Small flexible grinding machine

Abstract

The present invention discloses a small-volume flexible grinder, which includes a cylinder body, a pneumatic rotor assembly arranged in the inner cavity of the cylinder body, a grinding disc arranged on the pneumatic rotor assembly, an inner cylinder, an outer cylinder, a flexible elastic member and an air nozzle. The present invention has a reasonable structural design, and cleverly combines a traditional pneumatic grinder and a flexible connecting device to form an integrated structure, and has a certain axial and radial floating stroke, which plays a role of buffering and passive compensation. During the grinding process, the grinding disc can better fit the contour of the complex curved surface, which can better ensure the consistency of the grinding force, avoid the situation of being close or distant or more or less, and improve the quality of grinding and polishing; and the overall structure is compact, effectively shortening the overall length, occupying space, and having a small size, which is convenient for installation and use in conjunction with an industrial robot. In addition, the air nozzle is arranged at the top of the inner cylinder, which can realize the internal layout of the air pipeline to avoid exposure, and the overall appearance is simple and beautiful.

Description

Technical Field

[0001] The invention relates to the technical field of pneumatic grinders, and in particular to a small-volume flexible grinder. Background Art

[0002] In manufacturing enterprises, product quality and production efficiency are the main factors to improve enterprise competitiveness. In order to improve enterprise competitiveness, automated production is gradually replacing manual processing. In the process of improving the degree of automation in enterprise production, industrial robots have played a major role in promoting it.

[0003] In order to improve the grinding efficiency of mass-produced castings, reduce production costs, and avoid the harm of metal dust to grinding workers, industrial robots are usually used in combination with grinding tools to replace manual grinding and polishing of burrs for mass-produced castings.

[0004] The traditional method of using grinding tools and industrial robots is mostly rigid connection. The disadvantage of this connection method is that it is affected by the curved contour of the curved workpiece. In addition, it is difficult to achieve collision-free contact by position control alone at the moment when the working tool and the object come into contact with each other. At this time, the robot is required to have a certain degree of flexibility so that the working tool and the working object can gradually achieve flexible contact or "soft landing". If a passive flexible wrist is installed between the end flange of the robot and the fixture, collision can be effectively avoided. In order to solve such problems, the publication number "CN1100695987A", entitled "A passive compliance device for the end of a robot", discloses a passive compliance device for the end of a robot, which includes: a floating end for connecting with an end tool, a limiting shaft is provided on the floating end, and the lower end of the limiting shaft is fixedly connected to the middle part of the upper end of the floating end; an upper fixed end for connecting with the robot, an axial limiting mechanism is provided on the upper fixed end, and the lower end of the axial limiting mechanism abuts against the upper end of the limiting shaft; a lower fixed end, the lower fixed end is sleeved on the outer side of the upper end of the limiting shaft, the upper wall of the lower fixed end is fixedly connected to the lower wall of the upper fixed end, a radial limiting mechanism is provided between the lower fixed end and the limiting shaft, and a plurality of pre-tightening limiting mechanisms are provided between the lower fixed end and the floating end along the circumferential direction of the limiting shaft. Although it can avoid rigid collision between the end tool and the robot, and play the role of buffering and passive compensation. However, after being assembled with the end tool, the total length is relatively long, which is not conducive to the flexible control of the robot, and it occupies a lot of space, and is not suitable for use in some specific spaces. Summary of the invention

[0005] In view of the above-mentioned shortcomings, the object of the present invention is to provide a small-volume flexible grinder with reasonable structural design, small size and small occupied space.

[0006] To achieve the above-mentioned purpose, the technical solution provided by the present invention is: a small-volume flexible grinder, which includes a cylinder body, a pneumatic rotor assembly arranged in the inner cavity of the cylinder body, a grinding disc arranged on the pneumatic rotor assembly, an inner cylinder, an outer cylinder, a flexible elastic member and an air nozzle, the inner cylinder is fixedly sleeved on the cylinder body, the air nozzle is arranged on the top of the inner cylinder, and is connected with the inner cavity of the cylinder body through an air channel, the inner cylinder is located in the outer cylinder, and is flexibly connected to the outer cylinder through the flexible elastic member, and the top surface of the outer cylinder is provided with an opening for exposing the air nozzle.

[0007] As an improvement of the present invention, the outer wall of the cylinder body is provided with air inlets and outlets connected to its inner cavity, the top of the cylinder body is provided with a back air path connected to the air nozzle corresponding to the position of the air nozzle, and the outer wall of the cylinder body is provided with a side air path connecting the air inlets and outlets with the back air path.

