CN105904322A - Flexible polishing device for angle grinder for end of robot - Google Patents
Flexible polishing device for angle grinder for end of robot Download PDFInfo
- Publication number
- CN105904322A CN105904322A CN201610414996.XA CN201610414996A CN105904322A CN 105904322 A CN105904322 A CN 105904322A CN 201610414996 A CN201610414996 A CN 201610414996A CN 105904322 A CN105904322 A CN 105904322A
- Authority
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- China
- Prior art keywords
- quick replacement
- replacement manually
- angle
- grinding machine
- contiguous block
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B23/00—Portable grinding machines, e.g. hand-guided; Accessories therefor
- B24B23/02—Portable grinding machines, e.g. hand-guided; Accessories therefor with rotating grinding tools; Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a flexible polishing device for an angle grinder for the end of a robot. The flexible polishing device comprises an end flange, a flexible flange, a manual quick change device, an angle grinder clamping device and the angle grinder, wherein the end flange is connected with one end of the flexible flange; the other end of the flexible flange is connected with the manual quick change device; the angle grinder is detachably installed on the manual quick change device through the angle grinder clamping device. According to the flexible polishing device, the angle grinder device applied to manpower is applied to six shafts of the robot, and the flexible flange ACF is introduced, so that the manpower is replaced by the robot to carry out polishing, and the problem of healthy damage on workers caused by severe environment of a polishing field is solved; meanwhile, the polishing normal force is monitored in real time, so that the flexible flange can carry out self-adaptive stretching in real time, and constant polishing force is kept; and in addition, the advancing speed and the polishing force of the robot can also be regulated in real time, so that an optimal technological formula is set according to different workpieces, materials and abrasives, the polishing efficiency is improved, the cost is lowered, the service life of a tool is prolonged, and consistent and high polishing quality is ensured.
Description
Technical field
The present invention relates to angle grinding machine, in particular it relates to a kind of flexible polishing angle grinder for robot end.
Background technology
Angle grinding machine is widely used in the polishing processing of outer surface of workpiece, in the reality polishing course of processing, and angle grinding machine
Basic dependence is manually polished, and working strength is big, bad environments, and infringement workman is healthy, and workpiece
Polishing quality relies heavily on the proficiency level of workman, and after polishing, homogeneity of product is poor.Market does not also have at present
A exclusively for being applied to the angle grinding machine that robot six axle polishing produces.
Current industrial robot cannot work as people, the change of real-time perception machining status real-time tune
Joint technique.After robot working procedure sets, processing of robots track is fixed, and workpiece exists tolerance, at clamping
There is error in fixation procedure, if positive error, angle grinding machine stress can strengthen, and rotating speed can reduce, and even can
Stall, serious stress is excessive, and excessive warning of robot load can be caused to shut down；If reverse error, then make
In dozen honed gently even polish less than workpiece.The present invention well solves the problems referred to above, allows industrial robot by setting
Fixed processor work, the sanding apparatus of the present invention can the change of self adaptation operating mode, real-time change regulation work
Skill parameter, and than the response of people's more fast and stable.Optimal technique for grinding is set according to actual processing situation
Formula, is effectively improved grinding efficiency, reduces polishing consumables cost, extends tool life, it is ensured that be consistent
The polishing quality of high-quality.By the Parameters variation in control system record bruting process, can be with analysis optimization work
Skill formula, the transformation promoting the extensive style processing of manual polishing to process to the lean of automatization, add for following automatization
Work lays the foundation toward intelligent machining.And by workman from heavy, the work of bad environments frees.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of flexible polishing for robot end
Angle grinder.
A kind of flexible polishing angle grinder for robot end provided according to the present invention, including end flange, soft
Property flange, quick replacement manually device, angle grinding machine clamping device, angle grinding machine；
One end of end Flange joint flexible flange, the other end of flexible flange connects quick replacement manually device；
Angle grinding machine is removably installed on quick replacement manually device by angle grinding machine clamping device.
