | 2020-03-30 | 2020-11-13 | 河南睿辰机器人智能科技有限公司 | A cutting robot machining center |
| CN216180525U (en) * | 2021-10-20 | 2022-04-05 | 河南睿辰机器人智能科技有限公司 | A multi-axis grinding robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20211224 |
|
| WW01 | Invention patent application withdrawn after publication |