A constant force grinding tool

Abstract

The present invention provides a constant-force accompanying grinding tool, comprising a radial grinding head device for providing a radial floating force; an axial floating mechanism, arranged on the side of the radial grinding head device, for providing an axial floating force; a grinding tool, connected to the radial grinding head device for actual grinding operation; a radial locking mechanism, passing horizontally through the radial grinding head device, for controlling the activation and deactivation of the radial grinding head device; the beneficial effects of the present invention are: the radial locking mechanism is composed of a radial locking shaft, a plunger and a bushing, and the radial floating mechanism is locked when the radial locking shaft is rotated 180°, so that the tool only realizes axial floating, and the axial floating of the tool can be realized by an external axial floating mechanism, and the axial floating mechanism is composed of a low-friction cylinder, two proportional valves, a slide rail and a position sensor, thereby forming a controllable linear reciprocating motion mechanism, which can realize both radial floating and axial floating.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding devices, and in particular to a constant-force accompanying grinding tool. Background Art

[0002] Mechanical grinding methods are generally categorized as rigid grinding and flexible grinding. Rigid grinding heads are characterized by low cost, but they may not produce good results when working with complex workpieces. They are primarily used for simple workpieces with low requirements. By integrating the high flexibility and automation of robots into the grinding field, we have developed floating grinding tools, or flexible grinding. Currently, they are categorized into five main types: closed-loop floating mechanisms, open-loop floating mechanisms, axial floating grinding tools, radial floating grinding tools, and robotic force sensors.

[0003] The prior art retrieved is as follows:

[0004] 1. Chinese patent application No. 201811386800.6, the present invention discloses a universal floating grinding head and equipment, the universal floating grinding head includes a rear end cover, a pneumatic grinder, an opening and closing sleeve and a joint bearing. The rear end of the opening and closing sleeve is connected to the rear end cover, and the rear end of the pneumatic grinder is inserted into the opening and closing sleeve. The opening and closing sleeve includes at least one arc-shaped block that is separable from each other, and the arc-shaped blocks are assembled along the circumferential direction to form a cylindrical opening and closing sleeve. The joint bearing is mounted on the pneumatic grinder near the front end. The equipment includes the above-mentioned grinding head. The universal floating grinding head and equipment of the present invention replace the traditional manual grinding method, are suitable for automatic grinding of the product to be ground, and have good grinding effect.

[0005] This application uses an open and close sleeve, an O-ring and a spherical bearing to achieve radial floating. This type of floating can easily cause the tool to be unable to return to its original position after grinding, thereby causing a certain impact on the quality of the workpiece and the normal operation of the tool during the next grinding. The present invention only has radial floating and no axial floating. It is not suitable for grinding workpieces with some welding surfaces, and it can easily cause scratches on the workpiece, unqualified processing quality and other shortcomings.

[0006] 2. Chinese patent application No. 201811179659.2, the present invention provides a constant force grinding and polishing head mechanism, including a robot connecting flange, a linear motor, a balanced low-friction cylinder, a motor flange seat, a top connecting flange, an air source connector, a shell, a floating universal connecting seat, a radial constant force floating air ring, a spindle motor, and a front fixed flange; the bottom of the robot connecting flange is vertically connected to the linear motor, and its two sides are vertically connected to the balanced low-friction cylinder, the bottom end of the balanced low-friction cylinder is connected to the motor flange seat, and the upper top surface of the motor flange seat is connected to the bottom of the linear motor; the bottom of the top connecting flange is connected to the shell; the inner wall of the shell cavity is provided with an annular mounting groove; a radial constant force floating air ring is provided in the annular mounting groove, and a plurality of constant force pistons are evenly distributed on the radial constant force floating air ring; the spindle motor passes through the radial constant force floating air ring, one end of the constant force piston is pressed against the outer wall of the spindle motor, and the bottom of the spindle motor is connected to the grinding head.

[0007] This application uses a floating universal joint and a radial constant-force floating air ring for radial floating, and vertically connects balanced low-friction cylinders on both sides. Although radial and axial mechanisms are formed, the axial direction lacks relevant adjustment functions, and the low-friction cylinder only performs a balancing role. This results in the axial floating force during grinding not being a constant force, which can easily cause the quality of the workpiece to deteriorate; secondly, there is a lack of a radial locking mechanism, and it is not suitable for different occasions; after grinding, there is no relevant correction for the reset of the tool, which can easily cause the tool to damage the workpiece during grinding or fail to meet the customer's technical requirements; the radial constant-force floating air ring lacks sealing, which can easily lead to tool failure.

