CN220179039U

CN220179039U - Constant force axial floating polishing tool

Info

Publication number: CN220179039U
Application number: CN202321384654.XU
Authority: CN
Inventors: 陈贤明; 唐剑; 曹熏陶; 柏帆; 刘海
Original assignee: Shanghai Autobox Auto Engineering Co ltd
Current assignee: Shanghai Autobox Auto Engineering Co ltd
Priority date: 2023-06-01
Filing date: 2023-06-01
Publication date: 2023-12-15
Anticipated expiration: 2033-06-01

Abstract

The utility model provides a constant-force axial floating polishing tool, which relates to the technical field of machining and manufacturing and comprises a louver blade, an electric spindle, pneumatic muscles, a position sensor, a floating tension air inlet joint, a floating thrust air inlet joint, a floating tension proportional valve and a floating thrust proportional valve; the constant force control of real-time adjustment of the product in the polishing process is realized through the pneumatic muscle, the position sensor and the floating thrust proportional valve; the axial floating mechanism of the polishing head is subjected to gravity matching through the floating tension proportional valve, so that the polishing quality is prevented from being reduced due to gravity; the pressure value of the polishing tool can be adjusted by adjusting the number of the floating shafts according to actual application conditions, so that the polishing functions of different occasions and different products are realized; the high-precision position sensor is selected, so that the surface roughness and smoothness of the product can be ensured.

Description

Constant force axial floating polishing tool

Technical Field

The utility model belongs to the technical field of machining and manufacturing, and particularly relates to a constant-force axial floating polishing tool.

Background

In order to ensure the requirements of the precision and the roughness of the surface of the workpiece, the surface of the workpiece is required to be polished. Along with the popularization of industrial manipulator work and high requirements of manpower on working environment, the deburring and polishing of various workpieces are realized by installing various polishing heads on the manipulator instead of manpower; the polishing tools commonly used in the prior art mainly comprise the following three technologies:

patent 1: a constant force grinding device (CN 115890492 a) comprising a housing, a grinding head, a spline spindle, a first motor, a tension pressure sensor, a moving seat and a linear drive; the polishing head is positioned outside the shell and is used for polishing the workpiece; the spline main shaft is provided with a first end and a second end, the first end is connected with the spline housing through a spline, and the second end is connected with the polishing head; the first motor is used for driving the spline housing to rotate; the tension pressure sensor is connected to the spline main shaft and used for detecting the pressure applied to the polishing head; the movable seat is connected with the spline main shaft; the linear driving device is used for driving the movable seat and the spline main shaft to move along the axial direction of the spline main shaft together. According to the utility model, the polishing head can carry out floating polishing operation according to the surface condition of a workpiece, active flexible polishing is realized, polishing efficiency and polishing quality are improved, but the polishing head is driven by a motor, and a linear driving device, a sliding rail and a sliding block and pulling pressure sensor axially float, so that the whole structure is larger, the structure is complex, the maintenance is inconvenient, and the price is higher; the slide rail and the sliding block are not subjected to dust-proof treatment, and the slide rail and the sliding block are easy to damage in the polishing working process.

Patent 2: a floating polishing head (CN 210998146U) belongs to the technical field of welding polishing. The utility model comprises a fixing mechanism, a floating mechanism and a polishing mechanism; wherein: the fixed establishment is fixed in the upper portion of floating mechanism with grinding machanism, the realization buffering of the reaction force that produces when floating mechanism polishes the grinding machanism, when buffering power and reaction force equal, the piece of polishing can steadily polish to avoid the card to die or grind the emergence of many phenomena, improve product percent of pass and polishing efficiency. The system has strong flexibility, can meet the use of multiple vehicle types, can ensure high-precision rapid switching, is provided with a radio frequency identification system, is suitable for complex and changeable flexible production systems, and has wide prospect; but the adoption of the compression spring mode for floating cannot achieve constant force, the workpiece is easy to cause poor products during polishing, the efficiency is low, and the phenomena of uneven surface roughness of the processed products and the like occur.

