CN111300269A - Radial floating polishing device for industrial robot and method thereof - Google Patents
Radial floating polishing device for industrial robot and method thereof Download PDFInfo
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- CN111300269A CN111300269A CN202010274718.5A CN202010274718A CN111300269A CN 111300269 A CN111300269 A CN 111300269A CN 202010274718 A CN202010274718 A CN 202010274718A CN 111300269 A CN111300269 A CN 111300269A
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- radial
- connecting rod
- universal joint
- grinding
- radial floating
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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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
- B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0053—Radial grinding machines
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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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—Accessories therefor
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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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
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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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
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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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a radial floating polishing device for an industrial robot, which comprises a flange mounting plate, a polishing motor, a universal joint assembly and a radial floating device, wherein the flange mounting plate is fixedly connected with the polishing motor; grinding motor and radial floating installation set up on the flange mounting board, and grinding motor's output shaft passes through the universal joint subassembly and is connected with the connecting rod, and the connecting rod passes radial floating installation, the other end and the grinding tool of connecting rod are connected, and the connecting rod will the skew state transmission of the last pressure that receives of grinding tool through the connecting rod is for radial floating installation, and the connecting rod makes radial floating installation produce radial floating regulation under the effect of universal joint subassembly. The grinding device adopts a universal joint transmission and centripetal joint bearing transmission connection mode, air inflow of each radial distribution cylinder in the electromagnetic valve control device is combined with the floating characteristic of the radial floating device, and the grinding device can automatically adapt to various changes generated by the posture of the grinding wheel when the grinding plane changes, so that the grinding device has the constant-force floating characteristic in any direction of the plane of the grinding wheel.
Description
Technical Field
The invention relates to the field of automatic grinding of industrial robots, in particular to a radial floating grinding device for an industrial robot and a method thereof.
Background
The robot is polished and is an extremely extensive application field of industrial robot, and the robot of polishing replaces the manual work to polish the polishing operation, and the dust that can effectual reduction operation of polishing produced has again simultaneously that the uniformity of polishing is good to the injury of human body, and it is efficient to polish, can work advantage such as for a long time. In various polishing devices, a plurality of polishing tools with floating characteristics are available, a mode of directly connecting a pneumatic or electric spindle output with the polishing tool is mostly adopted, and in some polishing occasions with more curved surfaces or vertical surface polishing requirements, due to accessibility limitation of robot joint motion and structural reasons of a floating device, certain surfaces to be processed cannot reach or the floating range is limited. And most radial unsteady grinding tools are used in the burring field at present, and the application in other grinding application fields is less.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a radial floating polishing device for an industrial robot, which has an omnidirectional radial floating function, can automatically adapt to the change of the grinding wheel posture caused by the change of the polishing surface, can realize constant-force floating polishing in any direction of the grinding wheel polishing plane, and has the characteristics of high automation degree, convenience, high efficiency, wide application range, and reliable function.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a radial floating polishing device for an industrial robot, which comprises a flange mounting plate, a polishing motor, a universal joint assembly and a radial floating device, wherein the flange mounting plate is fixedly connected with the polishing motor;
polishing motor and radial floating installation set up on the flange mounting board, polishing motor's output shaft and universal joint subassembly one end are connected, the universal joint subassembly other end is connected with the connecting rod, the connecting rod passes radial floating installation, the other end and the grinding tool of connecting rod are connected, the connecting rod will the radial skew state transmission that the pressure that receives on the grinding tool passes through the connecting rod is for radial floating installation, radial floating installation is used for adjusting the radial skew state that sets up the grinding tool on the connecting rod.
Further, the universal joint assembly is a double-structure universal joint, the double-structure universal joint comprises a first universal joint and a second universal joint, the first universal joint and the second universal joint are connected together in a serial connection mode, one end of the first universal joint is connected with an output shaft of the polishing motor in a key groove clamping mode, and the other end of the second universal joint is connected with a connecting rod of the polishing grinding wheel through a spline.
Further, the radial floating device comprises an annular shell, a plurality of cylinders and a bearing assembly;
the cylinders are uniformly and radially arranged on the inner wall of the annular shell, and the bearing assembly is arranged in the center of the inner wall of the annular shell;
a piston rod of the cylinder is in contact with a groove on the outer side of the bearing assembly;
and the air inlet of each air cylinder is connected with an air pipe through an air inlet of the air cylinder, is connected in series and then is connected with an air source through an air inlet on the annular shell.