[0008] As an improvement of the present invention, the flexible elastic member is a large spring whose inner diameter is larger than the outer diameter of the inner tube. The large spring is sleeved on the inner tube, and the upper end of the large spring is fixed on the inner wall of the outer tube, and the lower end is fixed on the outer wall of the inner tube.

[0009] As an improvement of the present invention, the flexible elastic member is a plurality of small springs, the top of the inner cylinder is provided with a limit plate whose outer diameter is larger than the inner cavity size of the outer cylinder, and the top of the inner cavity of the outer cylinder is expanded to form an activity space for the limit plate to move within a certain space, and the plurality of small springs are evenly distributed around the inner cylinder, and the upper end of the small spring presses on the inner wall of the outer cylinder, and the lower end presses on the outer wall of the inner cylinder. The number of the small springs is twelve, and they are symmetrically distributed around the inner cylinder in a circle center, so that the reaction is more sensitive.

[0010] As an improvement of the present invention, it also includes a rotation limiting assembly, which includes a rigid inner ring, a rigid outer ring and a flexible film, wherein the rigid inner ring is arranged at the center of the flexible disc and fixed on the grinding disc, and the rigid outer ring is arranged at the outer edge of the flexible film and fixed on the inner cylinder. The flexible film has a good dustproof effect.

[0011] As an improvement of the present invention, it also includes a rotation limiting component, which includes a rigid inner ring, a rigid outer ring and a planar scroll spring. The rigid inner ring is arranged at the center position of the planar scroll spring and is fixed on the grinding disc. The rigid outer ring is arranged at the outer edge position of the planar scroll spring and is fixed on the inner cylinder. The planar scroll spring is used, which has a good rotation limiting effect and a long service life.

[0012] As an improvement of the present invention, it also includes a rotation-limiting assembly, which includes an outer sleeve, an inner sleeve and a locking component. The lower end of the inner sleeve is arranged on the inner cylinder, and the upper end of the inner sleeve extends axially upward along the surface of the outer cylinder to form an inner sleeve connection part. The lower end center position of the outer sleeve is arranged on the grinding disc, and the upper end of the outer sleeve extends axially upward along the surface of the inner sleeve to form an outer sleeve connection part. The outer sleeve connection part is fixed to the inner sleeve connection part by a locking component. The locking component can be a locking hoop or a rubber ring, which is sleeved on the outer wall of the outer sleeve connection part so that the upper end of the outer sleeve connection part is tightly pressed on the inner sleeve connection part to achieve the purpose of fixing. There is a gap between the lower part of the outer sleeve connection part and the inner sleeve connection part, so that the lower part of the outer sleeve connection part can be deformed and shaken, which not only has a good dustproof effect but also has a long service life.

[0013] As an improvement of the present invention, the grinding disc is round or square to meet different grinding requirements.

[0014] The beneficial effects of the present invention are as follows: the present invention has a reasonable structural design, and cleverly combines the traditional pneumatic grinder and the flexible connection device to form an integrated structure, which has a certain axial and radial floating stroke, plays a role of buffering and passive compensation, and makes the grinding disc better fit the complex curved surface during the grinding process, which can better ensure the consistency of the grinding force, avoid the situation of being close or far away or more or less, and improve the quality of grinding and polishing; and the overall structure is compact, effectively shortening the overall length, occupying space, and having a small size, which is convenient for installation and use with industrial robots. In addition, the air nozzle is set at the top of the inner cylinder, which can realize the internal layout of the air pipeline to avoid exposure, and the overall appearance is simple and beautiful.

[0015] The present invention is further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of Example 1 of the present invention.

[0017] Figure 2 It is a schematic cross-sectional structural diagram of embodiment 1 of the present invention.

[0018] Figure 3 It is a schematic diagram of the decomposition structure of Example 1 of the present invention.

[0019] Figure 4 It is a schematic cross-sectional structural diagram of embodiment 2 of the present invention.

[0020] Figure 5 It is a schematic diagram of the decomposition structure of Example 2 of the present invention.

[0021] Figure 6 It is a schematic cross-sectional structural diagram of embodiment 3 of the present invention.

[0022] Figure 7 It is a schematic diagram of the decomposition structure of Example 3 of the present invention.

[0023] Figure 8 It is a schematic cross-sectional structural diagram of embodiment 4 of the present invention.

[0024] Fig. 9 It is a schematic diagram of the decomposition structure of Example 4 of the present invention.

[0025] Fig.10 It is a schematic cross-sectional structural diagram of embodiment 5 of the present invention.

