Four-degree-of-freedom floating polishing device

Abstract

The present application relates to the field of polishing technology, and specifically to a four-degree-of-freedom floating polishing device, comprising: a fixing mechanism for connecting with the end of a mechanical arm; a movement mechanism arranged in the fixing mechanism for connecting a gas source to drive the rotation of a component; a supporting mechanism arranged between the fixing mechanism and the movement mechanism for supporting the movement mechanism, the movement mechanism can translate or deflect on the supporting mechanism to ensure the adhesion of the component to the surface of a workpiece; and a floating mechanism fixedly connected with the fixing mechanism for providing a floating force. The floating mechanism of the present application acts on the movement mechanism, and can realize the four-degree-of-freedom floating of the translation and deflection of the grinding wheel. The supporting mechanism provides support for the movement mechanism without affecting the floating degree of freedom. When the grinding wheel polishes the workpiece, the floating mechanism can provide a contact force for the grinding wheel, and the contact force is different due to the different floating amounts and floating air pressures.

Description

Technical Field

[0001] This invention relates to the field of polishing technology, specifically a four-degree-of-freedom floating polishing device. Background Technology

[0002] With the rapid development of robotics technology, the application fields of robots are becoming increasingly wide. In recent years, robotic polishing technology has been widely used in automated production. Using robots equipped with compliant ends to adaptively polish the surface morphology of workpieces is currently the mainstream technology. Chinese Patent Publication No. CN115383545A discloses a polishing device and method. This polishing device can control the polishing force of the polishing mechanism by controlling the displacement of the polishing mechanism relative to the displacement mechanism in a first direction. It can perform constant or non-constant force polishing as needed, and can also differentiate the polishing depth. However, because the polishing mechanism requires detection and control, the real-time performance of this patent is not high, and it only floats in one direction, making it unsuitable for real-time polishing of complex workpieces.

[0003] Chinese Patent Publication No. CN201710373536.1 discloses a pneumatic floating grinder that uses a spherical bearing and a cylinder to control the floating of the grinding head. The outer ring of the spherical bearing is fixed to the housing cover, the main shaft is fixed to the inner ring of the spherical bearing, the pneumatic motor is fixed to the lower end of the main shaft, a bushing is fixed to the main shaft, and the pneumatic motor is inserted into the bushing. The cylinder is fixed to the housing, and the piston rod of the cylinder presses against the outer wall of the bushing. A pin is used to restrict the self-rotation of the spherical bearing to achieve radial floating function. Due to the presence of the spherical bearing, the grinding head can only achieve deflection freedom and cannot grind flat or complex curved surfaces. Moreover, the contact force provided during deflection is constant, causing surface defects to reproduce on the workpiece surface.

[0004] Existing floating grinding devices either have limited degrees of freedom, making it difficult to adapt to complex surfaces; or they output a constant contact force, causing surface defects such as protrusions to reappear on the workpiece surface. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a four-degree-of-freedom floating grinding device.

[0006] A four-degree-of-freedom floating grinding device, comprising:

[0007] A fixing mechanism for connecting to the end effector of the robotic arm;

[0008] The motion mechanism, located within the fixed mechanism, is used to connect to an air source to drive the components to rotate;

[0009] The support mechanism is located between the fixed mechanism and the moving mechanism to support the moving mechanism. The moving mechanism can translate or deflect on the support mechanism to ensure the fit between the component and the workpiece surface.

[0010] A floating mechanism, fixedly connected to a fixed mechanism, is used to provide buoyancy.

[0011] Furthermore, the fixing mechanism includes an upper housing, a connecting rod, and a lower housing; the connecting rod connects the upper housing and the lower housing.

[0012] Furthermore, the motion mechanism includes a drive assembly, a grinding wheel assembly, and a connecting assembly; the grinding wheel assembly is connected to the drive assembly via the connecting assembly.

[0013] Furthermore, the drive assembly includes a vane pneumatic motor, a motion spindle connected to the vane pneumatic motor, a lower bushing connected to the upper end face of the vane pneumatic motor, an upper bushing, a bearing mounting ring, and an upper motion shaft; the upper end face of the upper bushing is connected to the lower surface of the bearing mounting ring, and the upper motion shaft is connected to the upper bushing.

