CN208713663U - A kind of air bag assist type power control polishing system - Google Patents
A kind of air bag assist type power control polishing system Download PDFInfo
- Publication number
- CN208713663U CN208713663U CN201820294470.7U CN201820294470U CN208713663U CN 208713663 U CN208713663 U CN 208713663U CN 201820294470 U CN201820294470 U CN 201820294470U CN 208713663 U CN208713663 U CN 208713663U
- Authority
- CN
- China
- Prior art keywords
- air bag
- polishing system
- fixed
- power control
- type power
- 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- Withdrawn - After Issue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)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The utility model provides a kind of air bag assist type power control polishing system, belongs to polissoir technical field.The polishing power that it solves existing rubbing head output is easy to produce the technical problems such as fluctuation.This air bag assist type power control polishing system includes rack, front pressuring plate, rear fender and controller, front rod and back link are respectively provided on front pressuring plate and rear fender, front rod and back link are slidably connected at the front end and rear end of rack respectively, air motor is fixed on front rod, polishing disk is fixed on the output shaft of air motor, it is arranged on the front rod of front pressuring plate and is fixed with the first air bag, force sensor is set between air motor and front rod, polishing system further includes the driving mechanism for driving rear fender to move axially along back link, driving mechanism and force snesor are electrically connected with the controller.Polishing system can make polishing disk export stable polishing power, and constant force polishing can effectively realize that uniformity polishes, improve grinding accuracy.
Description
Technical field
The utility model belongs to polissoir technical field, is related to a kind of air bag assist type power control polishing system.
Background technique
Currently, main rubbing down mode is manual polishing in machinery industry, manual polishing low efficiency, part consistency is poor, work
The appearance of industry rubbing down robot gradually improves this status.In automatic machinery people's rubbing down field, robot rubbing down object master
It to be the parts such as optical surface, die curve, thereby, it is ensured that complex parts surface rubbing down precision is most important；And influence rubbing down essence
Degree i.e. surface roughness and the principal element of grinding depth are grinding speed and Grinding Contact power, and grinding speed control is relatively simple
Single, the control for power of polishing is then relative complex.Currently, there are mainly two types of the power prosecutor formulas of object manipulator rubbing down: pneumatic type and electricity
Magnetic-type.Aerodynamic force control device is adaptable, and application is relatively extensive；Electromagnetic force control device precision is higher, but cost is also higher.It introduces
Other excellent power prosecutor formulas are of great significance to solving the above problems.
Polishing system during the polishing process rubbing head and the size wait the contact force between workpiece of polishing to rubbing down surface
Grinding depth, surface roughness have a major impact, polishing system in the prior art, and the polishing power of rubbing head output is easy to produce
Fluctuation, influences grinding accuracy.
Summary of the invention
The utility model aiming at the above problems existing in the prior art, provides a kind of air bag assist type power control polishing system
System, the technical problem to be solved by the utility model is to polishing disk how to be made to export stable polishing power.
The purpose of this utility model can be realized by the following technical scheme:
A kind of air bag assist type power control polishing system, including rack, front pressuring plate, rear fender and controller, the front pressuring plate
With front rod and back link are respectively provided on rear fender, before the front rod and back link are slidably connected at the rack respectively
End and rear end are fixed with air motor on the front rod, are fixed with polishing disk on the output shaft of the air motor,
It is characterized in that, the first air bag is arranged and be fixed on the front rod of the front pressuring plate, and the rear fender is oppositely arranged with front pressuring plate
And the two is fixedly connected with, and force sensor is arranged between the air motor and front rod, the polishing system further includes driving institute
The driving mechanism that rear fender is moved axially along back link is stated, the driving mechanism and force snesor are electrically connected with the controller
It connects.
