CN110450052B - Polishing robot main shaft floating mechanism - Google Patents
Polishing robot main shaft floating mechanism Download PDFInfo
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- CN110450052B CN110450052B CN201910733798.3A CN201910733798A CN110450052B CN 110450052 B CN110450052 B CN 110450052B CN 201910733798 A CN201910733798 A CN 201910733798A CN 110450052 B CN110450052 B CN 110450052B
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- Prior art keywords
- permanent magnet
- polishing
- cutter
- spindle motor
- grinding
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- 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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Abstract
The invention relates to a main shaft floating mechanism of a polishing robot. The polishing robot spindle floating mechanism comprises a spindle motor, a spacer bush, a centripetal joint bearing, an axial floating shell, a fixed shell, an axial floating spring, a rod end joint bearing, a base plate, a first permanent magnet, a second permanent magnet, a polishing cutter and the like; when the cutting amount is larger than a rated value and the external force applied to the polishing cutter is larger than the spring force of the axial floating spring, the spindle motor compresses the axial floating spring through the base plate, so that the polishing cutter can be effectively prevented from being damaged by the excessive external force; radial floating mainly depends on the repulsion effect between first permanent magnet and the second permanent magnet, and the permanent magnet air gap is floated and is changed to make the cutter of polishing can laminate the foundry goods of complicated surface or inner chamber structure and polish, can not cause the local too much of cutting that has and the local cutting that has not, effectively guarantee the cutter of polishing and the stable contact in foundry goods surface, thereby effectively improve production quality, reduction in production cost, the practicality is strong.
Description
Technical Field
The invention relates to a polishing device, in particular to a spindle floating mechanism of a polishing robot.
Background
In order to improve the grinding efficiency and reduce the production cost of the castings produced in batch and avoid the harm of metal dust to grinding workers, the castings produced in batch are usually ground and polished by a grinding robot instead of workers. When ordinary burnishing and polishing equipment was in the burnishing and polishing operation, when the head of polishing need be changed, all track points of industrial robot all need recalibrate, waste time and energy. In addition, to the foundry goods of complicated surface or inner chamber structure, there are a plurality of slope inclined planes of taking or recess, when the cutter can not pinpoint, the original programming orbit of manipulator can not adjust in time again, the condition that the cutter of polishing often can appear if leave or this many more and less often on the workpiece surface, cause some place to cut too much and some place to cut on, the polishing degree of depth and the poor control of degree of depth to the foundry goods of in-process of polishing, very easily cause the tool bit to damage, seriously influence the effect of polishing, the practicality is very poor.
For the novel grinding and polishing equipment, the grinding main shaft adopts a floating structure, so that the problem of poor grinding effect of castings with complex surfaces or inner cavity structures is solved. Application number 201910224026.7 provides an all-round main shaft device that polishes that floats, adopts spring machinery floating structure, can realize that the main shaft is radial and the all-round unsteady of axial to can avoid injuring the problem that work piece or cutter damaged. But the radial floating of the main shaft adopts spring force, and when the reciprocating frequency is higher, fatigue damage is easy to generate, so that the spring fails.
Disclosure of Invention
The invention aims to provide a polishing robot spindle floating mechanism which can realize all-dimensional floating compensation in the radial direction and the axial direction and realize high-efficiency and high-quality polishing on castings with complex surfaces or inner cavity structures.
The technical scheme adopted by the invention for solving the technical problems is as follows: the main shaft floating mechanism of the polishing robot is designed and comprises a main shaft motor, a spacer bush, a radial spherical plain bearing, an axial floating shell, a fixed shell, a supporting plate, an axial floating spring, a rod end spherical plain bearing, a base plate, a permanent magnet supporting plate, a first permanent magnet, a second permanent magnet, a first permanent magnet fixing plate, a second permanent magnet fixing plate, a locking ring, a polishing cutter and the like. A spacer bush is arranged on the outer side of the spindle motor, a radial spherical plain bearing is arranged between the spacer bush and the axial floating shell, and the radial spherical plain bearing is fixedly connected with the spacer bush through a locking ring; the front end of the spindle motor is connected with a polishing cutter; the number of the first permanent magnets and the second permanent magnets can be flexibly changed by a person skilled in the art according to actual needs.
The first permanent magnet is fixedly connected with the permanent magnet supporting plate through the first permanent magnet fixing plate, and the permanent magnet supporting plate is fixedly connected with the spindle motor; the second permanent magnet is fixedly connected with the spacer bush through a second permanent magnet fixing plate; the permanent magnet supporting plate is fixedly connected with the axial floating shell through the supporting plate; the bottom end of the spindle motor is fixedly connected with the backing plate through a rod end joint bearing; an axial floating spring is arranged between the backing plate and the fixed shell; when the grinding cutting amount is larger than the rated value and the external force applied to the grinding cutter is larger than the spring force of the axial floating spring, the spindle motor compresses the axial floating spring through the base plate, and the grinding cutter is protected from being damaged by the excessive external force.