Preferably, described quick replacement manually device, including concave block, quick replacement manually in quick replacement manually feeding bolt, quick replacement manually
Sliding shoe, quick replacement manually contiguous block；
One end of quick replacement manually feeding bolt is positioned at the outside of quick replacement manually concave block, the other end of quick replacement manually feeding bolt
It is positioned at the inside of quick replacement manually concave block, and connects quick replacement manually sliding shoe；
Quick replacement manually sliding shoe can slide between latched position and unlocked position；
When quick replacement manually sliding shoe is positioned at latched position, quick replacement manually sliding shoe can press from both sides jointly with concave block in quick replacement manually
Handle quick replacement manually contiguous block；
When quick replacement manually sliding shoe is positioned at unlocked position, quick replacement manually contiguous block is not fast with manual by quick replacement manually sliding shoe
Change the clamping of interior concave block.
Preferably, quick replacement manually sliding shoe is only capable of and slides along a straight line.
Preferably, described quick replacement manually device, also include being positioned at guiding on the left of the quick replacement manually within quick replacement manually concave block
Guide fixed block on the right side of fixed block, quick replacement manually；
On the left of quick replacement manually, on the right side of guide fixed block, quick replacement manually, guide fixed block is positioned at the both sides of quick replacement manually sliding shoe,
Sliding rail is guided to be formed；
Quick replacement manually sliding shoe slides along described guiding sliding rail.
Preferably, in quick replacement manually, concave block is provided through bolt hole, and quick replacement manually feeding bolt is by concave block in quick replacement manually
Outside extend into the inside of concave block in quick replacement manually through bolt hole.
Preferably, in quick replacement manually, protuberance is extended along normal direction in one end of concave block, and quick replacement manually sliding shoe is towards described protuberance
One end be provided with the first inclined-plane, one end of quick replacement manually contiguous block opposite lug is provided with second mated with the first inclined-plane
Inclined-plane；When quick replacement manually sliding shoe is positioned at latched position, the first inclined-plane and the second inclined-plane fit tightly；Work as quick replacement manually
When sliding shoe is positioned at unlocked position, the first inclined-plane and the second inclined-plane are separated.
Preferably, described angle grinding machine clamping device, including grinding machine top, angle fix contiguous block, grinding machine upper end, angle contiguous block,
Angle grinding machine semicircle snap ring, grinding machine lower end, angle contiguous block, angle grinding machine semicircle contiguous block；
Grinding machine upper end, angle contiguous block, grinding machine lower end, angle contiguous block, angle grinding machine semicircle contiguous block are solid with grinding machine top, angle respectively
Determine contiguous block to be fastenedly connected；
Angle grinding machine semicircle snap ring and angle grinding machine semicircle contiguous block clamp angle grinding machine jointly；
Grinding machine upper end, angle contiguous block, grinding machine lower end, angle contiguous block are fastenedly connected the upper end in angle grinding machine, lower end respectively.
Preferably, grinding machine top in angle is fixed contiguous block and is fastenedly connected quick replacement manually contiguous block.
Preferably, the disk of angle grinding machine is perpendicular to the axis of flexible flange.
Compared with prior art, the present invention has a following beneficial effect:
Present invention would apply to artificial angle grinder be applied on robot six axle, and introduce flexible flange ACF,
Realize robot and substitute artificial efficient high-quality automatization polishing, solve the on-the-spot adverse circumstances health to workman of polishing
Infringement.Polishing normal force is monitored by this device in real time, when the polishing power of actual loading Yu setting is inconsistent, flexible
Flange can self-adapting stretching in real time, keep constant polishing power.Well solve the processing that robot is fixing
Track and the matching problem of workpiece tolerance, maintain stable technique for grinding parameter, can regulate machine in real time simultaneously
The gait of march of people and polishing power, it is achieved according to different workpieces, material, abrasive material sets optimal technical recipe,
Improve grinding efficiency greatly, reduce polishing consumables cost, extend tool life, it is ensured that consistent high-quality
Polishing quality.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
The overall structure schematic diagram of the flexible polishing angle grinder for robot end that Fig. 1 provides for the present invention.
The explosive view of the flexible polishing angle grinder for robot end that Fig. 2 provides for the present invention.
Quick replacement manually device in the flexible polishing angle grinder for robot end that Fig. 3 provides for the present invention
Explosive view.
