CN217702889U

CN217702889U - Flexible polishing and grinding device

Info

Publication number: CN217702889U
Application number: CN202221484140.7U
Authority: CN
Inventors: 李庆铁; 熊迎军; 李靖; 徐波
Original assignee: Shanghai Lanchang Technology Group Co ltd
Current assignee: Shanghai Lanchang Technology Group Co ltd
Priority date: 2022-06-14
Filing date: 2022-06-14
Publication date: 2022-11-01
Anticipated expiration: 2032-06-14

Abstract

The utility model discloses a flexible polishing device, include the casing, throw abrasive disc, polish angle adjustment mechanism includes rotatable outer lane and inner circle, the rotation axis of outer lane and the rotation axis mutually perpendicular of inner circle, be provided with casing linear motion's relatively motor in the casing, the output of motor has the pivot through the coupling joint, the front end of casing is worn to locate in the pivot and through first bearing with the rotation axis of inner circle links to each other, it links to each other with polish angle adjustment mechanism's outer lane to throw the abrasive disc, be provided with the spring that extends along motor direction of motion between motor and the casing. The utility model discloses can adjust the dynamics of polishing adaptively, in the course of working, polish the abrasive disc and be in all the time by the tangent face of polishing work piece for the rotation center of polishing the abrasive disc is unanimous with the surface normal direction by the processing work piece, in certain angle within range, can realize the rotation of the arbitrary angle in space.

Description

Flexible polishing and grinding device

Technical Field

The utility model belongs to the technical field of throw the mill equipment, concretely relates to power control is thrown and is ground end effector, in particular to flexible polishing device.

Background

An industrial robot polishing and grinding device is an automatic device for grinding, polishing and deburring workpieces in production enterprises. The force control polishing and grinding end executor is the core part of polishing and grinding equipment of an industrial robot, is responsible for the force control and position floating functions, senses information such as polishing and grinding force, floating position, grinding head posture and the like in real time, can automatically compensate robot posture, trajectory deviation and abrasive wear, and ensures flexible polishing and grinding effect. The device generally consists of an external mechanical structure, a built-in force sensor, a displacement sensor, a tilt angle sensor and an electric servo control system. However, the polishing force of the existing polishing device is not easy to adjust, and the polishing effect is not ideal.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned problem that exists among the prior art, the utility model provides a flexible polishing device.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a flexible polishing device, includes the casing, throws abrasive disc, polishing angle adjustment mechanism includes rotatable outer lane and inner circle, the rotation axis of outer lane and the rotation axis mutually perpendicular of inner circle, be provided with casing linear motion's motor relatively in the casing, there is the pivot output of motor through the coupling joint, the front end of casing is worn to locate in the pivot and through first bearing with the rotation axis of inner circle links to each other, throw the abrasive disc and link to each other with polishing angle adjustment mechanism's outer lane, be provided with the spring that extends along the motor direction of motion between motor and the casing.

Furthermore, the casing includes the shell, set up in the protecgulum of shell front end, set up in the back lid of shell rear end, the pivot is installed on the protecgulum through the second bearing.

Furthermore, a guide rail is arranged on the inner wall of the shell, a sliding block is arranged on the side face of the motor, and the motor moves along a straight line through the matching of the sliding block and the guide rail.

Furthermore, the rotating shaft of the inner ring is an inner rotating shaft, the first bearing is installed in the middle of the inner rotating shaft, the rotating shaft of the outer ring is an outer rotating shaft, the outer rotating shaft extends along the diameter direction perpendicular to the inner rotating shaft, one end of the outer rotating shaft is connected with the inner ring, and the other end of the outer rotating shaft is connected with the outer ring.

Further, the polishing and grinding sheet is arranged on an outer ring of the polishing angle adjusting mechanism through a support.

Furthermore, the machine shell is connected with a manipulator of the industrial robot through a pneumatic flange.

Furthermore, a base is further arranged in the machine shell, the spring is installed at the front end of the base, and a pressure sensor is arranged between the rear end of the base and the rear cover.

Furthermore, a torque sensor is arranged on an output shaft of the motor.

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

the utility model discloses a flexible polishing device can adjust the polishing dynamics by self-adaptation to make polishing process flexibility adjustable more, it is effectual to polish. In the processing process, the polishing and grinding piece can be always positioned on the tangent plane of the polished workpiece, so that the rotation center of the polishing and grinding piece is consistent with the surface normal direction of the processed workpiece, and the rotation of any spatial angle can be realized within a certain angle range.

