CN210335537U - Initiative power control radial floating installation - Google Patents
Initiative power control radial floating installation Download PDFInfo
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- CN210335537U CN210335537U CN201921040680.4U CN201921040680U CN210335537U CN 210335537 U CN210335537 U CN 210335537U CN 201921040680 U CN201921040680 U CN 201921040680U CN 210335537 U CN210335537 U CN 210335537U
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Abstract
The utility model relates to an equipment of polishing, especially a radial floating installation of initiative power accuse belongs to automatic equipment technical field of polishing. The device comprises an upper mounting flange plate, a housing, an air cylinder integrated flange plate, a lower mounting flange plate and a radial floating assembly, wherein the lower mounting flange plate is connected with a bearing outer ring through bolts; at least three radial floating assemblies are arranged on the cylinder integrated flange plate, and the front end of each radial floating assembly penetrates through the cylinder integrated flange plate and then contacts with the upper end face of the lower mounting flange plate. The utility model has an active radial constant force floating unit, so that the polishing tool can float radially, and the polishing tool can be attached to a complex curved surface in a profiling way in the polishing process; the active radial force control can ensure that the contact force can be well distributed in the grinding process.
Description
Technical Field
The utility model relates to an equipment of polishing, especially a radial floating installation of initiative power accuse belongs to automatic equipment technical field of polishing.
Background
In the field of machining, polishing is an essential one-step process. The burrs and the flashes of the castings and the weldments need to be polished, and the polishing is also the last procedure of the manufacturing process and belongs to the field of finish machining. At present, manual polishing is mostly adopted, the polishing environment is severe (the dust concentration is high), and the damage to the bodies of workers is great; technicians polish workpieces by experience, the polishing quality is uneven, and the efficiency is not high; working in a dust environment, safety accidents (dust explosions) also occur frequently. Therefore, it is a future trend that robots replace manual sanding.
The robot grinding tool basically adopts axial constant force floating, and can ensure that the axial force reaches constant force control, but when a complex curved surface is ground, the grinding tool cannot float radially, so that the grinding tool and the grinding surface are not in complete contact, the edge of the grinding tool is interfered with the surface of a workpiece or the grinding tool is damaged, the processing efficiency and the surface precision cannot be ensured, and meanwhile, the copying and laminating function is also lacked.
Most of the prior grinding tools adopt passive constant force control, and the mode only carries out constant force control after a force feedback signal is received, and has certain hysteresis. Many grinding tools function singly, in the motion process of the work piece of polishing, lack gravity compensation and inertial force compensation, lead to the power accuse precision not high.
Disclosure of Invention
An object of the utility model is to overcome above-mentioned weak point to a radial floating installation of initiative power accuse is provided, is fit for cooperating the robot and uses in coordination to polish, thereby realizes the radial constant force control of initiative that the robot polished.
According to the technical scheme provided by the utility model, a radial floating installation of initiative power accuse includes mounting flange dish, housing, the integrated ring flange of cylinder, lower mounting flange dish and the subassembly that radially floats, characterized by: the upper end and the lower end of the housing are respectively connected with an upper mounting flange and an air cylinder integrated flange through bolts, the front end of the air cylinder integrated flange is provided with a lower mounting flange, the lower mounting flange is connected with a bearing outer ring through bolts, the bearing outer ring is connected with a bearing inner ring in a rolling manner, and the contact end surface of the bearing outer ring and the bearing inner ring is a spherical end surface; a central bolt is arranged in the center of the bearing inner ring and penetrates through the bearing inner ring and the bearing outer ring to be connected with the cylinder integrated flange plate through threads; the cylinder integrated flange plate is provided with at least three radial floating assemblies which are uniformly distributed along the circumferential direction, and the front end of each radial floating assembly penetrates through the cylinder integrated flange plate and then contacts with the upper end face of the lower mounting flange plate.
Furthermore, the radial floating assembly comprises a floating cylinder and a contact, the floating cylinder is fixed on the cylinder integrated flange, the driving end of the floating cylinder penetrates through the cylinder integrated flange and then is connected with the contact, and the floating cylinder is connected with the gas distribution assembly.
