CN206185687U - Robot is with unsteady fixing device of gentle firm amphiprotic bistrique two dimension - Google Patents
Robot is with unsteady fixing device of gentle firm amphiprotic bistrique two dimension Download PDFInfo
- Publication number
- CN206185687U CN206185687U CN201621166223.6U CN201621166223U CN206185687U CN 206185687 U CN206185687 U CN 206185687U CN 201621166223 U CN201621166223 U CN 201621166223U CN 206185687 U CN206185687 U CN 206185687U
- Authority
- CN
- China
- Prior art keywords
- bistrique
- extensible member
- fixing device
- connector
- accommodating cavity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The utility model provides a robot is with unsteady fixing device of gentle firm amphiprotic bistrique two dimension belongs to the mechanical equipment field, including casing, a plurality of extensible member, connecting piece and controlling means, be equipped with a holding chamber in the casing, the inside in holding chamber is equipped with two sets of installation cavitys respectively on the relative two sides, and a plurality of extensible members divide into two sets ofly, respectively in fixed two sets of installation cavitys, the one end of connecting piece is fixed by two sets of extensible member centre grippings, and the bistrique is connected to the other end, controlling means and extensible member control connection to outside extension action or inward under reach are done to a plurality of extensible members of independent control in respective installation cavity respectively. The utility model discloses a first end of connecting piece is fixed in the holding chamber by a plurality of extensible member centre grippings, controlling means through the flexible length of the different extensible members of control can adjusted connecting piece inclination, the inclination at the grinding head main shaft of connecting piece second end is fixed in the final adjustment, is favorable to realizing the accurate control, can realize the certain limit in, the adjustment of arbitrary angle degree.
Description
Technical field
The utility model is related to a kind of machine components for fixing bistrique, more particularly to a kind of robot is with soft firm both sexes
Bistrique two dimension floating fixing device.
Background technology
Grinding machine (grinder, grinding machine) is the lathe for carrying out grinding to workpiece surface using grinding tool.
Most grinding machine is to carry out grinding using the emery wheel of high speed rotation, and a small number of is to use other grinding tools such as oilstone, abrasive band
It is processed with free abrasive, such as honing machine, superfinisher, abrasive belt grinding machine, grinder and polishing machine.
And with the development of industrial technology, to the precision requirement more and more higher processed, major embodiment is both ways：One side
Face, the shape of part becomes increasingly complex, higher to technique for grinding requirement for the polishing of special-shaped part；On the other hand, part
Dimension precision requirement more and more higher, the thickness to be polished is, it is necessary to precise control.In order to solve the above-mentioned technical problem, high-accuracy grinding
Bed not only needs to use the sharpening of various shapes and size, and needs to carry out precise control to the action of cutter head.
In the prior art, the fixing device of bistrique is rigid, by the mobile bistrique in multidimensional coordinate, realizes to zero
The comprehensive polishing of part.For example, Application No. " CN201320046029.4 ", the applying date are " 2013.01.28 ", utility model
The earlier application patent of entitled " coarse-grinding head fixing device ", discloses a kind of grinding head fixing device：
The coarse-grinding head fixing device includes connecting plate, the first clamping plate, the second clamping plate and some retaining elements.
First clamping plate and the second clamping plate are located at the upper and lower of the handle piece of coarse-grinding head respectively.First folder
Tight plate includes a first bistrique fastener and first handle fastener for being provided with cylindrical recess, and second clamping plate includes
One U-shaped the second bistrique fastener and second handle fastener.The first bistrique fastener for being provided with cylindrical recess, it is recessed
The equal diameters of sunken interior diameter and a certain position of the first connecting portion, a certain position be in first connecting portion with it is recessed
Fall into the position when position corresponding to depth, i.e. first connecting portion are engaged with depression.
The second connecting portion radius size of the second U-shaped bistrique fastener, its U-shaped arc radius and connector is coincide,
The U-shaped circular arc is nested in outside second connecting portion.The first handle fastener and second handle fastener are offered and hand
The equal semi-circular recesses of shank member radius, the twice groove and are engaged from upper and lower both direction with handle piece respectively.By upper
The occlusion at each position is stated, can prevent coarse-grinding head from moving and rotating along shaft core position, coarse-grinding head can be made to be secured firmly to two
Between clamping plate.
Using positioning formula fixed form, it is difficult to loosen, can well meets five axle polishing machines bistrique in process
The requirement that operating is stable, flexible, do not fall off, shake；Without repeating to knife, time-consuming, further improve production efficiency.
