CN212044073U

CN212044073U - Flexible working tool of polishing robot

Info

Publication number: CN212044073U
Application number: CN201922268468.XU
Authority: CN
Inventors: 陈天; 高洪; 苏学满; 孙丽丽
Original assignee: Anhui Polytechnic University
Current assignee: Anhui Polytechnic University
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-12-01
Anticipated expiration: 2029-12-17

Abstract

The utility model relates to the technical field of machining equipment, in particular to a flexible working tool of a polishing robot, which comprises a polisher and an electric grinding head which are arranged on a connecting frame and used for polishing, a first fixed block and a second fixed block which are arranged on the connecting frame and used for connecting and supporting, and a force sensing device which is connected on the connecting frame through a plurality of groups of bolts and used for transmitting vertical force, wherein the gas is enabled through a cylinder; the air pressure in the air cylinder is adjusted in real time through the air cylinder control valve, so that the control and adjustment of force during the polishing operation of the robot can be better realized, and the flexibility is better; the upper base, the lower base and the stroke limiting block are connected through the guide device, and the stroke of the device is ensured to be 0-25 mm.

Description

Flexible working tool of polishing robot

Technical Field

The utility model relates to a machining equipment technical field specifically is a flexible operation instrument of polishing robot.

Background

With the development of society, the employment cost of workers is higher and higher, and not only is the production environment of grinding operation worse, so that the manual grinding process of the last century is gradually replaced by an industrial robot. These industrial robots are widely used in the fields of deburring, chamfering, polishing, grinding, and finishing of blank parts. With the increasing requirements of factories on these industrial robots, these industrial robots are increasingly widely used in various fields, but many working fields require these robots not only to perform simple mechanical movements, but also to have almost the same sensing and control capabilities as people, so as to completely release people from the harsh working environment, most industrial robots are required to have higher and higher requirements on the processing precision along with the increasing requirements on the processing precision of factories, that is, the requirements on the capabilities of these industrial robots are higher and higher, and now need to have a capability of good control, so that the industrial robots can perform excellent tasks on some high-precision grinding requirements, if the industrial robots do not have the capability of not adjusting the force well, they do not perform well and may even damage parts for precision assembly, painting, etc. processes that require contact with the processing environment.

Disclosure of Invention

In order to solve the problem, the utility model provides a flexible operation instrument of polishing robot.

The utility model provides a flexible operation instrument of robot of polishing, is used for polisher and the electric head of polishing, the fixed block one, the fixed block two that are used for joint support of setting on the link on setting up on the link, still includes the force sensing device who is used for transmitting power on the link through a plurality of bolted connection of group.

The sander is fixed on the right side of the connecting frame through the first fixing block, the sander and the electric grinding head are coaxially assembled, and the first fixing block is provided with a threaded hole.

And a force sensing device is fixed on the second fixing block and is a pressure sensor.

The force sensing device comprises an upper base, a lower base, a cylinder connecting support arranged on the lower end face of the upper base, a guide device arranged between the upper base and the lower base, a displacement sensor with two ends connected with the upper base and the lower base, and a cylinder connected with the guide device through the cylinder connecting support.

The guiding device comprises a stroke limiting block arranged on the lower base, a guiding rod connected with the stroke limiting block, a ball spline matched with the guiding rod and a ball spline sleeve matched with the ball spline.

The air cylinder comprises an air cylinder cavity, an air cylinder rod and an air cylinder control valve, wherein the air cylinder rod is coaxially arranged with the air cylinder cavity, the air cylinder control valve is arranged on the air cylinder cavity, and four through holes are formed in the lower end of the air cylinder cavity.

And a dustproof rubber sleeve which is provided with a smooth cylindrical surface and is coaxially arranged is arranged between the upper base and the lower base.

An electric proportional valve is fixed on the lower base, and a flange interface which is coaxially arranged and is connected with the mechanical arm through a screw is arranged on the lower end face of the lower base.

The upper base is provided with a plurality of groups of bolt holes connected with the connecting frame.

The utility model has the advantages that: the utility model adopts the pneumatic driving mode through the cylinder, the gas has flexibility, the acquisition mode is simpler and is convenient to clean, and the expenditure can be greatly saved; workers can be injured by severe environments such as dust, high temperature and noise during polishing and grinding operations, the utility model has excellent adaptability, can replace workers from dangerous and severe working environments, and ensures the safety of people; the air pressure in the air cylinder is adjusted in real time through the air cylinder control valve, so that the control and adjustment of force during the polishing operation of the robot can be better realized, and the flexibility is better; the upper base, the lower base and the stroke limiting block are connected through the guide device, the stroke of the device is guaranteed to be 0-25mm, meanwhile, the stroke limiting block and the ball spline sleeve are connected through the ball spline, the torque of the whole device can be borne, the torsion of the upper end and the lower end of the whole device is limited, the movement with only one degree of freedom is achieved, and the operation precision and the quality of the device are greatly improved.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic structural view of a flange interface of the present invention;

fig. 3 is a schematic perspective view of the guiding device of the present invention;

FIG. 4 is a schematic view of the three-dimensional structure of the cylinder of the present invention;

fig. 5 is the utility model discloses a stroke stopper spatial structure schematic diagram.

