CN110355663A - A kind of variation rigidity grinding device - Google Patents
A kind of variation rigidity grinding device Download PDFInfo
- Publication number
- CN110355663A CN110355663A CN201910620429.3A CN201910620429A CN110355663A CN 110355663 A CN110355663 A CN 110355663A CN 201910620429 A CN201910620429 A CN 201910620429A CN 110355663 A CN110355663 A CN 110355663A
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- CN
- China
- Prior art keywords
- actuator
- connecting rod
- rigidity
- unit
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B24B27/00—Other grinding machines or devices
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
Abstract
The invention belongs to processing technique fields of polishing, and disclose a kind of variation rigidity grinding device, it includes pedestal, first adjusts unit, second adjusts unit and sanding unit, first, which adjusts unit and second, adjusts unit setting on the base, first adjusting unit includes that can export bidirectional-movement and adjustable first actuator of rigidity, one end is connected pedestal, the other end is hinged by first connecting rod and sanding unit, second adjusting unit includes that can export bidirectional-movement and adjustable second actuator of rigidity, one end is connected pedestal, the other end is hinged by second connecting rod and third connecting rod and sanding unit；By the position and direction of the movement adjustment sanding unit of the first actuator and the second actuator, by individually adjusting the rotational stiffness of two actuator stiffness equivalent sanding units, and the position stiffness of two actuator stiffness equivalent sanding units is adjusted simultaneously.The active that milling tools position, posture and rigidity can be achieved in the present invention is adjusted, and has many advantages, such as that structure is simple, easy to operate.
Description
Technical field
The invention belongs to processing technique fields of polishing, more particularly, to a kind of variation rigidity grinding device.
Background technique
In process, especially for high strength composite polishing process, due to processing discontinuity and plus
The Rigidity of work tool influences machining accuracy and workpiece surface quality, very so that can generate certain vibration in process
To the service life for reducing processing tool.Therefore, a kind of polishing platform with variation rigidity characteristic is designed for processing operation especially
Polishing processing operation is of great significance.
Patent CN201810035847.1 proposes a kind of telescopic grinding device, by spring to milling tools
Position and posture are finely adjusted, and have certain flexibility.But its structure is complicated, and can not position to milling tools, appearance
State and rigidity carry out active control.Therefore, it is necessary to studied, with obtain it is a kind of can position to milling tools, posture and
The grinding device of rigidity progress active control.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of variation rigidity grinding devices, lead to
Cross the active that two groups of setting can export bidirectional-movement and the adjustable actuator of rigidity realizes milling tools position, posture and rigidity
It adjusts, has many advantages, such as that structure is simple, it is easy to operate.
To achieve the above object, the invention proposes a kind of variation rigidity grinding devices comprising pedestal, first adjust list
Member, second adjust unit and sanding unit, wherein described first, which adjusts unit and second, adjusts unit setting on the base, should
First adjusting unit includes that can export bidirectional-movement and adjustable first actuator of rigidity, and one end of first actuator is connected
On the pedestal, the other end is hinged by first connecting rod and the sanding unit, which includes that can export
Bidirectional-movement and adjustable second actuator of rigidity, one end of second actuator are connected on the pedestal, the other end passes through
Second connecting rod and third connecting rod and the sanding unit are hinged；Pass through the movement of first actuator and the second actuator with this
The position and direction of sanding unit are adjusted, and the rigidity by individually adjusting the first actuator or the second actuator is to adjust polishing
The rotational stiffness of unit, and the first actuator is adjusted simultaneously and the rigidity of the second actuator is rigid with the position for adjusting sanding unit
Degree.
As it is further preferred that the sanding unit includes workbench and the polishing work being mounted on workbench
Tool, the workbench and first connecting rod, second connecting rod and third connecting rod are hinged.
As it is further preferred that being additionally provided with sensor on the workbench.
As it is further preferred that first actuator and the second actuator are preferably cylinder.
As it is further preferred that be provided with the first motion platform on first actuator, first moved by this
Platform and the first connecting rod are hinged.
As it is further preferred that be provided with the second motion platform on second actuator, second moved by this
Platform and the second connecting rod and third connecting rod are hinged.
As it is further preferred that the second connecting rod and third connecting rod are arranged in parallel or arranged in a crossed manner.