But, the coarse-grinding head fixing device adjustment angle is not accurate enough, it is impossible to accomplish that a small range is adjusted at any angle
It is whole, it is unfavorable for the processing of shaped piece；And, the action underaction of adjustment angle, processing efficiency is relatively low.
And, with deepening continuously for industrial automatization, the application field of industrial robot also constantly expands, flexible
Main shaft industrial goods part mill, cut and polishing in terms of also progressively have deep application.But it is existing at present, with industrial robot
The power spindle of supporting application, first using traditional rigid mounting structure, separately then installs (letter using additional passive compliant device
Claim principal axis of compliance).
But in actual use, according to different operating modes, may require that rigid main shaft and principal axis of compliance alternate application.
And be to avoid interference with, give robot bigger activity space, it is general in wrist only to capture a main shaft, to meet both works
Condition, certainly will so increase production process, extend productive temp, reduce production efficiency, waste the resource of factory floor.
Therefore, market in urgent need one kind can be by main shaft in rigidity and flexible structure any switching laws, with automation equipment (such as machine
People) do a kind of supporting powerplant configuration.
Utility model content
The purpose of this utility model is to provide one kind to fix bistrique by pneumaticpiston mode, by adjusting stretching for piston
The length for going out, can realize that, in necessarily any grinding head fixing device for adjusting bistrique angle of inclination in the range of, the bistrique is fixed
The main shaft that device is fixed is in rigidity and flexible structure any switching laws.
To achieve these goals, the utility model provides a kind of robot with the soft firm fixed dress of both sexes bistrique two dimension floating
Put, including：
Housing, is provided with an accommodating cavity in the housing, the first face of the inside of the accommodating cavity is provided with multiple first
Installation cavity, the inside of the accommodating cavity second face relative with the first face is provided with multiple second installation cavitys, and the first installation cavity
Corresponded with the second installation cavity and axis overlaps；
Multiple extensible members, multiple extensible members are divided into first group of extensible member and second group of extensible member, first group of extensible member
One-to-one mode is arranged in the first installation cavity, and second group of extensible member is arranged on the second installation cavity in one-to-one mode
It is interior；
Connector, the side of the connector is contained in accommodating cavity, and the side is stretched by first group of extensible member and second group
Contracting part is gripped；The opposite side of the connector leans out from accommodating cavity, for connecting bistrique；
Control device, the control device is connected with extensible member control, independently to control multiple extensible members respective
Installation cavity in do outside elongation action or inside shortening action.
Further, the accommodating cavity of the housing is provided with a plurality of guide slide, and guiding is provided with the guide slide
Spin；The side that the connector is located at accommodating cavity is provided with curved edge, and the curved edge is against in guiding spin with to even
Guide effect is played in the rotation of fitting.
Further, the housing is provided with universal positioning sleeve, and the end of the universal positioning sleeve is provided with sphere；The company
The side that fitting is located at accommodating cavity is provided with the locating slot that shape is adapted to universal positioning sleeve, and the universal positioning sleeve is contained in positioning
In groove and universal positioning sleeve can be rotated in locating slot.
Further, the connector is adpting flange, and the adpting flange includes plate-like portion and cylindrical portion, the tubular
Portion is vertically connected on plate-like portion；
The plate-like portion is arranged in accommodating cavity, and first group of extensible member and second group of extensible member are against plate-like portion both sides respectively
Realization is gripped, and the cylindrical portion is provided with the installation position for fixing grinding spindle；
The locating slot is located at the centre of plate-like portion；The curved edge is respectively positioned at the both sides of plate-like portion.
Further, first installation cavity and the second installation cavity are distributed in a ring and at equal intervals the interior of accommodating cavity
Portion；A plurality of guide slide is with the inside for being distributed in accommodating cavity of centrosymmetric mode.
Further, the extensible member is actuating device of atmospheric pressure or drive device for hydraulic.
Further, the extensible member is cylinder assembly, and the cylinder assembly includes cylinder body and piston, and the piston is housed
It is fixed in the first installation cavity or the second installation cavity, the piston is contained in cylinder body；
A plurality of gas channels are provided with the accommodating cavity, one end and the gases at high pressure generating means of the gas channels connect
Connect, the other end is connected with cylinder body；
The control device is connected with the control of gases at high pressure generating means.