[0014] Furthermore, the grinding wheel assembly includes a grinding wheel and a grinding shaft connected to the grinding wheel.

[0015] Furthermore, the connecting assembly includes a threaded pipe and a threaded connector connected to the threaded pipe.

[0016] Furthermore, the support mechanism includes a support plate, a deflecting ball, a rolling ball, a ball hinge base, and a cover plate; the support plate is disposed between the motion mechanism and the deflecting ball, the deflecting ball is distributed on the inner surface of the ball hinge base, and the rolling ball is disposed between the ball hinge base and the deflecting ball; the cover plate is fixedly connected to the ball hinge base; the lower end of the ball hinge base is fixedly connected to the lower end of the fixing mechanism; and the lower end of the support plate is connected to the deflecting ball.

[0017] Furthermore, the floating mechanism is respectively installed inside the upper shell and the lower shell.

[0018] Furthermore, the floating mechanism includes a floating plunger and a floating ring connected to the floating plunger, and the upper housing and lower housing are connected to the corresponding floating rings.

[0019] The beneficial effects of this invention are as follows: This invention fixes the floating mechanism on the upper and lower housings, and uses connecting rods to connect the upper and lower housings to achieve floating at both ends. Air pressure acts on the floating plunger to provide support for the upper and lower bushings. The bushing structure changes the dynamic contact between the floating plunger and the vane-type pneumatic motor to a static contact between the floating plunger and either the upper or lower bushing. The upper and lower bushings are concentrically connected to the grinding wheel through threaded pipes and threaded connectors. The floating mechanism acts on the motion mechanism, enabling the grinding wheel to float with four degrees of freedom: translation and deflection. A support mechanism provides support to the motion mechanism without affecting the floating degrees of freedom. When the grinding wheel grinds a workpiece, the floating mechanism provides contact force to the grinding wheel. Different floating amounts and floating air pressures result in different contact forces. In summary, this invention achieves four-degree-of-freedom floating during the grinding process, can be applied to complex workpieces, and can adjust the contact force according to different defects to obtain a smooth surface and save costs. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is an overall structural diagram of the present invention;

[0022] Figure 2 This is an overall diagram of the support mechanism of the present invention;

[0023] Figure 3 This is a front view of the fixing mechanism of the present invention;

[0024] Figure 4 This is a left view of the fixing mechanism of the present invention;

[0025] Figure 5 This is a front view of the motion mechanism of the present invention;

[0026] Figure 6 This is a partial cross-sectional view of the motion mechanism of the present invention;

[0027] Figure 7 This is a cross-sectional view of the floating mechanism of the present invention.

[0028] In the diagram, 101 is the fixed mechanism; 102 is the floating mechanism; 103 is the motion mechanism; 104 is the support mechanism; 201 is the support plate; 202 is the deflecting ball; 203 is the rolling ball; 204 is the ball hinge base; 205 is the cover plate; 301 is the upper housing; 302 is the connecting rod; 303 is the lower housing; 501 is the bearing mounting ring; 502 is the threaded pipe; 503 is the grinding wheel; 504 is the threaded joint; 505 is the vane-type pneumatic motor; 506 is the lower bushing; 507 is the upper bushing; 601 is the upper motion shaft; 602 is the motion spindle; 603 is the grinding shaft; 701 is the floating plunger; and 702 is the floating ring. Detailed Implementation

[0029] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below.

[0030] like Figures 1 to 7 As shown, a four-degree-of-freedom floating grinding device includes:

[0031] Fixing mechanism 101 is used to connect to the end effector of the robotic arm;

[0032] The motion mechanism 103 is disposed in the fixed mechanism 101 and is used to connect to the air source to drive the component to rotate.

[0033] The support mechanism 104 is disposed between the fixed mechanism 101 and the motion mechanism 103, and is used to support the motion mechanism. The motion mechanism 103 can translate or deflect on the support mechanism 104 to ensure the fit between the component and the workpiece surface.