[0008] 3. Chinese patent application No. 201811180392.9, the present invention provides an automatic constant force floating grinding head, including a flange, a torque servo motor, an angle detection absolute encoder, a connecting rod, a cylindrical linear constant force motor, a universal joint, a pneumatic rotary motor, a grinding head, a swing arm, and a base assembly; the torque servo motor is arranged horizontally, the end of its output shaft is sleeved with an angle detection absolute encoder, and the middle section is sleeved with a swing arm; the lower end of the swing arm is hingedly connected to the top of the connecting rod; the bottom end of the connecting rod is hingedly connected to the base assembly; the bottom of the flange is hingedly connected to the cylindrical linear constant force motor through a universal joint, the cylindrical linear constant force motor is arranged vertically, and its bottom end is hingedly connected to the base assembly through a universal joint; the bottom of the base assembly is vertically provided with a pneumatic rotary motor; the output shaft of the pneumatic rotary motor is connected to the grinding head. The automatic constant force floating grinding head of the present invention can enable the grinding head to adopt floating and constant force processing for the required grinding area, and perform flexible grinding and polishing to effectively avoid damage to the grinding head and the workpiece.

[0009] This application uses a torque servo motor, an angle detection absolute encoder, a connecting rod, a cylindrical linear constant force motor, a universal joint, a pneumatic rotary motor, a grinding head, and a swing arm to form a radial floating mechanism. This mechanism has a complex structure and high manufacturing cost; it lacks an axial floating function.

[0010] In summary, the existing technologies all have the problems of lack of grinding head correction; only radial floating but not axial floating; lack of self-locking device, limited applicable occasions and complex structure. Summary of the Invention

[0011] In order to overcome the problems in the prior art of lack of grinding head correction; only radial floating but not axial floating; lack of self-locking device, limited applicable occasions and complex structure, the present invention provides a constant force accompanying grinding tool.

[0012] The present invention discloses a constant-force accompanying grinding tool, comprising a radial grinding head device for providing a radial floating force; an axial floating mechanism, arranged on the side of the radial grinding head device, for providing an axial floating force; a grinding tool, connected to the radial grinding head device, for actual grinding operation; a radial locking mechanism, passing through the radial grinding head device laterally, for controlling the activation and deactivation of the radial grinding head device; an annular cylinder, connected to the radial grinding head device, for controlling the floating function of the grinding tool; a sealing and dustproof device, arranged at both ends of the radial grinding head device, for sealing and dustproofing; a correction sensing device, for performing position correction on the grinding tool; and a spindle motor.

[0013] On this basis, the radial grinding head device includes a grinding head shell, a radial floating shaft, a floating collar, at least two first bushings, at least two first rotating shafts, at least two second bushings and at least two second rotating shafts. The floating collar passes through the radial floating shaft, the first bushing passes through the floating collar from the inside, the first rotating shaft passes through the first bushing and is connected to the radial floating shaft, the second bushing is installed from the outside to the inside into the mounting hole on the grinding head shell, and the second rotating shaft passes through the second bushing and is installed in the mounting hole of the floating collar.

[0014] On this basis, the sealing and dust-proof device is arranged at both ends of the radial floating shaft, and the sealing and dust-proof device includes a snap ring 1, a dust cover 1, a dust cover 2, a snap ring 2, a rubber sealing ring 1, a dust cover locking piece 1 and a dust cover locking piece 2 and a rubber sealing ring 2. The snap ring 1 is connected to the radial floating shaft, the snap ring 2 is connected to the end of the spindle motor, the dust cover 1 is connected to one end of the grinding head housing through the dust cover locking piece 1, and the dust cover 2 is connected to the other end of the grinding head housing through the dust cover locking piece 2. The snap ring 1 is sleeved with a rubber sealing ring 1, and the snap ring 2 is sleeved with a rubber sealing ring 2.

[0015] On this basis, an axial floating mounting seat is provided on the side of the grinding head housing, and the axial floating mechanism is fixed to the radial grinding head device via the axial floating mounting seat.

[0016] On this basis, the axial floating mechanism includes a polyurethane stop bolt, connecting plate one, a sheet metal locking block, sheet metal one, a radial floating grinding head connecting plate, a connecting block, a low-friction cylinder, a position sensor, an air blowing joint, sheet metal two, a hinge, connecting plate two, a cylinder floating joint, connecting plate three, a slider, a slide rail, connecting plate four, a position sensor connecting seat, and a position sensor adjustment support.

