CN105904322B - A kind of flexible polishing angle grinder for robot end - Google Patents
A kind of flexible polishing angle grinder for robot end Download PDFInfo
- Publication number
- CN105904322B CN105904322B CN201610414996.XA CN201610414996A CN105904322B CN 105904322 B CN105904322 B CN 105904322B CN 201610414996 A CN201610414996 A CN 201610414996A CN 105904322 B CN105904322 B CN 105904322B
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- Prior art keywords
- quick replacement
- angle grinder
- replacement manually
- manually
- block
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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 present invention provides a kind of flexible polishing angle grinders for robot end, including end flange, flexible flange, quick replacement manually device, angle grinder clamping device, angle grinder；The other end of one end of end flanged joint flexible flange, flexible flange connects quick replacement manually device；Angle grinder is removably installed on quick replacement manually device by angle grinder clamping device.Present invention would apply to artificial angle grinders to be applied on six axis of robot, and introduce flexible flange ACF, realize that robot substitutes manual polishing, solve Health cost of the live adverse circumstances of polishing to worker.Simultaneously to polishing normal force real time monitoring, flexible flange can real-time adaptive it is flexible, the polishing power kept constant.The gait of march and polishing power that robot can also be adjusted in real time, realize according to different workpieces, material, and abrasive material sets best technical recipe, improves grinding efficiency, reduces cost, extends tool life, ensure the polishing quality of consistent high-quality.
Description
Technical field
The present invention relates to angle grinders, and in particular, to a kind of flexible polishing angle grinder for robot end.
Background technology
Angle grinder is widely used in the polishing processing of outer surface of workpiece, in process of actually polishing, angle grinder base
This dependence is manually polished, great work intensity, bad environments, damages worker's health, and grinding workpieces quality is very big
Proficiency of workers are relied in degree, homogeneity of product is poor after polishing.There are no a exclusively for applied to machine for market at present
The angle grinder of six axis of device people polishing production.
Current industrial robot equally works without image of Buddha people, perceives the variation of machining status in real time and adjusts in real time
Technique.After robot working procedure setting, processing of robots track is fixed, and there are tolerances for workpiece, in clamping fixation procedure
There are errors, and if it is positive error, angle grinder stress can increase, and rotating speed can reduce, or even can stall, serious stress mistake
Greatly, the alarm of robot load excessive can be caused to shut down；If it is reversed error, then polishing is caused to kick the beam even polishing less than work
Part.The present invention solves the above problem well, and industrial robot is allowed to work by the processing program of setting, polishing of the invention dress
The variation for capableing of adaptive operating mode is set, variation in real time adjusts technological parameter, and the response of more than people fast and stable.According to
Actual processing situation sets best technique for grinding formula, is effectively improved grinding efficiency, reduces polishing consumables cost, prolongs
Long tool life ensures the polishing quality of consistent high-quality.The parameter in bruting process is recorded by control system to become
Change, the extensive style of manual polishing can be promoted to process the transformation processed to the lean of automation with analysis optimization technical recipe, for not
It lays the foundation toward intelligent machining to automate processing.And worker is freed in the work of bad environments from heavy.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of flexible polishing angles for robot end
Grinder.
According to a kind of flexible polishing angle grinder for robot end provided by the invention, including end flange,
Flexible flange, quick replacement manually device, angle grinder clamping device, angle grinder；
End flange connects one end of flexible flange, and the other end of flexible flange connects quick replacement manually device；
Angle grinder is removably installed on quick replacement manually device by angle grinder clamping device.
Preferably, concave block, quick replacement manually in the quick replacement manually device, including quick replacement manually feeding bolt, quick replacement manually
Sliding shoe, quick replacement manually link block；
One end of quick replacement manually feeding bolt is located at the outside of concave block in quick replacement manually, and quick replacement manually feeds the another of bolt
End is located at the inside of concave block in quick replacement manually, and connects quick replacement manually sliding shoe；
Quick replacement manually sliding shoe can slide between locked and unlocked positions；
When quick replacement manually sliding shoe is located at latched position, quick replacement manually sliding shoe can be common with concave block in quick replacement manually
Clamp quick replacement manually link block；
When quick replacement manually sliding shoe is located at unlocked position, quick replacement manually link block is not by quick replacement manually sliding shoe and manually
The clamping of concave block in quick change.