The first actuator and the second actuator be oriented to as it is further preferred that being additionally provided on the pedestal
Guide rail.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, mainly have below
Technological merit:
1. the present invention by be arranged two groups be connected with sanding unit can export bidirectional-movement and the adjustable execution of rigidity
Device realizes the active control of milling tools position, posture and rigidity, has many advantages, such as that structure is simple, easy to operate.
2. the present invention, to measure to obtain the vibration signal of workbench, can be believed by setting sensor with this according to the vibration
Number Optimal Stiffness is acquired, the rigidity of two actuators is adjusted with this, and then adjust the rigidity of milling tools, realize grinding device
The Optimum Matching of rigidity.
3. the present invention realizes hinged, the guarantee of actuator and connecting rod based on motion platform by two motion platforms of setting
The reliability of connection and the stability of movement.
4. second connecting rod and third connecting rod are provided between workbench and the second motion platform of the invention, to guarantee to connect
The stability of the reliability and movement that connect, and two connecting rods are arranged in parallel or the stability arranged in a crossed manner to be further ensured that adjusting.
5. being additionally provided with guide rail on pedestal of the invention, to realize the reliable guiding of actuator, prevent actuator from moving
Shaking in the process guarantees the precision adjusted.
Detailed description of the invention
Fig. 1 is the overall structure diagram of variation rigidity grinding device provided in an embodiment of the present invention；
Fig. 2 is the main view of variation rigidity grinding device provided in an embodiment of the present invention.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1- pedestal, the first guide rail of 2-, the first actuator of 3-, 4- hinge, the first motion platform of 5-, 6- first connecting rod, 7- work
Make platform, 8- milling tools, 9- sensor, 10- second connecting rod, 11- third connecting rod, the second motion platform of 12-, 13- second holds
Row device, the second guide rail of 14-.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in Figure 1, the embodiment of the invention provides a kind of variation rigidity grinding devices comprising pedestal 1, first adjusts single
Member, second adjust unit and sanding unit, wherein first, which adjusts unit and second, adjusts unit setting on pedestal 1, this first
Adjusting unit includes that can export bidirectional-movement and adjustable first actuator 3 of rigidity, and one end of first actuator 3 is connected in
On pedestal 1, the other end by first connecting rod 6 and sanding unit it is hinged (i.e. the both ends of first connecting rod respectively with the first actuator and
Sanding unit is hinged), this second adjusts unit with first to adjust the structure of unit identical, including can export bidirectional-movement and rigid
Adjustable second actuator 13 is spent, one end of second actuator 13 is connected on pedestal 1, and the other end passes through 10 He of second connecting rod
Hinged (the i.e. both ends of second connecting rod hinged, the third with the second actuator and sanding unit respectively of third connecting rod 11 and sanding unit
The both ends of connecting rod are hinged with the second actuator and sanding unit respectively), since the first actuator 3 and the second actuator 13 can be defeated
Bidirectional-movement and rigidity is adjustable out, therefore can be (referring to Fig.1, double by the bidirectional-movement of the first actuator 3 and the second actuator 13
To movement to move up and down) position and direction of adjustment sanding unit, and it can be by individually adjusting the first actuator 3 or the second
The rigidity of actuator 13 is to adjust the rotational stiffness of sanding unit.Specifically, being held by individually increasing the first actuator 3 or the second
The rigidity of row device 13 is to increase the rotational stiffness of sanding unit, if only one actuator rigidity increases, when sanding unit by
When power, what that big side of rigidity retracted lacks, that small side of rigidity retracts more, and sanding unit will be big around rigidity
The rotation of that side, therefore the adjustable sanding unit of rigidity by individually adjusting the first actuator 3 or the second actuator 13
Rotational stiffness.It can also be by adjusting the rigidity of the first actuator 3 and the second actuator 13 simultaneously to adjust the position of sanding unit
Rigidity, specifically, by simultaneously increase the first actuator 3 and the second actuator 13 rigidity it is rigid with the position for increasing sanding unit
Degree, if the rigidity of two actuators all increases, when sanding unit stress, two sides all can slightly bounce back, and retract away from
Deviation is few, and change in location is small, i.e., position stiffness becomes larger, therefore adjusts the rigidity of the first actuator 3 and the second actuator 13 simultaneously
The position stiffness of adjustable sanding unit.
