Highly sensitive flexible grinding device

Abstract

The invention discloses a highly sensitive flexible grinding device, which includes a mounting seat, a cylinder body, a hollow piston rod, a piston body, a front guide sleeve, a rear guide sleeve, a conical spring, a torque extension rod and a universal bearing. The invention can improve the coordination effect between the grinding tool and the industrial robot. The torque extension rod is provided inside, which can extend the length of the lever arm with the universal bearing as the fulcrum. When the mounting seat is slightly subjected to radial force, the tail end of the torque extension rod can be caused to swing greatly, and the feedback sensitivity is high. Then the conical spring provides a reaction to control the torque extension rod to quickly reset, so that the grinding head is better attached to the grinding surface; at the same time, when the mounting seat is subjected to an axial force, the torque extension rod stretches the conical spring after being subjected to force, and correspondingly drives the cylinder body to move backward to act as compressed air, and the axial force received is buffered by the elastic force and air pressure, which can better ensure the consistency of the grinding force and improve the grinding and polishing quality.

Description

Technical Field

[0001] The invention relates to the technical field of grinding, and in particular to a high-sensitivity flexible grinding device installed between a grinding tool and an industrial robot. 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 to use rigid connections. The disadvantage of this connection method is that it is affected by the curved contour of the curved workpiece, and when the grinding head needs to be replaced, all the trajectory points of the industrial robot need to be recalibrated, which is time-consuming and laborious. In addition, for complex surfaces or corners, when the grinding head cannot be accurately positioned and the original programmed trajectory of the robot cannot be adjusted immediately, the grinding head often appears to be close to or away from the workpiece surface, or more or less on some places, resulting in too much grinding in some places and too little grinding in others. The grinding force of the workpiece is difficult to control during the grinding process, which seriously affects the grinding and polishing effect and has poor practicality. Summary of the invention

[0005] In view of the above-mentioned deficiencies, the object of the present invention is to provide a highly sensitive and flexible grinding device with an ingenious and reasonable structural design, which can make the grinding tool and the industrial robot cooperate well to improve the polishing effect.

[0006] To achieve the above-mentioned purpose, the technical solution provided by the present invention is: a highly sensitive flexible grinding device, which includes a mounting seat, a cylinder body, a hollow piston rod, a piston body, a front guide sleeve, a rear guide sleeve, a conical spring, a torque extension rod and a universal bearing. The hollow piston rod is movably arranged in the cylinder body through the front guide sleeve and the rear guide sleeve; the piston body is sleeved on the hollow piston rod corresponding to the position between the front guide sleeve and the rear guide sleeve, and a front air cavity is formed between the piston body and the front guide sleeve, and a rear air cavity is formed between the piston body and the rear guide sleeve. The cylinder body is provided with a corresponding A front air outlet and a rear air inlet and outlet communicating with the front air cavity and the rear air cavity; a mounting shaft is provided on the mounting seat, and the mounting shaft is arranged on the hollow piston rod through the universal bearing, the front end of the torque extension rod is arranged on the mounting shaft, and the rear end extends along the central axis of the hollow piston rod to the rear position of the hollow piston rod, one end of the conical spring is fixedly arranged, and the other end is connected to the rear end of the torque extension rod, and the torque extension rod can be restored to the central axis position of the hollow piston rod through the elastic force of the conical spring itself.

[0007] As an improvement of the present invention, the conical spring is sleeved on the torque extension rod, the end of the conical spring with a smaller diameter is arranged at the tail end of the torque extension rod, and the end of the conical spring with a larger diameter is arranged at the connection between the universal bearing and the hollow piston rod. The conical spring is used to achieve rapid resetting of the mounting seat in a limited space.

[0008] As an improvement of the present invention, a limit plate is provided at the tail end of the hollow piston rod, a limit hole having a diameter larger than that of the torque extension rod is provided at the center of the limit plate, and the tail end of the torque extension rod extends into the limit hole. The swing angle of the torque extension rod is limited by adjusting the diameter of the limit hole.