Further, it is provided with oilless bearing between the cylinder body and piston.
Further, the piston and one end of connector effect are sphere.
Further, the robot with soft firm both sexes bistrique two dimension floating fixing device also includes that main shaft stress can be monitored
The force feedback device of situation, the force feedback device is electrically connected with control device, enables control device according to force feedback device
The information of monitoring, the chucking power to connector is adjusted by controlling extensible member.
Compared to prior art, the robot that the utility model the is provided two-dimentional floating fixing device of soft firm both sexes bistrique,
The main shaft of bistrique is fixed by connector, the first end of connector is clamped to accommodating cavity by multiple group cylinder assembly.By control
Air pressure processed, can realize that flexible positioning and rigidity are positioned：
When air pressure is big, the chucking power of cylinder assembly is big, and connector will not swing, and be now rigid positioning；Control dress
The angle of inclination by controlling the different groups of collapsing lengths of cylinder assembly to can adjust connector is put, final adjustment is fixed on connection
The angle of inclination of the grinding spindle at the end of part second, the control at bistrique angle of inclination is converted into group cylinder assembly collapsing length
Control, reduces control difficulty, is advantageously implemented precise control；And can realize in certain limit, adjust at any angle,
Greatly improve and machining accuracy, be particularly suited for the polishing of shaped piece.
Air pressure hour, the gas in cylinder assembly can be further compressed, and cylinder assembly can be stretched within the specific limits
Contracting, now for flexibility is positioned, connector can swing within the specific limits；Particularly suitable passive compliance deburred.
Brief description of the drawings
In order to illustrate more clearly of the utility model specific embodiment or technical scheme of the prior art, below will be right
The accompanying drawing to be used needed for specific embodiment or description of the prior art is briefly described, it should be apparent that, describe below
In accompanying drawing be some implementation methods of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 provides robot with soft firm both sexes bistrique two dimension floating fixing device for first embodiment of the present utility model
Structural representation.
Reference：
1- housings；2- cylinder assemblies；3- connectors；
4- is oriented to spin；11- accommodating cavities；12- guide slides；
The universal positioning sleeves of 13-；21- cylinder bodies；22- pistons；
31- plate-like portions；32- cylindrical portions；311- curved edges；
321- installation positions.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, this
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
It is term " " center ", " on ", D score, "left", "right", " perpendicular, it is necessary to explanation in description of the present utility model
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outward " are, based on orientation shown in the drawings or position relationship, to be only
Described with simplified for the ease of description the utility model, must had rather than the device or element for indicating or implying meaning specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.Additionally, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
, it is necessary to explanation, unless otherwise clearly defined and limited, term " is pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary,
Can be two connections of element internal.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Embodiment one
Fig. 1 provides robot with soft firm both sexes bistrique two dimension floating fixing device for first embodiment of the present utility model
Structural representation.
Refering to Fig. 1, the utility model provides a kind of robot soft firm both sexes bistrique two dimension floating fixing device, including shell
Body 1, multiple cylinder assemblies 2, control device and connector 3.
An accommodating cavity 11 is provided with housing 1, the first face of the inside of the accommodating cavity 11 is provided with multiple first and installs
Chamber, the inside of the accommodating cavity 11 second face relative with the first face is provided with multiple second installation cavitys, and the first installation cavity with
Second installation cavity is corresponded and axis overlaps；First installation cavity and the second installation cavity are used to install cylinder assembly 2.
2 points of multiple cylinder assemblies are first group of cylinder assembly and second group of cylinder assembly, first group of cylinder assembly one
Corresponding mode is arranged in the first installation cavity, and second group of cylinder assembly is arranged on the second installation cavity in one-to-one mode
It is interior.
The cylinder assembly 2 includes cylinder body 21 and piston 22, and the piston 22 is accommodating to be fixed on the first installation cavity or second
In installation cavity, the piston 22 is contained in cylinder body 21.A plurality of gas channels, the gas channels are provided with the accommodating cavity 11
One end be connected with high-pressure air source, the other end is connected with cylinder body 21.
Connector 3 is adpting flange, and adpting flange includes plate-like portion 31 and cylindrical portion 32, and the cylindrical portion 32 is vertically connected
On plate-like portion 31.The plate-like portion 31 is arranged in accommodating cavity 11, and the first cylinder assembly 2 and second group of cylinder assembly are supported respectively
Realize gripping in the both sides of plate-like portion 31.