Drawings

FIG. 1 is a schematic structural diagram of a flexible polishing device;

FIG. 2 is a cross-sectional view of a flexible polishing device;

FIG. 3 is a schematic view of a polishing angle adjusting mechanism;

fig. 4 is a diagram showing a state of use of the flexible polishing apparatus.

The mark in the figure is: 1-polishing and grinding piece, 2-guide rail, 3-support, 4-polishing angle adjusting mechanism, 4.1-outer ring, 4.2-inner ring, 4.3-outer rotating shaft, 4.4-inner rotating shaft, 4.5-first bearing, 5-sliding block, 6-front cover, 7-second bearing, 8-coupler, 9-rotating shaft, 10-shell, 11-motor, 12-motor mounting sleeve, 13-spring, 14-rear cover, 15-pneumatic flange, 16-base, 17-torque sensor, 18-pressure sensor, 19-manipulator, 20-flexible polishing and grinding device and 21-workpiece.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The structure of the flexible polishing device of the embodiment is shown in fig. 1-2, and comprises a machine shell, a polishing sheet 1, a polishing angle adjusting mechanism and a flexible pressurizing mechanism. Wherein:

the polishing and grinding sheet 1 is similar to a common polishing and grinding sheet in structure, polishing and grinding media such as wool, diamond or gravel are distributed on a circular base body, and a screw hole for installation and a round hole for positioning are arranged in the middle.

The casing comprises a shell 10, a front cover 6 and a rear cover 14, wherein the front cover 6 is arranged at the front end of the shell 10, the rear cover 14 is arranged at the rear end of the shell 10, and the shell 10, the front cover 6 and the rear cover 14 jointly form a relatively closed cavity. The polishing disc 1 and the polishing angle adjusting mechanism are arranged outside the cavity, and the flexible pressurizing mechanism is arranged in the cavity.

The structure of the polishing angle adjusting mechanism is shown in fig. 3, and comprises an outer ring 4.1 and an inner ring 4.2 which can rotate relatively, the rotating shaft of the outer ring 4.1 is vertical to the rotating shaft of the inner ring 4.2, the polishing and grinding sheet 1 is arranged on a support 3, and the support 3 is connected with the outer ring 4.1 of the polishing angle adjusting mechanism. Specifically, the rotating shaft of the inner ring 4.2 is an inner rotating shaft 4.4, the first bearing 4.5 is installed in the middle of the inner rotating shaft 4.4, the rotating shaft of the outer ring 4.1 is an outer rotating shaft 4.3, the outer rotating shaft 4.3 extends in the diameter direction perpendicular to the inner rotating shaft 4.4, one end of the outer rotating shaft is connected with the inner ring 4.2, and the other end of the outer rotating shaft is connected with the outer ring 4.1. The outer ring 4.1 of the polishing angle adjusting mechanism 4 can rotate around the outer rotating shaft 4.3 within a certain angle range, an inner rotating shaft 4.4 (the outer rotating shaft 4.3 is vertical to the inner rotating shaft 4.4) is arranged in the middle of the inner ring 4.2 and is perpendicular to the outer rotating shaft 4.3, the inner rotating shaft 4.4 is connected with a rotating shaft 9 through a first bearing 4.5, so that the rotating shaft 9 can rotate around the inner rotating shaft 4.4, when the rotating shaft 9 rotates along with the output shaft of the motor 11, the whole polishing angle adjusting mechanism 4 can rotate along with the inner rotating shaft, and under the action of the rotational inertia balancing force, the polishing angle adjusting mechanism 4 is kept in the same plane, so that the outer ring 4.1 can drive the support 3 and the polishing plate 1 to rotate, and the rotation center is kept consistent with the motor 11. Therefore, the whole polishing angle adjusting mechanism 4 can rotate at any angle in space within a certain angle range around two shafts of the polishing angle adjusting mechanism.