Angle grinding machine clamping device in the flexible polishing angle grinder for robot end that Fig. 4 provides for the present invention
Explosive view.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art
Member is further appreciated by the present invention, but limits the present invention the most in any form.It should be pointed out that, the common skill to this area
For art personnel, without departing from the inventive concept of the premise, it is also possible to make some changes and improvements.These broadly fall into
Protection scope of the present invention.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 4, the flexible polishing angle grinding machine for robot end that the present invention provides
End flange 1 that device includes being connected with robot end's (such as six axles), flexible flange 2, quick replacement manually feeding spiral shell
Guide fixed block 6 on the left of concave block 4, quick replacement manually sliding shoe 5, quick replacement manually in bolt 3, quick replacement manually, quick replacement manually are right
Side guide fixed block 7, grinding machine top, angle fix contiguous block 8, grinding machine upper end, angle contiguous block 9, angle grinding machine 10, angle grinding machine
Semicircle snap ring 11, grinding machine lower end, angle contiguous block 12, angle grinding machine semicircle contiguous block 13, quick replacement manually contiguous block 14,
It is bolted between the end flange 1 and robot six axle that are connected with robot end, is connected with robot six axle
It is connected by bolt and nut between end flange 1 with flexible flange 2, quick replacement manually feeding bolt 3 and quick replacement manually indent
It is located by connecting by bolt hole between block 4, guide fixed block on the right side of guide fixed block 6, quick replacement manually on the left of quick replacement manually
7 and quick replacement manually in be bolted between concave block 4, fixed guide on the left of quick replacement manually sliding shoe 5 manually quick change
Determine on the right side of block 6, quick replacement manually, guide fixed block 7 is assemblied in quick replacement manually in concave block 4 and can along straight line two
Individual direction is moved, and quick replacement manually contiguous block 14 is in manually quick change sliding shoe 5 is arranged on quick replacement manually in concave block 4,
Grinding machine top, angle is fixed and is bolted between contiguous block 8 and quick replacement manually contiguous block 14, grinding machine upper end, angle contiguous block 9,
Grinding machine lower end, angle contiguous block 12, angle grinding machine semicircle contiguous block 13 are respectively and grinding machine top, angle is fixed between contiguous block 8 equal
Being bolted, grinding machine upper end, angle contiguous block 9, grinding machine lower end, angle contiguous block 12 are respectively and the most logical between angle grinding machine 10
Cross bolt to connect, be bolted between angle grinding machine semicircle snap ring 11 and angle grinding machine semicircle contiguous block 13.
Fixed guide on the left of concave block 4, quick replacement manually sliding shoe 5, quick replacement manually in quick replacement manually feeding bolt 3, quick replacement manually
Determine guide fixed block 7 and quick replacement manually contiguous block 14 on the right side of block 6, quick replacement manually and form a quick replacement manually device, hands
On the left of dynamic quick change, on the right side of guide fixed block 6, quick replacement manually, guide fixed block 7 is bolted on concave block in quick replacement manually
In 4, manually on the left of quick change, on the right side of guide fixed block 6 and quick replacement manually, the guiding of guide fixed block 7 is fixed, manually
Quick change sliding shoe 5 manually quick change feeding bolt 3 can move back and forth in concave block 4, manually in quick replacement manually
The reciprocating motion of quick change sliding shoe 5 can be the most logical by locked for quick replacement manually contiguous block 14 in quick replacement manually in concave block 4
Cross and turn quick replacement manually feeding bolt 3 and can realize Fast Installation and the dismounting of angle grinding machine.Contiguous block is fixed on grinding machine top, angle
8, angle grinding machine upper end contiguous block 9, angle grinding machine semicircle snap ring 11, grinding machine lower end, angle contiguous block 12 and angle grinding machine semicircle
Shape contiguous block 13 forms an angle grinding machine clamping device, can be fixed by angle grinding machine locked by this angle grinding machine clamping device
In flexible flange 2 lower end and ensure that angle grinding machine does not occur sliding and deflection, can ensure that angle is ground by angle grinding machine clamping device
Machine disk is perpendicular to the axis of flexible flange 2, and the convenient also para-position shift-in row that is controlled polishing power in bruting process is mended
Repay.
