CN211277841U

CN211277841U - Floating constant-force polishing head based on angle grinder

Info

Publication number: CN211277841U
Application number: CN201922339851.XU
Authority: CN
Inventors: 陆洋; 李增强; 石越
Original assignee: Hit Robot Group Harbin Huacui Intelligent Equipment Co ltd
Current assignee: Hit Robot Group Harbin Huacui Intelligent Equipment Co ltd
Priority date: 2019-12-23
Filing date: 2019-12-23
Publication date: 2020-08-18
Anticipated expiration: 2029-12-23

Abstract

A floating constant-force polishing head based on an angle grinder belongs to the technical field of polishing equipment. The robot is fixedly connected with the bottom plate through a robot connecting plate, the protective cover is arranged on the rear sides of the side plate B and the side plate A, and the upper ends of the protective cover are fixedly connected with the bottom plate; both ends of the hinge bracket A and the hinge bracket B are hinged with the side plate A and the side plate B; the rear ends of the clamping plate A and the clamping plate B are hinged with the hinge bracket A and the hinge bracket B; the clamping plate A and the clamping plate B are fixedly connected with the supporting block, and the angle grinder is hinged between the clamping plate A and the clamping plate B; the two clamping plates are respectively and fixedly connected to the clamping plate A and the clamping plate B; the lower adjusting shaft is fixedly connected with the two clamping plates; the two limiting connecting blocks are respectively and fixedly connected to the front sides of the side plate B and the side plate A; the air cylinder is connected to the side plate A and the bottom plate, a piston rod of the air cylinder is fixedly connected with one end of the driving shaft, the other end of the driving shaft is fixedly connected with the hinge frame B, an inflation hole of the air cylinder is connected with an air pipe through a straight-through joint, and an electric proportional valve is installed on the air pipe. The utility model is used for the work piece of polishing.

Description

Floating constant-force polishing head based on angle grinder

Technical Field

The utility model relates to a unsteady constant force head of polishing based on angle mill belongs to the equipment of polishing technical field.

Background

At present, a considerable part of grinding in the grinding industry is manually completed by skilled workers, and the automation level is low. Hand sanding is not only labor intensive, time consuming, inefficient, but also does not guarantee higher accuracy, surface roughness and surface integrity and strict manufacturing consistency. And dust generated during polishing harms the health of workers. Therefore, it is necessary to develop a floating and constant-force polishing head for use with a robot, which can reduce the disadvantages caused by manual polishing.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a unsteady constant force head of polishing based on angle mill for solving the above-mentioned problem that exists among the background art.

Realize above-mentioned purpose, the utility model discloses the technical scheme who takes as follows:

a floating constant-force polishing head based on an angle grinder comprises a robot connecting plate, a bottom plate, a side plate B, a protective cover, a hinge bracket A, a clamping plate A, a hinge bracket B, two clamping plates, an electric proportional valve, a cylinder, a straight-through joint, a driving shaft, a side plate A, a supporting block, a lower adjusting shaft, a clamping plate B, two limiting connecting blocks and an angle grinder;

