CN115771086A - Universal grinding machanism that floats - Google Patents
Universal grinding machanism that floats Download PDFInfo
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- CN115771086A CN115771086A CN202211426244.7A CN202211426244A CN115771086A CN 115771086 A CN115771086 A CN 115771086A CN 202211426244 A CN202211426244 A CN 202211426244A CN 115771086 A CN115771086 A CN 115771086A
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- floating
- shell
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- rod
- support ring
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- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000005498 polishing Methods 0.000 abstract description 10
- 238000007517 polishing process Methods 0.000 abstract description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Abstract
The invention provides a universal floating polishing mechanism which is used for keeping constant force in the automatic polishing process of a robot. The mechanism comprises: the device comprises a shell with a hollow interior and an upper cover covering the upper part of the shell, wherein the bottom of the shell is provided with a through hole, and the upper cover is provided with a plurality of first through holes communicated to the interior of the shell; the cylinder rod of each needle type cylinder penetrates through one first through hole of the upper cover and extends into the shell, and the end part, located inside the shell, of the cylinder rod of each needle type cylinder is provided with a spherical pin; a spherical bearing which is assembled inside the housing, and an inner ring of which is opposed to the through hole; a support ring disposed inside the housing and above the spherical bearing, each spherical pin forming a spherical pair connection with the support ring; and one end of the floating rod penetrates through the through hole and the inner ring of the spherical bearing from the outside of the shell and then is fixedly connected with the support ring, and the floating rod and the inner ring of the spherical bearing form clearance fit.
Description
Technical Field
The invention belongs to the field of automatic polishing, and particularly relates to a universal floating polishing mechanism.
Background
At present, in the automatic grinding process of a robot, the size of a workpiece can deviate, and particularly the size deviation of a blank is large. If rigid connection is used, the grinding head can collapse and be damaged, and the quality of a workpiece can be influenced, so that the universal floating grinding mechanism capable of keeping constant force is imperative to design.
Disclosure of Invention
The invention provides a universal floating polishing mechanism which is used for keeping constant force in the automatic polishing process of a robot.
The technical scheme of the invention is as follows:
the invention provides a universal floating polishing mechanism, which comprises:
the device comprises a shell with a hollow interior and an upper cover covering the upper part of the shell, wherein the bottom of the shell is provided with a through hole, and the upper cover is provided with a plurality of first through holes communicated to the interior of the shell; the cylinder rod of each needle type cylinder penetrates through one first through hole of the upper cover and extends into the shell, and the end part, located inside the shell, of the cylinder rod of each needle type cylinder is provided with a spherical pin;
a spherical bearing which is assembled inside the housing, and an inner ring of which is opposed to the through hole;
a support ring disposed inside the housing and above the spherical bearing, each spherical pin forming a spherical pair connection with the support ring;
one end of the floating rod penetrates through the through hole and the inner ring of the spherical bearing from the outside of the shell and then is fixedly connected with the support ring, and the floating rod and the inner ring of the spherical bearing form clearance fit.
Preferably, when the part of the floating rod, which is positioned outside the shell, is not stressed, each needle-type cylinder is connected with compressed air, the cylinder rod of each needle-type cylinder is positioned at the maximum stroke position, each spherical pin is in a state of being attached to the support ring, and the floating rod is positioned at the center position inside the shell;
when the part of the floating rod positioned outside the shell is subjected to a radial external force, the floating rod is attached to the inner ring of the spherical bearing due to deflection, the inner ring of the spherical bearing slides relative to the outer ring of the spherical bearing, so that the support ring connected with the floating rod floats up and down, a part of spherical pins are separated from the support ring, and the cylinder rod connected with the other part of spherical pins is pushed upwards by the support ring to realize radial floating;
when the part of the floating rod, which is positioned outside the shell, is subjected to an axial external force, the floating rod axially moves relative to the inner ring of the spherical bearing, and the floating rod drives the support ring to move upwards, so that the cylinder rods connected with all the spherical pins are synchronously pushed upwards by the support ring, and axial floating is realized.