In quick replacement manually, protuberance 15 is extended along normal direction in one end of concave block 4, and quick replacement manually sliding shoe 5 is towards described protuberance 15
One end be provided with the first inclined-plane 16, one end of quick replacement manually contiguous block 14 opposite lug 15 is provided with and the first inclined-plane
Second inclined-plane 17 of 16 couplings；When quick replacement manually sliding shoe 5 is positioned at latched position, the first inclined-plane 16 and the second inclined-plane
17 fit tightly；When quick replacement manually sliding shoe 5 is positioned at unlocked position, the first inclined-plane 16 and the second inclined-plane 17 are separated.
Wherein, flexible flange (ACF, Active contact flange), also referred to as self adaptation engagement flange, is a
The blue equipment constant with work pieces process contact surface contact force of robot end's instrument maneuver can be kept, based on pneumatic,
Analog control, its high accuracy and highly sensitive control, it is possible to ensure connecing between instrument maneuver orchid and machined surface
Touch controls, within ± 1N, to be particularly well-suited to the application scenarios such as polishing, polishing.According to different type selectings, its pressure
Scope is chosen as 0-100N or 0-500N, flexible stroke optional 35.5mm, 48mm, 98mm etc., optional band gravity
Inductive transducer is to overcome self gravitation, thus adapts to the application of any machining angle.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in
Stating particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or revise,
This has no effect on the flesh and blood of the present invention.In the case of not conflicting, in embodiments herein and embodiment
Feature can arbitrarily be mutually combined.
Claims (9)
1. the flexible polishing angle grinder for robot end, it is characterised in that include end flange, soft
Property flange, quick replacement manually device, angle grinding machine clamping device, angle grinding machine；
One end of end Flange joint flexible flange, the other end of flexible flange connects quick replacement manually device；
Angle grinding machine is removably installed on quick replacement manually device by angle grinding machine clamping device.
Flexible polishing angle grinder for robot end the most according to claim 1, it is characterised in that
Described quick replacement manually device, including concave block in quick replacement manually feeding bolt, quick replacement manually, quick replacement manually sliding shoe, manually
Quick change contiguous block；
One end of quick replacement manually feeding bolt is positioned at the outside of quick replacement manually concave block, the other end of quick replacement manually feeding bolt
It is positioned at the inside of quick replacement manually concave block, and connects quick replacement manually sliding shoe；
Quick replacement manually sliding shoe can slide between latched position and unlocked position；
When quick replacement manually sliding shoe is positioned at latched position, quick replacement manually sliding shoe can press from both sides jointly with concave block in quick replacement manually
Handle quick replacement manually contiguous block；
When quick replacement manually sliding shoe is positioned at unlocked position, quick replacement manually contiguous block is not fast with manual by quick replacement manually sliding shoe
Change the clamping of interior concave block.
Flexible polishing angle grinder for robot end the most according to claim 2, it is characterised in that
Quick replacement manually sliding shoe is only capable of and slides along a straight line.
Flexible polishing angle grinder for robot end the most according to claim 2, it is characterised in that
Described quick replacement manually device, also includes being positioned at guide fixed block on the left of the quick replacement manually within quick replacement manually concave block, manually
Guide fixed block on the right side of quick change；
On the left of quick replacement manually, on the right side of guide fixed block, quick replacement manually, guide fixed block is positioned at the both sides of quick replacement manually sliding shoe,
Sliding rail is guided to be formed；
Quick replacement manually sliding shoe slides along described guiding sliding rail.
Flexible polishing angle grinder for robot end the most according to claim 2, it is characterised in that
In quick replacement manually, concave block is provided through bolt hole, and quick replacement manually feeding bolt is passed spiral shell by the outside of concave block in quick replacement manually
Keyhole extends into the inside of concave block in quick replacement manually.
Flexible polishing angle grinder for robot end the most according to claim 2, it is characterised in that hands
In dynamic quick change, protuberance is extended along normal direction in one end of concave block, and quick replacement manually sliding shoe is provided with the towards one end of described protuberance
One inclined-plane, one end of quick replacement manually contiguous block opposite lug is provided with the second inclined-plane mated with the first inclined-plane；When the fastest
Changing sliding shoe when being positioned at latched position, the first inclined-plane and the second inclined-plane fit tightly；When quick replacement manually sliding shoe is positioned at unblock
During position, the first inclined-plane and the second inclined-plane are separated.
