CN101219525A - Flexible polishing manipulator - Google Patents
Flexible polishing manipulator Download PDFInfo
- Publication number
- CN101219525A CN101219525A CNA2007101918504A CN200710191850A CN101219525A CN 101219525 A CN101219525 A CN 101219525A CN A2007101918504 A CNA2007101918504 A CN A2007101918504A CN 200710191850 A CN200710191850 A CN 200710191850A CN 101219525 A CN101219525 A CN 101219525A
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- China
- Prior art keywords
- slip cap
- flexible polishing
- vertical
- telescopic material
- intelligent
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The invention relates to a flexible polishing robot arm, pertaining to the mechanical technical field, which comprises a base seat and a robot frame. The invention is characterized in that an intelligent telescope material which is connected with a slide sleeve is arranged on the robot frame, a spring is positioned at the other end of the slide sleeve which forms a moving pair with a guide rod fixed to the robot machine; a flexible polishing arm in which intelligent variable viscosity material is stored is equipped on the slide sleeve. The invention has scientific and reasonable structure and realizes high effective polishing to all curved surfaces by applying bionic technology, according to the reason that a man can polish any variety curved surfaces, adopting variable viscosity material to simulate the human muscle and utilizing the shock generated by the intelligent flexible material, which meets the requirements of industrial production, reduces labor intensity and improve polishing efficiency and quality.
Description
Technical field
The present invention relates to a kind of polissoir, the structure especially for irregular curved surface polishing equipment belongs to field of mechanical technique.
Technical background
Along with science and technology and industrial development, polishing technology is apparent more important, all needs to carry out some surface finish as optical element, industrial mfg. moulding die etc., and many polished surfaces that need are irregular, or even irregular curved surface.The roughness on optical element surface requires the optical surface less than several nanometers, and some moulds also will reach the minute surface requirement to the mold cavity surface roughness.Present polissoir can only polish regular face, can not polish efficiently various curved surfaces effectively.Free form surface polishing is mainly finished by manual operations, and polishing efficiency is low, labour intensity is big, the health that is harmful to health, be difficult to guarantee to polish the stability of shape surface accuracy simultaneously, polishes poor quality, can not satisfy need of industrial production.
Summary of the invention
Purpose of the present invention is exactly for satisfying the needs in market, provide a kind of can be to the flexible polishing manipulator of the efficient polishing of arbitrary surface.
The object of the present invention is achieved like this, flexible polishing manipulator, comprise base, frame, it is characterized in that installing on the frame intelligent telescopic material, the intelligence telescopic material is connected with slip cap, and the other end of slip cap is equipped with spring, and slip cap and the guide rod that is fixed on the frame constitute mobile paying, the flexible polishing hand is installed on the slip cap, and there is intelligence degree of becoming sticky material flexible polishing hand the inside.
The intelligent telescopic material of installing on the described frame, level intelligence telescopic material, vertical intelligent telescopic material are arranged, level intelligence telescopic material is connected with the horizontal slip cover, and the other end of horizontal slip cover has horizontal spring, and horizontal slip cover and the horizontal guide that is fixed on the frame constitute mobile paying; Vertical intelligent telescopic material is connected with vertical slip cap, the other end of vertical slip cap has uprighting spring, vertical slip cap and be fixed on vertical slip cap on vertical guide stem constitute to move and pay, on the vertical slip cap flexible polishing hand is installed, intelligence degree of becoming sticky material is arranged inside the flexible polishing hand.
The slip cap that the flexible polishing hand is installed is connected on the length-adjustable rod member by intelligent telescopic material.
The present invention's science rational in infrastructure, the utilization bionics techniques is according to manually can be at the principle of various curved surface polishings, utilize intelligence degree of becoming sticky material to come match people muscle, use intelligent telescopic material to produce vibrations, realize efficient polishing, satisfy need of industrial production arbitrary surface.Reduce labour intensity, improve polishing efficiency and quality.
Description of drawings
Fig. 1 is a structural representation master diagrammatic sketch of the present invention;
Fig. 2 is the structural representation of the present invention diagrammatic sketch of bowing;
Among the figure: 1 base, 2 frames, intelligent telescopic material on 3, slip cap on 4, intelligent telescopic material in 5, slip cap in 6,7 upper springs, 8 top guide bars, 9 right slip caps, 10 medi-springs, guide rod in 11,12 flexible polishing hands, 13 workbench, 14 left springs, 15 left guide rods, 16 right springs, 17 right guide rods, 18 left intelligent telescopic materials, 19 right intelligent telescopic materials, 20 length-adjustable rod members, 21 left slip caps.