Preferably, quick replacement manually sliding shoe can only slide along a straight line.
Preferably, the quick replacement manually device further includes being located on the left of the quick replacement manually in quick replacement manually inside concave block to lead
Guide fixed block on the right side of to fixed block, quick replacement manually；
Guide fixed block, quick replacement manually right side guide fixed block are located at the two of quick replacement manually sliding shoe on the left of quick replacement manually
Side, to form guiding sliding rail；
Quick replacement manually sliding shoe is slided along the guiding sliding rail.
Preferably, concave block is provided through bolt hole in quick replacement manually, and quick replacement manually feeds bolt by quick replacement manually indent
The outside of block extends into the inside of concave block in quick replacement manually across bolt hole.
Preferably, protrusion is extended in one end of concave block along normal direction in quick replacement manually, and quick replacement manually sliding shoe is towards described convex
The one end in portion is provided with the first inclined-plane, and one end of quick replacement manually link block opposite lug is provided with and the first inclined-plane matched second
Inclined-plane；When quick replacement manually sliding shoe is located at latched position, the first inclined-plane is fitted closely with the second inclined-plane；When quick replacement manually slides
When block is located at unlocked position, the first inclined-plane and the second inclined-plane are separated.
Preferably, the angle grinder clamping device, including angle grinder top be fixedly connected block, angle grinder upper end link block,
Angle grinder semicircle snap ring, angle grinder lower end link block, angle grinder semicircle link block；
Angle grinder upper end link block, angle grinder lower end link block, angle grinder semicircle link block respectively with angle grinder top
Block is fixedly connected with to be fastenedly connected；
Angle grinder semicircle snap ring clamps angle grinder jointly with angle grinder semicircle link block；
Angle grinder upper end link block, angle grinder lower end link block are fastenedly connected respectively in the upper end of angle grinder, lower end.
Preferably, angle grinder top is fixedly connected with block and is fastenedly connected quick replacement manually link block.
Preferably, axis of the disk of angle grinder perpendicular to flexible flange.
Compared with prior art, the present invention has following advantageous effect：
Present invention would apply to artificial angle grinders to be applied on six axis of robot, and introduce flexible flange ACF, real
Existing robot substitutes artificial efficient high-quality automation polishing, solves Health cost of the live adverse circumstances of polishing to worker.It should
Device is to polishing normal force real time monitoring, and when the polishing power of actual loading and setting is inconsistent, flexible flange can be in real time
Self-adapting stretching, the polishing power kept constant.Solves the matching of robot fixed machining locus and workpiece tolerance well
Problem maintains stable technique for grinding parameter, while can adjust the gait of march and polishing power of robot in real time, realizes root
According to different workpieces, material, abrasive material sets best technical recipe, greatly improves grinding efficiency, reduces polishing consumables cost,
Extend tool life, ensures the polishing quality of consistent high-quality.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the overall structure diagram provided by the present invention for the flexible polishing angle grinder of robot end.
Fig. 2 is the explosive view provided by the present invention for the flexible polishing angle grinder of robot end.
Fig. 3 is the quick-fried of quick replacement manually device in the flexible polishing angle grinder provided by the present invention for robot end
Fried figure.