Patent 3: the upper and lower floating manipulator quick-change electric polishing head (CN 108994728A), the upper part of the fixed shell is provided with a quick-change electric polishing head and a motor through a chuck clutch cover, the quick-change electric polishing head is connected with the fixed shell, the fixed shaft is arranged in the fixed shell through a deep groove ball bearing, a guide copper sleeve is embedded in the lower part of the fixed shell, and the guide copper sleeve is connected with a floating shaft of a polishing tool through a floating shell in a matched manner; the upper end of the floating shaft is connected with the fixed shaft through spline fit, a spring is connected between the fixed shaft and the floating shaft, two ends of the spring are respectively in contact connection with the fixed shaft and the connecting end face of the floating shaft, the floating shaft has a certain upper and lower deformation, and the floating shaft floats up and down through the spring and the spline, so that a floating polishing head is formed. By adopting the up-down floating mechanism, when polishing products with uneven surfaces, the polishing tool bit of the floating mechanism can be ensured to have certain contact with the surfaces of the products, the production quality is effectively improved, and the polishing tool bit has the advantages of simple structure, low production cost and strong practicability; but adopt the spring to float, can't control the fluctuation of product, and do not have constant force control, rely on the robot to carry out single-point control entirely, cause the product bad easily when polishing to the work piece, inefficiency moreover and appear the uneven scheduling phenomenon of product surface roughness after processing, again because the structure of its adoption is comparatively complicated, cause inconvenience when maintenance.

In conclusion, the conventional polishing tool is difficult in constant force control, poor in polishing self-adaption, single in application occasion, low in flexibility degree and the like.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model aims to provide a constant force axial floating polishing tool so as to solve the problems of difficult constant force control, poor polishing self-adaption, single application occasion and low flexibility degree of the polishing tool in the prior art.

In order to achieve the above object, the present utility model is realized by the following technical scheme: a constant force axial floating polishing tool comprises a louver, an electric main shaft, pneumatic muscles, a position sensor, a floating tension air inlet joint, a floating thrust air inlet joint, a floating tension proportional valve and a floating thrust proportional valve;

the louver blade is arranged on the electric main shaft and is used for polishing a product;

the electric spindle is connected with the pneumatic muscle and is a power source for driving the louver blades to rotate;

the pneumatic muscle is used for realizing axial floating of the electric spindle;

the position sensor is used for monitoring the axial floating distance in the polishing process;

the position sensor, the floating tension proportional valve and the floating thrust proportional valve are all connected with a robot;

the floating tension air inlet joint and the floating thrust air inlet joint are both installed on the pneumatic muscle, the floating tension air inlet joint is connected with the floating tension proportional valve through an air pipe, the floating thrust air inlet joint is connected with the floating thrust proportional valve through an air pipe, and the floating tension proportional valve and the floating thrust proportional valve are both connected with an air source, so that axial floating control of the polishing tool is realized.

Further, the pneumatic muscle comprises an electric spindle floating connecting shaft, a polishing head body, a sealing shaft, a floating shaft, a piston general plug seal, a first sealing ring, a second sealing ring, a fourth connecting plate, a fifth connecting plate, a mounting shaft, a sliding block and a guide rail;

the middle part of the polishing head body is provided with a through hole, the guide rail is arranged at the inner side of the polishing head body through hole, the sliding block is arranged at the outer side of the electric spindle floating connecting shaft, the sliding block is in matched sliding connection with the guide rail and is used for radially positioning the electric spindle floating connecting shaft, the piston flood plug is arranged at the two ends of the floating shaft and the sealing shaft, the polishing head body is provided with a first air inlet channel, a second air inlet channel and three mounting holes, the first air inlet channel and the second air inlet channel are respectively positioned at the two sides of the mounting holes, the floating shaft and the sealing shaft are arranged in the mounting holes, the electric spindle floating connecting shaft is positioned in the through hole of the polishing head body, the floating shaft is connected with the electric spindle floating connecting shaft through the mounting shaft, air inlet of the floating thrust air inlet connector enters the mounting hole through the first air inlet channel, the floating shaft is pushed to axially float in the mounting hole, so that the electric spindle floating connecting shaft is driven to axially float, the sealing ring I is mounted on the connecting plate IV, the connecting plate IV is mounted on the polishing head body in a locking manner, the sealing ring II is mounted on the connecting plate V, and the connecting plate V is mounted on the polishing head body in a locking manner and used for sealing a polishing tool.

Further, the pneumatic muscle further comprises a mounting plate, wherein the mounting plate is mounted on the polishing head body and used for protecting the sealing shaft and the floating shaft.

Further, the shutter blade is mounted on the tool apron clamp of the electric spindle, the electric spindle is positioned on the electric spindle floating connecting shaft through a connecting plate III, and then the electric spindle is mounted in a locking mode through a clamp ring.