Flexible polishing angle grinder for robot end the most according to claim 1 and 2, its feature exists
In, described angle grinding machine clamping device, fix contiguous block, grinding machine upper end, angle contiguous block, angle grinding machine half including grinding machine top, angle
Round clasp, grinding machine lower end, angle contiguous block, angle grinding machine semicircle contiguous block；
Grinding machine upper end, angle contiguous block, grinding machine lower end, angle contiguous block, angle grinding machine semicircle contiguous block are solid with grinding machine top, angle respectively
Determine contiguous block to be fastenedly connected；
Angle grinding machine semicircle snap ring and angle grinding machine semicircle contiguous block clamp angle grinding machine jointly；
Grinding machine upper end, angle contiguous block, grinding machine lower end, angle contiguous block are fastenedly connected the upper end in angle grinding machine, lower end respectively.
Flexible polishing angle grinder for robot end the most according to claim 7, it is characterised in that
Grinding machine top, angle is fixed contiguous block and is fastenedly connected quick replacement manually contiguous block.
Flexible polishing angle grinder for robot end the most according to claim 1, it is characterised in that
The disk of angle grinding machine is perpendicular to the axis of flexible flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610414996.XA CN105904322B (en) | 2016-06-12 | 2016-06-12 | A kind of flexible polishing angle grinder for robot end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610414996.XA CN105904322B (en) | 2016-06-12 | 2016-06-12 | A kind of flexible polishing angle grinder for robot end |
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| Publication Number | Publication Date |
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| CN105904322A true CN105904322A (en) | 2016-08-31 |
| CN105904322B CN105904322B (en) | 2018-08-24 |
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| CN201610414996.XA Active CN105904322B (en) | 2016-06-12 | 2016-06-12 | A kind of flexible polishing angle grinder for robot end |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393131A (en) * | 2016-10-18 | 2017-02-15 | 上海工程技术大学 | Rope-driven grinding end effector with two freedom degrees |
| CN106695238A (en) * | 2017-02-28 | 2017-05-24 | 禹奕智能科技（上海）有限公司 | Force-control polishing tool for laser weld joint polishing |
| CN106926222A (en) * | 2017-04-28 | 2017-07-07 | 西安航空学院 | Apery dual-arm robot |
| CN107877315A (en) * | 2017-09-22 | 2018-04-06 | 南通职业大学 | End effector mechanism for rocket storage incubator surface polyurethane adiabatic layer of polishing |
| CN111941224A (en) * | 2020-08-25 | 2020-11-17 | 东北电力大学 | Mirka AOS-B-II type hand-held polishing equipment |
| CN113245782A (en) * | 2021-05-26 | 2021-08-13 | 德珂斯(江苏)自动化技术有限公司 | Multifunctional three-axis positioner for welding vehicle body |
| CN113618784A (en) * | 2021-08-26 | 2021-11-09 | 上海邦润精密机械有限公司 | Tool quick-change device for industrial robot end effector |
| CN114346883A (en) * | 2022-03-16 | 2022-04-15 | 禹奕智能科技(杭州)有限公司 | Automatic constant-force grinding and polishing device and method |
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| CN106695238A (en) * | 2017-02-28 | 2017-05-24 | 禹奕智能科技（上海）有限公司 | Force-control polishing tool for laser weld joint polishing |
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| CN113618784A (en) * | 2021-08-26 | 2021-11-09 | 上海邦润精密机械有限公司 | Tool quick-change device for industrial robot end effector |
| CN113618784B (en) * | 2021-08-26 | 2022-07-26 | 上海邦润精密机械有限公司 | Tool quick-change device for industrial robot end effector |
| CN114346883A (en) * | 2022-03-16 | 2022-04-15 | 禹奕智能科技(杭州)有限公司 | Automatic constant-force grinding and polishing device and method |
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| Publication number | Publication date |
|---|---|
| CN105904322B (en) | 2018-08-24 |
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