Specifically, first installation cavity and the second installation cavity are distributed in a ring and at equal intervals accommodating cavity 11
Inside, enables the first cylinder assembly 2 and the second cylinder assembly 2 uniformly to act on connector 3, makes the inclination angle of connector 3
No matter degree stabilization, worked with what angle of inclination, can provide relatively stable holding power for bistrique.
The cylindrical portion 32 leans out from accommodating cavity 11, and cylindrical portion 32 is provided with installation position 321, and bistrique is connected to bistrique master
On axle, grinding spindle is fixed on installation position 321.
Using said structure adpting flange as connector 3, grinding spindle can not only be quickly and easily installed, and,
With simple structure, it is easy to produce, the low advantage of processing cost.
Certainly, this is only a specific embodiment of the present utility model, and the concrete structure of connector of the present utility model 3 is simultaneously
This is not limited to, or other structures, as long as one end of connector 3 can be by first group of cylinder assembly and second group of cylinder assembly
Clamping, the other end can connect grinding spindle, or be directly connected to bistrique.
The control device is connected with the control of cylinder assembly 2, independently to control multiple cylinder assemblies 2 in respective peace
Outside elongation action or inside shortening action is done in behaveing affectedly.
In the present embodiment, control device includes main control module and multiple controlling switches, and multiple controlling switch controls are high
Pressurized air source and every opening and closing of gas channels, main control module are used to receive control instruction, are uniformly controlled according to control instruction many
Individual controlling switch.
Compared to prior art, the robot that the utility model the is provided two-dimentional floating fixing device of soft firm both sexes bistrique,
The main shaft of bistrique is fixed by connector 3, the first end of connector 3 is clamped to accommodating cavity 11 by multiple group cylinder assembly 2.It is logical
Control air pressure is crossed, can realize that flexible positioning and rigidity are positioned：
When needing main shaft to realize rigid applications, the air pressure of cylinder assembly 2 is transferred to maximum, and the chucking power of cylinder assembly 2 is big,
Connector 3 will not swing, and realize rigidity positioning；Keep main shaft to conventional axis position.Standard Cylinder controls location action,
Make main shaft remain at axis to fix.And suitable rigidly fixing can be provided.Rotation and axial direction which limit main shaft
The free degree.And there is provided supporting completely.
Air pressure hour, when needing main shaft to realize flexible application, the air pressure of cylinder assembly 2 is smaller, the gas in cylinder assembly 2
Body can be further compressed, and cylinder assembly 2 can stretch within the specific limits, be now flexible positioning, and connector 3 can be
Swung in certain limit；Main shaft realizes passive compliance, and realizes that data are controllable.
Bistrique is fixed in using the device by robot, and when being polished, during mill is cut, bistrique is mainly by radial direction and axle
To the power of both direction, when main shaft realizes flexible application, can be floated in two dimension, actual demand of fitting.
Control device can adjust the angle of inclination of connector 3 by controlling the different groups of collapsing lengths of cylinder assembly 2, most
Adjustment eventually is fixed on the angle of inclination of the grinding spindle at the end of connector 3 second, and the control at bistrique angle of inclination is converted into group
The control of the collapsing length of cylinder assembly 2, reduces control difficulty, is advantageously implemented precise control；Can realize in certain limit,
Adjust at any angle, greatly improve and machining accuracy, be particularly suited for the polishing of shaped piece.
Additionally, also having simple structure, convenient, the advantage of fluent movements is controlled.
Specifically, robot can complete more work using the soft firm both sexes bistrique two dimension floating fixing device；
The burr of different parts can be cleared up, is particularly suited for the consistent deburred effect of irregular part, it is allowed to parts profile not
Regular radially offer ± 8mm bit shift compensations；Than manually operating more uniformity and reliability；The more satisfied processing of client is allowed to imitate
Really.
Can be by adjusting air pressure, the constant compliance power of regulation realizes the different compliances that the different parts of cleaning need；Gas control
System compliance power be constant, do not change, it is indeformable.
After the soft firm both sexes bistrique two dimension floating fixing device installs bistrique, burr can be automatically cleared up, reduce work people
Member's quantity, reduces human cost；Increase job security simultaneously, allow staff away from harmful working environment；Due to need not
Active accommodation sharpening fixed angle, therefore work non-stop run, maintenance are few, reduce the circulation time of work, increase machine
The production efficiency of people；Because machining accuracy is high, waste product and repeated work are reduced, reduce production cost.