Further, the polishing tool further comprises a dustproof blowing connector, the dustproof blowing connector is arranged on the polishing head body and used for carrying out pneumatic dust removal on the polishing tool, the dustproof blowing connector is connected with a pressure regulating valve through an air pipe, the pressure regulating valve is connected with a gas distributing block through an air pipe, and the gas distributing block is connected with the air source through an air pipe;

the floating tension proportional valve and the floating thrust proportional valve are connected with the air source through the air dividing block.

Further, a part capable of axially moving in the polishing tool is defined as a polishing head axial floating mechanism, wherein the polishing head axial floating mechanism consists of the louver, the electric main shaft, the clamping ring, the connecting plate III, the electric main shaft floating connecting shaft, the sliding block, the floating shaft and the mounting shaft, and air inlet of the floating tension air inlet connector enters the mounting hole through the second air inlet channel and is used for balancing the gravity of the polishing head axial floating mechanism.

Further, the floating tension proportional valve and the floating thrust proportional valve are arranged on the polishing head body through a second connecting plate and a sixth connecting plate, the second connecting plate is connected with the polishing head body, the sixth connecting plate is arranged on the second connecting plate, and the floating tension proportional valve and the floating thrust proportional valve are arranged on the sixth connecting plate;

the position sensor penetrates through the second connecting plate and is connected with the polishing head body.

Further, the polishing tool further comprises a robot flange mounting connecting plate, wherein the robot flange mounting connecting plate is mounted on the polishing head body and used for being connected with a robot connecting flange or a triaxial mechanism, and the robot connecting flange is connected with the robot or the triaxial mechanism.

Further, the polishing tool further comprises a first connecting plate and a perspective window, wherein the first connecting plate is used for adjusting the position of the position sensor, a door window hole is formed in the first connecting plate, and the perspective window is arranged at the position of the door window hole in the first connecting plate and used for periodically checking the position sensor.

Further, the sum of the number of the floating shafts and the number of the sealing shafts is three, and the number of the floating shafts is 1, 2 or 3.

The beneficial effects are that:

(1) According to the constant force axial floating polishing tool provided by the utility model, the constant force control of real-time adjustment of a product in the polishing process is realized through the pneumatic muscle, the position sensor and the floating thrust proportional valve; the axial floating mechanism of the polishing head is subjected to gravity matching through the floating tension proportional valve, so that polishing quality is prevented from being reduced due to gravity.

(2) According to the practical application, the pressure value of the polishing tool can be adjusted by adjusting the number of the floating shafts, so that the polishing functions of different occasions and different products are realized.

(3) The high-precision position sensor is selected, so that the surface roughness and smoothness of the product can be ensured.

(4) The polishing tool has the advantages of simple structure, convenient installation, simple debugging, convenient disassembly, simple maintenance and controllable weight within 4 kg.

(5) The service life of the equipment can be prolonged by adopting air pressure dust removal.

The conception, specific structure, and technical effects of the present utility model will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present utility model.

Drawings

FIG. 1 is a schematic illustration of a constant force axially floating sanding tool;

FIG. 2 is an exploded view of a constant force axially floating sanding tool;

FIG. 3 is a schematic top view of the sanding head body;

FIG. 4 is a gas circuit diagram of a constant force axial floating sanding tool;

reference numerals: 0. a polishing tool; 1. a louver; 2. an electric spindle; 3. a clamping ring; 4. a perspective window; 5. a polishing head body; 6. a first connecting plate; 7. a second connecting plate; 8. a position sensor; 9. a floating thrust proportioning valve; 10. a floating tension proportional valve; 11. a floating tension air inlet joint; 12. the robot flange is provided with a connecting plate; 13. a dust-proof blowing joint; 14. a floating thrust air inlet joint; 15. a third connecting plate; 16. a fourth connecting plate; 17. a first sealing ring; 18. a mounting shaft; 19. a floating shaft; 20. sealing the shaft; 21. floating connecting shaft of electric main shaft; 22. a mounting plate; 23. a slide block; 24. a guide rail; 25. a second sealing ring; 26. a fifth connecting plate; 27. a sixth connecting plate; 28. sealing the piston by flooding; 29. pneumatic muscle; 30. dividing air blocks; 31. a gas source; 32. and a pressure regulating valve.