Its working principle is that: air motor drives front rod rotation, to drive polishing disc spins, workpiece is played in realization
Grinding and polishing light, under the driving of driving mechanism, rear fender applies thrust to front pressuring plate, and front pressuring plate squeezes the first air bag,
The thrust is the contact force of polishing disk Yu workpiece to be polished, and during the grinding process, force snesor detection polishing disk output is beaten
The test data is simultaneously sent to controller by mill power, and controller is according to the size variation of polishing power, before driving mechanisms control
Pressing plate makes extruding force corresponding change suffered by the first air bag to the decrement of the first air bag, and being reached with this keeps polishing disk output steady
Surely the purpose for power of polishing.
In a kind of above-mentioned air bag assist type power control polishing system, the driving mechanism include servo motor, screw rod and
Intermediate connecting rod, the servo motor are fixed in the rack, and the screw rod rotates around the axis connection on the rack, the servo
The output shaft of motor and the inner end of screw rod are fixedly connected with, and the inner end screw thread of the outer end of the screw rod and the intermediate connecting rod passes
Dynamic connection, the outer end of intermediate connecting rod is fixedly connected with the back link.According to the size variation of polishing disk polishing power, servo motor
It drives screw rod rotation, screw rod moves intermediate connecting rod, and intermediate connecting rod drives rear fender mobile, and rear fender passes through extruding gasbag
The decrement of air bag is controlled, to control the polishing power of polishing disk.
In a kind of above-mentioned air bag assist type power control polishing system, the driving mechanism further includes shaft coupling, described
Axis device is connected between the output shaft of servo motor and the inner end of screw rod.
In a kind of above-mentioned air bag assist type power control polishing system, the inner end of the intermediate connecting rod is fixed with nut,
The nut and the wire rod thread are sequentially connected, and are fixed with the first limit switch and the second limit switch, institute in the rack
It states the first limit switch and the second limit switch is electrically connected with the controller, the nut is located at first limit switch and
Between two limit switches.The limit of sports record position of nut is determined by the first limit switch and the second limit switch, when nut reaches
When extreme position, the first limit switch or the second limit switch signal an alert are to controller.
In a kind of above-mentioned air bag assist type power control polishing system, is further fixed between the front pressuring plate and rear fender
Two air bags.Second air bag plays buffer function, and motor is out of control to allow to that polishing system is prevented to be damaged.
In a kind of above-mentioned air bag assist type power control polishing system, the rack includes bottom plate, fixed on the bottom plate
There are the first pivot flange and the second pivot flange being oppositely arranged, the outside of first air bag and the second air bag is fixed with air bag
Guide sleeve, the outer surface of first air bag and the outer surface of the second air bag are mutually close to the inner wall of the air bag guide sleeve, described
The both ends of air bag guide sleeve are fixedly connected with first pivot flange and the second pivot flange respectively.
In a kind of above-mentioned air bag assist type power control polishing system, limit spring is arranged on the back link, it is described
An end of two ends of limit spring respectively with rear fender and air bag guide sleeve leans.Limit spring, Neng Gouqi are set
To the effect of limit and buffering.
In a kind of above-mentioned air bag assist type power control polishing system, opened up respectively on first air bag and the second air bag
There are first interface and second interface, the barometer of the air pressure for detecting the first air bag, the air pressure are fixed in the rack
Meter is electrically connected with the controller.When using the long period, by first interface and second interface can respectively to the first air bag and
Second air bag is inflated, to supplement air pressure；The indoor atmospheric pressure value of the gas of first air bag is converted into electricity after detecting by barometer
Signal is sent to controller.
In a kind of above-mentioned air bag assist type power control polishing system, it is fixed with attitude transducer on the intermediate connecting rod,
The attitude transducer is electrically connected with the controller.Attitude transducer is fixed on intermediate connecting rod, can detecte load and gravity side
To angle, can also detect that the acceleration of load.
In a kind of above-mentioned air bag assist type power control polishing system, the polishing disk is by elastic rubber and wool felt
At.
