Five-axis grinding robot

Abstract

The invention discloses a five-axis grinding robot. A mechanical arm is arranged on an outer platform, and the output end of the mechanical arm is rotationally connected with a U-shaped structural part. A base, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod are connected with one another through a first joint, a second joint, a third joint, a fourth joint and a fifth joint. A power spindle is mounted on the U-shaped structural part. A dedicated tool changer is arranged. The mechanical arm is used for driving the U-shaped structural part andthe power spindle to move on the outer platform, the fifth joint drives the U-shaped structural part to rotate relative to a branch structure, and the power spindle moves to the tool changer and is connected with a needed grinding tool. After the grinding tool is selected, the grinding tool moves to a workpiece to grind the workpiece. A robot transmission system has the characteristics of being small in transmission component number and short in transmission chain, and the structural rigidity, motion precision and tail end loads of the robot can be improved.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a five-axis grinding robot. Background technique [0002] Existing casting automatic grinding equipment usually has two forms, one is a CNC machine tool structure, most of the motion axes are linear motion; the other is a robot structure, often using a six-axis industrial robot plus grinding tools. The automatic grinding equipment with machine tool structure has better rigidity and is suitable for heavy cutting, but has poor flexibility and small working space. Grinding equipment with a six-axis industrial robot structure has a large working space and high flexibility due to the large number of motion pairs, but at the same time, because the motion pairs are mostly rods, the rigidity is insufficient and the processing speed is slow. Both devices cannot take into account the requirements of high rigidity and flexibility. [0003] With the progress of society and the development o...

AI Technical Summary

Problems solved by technology

[0011] First of all, especially when the grinding equipment is directly installed on the external port of the six-axis robot, the load capacity of the sixth axis is very limited, so the weight allowed to be installed on the end effector of the six-axis robot is limited, and its installation space is also limited. When more When grinding with high-power grinding equipment, it is currently difficult to achieve

[0012] Secondly, the increase in the cumulative error caused by the installation error of the sixth axis makes it impossible to provide higher precision for the actuator installed at the end of the grinding process, which also affects the grinding accuracy

Moreover, the actuator installed at the end of the current six-axis robot is usually a connecting end, which is unstable and also affects the working stability of the actuator.

[0013] Thirdly, during the grinding process, there are various pipelines outside the robot body, such as hydraulic pipelines, compressed air pipes, coolant pipes, etc. required for exchange, cleaning, cooling, etc. Generally speaking, various pipelines will With the operation of the robot body, it also moves and causes wear and tear, which is prone to failure

For example, the sparks generated during the grinding process are easy to burn the pipeline, and in order to facilitate the pipeline to follow the various axial movements of the robot body, various telescopic mechanisms are set up, which also makes its structure more complicated.

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