[0026] Fig.11 It is a schematic diagram of the decomposition structure of Example 5 of the present invention. DETAILED DESCRIPTION

[0027] Example 1, see Figure 1 , Figure 2 and Figure 3 The present embodiment provides a small-volume flexible grinder, which includes a cylinder body 1, a pneumatic rotor assembly 2, a grinding disc 3, an inner cylinder 4, an outer cylinder 5, a flexible elastic member 6 and an air nozzle 7. The inner cylinder 4 is fixedly sleeved on the cylinder body 1, the pneumatic rotor assembly 2 is arranged in the inner cavity of the cylinder body 1 to form a pneumatic grinding assembly, the grinding disc 3 is arranged on the pneumatic rotor assembly 2, and the grinding disc 3 is circular.

[0028] The air nozzle 7 is arranged at the top of the inner tube 4 and is connected to the inner cavity of the cylinder body 1 through an air passage. Specifically, an air inlet and outlet 11 connected to the inner cavity of the cylinder body 1 is arranged on the outer wall of the cylinder body 1, and a back air passage 12 connected to the air nozzle 7 is arranged at the top of the cylinder body 1 corresponding to the position of the air nozzle 7, and a side air passage 13 is arranged on the outer wall of the cylinder body to connect the air inlet and outlet 11 with the back air passage 12. In other embodiments, the back air passage 12 and the side air passage 13 can also be arranged on the inner wall of the inner tube 4.

[0029] The inner cylinder 4 is located inside the outer cylinder 5 and is flexibly connected to the outer cylinder 5 through the flexible elastic member 6. The top surface of the outer cylinder 5 is provided with an opening 51 for exposing the gas nozzle 7. In this embodiment, the flexible elastic member 6 is preferably a large spring whose inner diameter is larger than the outer diameter of the inner cylinder 4. The large spring is sleeved on the inner cylinder 4, and the upper end of the large spring is fixed to the inner wall of the outer cylinder 5, and the lower end is fixed to the outer wall of the inner cylinder 4.

[0030] Example 2, see Figure 4 and Figure 5The embodiment provides a small-volume flexible grinder, which is basically the same in structure as the embodiment 1, except that it further includes a rotation limiting assembly 8, the grinding disc 3 is square, and the rotation limiting assembly 8 includes a rigid inner ring 81, a rigid outer ring 82, and a flexible film 83. The rigid inner ring 81 is arranged at the center of the flexible disc and fixed on the grinding disc 3, and the rigid outer ring 82 is arranged at the outer edge of the flexible film 83 and fixed on the inner cylinder 4. The flexible film 83 has a good sealing effect and can improve the dustproof effect.

[0031] Example 3, see Figure 6 and Figure 7 The present embodiment provides a small-volume flexible grinder, which has a basically the same structure as that of Embodiment 2, except that the structure of the rotation limiting component 8 is different. Specifically, the rotation limiting component 8 includes a rigid inner ring 81, a rigid outer ring 82 and a planar volute spring 84. The rigid inner ring 81 is arranged at the center of the planar volute spring 84 and is fixed on the grinding disc 3. The rigid outer ring 82 is arranged at the outer edge of the planar volute spring 84 and is fixed on the inner cylinder 4. The planar volute spring 84 is used, which has a good rotation limiting effect and its service life is effectively extended relative to that of the flexible film 83 in Embodiment 2.

[0032] Example 4, see Figure 8 and Fig. 9 The embodiment provides a small-volume flexible grinding machine, which is basically the same as the structure of the embodiment 2, except that the structure of the rotation-limiting assembly 8 is different. Specifically, the rotation-limiting assembly 8 includes an outer shell 85, an inner shell 86 and a locking component 87. The lower end of the inner shell 86 is arranged on the inner cylinder 4. The upper end of the inner shell 86 extends axially upward along the surface of the outer cylinder 5 to form an inner sleeve connection. The lower end center position of the outer shell 85 is arranged on the grinding disc 3. The upper end of the outer shell 85 extends axially upward along the surface of the inner shell 86 to form an outer sleeve connection. The outer sleeve connection is fixed to the inner sleeve connection by a locking component 87. The locking component 87 can be a locking hoop or a rubber ring, which is sleeved on the outer wall of the outer sleeve connection so that the upper end of the outer sleeve connection is tightly pressed on the inner sleeve connection to achieve the purpose of fixing. There is a gap between the lower part of the outer sleeve connection and the inner sleeve connection, so that the lower part of the outer sleeve connection can be deformed and shaken, which not only has a good dustproof effect but also has a long service life.