Preferably, the support ring is formed with a ball socket forming a ball joint connection with the ball of each ball pin, and the radius of each ball socket on the support ring is 2 times the ball radius of each ball pin.
Preferably, when the part of the floating rod outside the housing is subjected to an external force, the radial offset L2 of the floating rod satisfies:
the relative displacement X between the ball socket of the support ring and the ball head of the corresponding spherical pin meets the following requirements:
wherein, L1 is the cylinder rod lifting height of the needle cylinder, D1 is the diameter of the rotation center of the floating rod, D2 is the rotation diameter of the floating rod around the spherical bearing, and R is the ball head radius of the spherical pin.
Preferably, the part of the float lever located outside the housing is provided with a connecting flange.
Preferably, each needle cylinder is connected with a quick connector.
Preferably, a hollow bearing fixing seat is fixed inside the housing, the spherical bearing is assembled inside the bearing fixing seat, an opening for inserting the floating rod passing through the through hole is formed in the lower portion of the bearing fixing seat, and a second through hole for passing the floating rod is formed in the upper portion of the bearing fixing seat.
The invention has the beneficial effects that:
compressed air enters the plurality of needle-shaped air cylinders through the pressure regulating valve, and the air cylinder rod extends out to apply force to the support ring through the spherical pin. When the part of the floating rod extending out of the shell is not subjected to external force, the universal floating polishing mechanism keeps the central position unchanged, and the needle type cylinder is positioned at the maximum stroke position; when the part of the floating rod extending out of the shell is acted by external force, the floating rod drives the support ring to transfer displacement to the cylinder rod of the needle-shaped cylinder through the spherical pair, and the cylinder rod forms displacement in the needle-shaped cylinder, so that the floating of the universal floating polishing mechanism is realized. The external force applied to the part of the floating rod outside the shell can be axial or radial. The magnitude of the floating force can be achieved by adjusting the air pressure.
The needle cylinder, the spherical pin, the support ring and the spherical bearing are utilized to realize that the part of the floating rod extending out of the shell can realize the floating of constant force through the displacement of the cylinder rod after being subjected to external force, thereby realizing the floating in the axial direction and the radial direction.
The ball head and the ball socket which utilize the spherical pin and the support ring are matched in a spherical pair mode, force transmission during separation and attachment is achieved, the diameter of the ball socket is 2 times of that of the ball head, and spherical universal movement of the ball head inside the ball socket is achieved.
The spherical bearing is used, the radial floating of the floating rod can be guaranteed, and the axial floating can be realized due to the clearance fit between the floating rod and the spherical bearing.
The middle and the tail end of the floating rod can be provided with other devices, so that the floating function of the other devices is realized.
The pressure regulating valve and the throttling component are arranged, so that the floating force can be realized by regulating air pressure, and the device can adapt to more working conditions.
Drawings
FIG. 1 is a schematic view of a universal floating sharpening mechanism according to an embodiment of the present invention in a (non-operating) state;
FIG. 2 is a schematic view of a universal floating sharpening mechanism according to an embodiment of the present invention in an (operating) state;
FIG. 3 is a schematic view of a support ring according to an embodiment of the present invention;
FIG. 4 is a graph illustrating a floating offset calculation according to an embodiment of the present invention;
description of reference numerals: 1-a quick connector; 2-needle cylinder; 3, covering the cover; 4-a shell; 5-a spherical pin; 6-support ring; 7-bearing fixing seats; 8-spherical bearings; 9-a floating rod; 10-a connecting flange; 11-fixing the support.