The first permanent magnet and the second permanent magnet are arranged around the spindle motor in pairs; the N pole of the first permanent magnet and the N pole of the second permanent magnet are oppositely arranged to form a repulsive force, and the repulsive force between the first permanent magnet and the second permanent magnet is increased along with the reduction of the air gap of the permanent magnets; when the casting is polished, when a polishing cutter contacts with the convex part of the casting, the polishing cutting amount is increased, the external force action on the polishing cutter is increased, at the moment, the spindle motor rotates for a certain angle through the centripetal joint bearing under the action of the external force, and simultaneously drives the spacer bush to compress the air gap between the first permanent magnet and the second permanent magnet, so that the convex part of the casting is polished; when the grinding cutter contacts the concave part of the casting, the grinding cutting amount is reduced, the external force action on the grinding cutter is reduced, the air gap of the permanent magnet is increased under the action of repulsion force of the first permanent magnet and the second permanent magnet, and the concave part of the casting is ground; after burrs and flash are polished, the external force of the polishing cutter disappears, and the polishing cutter automatically resets to the original position under the action of the repulsive force between the first permanent magnet and the second permanent magnet.
The invention has the beneficial effects that: according to the polishing robot spindle floating mechanism, radial floating mainly depends on the repulsive force effect between the first permanent magnet and the second permanent magnet, and the air gap of the permanent magnet changes in a floating manner, so that a polishing tool can be used for attaching and polishing castings with complex surfaces or inner cavity structures, excessive cutting of some places and non-cutting of some places are avoided, stable contact between the polishing tool and the surfaces of the castings is effectively guaranteed, production quality is effectively improved, production cost is reduced, and practicability is high. When the cutting amount is larger than the rated value and the external force applied to the grinding cutter is larger than the spring force of the axial floating spring, the spindle motor compresses the axial floating spring through the base plate, and the grinding cutter can be effectively prevented from being damaged by the excessive external force.
Drawings
Fig. 1 is a schematic view of a spindle floating mechanism of a grinding robot according to the present invention.
Fig. 2 is a schematic view of the arrangement of the permanent magnet of the present invention.
Wherein: 1. a spindle motor; 2. a spacer sleeve; 3. a radial spherical plain bearing; 4. an axially floating housing; 5. fixing the housing; 6. a support plate; 7. an axial floating spring; 8. a rod end oscillating bearing; 9. a base plate; 10. a permanent magnet support plate; 11. a first permanent magnet; 12. a second permanent magnet; 13. a first permanent magnet fixing plate; 14. a second permanent magnet fixing plate; 15. locking a ring; 16. and (5) polishing the cutter.
Detailed Description
As shown in fig. 1, the present invention provides a spindle floating mechanism of a polishing robot, including a spindle motor 1, a spacer 2, a radial spherical plain bearing 3, an axial floating housing 4, a fixed housing 5, a support plate 6, an axial floating spring 7, a rod end spherical plain bearing 8, a shim plate 9, a permanent magnet support plate 10, a first permanent magnet 11, a second permanent magnet 12, a first permanent magnet fixing plate 13, a second permanent magnet fixing plate 14, a locking ring 15, and a polishing tool 16. A spacer bush 2 is arranged on the outer side of the spindle motor 1, a radial spherical plain bearing 3 is arranged between the spacer bush 2 and an axial floating shell 4, and the radial spherical plain bearing 3 is fixedly connected with the spacer bush 2 through a locking ring 14; the front end of the spindle motor 1 is connected with a grinding tool 16.
As shown in fig. 1, M first permanent magnets 11 and M second permanent magnets 12 are uniformly arranged around the spindle motor 1, where M is a natural number of 1-50, and it should be noted that, here, the number of the first permanent magnets 11 and the second permanent magnets 12 can be flexibly changed by those skilled in the art according to actual needs.
As shown in fig. 1, the first permanent magnet 11 is fixedly connected with the permanent magnet support plate 10 through the first permanent magnet fixing plate 13, the permanent magnet support plate 10 is fixedly connected with the spindle motor 1, and the second permanent magnet 12 is fixedly connected with the spacer 2 through the second permanent magnet fixing plate 14; the permanent magnet support plate 10 is fixedly connected with the axial floating shell 4 through the support plate 6; the bottom end of the spindle motor 1 is fixedly connected with a backing plate 9 through a rod end joint bearing 8; an axial floating spring 7 is arranged between the backing plate 9 and the fixed shell 5; when the grinding cutting amount is larger than the rated value and the external force applied to the grinding tool 16 is larger than the spring force of the axial floating spring 7, the spindle motor 1 compresses the axial floating spring 7 through the backing plate 9, and the grinding tool 16 is protected from being damaged by the excessive external force.
