CN206048242U - Milling robot flexible connecting device - Google Patents
Milling robot flexible connecting device Download PDFInfo
- Publication number
- CN206048242U CN206048242U CN201620024270.0U CN201620024270U CN206048242U CN 206048242 U CN206048242 U CN 206048242U CN 201620024270 U CN201620024270 U CN 201620024270U CN 206048242 U CN206048242 U CN 206048242U
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- CN
- China
- Prior art keywords
- upper flanges
- support shaft
- flanges disk
- connecting device
- flexible connecting
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- 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.)
- Expired - Fee Related
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
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Abstract
A kind of milling robot flexible connecting device, the device include grinding head, motor, lower end ring flange, support shaft, upper flanges disk, outer sleeve and antivibrator；The flexible connecting device is an adnexa of milling robot.By using cooperatively for spring and damper rod, effectively absorb surface of the work it is uneven caused by vibrations, the magnetic induction sensor of installation can make the position of buff wheel and absorption surface point and linear velocity remain constant.When the polishing force of work piece is more than certain threshold value polishing force, milling robot is moved rearwards by, and realizes the function of self regulation.This utility model simple structure, it is with low cost, the rigid contact of cutter and workpiece had both been avoided, the work efficiency of polishing had been improve again.
Description
Technical field
This utility model is related to Industrial Robot Technology field, more particularly to a kind of milling robot flexible connecting device.
Background technology
Industrial robot, generally referred to as in factory floor environment, coordinates the needs of automated production, replaces people to come
A kind of robot of the operations such as carrying, processing, assembling into material or part.Industrial robot is usually used in welding, paints, up and down
Material and carrying.Industrial robot extends and expands people and obtain brothers and brain function, it can replace people be engaged in danger, it is harmful,
Work in the adverse circumstances such as poisonous, low temperature and hyperpyrexia；Replace people to complete heavy, the dull duplication of labour, raise labour productivity,
Ensure product quality.
With continuous improvement of the people to product design and surface quality requirements, in the course of processing of product, need to adopt
Processed with sanding and polishing.The material workpiece deburring such as the foundry goods of most domestic producer, working of plastics, steel part at present is to many employings
By hand, or polished using hand-held pneumatic, electric tool and not only waste time and energy, and inefficiency, and product is homogeneous
Property is poor, and precision is not high.And also someone begins to use robot to install milling tools carries out automatization's polishing, effectively improves machine
The production efficiency of device people's deburring, improves product polishing precision.Robotic polishing system uses robot off-line programming technology, collection
Demarcate, produce, detecting and one, it not only improves the working condition of workman, improve production efficiency, and workpiece to be machined table
Face quality and homogeneity are also greatly improved.But due to factors such as mechanical arm rigidity and position errors, it is difficult to pass through position control
Realize that power tool collisionless with absorption surface at that moment is contacted, cutter and workpiece are easily caused during sanding and polishing
Damage, and then affect workpiece polishing quality and yield rate.If the method using conventional rigid is polished to part, gesture
Quality of polishing must be ensured.
The content of the invention
Utility model purpose：
This utility model provides a kind of milling robot flexible connecting device, its objective is to solve in the past existing asking
Topic.
Technical scheme：
A kind of milling robot flexible connecting device, it is characterised in that：The device includes grinding head, motor, lower end flanges
Disk, support shaft, upper flanges disk, outer sleeve and antivibrator；Antivibrator one end is fixed on upper flanges disk by adjustment plug screw,
The antivibrator other end is fixed on the ring flange of lower end by adjustment plug screw；Support shaft one end is fixed on the other end on the ring flange of lower end
Through being arranged on upper flanges disk and can form axially opposing linear motion with upper flanges disk, support shaft is cased with damping bullet
Spring；Motor is fixed transposition with motor and is connected, and grinding head is connected with the output shaft of motor；Outer sleeve is enclosed within outside device, and fixed
On upper flanges disk.
Motor is arranged on inside motor shield.
Outer sleeve is enclosed within outside whole device for preventing iron filings from polluting, and is fixed on upper flanges disk.
Linear bearing is fixed with by bearing block screw also in upper flanges disk, support shaft passes through linear bearing.
Support shaft one end is provided with the end block for preventing support shaft from deviating from from upper flanges disk.
Prismatic structures, are provided with the anti-rotation fluting for support shaft connection on upper flanges disk, the anti-rotation is slotted along upper
End flanges disk is divided axially into inside and outside two parts, and internal groove side wall is cylindric with what support shaft was adapted, and external groove sidevall is mutually to fit with end block
The prismatic surface answered.
End connection is additionally provided with upper flanges disk, magnetic grid is fixed with the support that the side of connector is welded
Sensor, and magnetic railings ruler is fixed on the end block 1 of support shaft.