Compared with prior art, as follows the advantages of the utility model:
1, this polishing system can make polishing disk export stable polishing power, and constant force polishing can effectively realize uniformity
Polishing improves grinding accuracy.
2, it is provided with limit spring on the back link of this polishing system, limit and buffering can be played the role of.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of this polishing system.
Fig. 2 is the schematic diagram that air bag guide sleeve is connected with rack.
Fig. 3 is the structural schematic diagram of driving mechanism.
Fig. 4 is the schematic diagram that the first air bag and the second air bag are connected.
Fig. 5 is the cross-sectional view of the first air bag and the second air bag.
Fig. 6 is the stress diagram of front pressuring plate.
Fig. 7 is system control principle drawing.
In figure, 1, rack；1a, bottom plate；1b, the first pivot flange；1c, the second pivot flange；2, front pressuring plate；2a, preceding company
Bar；3, rear fender；3a, back link；4, controller；5, air motor；6, polishing disk；7, the first air bag；7a, first interface；8,
Force snesor；9, servo motor；10, screw rod；11, intermediate connecting rod；12, shaft coupling；13, nut；14, the first limit switch；15,
Second limit switch；16, the second air bag；16a, second interface；17, air bag guide sleeve；18, limit spring；19, barometer；20, appearance
State sensor.
Specific embodiment
It is specific embodiment of the utility model and in conjunction with attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these examples.
Embodiment one
As shown in Fig. 1,3,5, this air bag assist type power control polishing system includes rack 1, front pressuring plate 2, rear fender 3 and control
It is respectively provided with front rod 2a and back link 3a on device 4, front pressuring plate 2 and rear fender 3, front rod 2a and back link the 3a company of sliding respectively
It connects and is fixed with air motor 5 on the front end and rear end of rack 1, front rod 2a, be fixed on the output shaft of air motor 5
Polishing disk 6, polishing disk 6 can be made of elastic rubber and wool felt, are arranged on the front rod 2a of front pressuring plate 2 and are fixed with first
Air bag 7, rear fender 3 is oppositely arranged with front pressuring plate 2 and the two is fixedly connected with, and strong pass is arranged between air motor 5 and front rod 2a
Sensor 8, polishing system further include the driving mechanism for driving rear fender 3 to move axially along back link 3a, driving mechanism and power sensing
Device 8 is electrically connected with controller 4.
As shown in figure 3, driving mechanism includes servo motor 9, screw rod 10 and intermediate connecting rod 11, servo electricity in the present embodiment
Machine 9 is fixed in rack 1, and screw rod 10, which rotates around the axis, to be connected in rack 1, and the output shaft of servo motor 9 is interior with screw rod 10
End is fixedly connected with, and the outer end of screw rod 10 is connect with the inner end screw-driven of intermediate connecting rod 11, the outer end of intermediate connecting rod 11
It is fixedly connected with back link 3a.According to the size variation of the polishing power of polishing disk 6, servo motor 9 drives screw rod 10 to rotate, and screw rod 10 makes
Intermediate connecting rod 11 moves, and intermediate connecting rod 11 drives rear fender 3 mobile, and rear fender 3 controls air bag by extruding gasbag
Decrement, to control the polishing power of polishing disk 6.
As shown in Figure 3, it is preferred that driving mechanism further includes shaft coupling 12, and shaft coupling 12 is connected to the output of servo motor 9
Between axis and the inner end of screw rod 10.
As shown in Fig. 2, the inner end of intermediate connecting rod 11 is fixed with nut 13, nut 13 and 10 spiral shell of screw rod in the present embodiment
Line is sequentially connected, and the first limit switch 14 and the second limit switch 15, the first limit switch 14 and the second limit are fixed in rack 1
Bit switch 15 is electrically connected with controller 4, and nut 13 is between the first limit switch 14 and the second limit switch 15.Nut 13
Limit of sports record position determined by the first limit switch 14 and the second limit switch 15, when nut 13 reaches capacity position, the
One limit switch 14 or 15 signal an alert of the second limit switch are to controller 4.