Detailed Description

In order to make the utility model realize, the technical means, the creation characteristics, the achievement purpose and the efficacy are easy to understand and understand, and the utility model is further explained below.

As shown in fig. 1 to 5, the flexible working tool of the polishing robot comprises a polisher 4 and an electric polishing head 6 which are arranged on a connecting frame 7 and used for polishing, a first fixing block 5 and a second fixing block 8 which are arranged on the connecting frame 7 and used for connecting and supporting, and a force sensing device which is connected to the connecting frame 7 through a plurality of groups of bolts and used for transmitting force.

The device is externally provided with a controller, the controller is connected with the cylinder control valve 141, and the controller is a PLC.

The sander 4 is fixed on the right side of the connecting frame 7 through the first fixing block 5, the sander 4 and the electric grinding head 6 are coaxially assembled, and a threaded hole is formed in the first fixing block 5.

The utility model adopts the pneumatic driving mode through the cylinder 14, the gas has flexibility, the acquisition mode is simpler and is convenient to clean, and the expenditure can be greatly saved; the workman can receive the injury of dust, high temperature, noise class adverse circumstances when throwing the grinding operation, the utility model discloses there is fabulous adaptability, can replace the workman from some dangerous abominable operational environment, has guaranteed people's security.

The sander 4 is connected and fixed by bolts on the right side of the connecting frame 7, the sander 4 is not limited to an electric grinder, and can be a machine with other fuels, the electric grinding head can be replaced by other types at will, and a grinding wheel can be arranged.

And a force sensing device 9 is fixed on the second fixing block 8, and the force sensing device 9 is a pressure sensor.

The air pressure in the air cylinder 14 is adjusted in real time through the air cylinder control valve 141, so that the control and adjustment of the force during the grinding operation of the robot can be better realized, and the flexibility is better.

The force sensing device comprises an upper base 10, a lower base 1, a cylinder connecting support 11 arranged on the lower end face of the upper base 10, a guide device 12 arranged between the upper base 10 and the lower base 1, a displacement sensor 13 with two ends connected with the upper base 10 and the lower base 1, and a cylinder 14 connected with the guide device 12 through the cylinder connecting support 11.

The guide device 12 comprises a stroke limiting block 124 arranged on the lower base 1, a guide rod 121 connected with the stroke limiting block 124, a ball spline 122 matched with the guide rod 121, and a ball spline sleeve 123 matched with the ball spline 122.

The stroke limiting block 124 is used for limiting the stroke distance of the guide rod 121.

In order to ensure that the stroke of the guide device 12 is between 0 mm and 25mm, the stroke limiting block 124 and the ball spline sleeve 123 are connected by the ball spline 122, so that the torque of the whole device is borne on one hand, the torsion of the upper end and the lower end of the whole device is limited on the other hand, the whole device is fixed on the upper base 10 by bolts and further fixed on the lower base 1, the movement with only one degree of freedom is achieved, and the operation precision and the quality of the device are greatly improved.

The cylinder 14 comprises a cylinder cavity 142, a cylinder rod 143 coaxially arranged with the cylinder cavity 142, and a cylinder control valve 141 arranged on the cylinder cavity 142, wherein the lower end of the cylinder cavity 142 is provided with four through holes.

The cylinder 14 is not limited to the double-acting reciprocating linear motion cylinder of the present invention, but can be replaced by other cylinders, such as a reciprocating motion cylinder, a swinging motion cylinder and a pneumatic claw.

And a dustproof rubber sleeve 3 which is smooth in cylindrical surface and is coaxially arranged is arranged between the upper base 10 and the lower base 1.

The electric proportional valve 2 is connected with an upper base 10.

The upper base 10 is fixed on the lower base 1 through screws for supporting various components.

An electric proportional valve 2 is fixed on the lower base 1, and a flange interface 15 which is coaxially arranged and is connected with the mechanical arm through screws is arranged on the lower end face of the lower base 1.

The upper base 10 is provided with a plurality of groups of bolt holes connected with the connecting frame 7.

The connecting frame 7 is connected with the upper base 10, and four bolts are uniformly distributed around the connecting frame.