Specifically, sanding unit includes workbench 7 and the milling tools being mounted on workbench 78, the work is flat
Platform 7 and first connecting rod 6, second connecting rod 10 and third connecting rod 11 are hinged, and the movement of the first actuator 3 can be through first connecting rod 6 and work
Make platform 7 and pass to milling tools 8, so that the position and direction of milling tools 8 realize adjustment, and can be executed by adjusting first
The rigidity of device 3 and then the adjustment for realizing 8 rigidity of milling tools, such as the rigidity by increasing the first actuator 3 is to improve polishing
The rigidity of tool.The movement of second actuator 13 passes to milling tools through second connecting rod 10, third connecting rod 11 and workbench 7
8, so that the position and direction of milling tools 8 realize adjustment, and it can realize in turn and beat by adjusting the rigidity of the second actuator 13
Grinder has the adjustment of 8 rigidity, such as the rigidity by increasing the second actuator 13 to improve the rigidity of milling tools.
In a preferred embodiment, it accurately controls and adjusts to realize, be additionally provided with sensor 9 on workbench 7,
The measurement of sensor 9 obtains the vibration signal of workbench 7, and the Optimal Stiffness of system is acquired by Rigidity Matching, optimal based on this
The rigidity of stiffness change the first actuator 3 and the second actuator 13 realizes system stiffness most to adjust the rigidity of milling tools 8
Excellent matching.
In a preferred embodiment, the first actuator 3 and the second actuator 13 are preferably cylinder, by adjusting two cylinders
Flexible, the position and direction of adjustable milling tools 8 of piston rod, by adjusting air pressure in two cylinders big minor adjustment its just
Degree, and then adjust the rigidity of milling tools 8.Referring to fig. 2, cylinder include cylinder body, positioned at cylinder interior piston and with piston phase
Piston rod even, the bottom that piston rod passes through cylinder body are connected with pedestal, are opened up on cylinder body there are two air inlet, two air inlets divide
Set on the upper and lower ends of piston, respectively enterprising port and lower air inlet, with this by being passed through gas from enterprising port, so that cylinder
Chamber pressure of the intracorporeal site above piston becomes larger, and then moves up cylinder body, by being passed through gas from lower air inlet, makes
It obtains the chamber pressure that cylinder interior is located at below piston to become larger, and then moves down cylinder body, realize that bidirectional-movement exports with this.
In a preferred embodiment, it is provided with the first motion platform 5 on the first actuator 3, first is moved by this
Platform 5 and first connecting rod 6 are hinged, i.e. one end of first connecting rod 6 and the first motion platform 5 is hinged, and the other end and workbench 7 are cut with scissors
It connects, the present invention is made between the first actuator and sanding unit by the way that platform (including the first motion platform 5 and workbench 7) is arranged
Connection it is more reliable, power transmitting it is more stable.Specifically, the both ends of first connecting rod 6 pass through hinge 4 and the first motion platform 5 and work
Make platform 7 to realize hingedly, revolute pair is formed by hinge, can also be replaced by flexible joint etc..
In a preferred embodiment, it is provided with the second motion platform 12 on the second actuator 13, second is transported by this
Moving platform 12 and second connecting rod 10 and third connecting rod 11 are hinged, i.e. one end of second connecting rod 10 and the second motion platform 12 is hinged,
The other end and workbench 7 are hinged, and one end of third connecting rod 11 and the second motion platform 12 are hinged, the other end and workbench 7
Hingedly, the present invention makes the second actuator and polishing single by the way that platform (including the second motion platform 12 and workbench 7) is arranged
Connection between member is more reliable, and power transmitting is more stable.Specifically, the both ends of second connecting rod 10 pass through hinge 4 and the second motion platform
12 and workbench 7 realize hingedly.The both ends of third connecting rod 11 are real by hinge 4 and the second motion platform 12 and workbench 7
It is now hinged.