[0017] On this basis, the connecting plate three is the base plate, the slide rail is arranged above the connecting plate three, the slider is arranged on the slide rail, the slider is connected to the radial floating grinding head connecting plate, the connecting block is installed on the upper end of the connecting plate three, the polyurethane stop bolt is installed on the connecting block, the connecting plate four is arranged on the side of the connecting plate three in the width direction and is arranged perpendicular to the connecting plate three, the connecting plate four is provided with a blowing joint, the low friction cylinder is arranged at the upper end of the connecting plate three, the connecting plate four is connected to the bottom end of the low friction cylinder body, the guide rod of the low friction cylinder is connected to the cylinder floating joint, and the other end of the cylinder floating joint is inserted into the T-slot of the radial floating grinding head connecting plate. , the position sensor connecting seat is installed on the connecting plate three, the position sensor adjustment support is installed on the position sensor connecting seat, the position sensor is inserted into the hole of the connecting plate four through the position sensor connecting seat and the position sensor adjustment support, the connecting plate one is installed on the side opposite to the connecting plate four, and a polyurethane stop bolt is installed in the threaded hole of the connecting plate one; the sheet metal one and the sheet metal two are installed on the two side surfaces in the length direction of the connecting plate three and are arranged perpendicular to the connecting plate three, the sheet metal one and the sheet metal two are fixed to the connecting plate three by hinges, the sheet metal one and the sheet metal two are fixed by a sheet metal locking block, and the connecting plate two is provided at the lower end of the connecting plate three.

[0018] On this basis, the radial locking mechanism includes a radial locking shaft, a bushing three, a retaining spring one, a retaining spring two and a plunger. The bushing three is arranged in the side hole of the grinding head shell, and the radial locking shaft is inserted into the inner hole of the bushing three and passes through the hole at the other end of the grinding head shell. The two ends of the radial locking shaft are respectively clamped by retaining spring one and retaining spring two, and the plunger is installed in the threaded hole at the bottom of the grinding head shell.

[0019] On this basis, the annular cylinder includes an anti-leakage sealing ring, a bolt, an annular cylinder shell, an L-shaped joint, an annular cylinder body, a piston rod, a piston universal seal and a cylindrical pin. The piston universal seal is installed on the piston rod, and the piston rod is installed in the mounting hole of the annular cylinder body. Anti-leakage sealing rings are respectively installed at both ends of the annular cylinder body. The annular cylinder body is installed in the inner hole of the annular cylinder shell, locked by bolts, and positioned by cylindrical pins. The L-shaped joint is installed in the mounting hole at the side end of the annular cylinder shell.

[0020] On this basis, the correction sensing device includes a correction sensor bracket, a detection bracket, a correction sensor support and a correction sensor. The detection bracket is installed on the upper end of the retaining ring 2, the correction sensor bracket is installed on the side end of the annular cylinder, the correction sensor support is installed to the upper end of the correction sensor bracket, and the correction sensor is inserted into the correction sensor support mounting hole.

[0021] On this basis, the second lower end of the connecting plate is connected to the robot flange mounting seat.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) In the present invention, the radial locking mechanism is composed of a radial locking shaft, a plunger and a bushing. When the radial locking shaft is rotated 180°, the radial floating mechanism is locked, so that the tool can only float in the axial direction. The axial floating of the tool can be achieved by an external axial floating mechanism. The axial floating mechanism is composed of a low-friction cylinder, two proportional valves, a slide block and a position sensor, thereby forming a controllable linear reciprocating motion mechanism that can achieve both radial floating and axial floating.

[0024] (2) The present invention uses a calibration sensor to detect the entire floating mechanism for the correction after grinding, ensuring the consistency of the values ​​each time, thereby directly realizing the correction of the grinding tool on the tool without the help of external equipment. The detection accuracy of the calibration sensor is within 2 , which solves the problem that the existing technology cannot calibrate the grinding tool.

[0025] (3) The present invention uses an annular cylinder and a proportional valve to make the tool float radially with constant force. During the grinding process, the proportional valve can be used to adjust the air intake pressure of the annular cylinder to achieve constant force for grinding different materials and shapes.

[0026] (4) The present invention provides sealing dustproof devices at both ends of the radial floating shaft, and prevents dust from entering through the cooperation of a clamping ring, a sealing ring, and a dustproof cover, thereby ensuring smooth operation of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a structural diagram of the constant force accompanying grinding tool of the present invention;

[0028] Figure 2 This is a schematic diagram of the main structure of the constant force accompanying grinding tool without an axial floating mechanism of the present invention;

[0029] Figure 3 yes Figure 2 Schematic diagram of cross-section structure;

[0030] Figure 4 yes Figure 2 Schematic diagram of explosion structure;

[0031] Figure 5 yes Figure 3 A schematic diagram of the structure is enlarged at point B;

[0032] Figure 6 This is a schematic structural diagram of the radial locking mechanism of the present invention;

[0033] Figure 7 This is a schematic diagram of the radial locking shaft structure of the present invention;

[0034] Figure 8 This is a schematic diagram of the explosion structure of the annular cylinder of the present invention;

[0035] Figure 9 This is a schematic diagram of the structure of the annular cylinder body of the present invention;

[0036] Figure 10 This is a schematic diagram of the installation structure of the piston rod and the piston pan seal of the present invention;

[0037] Figure 11 This is a schematic diagram of the three-dimensional structure of the axial floating mechanism of the present invention;

[0038] Figure 12 This is a schematic diagram of the top view of the axial floating mechanism of the present invention;

[0039] Figure 13 yes Figure 12 Schematic diagram of CC structure;

[0040] Figure 14 This is a pneumatic principle diagram of the constant force accompanying grinding tool of the present invention.