The utility model discloses a use method: the air cylinder control valve 141 is supplied with a rated air pressure value before starting, the air pressure enters the air cylinder cavity 142 and then pushes out the air cylinder rod 143, because the lower base 1 and the upper base 10 are connected through the air cylinder 14, a certain tension is generated between the upper base 10 and the lower base 1, the tension can provide a sufficient compression distance for the grinding operation process, because the upper base 10 and the lower base 1 have only one degree of freedom due to the constraint ball spline 122 of the guide device 12, a certain contact force is generated between a workpiece to be machined and the electric grinding head 6 when the workpiece to be machined is in contact with the electric grinding head 6, the contact force can compress the upper base 10 and the lower base 1 of the force feedback device, and in this time, the air pressure value of the air cylinder cavity 142 can be detected by the actual force sensing device 9 and then fed back to the control system. When the contact force is too large, the air pressure value in the cylinder cavity 142 is larger than the previously set air pressure value, and at this time, the controller commands the control valve 141 to open the exhaust port, so that the air in the cylinder cavity 142 is discharged outwards through the air pipe to reduce the air pressure in the air cylinder 14; when the contact force is too small, the air pressure control valve 141 opens the air inlet to feed air to the cylinder cavity 142 through the air pipe to increase the pressure; when the air pressure and the rated air pressure reach an equilibrium state, then the air cylinder 14 maintains the pressure of the air cylinder cavity 142 to be constant by means of the air cylinder control valve 141, so that the contact force of the workpiece and the electric grinding head 6 is kept constant and continuously output; in addition, the sensing function is realized in the device mainly through a displacement signal returned by the displacement sensor 13: in general, after the initial force value is given, the force feedback device is considered to be in a full-scale range limit state at this time, that is, the shaft 131 of the displacement sensor 13 is in a maximum value state, when the electric grinding head 6 contacts with an external object, contact force is generated, the stroke of the shaft of the displacement sensor 13 is disturbed, the displacement value of the displacement sensor 13 is certainly smaller than the maximum value, and the device can be considered to be in a working state according to the information; if this displacement is always at a maximum, the device is considered to be out of contact with the outside world.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and what is described in the specification are the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and these changes and modifications are intended to fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a flexible working tool of robot of polishing, is used for sander (4) and electric abrasive head (6) of polishing including setting up on link (7), sets up fixed block one (5), fixed block two (8) that are used for joint support on link (7), its characterized in that: the force sensor is connected to the connecting frame (7) through a plurality of groups of bolts and used for transmitting force.

2. A flexible work tool for a grinding robot as claimed in claim 1, characterized by: the electric grinding head is characterized in that the sander (4) is fixed on the right side of the connecting frame (7) through a first fixing block (5), the sander (4) and the electric grinding head (6) are coaxially assembled, and a threaded hole is formed in the first fixing block (5).

3. A flexible work tool for a grinding robot as claimed in claim 1, characterized by: and a force sensing device (9) is fixed on the second fixing block (8), and the force sensing device (9) is a pressure sensor.

4. A flexible work tool for a grinding robot as claimed in claim 1, characterized by: the force sensing device comprises an upper base (10), a lower base (1), a cylinder connecting support (11) arranged on the lower end face of the upper base (10), a guide device (12) arranged between the upper base (10) and the lower base (1), a displacement sensor (13) with two ends connected with the upper base (10) and the lower base (1), and a cylinder (14) connected with the guide device (12) through the cylinder connecting support (11).

5. A flexible work tool for a grinding robot as claimed in claim 4, characterized by: the guide device (12) comprises a stroke limiting block (124) arranged on the lower base (1), a guide rod (121) connected with the stroke limiting block (124), a ball spline (122) matched with the guide rod (121), and a ball spline sleeve (123) matched with the ball spline (122).

6. A flexible work tool for a grinding robot as claimed in claim 4, characterized by: the air cylinder (14) comprises an air cylinder cavity (142), an air cylinder rod (143) and an air cylinder control valve (141), wherein the air cylinder rod and the air cylinder rod are coaxially arranged with the air cylinder cavity (142), the air cylinder control valve is arranged on the air cylinder cavity (142), and four through holes are formed in the lower end of the air cylinder cavity (142).

7. A flexible work tool for a grinding robot as claimed in claim 4, characterized by: and a dustproof rubber sleeve (3) which is provided with a smooth cylindrical surface and is coaxially arranged is arranged between the upper base (10) and the lower base (1).

8. A flexible work tool for a grinding robot as claimed in claim 4, characterized by: the electric proportional valve (2) is fixed on the lower base (1), and a flange interface (15) which is coaxially arranged and is connected with the mechanical arm through a screw is arranged on the lower end face of the lower base (1).

9. A flexible work tool for a grinding robot as claimed in claim 4, characterized by: the upper base (10) is provided with a plurality of groups of bolt holes connected with the connecting frame (7).