Detailed Description

The utility model is further described below in conjunction with the detailed description. It is to be understood that these examples are illustrative of the present utility model and are not intended to limit the scope of the present utility model. Furthermore, it should be understood that various changes and modifications can be made by one skilled in the art after reading the teachings of the present utility model, and such equivalents are intended to fall within the scope of the utility model as defined in the appended claims.

In the drawings, like structural elements are referred to by like reference numerals and components having similar structure or function are referred to by like reference numerals. The dimensions and thickness of each component shown in the drawings are arbitrarily shown, and the present utility model is not limited to the dimensions and thickness of each component. The thickness of the components is exaggerated in some places in the drawings for clarity of illustration.

Examples:

1-4, in a preferred embodiment, the present utility model provides a constant force axial float sharpening tool comprising a louvre blade 1, an electric spindle 2, pneumatic muscles 29, a position sensor 8, a float pull air inlet fitting 11, a float push air inlet fitting 14, a float pull proportional valve 10 and a float push proportional valve 9;

pneumatic muscles 29 for effecting axial float of the motorized spindle 2; the polishing device comprises an electric spindle floating connecting shaft 21, a polishing head body 5, a sealing shaft 20, a floating shaft 19, a piston general plug seal 28, a sealing ring I17, a sealing ring II 25, a connecting plate IV 16, a connecting plate V26, a mounting shaft 18, a sliding block 23 and a guide rail 24;

the louver blade 1 is arranged on the cutter holder clamp of the electric main shaft 2, can be replaced by manpower and is used for polishing a product;

the electric spindle 2 is positioned on the electric spindle floating connecting shaft 21 through a connecting plate III 15, and is locked and installed through the clamping ring 3.

The electric spindle 2 is mounted on the electric spindle floating connecting shaft 21, is locked with the electric spindle floating connecting shaft 21 through a third connecting plate 15 for positioning, is locked by the clamping ring 3, is used for driving the louver blades 1 to rotate, is used as a power source, and has the output power of 1200W and the highest rotating speed of 20000rad/min;

the middle part of the polishing head body 5 is provided with a through hole, a guide rail 24 is arranged at the inner side of the through hole of the polishing head body 5, a sliding block 23 is arranged at the outer side of an electric spindle floating connecting shaft 21, a piston universal plug seal 28 is arranged at the two ends of a floating shaft 19 and a sealing shaft 20, the polishing head body 5 is provided with a first air inlet channel, a second air inlet channel and three mounting holes, the first air inlet channel and the second air inlet channel are respectively positioned at the two sides of the mounting holes, the floating shaft 19 and the sealing shaft 20 are arranged in the mounting holes, the electric spindle floating connecting shaft 21 penetrates into the through hole of the polishing head body 5, the connection relation between the sliding block 23 and the guide rail 24 is ensured, the sliding block 23 and the guide rail 24 are matched and connected in a sliding way, the electric spindle floating connecting shaft 21 is used for radial positioning, the equipment can perform linear movement, the air inlet of the floating thrust air inlet connector 14 enters the mounting holes through the first air inlet channel, and pushes the floating shaft 19 to axially float in the mounting holes, so that the electric spindle floating connecting shaft 21 is driven to axially float, the floating shaft 19 is a driving source of axial floating (linear movement is driven, and the driving range of floating is within 10 mm-10 mm; the sealing shaft 20 and the electric spindle floating connecting shaft 21 are not connected, the sealing shaft 20 is mainly used for sealing gas, and the two cavities of pulling force and pushing force are prevented from being in gas leakage, so that the whole tool is invalid; the sealing ring I17 is arranged on the connecting plate IV 16, the connecting plate IV 16 is locked and arranged on the polishing head body 5, the sealing ring II 25 is arranged on the connecting plate V26, the connecting plate V26 is locked and arranged on the polishing head body 5, and the sealing ring I is used for sealing a polishing tool, ensuring the air tightness of equipment and ensuring the normal operation of the equipment.

The floating tension air inlet connector 11 and the floating thrust air inlet connector 14 are both arranged on the polishing head body 5, the floating tension air inlet connector 11 is connected with the floating tension proportional valve 10 through an air pipe, the floating thrust air inlet connector 14 is connected with the floating thrust proportional valve 9 through an air pipe, the polishing process is adjusted in real time, the polishing quality is ensured, and the floating tension proportional valve 10 and the floating thrust proportional valve 9 are both connected with the air source 31, so that axial floating control of a polishing tool is realized.