The specific embodiment
At base 1 connection frame 2 and workbench 13 are installed, installation level intelligence telescopic material (is gone up intelligent telescopic material 3 and left intelligent telescopic material 18 on the frame, right intelligent telescopic material 19), the horizontal slip cover (is gone up slip cap 4 and left slip cap 21, right slip cap 9), horizontal spring (upper spring 7, left spring 14, right spring 16), horizontal guide (top guide bar 8, left side guide rod 15, right guide rod 17) with middle intelligent telescopic material 5 (vertical intelligent telescopic material), middle slip cap 6 (vertical slip cap), medi-spring 10 (uprighting spring), middle guide rod 11 (vertical guide stem), horizontal guide is fixed on the frame 2, going up intelligent telescopic material 3 (level intelligence telescopic material) is connected with last slip cap 4 (horizontal slip cover) end, the other end of going up intelligent telescopic material 3 is provided with upper spring 7 (horizontal spring), and last slip cap 4 constitutes to move with top guide bar 8 to be paid.In intelligent telescopic material 5 (vertical intelligent telescopic material) and middle slip cap 6 (vertical slip cap) be connected, the other end of middle slip cap 6 (vertical slip cap) is provided with medi-spring 10 (uprighting spring), in slip cap 6 (vertical slip cap) and be fixed in middle guide rod 11 (vertical guide stem) on the slip cap 6 (vertical slip cap) constitute mobile pair, middle slip cap 6 (vertical slip cap) is gone up flexible polishing hand 12 is installed, and flexible polishing hand the inside is provided with intelligence degree of becoming sticky material.In intelligent telescopic material 5 connect length-adjustable rod member 20.
Flexible polishing manipulator and the polished workpiece principle that adapts: before the workpiece polishing, intelligence degree of becoming sticky material such as temperature degree of becoming sticky, magnetic field degree of becoming sticky material etc., be mobile low viscosity state, so that the flexible polishing hand fits like a glove with the curved surface that is installed in the polished workpiece on the workbench 13, when flexible polishing hand and polished curved surface fit like a glove, strengthen the viscosity of intelligence degree of becoming sticky material.Intelligence telescopic material (as piezoelectric ceramics, magnetoconstriction material etc.), slip cap, spring, guide rod etc. constitute the back and forth movement mechanism of little displacement, with match people's polishing action; X, Y, Z be to arranging such mechanism respectively, be convenient to produce each to the polishing action.
Now illustrate respectively X, Y, Z each to vibrations:
1) X is to vibrations: left intelligent telescopic material 18 drives left slip cap 21 along left guide rod 15 vibrations, 14 reset responses of left spring; Right intelligent telescopic material 19 drives left slip cap 9 along left guide rod 17 vibrations, 16 reset responses of left spring.
2) Y is to vibrations: go up intelligent telescopic material 2 and drive and go up slip cap 4 along top guide bar 8 vibrations, 7 reset responses of upper spring.
2) Z is to vibrations: length-adjustable rod member 20 is adjusted Z to the position, during middle intelligent telescopic material 5 drives slip cap 6 along in guide rod 11 vibrations, 10 reset responses of medi-spring, flexible polishing hand 12 and middle slip cap 6 are installed together, and produce vibrations thereupon.
Claims (3)
1. flexible polishing manipulator, comprise base, frame, it is characterized in that installing on the frame intelligent telescopic material, the intelligence telescopic material is connected with slip cap, the other end of slip cap is equipped with spring, slip cap and the guide rod that is fixed on the frame constitute mobile paying, and the flexible polishing hand is installed on the slip cap, and there is intelligence degree of becoming sticky material flexible polishing hand the inside.
2. flexible polishing manipulator according to claim 1, it is characterized in that the intelligent telescopic material installed on the frame, level intelligence telescopic material, vertical intelligent telescopic material are arranged, level intelligence telescopic material is connected with the horizontal slip cover, the other end of horizontal slip cover has horizontal spring, and horizontal slip cover and the horizontal guide that is fixed on the frame constitute mobile paying; Vertical intelligent telescopic material is connected with vertical slip cap, the other end of vertical slip cap has uprighting spring, vertical slip cap and be fixed on vertical slip cap on vertical guide stem constitute to move and pay, on the vertical slip cap flexible polishing hand is installed, intelligence degree of becoming sticky material is arranged inside the flexible polishing hand.
3. flexible polishing manipulator according to claim 1 and 2 is characterized in that the slip cap that the flexible polishing hand is installed is connected on the length-adjustable rod member by intelligent telescopic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101918504A CN101219525A (en) | 2007-12-21 | 2007-12-21 | Flexible polishing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101918504A CN101219525A (en) | 2007-12-21 | 2007-12-21 | Flexible polishing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101219525A true CN101219525A (en) | 2008-07-16 |
Family
ID=39629733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007101918504A Pending CN101219525A (en) | 2007-12-21 | 2007-12-21 | Flexible polishing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101219525A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102430990A (en) * | 2011-11-11 | 2012-05-02 | 河海大学 | Friction thinning device for sheet specimens |
| CN105150062A (en) * | 2015-09-09 | 2015-12-16 | 成都川睿科技有限公司 | Deburring device for shaft parts of intelligent device in intelligent traffic system |
| CN105458914A (en) * | 2015-11-10 | 2016-04-06 | 佛山市新恒萃材料科技有限公司 | Omni-directional flexible self-adaptive operation mechanism |
-
2007
- 2007-12-21 CN CNA2007101918504A patent/CN101219525A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102430990A (en) * | 2011-11-11 | 2012-05-02 | 河海大学 | Friction thinning device for sheet specimens |
| CN102430990B (en) * | 2011-11-11 | 2013-12-04 | 河海大学 | Friction thinning device for sheet specimens |
| CN105150062A (en) * | 2015-09-09 | 2015-12-16 | 成都川睿科技有限公司 | Deburring device for shaft parts of intelligent device in intelligent traffic system |
| CN105458914A (en) * | 2015-11-10 | 2016-04-06 | 佛山市新恒萃材料科技有限公司 | Omni-directional flexible self-adaptive operation mechanism |
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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 |