Further, a cylinder limiting sensor used for detecting a position signal of a cylinder piston is arranged on the cylinder, and the cylinder limiting sensor sends the acquired position signal to a control system for processing.
Further, the radial floating device adopts an integral sealing structure, sealing cover plates are respectively arranged at the front and the back of the radial floating device and fixed on the flange mounting plate through a mounting bracket, and the mounting bracket is provided with a wiring end of a cylinder limiting sensor.
Further, still include the protection casing, the protection casing sets up between grinding motor and radial floating installation for realize the dustproof function of radial floating installation and cross universal joint.
Further, a radial bearing mounting support is arranged between the universal joint and the radial floating device, the radial bearing mounting support is fixed on the flange mounting plate through bolts, a radial bearing is arranged on the radial bearing mounting support, the outer ring of the radial bearing is tightly connected with the radial bearing mounting support, and the grinding wheel connecting rod penetrates through the center of the radial bearing and is tightly connected with the inner ring of the radial bearing.
The invention also provides a method for realizing radial grinding by using the radial floating grinding device of the industrial robot, which comprises the following steps:
starting a polishing motor to work, wherein an output shaft of the polishing motor drives a polishing tool fixed on a connecting rod to rotate through a universal joint component;
polishing a workpiece to be polished by a polishing tool;
the supporting force of the radial floating device on the supporting surface of the connecting rod is adjusted, so that the supporting force in any direction on the supporting surface is kept constant.
Further, the constant supporting force of the adjusting radial floating device on the supporting surface of the connecting rod is realized by the following modes:
the pressure of each cylinder in the radial floating device on the supporting surface of the connecting rod is controlled by adjusting the floating air pressure of the cylinder in the radial floating device.
Further, the floating range of the radial floating device is adjusted by adjusting the length of the connecting rod, the diameter of the radial floating device and the installation position of the radial floating device on the connecting rod.
Furthermore, a stroke limit switch is additionally arranged on each cylinder in the radial floating device, and the stroke limit switch is used for detecting a bottom dead center signal of a cylinder piston and sending the bottom dead center signal to a control system for processing.
The invention has the beneficial effects that:
according to the floating polishing device, the universal joint transmission with a double-joint structure is adopted between the output shaft of the polishing motor and the polishing grinding wheel, so that the function of universal transmission is fully realized, and the limitation of the movement of a robot is avoided; and the universal joint is connected with the grinding wheel connecting rod in a spline mode, so that the grinding wheel connecting rod can be tightly connected with the inner ring of the radial spherical plain bearing, and the floating characteristic of the radial floating device can automatically adapt to various changes generated by the posture of the grinding wheel when the grinding plane changes, thereby realizing the characteristic of constant force floating in any direction of the grinding plane.
Meanwhile, when the grinding wheel needs to be stressed laterally, the grinding wheel plane is enabled to have constant force floating in any direction in the grinding process by controlling and adjusting the floating air pressure of the air cylinder in the radial floating device, wherein the floating force can be adjusted to the floating air pressure of the air cylinder through the electromagnetic valve, the floating angle is adjusted to the axis of the device through the stroke of the air cylinder piston, and the floating range of the whole floating device can be adjusted by adjusting the length of the grinding wheel connecting rod, the diameter of the radial floating device and the mounting position of the radial floating device on the grinding wheel connecting rod so as to meet various floating operation requirements.
Therefore, the floating polishing device provided by the invention has the characteristics of high automation degree, easiness in operation, convenience, high efficiency, economy, practicability and wide application range, and can effectively improve the working efficiency of the polishing robot.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
fig. 1 is a schematic overall structure diagram of a radial floating polishing device.
Fig. 2 is a side view of the internal structure of the radial floating grinding device.
Fig. 3 is a schematic view of a radial floating device.
FIG. 4 is a schematic diagram of the action of the universal joint and the radial floating device when the grinding surface changes to force the side surface of the grinding wheel.