The axially movable part in the polishing tool is defined as a polishing head axial floating mechanism, the polishing head axial floating mechanism consists of a louver blade 1, an electric spindle 2, a clamping ring 3, a connecting plate III 15, an electric spindle floating connecting shaft 21, a sliding block 23, a floating shaft 19 and a mounting shaft 18, and air inlet of a floating tension air inlet joint 11 enters a mounting hole through a second air inlet channel and is used for balancing the gravity of the polishing head axial floating mechanism, so that the force before the polishing head axial floating mechanism contacts a workpiece is 0.

The pneumatic muscle 29 further includes a mounting plate 22, the mounting plate 22 being mounted on the sanding head body 5 for protecting the sealing shaft 20 and the floating shaft 19 and through which the mounting shaft 18 is detached and mounted.

The polishing tool also comprises a robot flange mounting connecting plate 12, a dustproof blowing connector 13, a connecting plate I6 and a perspective window 4;

the robot flange mounting connection plate 12 is mounted on the polishing head body 5 and is used for being connected with a robot connection flange or being connected with a triaxial mechanism, and the robot connection flange is connected with the triaxial mechanism or being connected with the robot.

The floating tension proportional valve 10 and the floating thrust proportional valve 9 are arranged on the polishing head body 5 through a second connecting plate 7 and a sixth connecting plate 27, the second connecting plate 7 is connected with the polishing head body 5, the sixth connecting plate 27 is arranged on the second connecting plate 7, and the floating tension proportional valve 10 and the floating thrust proportional valve 9 are arranged on the sixth connecting plate 27 to regulate air pressure of equipment.

The position sensor 8 penetrates through the second connecting plate 7 and is connected with the polishing head body 5, and is used for monitoring the axial floating distance in the polishing process; the accuracy of the position sensor 8 can reach 2 mu m, so that the surface roughness and smoothness of the product can be ensured;

the position sensor 8, the floating tension proportional valve 10 and the floating thrust proportional valve 9 are all connected with the robot, in the polishing process, the position sensor 8 can obviously identify the fluctuation due to the fluctuation of burrs, residues, welding slag and the like of parts, the floating distance of the polishing head is measured through the position sensor 8, signals are transmitted to the robot, the signals are transmitted to the floating thrust proportional valve 9 after being calculated through software in the robot, the air pressure of air inlet of the floating thrust air inlet joint 14 is regulated in real time after the signals are obtained by the floating thrust proportional valve 9, and then the axial regulation is carried out on a polishing tool, so that the constant force action in the polishing process is ensured.

The first connecting plate 6 is used for carrying out position adjustment on the position sensor 8, the first connecting plate 6 is provided with a door window hole, and the perspective window 4 is arranged at the position of the door window hole on the first connecting plate 6 and used for carrying out periodic inspection on the position sensor 8. The initial position of the position sensor 8 can be adjusted after the first connecting plate 6 is detached, and corresponding adjustment is not performed after the setting is completed. When the position is not correct, the first connecting plate 6 is detached, and the position sensor 8 is adjusted.

The dustproof blowing connector 13 is arranged on the polishing head body 5 and is used for carrying out pneumatic dust removal on a polishing tool and preventing polishing residues or dust from entering polishing equipment to cause equipment damage or influence the service life;

the dustproof blowing connector 13 is connected with the pressure regulating valve 32 through an air pipe, the pressure regulating valve 32 is connected with the air dividing block 30 through an air pipe, and the air dividing block 30 is connected with the air source 31 through an air pipe;

the floating tension proportional valve 10 and the floating thrust proportional valve 9 are both connected with an air source 31 through an air dividing block 30.

The polishing tool provided by the utility model mainly axially floats through air control, a floating tension air inlet joint 11 is arranged on an air muscle 29 and is connected to a floating tension proportional valve 10 through an air pipe, the floating tension proportional valve 10 is connected to an air dividing block 30 through an air pipe, the air dividing block 30 is connected to an air source 31 through an air pipe, the air source 31 provides a medium, and the floating tension proportional valve 10 is mainly used for adjusting the air pressure of air entering the air muscle 29 and balancing the weight of an axial floating mechanism of the polishing head; the pneumatic muscle 29 is provided with a floating thrust air inlet joint 14 and is connected to the floating thrust proportional valve 9 through an air pipe, and the floating thrust proportional valve 9 is connected to the air dividing block 30 through an air pipe and is mainly used for adjusting the tool in real time when working so as to axially float, so that the constant force effect in the polishing process can be realized; the dust-proof blowing connector 13 is arranged on the polishing tool 0, the dust-proof blowing connector 13 is connected to the pressure regulating valve 32 through an air pipe, the pressure regulating valve 32 is connected to the air dividing block 30 through an air pipe, and the dust-proof blowing connector is mainly used for dust removal of the polishing tool 0, and the dust removal air pressure is 0.2Mpa at minimum.

