Adaptive polishing robot mechanism

Abstract

The invention relates to an adaptive polishing robot mechanism. The mechanism comprises a serially connected mechanical hand and a telescopic parallelly connected polishing head, wherein the serially connected mechanical hand is formed by serially connecting a base (1), a first rod (2), a second rod (3), a third rod (4), a fourth rod (5) and a tail end member (6) in sequence through a first revolute pair (R1), a second revolute pair (R2), a third revolute pair (R3), a fourth revolute pair (R4) and a fifth revolute pair (R5); the telescopic parallelly connected polishing head comprises a fixed platform (7), a movable platform (9), a polishing head (13) and three gas springs (8); the fixed platform (7) is fixed on the tail end member (6); electromagnets (11) with opposite magnetic poles are fixed in the centers of the fixed platform (7) and the movable platform (9); the two ends of each of the three gas springs (8) are connected with the fixed platform (7) and the movable platform (9) through ball pairs (12); the three gas springs (8) are uniformly distributed between the fixed platform (7) and the movable platform (9); and the polishing head (13) is connected with a driving motor (10) fixed on the movable platform (9). The polishing robot mechanism has the advantages of simple structure, high working efficiency and the like, is easy to control and can be used for polishing a large-area irregular curved surface.

Description

technical field [0001] The invention relates to a robot mechanism for grinding and polishing curved surfaces. Specifically, it provides a novel serial-parallel hybrid grinding robot mechanism, which is applied to the grinding, polishing, cleaning and other operations of surfaces such as automobiles. Background technique [0002] At present, automobile manufacturing is developing towards scale and intensification, and a large number of industrial robots are applied in the automobile manufacturing industry, mainly various imported spraying robots and gluing robots, while the grinding and polishing process before and after spraying has the most operators and the lowest level of automation , not only low labor efficiency restricts production, but also a large amount of dust generated during the labor process seriously threatens the health of workers and is the cause of occupational diseases such as pneumoconiosis. In terms of industrial applications, foreign robot companies such...

AI Technical Summary

Problems solved by technology

[0005] The characteristics of the mechanism: (1) The mechanism adopts a series-parallel hybrid connection; (2) The contact and separation between the grinding head and the surface to be processed is easy to control, and can ensure the required contact force; (3) The grinding head has a good Flexible and adaptive, the pressure on the processed surface is always kept in the normal direction of the processed surface; (4) The grinding head is simple in structure, flexible in movement, and easy to control; (5) It can realize large-area grinding parts such as automobile panels Grinding and polishing of irregular curved surfaces, solving the problem of low efficiency of traditional grinding and polishing

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