[0009] As an improvement of the present invention, the torque extension rod includes a screw, a support sleeve, a limit cylinder and a spring fixing plate. The mounting shaft is adapted to the inner ring of the universal bearing and passes through the inner ring. The support sleeve is sleeved on the mounting shaft. The end face of the mounting shaft is provided with a screw hole adapted to the screw. The screw passes through the spring fixing plate and the limit cylinder and is screwed into the screw hole, and the assembly effect is good.

[0010] As an improvement of the present invention, the rear end opening of the cylinder body is closed with an end cover, and the front end opening is expanded outward to form an assembly port. The inner wall of the assembly port is provided with a dustproof brush in contact with the outer wall of the mounting seat, thereby improving the sealing and achieving a good dustproof effect.

[0011] As an improvement of the present invention, the limit plate is provided with a rotation limiting hole, and the end cover is provided with a rotation limiting column extending into the rotation limiting hole. The rotation limiting column is inserted into the rotation limiting hole to prevent the cylinder body from rotating.

[0012] As an improvement of the present invention, the piston body includes a ring body made of self-lubricating nylon, which is fixed to the hollow piston rod by a retaining ring. The front guide sleeve and the rear guide sleeve are both sleeve bodies made of self-lubricating nylon. The piston body, the front guide sleeve and the rear guide sleeve are all made of self-lubricating nylon, which effectively reduces friction and is more conducive to improving the flexibility of the piston body, thereby improving the control accuracy of the grinding force and improving the grinding effect.

[0013] As an improvement of the present invention, the outer diameter of the rear guide sleeve is larger than the outer diameter of the front guide sleeve, and the upper part of the inner cavity of the cylinder body is radially recessed to form an upper mounting cavity that matches the outer contour of the rear guide sleeve. The inner side of the lower opening of the inner cavity of the cylinder body is radially raised to form a limiting convex strip, and the outer side of the lower end of the front guide sleeve is provided with a limiting groove that matches the limiting convex strip. The inner side of the lower end of the front guide sleeve extends along its axial direction and extends out of the inner cavity of the cylinder body to form a reinforcement part, thereby improving the matching effect with the hollow piston rod.

[0014] As an improvement of the present invention, the grinding head flange is located at the assembly opening, and a brush in contact with the outer wall of the grinding head flange is provided on the inner wall of the assembly opening to improve the dust prevention effect.

[0015] The beneficial effects of the present invention are as follows: the structural design of the present invention is ingenious and reasonable, which can improve the coordination effect between the grinding tool and the industrial robot. A torque extension rod is arranged inside the present invention, which can extend the length of the force arm with the universal bearing as the fulcrum. When the mounting seat is slightly subjected to radial force, the tail end of the torque extension rod can be caused to swing greatly, thereby improving the feedback sensitivity. Then the conical spring provides a reaction to control the torque extension rod to quickly reset, so that the grinding head can be better attached to the grinding surface. At the same time, when the mounting seat is subjected to axial force, the torque extension rod stretches the conical spring after being subjected to force, and correspondingly drives the cylinder body to move backward as compressed air, and buffers the axial force received through the cooperation of elastic force and air pressure, 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 grinding and polishing quality. In addition, the torque extension rod is located in the conical spring, which effectively reduces the occupied space, has a small size, and is convenient for installation and use.

[0016] The present invention is further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0018] Figure 2 It is a schematic diagram of the cylinder structure of the present invention.

[0019] Figure 3 It is a schematic diagram of the internal structure of the present invention. DETAILED DESCRIPTION

[0020] For example, see Figures 1 to 3 The present embodiment provides a highly sensitive and flexible grinding device, which includes a mounting seat 1, a cylinder body 2, a hollow piston rod 3, a piston body 4, a front guide sleeve 5, a rear guide sleeve 6, a conical spring 7, a torque extension rod 8 and a universal bearing 9. The mounting seat 1 is used to install a grinding tool, such as a pneumatic grinder or an electric grinder.