Description of the labeling:
1-mounting a flange;
2-grinding motor, 201-motor mounting plate fixing nut, 202-motor mounting plate, 203-cross universal joint, 204-radial bearing mounting bracket, 205-grinding motor connecting rod, 206-radial bearing, 207-spline connection;
3, a protective cover;
4-radial floating device, 400-sealing cover plate of radial floating device, 401-terminal of cylinder limit sensor, 402-mounting bracket of radial floating device, 403-outer shell of radial floating device, 404-air inlet, 405-air inlet connecting air pipe of cylinder, 406-air cylinder, 407-piston rod of air cylinder, 408-bearing housing, 409-bearing, 410-bearing oil seal, 411-cylinder limit sensor;
5-grinding wheel, 501-grinding wheel mounting bolt and 502-grinding wheel side surface stress direction.
Detailed Description
The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.
Example 1
As shown in fig. 1 to 4, the radial floating grinding device for an industrial robot provided by the present embodiment includes a flange mounting plate 1, a grinding motor 2, a grinding motor mounting plate 202, a universal joint cross 203, a protective cover 3, a radial floating device 4, and a grinding tool;
the flange mounting plate 1 is arranged on the polishing robot and used for fixing the whole device, the polishing motor mounting plate 202 is arranged on the flange mounting plate 1, the polishing motor 2 in the embodiment is arranged on the motor mounting plate 202 through a fixing bolt, the polishing motor is fixed on the polishing motor mounting plate 202 through a bolt, and the motor mounting plate 202 is arranged on the flange mounting plate 1 through a bolt and plays roles of supporting and fixedly mounting the polishing motor 2; one end of the cross universal joint 203 is connected with an output shaft of the polishing motor 2, and the other end of the cross universal joint is connected with a polishing tool connecting rod. The grinding wheel 5 is selected as the grinding tool of the embodiment.
The direction transformation is realized to the connecting rod under the effect of universal joint subassembly 203, the radial floating adjustment is realized to the connecting rod under the effect of radial floating installation, and radial floating adjustment is realized through the pressure of cylinder, the direction transformation is realized through the effect of universal joint subassembly 203 to the connecting rod.
The grinding wheel 5 is fixed at one end of the grinding wheel connecting rod through a grinding wheel mounting bolt 501, and the stress direction 502 of the side surface of the grinding wheel is shown in fig. 4 during the grinding process of the grinding wheel.
The protective cover 3 is arranged between the grinding motor 2 and the radial floating device 4 and used for achieving the dustproof functions of the radial floating device 4 and the cross universal joint 203.
The grinding wheel 5 is tightly connected with a joint bearing inner ring in the cross universal joint 203 through a connecting rod, the grinding wheel 5 is fixed on the connecting rod of the grinding wheel 5 through a fastening bolt, the center of the radial floating device is sleeved on the connecting rod of the grinding wheel through a bearing 409, and the whole floating device is fixed on the flange mounting plate 1 through a mounting bracket 402.
The cross universal joint 203 is of a double-joint structure and comprises a first universal joint and a second universal joint, the first universal joint and the second universal joint are connected together in a serial connection mode, one end of the first universal joint is connected to an output shaft of the polishing motor 2 and is connected in a key groove clamping mode, and the first universal joint is guaranteed to be tightly connected with the output shaft of the polishing motor; the other end of the second universal joint is connected with a connecting rod of the grinding wheel 5 by a spline 207 so as to realize longitudinal sliding along the shaft, and the second universal joint has a telescopic characteristic in a certain range. So as to realize the action effect of the universal joint and the radial floating device when the grinding wheel is stressed laterally as shown in figure 4.
The universal joint with the double-joint structure provided by the embodiment can realize axial displacement and radial displacement besides the fact that two shafts can rotate within a limited included angle range.
The flange mounting plate that this embodiment provided is used for fixing whole grinding device that floats on the terminal flange of robot, and wherein the trompil position of flange mounting hole can suitably be adjusted according to circumstances such as the terminal load atress of robot.
The radial bearing mounting bracket 204 is fixed on the flange mounting plate 1 through bolts, the outer ring of the radial bearing 206 is tightly connected with the radial bearing mounting bracket 204, and the connecting rod of the grinding wheel 5 passes through the center of the radial bearing 206 and is tightly connected with the inner ring of the radial bearing.
Radial floating installation 4 adopts overall seal structure, respectively is equipped with sealed apron 400 around, effectively avoids the influence of the produced dust of in-process of polishing, and whole radial floating installation passes through installing support 402 to be fixed on flange mounting board 1, installing support 402 is provided with the spacing sensor terminal 401 of cylinder.