Further, the distribution assembly comprises a pneumatic through plate connector, a pneumatic quick connector and an electric proportional valve, the pneumatic through plate connector is arranged on the side wall of the housing, the pneumatic quick connector is connected to the floating cylinder, the pneumatic through plate connector is connected with the air inlet end of the electric proportional valve through an air conveying pipeline, and the pneumatic quick connector is connected with the air outlet end of the electric proportional valve through the air conveying pipeline.
Furthermore, a stop pin is arranged on the side wall of the bearing outer ring, and the front end of the stop pin tightly props against the bearing inner ring.
Furthermore, a sleeve is sleeved on the central bolt, and the upper end and the lower end of the sleeve are respectively contacted with the cylinder integrated flange and the bearing inner ring.
Furthermore, an acceleration sensor is arranged on the cylinder integrated flange plate.
Compared with the prior art, the utility model has the advantages that:
the utility model has an active radial constant force floating unit, so that the polishing tool can float radially, and the polishing tool can be attached to a complex curved surface in a profiling way in the polishing process; the active radial force control can ensure that the contact force can be well distributed in the polishing process, and a special polishing process can be realized in the complex curved surface processing with high precision requirement; the utility model adopts the floating cylinder as the execution unit, and the electric proportional valve as the adjusting unit to participate in the pneumatic control, so that the force control precision is high, and the response is sensitive; the acceleration sensor measures the acceleration magnitude and the acceleration direction of the radial floating device and feeds back the acceleration magnitude and the acceleration direction to the controller in time, the controller controls the electric proportional valve to realize pressure control, and meanwhile, inertia force compensation and gravity compensation are carried out in real time according to a feedback signal; the invention can be controlled by a PLC or a preset program of a robot, and active radial constant force control can be realized.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is an internal structure diagram of the present invention.
Fig. 3 is a half-sectional view of the present invention.
Description of reference numerals: 1-upper mounting flange, 2-housing, 3-pneumatic through plate joint, 4-pneumatic quick joint, 5-floating cylinder, 6-cylinder integrated flange, 7-contact, 8-lower mounting flange, 9-bearing inner ring, 10-bearing outer ring, 11-sleeve, 12-acceleration sensor, 13-stop pin and 14-center bolt.
Detailed Description
The invention will be further described with reference to the embodiments shown in the drawings to which:
as shown in figures 1-3, the utility model discloses mainly include mounting flange 1, housing 2, the integrated ring flange 6 of cylinder, lower mounting flange 8 and the subassembly that radially floats.
The upper end and the lower end of the housing 2 are respectively connected with an upper mounting flange 1 and an air cylinder integrated flange 6 through bolts, the front end of the air cylinder integrated flange 6 is provided with a lower mounting flange 8, the lower mounting flange 8 is connected with a bearing outer ring 10 through bolts, the bearing outer ring 10 is connected with a bearing inner ring 9 in a rolling manner, and the contact end surface of the bearing outer ring 10 and the bearing inner ring 9 is a spherical end surface. When the polishing device is used, the upper mounting flange plate 1 is used for mounting and connecting the whole device, and the lower mounting flange plate 8 is used for mounting and connecting a polishing tool.
The center of the bearing inner ring 9 is provided with a center bolt 14, and the center bolt 14 penetrates through the bearing inner ring 9 and the bearing outer ring 10 and then is connected with the cylinder integrated flange 6 through threads. The central bolt 14 is sleeved with a sleeve 11, and the upper end and the lower end of the sleeve 11 are respectively contacted with the cylinder integrated flange 6 and the bearing inner ring 9. The side wall of the bearing outer ring 10 is provided with a stop pin 13, the front end of the stop pin 13 is tightly pressed against the bearing inner ring 9, and the stop pin 13 is used for limiting the unidirectional rotation of the bearing inner ring 9.
The cylinder integrated flange 6 is provided with at least three radial floating components which are uniformly distributed along the circumferential direction. The front ends of the at least three radial floating assemblies penetrate through the cylinder integrated flange 6 and then contact with the upper end surface of the lower mounting flange 8.