[0041] In the figure: 1. Radial grinding head device, 1-1. Grinding head housing, 1-2. Radial floating shaft, 1-3. Floating shaft ring, 1-4. Bushing 1, 1-5. Bushing 4, 1-6. Rotating shaft 1, 1-7. Rotating shaft 3, 1-8. Bushing 2, 1-9. Bushing 5, 1-10. Rotating shaft 2, 1-11. Rotating shaft 4;

[0042] 2. Axial floating mechanism, 2-1. Polyurethane stop bolt, 2-2. Connecting plate 1, 2-3. Sheet metal locking block, 2-4. Sheet metal 1, 2-5. Radially floating grinding head connecting plate, 2-7. Connecting block, 2-8. Low-friction cylinder, 2-10. Position sensor, 2-11. Air blow connector, 2-12. Sheet metal 2, 2-13. Hinge, 2-14. Connecting plate 2, 2-17. Cylinder floating connector, 2-18. Connecting plate 3, 2-19. Slider, 2-20. Slide rail, 2-21. Connecting plate 4, 2-22. Position sensor connector, 2-23. Position sensor adjustment support;

[0043] 3. Grinding tools;

[0044] 4. Radial locking mechanism, 4-1. Radial locking shaft, 4-2. Bushing 3, 4-3. Circlip 1, 4-4. Circlip 2, 4-5. Plunger;

[0045] 5. Annular cylinder, 5-1. Anti-leakage sealing ring, 5-2. Bolt, 5-3. Annular cylinder housing, 5-4. L-shaped joint, 5-5. Annular cylinder body, 5-6. Piston rod, 5-7. Piston seal, 5-8. Cylindrical pin;

[0046] 6. Sealing dustproof device, 6-1. Snap ring 1, 6-2. Dust cover 1, 6-3. Dust cover 2, 6-4. Snap ring 2, 6-5. Rubber sealing ring 1, 6-6. Dust cover locking piece 1, 6-7. Dust cover locking piece 2, 6-8. Rubber sealing ring 2;

[0047] 7. Calibration sensing device, 7-1. Calibration sensor bracket, 7-2. Detection bracket, 7-3. Calibration sensor support, 7-4. Calibration sensor;

[0048] 8. Spindle motor;

[0049] 9. Robot flange mounting seat;

[0050] 10. Axial floating mounting seat;

[0051] 11. The first proportional valve;

[0052] 12. Second proportional valve;

[0053] 13. The third proportional valve;

[0054] 14. First two position five-way solenoid valve;

[0055] 15. Second two-position five-way solenoid valve;

[0056] 16. Normally open two-position two-way reversing solenoid valve;

[0057] 17. Tensile air intake connector;

[0058] 18. Thrust air intake connector;

[0059] 19. Gas source. DETAILED DESCRIPTION

[0060] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0061] The present invention discloses a constant force accompanying grinding tool, referring to Figure 1, including a radial grinding head device 1, which is used to provide a radial floating force; an axial floating mechanism 2, which is arranged on the side of the radial grinding head device 1, which is used to provide an axial floating force; a grinding tool 3, which is connected to the radial grinding head device 1 for actual grinding operation; a radial locking mechanism 4, which passes through the radial grinding head device 1 horizontally, which is used to control the activation and deactivation of the radial grinding head device 1; an annular cylinder 5, which is connected to the radial grinding head device 1, which is used to control the floating function of the grinding tool 3; a sealing and dustproof device 6, which is arranged at both ends of the radial grinding head device 1 for sealing and dustproof; a correction sensing device 7, which is used to perform position correction on the grinding tool; and a spindle motor 8, which is used to drive the rotation of the grinding tool. In this embodiment, the speed is set at 15000. , power at 1200 .