the robot connecting plate is connected with a robot, the robot connecting plate is fixed on the bottom plate, the side plate A and the side plate B are arranged in parallel from left to right, the protective cover is arranged on the rear sides of the side plate B and the side plate A, and the upper ends of the side plate A, the side plate B and the protective cover are fixedly connected with the bottom plate; the hinge bracket A is arranged above the hinge bracket B, two ends of the hinge bracket A are hinged with the side plate A and the side plate B, and two ends of the hinge bracket B are hinged with the side plate A and the side plate B; the clamping plate B and the clamping plate A are arranged in parallel from left to right, the rear end of the clamping plate A is hinged with the hinge bracket A and the hinge bracket B, and the rear end of the clamping plate B is hinged with the hinge bracket A and the hinge bracket B; the clamping plate A and the clamping plate B are fixedly connected with the supporting block, and the angle grinder is hinged between the clamping plate A and the clamping plate B; the clamping plate A and the clamping plate B are mirror images; the two clamping plates are respectively and fixedly connected to the clamping plate A and the clamping plate B; the lower adjusting shaft is fixedly connected with the two clamping plates, so that the downward floating space of the angle grinder is limited; the two limiting connecting blocks are respectively and fixedly connected to the front sides of the side plate B and the side plate A, so that the downward movement space of the hinge bracket A is limited; the air cylinder is connected to the inner side face of the side plate A and the bottom of the bottom plate, the outer end of a piston rod of the air cylinder is fixedly connected with one end of a driving shaft, the other end of the driving shaft is fixedly connected with the hinge frame B, an inflation hole is formed in the side wall of the air cylinder and is connected with an air pipe through a straight-through connector, an electric proportional valve is installed on the air pipe, and the electric proportional valve is fixedly connected to the bottom of the bottom plate.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a head of polishing has automatic level height, need not artifical manual completion, and easy operation, labour saving and time saving, and the operating efficiency is high, and the uniformity of precision of polishing, roughness and surface integrality and strict manufacturing can the meet the demands. Furthermore, the utility model discloses still have following advantage:

1. the system is maintained in a constant pressure state by utilizing a lever principle;

2. the hinge frame of the pin shaft is connected to ensure that the polishing head has a floating space;

3. the electric proportional valve can feed back the real-time state to the electric system;

4. the hinge bracket B is provided with a counterweighted space.

Drawings

FIG. 1 is a front view of the overall structure of a floating constant force polishing head based on an angle grinder of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a schematic diagram of a floating constant force polishing head based on an angle grinder of the present invention;

fig. 4 is a top view of fig. 3.

The names and reference numbers of the components referred to in the above figures are as follows:

the robot comprises a robot connecting plate 1, a bottom plate 2, a side plate B3, a protective cover 4, a first pin shaft 5, a hinge bracket A6, a clamping plate A7, a hinge bracket B8, two clamping plates 9, an electric proportional valve 10, an air cylinder 11, a supporting plate 12, a side plate A13, a supporting block 14, a lower adjusting shaft 15, a clamping plate B16, a limiting connecting block 17, an angle grinder 18, a second pin shaft 19 and a third pin shaft 20.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.

The first embodiment is as follows: AS shown in fig. 1 and 2, the present embodiment discloses a floating constant force grinding head based on an angle grinder, which comprises a robot connecting plate 1, a bottom plate 2, a side plate B3, a protective cover 4, a hinge bracket a6, a clamping plate a7, a hinge bracket B8, two clamping plates 9, an electric proportional valve 10 (model ITV1030-141L), a cylinder 11 (model CDM2YT20-25Z-M9B), a straight joint (model KQ2H06-01AS), a driving shaft, a side plate a13, a supporting block 14, a lower adjusting shaft 15, a clamping plate B16, two limit connecting blocks 17, an angle grinder 18 (selected from a doctor angle grinder, model TWS6700) and eight pin shafts; the eight pin shafts comprise two pin shafts I5, two pin shafts II 19, two pin shafts III 20 and two pin shafts IV;