The first motion platform 5 is connected on the first actuator 3 as a result, and the second motion platform 12 is connected to the second actuator
On 13, the first actuator 3 and the second actuator 13 can carry out position to the first motion platform 5 and the second motion platform 12 respectively
And stiffness reliability, and by the position of the position and stiffness tuning workbench 7 of the first motion platform 5 and the second motion platform 12,
Direction and rigidity realize that the position, direction of milling tools and the adjusting of rigidity, workbench 7 are mountable on workbench 7 with this
A plurality of types of milling tools 8, or other kinds of machining tool can also be installed.
In a preferred embodiment, second connecting rod 10 and third connecting rod 11 are arranged in parallel to form quadrilateral structure, the
Two connecting rods 10 and third connecting rod 11 are arranged in a crossed manner to form anti-quadrilateral structure.Specifically, connecting on the second motion platform 12
The installation site of the hinge of three-link 11 is adjustable, is carried out with the quadrilateral structure to second connecting rod 10 and the formation of third connecting rod 11
It adjusts, which includes but are not limited to multiple bolts or threaded mounting hole position or the guide rail that can fix slide position.
In a preferred embodiment, it is additionally provided on pedestal 1 and first actuator 3 and the second actuator 13 is oriented to
Guide rail, specifically include the first guide rail 2 and the second guide rail 14, the first actuator 3 realizes sliding by sliding block and the first guide rail 2
Cooperation, the cylinder body of specific cylinder are slidably matched by sliding block and the realization of the first guide rail 2, and the second actuator 13 passes through sliding block and the
The realization of two guide rails 14 is slidably matched, and the cylinder body of specific cylinder is slidably matched by sliding block and the realization of the first guide rail 2, is made with this
First actuator 3 and the second actuator 13 realize guiding when transporting function, prevent actuator from shaking, influence precision.
When work, the first actuator 3 pushes the movement of the first motion platform 5, and the second actuator 13 pushes the second motion platform
12 movements, by adjusting the position and side of the adjustable workbench 7 in position of the first motion platform 5 and the second motion platform 12
To, and then the position and direction of milling tools on workbench are adjusted, by individually increasing the first actuator 3 or the second actuator
13 rigidity improves the rotational stiffness of milling tools 8, by increasing the rigidity of the first actuator 3 and the second actuator 13 simultaneously,
Improve the position stiffness of milling tools 8.During adjusting, is preferably measured by sensor 9 and obtain the vibration letter of workbench 7
Number, and the Optimal Stiffness of grinding device is acquired according to the vibration signal by Rigidity Matching, it is then based on Optimal Stiffness change
The rigidity of first actuator 3 and the second actuator 13 to adjust the rigidity of milling tools 8, and then realizes grinding device rigidity
Optimum Matching.The specific Rigidity Matching that how to pass through is the prior art, does not go to live in the household of one's in-laws on getting married herein to obtain Optimal Stiffness according to vibration signal
It states.
Effective control to grinding device rigidity can be achieved in the present invention, actively adjusts the position of grinding device, posture and rigid
Degree.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (8)
1. a kind of variation rigidity grinding device, which is characterized in that including pedestal (1), the first adjusting unit, the second adjusting unit and beat
Grind unit, wherein described first, which adjusts unit and second, adjusts unit setting on pedestal (1), which includes
Bidirectional-movement and adjustable first actuator (3) of rigidity can be exported, one end of first actuator (3) is connected in the pedestal
(1) on, the other end is hinged by first connecting rod (6) and the sanding unit, and the second adjusting unit is two-way including that can export
Movement and adjustable second actuator (13) of rigidity, one end of second actuator (13) is connected on the pedestal (1), another
End is hinged by second connecting rod (10) and third connecting rod (11) and the sanding unit；Pass through first actuator (3) with this
With the second actuator (13) movement adjustment sanding unit position and direction, and by individually adjust the first actuator (3) or
The rigidity of second actuator (13) is to adjust the rotational stiffness of sanding unit, and adjusts the first actuator (3) and second simultaneously
The rigidity of actuator (13) is to adjust the position stiffness of sanding unit.
2. variation rigidity grinding device as described in claim 1, which is characterized in that the sanding unit includes workbench (7)
And be mounted on the milling tools (8) on workbench (7), the workbench (7) and first connecting rod (6), second connecting rod (10) and
Third connecting rod (11) is hinged.
3. variation rigidity grinding device as claimed in claim 2, which is characterized in that be additionally provided with biography on the workbench (7)
Sensor (9).