Detailed Description
Referring to fig. 1 to 3, an embodiment of the present invention provides a universal floating polishing mechanism, which mainly includes a quick connector 1, a needle cylinder 2, an upper cover 3, a housing 4, a spherical pin 5, a support ring 6, a bearing fixing seat 7, a spherical bearing 8, a floating rod 9, a connection flange 10, and a fixing support 11. The universal floating polishing mechanism is used for keeping constant force in the automatic polishing process and conducting the floating polishing process. Can realize axial and radial floating, and the tail end can automatically recover the central position after the external force disappears
The spherical pin 5 is connected with the support ring 6 through a spherical pair, the floating rod 9 is in clearance fit with the spherical bearing 8, the quick-connection connector 1 is in threaded connection with the needle-type cylinder 2, the needle-type cylinder 2 is in threaded connection with the upper cover 3 through a thin nut, the upper cover 3 is in threaded connection with the shell 4 through a screw, the spherical pin 5 is connected with the cylinder rod of the needle-type cylinder 2 through a thread and a thin nut, the bearing fixing seat 7 is in threaded connection with the shell 4 through a screw, the support ring 6 is shown in figure 1, the support ring is in threaded connection with the floating rod 9 through a screw, and the floating rod 9 is in threaded connection with the connecting flange 10 through a screw. Under the non-working state, 8 needle type cylinders 2 are always connected with compressed air (the air pressure can be adjusted), the cylinder rods of the 8 needle type cylinders 2 are all at the maximum position of the cylinder stroke, and the 8 spherical pins 5 are just attached to the support ring 6 and are located at the central position of the mechanism at the moment.
As shown in fig. 2, the radial floating principle of the universal floating grinding mechanism implemented in this embodiment is as follows: the pneumatic switch-on of the needle cylinder 2 is always kept during working, when the connecting flange 10 is stressed by radial force, the floating rod 9 drives the supporting ring 6 to deflect in the direction of the force through the spherical bearing 8 due to unbalanced stress, the displacement between the supporting ring 6 and the spherical pin 5 is converted into the vertical direction through the spherical pair, the spherical pin 5 transmits the displacement to the cylinder rod of the needle cylinder 2, and therefore the floating of the whole mechanism is achieved through the displacement of the cylinder rod of the needle cylinder 2 in the cylinder. The number of the whole needle type cylinders 2 is 8, when radial force is applied, 3 spherical pins (5) on one side are separated from the support ring 6, and the rest 5 spherical pins 5 are matched with the support ring 6, so that radial floating is realized.
The axial floating principle of the universal floating grinding mechanism is realized in the embodiment as follows: when the connecting flange 10 is subjected to axial force, because the floating rod 9 and the spherical bearing 8 are in clearance fit, the floating rod 9 drives the supporting ring 6 to move upwards integrally, the supporting ring 6 transmits force to the 8 spherical pins 5 through the ball sockets, the spherical pins 5 are in threaded connection with the cylinder rods of the needle-shaped cylinders 2, and the cylinder rods of the 8 needle-shaped cylinders 2 move upwards, so that the axial floating function is realized.
The floating force adjusting principle for realizing the universal floating polishing mechanism in the embodiment is as follows: the pressure of the compressed air entering the 8 needle type air cylinders 2 is adjusted, so that the floating force of the whole mechanism is adjusted.
As shown in fig. 4, in the present embodiment, when the part of the floating rod located outside the housing is subjected to an external force, the radial offset L2 of the floating rod satisfies:
the relative displacement X between the ball socket of the support ring and the ball head of the corresponding spherical pin meets the following requirements:
wherein, L1 is the cylinder rod lifting height of the needle cylinder, D1 is the diameter of the rotation center of the floating rod, D2 is the diameter of the rotation of the floating rod around the spherical bearing, and R is the ball head radius of the spherical pin.