The number of axle is supported to be evenly distributed on upper flanges disk for multiple support shafts, i.e. the axle center and upper end of support shaft
The axial connecting line of ring flange is equal apart from the angle of two identical and adjacent lines.
Support the number of axle be four, four support shafts are evenly distributed on upper flanges disk, i.e. the axle center of support shaft with
The axial connecting line of upper flanges disk is identical, and the angle of two adjacent lines is in 90 degree.
Advantage and effect：
This utility model is a kind of milling robot flexible connecting device, and which can preferably adapt to the change of working environment
Change, and in polishing processing, keep buff wheel constant all the time with the position of absorption surface point and linear velocity, realize operation work
Flexible contact between tool and workpiece, obtains preferable sanding and polishing effect.
Concrete advantageous effect is as follows：The flexible connecting device is an adnexa of milling robot.By spring and damping
Using cooperatively for bar, effectively absorbs the uneven caused vibrations of surface of the work, and the magnetic induction sensor of installation can make polishing
Take turns the position with absorption surface point and linear velocity remains constant.When the polishing force of work piece is more than certain threshold value polishing force
When, milling robot is moved rearwards by, and realizes the function of self regulation.This utility model simple structure, it is with low cost, both avoided
Cutter and the rigid contact of workpiece, improve the work efficiency of polishing again.
Description of the drawings
The overall structure exploded view of the milling robot flexible connecting device that Fig. 1 is provided for this utility model；
The overall structure diagram of the milling robot flexible connecting device that Fig. 2 is provided for this utility model；
End flange structural representation in the milling robot flexible connecting device that Fig. 3 is provided for this utility model；
Fig. 4 is support shaft schematic diagram.
Shown in figure：1 grinding head, 2 motor shields, 3 end flanges, 4 motors, 5 motors are fixedly connected dress
Put, 6 lower end ring flanges, 7 support shafts, 8 damping springs, 9 linear bearings, 10 upper flanges disks, end connection on 11,12
Outer sleeve, 13 magnetic induction sensors, 14 antivibrators, 15 end blocks 1.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is described further：
As illustrated, the utility model proposes a kind of milling robot flexible connecting device, the device includes grinding head
1st, motor 4, lower end ring flange 6, support shaft 7, upper flanges disk 10, outer sleeve 12 and antivibrator 14；14 one end of antivibrator passes through
Adjustment plug screw is fixed on upper flanges disk 10, and 14 other end of antivibrator is fixed on lower end ring flange 6 by adjustment plug screw；Resistance
Buddhist nun's device 14 can provide the resistance that cutter is moved downward, and realize supporting damping effect.
7 one end of support shaft be fixed on lower end ring flange 6 other end through be arranged on upper flanges disk 10 and can with it is upper
End flanges disk 10 forms axially opposing linear motion, and support shaft 7 is cased with damping spring 8；Motor 4 is fixed transposition 5 with motor and is connected,
Grinding head 1 is connected with the output shaft of motor 4；Outer sleeve 12 is enclosed within outside device, and is fixed on upper flanges disk.Beaten with fixation
The tapered sleeve of bistrique 1 is connected with motor axle by screw；Upper end connection is arranged on milling robot wrist using 4 screws
On the ring flange (3) of the end effector of end.
Motor 4 is arranged on inside motor shield 2.End flange 3 is arranged between motor shield 2 and grinding head 1.
Outer sleeve 12 is enclosed within outside whole device for preventing iron filings from polluting, and is fixed on upper flanges disk.
Linear bearing 9 is fixed with by bearing block screw also in upper flanges disk, support shaft 7 passes through linear bearing 9.Institute
The support shaft 7 stated realizes linear relative movement on upper flanges disk 10 by linear bearing 9, and wherein linear bearing passes through axle
Four screws of bearing are packed in upper flanges disk, the damping spring covered in support shaft, limit the relative movements of installing plate.
And installation sheet reset is made when acting on without external force, the function of Compliant Force Control is realized, by the polishing pressure for controlling milling robot
Power, realizes that milling tools remains safe pressure with parts to be processed contact force.Wherein linear bearing is solid by four screws
It is scheduled on upper flanges disk, the other end is fixed on lower end ring flange 6 by pin 702,
7 one end of support shaft is provided with the end block 701 for preventing support shaft from deviating from from upper flanges disk.
701 is prismatic structures, and the anti-rotation fluting for support shaft connection is provided with upper flanges disk 10, and this prevents turning on
Groove is divided axially into inside and outside two parts along upper flanges disk 10, and internal groove side wall is cylindric 302 be adapted with support shaft, and external groove sidevall is
The prismatic surface 301 being adapted with end block 701, and pin-and-hole is stamped in corresponding side wall, for limiting the relative shifting of support shaft
Dynamic displacement..