The piston universal plug seal 28 is arranged on the floating shaft 19 and the sealing shaft 20, and the arranged components are arranged in three mounting holes of the polishing head body 5, so that the pressure value of the polishing tool can be regulated and controlled; the sliding block 23 is arranged on the outer side of the floating connecting shaft 21 of the electric spindle, the guide rail 24 is arranged on the inner side of the through hole of the grinding head body 5, and the two mounted components are connected, so that the sliding block 23 and the guide rail 24 can move smoothly in the axial direction, and the tool is mainly positioned radially; positioning the mounting shaft 18 on the floating shaft 9 and locking the mounting shaft with the electric spindle floating connecting shaft 21 so as to ensure axial floating; the mounting plate 22 is connected with the polishing head body 5, and the sealing shaft 20 and the floating shaft 19 are covered; the first sealing ring 17 is arranged on the fourth connecting plate 16, the component formed by the first sealing ring is arranged on the polishing head body 5, the second sealing ring 25 is arranged on the fifth connecting plate 26, and the component formed by the second sealing ring is arranged on the polishing head body 5 and is mainly used for sealing tools and preventing the tools from working abnormally due to air leakage.

In summary, since the polishing tool can perform pressure adjustment, the polishing head body 5 has three mounting holes, the floating shaft 19 can be mounted according to the actual situation on site, and the unused mounting holes are sealed by the sealing shaft 20 to prevent blowby, in this embodiment, the pneumatic muscle cylinder diameter (diameter of the mounting hole) d=16 mm, the working pressure (pressure provided by the air source) ρ=0.5, and the working efficiency

Installing a pressure value of a floating shaft:

installing pressure values of two floating shafts: f (F) ₂ ＝2×F＝2×85＝170N

Pressure values of three floating shafts are installed: f (F) ₃ ＝3×F＝3×85＝255N

In the present embodiment, the sum of the number of floating shafts 19 and the number of seal shafts 20 is three, the number of floating shafts 19 is 2, and the number of seal shafts is 1.

The present utility model is not limited to the above embodiments, and all equivalent structures or equivalent processes using the contents of the specification and drawings of the present utility model or directly or indirectly applied to other related technical fields are included in the protection scope of the present utility model.

Claims

1. The constant force axial floating polishing tool is characterized by comprising a louver (1), an electric main shaft (2), pneumatic muscles (29), a position sensor (8), a floating tension air inlet joint (11), a floating thrust air inlet joint (14), a floating tension proportional valve (10) and a floating thrust proportional valve (9);

the louver blade (1) is mounted on the electric main shaft (2) and is used for polishing a product;

the electric main shaft (2) is connected with the pneumatic muscle (29) and is a power source for driving the louver blades (1) to rotate;

-said pneumatic muscle (29) for effecting an axial float of said motorized spindle (2);

the position sensor (8) is used for monitoring the axial floating distance in the polishing process;

the position sensor (8), the floating tension proportional valve (10) and the floating thrust proportional valve (9) are all connected with a robot;

the floating tension air inlet joint (11) and the floating thrust air inlet joint (14) are both installed on the pneumatic muscle (29), the floating tension air inlet joint (11) is connected with the floating tension proportional valve (10) through an air pipe, the floating thrust air inlet joint (14) is connected with the floating thrust proportional valve (9) through an air pipe, and the floating tension proportional valve (10) and the floating thrust proportional valve (9) are both connected with the air source (31), so that axial floating control of the polishing tool (0) is realized.