As shown in fig. 2, the first permanent magnet 11 and the second permanent magnet 12 are provided in pairs around the circumference of the spindle motor 1, the N pole of the first permanent magnet 11 and the N pole of the second permanent magnet 12 are arranged in pairs to form a repulsive force, and the repulsive force between the first permanent magnet 11 and the second permanent magnet 12 increases as the permanent magnet air gap decreases; when a casting is polished, when a polishing cutter 16 contacts with a convex part of the casting, the polishing cutting amount is increased, the external force action on the polishing cutter 16 is increased, and at the moment, the spindle motor 1 rotates for a certain angle through the centripetal joint bearing 3 under the external force action, and simultaneously drives the spacer bush 2 to compress an air gap between the first permanent magnet 11 and the second permanent magnet 12, so that the convex part of the casting is polished; when the grinding cutter 16 contacts the concave part of the casting, the grinding cutting amount is reduced, the external force action on the grinding cutter 16 is reduced, the permanent magnet air gap is increased under the action of the repulsion force of the first permanent magnet 11 and the second permanent magnet 12, and then the concave part of the casting is ground; after finishing the polishing of the burr flash, etc., the external force of the polishing tool 16 disappears, and the polishing tool 16 is automatically restored to the original position under the repulsive force between the first permanent magnet 11 and the second permanent magnet 12.
In conclusion, the radial floating of the polishing robot spindle floating mechanism mainly depends on the repulsion action between the first permanent magnet 11 and the second permanent magnet 12, and the air gap of the permanent magnets changes in a floating manner, so that the polishing tool 16 can be used for attaching and polishing castings with complex surfaces or inner cavity structures, excessive cutting of some places and incomplete cutting of some places are avoided, the polishing tool 16 is effectively ensured to be stably contacted with the surface of the casting, the production quality is effectively improved, the production cost is reduced, and the practicability is high; when the cutting amount is larger than the rated value and the external force applied to the grinding tool 16 is larger than the spring force of the axial floating spring 7, the spindle motor 1 compresses the axial floating spring 7 through the backing plate 9, and the grinding tool 16 can be effectively prevented from being damaged by the excessive external force.
Claims (2)
1. A polishing robot spindle floating mechanism comprises a spindle motor (1), a spacer bush (2), a radial spherical plain bearing (3), an axial floating shell (4), a fixed shell (5), a support plate (6), an axial floating spring (7), a rod end spherical plain bearing (8), a base plate (9), a permanent magnet support plate (10), a first permanent magnet (11), a second permanent magnet (12), a first permanent magnet fixing plate (13), a second permanent magnet fixing plate (14), a locking ring (15) and a polishing cutter (16); the method is characterized in that: a spacer bush (2) is arranged on the outer side of the spindle motor (1), a radial spherical plain bearing (3) is arranged between the spacer bush (2) and the axial floating shell (4), and the radial spherical plain bearing (3) is fixedly connected with the spacer bush (2) through a locking ring (15); the front end of the spindle motor (1) is connected with a grinding tool (16); m first permanent magnets (11) and M second permanent magnets (12) are uniformly arranged around the spindle motor (1), wherein M is a natural number of 1-50; the first permanent magnet (11) is fixedly connected with the permanent magnet support plate (10) through a first permanent magnet fixing plate (13); a gap is formed between the permanent magnet supporting plate (10) and the spindle motor (1); the second permanent magnet (12) is fixedly connected with the spacer bush (2) through a second permanent magnet fixing plate (14); the permanent magnet support plate (10) is fixedly connected with the axial floating shell (4) through a support plate (6); the bottom end of the spindle motor (1) is fixedly connected with a backing plate (9) through a rod end joint bearing (8); an axial floating spring (7) is arranged between the backing plate (9) and the fixed shell (5); when the grinding cutting amount is larger than a rated value and the external force applied to the grinding cutter (16) is larger than the spring force of the axial floating spring (7), the spindle motor (1) compresses the axial floating spring (7) through the backing plate (9) to protect the grinding cutter (16) from being damaged by the excessive external force.