End connection 11 is additionally provided with upper flanges disk 10, on the support that the side of upper end connection 11 is welded
Be fixed with magnetic induction sensor 13, and fix magnetic railings ruler on the end block of support shaft 7 corresponding thereto, by measure support shaft with it is upper
The relative displacement of end flanges disk, realizes the measurement of pressure between workpiece and cutter head.
7 quantity of support shaft is evenly distributed on upper flanges disk 10 for multiple support shafts 7, i.e. the axle center of support shaft 7 with
The axial connecting line of upper flanges disk 10 is equal apart from the angle of two identical and adjacent lines.
7 quantity of support shaft is four, and four support shafts 7 are evenly distributed on upper flanges disk 10, i.e. support shaft 7
Axle center is identical with the axial connecting line of upper flanges disk 10, and the angle of two adjacent lines is in 90 degree.
Described upper flanges disk center perforate is used to fix antivibrator 14, and at exterior periphery, multiple flutings are respectively used to peace
Fill multiple support shafts, linear bearing and upper end connection 11；12 two ends of the outer sleeve are uniformly arranged 4 adjusting screws respectively,
It is fixed on lower end mounting disc and upper flanges disk.
Described grinding head 1 is fixed on the bottom of motor main shaft, for following industrial robot together according to control
Instruction performs the movement locus specified, and the surface of parts to be processed is polished or polished.In actual applications, can be according to not
Corresponding polishing medium and grinding clamp are selected with technological requirement and material properties.
With reference to shown in Fig. 1-4, a kind of milling robot flexible connecting device of this utility model is by upper end connection and machine
Device people connects, when the cutter for being fixed on end works and during by certain radial forces, above-mentioned by this utility model
Upper flanges disk is directly cooperated with support shaft, antivibrator, damping spring, can cause radial compliance between cutter and workpiece
Contact.Sanding and polishing is carried out to surface of the work when cutter is rotated under electro spindle effect, is received when cutter runs into the concavo-convex fluctuating of workpiece
During to workpiece power outwardly, damping spring will play a role and generation elongation and compress, according to the magnetic on upper flanges disk
Gate sensor measures the displacement of telescopic spring, and works as after cutter leaves workpiece and can automatically restore to setting known location.This
Utility model passes through the Stress control of the antivibrator and damping spring, and magnetic induction sensor pressure detecting in real time, it is to avoid
Cutter and the rigid contact of workpiece, prevent the problem of stress overloading in bruting process, improve cutter, electro spindle and industrial machine
The service life of device people, improves the polishing quality and yield rate of workpiece.
This utility model ensure that the flexible contact between power tool and workpiece, it is to avoid cutter and robot are damaged
Wound.Power control realization constant force polishing is adopted during robot flexibility polishing system polishing, it is ensured that machining accuracy, make polishing out
Workpiece possess height quality conformance, while realizing the high quality polished of complex curved surface part.This utility model simple structure,
Auto-reset function can be realized, the efficient sanding and polishing of the larger workpiece of surface undulation is can adapt to.
Claims (9)
1. a kind of milling robot flexible connecting device, it is characterised in that：The device includes grinding head（1）, motor（4）, lower end
Ring flange（6）, support shaft（7）, upper flanges disk（10）, outer sleeve（12）And antivibrator（14）；Antivibrator（14）One end passes through
Adjustment plug screw is fixed on upper flanges disk (10), antivibrator（14）The other end is fixed on lower end ring flange by adjustment plug screw
（6）On；Support shaft（7）One end is fixed on lower end ring flange（6）The upper other end is through being arranged on upper flanges disk (10) and energy
Axially opposing linear motion, support shaft are formed with upper flanges disk (10)（7）It is cased with damping spring（8）；Motor（4）It is solid with motor
Determine transposition (5) connection, grinding head (1) and motor（4）Output shaft be connected；Outer sleeve（12）It is enclosed within outside device, and is fixed on
On upper flanges disk.
2. milling robot flexible connecting device according to claim 1, it is characterised in that：Motor (4) is installed in electricity
Machine protective cover (2) is internal.
3. milling robot flexible connecting device according to claim 1, it is characterised in that：Outer sleeve (12) is enclosed within whole
It is used for preventing iron filings from polluting outside individual device, and is fixed on upper flanges disk.
4. milling robot flexible connecting device according to claim 1, it is characterised in that：Go back in upper flanges disk
Linear bearing is fixed with by bearing block screw（9）, support shaft（7）Through linear bearing（9）.
5. milling robot flexible connecting device according to claim 1, it is characterised in that：Support shaft (7) one end sets
There is the end block for preventing support shaft from deviating from from upper flanges disk（701）.