[0062] As a preferred embodiment of the present invention, in this embodiment, reference Figure 2 、 Figure 3 、 Figure 4 and Figure 5 The radial grinding head device 1 includes a grinding head housing 1-1, a radial floating shaft 1-2, a floating shaft ring 1-3, two first bushings, two first rotating shafts, two second bushings and two second rotating shafts. During installation, the first bushing is bushing one 1-4 and bushing four 1-5, the first rotating shaft is rotating shaft one 1-6 and rotating shaft three 1-7, the second bushing is bushing two 1-8 and bushing five 1-9, and the second rotating shaft is rotating shaft two 1-10 and rotating shaft four 1-11. First, install bushing one 1-4 and bushing four 1-5 into the hole of the floating shaft ring 1-3. Bushing one 1-4 and bushing four 1-5 need to be installed from the inner diameter of the floating shaft ring 1-3. Install rotating shaft one 1-6 and rotating shaft three 1-7 respectively. Pass through the inner diameter of bushing 1-4 and bushing 4 1-5 and install into the hole of radial floating shaft 1-2, fix the position of radial floating shaft 1-2 and floating shaft ring 1-3, install bushing 2 1-8 and bushing 5 1-9 from outside to inside into the mounting hole on grinding head shell 1-1, after installation, insert into the inner diameter of grinding head shell 1-1, then pass rotating shaft 2 1-10 and rotating shaft 4 1-11 through bushing 2 1-8 and bushing 5 4 inner diameter respectively and install into the mounting hole of floating shaft ring 1-3, fix the position of grinding head shell 1-1 and floating shaft ring 1-3, connect the bottom of annular cylinder 5 to the upper end of grinding head shell 1-1, complete the installation of radial floating mechanism, and control the X-axis rotation and Y-axis rotation of grinding head.

[0063] As a preferred embodiment of the present invention, in this embodiment, a sealing dustproof device 6 is provided at both ends of the radial floating shaft 1-2. The sealing dustproof device 6 includes a snap ring 1 6-1, a dust cover 1 6-2, a dust cover 2 6-3, a snap ring 2 6-4, a rubber sealing ring 1 6-5, a dust cover locking piece 1 6-6, a dust cover locking piece 2 6-7 and a rubber sealing ring 2 6-8. During installation, the snap ring 1 6-1 is connected to the radial floating shaft 1-2, the spindle motor 8 is positioned and locked, and then the dust cover 1 6-2 is passed through the outer diameter of the snap ring 1 6-1, and one end of the dust cover 1 6-2 is connected to the lower end of the grinding head housing 1-1 through the dust cover locking piece 1 6-6. Then, insert the rubber sealing ring 6-5 into the snap ring 6-1, and fasten the other end of the dust cover 6-2 to the snap ring 6-1; the dust cover locking piece 6-6 is set along the edge of the dust cover 6-2; the rubber sealing ring 6-5 is stuck in the concave position in the middle of the snap ring 6-1, and the snap ring 2 6-4 is locked to the tail end of the spindle motor 8, and the dust cover 2 6-3 is passed through the outer diameter of the snap ring 2 6-4, and one end of the dust cover 2 6-3 is connected to the upper end of the grinding head housing 1-1 through the dust cover locking piece 2 6-7, and then insert the rubber sealing ring 2 6-8 into the snap ring 2 6-4, and fasten the other end of the dust cover 2 6-3 to the snap ring 2 6-4.

[0064] As a preferred embodiment of the present invention, in this embodiment, reference Figure 1 and Figure 2 The correction sensing device 7 includes a correction sensor bracket 7-1, a detection bracket 7-2, a correction sensor support 7-3 and a correction sensor 7-4. The correction sensing device is mainly used to calibrate the position of the grinding tool after grinding, to ensure the consistency of grinding in the same batch of products. During installation, the detection bracket 7-2 is installed to the upper end of the retaining ring 6-4, the correction sensor bracket 7-1 is installed to the side end of the annular cylinder 5, the correction sensor support 7-3 is installed to the upper end of the correction sensor bracket 7-1, and the correction sensor 7-4 is inserted into the mounting hole of the correction sensor support 7-3. After adjustment, it is locked.

[0065] As a preferred embodiment of the present invention, in this embodiment, reference Figure 11 、 Figure 12 and Figure 13The axial floating mechanism 2 is fixed to the radial grinding head device 1 through the axial floating mounting seat 10. The axial floating mechanism 2 includes a polyurethane stop bolt 2-1, a connecting plate 1 2-2, a sheet metal locking block 2-3, a sheet metal 1 2-4, a radial floating grinding head connecting plate 2-5, a connecting block 2-7, a low-friction cylinder 2-8, a position sensor 2-10, an air blowing joint 2-11, a sheet metal 2 2-12, a hinge 2-13, a connecting plate 2 2-14, a cylinder floating joint 2-17, a connecting plate 3 2-18, a slider 2-19, a slide rail 2-20, a connecting plate 4 2-21, a position sensor connecting seat 2-22, and a position sensor adjustment support 2-23. During installation, the connecting plate 3 2-18 is the bottom plate, the connecting block 2-7 is installed to the upper end of the connecting plate 3 2-18, and the slide rail 2-20 is installed to the upper end of the connecting plate 3 2-18. When the distance exceeds 70mm, install two slide rails 2-20; connect the slider 2-19 to the radial floating grinding head connecting plate 2-5, and install two according to the distance in step 2; insert the slider 2-19 into the slide rail 2-20, install the polyurethane stop bolt 2-1 to the connecting block 2-7, install two at one end, install the cylinder floating joint 2-17 to the guide rod of the low-friction cylinder 2-8, and then install the connecting plate 4 2-21 to the bottom end of the cylinder body of the low-friction cylinder 2-8;