As shown in figure 5, preferably, being further fixed on the second air bag 16 between front pressuring plate 2 and rear fender 3.Second air bag 16
Buffer function is played, motor is out of control to allow to that polishing system is prevented to be damaged.
As shown in Fig. 2, rack 1 includes bottom plate 1a, the first pivot flange 1b being oppositely arranged and the is fixed on bottom plate 1a
The outside of two pivot flange 1c, the first air bag 7 and the second air bag 16 is fixed with air bag guide sleeve 17, the outer surface of the first air bag 7 and
The outer surface of second air bag 16 is mutually close to the inner wall of air bag guide sleeve 17, and the both ends of air bag guide sleeve 17 are supported with first respectively
Flange 1b and the second pivot flange 1c are fixedly connected with.
As shown in Figure 5, it is preferred that limit spring 18, two ends difference of limit spring 18 are arranged on back link 3a
It leans with an end of rear fender 3 and air bag guide sleeve 17.Limit spring 18 is set, the work of limit and buffering can be played
With.
As shown in Figure 3,4, it is preferred that offer first interface 7a and second respectively on the first air bag 7 and the second air bag 16
Interface 16a, the barometer 19 of the air pressure for detecting the first air bag 7 is fixed in rack 1, and barometer 19 is electrically connected with controller 4
It connects.It, can be respectively to the first air bag 7 and the second air bag by first interface 7a and second interface 16a when using the long period
16 are inflated, to supplement air pressure；The indoor atmospheric pressure value of gas of first air bag 7 is converted into electric signal after detecting by barometer 19
It is sent to controller 4.
As shown in figure 3, preferably, be fixed with attitude transducer 20 on intermediate connecting rod 11, attitude transducer 20 and control
Device 4 is electrically connected.Attitude transducer 20 is fixed on intermediate connecting rod 11, can detecte the angle of load and gravity direction, can be with
Detect the acceleration of load.
In a certain stress moment t, ignore the friction between slide, by end polishing system, front pressuring plate 2 and force snesor
8 are assumed to be an entirety, front pressuring plate 2 (i.e. whole) stress be reduced to as shown in fig. 6, we only consider X-direction by
Power state；F1 is 7 applied force of the second air bag, and F2 is 16 applied force of the first air bag, and f is frictional force, and μ is coefficient of friction, and speed v is logical
It crosses and integrated acceleration is obtained, F3 is 8 normal component of force of force snesor (being detected by force snesor 8), and Fc is the contact of end normal direction
Power.
m1A=F3+F1-F2-f
F2=pA2
m2A=F3-m2gcosθ-FC
Wherein, m1 is the quality of front pressuring plate 2, and m2 is the total quality of load, and θ is that (range 0 arrives F3 with gravity direction angle
90 degree), a is acceleration (being detected by attitude transducer 20).P is detected by barometer 19, and A2 is forced area, and Fx and Fy are
8 quadrature detected components of force snesor.
When motor driven rear fender 3 compresses the second air bag 16, we are not necessarily to know the situation of change of F1, but it is understood that
The pressure change situation (being detected by barometer 19) of first air bag 7, pressure suffered by the first air bag 7 becomes larger at this time, then it one
Fixed to be compressed, i.e., front pressuring plate is moved to X-direction, and at this time since opposite piece surface volume under pressure increases, then F3 increases, i.e. F3
It is consistent with the variation tendency of F1.Since F3 increases, it can be appreciated that polishing power can be controlled by the movement of rear fender 3
System.Polishing power Fc is the constant (i.e. desired value) of setting, and m1 and m2 are known quantity, and the desired value that we can calculate F3 is big
It is small.The size that F3 is adjusted by control motor, the F3 size for detecting force snesor 8 approach desired value.We realize in this way
It is controlled in the polishing power of moment ti (corresponding specific θ an i and ai).In view of real-time, we select relative efficiency simple
Single control algolithm such as selects the PID control strategy of anti-windup saturation to avoid integral saturated phenomenon.So circulation, we are just real
The now entirely constant force control in polishing period.We can be by changing original pressure suffered by the first air bag 7 and the second air bag 16
To adapt to the requirement of different workpieces polishing power range, usual range is in 0-50N.System control principle is as shown in Figure 7.