Claims (7)
1. The utility model provides a universal grinding machanism that floats which characterized in that includes:
the device comprises a shell with a hollow interior and an upper cover covering the upper part of the shell, wherein the bottom of the shell is provided with a through hole, and the upper cover is provided with a plurality of first through holes communicated to the interior of the shell; the cylinder rod of each needle type cylinder penetrates through one first through hole of the upper cover and extends into the shell, and the end part, located inside the shell, of the cylinder rod of each needle type cylinder is provided with a spherical pin;
a spherical bearing which is assembled inside the housing, and an inner ring of which is opposed to the through hole;
the support ring is arranged inside the shell and above the spherical bearing, and each spherical pin and the support ring form a spherical pair connection;
and one end of the floating rod penetrates through the through hole and the inner ring of the spherical bearing from the outside of the shell and then is fixedly connected with the support ring, and the floating rod and the inner ring of the spherical bearing form clearance fit.
2. The gimbaled, floating sharpening mechanism of claim 1,
when the part of the floating rod, which is positioned outside the shell, is not stressed, each needle-type cylinder is connected with compressed air, the cylinder rod of each needle-type cylinder is positioned at the maximum stroke position, each spherical pin is in a state of being attached to the support ring, and the floating rod is positioned at the center position inside the shell;
when the part of the floating rod positioned outside the shell is subjected to a radial external force, the floating rod is attached to the inner ring of the spherical bearing due to deviation, the inner ring of the spherical bearing slides relative to the outer ring of the spherical bearing, so that the support ring connected with the floating rod floats up and down, a part of spherical pins are separated from the support ring, and the cylinder rod connected with the other part of spherical pins is pushed upwards by the support ring to realize radial floating;
when the part of the floating rod, which is positioned outside the shell, is subjected to an axial external force, the floating rod axially moves relative to the inner ring of the spherical bearing, and the floating rod drives the support ring to move upwards, so that the cylinder rods connected with all the spherical pins are synchronously pushed upwards by the support ring, and radial floating is realized.
3. The universal floating sharpening mechanism of claim 1 wherein the support ring has a socket formed thereon for forming a ball-in-ball joint with the ball of each ball pin, each socket on the support ring having a radius 2 times a radius of the ball of each ball pin.
4. The gimbal floating sharpening mechanism of claim 3 wherein the radial offset L2 of the floating lever when the portion of the floating lever outside the housing is subjected to an external force satisfies:
the relative displacement X between the ball socket of the support ring and the ball head of the corresponding spherical pin meets the following requirements:
wherein, L1 is the cylinder rod lifting height of the needle cylinder, D1 is the diameter of the rotation center of the floating rod, D2 is the diameter of the rotation of the floating rod around the spherical bearing, and R is the ball head radius of the spherical pin.
5. The gimbaled, floating sharpening mechanism of claim 1, wherein the portion of the float lever outside the housing is provided with a connecting flange.
6. The universal floating sharpening mechanism of claim 1 in which each needle cylinder is connected to a quick connect coupling.
7. The universal floating grinding mechanism according to claim 1, wherein a hollow bearing fixing seat is fixed inside the housing, the spherical bearing is assembled inside the bearing fixing seat, an opening for inserting the floating rod passing through the through hole is formed in the lower portion of the bearing fixing seat, and a second through hole for passing the floating rod is formed in the upper portion of the bearing fixing seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211426244.7A CN115771086A (en) | 2022-11-15 | 2022-11-15 | Universal grinding machanism that floats |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211426244.7A CN115771086A (en) | 2022-11-15 | 2022-11-15 | Universal grinding machanism that floats |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115771086A true CN115771086A (en) | 2023-03-10 |