But be provided with casing linear motion's motor 11 relatively in the casing, it is concrete, motor 11 installs in motor installation cover 12, is provided with four sliders 5 on the

motor installation cover

12, and 2 parallel mount on the shell inner wall of two guide rails are in the casing 10, and slider 5 can make a round trip linear motion along guide rail 2 (two), makes motor 11 along linear motion through slider 5 and guide rail 2's cooperation. Polishing angle adjustment mechanism's pivot 9 passes through the output of shaft coupling 8 with motor 11 and links to each other, and pivot 9 also installs on protecgulum 6 through second bearing 7 simultaneously, and pivot 9 is worn to locate protecgulum 6 and is linked to each other with the rotation axis of inner circle 4.2 through second bearing 7, is provided with the spring 13 that extends along motor 11 direction of motion between motor 11 and the casing, sets up in the afterbody of motor installation cover 12. A base 16 is further arranged in the machine shell, the spring 13 is installed at the front end of the base 16, and a pressure sensor 18 is arranged between the rear end of the base 16 and the rear cover 14. The torque sensor 17 is arranged on the outer side of the output shaft of the motor 11, and can be used for controlling the mechanical arm to reduce positive pressure when polishing force is too large, and controlling the mechanical arm to increase positive pressure according to a reference value when the pressure sensor 18 between the base and the rear cover detects that the pressure value is too small.

The flexible polishing and burnishing device is used as shown in fig. 4, a pneumatic flange 15 is arranged at the tail part of the rear cover 14, and the flexible polishing and burnishing device 20 is installed on a manipulator 19 through the pneumatic flange 15. When the industrial robot arm drives the polishing device to polish the workpiece 21 according to a set track, the polishing and grinding disc acts on the surface of the workpiece with a certain pressure, if the shape profile of the workpiece changes greatly, the motion track does not need to be adjusted by a manipulator, and the polishing and grinding disc can be adjusted by the polishing angle adjusting mechanism under the adjustment of the polishing angle adjusting mechanism (under the action of the pressure, the polishing angle adjusting mechanism can automatically adjust the rotating planes of the outer ring and the inner ring according to stress and can transmit torque), so that the polishing and grinding disc can be positioned on the tangent plane of the polished workpiece, namely the rotating center of the polishing and grinding disc is consistent with the surface normal direction of the processed workpiece.

In the processing process, when the pressure of the polishing sheet acting on the surface of the workpiece exceeds a certain value, the motor can move backwards along the guide rail to compress the spring, so that the whole polishing head is in a floating state and can stretch back and forth. Therefore, the whole polishing and grinding device can realize the free rotation angle of the polishing and grinding sheet along the surface of the workpiece under the action of positive pressure, and can realize flexible polishing and grinding operation by stretching and retracting movement back and forth.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a flexible polishing device, its characterized in that includes the casing, throws abrasive disc, polishing angle adjustment mechanism includes rotatable outer lane and inner circle, the rotation axis of outer lane and the rotation axis mutually perpendicular of inner circle, be provided with casing linear motion's relatively motor in the casing, the output of motor has the pivot through the coupling joint, the front end of casing is worn to locate in the pivot and through first bearing with the rotation axis of inner circle links to each other, throw the abrasive disc and link to each other with polishing angle adjustment mechanism's outer lane, be provided with the spring that extends along motor direction of motion between motor and the casing.

2. The flexible polishing device according to claim 1, wherein the housing comprises a casing, a front cover arranged at the front end of the casing, and a rear cover arranged at the rear end of the casing, and the rotating shaft is mounted on the front cover through a second bearing.

3. The flexible polishing device according to claim 2, wherein a guide rail is arranged on the inner wall of the housing, a slide block is arranged on the side surface of the motor, and the motor moves linearly by the cooperation of the slide block and the guide rail.

4. The flexible polishing device as claimed in claim 1, wherein the rotation shaft of the inner ring is an inner rotation shaft, the first bearing is installed at a middle portion of the inner rotation shaft, and the rotation shaft of the outer ring is an outer rotation shaft extending in a diameter direction perpendicular to the inner rotation shaft, and one end of the outer rotation shaft is connected to the inner ring and the other end thereof is connected to the outer ring.

5. A flexible polishing and burnishing apparatus according to claim 4, wherein the polishing and burnishing sheet is mounted on the outer ring of the polishing angle adjusting mechanism by a mount.

6. A flexible polishing and grinding device according to claim 1, characterized in that said housing is connected to the manipulator of an industrial robot by means of a pneumatic flange.

7. The flexible polishing device according to claim 2, wherein a base is further arranged in the casing, the spring is arranged at the front end of the base, and a pressure sensor is arranged between the rear end of the base and the rear cover.

8. The flexible polishing device according to claim 1, wherein a torque sensor is provided on an output shaft of the motor.