Fig. 4 is angle grinder clamping device in the flexible polishing angle grinder provided by the present invention for robot end
Explosive view.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection domain.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 4, provided by the present invention for the flexible polishing angle grinder dress of robot end
Set including connect with robot end's (such as six axis) end flange 1, flexible flange 2, quick replacement manually feeding bolt 3, manually
Concave block 4 in quick change, quick replacement manually sliding shoe 5, guide fixed block 6 on the left of quick replacement manually, guide fixed block 7 on the right side of quick replacement manually,
Angle grinder top is fixedly connected under block 8, angle grinder upper end link block 9, angle grinder 10, angle grinder semicircle snap ring 11, angle grinder
Hold link block 12, angle grinder semicircle link block 13, quick replacement manually link block 14, the end flange 1 being connect with robot end
Be bolted between robot six axis, pass through spiral shell between the end flange 1 and flexible flange 2 of robot six axis connection
Bolt nut connects, and is located by connecting by bolt hole between concave block 4 in quick replacement manually feeding bolt 3 and quick replacement manually, quick replacement manually
It is bolted between concave block 4 in left side guide fixed block 6, quick replacement manually right side guide fixed block 7 and quick replacement manually, manually
Quick change sliding shoe 5 is assemblied in quick replacement manually by guide fixed block 6, quick replacement manually right side guide fixed block 7 on the left of quick replacement manually
It can move in interior concave block 4 and along the both direction on straight line, quick replacement manually link block 14 is pacified by quick replacement manually sliding shoe 5
In concave block in quick replacement manually 4, angle grinder top is fixedly connected between block 8 and quick replacement manually link block 14 to be connected by bolt
Connect, angle grinder upper end link block 9, angle grinder lower end link block 12, angle grinder semicircle link block 13 respectively with angle grinder top
It is fixedly connected between block 8 and is bolted, angle grinder upper end link block 9, angle grinder lower end link block 12 are ground with angle respectively
It is bolted between machine 10, is connected by bolt between angle grinder semicircle snap ring 11 and angle grinder semicircle link block 13
It connects.
Concave block 4, quick replacement manually sliding shoe 5, quick replacement manually left side fixed guide in quick replacement manually feeding bolt 3, quick replacement manually
Determine block 6, quick replacement manually right side guide fixed block 7 and quick replacement manually link block 14 and forms a quick replacement manually device, it is fast manually
Guide fixed block 6, quick replacement manually right side guide fixed block 7 are bolted in quick replacement manually in concave block 4 on the left of changing, and are passed through
The guiding of guide fixed block 6 and quick replacement manually right side guide fixed block 7 is fixed on the left of quick replacement manually, and quick replacement manually sliding shoe 5 is logical
Crossing quick replacement manually feeding bolt 3 can move back and forth in quick replacement manually in concave block 4, pass through the reciprocal of quick replacement manually sliding shoe 5
Movement can lock quick replacement manually link block 14 in quick replacement manually in concave block 4, i.e., feed bolt 3 by turning quick replacement manually
Fast Installation and the dismounting of angle grinder can be realized.Angle grinder top is fixedly connected with block 8, angle grinder upper end link block 9, angle grinder
Semicircle snap ring 11, angle grinder lower end link block 12 and angle grinder semicircle link block 13 form an angle grinder clamping dress
It sets, angle grinder can be fixed by the angle grinder clamping device and lock in 2 lower end of flexible flange and ensure that angle grinder does not occur
Sliding and deflection can ensure axis of the angle grinder disk perpendicular to flexible flange 2 by angle grinder clamping device, convenient to beat
Polishing power is controlled and aligns shifting during mill and is compensated.
Protrusion 15 is extended in one end of concave block 4 along normal direction in quick replacement manually, and quick replacement manually sliding shoe 5 is towards the protrusion 15
One end be provided with the first inclined-plane 16, one end of 14 opposite lug 15 of quick replacement manually link block is provided with to be matched with the first inclined-plane 16
The second inclined-plane 17；When quick replacement manually sliding shoe 5 is located at latched position, the first inclined-plane 16 is fitted closely with the second inclined-plane 17；
When quick replacement manually sliding shoe 5 is located 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 adaptive engagement flange are a energy
Robot end tool gimmick orchid and the constant equipment of work pieces process contact surface contact force are enough kept, based on pneumatic, analog quantity control
System, high-precision and highly sensitive control can ensure that the blue contact force between machined surface of tool gimmick is controlled in ± 1N
Within, especially suitable for the application scenarios such as polishing, polishing.According to different type selectings, pressure limit is chosen as 0-100N or 0-
500N, stretch stroke optional 35.5mm, 48mm, 98mm etc., and optional band gravity sensing sensor is to overcome its own gravity, to suitable
Answer the application of arbitrary machining angle.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the absence of conflict, the feature in embodiments herein and embodiment can arbitrary phase
Mutually combination.