[0021] The hollow piston rod 3 is movably arranged in the cylinder body 2 through the front guide sleeve 5 and the rear guide sleeve 6, and can be telescopic relative to the cylinder body 2; for the convenience of installation, the outer diameter of the rear guide sleeve 6 is larger than the outer diameter of the front guide sleeve 5, and the upper part of the inner cavity of the cylinder body 2 is radially concave to form an upper installation cavity 21 that matches the outer contour of the rear guide sleeve 6. The inner side of the lower opening of the inner cavity of the cylinder body 2 is radially raised to form a limiting convex strip 22, and the lower end outer side of the front guide sleeve 5 is provided with a limiting groove 51 that matches the limiting convex strip 22. The lower end inner side of the front guide sleeve 5 extends along its axial direction and extends out of the inner cavity of the cylinder body 2 to form a reinforcing portion 52, which improves the matching effect with the hollow piston rod 3.

[0022] The piston body 4 is sleeved on the hollow piston rod 3 at a position corresponding to the position between the front guide sleeve 5 and the rear guide sleeve 6. Specifically, two snap ring grooves are provided on the outer peripheral surface of the hollow piston rod 3, and the distance between the two snap ring grooves is adapted to the thickness of the piston body 4. The piston body 4 is sleeved at the position between the two snap ring grooves, and then the snap ring 10 is clamped into the two snap ring grooves, and the piston body 4 is fixed on the hollow piston rod 3 through the two snap rings 10. At this time, a front air cavity is formed between the lower part of the piston body 4 and the front guide sleeve 5, and a rear air cavity is formed between the upper part of the piston body 4 and the rear guide sleeve 6. The cylinder body 2 is provided with a front air outlet 11 and a rear air inlet and outlet 12 correspondingly connected to the front air cavity and the rear air cavity; when high-pressure gas is input into the front air inlet and outlet 11, the hollow piston rod 3 is pushed to retract; when high-pressure gas is input into the rear air inlet and outlet 12, the hollow piston rod 3 is pushed to extend. The purpose of accurately controlling the pressure under grinding is achieved by controlling the high-pressure gas intake of the front air inlet and outlet 11 and the rear air inlet and outlet 12 through the flow control valve. The traditional piston body 4 is mostly made of plastic to improve the sealing effect, and its friction resistance is large, which is not conducive to accurately controlling the telescopic action of the hollow piston rod 3. In the present embodiment, the piston body 4, the front guide sleeve 5 and the rear guide sleeve 6 are preferably made of self-lubricating nylon, which has a good lubrication effect, is conducive to improving the flexibility of the piston body 4 telescopic, and then improves the control accuracy of the grinding force, and improves the grinding effect. At the same time, relatively speaking, the use of self-lubricating nylon to make the piston body 4, the front guide sleeve 5 and the rear guide sleeve 6 relative to plastic, not only has a good lubrication effect, a long service life, and the cooperation is relatively not tight, with a certain gap, so that the high-pressure gas in the cylinder body 2 will flow out from these gaps, achieve the exhaust dust removal effect, and prevent foreign matter from entering the cylinder body 2. According to the amount of gas flowing out, the corresponding air intake can be compensated and increased on the basis of the previous standard air intake to achieve a balanced effect, which does not constitute an impact.