And an acceleration sensor 12 is arranged on the cylinder integrated flange 6, and the acceleration sensor 12 is used for inertia force compensation and gravity compensation.
The radial floating assembly comprises a floating cylinder 5 and a contact 7, the floating cylinder 5 is fixed on a cylinder integrated flange 6, the driving end of the floating cylinder 5 penetrates through the cylinder integrated flange 6 and then is connected with the contact 7, and the contact 7 is made of a high-temperature-resistant and friction-resistant polyethylene material.
Connect the distribution subassembly on the cylinder 5 that floats, the distribution subassembly includes pneumatic wear plate joint 3, pneumatic quick-operation joint 4 and electric proportional valve, and pneumatic wear plate joint 3 sets up at 2 lateral walls of housing, and pneumatic quick-operation joint 4 is connected on the cylinder 5 that floats, and pneumatic wear plate joint 3 passes through the gas pipeline and connects electric proportional valve inlet end, and pneumatic quick-operation joint 4 passes through the gas pipeline and connects electric proportional valve end of giving vent to anger.
The electric proportional valve is connected with the drive plate, can select to be equipped with multiple communication mode, and the grinding tool passes through PLC or robot real time control.
The utility model discloses a theory of operation is: when the pneumatic air-conditioning system works, an external air source enters the electric proportional valve through the pneumatic penetrating plate connector, then enters the pneumatic quick connector through the electric proportional valve, the adjusting value of the electric proportional valve is controlled in real time according to the PLC or the robot, and then the air flows into the pneumatic quick connector and then flows into the floating air cylinder. Because the gas only passes through one electric proportional valve, the pressure intensities in the plurality of floating cylinders are equal at the moment, the control effect of single radial force is achieved, and the real-time compensation of inertia force and gravity is carried out through the acceleration sensor.
The utility model has an active radial constant force floating unit, so that the polishing tool can float radially, and the polishing tool can be attached to a complex curved surface in a profiling way in the polishing process; the active radial force control can ensure that the contact force can be well distributed in the polishing process, and a special polishing process can be realized in the complex curved surface processing with high precision requirement; the utility model adopts the floating cylinder as the execution unit, and the electric proportional valve as the adjusting unit to participate in the pneumatic control, so that the force control precision is high, and the response is sensitive; the acceleration sensor measures the acceleration magnitude and the acceleration direction of the radial floating device and feeds back the acceleration magnitude and the acceleration direction to the controller in time, the controller controls the electric proportional valve to realize pressure control, and meanwhile, inertia force compensation and gravity compensation are carried out in real time according to a feedback signal; the utility model discloses can be right through PLC or robot preset's procedure utility model controls, can realize the radial constant force control of initiative.
Claims (6)
1. The utility model provides a radial floating installation of initiative power accuse, includes mounting flange dish (1), housing (2), the integrated ring flange of cylinder (6), lower mounting flange dish (8) and the radial subassembly that floats, characterized by: the upper end and the lower end of the housing (2) are respectively connected with an upper mounting flange (1) and a cylinder integrated flange (6) through bolts, the front end of the cylinder integrated flange (6) is provided with a lower mounting flange (8), the lower mounting flange (8) is connected with a bearing outer ring (10) through bolts, the bearing outer ring (10) is connected with a bearing inner ring (9) in a rolling manner, and the contact end surfaces of the bearing outer ring (10) and the bearing inner ring (9) are spherical end surfaces; a central bolt (14) is arranged at the center of the bearing inner ring (9), and the central bolt (14) penetrates through the bearing inner ring (9) and the bearing outer ring (10) and then is connected with the cylinder integrated flange plate (6) through threads; the cylinder integrated flange plate (6) is provided with at least three radial floating assemblies which are uniformly distributed along the circumferential direction, and the front end of each radial floating assembly penetrates through the cylinder integrated flange plate (6) and then contacts with the upper end surface of the lower mounting flange plate (8).
2. An actively controlled radial flotation device as claimed in claim 1, wherein: the radial floating assembly comprises a floating cylinder (5) and a contact (7), the floating cylinder (5) is fixed on a cylinder integrated flange plate (6), the driving end of the floating cylinder (5) penetrates through the cylinder integrated flange plate (6) and then is connected with the contact (7), and the floating cylinder (5) is connected with the gas distribution assembly.