the robot connecting plate 1 is connected with a robot (the whole mechanism can operate flexibly), the robot connecting plate 1 is fixed on the bottom plate 2 (through bolts), the side plate A13 and the side plate B3 are arranged in parallel left and right, the protective cover 4 is arranged on the rear sides of the side plate B3 and the side plate A13, and the upper ends of the side plate A13, the side plate B3 and the protective cover 4 are fixedly connected with the bottom plate 2 (through bolts); the hinge frame A6 is arranged above the hinge frame B8, two ends of the hinge frame A6 are hinged with the side plate A13 and the side plate B3 through two pin shafts I5, and two ends of the hinge frame B8 are hinged with the side plate A13 and the side plate B3 through two pin shafts II 19; the clamp plate B16 and the clamp plate A7 are arranged in parallel from left to right, the rear end of the clamp plate A7 is hinged with a hinge bracket A6 and a hinge bracket B8 through two pin shafts three 20, and the rear end of the clamp plate B16 is hinged with a hinge bracket A6 and a hinge bracket B8 through two pin shafts four; the clamping plate A7 and the clamping plate B16 are fixedly connected with the supporting block 14 (through bolts) (the front end stability is kept), and the angle grinder 18 is hinged between the clamping plate A7 and the clamping plate B16; cleat A7 and cleat B16 are mirror images; the two clamping plates 9 are respectively fixedly connected to the clamping plate A7 and the clamping plate B16 (through bolts); the lower adjusting shaft 15 is fixedly connected with the two clamping plates 9 (through bolts), so that the downward floating space of the angle grinder 18 is limited; the two limit connecting blocks 17 are respectively and fixedly connected to the front sides of the side plate B3 and the side plate A13 (through bolts), so that the space for downward movement of the hinge frame A6 is limited; the air cylinder 11 is connected on the inner side of the side plate A13 and at the bottom of the bottom plate 2, the outer end of a piston rod of the air cylinder 11 is fixedly connected with one end of a driving shaft, the other end of the driving shaft is fixedly connected with a hinge bracket B8, an inflation hole is formed in the side wall of the air cylinder 11 and is connected with an air pipe through a straight-through connector, an electric proportional valve 10 is installed on the air pipe, and the electric proportional valve 10 is fixedly connected to the bottom of the bottom plate 2 (through bolts).

When the piston rod of the air cylinder 11 extends and the stroke is increased, the rear end of the hinge bracket B8 is pushed to move downwards, the front end is lifted, and the clamping plate A7 and the angle grinder 18 are driven to ascend.

When the stroke of the piston rod of the cylinder 11 is increased, the gas in the cylinder 11 is compressed, the volume is reduced, and partial gas is discharged through the electric proportional valve 10, so that the stable pressure state is maintained. If not, air is fed through the electric proportional valve 10. The electric proportional valve 10 can feed back the real-time state to an electric system (external equipment), so that the device has a real-time feedback function.

Further, the method comprises the following steps: the middle of the side plate A13 and the side plate B3 is fixedly connected with a support plate 12 (which plays a role in supporting, preventing deformation and maintaining the stability of the mechanism) through bolts.

As shown in fig. 3 and 4, the present invention uses the lever principle to maintain the whole mechanism in a balanced state. According to the lever principle F1L1+ F2L2 ═ F3L3, wherein O is an intersection point, F1 is upward force provided for a grinding head by a workpiece, F2 is force provided for a cylinder 11, F3 is gravity of the self weight of a front end mechanism, L1 is a force arm of force applied to the angle grinder, L2 is a force arm of force provided for the cylinder, and L3 is a gravity force arm of the self weight of the workpiece. According to different forces provided by the front end workpiece, the air cylinder provides different forces, so that the whole system is always in a balanced state.

The system is in a constant force state, and the specific principle is shown in fig. 3 and fig. 4. When the design ideal data deviates from the actual, the overall mechanism balance can be adjusted by adding a counterweight to the hinge mount B8.

The whole mechanism comprises two hard limiting positions, wherein the first position is a lower adjusting shaft 15 and limits the movement range of the angle grinder 18, and the second position is a limiting connecting block 17 and limits the whole movement range.