The radial floating device 4 adopts an annular structure, a plurality of air cylinders 406 are uniformly distributed in the radial direction along the inner wall, the air cylinders 406 are fixed on the inner wall of the annular shell 403 through mounting plates by bolts, and air cylinder piston rods 407 are in contact with a middle groove in the outer wall of a bearing assembly in the center of the floating device. The air inlet of each air cylinder 406 in the radial floating device provided by the embodiment is connected with an external air source through an air inlet connecting pipe 405 of the air cylinder after being connected in series through an air inlet 404 on the annular shell 403.
The bearing assembly provided by the present embodiment includes a bearing housing 408 and a plurality of bearings 409 arranged side by side in the bearing housing.
In the radial floating device 4, the grinding wheel connecting rod passes through the center of the bearing group of the bearing sleeve 408, a plurality of bearings 409 sleeved on the grinding wheel connecting rod are arranged inside the bearing group, the bearing sleeve 408 is arranged outside the bearing group, a groove is formed in the bearing sleeve 408 along the axial center of the grinding wheel connecting rod, the groove is used for being in contact with air pipe piston rods 407 connected with a plurality of floating air cylinder pistons, and sealing oil seals 410 are arranged on the front side and the rear side of the bearing sleeve 408 and used for achieving dust prevention of the whole bearing group.
In the radial floating device 4, when all the cylinder piston rods extend to the maximum stroke, the acting force of all the cylinders on the grinding wheel connecting rod is equal, and the grinding wheel connecting rod is located at the radial center position of the radial floating device.
The cylinder limit sensor 411 is arranged on the cylinder and used for detecting a position signal of a cylinder piston and sending the position signal to a control system for processing;
the cylinder limit sensor 411 provided in this embodiment is a stroke limit switch, and is used for limiting the downward stroke of the cylinder piston; when the piston of the cylinder reaches the lower stroke, the stroke limit switch of the cylinder is triggered, and a normally closed contact is used by the stroke limit switch;
as shown in fig. 4, the principle that the radial constant force provided by this embodiment floats is that when the grinding wheel is stressed laterally, the connecting rod will deviate from the central position, the stress condition of some cylinder piston rods in the eight cylinders will change, and the floating force of the control cylinder can control the deviation angle, so as to ensure the constant force within a certain angle range, specifically as follows:
when the piston of the cylinder on one side moves to reach the bottom dead center due to the fact that the radial floating range is large, the travel switch acts, a detection signal obtained by the cylinder limiting sensor 411 is sent to the control system to be processed, the control system immediately sends out an alarm signal, meanwhile, the whole system enters a shutdown state, the travel switches on the cylinders are of a normally closed type and are connected in series, and therefore the fact that the alarm system acts when the piston of the cylinder in any direction reaches the bottom dead center is achieved.
In the radial floating device 4, the floating force can be adjusted by the floating air pressure of the air cylinder 406 through the electromagnetic valve. The floating angle in the radial floating device 4 is adjusted from the axis of the device by the stroke of the cylinder piston, and the floating range of the whole floating device can be adjusted by adjusting the length of the grinding wheel connecting rod, the diameter of the radial floating device and the installation position of the radial floating device on the grinding wheel connecting rod so as to adapt to various floating operation requirements.
In the radial floating device 4, the number of the adopted cylinders is selected according to actual conditions so as to be suitable for the number of the cylinders to achieve a uniform state for constant force influence.
The flange mounting plate 1 in the embodiment is provided with a mounting hole, and the position of the mounting hole can be properly adjusted according to the load stress condition of the tail end of the polishing robot.
Example 2
The embodiment provides a radial floating grinding method for an industrial robot, which comprises the following steps:
starting a polishing motor to work, wherein an output shaft of the polishing motor drives a polishing tool fixed on a connecting rod to rotate through a universal joint component;
polishing a workpiece to be polished by a polishing tool;
the supporting force of the movable shaft of the cylinder on the supporting surface of the connecting rod in any direction is kept constant by adjusting the floating air pressure of the cylinder in the radial floating device; thereby controlling the pressure of each cylinder in the radial floating device on the supporting surface of the connecting rod.