2. The constant force axially floating sanding tool according to claim 1, wherein the pneumatic muscle (29) comprises an electric spindle floating connection shaft (21), a sanding head body (5), a sealing shaft (20), a floating shaft (19), a piston flood seal (28), a sealing ring one (17), a sealing ring two (25), a connecting plate four (16), a connecting plate five (26), a mounting shaft (18), a sliding block (23) and a guide rail (24);

the middle part of the polishing head body (5) is provided with a through hole, the guide rail (24) is arranged on the inner side of the through hole of the polishing head body (5), the sliding block (23) is arranged on the outer side of the electric spindle floating connecting shaft (21), the sliding block (23) and the guide rail (24) are in matched sliding connection and are used for radially positioning the electric spindle floating connecting shaft (21), the piston universal plug seal (28) is arranged on two ends of the floating shaft (19) and the sealing shaft (20), the polishing head body (5) is provided with a first air inlet channel, a second air inlet channel and three mounting holes, the first air inlet channel and the second air inlet channel are respectively positioned on two sides of the mounting holes, the floating shaft (19) and the sealing shaft (20) are arranged in the mounting holes, the electric spindle floating connecting shaft (21) is positioned in the through hole of the polishing head body (5), the floating shaft (19) and the electric spindle floating connecting shaft (21) are connected through the mounting shaft (18), the floating shaft (14) is driven to enter the four air inlet channels through the floating connecting shaft (16) to the mounting holes, the fourth connecting plate (16) is installed on the polishing head body (5) in a locking mode, the second sealing ring (25) is installed on the fifth connecting plate (26), and the fifth connecting plate (26) is installed on the polishing head body (5) in a locking mode and used for sealing the polishing tool (0).

3. A constant force axially floating sanding tool according to claim 2, wherein the pneumatic muscle (29) further comprises a mounting plate (22), the mounting plate (22) being mounted on the sanding head body (5) for shielding the sealing shaft (20) and the floating shaft (19).

4. A constant force axially floating sanding tool according to claim 2, characterized in that the louver (1) is mounted to the holder jaw of the motorized spindle (2), the motorized spindle (2) being positioned on the motorized spindle floating connection shaft (21) by means of a connection plate three (15), and being mounted by means of a clamping ring (3).

5. The constant force axially floating grinding tool as claimed in claim 4, characterized in that the grinding tool (0) further comprises a dust-proof air blowing connector (13), wherein the dust-proof air blowing connector (13) is mounted on the grinding head body (5) and is used for pneumatically dedusting the grinding tool (0), the dust-proof air blowing connector (13) is connected with a pressure regulating valve (32) through an air pipe, the pressure regulating valve (32) is connected with a gas distributing block (30) through an air pipe, and the gas distributing block (30) is connected with the air source (31) through an air pipe;

the floating tension proportional valve (10) and the floating thrust proportional valve (9) are connected with the air source (31) through the air dividing block (30).

6. The constant force axially floating sanding tool as defined in claim 4, wherein the axially movable part of the sanding tool (0) is defined as a sanding head axially floating mechanism consisting of the louver (1), the motorized spindle (2), the clamping ring (3), the connecting plate three (15), the motorized spindle floating connecting shaft (21), the slider (23), the floating shaft (19) and the mounting shaft (18), and wherein the air inlet of the floating tension air inlet joint (11) enters the mounting hole through the second air inlet channel for balancing the gravity of the sanding head axially floating mechanism.

7. The constant force axial floating sanding tool according to claim 6, wherein the floating tension proportional valve (10) and the floating thrust proportional valve (9) are mounted on the sanding head body (5) through a second plate (7) and a sixth plate (27), the second plate (7) is connected with the sanding head body (5), the sixth plate (27) is mounted on the second plate (7), and the floating tension proportional valve (10) and the floating thrust proportional valve (9) are mounted on the sixth plate (27);

the position sensor (8) passes through the second connecting plate (7) and is connected with the polishing head body (5).

8. The constant force axially floating grinding tool of claim 7, wherein the grinding tool (0) further comprises a robotic flange mounting connection plate (12), the robotic flange mounting connection plate (12) being mounted on the grinding head body (5) for connection to a robotic connection flange or to a triaxial mechanism, the robotic connection flange being connected to or to a triaxial mechanism.

9. The constant force axially floating grinding tool of claim 1, wherein the grinding tool (0) further comprises a first connecting plate (6) and a perspective window (4), the first connecting plate (6) is used for adjusting the position of the position sensor (8), a door window hole is formed in the first connecting plate (6), and the perspective window (4) is installed at the position of the door window hole in the first connecting plate (6) and used for periodically checking the position sensor (8).

10. The constant force axially floating sanding tool according to claim 2, wherein the sum of the number of floating shafts (19) and the sealing shafts (20) is three, the number of floating shafts (19) being 1, 2 or 3.