[0066] The assembled components are mounted on the third connecting plate 2-18, and the cylinder floating joint 2-17 is inserted into the T-slot of the radial floating grinding head connecting plate 2-5. At this time, the fourth connecting plate 2-21 is connected to the side surface of the third connecting plate 2-18 in the width direction;

[0067] Install the position sensor connection base 2-22 onto the connection plate three 2-18, then install the position sensor adjustment support 2-23 onto the position sensor connection base 2-22, and then insert the position sensor 2-10 into the hole of the connection plate four 2-21, and pass it through the holes of the position sensor connection base 2-22 and the position sensor adjustment support 2-23;

[0068] Install the connecting plate 1 2-2 onto the two side surfaces of the connecting plate 3 2-18 in the long direction, and then install the polyurethane stop bolts 2-1 into the threaded holes of the connecting plate 1 2-2. In this embodiment, two polyurethane stop bolts 2-1 are installed;

[0069] Sheet metal one 2-4 and sheet metal two 2-12 are installed on both sides of the bottom end of connecting plate three 2-18, and sheet metal two 2-12 is fixed to connecting plate three 2-18 by hinge 2-13, and sheet metal one 2-4 is fixed to connecting plate three 2-18 by hinge 2-13, and sheet metal locking block 2-3 and sheet metal locking block 2-3 connect sheet metal one 2-4 and sheet metal two 2-12 together, and the air blowing joint 2-11 is installed on connecting plate four 2-21, and the upper end of connecting plate two 2-14 is installed to the lower end of connecting plate three 2-18, and then the upper end of the robot flange mounting seat 2-15 is connected to the lower end of connecting plate two 2-14, and the robot flange mounting seat 2-15 is connected to the robot, so that the axial floating mechanism 2 is assembled;

[0070] In actual use, the low-friction cylinder 2-8 is mainly used to drive the linear motion of the axial floating mechanism 2. The polyurethane stop bolt 2-1 is installed on the connecting block 2-7, and the polyurethane stop bolt 2-1 is installed in the threaded hole of the connecting plate 2-2. During the movement of the low-friction cylinder 2-8, the polyurethane stop bolt 2-1 and the polyurethane stop bolt 2-1 are used to position the linear motion mechanism. The position sensor 2-10 is used to detect the linear motion distance of the axial floating mechanism 2 and the axial floating distance during the grinding process. The air blow joint 2-11 is mainly used for pneumatic dust removal of the axial floating mechanism 2, and pressure is mainly used to ensure that impurities and dust cannot enter the equipment.

[0071] As a preferred embodiment of the present invention, in this embodiment, reference Figure 6 The radial locking mechanism 4 includes a radial locking shaft 4-1, a bushing three 4-2, a retaining spring 1 4-3, a retaining spring 2 4-4 and a plunger 4-5. During installation, the bushing three 4-2 is installed in the side hole of the grinding head housing 1-1, and then the radial locking shaft 4-1 is inserted into the inner hole of the bushing three 4-2, and passed through the other end hole of the grinding head housing 1-1. The two ends of the radial locking shaft 4-1 are clamped with the retaining spring 1 4-3 and the retaining spring 2 4-4 respectively, and finally the plunger 4-5 is installed in the threaded hole at the bottom of the grinding head housing 1-1.

[0072] refer to Figure 7 In actual use, there are two semicircular holes on both sides of the radial locking shaft 4-1, which are distributed 180° on an axial line and are locked by the plunger 4-5. When no external force is applied, the plunger 4-5 is in one semicircular hole. When subjected to external force, the radial locking shaft 4-1 rotates 180° and the plunger 4-5 enters the semicircular hole at the other end, thereby making it an on / off key. When designing, it is necessary to ensure D=2b, b=a+2, where b represents the distance from the center of the radial locking shaft 4-1 to the Y-direction slot edge of the radial floating shaft 1-2, a represents the distance from the center of the radial locking shaft 4-1 to the Z-direction slot edge of the radial floating shaft 1-2, and D represents the diameter of the radial locking shaft.