[0034] The floating mechanism 102 is fixedly connected to the fixed mechanism 101 and is used to provide floating force for the motion mechanism 103 to ensure that the grinding wheel 503 is in contact with the workpiece surface.

[0035] Specifically, in this invention, the floating mechanism 102 is fixed to the upper housing 301 and the lower housing 303, and the upper housing 301 and the lower housing 303 are connected by a connecting rod 302 to achieve floating at both ends. Air pressure acts on the floating plunger 701 to provide support for the lower bushing 506 and the upper bushing 507. A bushing structure is used to change the dynamic contact between the floating plunger 701 and the vane-type pneumatic motor 505 to a static contact between the floating plunger 701 and the upper and lower bushings. The upper and lower bushings and the grinding wheel 503 are connected via threaded pipes 502 and threaded connectors 504. The floating mechanism 102 acts on the motion mechanism 103, enabling the grinding wheel 503 to float with four degrees of freedom: translation and deflection. The support mechanism 104 provides support to the motion mechanism 103 without affecting the floating degrees of freedom. When the grinding wheel 503 grinds the workpiece, the floating mechanism 102 provides contact force to the grinding wheel 503. Different floating amounts and floating air pressures result in different contact forces. In general, this invention achieves four-degree-of-freedom floating during the grinding process, which can be applied to complex workpieces. The contact force can be adjusted according to different defects to obtain a smooth surface and save costs.

[0036] Specifically, such as Figure 1 As shown, the motion mechanism 103 is disposed between the fixed mechanism 101 and the support mechanism 104. The support mechanism 104 is fixedly connected to the lower end of the fixed mechanism 101, and the floating mechanism 102 is fixedly connected to the fixed mechanism 101.

[0037] The fixing mechanism 101 includes an upper housing 301, a connecting rod 302, and a lower housing 303; the connecting rod 302 connects the upper housing 301 and the lower housing 303.

[0038] Specifically, the connecting rod 302 is connected to the end of the robotic arm.

[0039] Specifically, such as Figure 3 , 4 As shown, the upper housing 301 has a mounting platform on its side with threaded holes, and the lower end of the upper housing 301 has a threaded hole. The upper surface of the upper housing 301 is closed, and the outer wall of the upper housing 301 has an air pipe hole. The lower housing 303 has a hole wall drilled in the middle of its circumference. The lower housing 303 has a mounting platform on its side with threaded holes, and the upper and lower end faces of the lower housing 303 have threaded holes. The outer wall of the lower housing 303 has an air pipe hole. The connecting rod 302 is a bridge type. The top of the connecting rod 302 has four through holes, and the bottom of the connecting rod 302 has four countersunk seats. The bottom of the connecting rod is connected to the mounting platforms of the upper and lower housings by bolts, thereby fixing the two housings.

[0040] like Figure 5 , 6 As shown, the motion mechanism 103 includes a drive assembly, a grinding wheel assembly, and a connecting assembly; the grinding wheel 503 is connected to the drive assembly via the connecting assembly.

[0041] The drive assembly includes a vane-type pneumatic motor 505, a motion main shaft 602 connected to the vane-type pneumatic motor 505, a lower shaft sleeve 506 connected to the upper end face of the vane-type pneumatic motor 505, an upper shaft sleeve 507, a bearing mounting ring 501, and an upper motion shaft 601; the upper end face of the upper shaft sleeve 507 is connected to the lower surface of the bearing mounting ring 501, and the upper motion shaft 601 is connected to the upper shaft sleeve 507.