In the present embodiment, being provided with a plurality of guide slide 12, the guide slide 12 for the accommodating cavity 11 of housing 1 sets
There is guiding spin 4；The side that the connector 3 is located at accommodating cavity 11 is provided with curved edge 311, i.e., described 311 points of curved edge
Not Wei Yu plate-like portion 31 both sides, the curved edge 311 be against guiding spin 4 on guiding is played with the rotation to connector 3
Effect.
The gap between the plate-like portion 31 of the filling connector 3 of spin 4 and accommodating cavity 11 is oriented to, on the one hand to connector 3
To certain position-limiting action, on the other hand, curved edge 311 can be relatively rotated along spin 4 is oriented to, and guiding can be played again left
It is right.
Specifically, guide slide 12 makes guiding spin 4 with the inside for being distributed in accommodating cavity 11 of centrosymmetric mode
The side for uniformly acting on plate-like portion 31 in a plurality of directions is ensure that, connector 3 is not sent out in all directions
Life is rocked.
In addition to the combination of guide slide 12 and guiding spin 4, the robot that the present embodiment is provided is ground with soft firm both sexes
The two-dimentional floating fixing device of head is also provided with universal positioning sleeve 13 and locating slot combination：Housing 1 is provided with universal positioning sleeve 13, institute
State universal positioning sleeve 13 positioned at accommodating cavity 11 inside, universal positioning sleeve 13 for accommodating cavity 11 inwall to side protrude it is convex
Rise, raised side is smooth sphere.
The side that the connector 3 is located at accommodating cavity 11 is provided with the locating slot that shape is adapted to universal positioning sleeve 13, specifically
For, locating slot is located at the centre of plate-like portion 31, and the universal positioning sleeve 13 is assigned and is contained in locating slot, universal positioning
Set 13 can be rotated in locating slot.
The mating connection of universal positioning sleeve 13 and locating slot, with two effects：First, quickly realize determining for grinding spindle
Position, solves machinery requirement of the prior art and adjusts repeatedly, can just reach setting start bit；Second, guide effect is played, adjusting
During whole grinding spindle angle, fluent movements of connector 3 and steady are kept, it is to avoid large-amplitude sloshing.
In the present embodiment, it is provided with oilless bearing between the cylinder body 21 and piston 22.Oilless bearing and piston 22 pass through
Accurately dimensional fits, realize being tightly connected, without setting sealing ring, it is to avoid sealing ring is aging to cause sealing effectiveness to be deteriorated, and enters
And control accuracy is influenceed, make the work of equipment relatively reliable.
In the present embodiment, one end that the piston 22 is contacted with the plate-like portion 31 of connector 3 is sphere.Due to connector
3 can deflect, the spherical end of piston 22 can, be the plate-like portion of connector 3 under the arbitrary inclination of connector 3
31 provide holding power.
Embodiment two
The utility model provides a kind of robot soft firm both sexes bistrique two dimension floating fixing device, including housing, multiple
Hydraulic jack, control device, connector and force feedback device.
An accommodating cavity is provided with housing, the first face of the inside of the accommodating cavity is provided with multiple first installation cavitys, institute
Inside second face relative with the first face for stating accommodating cavity is provided with multiple second installation cavitys, and the first installation cavity and second is installed
Chamber corresponds and axis overlaps；
Multiple extensible members are divided into two groups of hydraulic jacks, and first group of hydraulic jack is arranged in the first installation cavity, and second
Group hydraulic jack is arranged in the second installation cavity；
The side of the connector is contained in accommodating cavity, and the side is gripped by two groups of hydraulic jacks；The connection
The opposite side of part leans out from accommodating cavity, for connecting bistrique；
The control device is connected with hydraulic jack control, independently to control multiple hydraulic jacks in respective installation
Outside elongation action or inside shortening action is done in chamber.
The force feedback device is used to monitor the force feedback device of main shaft force-bearing situation, and the force feedback device is filled with control
Electrical connection is put, enables control device according to the information of force feedback device monitor, adjusted by controlling hydraulic jack to connection
The chucking power of part.
There is provided force feedback device, can not only respectively control the collapsing length of each extensible member to adjust angle of inclination；Also
Grip strength can be adjusted, such as, in polishing form, during the different part of material, its bistrique angle of inclination is identical, but
Chucking power needed for bistrique is different, according to the information of force feedback device monitor, i.e., can be tuned up by the way that control device is proportional
The air pressure of cylinder assembly can increase chucking power.