6. milling robot flexible connecting device according to claim 5, it is characterised in that：End block（701）For many ribs
Rod structure, upper flanges disk（10）On be provided with anti-rotation fluting for support shaft connection, the anti-rotation is slotted along upper flanges disk
（10）It is divided axially into inside and outside two parts, internal groove side wall is cylindric (302) being adapted with support shaft, external groove sidevall is and end block
（701）Adaptable multi-prismatic surface (301).
7. milling robot flexible connecting device according to claim 1, it is characterised in that：In upper flanges disk (10)
On be additionally provided with end connection (11), upper end connection (11) side weld support on be fixed with magnetic induction sensor
(13), and on the end block 1 (15) of support shaft (7) fix magnetic railings ruler.
8. milling robot flexible connecting device according to claim 1, it is characterised in that：Support shaft (7) quantity is
Multiple support shafts (7) are evenly distributed on upper flanges disk (10), i.e. the axle center of support shaft (7) and upper flanges disk (10)
Axial connecting line it is equal apart from the angle of two identical and adjacent lines.
9. milling robot flexible connecting device according to claim 8, it is characterised in that：Support shaft (7) quantity is four
Individual, four support shafts (7) are evenly distributed on upper flanges disk (10), i.e. the axle center of support shaft (7) and upper flanges disk
(10) axial connecting line is identical, and the angle of two adjacent lines is in 90 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620024270.0U CN206048242U (en) | 2016-01-12 | 2016-01-12 | Milling robot flexible connecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620024270.0U CN206048242U (en) | 2016-01-12 | 2016-01-12 | Milling robot flexible connecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206048242U true CN206048242U (en) | 2017-03-29 |
Family
ID=58371447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620024270.0U Expired - Fee Related CN206048242U (en) | 2016-01-12 | 2016-01-12 | Milling robot flexible connecting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206048242U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751236A (en) * | 2016-01-12 | 2016-07-13 | 沈阳工业大学 | Flexible connection device of grinding robot |
| CN108161680A (en) * | 2018-03-02 | 2018-06-15 | 广东省智能制造研究所 | A kind of submissive polishing system |
| CN108637905A (en) * | 2018-04-19 | 2018-10-12 | 广州大学 | A kind of flexible control system and method for polishing |
| CN109249307A (en) * | 2018-10-29 | 2019-01-22 | 广州熙锐自动化设备有限公司 | Acrylic disk flexibility polishing system |
| CN110125957A (en) * | 2018-02-09 | 2019-08-16 | 华北水利水电大学 | A kind of mechanical industrial robot end effector |
| CN110193817A (en) * | 2019-05-29 | 2019-09-03 | 中国科学院宁波材料技术与工程研究所 | A kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot |
| CN110340771A (en) * | 2019-07-04 | 2019-10-18 | 无锡中车时代智能装备有限公司 | Passenger car body multirobot polishing system and method |
| CN110935810A (en) * | 2019-12-06 | 2020-03-31 | 安徽猎通电子商务有限公司 | Rotary mechanical arm mechanism for stamping machine tool |
| CN113787407A (en) * | 2021-11-17 | 2021-12-14 | 江苏北人智能制造科技股份有限公司 | Floating type machining cutter connecting device |
-
2016
- 2016-01-12 CN CN201620024270.0U patent/CN206048242U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751236A (en) * | 2016-01-12 | 2016-07-13 | 沈阳工业大学 | Flexible connection device of grinding robot |
| CN110125957A (en) * | 2018-02-09 | 2019-08-16 | 华北水利水电大学 | A kind of mechanical industrial robot end effector |
| CN110125957B (en) * | 2018-02-09 | 2024-04-16 | 华北水利水电大学 | Mechanical type industrial robot end effector |
| CN108161680A (en) * | 2018-03-02 | 2018-06-15 | 广东省智能制造研究所 | A kind of submissive polishing system |
| CN108161680B (en) * | 2018-03-02 | 2024-01-30 | 广东省智能制造研究所 | Flexible polishing system |
| CN108637905A (en) * | 2018-04-19 | 2018-10-12 | 广州大学 | A kind of flexible control system and method for polishing |
| CN109249307A (en) * | 2018-10-29 | 2019-01-22 | 广州熙锐自动化设备有限公司 | Acrylic disk flexibility polishing system |
| CN110193817A (en) * | 2019-05-29 | 2019-09-03 | 中国科学院宁波材料技术与工程研究所 | A kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot |
| CN110340771A (en) * | 2019-07-04 | 2019-10-18 | 无锡中车时代智能装备有限公司 | Passenger car body multirobot polishing system and method |
| CN110935810A (en) * | 2019-12-06 | 2020-03-31 | 安徽猎通电子商务有限公司 | Rotary mechanical arm mechanism for stamping machine tool |
| CN113787407A (en) * | 2021-11-17 | 2021-12-14 | 江苏北人智能制造科技股份有限公司 | Floating type machining cutter connecting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170329 Termination date: 20190112 |