[0023] The mounting seat 1 is provided with a mounting shaft 13, and the mounting shaft 13 is arranged on the hollow piston rod 3 through the universal bearing 9. The front end of the torque extension rod 8 is arranged on the mounting shaft 13, and the rear end extends along the central axis of the hollow piston rod 3 to the rear position of the hollow piston rod 3. One end of the conical spring 7 is fixedly arranged, and the other end is connected to the rear end of the torque extension rod 8, and the torque extension rod 8 can be restored to the central axis position of the hollow piston rod 3 through the elastic force of the conical spring 7. The conical spring 7 is sleeved on the torque extension rod 8, and the end with a smaller diameter of the conical spring 7 is arranged at the rear end of the torque extension rod 8, and the end with a larger diameter of the conical spring 7 is arranged at the connection between the universal bearing 9 and the hollow piston rod 3. Specifically, a clamping ring is welded at the end with a larger diameter of the conical spring 7, and a clamping cavity for installing the universal bearing 9 is provided on the inner side of the front end of the hollow piston rod 3. The clamping ring can be exactly installed in the clamping cavity, and the outer ring of the universal bearing 9 is installed on the clamping cavity with an interference fit, and the clamping ring is pressed. In other embodiments, the end with a larger diameter of the conical spring 7 can also be directly fixed on the outer ring of the hollow piston rod 3 or the universal bearing 9 by welding or the like. The conical spring 7 covers the torque extension rod 8, that is, the entire torque extension rod 8 is located inside the conical spring 7, which effectively reduces the occupied space and has a compact size. Specifically, the torque extension rod 8 includes a screw 81, a support sleeve 82, a limit tube 83 and a spring fixing plate 84. The mounting shaft 13 is assembled with the inner ring of the universal bearing 9 and passes through the inner ring of the universal bearing 9. The support sleeve 82 is sleeved on the mounting shaft 13. The end face of the mounting shaft 13 is provided with a screw hole 131 that is compatible with the screw 81. The screw 81 passes through the spring fixing plate 84 and the limit tube 83, and is screwed into the screw hole 131, and the assembly effect is good.

[0024] The tail end of the hollow piston rod 3 is fixed with a limit plate 14, the center of which is provided with a limit hole 141 having a diameter larger than that of the torque extension rod 8, and the tail end of the torque extension rod 8 extends into the limit hole 141. The swing angle of the torque extension rod 8 is limited by adjusting the diameter of the limit hole 141.

[0025] The rear end opening of the cylinder body 2 is provided with an end cover 15 to close it, and the front end opening of the cylinder body 2 is expanded outward to form an assembly port 23. The inner wall of the assembly port 23 is provided with an installation groove 24, through which a dust-proof brush in contact with the outer wall of the mounting seat 1 can be installed, thereby improving the sealing performance and achieving a good dust-proof effect. Preferably, a rotation-limiting hole 142 is eccentrically provided on the limit plate 14, and a rotation-limiting column 16 is provided on the end cover 15 corresponding to the position of the rotation-limiting hole 142. The number of the rotation-limiting hole 142 and the rotation-limiting column 16 is preferably two groups. After assembly, the rotation-limiting column 16 is just inserted into the rotation-limiting hole 142. After the rotation-limiting column 16 is inserted into the rotation-limiting hole 142, the cylinder body 2 can be prevented from rotating, that is, it can only move axially but not rotate circumferentially.

[0026] When in use, the highly sensitive flexible grinding device of the present invention is mounted on the manipulator, and the grinding tool is mounted on the mounting seat 1. The front air inlet and outlet 11 and the rear air inlet and outlet 12 are connected to the air supply assembly. Then, the high-pressure gas intake of the front air inlet and outlet 11 and the rear air inlet and outlet 12 is controlled by the flow control valve to achieve precise control of the grinding pressure, and the air pressure is used to buffer the impact force of the pneumatic grinder. At the same time, the radial force generated when the grinding head of the grinding tool contacts the surface of the workpiece for grinding causes the mounting seat 1 to move forward, backward, left and right in the horizontal direction. At this time, due to the addition of the torque extension rod 8, the length of the force arm with the universal bearing 9 as the fulcrum can be extended. The mounting seat 1 is slightly subjected to the radial force, which can cause the tail end of the torque extension rod 8 to swing greatly, thereby improving the feedback sensitivity. Then the conical spring 7 provides a reaction to control the torque extension rod 8 to quickly reset, so that the grinding head is better attached to the grinding surface; at the same time, when the mounting seat 1 is subjected to the axial force, the torque extension rod 8 stretches the conical spring 7 after being subjected to the force, and correspondingly drives the cylinder body 2 to move backward as compressed air, and the axial force received is buffered by the elastic force and the air pressure, which can better ensure the consistency of the grinding force, avoid the situation of being close or distant or more or less, and the grinding and polishing effect is good.