Finally it should be noted that：Various embodiments above is only used to illustrate the technical solution of the utility model, rather than it is limited
System；Although being described in detail to the utility model with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, or to which part or whole
Technical characteristic carries out equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of robot is with soft firm both sexes bistrique two dimension floating fixing device, it is characterised in that including：
Housing, is provided with an accommodating cavity in the housing, the first face of the inside of the accommodating cavity is provided with multiple first and installs
Chamber, the inside of the accommodating cavity second face relative with the first face is provided with multiple second installation cavitys, and the first installation cavity and
Two installation cavitys are corresponded and axis overlaps；
Multiple extensible members, multiple extensible members are divided into first group of extensible member and second group of extensible member, and first group of extensible member is one by one
Corresponding mode is arranged in the first installation cavity, and second group of extensible member is arranged in the second installation cavity in one-to-one mode；
Connector, the side of the connector is contained in accommodating cavity, and the side is by first group of extensible member and second group of extensible member
Grip；The opposite side of the connector leans out from accommodating cavity, for connecting bistrique；
Control device, the control device is connected with extensible member control, independently to control multiple extensible members in respective peace
Outside elongation action or inside shortening action is done in behaveing affectedly.
2. robot according to claim 1 is with soft firm both sexes bistrique two dimension floating fixing device, it is characterised in that described
The accommodating cavity of housing is provided with a plurality of guide slide, and guiding spin is provided with the guide slide；The connector is located at and holds
The side for putting chamber is provided with curved edge, and the curved edge is against in guiding spin and plays guiding work with the rotation to connector
With.
3. robot according to claim 2 is with soft firm both sexes bistrique two dimension floating fixing device, it is characterised in that described
Housing is provided with universal positioning sleeve, and the end of the universal positioning sleeve is provided with sphere；The connector is located at the side of accommodating cavity
It is provided with the locating slot that shape is adapted to universal positioning sleeve, the universal positioning sleeve is contained in locating slot and universal positioning sleeve can be
Rotated in locating slot.
4. robot according to claim 3 is with soft firm both sexes bistrique two dimension floating fixing device, it is characterised in that described
Connector is adpting flange, and the adpting flange includes plate-like portion and cylindrical portion, and the cylindrical portion is vertically connected on plate-like portion；
The plate-like portion is arranged in accommodating cavity, and first group of extensible member and second group of extensible member are against the realization of plate-like portion both sides respectively
Grip, the cylindrical portion is provided with the installation position for fixing grinding spindle；
The locating slot is located at the centre of plate-like portion；The curved edge is respectively positioned at the both sides of plate-like portion.
5. robot according to claim 2 is with soft firm both sexes bistrique two dimension floating fixing device, it is characterised in that described
First installation cavity and the second installation cavity are distributed in a ring and at equal intervals the inside of accommodating cavity；A plurality of guide slide is with center
The inside for being distributed in accommodating cavity of symmetrical mode.
6. robot according to claim 1 is with soft firm both sexes bistrique two dimension floating fixing device, it is characterised in that described
Extensible member is actuating device of atmospheric pressure or drive device for hydraulic.
7. robot according to claim 6 is with soft firm both sexes bistrique two dimension floating fixing device, it is characterised in that described
Extensible member is cylinder assembly, and the cylinder assembly includes cylinder body and piston, and the piston is accommodating to be fixed on the first installation cavity or the
In two installation cavitys, the piston is contained in cylinder body；
A plurality of gas channels are provided with the accommodating cavity, one end of the gas channels is connected with gases at high pressure generating means, separately
One end connects with cylinder body；
The control device is connected with the control of gases at high pressure generating means.
8. robot according to claim 7 is with soft firm both sexes bistrique two dimension floating fixing device, it is characterised in that described
Oilless bearing is provided between cylinder body and piston.
9. robot according to claim 7 is with soft firm both sexes bistrique two dimension floating fixing device, it is characterised in that described
Piston is sphere with one end of connector effect.