4. variation rigidity grinding device as described in claim 1, which is characterized in that first actuator (3) and second executes
Device (13) is preferably cylinder.
5. variation rigidity grinding device as described in claim 1, which is characterized in that be provided on first actuator (3)
One motion platform (5), it is hinged by first motion platform (5) and the first connecting rod (6).
6. variation rigidity grinding device as described in any one in claim 1-5, which is characterized in that on second actuator (13)
The second motion platform (12) are provided with, second motion platform (12) and the second connecting rod (10) and third connecting rod are passed through
(11) hinged.
7. variation rigidity grinding device as claimed in any one of claims 1 to 6, which is characterized in that the second connecting rod (10) and
Three-link (11) is arranged in parallel or arranged in a crossed manner.
8. such as the described in any item variation rigidity grinding devices of claim 1-7, which is characterized in that also set up on the pedestal (1)
There is the guide rail being oriented to the first actuator (3) and the second actuator (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910620429.3A CN110355663B (en) | 2019-07-10 | 2019-07-10 | Variable-rigidity grinding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910620429.3A CN110355663B (en) | 2019-07-10 | 2019-07-10 | Variable-rigidity grinding device |
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| Publication Number | Publication Date |
|---|---|
| CN110355663A true CN110355663A (en) | 2019-10-22 |
| CN110355663B CN110355663B (en) | 2020-12-18 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910620429.3A Active CN110355663B (en) | 2019-07-10 | 2019-07-10 | Variable-rigidity grinding device |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0819973A (en) * | 1994-07-04 | 1996-01-23 | Mizuyori Kumamoto | Two-articulated arm mechanism provided with two articlar simultaneous driving source and its motion control method |
| CN103029139A (en) * | 2013-01-15 | 2013-04-10 | 北京航空航天大学 | Flexible mechanical arm vibration reduction device and method based on magneto-rheological technology |
| CN103978393A (en) * | 2014-05-07 | 2014-08-13 | 天津大学 | Parallel machine tool capable of realizing five-axis processing |
| CN105643593A (en) * | 2014-11-07 | 2016-06-08 | 江南大学 | (3T)&2R five-degree-of-freedom decoupling parallel-series connection mechanism |
| CN107243920A (en) * | 2017-05-18 | 2017-10-13 | 武汉理工大学 | A kind of variation rigidity service-delivery machine person joint |
| CN107243921A (en) * | 2017-06-14 | 2017-10-13 | 东北大学 | A kind of waist joint for anthropomorphic robot |
| CN108044613A (en) * | 2017-11-29 | 2018-05-18 | 上海交通大学 | Flexible pneumatic unit is connected mechanical arm with multiple-unit |
| CN108544532A (en) * | 2018-04-13 | 2018-09-18 | 东北大学 | A kind of apery mechanical arm |
-
2019
- 2019-07-10 CN CN201910620429.3A patent/CN110355663B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0819973A (en) * | 1994-07-04 | 1996-01-23 | Mizuyori Kumamoto | Two-articulated arm mechanism provided with two articlar simultaneous driving source and its motion control method |
| CN103029139A (en) * | 2013-01-15 | 2013-04-10 | 北京航空航天大学 | Flexible mechanical arm vibration reduction device and method based on magneto-rheological technology |
| CN103978393A (en) * | 2014-05-07 | 2014-08-13 | 天津大学 | Parallel machine tool capable of realizing five-axis processing |
| CN105643593A (en) * | 2014-11-07 | 2016-06-08 | 江南大学 | (3T)&2R five-degree-of-freedom decoupling parallel-series connection mechanism |
| CN107243920A (en) * | 2017-05-18 | 2017-10-13 | 武汉理工大学 | A kind of variation rigidity service-delivery machine person joint |
| CN107243921A (en) * | 2017-06-14 | 2017-10-13 | 东北大学 | A kind of waist joint for anthropomorphic robot |
| CN108044613A (en) * | 2017-11-29 | 2018-05-18 | 上海交通大学 | Flexible pneumatic unit is connected mechanical arm with multiple-unit |
| CN108544532A (en) * | 2018-04-13 | 2018-09-18 | 东北大学 | A kind of apery mechanical arm |
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