[0073] As a preferred embodiment of the present invention, in this embodiment, reference Figure 8 、 Figure 9 and Figure 10 , the annular cylinder 5 includes an anti-leakage sealing ring 5-1, a bolt 5-2, an annular cylinder shell 5-3, an L-shaped joint 5-4, an annular cylinder body 5-5, a piston rod 5-6, a piston universal seal 5-7 and a cylindrical pin 5-8. During installation, the piston universal seal 5-7 is installed on the piston rod 5-6. In this embodiment, 12 piston rods 5-6 are provided. The piston rod 5-6 is installed in the mounting hole of the annular cylinder body 5-5, one every 30°, and the anti-leakage sealing ring 5-1 is installed on the annular cylinder body 5-5, two at each end. The installed annular cylinder body 5-5 is installed into the inner hole of the annular cylinder shell 5-3 and locked by the bolt 5-2. The cylindrical pin 5-8 is used for positioning, and the L-shaped joint 5-4 is installed into the mounting hole at the side end of the annular cylinder shell 5-3 to finally complete the installation of the annular cylinder 5;

[0074] In actual use, there are 12 piston rod mounting holes on the annular cylinder body 5-5, which are evenly distributed on the outer diameter of the annular cylinder body 5-5. There is a ventilation groove on the outer diameter of the annular cylinder body 5-5, and a ventilation groove is provided on the inner diameter of the annular cylinder shell 5-3, and is connected to the mounting hole of the L-joint 5-4. The piston seal 5-7 is mainly used for the linear reciprocating motion of the piston rod 5-6 and plays a sealing role. The anti-leakage sealing ring 5-1 is mainly used for sealing after the annular cylinder body 5-5 and the annular cylinder shell 5-3 are connected.

[0075] refer to Figure 14, the air circuit principle of the constant force accompanying grinding tool of the present invention when working is as follows: the air source 19 is connected to the normally open two-position two-way reversing solenoid valve 16 with an air pipe, and the normally open two-position two-way reversing solenoid valve 16 is connected to the first proportional valve 11 with an air pipe, and the L-shaped joint 5-4 is installed to the annular cylinder housing 5-3, and the normally open state ensures that the annular cylinder 5 is always in a working state, and then the first proportional valve 11 is connected to the L-shaped joint 5-4 with an air pipe; the air source 19 is connected to the first two-position five-way solenoid valve 14 with an air pipe, and then the first two-position five-way solenoid valve 14 is connected to the second proportional valve 12 with an air pipe, and the thrust intake joint 18 is installed on the low friction cylinder 2-8, and the second proportional valve 12 is connected to the thrust intake joint 18 through the air pipe; the air source 19 is connected to the second two-position five-way solenoid valve 15 with an air pipe, and then the second two-position five-way solenoid valve 15 is connected to the second two-position five-way solenoid valve 15 with an air pipe. The magnetic valve 15 is connected to the third proportional valve 13, and the tension air intake connector 17 is installed on the low-friction cylinder 2-8, and the third proportional valve 13 is connected to the tension air intake connector 17 through the air pipe; the first two-position five-way solenoid valve 14 and the second two-position five-way solenoid valve 15 are mainly used to control the direction of the low-friction cylinder 2-8; the normally open two-position two-way reversing solenoid valve 16 is mainly used to control the direction of the annular cylinder 5; the first proportional valve 11 is mainly used to regulate the annular cylinder air pressure 5; the second proportional valve 12 and the third proportional valve 13 are mainly used to regulate the air pressure of the low-friction cylinder 2-8, among which the second proportional valve 12 is mainly used to balance the force generated during the grinding process, and the third proportional valve 13 is mainly used to balance the gravity of the radial grinding head composed of the annular cylinder 5, the radial locking mechanism 4 and the radial grinding head device 1, and is usually set to a fixed value.

[0076] The spindle motor 8 is used as the power source to drive the grinding tool 3 to rotate at high speed. The end of the robot carries the grinding tool to contact the workpiece to be polished. The robot moves according to the set trajectory and polishes the workpiece. During the polishing process, due to the uneven surface of the workpiece, the grinding tool needs to maintain constant force and move with it. Radial floating and axial floating are to better meet such needs.

[0077] The radial float is based on the state of the grinding surface. During grinding, the spindle motor 8 and the grinding tool float along with the state of the workpiece, mainly based on the floating of the rotating axis 1-6, the rotating axis 2 1-10, the rotating axis 3 1-7, and the rotating axis 4 1-11. The annular cylinder 5 is mainly used to ensure constant force during grinding. The constant force mainly relies on the position change of the correction sensor 7-4, which transmits the signal to the robot. The robot then transmits the signal to the first proportional valve 11, which adjusts the intake pressure value according to the signal.

[0078] During axial floating, the third proportional valve 13 is adjusted to balance the gravity of the radial grinding head. Generally, the third proportional valve 13 is set to a fixed value. During grinding, the position sensor 2-10 identifies the floating of the grinding surface and transmits the corresponding signal to the robot. After processing by the robot, the relevant signal is transmitted to the second proportional valve 12, and the air pressure is adjusted by the second proportional valve 12 to ensure constant force during the grinding process.