Claims (8)
1. a kind of flexible polishing angle grinder for robot end, which is characterized in that including end flange, flexibility method
Orchid, quick replacement manually device, angle grinder clamping device, angle grinder；
End flange connects one end of flexible flange, and the other end of flexible flange connects quick replacement manually device；
Angle grinder is removably installed on quick replacement manually device by angle grinder clamping device；
Flexible flange keeps end flange and work pieces process contact surface contact force constant；
Flexible flange band gravity sensing sensor is to overcome its own gravity, to adapt to arbitrary machining angle；
The quick replacement manually device, including quick replacement manually feeding bolt, concave block in quick replacement manually, quick replacement manually sliding shoe, manually
Quick change link block；
One end of quick replacement manually feeding bolt is located at the outside of concave block in quick replacement manually, and quick replacement manually feeds the other end position of bolt
In the inside of concave block in quick replacement manually, and connect quick replacement manually sliding shoe；
Quick replacement manually sliding shoe can slide between locked and unlocked positions；
When quick replacement manually sliding shoe is located at latched position, quick replacement manually sliding shoe can be clamped jointly with concave block in quick replacement manually
Firmly quick replacement manually link block；
When quick replacement manually sliding shoe is located at unlocked position, quick replacement manually link block is not by quick replacement manually sliding shoe and quick replacement manually
The clamping of interior concave block.
2. the flexible polishing angle grinder according to claim 1 for robot end, which is characterized in that fast manually
Changing sliding shoe can only slide along a straight line.
3. the flexible polishing angle grinder according to claim 1 for robot end, which is characterized in that the hand
Dynamic fast replacing device further includes being located at guide fixed block on the left of the quick replacement manually in quick replacement manually inside concave block, on the right side of quick replacement manually
Guide fixed block；
Guide fixed block, quick replacement manually right side guide fixed block are located at the both sides of quick replacement manually sliding shoe on the left of quick replacement manually, with
It is formed and is oriented to sliding rail；
Quick replacement manually sliding shoe is slided along the guiding sliding rail.
4. the flexible polishing angle grinder according to claim 1 for robot end, which is characterized in that fast manually
It changes interior concave block and is provided through bolt hole, quick replacement manually feeds bolt and extended across bolt hole by the outside of concave block in quick replacement manually
Enter the inside of concave block in quick replacement manually.
5. the flexible polishing angle grinder according to claim 1 for robot end, which is characterized in that fast manually
Protrusion is extended in the one end for changing interior concave block along normal direction, and one end of quick replacement manually sliding shoe towards the protrusion is provided with first tiltedly
The one end in face, quick replacement manually link block opposite lug is provided with and matched second inclined-plane in the first inclined-plane；When quick replacement manually slides
When block is located at latched position, the first inclined-plane is fitted closely with the second inclined-plane；When quick replacement manually sliding shoe is located at unlocked position, the
One inclined-plane and the second inclined-plane are separated.
6. the flexible polishing angle grinder according to claim 2 for robot end, which is characterized in that the angle
Grinding machine clamping device, including angle grinder top are fixedly connected with block, angle grinder upper end link block, angle grinder semicircle snap ring, angle mill
Machine lower end link block, angle grinder semicircle link block；
Angle grinder upper end link block, angle grinder lower end link block, angle grinder semicircle link block are fixed with angle grinder top respectively
Link block is fastenedly connected；
Angle grinder semicircle snap ring clamps angle grinder jointly with angle grinder semicircle link block；
Angle grinder upper end link block, angle grinder lower end link block are fastenedly connected respectively in the upper end of angle grinder, lower end.
7. the flexible polishing angle grinder according to claim 6 for robot end, which is characterized in that angle grinder
Top is fixedly connected with block and is fastenedly connected quick replacement manually link block.
8. the flexible polishing angle grinder according to claim 1 for robot end, which is characterized in that angle grinder
Disk perpendicular to flexible flange axis.
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 CN105904322A (en) | 2016-08-31 |
| CN105904322B true 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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| 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 |
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| 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 |
| CN111941224B (en) * | 2020-08-25 | 2022-03-04 | 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 |
| 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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| CN105904322A (en) | 2016-08-31 |
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