The utility model discloses the current angle mill 18 of application (chooseing doctor's angle mill TWS6700 for use), increased cylinder 11 and electric proportional valve 10 and some connecting pieces, made it become can be connected with the robot, possessed electric feedback system's controllable device, reduced artifical instability of polishing, also reduced the requirement to the high positioning accuracy of robot simultaneously. The robot drives the angle grinder 18 to approach the workpiece; after the workpiece is contacted with the angle grinder 18, the angle grinder 18 receives an external force applied by the workpiece, the external force is transmitted to a piston rod of the air cylinder 11 through a mechanism, the piston rod is pulled out, and the angle grinder 18 begins to grind the workpiece with a certain amount of floating; after polishing, the workpiece is removed, external force disappears, pressure difference is generated at two ends of the piston of the cylinder 11, the piston rod generates a pulling force, and the angle grinder 18 is pulled back to the initial position through a connecting rod mechanism (namely a mechanism consisting of a hinged frame A6, a hinged frame B8, two pin shafts I5 and two pin shafts II 19). The floating constant-force polishing head based on the angle grinder of the utility model adopts a lever mechanism to realize the up-and-down floating; the air cylinder 11 is adopted to realize floating and resetting, so that the angle grinder 18 is flexibly contacted with a workpiece, and the service life of the angle grinder 18 is prolonged.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other forms of embodiment without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a unsteady constant force head of polishing based on angle mill which characterized in that: the device comprises a robot connecting plate (1), a bottom plate (2), a side plate B (3), a protective cover (4), a hinge bracket A (6), a clamping plate A (7), a hinge bracket B (8), two clamping plates (9), an electric proportional valve (10), an air cylinder (11), a straight-through joint, a driving shaft, a side plate A (13), a supporting block (14), a lower adjusting shaft (15), a clamping plate B (16), two limiting connecting blocks (17) and an angle grinder (18);

the robot connecting plate (1) is connected with a robot, the robot connecting plate (1) is fixed on the bottom plate (2), the side plate A (13) and the side plate B (3) are arranged in parallel from left to right, the protective cover (4) is arranged on the rear sides of the side plate B (3) and the side plate A (13), and the upper ends of the side plate A (13), the side plate B (3) and the protective cover (4) are fixedly connected with the bottom plate (2); the hinge bracket A (6) is arranged above the hinge bracket B (8), two ends of the hinge bracket A (6) are hinged with the side plate A (13) and the side plate B (3), and two ends of the hinge bracket B (8) are hinged with the side plate A (13) and the side plate B (3); the clamping plate B (16) and the clamping plate A (7) are arranged in parallel from left to right, the rear end of the clamping plate A (7) is hinged with the hinge frame A (6) and the hinge frame B (8), and the rear end of the clamping plate B (16) is hinged with the hinge frame A (6) and the hinge frame B (8); the clamping plate A (7) and the clamping plate B (16) are fixedly connected with the supporting block (14), and the angle grinder (18) is hinged between the clamping plate A (7) and the clamping plate B (16); the clamping plate A (7) and the clamping plate B (16) are mirror images; the two clamping plates (9) are respectively and fixedly connected to the clamping plate A (7) and the clamping plate B (16); the lower adjusting shaft (15) is fixedly connected with the two clamping plates (9), so that the downward floating space of the angle grinder (18) is limited; the two limiting connecting blocks (17) are respectively and fixedly connected to the front sides of the side plate B (3) and the side plate A (13), so that the space for the downward movement of the hinge frame A (6) is limited; the pneumatic air-conditioning device is characterized in that the air cylinder (11) is connected to the inner side face of the side plate A (13) and the bottom of the bottom plate (2), the outer end of a piston rod of the air cylinder (11) is fixedly connected with one end of a driving shaft, the other end of the driving shaft is fixedly connected with the hinge frame B (8), an air inflation hole is formed in the side wall of the air cylinder (11), the air inflation hole is connected with an air pipe through a straight-through joint, an electric proportional valve (10) is installed on the air pipe, and the electric proportional valve (10).

2. A floating constant force sanding head based on an angle grinder as claimed in claim 1, wherein: and a support plate (12) is fixedly connected between the side plate A (13) and the side plate B (3).

3. A floating constant force sanding head based on an angle grinder according to claim 1 or 2, wherein: the hinge frame A (6) is hinged to the side plate A (13) and the side plate B (3) through two pin shafts I (5), the hinge frame B (8) is hinged to the side plate A (13) and the side plate B (3) through two pin shafts II (19), the rear end of the clamping plate A (7) is hinged to the hinge frame A (6) and the hinge frame B (8) through two pin shafts III (20), and the rear end of the clamping plate B (16) is hinged to the hinge frame A (6) and the hinge frame B (8) through two pin shafts IV.