The specific process of the radial floating polishing method provided by this embodiment is as follows:
when the grinding machine is used for grinding, the grinding motor is driven to work, the output shaft of the grinding motor drives the grinding wheel fixed on the grinding wheel connecting rod to rotate through universal joint transmission, and a grinding workpiece is treated by the grinding wheel for grinding.
In the polishing device, a polishing motor output shaft adopts universal joint transmission, the universal joint is connected with a grinding wheel connecting rod in a spline mode, and the grinding wheel connecting rod is tightly connected with an inner ring of a radial spherical plain bearing. When the pressure of each cylinder is controlled, the supporting force acting on the grinding wheel connecting rod in any direction on the supporting surface formed by the cylinder piston contact surface can be controlled to be kept constant, so that the characteristic of constant-force floating in any direction of the grinding wheel plane is realized.
In the radial floating device, floating force can be adjusted to the floating air pressure of the air cylinder through the electromagnetic valve. The floating angle in the radial floating device is adjusted from the axis of the device by the stroke of the cylinder piston, and the floating range of the whole floating device can be adjusted by adjusting the length of the grinding wheel connecting rod, the diameter of the radial floating device and the installation position of the radial floating device on the grinding wheel connecting rod so as to adapt to various floating operation requirements.
In the radial floating device, each cylinder is additionally provided with a stroke limit switch for detecting a bottom dead center of a cylinder piston, when the piston of the cylinder on one side is about to reach the bottom dead center due to a large radial floating range, the floating force is invalid, the stroke switch acts, a signal is sent to a control system for processing, the control system immediately sends out an alarm signal, and meanwhile, the whole system enters a shutdown state. The travel switches on the cylinders are of a normally closed type and are connected in series, so that the cylinder piston in any direction can trigger the alarm system to act when reaching the bottom dead center.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art on the basis of the present invention are within the protection scope of the present invention, the number of cylinders and the diameter of the floating ring provided in the present embodiment are not limited by the scope of the present application, and the protection scope of the present invention is subject to the claims.
Claims (10)
1. A radial grinding device that floats for industrial robot which characterized in that: the grinding device comprises a flange mounting plate (1), a grinding motor (2), a universal joint assembly (203) and a radial floating device (4);
grinding motor (2) and radial floating installation (4) set up on flange mounting board (1), the output shaft and universal joint subassembly (203) one end of grinding motor (2) are connected, the universal joint subassembly (203) other end is connected with the connecting rod, radial floating installation (4) are passed to the connecting rod, the other end and the grinding tool of connecting rod are connected, the connecting rod will the radial skew state transmission that the last pressure that receives of grinding tool passes through the connecting rod gives radial floating installation (4), radial floating installation (4) are used for adjusting the radial skew state that sets up the grinding tool on the connecting rod.
2. The apparatus of claim 1, wherein: the grinding wheel universal joint is characterized in that the universal joint component (203) is a double-structure universal joint, the double-structure universal joint comprises a first universal joint and a second universal joint, the first universal joint and the second universal joint are connected together in a serial connection mode, one end of the first universal joint is connected with an output shaft of the grinding motor (2) in a key groove clamping mode, and the other end of the second universal joint is connected with a connecting rod of the grinding wheel (5) through a spline (207).
3. The apparatus of claim 1, wherein: the radial floating device (4) comprises an annular shell (403), a plurality of cylinders (406) and a bearing assembly;
the cylinders (406) are uniformly and radially arranged on the inner wall of the annular shell (403), and the bearing assembly is arranged at the center of the inner wall of the annular shell (403); a piston rod (407) of the cylinder (406) is in contact with a bearing assembly outer groove; and the air inlet of each air cylinder (406) is connected with an air pipe (405) through the air inlet of the air cylinder, is connected in series and then is connected with an air source through an air inlet (404) on the annular shell (403).
4. The apparatus of claim 3, wherein: the air cylinder (406) is provided with an air cylinder limit sensor (411) used for detecting a position signal of an air cylinder piston, and the air cylinder limit sensor (411) sends the acquired position signal to a control system for processing.
5. The apparatus of claim 1, wherein: the radial floating device (4) adopts an integral sealing structure, the front and the back of the radial floating device are respectively provided with a sealing cover plate (400), the sealing cover plates are fixed on the flange mounting plate (1) through a mounting bracket (402), the mounting bracket (402) is provided with a cylinder limiting sensor terminal (401), or
Radial floating installation (4) are provided with protection casing (3), protection casing (3) set up between grinding motor (2) and radial floating installation (4) for realize the dustproof function of radial floating installation (4) and cross universal joint (203).