Embodiment two
The present embodiment and the structure and principle of embodiment one are essentially identical, the difference is that, driving mechanism includes
Cylinder and fixing piece for being fixed on cylinder in rack 1, the piston rod of cylinder are fixedly connected with the back link 3a of rear fender 3.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (10)
1. a kind of air bag assist type power control polishing system, including rack (1), front pressuring plate (2), rear fender (3) and controller (4),
Front rod (2a) and back link (3a), front rod (2a) He Houlian are respectively provided on the front pressuring plate (2) and rear fender (3)
Bar (3a) is slidably connected at the front end and rear end of the rack (1) respectively, is fixed with pneumatic horse on the front rod (2a)
Up to (5), polishing disk (6) are fixed on the output shaft of the air motor (5), which is characterized in that are connected before the front pressuring plate (2)
It being arranged and is fixed with the first air bag (7) on bar (2a), the rear fender (3) is oppositely arranged with front pressuring plate (2) and the two is fixedly connected with,
Force sensor (8) are set between the air motor (5) and front rod (2a), the polishing system further includes after driving is described
The driving mechanism that pressing plate (3) is moved axially along back link (3a), the driving mechanism and force snesor (8) with the controller
(4) it is electrically connected.
2. a kind of air bag assist type power control polishing system according to claim 1, which is characterized in that the driving mechanism packet
Servo motor (9), screw rod (10) and intermediate connecting rod (11) are included, the servo motor (9) is fixed on the rack (1), described
Screw rod (10), which rotates around the axis, to be connected on rack (1), the inner end phase of the output shaft and screw rod (10) of the servo motor (9)
It is connected, the outer end of the screw rod (10) is connect with the inner end screw-driven of the intermediate connecting rod (11), intermediate connecting rod (11)
Outer end be fixedly connected with the back link (3a).
3. a kind of air bag assist type power control polishing system according to claim 2, which is characterized in that the driving mechanism is also
Including shaft coupling (12), the shaft coupling (12) is connected between the output shaft of servo motor (9) and the inner end of screw rod (10).
4. a kind of air bag assist type power control polishing system according to claim 2, which is characterized in that the intermediate connecting rod
(11) inner end is fixed with nut (13), and the nut (13) connect with the screw rod (10) screw-driven, the rack (1)
On be fixed with the first limit switch (14) and the second limit switch (15), first limit switch (14) and the second limit switch
(15) it is electrically connected with controller (4), the nut (13) is located at first limit switch (14) and the second limit switch
(15) between.
5. a kind of air bag assist type power control polishing system according to claim 2, which is characterized in that the front pressuring plate (2)
The second air bag (16) are further fixed between rear fender (3).
6. a kind of air bag assist type power control polishing system according to claim 5, which is characterized in that rack (1) packet
It includes bottom plate (1a), the first pivot flange (1b) and the second pivot flange (1c) being oppositely arranged is fixed on the bottom plate (1a),
The outside of first air bag (7) and the second air bag (16) is fixed with air bag guide sleeve (17), the outer surface of first air bag (7)
Mutually it is close to the inner wall of the air bag guide sleeve (17) with the outer surface of the second air bag (16), the both ends of the air bag guide sleeve (17)
Portion is fixedly connected with first pivot flange (1b) and the second pivot flange (1c) respectively.
7. a kind of air bag assist type power control polishing system according to claim 6, which is characterized in that the back link (3a)
On be arranged with limit spring (18), two ends of the limit spring (18) respectively with rear fender (3) and air bag guide sleeve (17)
An end lean.