2. A grinding robot spindle floatation mechanism according to claim 1, wherein: a first permanent magnet (11) and a second permanent magnet (12) are arranged around the spindle motor (1) in pairs; the N pole of the first permanent magnet (11) and the N pole of the second permanent magnet (12) are oppositely arranged to form a repulsive force, and the repulsive force between the first permanent magnet (11) and the second permanent magnet (12) is increased along with the reduction of the air gap of the permanent magnets; when a casting is polished, when a polishing cutter (16) contacts with a convex part of the casting, the polishing cutting amount is increased, the external force action on the polishing cutter (16) is increased, at the moment, a spindle motor (1) rotates for a certain angle through a centripetal joint bearing (3) under the external force action, and simultaneously drives a spacer sleeve (2) to compress an air gap between a first permanent magnet (11) and a second permanent magnet (12), so that the convex part of the casting is polished; when the grinding cutter (16) contacts the concave part of the casting, the grinding cutting amount is reduced, the external force action on the grinding cutter (16) is reduced, the permanent magnet air gap is increased under the action of the repulsion force of the first permanent magnet (11) and the second permanent magnet (12), and then the concave part of the casting is ground; after burr flash is polished, the external force of the polishing cutter (16) disappears, and the polishing cutter (16) automatically resets to the original position under the action of the repulsive force between the first permanent magnet (11) and the second permanent magnet (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910733798.3A CN110450052B (en) | 2019-08-09 | 2019-08-09 | Polishing robot main shaft floating mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910733798.3A CN110450052B (en) | 2019-08-09 | 2019-08-09 | Polishing robot main shaft floating mechanism |
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| CN110450052A CN110450052A (en) | 2019-11-15 |
| CN110450052B true CN110450052B (en) | 2021-04-30 |
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| CN201910733798.3A Active CN110450052B (en) | 2019-08-09 | 2019-08-09 | Polishing robot main shaft floating mechanism |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111331510A (en) * | 2020-01-13 | 2020-06-26 | 武汉东余自动化科技有限公司 | Floating tool bit of polishing robot |
| CN112123059B (en) * | 2020-09-23 | 2022-03-01 | 广东博智林机器人有限公司 | Polishing device and polishing equipment |
| CN115042030B (en) * | 2021-03-09 | 2023-08-01 | 广东博智林机器人有限公司 | Polishing cutter, polishing device and mortar cleaning equipment |
| CN115401550A (en) * | 2022-10-14 | 2022-11-29 | 河北盛可居装饰材料有限公司 | Sanding device and sanding equipment |
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| US5438038A (en) * | 1990-07-17 | 1995-08-01 | Koyo Seiko Co., Ltd. | Superconducting bearing device stabilized by trapped flux |
| CN102360109A (en) * | 2011-08-29 | 2012-02-22 | 中国电子科技集团公司第二十八研究所 | Five-degree of freedom magnetic suspension single sheet DLP (digital light procession) color wheel drive system |
| CN202424591U (en) * | 2011-12-29 | 2012-09-05 | 成都英德生物工程有限公司 | Automatic magnetic levitation stirring mechanism |
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| CN107262833A (en) * | 2017-08-24 | 2017-10-20 | 南通理工智能制造技术有限公司 | A kind of Multifunctional floating dynamic formula surface finishing system actuators |
| CN107639242A (en) * | 2017-09-30 | 2018-01-30 | 广州蓝圣智能科技有限公司 | A kind of flexibly direct writing device mechanism for industrial robot end |
| CN109732475A (en) * | 2019-01-24 | 2019-05-10 | 华南理工大学 | Multi-direction floating executing agency |
| CN109773654A (en) * | 2019-03-22 | 2019-05-21 | 安徽新境界自动化技术有限公司 | A kind of omni-directionally-floated polishing main shaft device |
-
2019
- 2019-08-09 CN CN201910733798.3A patent/CN110450052B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5438038A (en) * | 1990-07-17 | 1995-08-01 | Koyo Seiko Co., Ltd. | Superconducting bearing device stabilized by trapped flux |
| CN102360109A (en) * | 2011-08-29 | 2012-02-22 | 中国电子科技集团公司第二十八研究所 | Five-degree of freedom magnetic suspension single sheet DLP (digital light procession) color wheel drive system |
| CN202424591U (en) * | 2011-12-29 | 2012-09-05 | 成都英德生物工程有限公司 | Automatic magnetic levitation stirring mechanism |
| CN205600454U (en) * | 2016-03-30 | 2016-09-28 | 上海思河机电科技有限公司 | Radial floating installation of polisher |
| CN107262833A (en) * | 2017-08-24 | 2017-10-20 | 南通理工智能制造技术有限公司 | A kind of Multifunctional floating dynamic formula surface finishing system actuators |
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| CN110450052A (en) | 2019-11-15 |
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