3. An actively controlled radial flotation device as claimed in claim 2, wherein: the gas distribution assembly comprises a pneumatic through plate connector (3), a pneumatic quick connector (4) and an electric proportional valve, wherein the pneumatic through plate connector (3) is arranged on the side wall of the housing (2), the pneumatic quick connector (4) is connected to the floating cylinder (5), the pneumatic through plate connector (3) is connected with the air inlet end of the electric proportional valve through an air conveying pipeline, and the pneumatic quick connector (4) is connected with the air outlet end of the electric proportional valve through the air conveying pipeline.
4. An actively controlled radial flotation device as claimed in claim 1, wherein: and a stop pin (13) is arranged on the side wall of the bearing outer ring (10), and the front end of the stop pin (13) is tightly propped against the bearing inner ring (9).
5. An actively controlled radial flotation device as claimed in claim 1, wherein: the central bolt (14) is sleeved with a sleeve (11), and the upper end and the lower end of the sleeve (11) are respectively contacted with the cylinder integrated flange plate (6) and the bearing inner ring (9).
6. An actively controlled radial flotation device as claimed in claim 1, wherein: and an acceleration sensor (12) is arranged on the cylinder integrated flange plate (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921040680.4U CN210335537U (en) | 2019-07-04 | 2019-07-04 | Initiative power control radial floating installation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921040680.4U CN210335537U (en) | 2019-07-04 | 2019-07-04 | Initiative power control radial floating installation |
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| Publication Number | Publication Date |
|---|---|
| CN210335537U true CN210335537U (en) | 2020-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921040680.4U Active CN210335537U (en) | 2019-07-04 | 2019-07-04 | Initiative power control radial floating installation |
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| CN (1) | CN210335537U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590431A (en) * | 2020-05-26 | 2020-08-28 | 无锡中车时代智能装备有限公司 | Control method, device and system for active force control radial floating device |
| CN111673610A (en) * | 2020-04-30 | 2020-09-18 | 中国航空工业集团公司北京长城航空测控技术研究所 | Normal precision compensation mechanism for grinding robot curved surface |
| CN113427384A (en) * | 2021-08-26 | 2021-09-24 | 海门市协通精密机械制造有限公司 | A accurate burnishing device for auto-parts |
| CN115771086A (en) * | 2022-11-15 | 2023-03-10 | 重庆大学 | Universal grinding machanism that floats |
-
2019
- 2019-07-04 CN CN201921040680.4U patent/CN210335537U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673610A (en) * | 2020-04-30 | 2020-09-18 | 中国航空工业集团公司北京长城航空测控技术研究所 | Normal precision compensation mechanism for grinding robot curved surface |
| CN111673610B (en) * | 2020-04-30 | 2021-11-16 | 中国航空工业集团公司北京长城航空测控技术研究所 | Normal precision compensation mechanism for grinding robot curved surface |
| CN111590431A (en) * | 2020-05-26 | 2020-08-28 | 无锡中车时代智能装备有限公司 | Control method, device and system for active force control radial floating device |
| CN111590431B (en) * | 2020-05-26 | 2021-03-09 | 无锡中车时代智能装备有限公司 | Control method, device and system for active force control radial floating device |
| CN113427384A (en) * | 2021-08-26 | 2021-09-24 | 海门市协通精密机械制造有限公司 | A accurate burnishing device for auto-parts |
| CN113427384B (en) * | 2021-08-26 | 2021-10-29 | 海门市协通精密机械制造有限公司 | A accurate burnishing device for auto-parts |
| CN115771086A (en) * | 2022-11-15 | 2023-03-10 | 重庆大学 | Universal grinding machanism that floats |
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Address after: 2 Qingyan Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Patentee after: Wuxi CRRC times Intelligent Equipment Research Institute Co.,Ltd. Address before: 2 Qingyan Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Patentee before: WUXI CRRC TIMES INTELLIGENT EQUIPMENT CO.,LTD. |