10. robot according to claim 1 is with soft firm both sexes bistrique two dimension floating fixing device, it is characterised in that should
Robot with soft firm both sexes bistrique two dimension floating fixing device also includes that the force feedback device of main shaft force-bearing situation, institute can be monitored
State force feedback device to be electrically connected with control device, enable control device according to the information of force feedback device monitor, by control
Extensible member adjusts the chucking power to connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621166223.6U CN206185687U (en) | 2016-11-01 | 2016-11-01 | Robot is with unsteady fixing device of gentle firm amphiprotic bistrique two dimension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621166223.6U CN206185687U (en) | 2016-11-01 | 2016-11-01 | Robot is with unsteady fixing device of gentle firm amphiprotic bistrique two dimension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206185687U true CN206185687U (en) | 2017-05-24 |
Family
ID=58733034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621166223.6U Withdrawn - After Issue CN206185687U (en) | 2016-11-01 | 2016-11-01 | Robot is with unsteady fixing device of gentle firm amphiprotic bistrique two dimension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206185687U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272055A (en) * | 2016-11-01 | 2017-01-04 | 张钰祯 | Robot is by soft firm both sexes bistrique two dimension floating fixing device |
| CN107116435A (en) * | 2017-06-19 | 2017-09-01 | 重庆百钰顺科技有限公司 | A kind of efficient polishing grinding method and apparatus |
| CN107584338A (en) * | 2017-10-30 | 2018-01-16 | 太湖县爱杰机械铸造有限公司 | Car panel die surface grinding glossing |
-
2016
- 2016-11-01 CN CN201621166223.6U patent/CN206185687U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272055A (en) * | 2016-11-01 | 2017-01-04 | 张钰祯 | Robot is by soft firm both sexes bistrique two dimension floating fixing device |
| CN106272055B (en) * | 2016-11-01 | 2018-06-29 | 张钰祯 | The soft firm both sexes bistrique two dimension floating fixing device of robot |
| CN107116435A (en) * | 2017-06-19 | 2017-09-01 | 重庆百钰顺科技有限公司 | A kind of efficient polishing grinding method and apparatus |
| CN107116435B (en) * | 2017-06-19 | 2019-05-21 | 重庆百钰顺科技有限公司 | A kind of efficient polishing grinding equipment |
| CN107584338A (en) * | 2017-10-30 | 2018-01-16 | 太湖县爱杰机械铸造有限公司 | Car panel die surface grinding glossing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106272055B (en) | The soft firm both sexes bistrique two dimension floating fixing device of robot | |
| CN206185687U (en) | Robot is with unsteady fixing device of gentle firm amphiprotic bistrique two dimension | |
| CN101983838B (en) | Milling, grinding and polishing device based on intelligent numerically-controlled platform | |
| CN110434716B (en) | Force/position controllable surface type self-adaptive polishing device and method | |
| CN103084888B (en) | Method for machining molded line of scroll plate | |
| CN109318120B (en) | Constant-force polishing head mechanism | |
| CN112497023B (en) | Variable-rigidity air bag polishing device and polishing method for magnetorheological elastomer | |
| CN103100944A (en) | Machine tool of artificial globe joints and machining method | |
| JP4974050B2 (en) | Power transmission chain pin grinding apparatus and power transmission chain pin manufacturing method | |
| CN109397088B (en) | Polishing machine capable of quickly replacing grinding head or grinding head clamp | |
| CN109693151B (en) | High-precision polishing equipment for inner wall of precise pipeline | |
| CN109396966B (en) | Method for processing concave spherical crown or concave spherical ring surface by multi-magnet arrangement annular magneto-rheological polishing tool | |
| CN103128663A (en) | Dresser of air bag polishing tool | |
| CN204868450U (en) | Motor thin wall part equipment for external grinding | |
| JP2006218554A (en) | Method for creating shape of tool grinding wheel | |
| CN109822431A (en) | A kind of robot mould side wall burnishing device | |
| CN112935952A (en) | Rigid cylindrical grinding method and device for miniature round rod | |
| CN210997939U (en) | Force/position controllable surface type self-adaptive grinding and polishing device | |
| CN202640077U (en) | Machine tool for machining artificial spherical joint | |
| CN211220040U (en) | Single-shaft polishing mechanism | |
| CN102990500B (en) | Magnetorheological polishing device with vertical shaft and tilting shaft with rotary table hung upside down | |
| CN206425941U (en) | Profiling sanding apparatus and mobile terminal shell | |
| CN202556161U (en) | Aspheric polishing device based on magneto-rheologic moment servo | |
| CN206982440U (en) | Robot polishing start of adaptive spindle | |
| CN204868451U (en) | Thin wall part external grinding equipment for motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170524 Effective date of abandoning: 20180629 |