[0042] Specifically, such as Figure 5 and Figure 6As shown, when the vane-type pneumatic motor 505 is ventilated, it drives the main shaft 602 to rotate. One end of the main shaft 602 has an annular groove. A gasket is placed between the lower bushing 506 and the vane-type pneumatic motor 505. The lower bushing 506 is connected to the upper end of the vane-type pneumatic motor 505 by bolts. At this time, the main shaft 602 and the lower bushing 506 are concentric. The inner wall of the lower bushing 506 has an installation groove, and a sealing ring is placed in the installation groove. The end face of the lower bushing 506 has an annular boss to fix the outer ring of the bearing. The upper shaft... The lower end of 601 is provided with a collar, and the upper end of the upper motion shaft 601 is provided with an annular groove II. By installing a shaft elastic retaining ring in the annular groove II, the movement of the bearing inner ring is restricted. The inner wall of the bearing mounting ring 501 is provided with an annular groove III. An elastic retaining ring is installed in the annular groove III through the mounting hole, thereby restricting the movement of the bearing outer ring. A shim II is provided between the upper shaft sleeve 507 and the bearing mounting ring 501. The upper shaft sleeve 507 is fixed to the lower surface of the bearing mounting ring 501 with bolts, that is, the upper motion shaft 601 is concentrically installed in the upper shaft sleeve 507.

[0043] The grinding wheel assembly includes a grinding wheel 503 and a grinding shaft 603 connected to the grinding wheel 503.

[0044] Specifically, such as Figure 6 As shown, the grinding wheel 503 has four grooves on its bore wall, and the grinding shaft 603 has four guide posts circumferentially. One end of the grinding shaft 603 is a collar, and the other end has an annular groove. The threaded tube 502 is concentrically installed at the collar of the grinding shaft 603, and the grinding wheel 503 is circumferentially fixed to the guide posts of the grinding shaft 603 through the grooves. The threaded joint 504 is installed on the moving spindle 602, and the shaft elastic retaining ring is installed in the annular groove of the moving spindle 602 to restrict the movement of the threaded joint 504. The threaded tube 502 and the threaded joint are connected. 504 connects the grinding wheel assembly to the motion spindle 602; the second threaded tube 502 is concentrically installed at the collar of the upper motion shaft 601, and the second threaded connector 504 is installed on the grinding shaft 603, with one end in contact with the grinding wheel 503. The second threaded connector 504 is fixed by the elastic retaining ring installed in the annular groove; the second threaded tube 502 and the second threaded connector 504 are connected to connect the grinding wheel assembly to the upper motion shaft, and the grinding wheel assembly is connected to the drive assembly through the threaded tube 502 and the threaded connector 504.

[0045] The connecting assembly includes a threaded tube 502 and a threaded connector 504 connected to the threaded tube 502.

[0046] The support mechanism 104 includes a support plate 201, a deflecting ball 202, a rolling ball 203, a ball hinge base 204, and a cover plate 205. The support plate 201 is disposed between the motion mechanism 103 and the deflecting ball 202. The deflecting ball 202 is distributed on the inner surface of the ball hinge base 204, and the rolling ball 203 is disposed between the ball hinge base 204 and the deflecting ball 202. The cover plate 205 is fixedly connected to the ball hinge base 204. The lower end of the ball hinge base 204 is fixedly connected to the lower end of the fixing mechanism 101. The lower end of the support plate 201 is connected to the deflecting ball 202.

[0047] Specifically, such as Figure 2 As shown, the deflecting ball 202 is concentrically installed in the ball hinge base 204. The ball hinge base 204 is fixedly connected to the lower end of the lower housing 303 by bolts. The upper outer surface of the ball hinge base 204 is threaded, and the cover plate 205 is machined with threaded holes. The ball hinge base 204 and the cover plate 205 are fixed by threaded connection. The rolling ball 203 is set in the gap between the ball hinge base 204 and the deflecting ball 202. The support plate 201 is set between the motion mechanism 103 and the deflecting ball 202. The deflecting ball 202 is machined with threaded holes in the axial direction. A section of the mounting shaft extends from the lower end of the support plate 201. The mounting shaft is threaded. The support plate 201 and the deflecting ball 202 are concentrically installed and fixed by threaded connection.

[0048] The floating mechanism 102 is respectively disposed in the upper housing 301 and the lower housing 303. The floating mechanism 102 includes a floating plunger 701 and a floating ring 702 connected to the floating plunger 701, and the upper housing 301 and the lower housing 303 are connected to the corresponding floating ring 702.