Family
ID=85389090
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211426244.7A Pending CN115771086A (en) | 2022-11-15 | 2022-11-15 | Universal grinding machanism that floats |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115771086A (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000135668A (en) * | 1998-10-30 | 2000-05-16 | Yac Co Ltd | Wafer end part processing device |
| US20030148707A1 (en) * | 2001-01-19 | 2003-08-07 | Tetsuji Togawa | Dressing apparatus and polishing apparatus |
| JP2009050927A (en) * | 2007-08-24 | 2009-03-12 | Jtekt Corp | Grinder |
| CN202428288U (en) * | 2011-12-06 | 2012-09-12 | 西华大学 | Novel mold polishing flexibility actuator |
| CN205342793U (en) * | 2016-02-01 | 2016-06-29 | 肇庆市源志机械有限公司 | Burr -grinding machine's flexible unit head |
| CN105798747A (en) * | 2016-04-25 | 2016-07-27 | 上海发那科机器人有限公司 | Floating type polishing tool and polishing robot with tool |
| 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 |
| CN205765489U (en) * | 2016-04-25 | 2016-12-07 | 上海发那科机器人有限公司 | A kind of floating type polishing tool and there is the polishing robot of this instrument |
| CN107571147A (en) * | 2017-09-11 | 2018-01-12 | 南宁宇立仪器有限公司 | A kind of radial direction constant force floating installation |
| CN108161730A (en) * | 2018-01-16 | 2018-06-15 | 安徽工程大学 | A kind of force feedback flexibility floating polishing power head and its application method |
| CN109732475A (en) * | 2019-01-24 | 2019-05-10 | 华南理工大学 | Multi-direction floating executing agency |
| CN210335537U (en) * | 2019-07-04 | 2020-04-17 | 无锡中车时代智能装备有限公司 | Initiative power control radial floating installation |
| CN210435862U (en) * | 2019-05-10 | 2020-05-01 | 铜车马动力科技(宁波)有限公司 | Pneumatic floating spindle for polishing and deburring |
| CN111590431A (en) * | 2020-05-26 | 2020-08-28 | 无锡中车时代智能装备有限公司 | Control method, device and system for active force control radial floating device |
| CN111673610A (en) * | 2020-04-30 | 2020-09-18 | 中国航空工业集团公司北京长城航空测控技术研究所 | Normal precision compensation mechanism for grinding robot curved surface |
-
2022
- 2022-11-15 CN CN202211426244.7A patent/CN115771086A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000135668A (en) * | 1998-10-30 | 2000-05-16 | Yac Co Ltd | Wafer end part processing device |
| US20030148707A1 (en) * | 2001-01-19 | 2003-08-07 | Tetsuji Togawa | Dressing apparatus and polishing apparatus |
| JP2009050927A (en) * | 2007-08-24 | 2009-03-12 | Jtekt Corp | Grinder |
| CN202428288U (en) * | 2011-12-06 | 2012-09-12 | 西华大学 | Novel mold polishing flexibility actuator |
| CN205342793U (en) * | 2016-02-01 | 2016-06-29 | 肇庆市源志机械有限公司 | Burr -grinding machine's flexible unit head |
| 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 |
| CN105798747A (en) * | 2016-04-25 | 2016-07-27 | 上海发那科机器人有限公司 | Floating type polishing tool and polishing robot with tool |
| CN205765489U (en) * | 2016-04-25 | 2016-12-07 | 上海发那科机器人有限公司 | A kind of floating type polishing tool and there is the polishing robot of this instrument |
| CN107571147A (en) * | 2017-09-11 | 2018-01-12 | 南宁宇立仪器有限公司 | A kind of radial direction constant force floating installation |
| CN108161730A (en) * | 2018-01-16 | 2018-06-15 | 安徽工程大学 | A kind of force feedback flexibility floating polishing power head and its application method |
| CN109732475A (en) * | 2019-01-24 | 2019-05-10 | 华南理工大学 | Multi-direction floating executing agency |
| CN210435862U (en) * | 2019-05-10 | 2020-05-01 | 铜车马动力科技(宁波)有限公司 | Pneumatic floating spindle for polishing and deburring |
| CN210335537U (en) * | 2019-07-04 | 2020-04-17 | 无锡中车时代智能装备有限公司 | Initiative power control radial floating installation |
| CN111673610A (en) * | 2020-04-30 | 2020-09-18 | 中国航空工业集团公司北京长城航空测控技术研究所 | Normal precision compensation mechanism for grinding robot curved surface |
| CN111590431A (en) * | 2020-05-26 | 2020-08-28 | 无锡中车时代智能装备有限公司 | Control method, device and system for active force control radial floating device |
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