8. a kind of air bag assist type power control polishing system according to claim 5, which is characterized in that first air bag
(7) and on the second air bag (16) first interface (7a) and second interface (16a) are offered respectively, are fixed on the rack (1)
For detecting the barometer (19) of the air pressure of the first air bag (7), the barometer (19) is electrically connected with controller (4).
9. a kind of air bag assist type power control polishing system according to claim 1, which is characterized in that the intermediate connecting rod
(11) it is fixed on attitude transducer (20), the attitude transducer (20) is electrically connected with controller (4).
10. a kind of air bag assist type power control polishing system according to claim 1, which is characterized in that the polishing disk (6)
It is made of elastic rubber and wool felt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820294470.7U CN208713663U (en) | 2018-03-02 | 2018-03-02 | A kind of air bag assist type power control polishing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820294470.7U CN208713663U (en) | 2018-03-02 | 2018-03-02 | A kind of air bag assist type power control polishing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208713663U true CN208713663U (en) | 2019-04-09 |
Family
ID=65969166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820294470.7U Withdrawn - After Issue CN208713663U (en) | 2018-03-02 | 2018-03-02 | A kind of air bag assist type power control polishing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208713663U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108188912A (en) * | 2018-03-02 | 2018-06-22 | 广东省智能制造研究所 | A kind of air bag assist type power control polishing system |
-
2018
- 2018-03-02 CN CN201820294470.7U patent/CN208713663U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108188912A (en) * | 2018-03-02 | 2018-06-22 | 广东省智能制造研究所 | A kind of air bag assist type power control polishing system |
| CN108188912B (en) * | 2018-03-02 | 2020-02-18 | 广东省智能制造研究所 | Air bag auxiliary type force control polishing system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108188912A (en) | A kind of air bag assist type power control polishing system | |
| CN212471103U (en) | Axial active floating constant force control device | |
| CN208713663U (en) | A kind of air bag assist type power control polishing system | |
| CN204094644U (en) | Water cutting head compartment visits high device automatically | |
| CN108896425A (en) | A kind of high-speed overload friction-wear detecting apparatus and its test method | |
| CN110657987A (en) | High-speed axial loading test device for ball screw pair | |
| CN110082242A (en) | A kind of frictional experiment device for the test of cutter coat frictional behaviour | |
| CN202240797U (en) | Five-axis polishing machine | |
| CN201615821U (en) | Testing machine for fatigue life limitation of rubber air spring | |
| CN109187330B (en) | Method for measuring friction coefficient under variable working condition | |
| CN219830648U (en) | Building curtain wind pressure resistance detection device | |
| CN204269362U (en) | The pneumatically loading ball screw assembly, dynamic efficiency testing table of interchangeable leading screw | |
| CN110366478A (en) | Hinged arm robot and the method for being carried out machining workpieces by means of hinged arm robot | |
| CN113155340A (en) | High-precision ball screw friction force testing machine | |
| CN107085392B (en) | Grinding and polishing tool of industrial robot and grinding and polishing control method | |
| CN208366753U (en) | A kind of high-speed overload friction-wear detecting apparatus | |
| CN217484008U (en) | Bending-twisting micro-motion damage test device based on lead screw displacement control | |
| CN108462344B (en) | A kind of dynamic balance calibration device of rotor | |
| CN207858599U (en) | A kind of floating sander based on robot control | |
| CN107621234B (en) | High-precision ultra-micro force measurement part surface shape tracking device | |
| CN107052998A (en) | Grinding wheel spindle reliability determination device and assay method | |
| CN208645014U (en) | Polishing machine | |
| CN114425733A (en) | Two-degree-of-freedom force control end effector | |
| CN114354402A (en) | Bending torsion fretting damage test system based on lead screw control displacement and test method thereof | |
| CN206930388U (en) | Ball screw assembly, moment detector |
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: 20190409 Effective date of abandoning: 20200218 |