[0049] Specifically, such as Figure 7 As shown, the floating ring 702 has circumferentially drilled holes, the floating plunger 701 is concentrically installed in the holes, and the buffer ring is concentrically installed at the shoulder of the floating plunger 701. The head of the floating plunger 701 is provided with a second mounting groove, and the second sealing ring is installed in the second mounting groove of the floating plunger 701. The end face of the floating ring 702 is provided with a countersunk seat hole. A gasket is provided between the floating ring 702 and the upper housing 301 and the lower housing 303 to reduce the rigid contact between the two and increase the airtightness of the device. The floating ring 702 is connected to the upper and lower housings with bolts. A layer of sealant is applied at the contact point between the lower end of the floating ring 702 and the housing to prevent the floating ring 702 from leaking air. When the air pipe holes of the upper housing 301 and the lower housing 303 are vented, the air pressure acts on the surface of the floating plunger 701, causing the floating plunger 701 to contact the corresponding upper bushing 507 and lower bushing 506, thereby providing floating force for the upper bushing 507 and lower bushing 506.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A four-degree-of-freedom floating grinding device, characterized in that: include: A fixing mechanism (101) is used to connect to the end effector of the robotic arm; The motion mechanism (103) is located in the fixed mechanism (101) and is used to connect to the air source to drive the component to rotate; The support mechanism (104) is located between the fixed mechanism (101) and the motion mechanism (103) to support the motion mechanism (103). The motion mechanism (103) can translate or deflect on the support mechanism (104) to ensure the fit between the component and the workpiece surface. A floating mechanism (102) is fixedly connected to a fixed mechanism (101) and is used to provide floating force for a motion mechanism (103); The floating mechanism (102) includes a floating plunger (701), which extends and retracts by air pressure to adjust the magnitude of the floating force; Different floating amounts and different floating air pressures result in different contact forces, enabling four-degree-of-freedom floating during the polishing process. This allows the contact force to be adjusted according to different defects, resulting in a smooth surface. The fixing mechanism (101) includes an upper housing (301), a connecting rod (302), and a lower housing (303); the connecting rod (302) connects the upper housing (301) and the lower housing (303); the supporting mechanism (104) includes a support plate (201), a deflecting ball (202), a rolling ball (203), a ball hinge base (204), and a cover plate (205); the support plate (201) is disposed between the moving mechanism (103) and the deflecting ball (202), the deflecting ball (202) is distributed on the inner surface of the ball hinge base (204), and the rolling ball (203) is disposed between the ball hinge base (204) and the deflecting ball (202). The cover plate (205) is fixedly connected to the ball hinge base (204), the lower end of the ball hinge base (204) is fixedly connected to the lower end of the fixing mechanism (101), and the lower end of the support plate (201) is connected to the deflection ball (202). The floating mechanism (102) is respectively set in the upper shell (301) and the lower shell (303). The floating mechanism (102) also includes a floating ring (702) connected to the floating plunger (701). The upper shell (301) and the lower shell (303) are connected to the corresponding floating ring (702). The floating ring (702) has holes drilled around its circumference, and the floating plunger (701) is concentrically installed in the holes.

2. The four-degree-of-freedom floating grinding device according to claim 1, characterized in that: The motion mechanism (103) includes a drive assembly, a grinding wheel assembly, and a connecting assembly; the grinding wheel assembly is connected to the drive assembly via the connecting assembly.

3. The four-degree-of-freedom floating grinding device according to claim 2, characterized in that: The drive assembly includes a vane pneumatic motor (505), a motion spindle (602) connected to the vane pneumatic motor (505), a lower bushing (506) connected to the upper end face of the vane pneumatic motor (505), an upper bushing (507), a bearing mounting ring (501), and an upper motion shaft (601); the upper end face of the upper bushing (507) is connected to the lower surface of the bearing mounting ring (501), and the upper motion shaft (601) is connected to the upper bushing (507).

4. The four-degree-of-freedom floating grinding device according to claim 2, characterized in that: The grinding wheel assembly includes a grinding wheel (503) and a grinding shaft (603) connected to the grinding wheel (503).

5. A four-degree-of-freedom floating grinding device according to claim 2, characterized in that: The connecting assembly includes a threaded tube (502) and a threaded connector (504) connected to the threaded tube (502).

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