[0033] Example 5, see Fig.10 and Fig.11The present embodiment provides a small-volume flexible grinding machine, which is basically the same as the structure of the embodiment 4, except that the flexible elastic member 6 is a plurality of small springs, the top of the inner cylinder 4 is provided with a limit plate 9 whose outer diameter is larger than the inner cavity size of the outer cylinder 5, and the top of the inner cavity of the outer cylinder 5 is expanded to form an activity space 52 for the limit plate 9 to move in a certain space, and a plurality of small springs are evenly distributed around the inner cylinder 4, and the lower end of the inner cylinder 4 is turned outward to form a support for supporting and installing the small springs. The lower end of the outer cylinder 5 is provided with an insertion cavity 53 for the upper end of the small spring to be inserted therein, the upper end of the small spring extends into the insertion cavity 53 and presses on the lower end, and presses on the support of the inner cylinder 4. In the present embodiment, the number of the small springs is preferably twelve, which are symmetrically distributed around the inner cylinder 4 in a circle, so that the reaction is more sensitive. In other embodiments, the number of the small springs can also be eight, ten, etc.

[0034] When in use, the pneumatic grinding assembly is set in the outer cylinder 5 through the flexible elastic member 6, so that the pneumatic grinding assembly has a certain axial and radial floating stroke, which plays a role of buffering and passive compensation. During the grinding process, the grinding disc 3 can better fit the contour of the complex curved surface, which can better ensure the consistency of the grinding force, avoid the situation of being close or distant or more or less of one, and the grinding and polishing effect is good.

[0035] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention. As described in the above embodiments of the present invention, other machines obtained by using the same or similar structures are all within the protection scope of the present invention.

Claims

1. A small-volume flexible grinding machine, comprising a cylinder body, a pneumatic rotor assembly arranged in the inner cavity of the cylinder body, and a grinding disc arranged on the pneumatic rotor assembly, characterized in that: It comprises an inner cylinder, an outer cylinder, a flexible elastic member and an air nozzle, wherein the inner cylinder is fixedly sleeved on the cylinder body, the air nozzle is arranged on the top of the inner cylinder and is connected with the inner cavity of the cylinder body through an air passage, the inner cylinder is located inside the outer cylinder and is flexibly connected with the outer cylinder through the flexible elastic member, and the top surface of the outer cylinder is provided with an opening for exposing the air nozzle; It also includes a rotation limiting component; The rotation limiting assembly comprises a rigid inner ring, a rigid outer ring and a flexible film, wherein the rigid inner ring is arranged at the center of the flexible disc and fixed on the grinding disc, and the rigid outer ring is arranged at the outer edge of the flexible film and fixed on the inner cylinder; or, The rotation limiting assembly comprises a rigid inner ring, a rigid outer ring and a planar scroll spring, wherein the rigid inner ring is arranged at the center of the planar scroll spring and fixed on the grinding disc, and the rigid outer ring is arranged at the outer edge of the planar scroll spring and fixed on the inner cylinder; or, The rotation limiting assembly includes an outer sleeve, an inner sleeve and a locking component. The lower end of the inner sleeve is arranged on the inner cylinder, and the upper end of the inner sleeve extends axially upward along the surface of the outer cylinder to form an inner sleeve connection portion. The center position of the lower end of the outer sleeve is arranged on the grinding disc, and the upper end of the outer sleeve extends axially upward along the surface of the inner sleeve to form an outer sleeve connection portion. The outer sleeve connection portion is fixed to the inner sleeve connection portion by a locking component, and a gap is provided between the lower part of the outer sleeve connection portion and the inner sleeve connection portion.

2. The small-volume flexible grinding machine according to claim 1, characterized in that: The outer wall of the cylinder body is provided with an air inlet and outlet connected to its inner cavity, the top of the cylinder body is provided with a back air path connected to the air nozzle corresponding to the position of the air nozzle, and the outer wall of the cylinder body is provided with a side air path connecting the air inlet and outlet with the back air path.

3. The small-volume flexible grinding machine according to claim 1, characterized in that: The flexible elastic member is a large spring with an inner diameter larger than the outer diameter of the inner cylinder. The large spring is sleeved on the inner cylinder, and the upper end of the large spring is fixed on the inner wall of the outer cylinder, and the lower end is fixed on the outer wall of the inner cylinder.

4. The small-volume flexible grinding machine according to claim 1, characterized in that: The flexible elastic member is a plurality of small springs. A limit plate with an outer diameter larger than the inner cavity size of the outer cylinder is provided at the top of the inner cylinder, and a movable space is formed at the top of the inner cavity of the outer cylinder for the limit plate to move within a certain space. The plurality of small springs are evenly distributed around the inner cylinder, and the upper end of the small spring presses against the inner wall of the outer cylinder, and the lower end presses against the outer wall of the inner cylinder.

5. The small-volume flexible grinding machine according to claim 4, characterized in that: The number of the small springs is twelve, and they are symmetrically distributed around the inner cylinder in a circle-centered manner.

6. The small-volume flexible grinding machine according to claim 1, characterized in that: The locking component is a locking hoop or a rubber ring.

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