[0027] 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 highly sensitive flexible grinding device, comprising a mounting seat, characterized in that: It also includes a cylinder body, a hollow piston rod, a piston body, a front guide sleeve, a rear guide sleeve, a conical spring, a torque extension rod and a universal bearing, wherein the hollow piston rod is movably arranged in the cylinder body through the front guide sleeve and the rear guide sleeve; the piston body is sleeved on the hollow piston rod corresponding to the position between the front guide sleeve and the rear guide sleeve, and a front air cavity is formed between the piston body and the front guide sleeve, and a rear air cavity is formed between the piston body and the rear guide sleeve, and the cylinder body is provided with a front air inlet and outlet and a rear air inlet and outlet correspondingly connected to the front air cavity and the rear air cavity; the mounting seat is provided with a mounting shaft, and the mounting shaft is arranged on the hollow piston rod through the universal bearing, the front end of the torque extension rod is arranged on the mounting shaft, and the tail end extends to the tail position of the hollow piston rod along the central axis of the hollow piston rod, one end of the conical spring is fixedly arranged, and the other end is connected to the tail end of the torque extension rod, and the torque extension rod can be restored to the central axis position of the hollow piston rod through the elastic force of the conical spring itself.

2. The highly sensitive flexible grinding device according to claim 1, characterized in that: The conical spring is sleeved on the torque extension rod, the end with a smaller diameter of the conical spring is arranged at the tail end of the torque extension rod, and the end with a larger diameter of the conical spring is arranged at the connection between the universal bearing and the hollow piston rod.

3. The highly sensitive flexible grinding device according to claim 1, characterized in that: A limiting plate is provided at the tail end of the hollow piston rod, a limiting hole with a diameter larger than that of the torque extension rod is provided at the center of the limiting plate, and the tail end of the torque extension rod extends into the limiting hole.

4. The highly sensitive flexible grinding device according to claim 1, characterized in that: The torque extension rod includes a screw, a support sleeve, a limit cylinder and a spring fixing plate. The mounting shaft is adapted to the inner ring of the universal bearing and passes through the inner ring. The support sleeve is sleeved on the mounting shaft. The end face of the mounting shaft is provided with a screw hole adapted to the screw. The screw passes through the spring fixing plate and the limit cylinder and is screwed into the screw hole.

5. The highly sensitive flexible grinding device according to claim 3, characterized in that: The rear end opening of the cylinder body is closed by an end cover, and the front end opening is expanded outward to form an assembly opening. The inner wall of the assembly opening is provided with a dustproof brush in contact with the outer wall of the mounting seat.

6. The highly sensitive flexible grinding device according to claim 5, characterized in that: The limit plate is provided with a rotation limiting hole, and the end cover is provided with a rotation limiting column extending into the rotation limiting hole.

7. The highly sensitive flexible grinding device according to claim 1, characterized in that: The piston body comprises a ring body made of self-lubricating nylon, and the ring body is fixed on the hollow piston rod through a clamping ring.

8. The highly sensitive flexible grinding device according to claim 1, characterized in that: The front guide sleeve and the rear guide sleeve are both sleeve bodies made of self-lubricating nylon.

9. The highly sensitive flexible grinding device according to claim 1, characterized in that: The outer diameter of the rear guide sleeve is greater than the outer diameter of the front guide sleeve, and the upper portion of the inner cavity of the cylinder body is radially recessed to form an upper mounting cavity that matches the outer contour of the rear guide sleeve.

10. The highly sensitive flexible grinding device according to claim 9, characterized in that: The inner side of the lower opening of the inner cavity of the cylinder body is radially protruded to form a limiting convex strip, and the outer side of the lower end of the front guide sleeve is provided with a limiting groove adapted to the limiting convex strip. The inner side of the lower end of the front guide sleeve extends along its axial direction and protrudes out of the inner cavity of the cylinder body to form a reinforcement portion.

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