6. The apparatus of claim 1, wherein: be provided with radial bearing installing support (204) between universal joint (203) and radial floating installation (4), radial bearing installing support (204) are fixed on flange mounting plate (1) through the bolt, be provided with radial bearing (206) on radial bearing installing support (204), radial bearing (206) outer lane and radial bearing installing support (204) zonulae occludens, emery wheel (5) connecting rod of polishing passes radial bearing (206) center to closely link to each other with the radial bearing inner circle.
7. Method for radial floating grinding of an industrial robot according to any of claims 1-6, characterized in that: the method comprises the following steps:
starting a polishing motor to work, wherein an output shaft of the polishing motor drives a polishing tool fixed on a connecting rod to rotate through a universal joint component;
polishing a workpiece to be polished by a polishing tool;
the supporting force of the radial floating device on the supporting surface of the connecting rod is adjusted, so that the supporting force in any direction on the supporting surface of the connecting rod is kept constant.
8. The method of claim 7, wherein: the constant supporting force generated by the adjusting radial floating device on the supporting surface of the connecting rod is realized by the following modes:
the pressure of each cylinder in the radial floating device on the supporting surface of the connecting rod is controlled by adjusting the floating air pressure of the cylinder in the radial floating device.
9. The method of claim 7, wherein: the floating range of the radial floating device is adjusted by adjusting the length of the connecting rod, the diameter of the radial floating device and the installation position of the radial floating device on the connecting rod.
10. The method of claim 7, wherein: and each cylinder in the radial floating device is additionally provided with a stroke limit switch, and the stroke limit switch is used for detecting a bottom dead center signal of a cylinder piston and sending the bottom dead center signal to a control system for processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010274718.5A CN111300269A (en) | 2020-04-09 | 2020-04-09 | Radial floating polishing device for industrial robot and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010274718.5A CN111300269A (en) | 2020-04-09 | 2020-04-09 | Radial floating polishing device for industrial robot and method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111805389A (en) * | 2020-08-11 | 2020-10-23 | 无锡纽思铁科能源科技有限公司 | Corrosion-resistant maintenance device for seawater filtering grating of cold source system of nuclear power plant |
| CN112775756A (en) * | 2021-01-28 | 2021-05-11 | 中国核动力研究设计院 | Grinding device in bushing hole of electric heating element of voltage stabilizer |
| CN113894699A (en) * | 2021-11-03 | 2022-01-07 | 上海赛卡精密机械有限公司 | Polishing device and polishing method |
| CN115431139A (en) * | 2022-09-02 | 2022-12-06 | 上海联擎动力技术有限公司 | Multidirectional floating polishing method and device |
| WO2024113444A1 (en) * | 2022-11-29 | 2024-06-06 | 上海赛威德机器人有限公司 | Constant-force grinding device |
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2020
- 2020-04-09 CN CN202010274718.5A patent/CN111300269A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111805389A (en) * | 2020-08-11 | 2020-10-23 | 无锡纽思铁科能源科技有限公司 | Corrosion-resistant maintenance device for seawater filtering grating of cold source system of nuclear power plant |
| CN112775756A (en) * | 2021-01-28 | 2021-05-11 | 中国核动力研究设计院 | Grinding device in bushing hole of electric heating element of voltage stabilizer |
| CN112775756B (en) * | 2021-01-28 | 2022-07-29 | 中国核动力研究设计院 | Grinding device in bushing hole of electric heating element of voltage stabilizer |
| CN113894699A (en) * | 2021-11-03 | 2022-01-07 | 上海赛卡精密机械有限公司 | Polishing device and polishing method |
| CN115431139A (en) * | 2022-09-02 | 2022-12-06 | 上海联擎动力技术有限公司 | Multidirectional floating polishing method and device |
| CN115431139B (en) * | 2022-09-02 | 2024-07-30 | 上海联擎动力技术有限公司 | Multidirectional floating polishing method and device |
| WO2024113444A1 (en) * | 2022-11-29 | 2024-06-06 | 上海赛威德机器人有限公司 | Constant-force grinding device |
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