[0079] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0080] In the present invention, unless otherwise clearly stipulated and limited, the terms "install", "set", "connect", "fix", "screw", "place" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0081] The foregoing description shows and describes preferred embodiments of the present invention. As previously mentioned, it should be understood that the present invention is not limited to the form disclosed herein and should not be construed as excluding other embodiments. Instead, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the inventive concept described herein by the teachings above or by techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art without departing from the spirit and scope of the present invention are intended to be within the scope of the appended claims.

Claims

1. A constant force accompanying grinding tool, characterized by: include A radial grinding head device (1) for providing a radial floating force; An axial floating mechanism (2) is arranged on the side of the radial grinding head device (1) and is used to provide an axial floating force; A grinding tool (3) connected to the radial grinding head device (1) for actual grinding operation; A radial locking mechanism (4) passing through the radial grinding head device (1) transversely and used for controlling the activation and deactivation of the radial grinding head device (1); An annular cylinder (5) connected to the radial grinding head device (1) and used to control the floating function of the grinding tool (3); Sealing and dustproof devices (6), arranged at both ends of the radial grinding head device (1), for sealing and dustproofing; A correction sensing device (7) for correcting the position of the grinding tool; and spindle motor (8); The radial grinding head device (1) comprises a grinding head housing (1-1), a radial floating shaft (1-2), a floating collar (1-3), at least two first bushings, at least two first rotating shafts, at least two second bushings and at least two second rotating shafts, the floating collar (1-3) passes through the radial floating shaft (1-2), the first bushing passes through the floating collar (1-3) from the inside, the first rotating shaft passes through the first bushing and is connected to the radial floating shaft (1-2), the second bushing is installed from the outside to the inside into the mounting hole on the grinding head housing (1-1), and the second rotating shaft passes through the second bushing and is installed into the mounting hole of the floating collar (1-3); The sealing dustproof device (6) is arranged at both ends of the radial floating shaft (1-2), and the sealing dustproof device (6) comprises a snap ring (6-1), a dust cover (6-2), a dust cover (6-3), a snap ring (6-4), a rubber sealing ring (6-5), a dust cover locking piece (6-6), a dust cover locking piece (6-7) and a rubber sealing ring (6-8). The snap ring (6-1) is connected to the radial floating shaft (1-2). The second snap ring (6-4) is connected to the end of the spindle motor (8), the first dust cover (6-2) is connected to one end of the grinding head housing (1-1) through the first dust cover locking piece (6-6), the second dust cover (6-3) is connected to the other end of the grinding head housing (1-1) through the second dust cover locking piece (6-7), the first rubber sealing ring (6-5) is sleeved on the first snap ring (6-1), and the second rubber sealing ring (6-8) is sleeved on the second snap ring (6-4); An axial floating mounting seat (10) is provided on the side of the grinding head housing (1-1), and the axial floating mechanism (2) is fixed to the radial grinding head device (1) via the axial floating mounting seat (10); The annular cylinder (5) comprises an anti-leakage sealing ring (5-1), a bolt (5-2), an annular cylinder shell (5-3), an L-shaped joint (5-4), an annular cylinder body (5-5), a piston rod (5-6), a piston universal seal (5-7) and a cylindrical pin (5-8). The piston universal seal (5-7) is mounted on the piston rod (5-6), and the piston rod (5-6) is mounted in the mounting hole of the annular cylinder body (5-5). The anti-leakage sealing ring (5-1) is respectively mounted on both ends of the annular cylinder body (5-5). The annular cylinder body (5-5) is mounted in the inner hole of the annular cylinder shell (5-3), locked by the bolt (5-2), and positioned by the cylindrical pin (5-8). The L-shaped joint (5-4) is mounted in the mounting hole at the side end of the annular cylinder shell (5-3).

2. The constant force accompanying grinding tool according to claim 1, characterized in that: The axial floating mechanism (2) comprises a polyurethane stop bolt (2-1), a connecting plate 1 (2-2), a sheet metal locking block (2-3), a sheet metal 1 (2-4), a radial floating grinding head connecting plate (2-5), a connecting block (2-7), a low-friction cylinder (2-8), a position sensor (2-10), an air blowing joint (2-11), a sheet metal 2 (2-12), a hinge (2-13), a connecting plate 2 (2-14), a cylinder floating joint (2-17), a connecting plate 3 (2-18), a slider (2-19), a slide rail (2-20), a connecting plate 4 (2-21), a position sensor connecting seat (2-22), and a position sensor adjustment support (2-23).

3. The constant force accompanying grinding tool according to claim 2, characterized in that: The connecting plate three (2-18) is a bottom plate, the slide rail (2-20) is arranged above the connecting plate three (2-18), the slider (2-19) is arranged on the slide rail (2-20), the slider (2-19) is connected to the radial floating grinding head connecting plate (2-5), the connecting plate three (2-18) is installed with a connecting block (2-7) at the upper end, the connecting block (2-7) is installed with a polyurethane stop bolt (2-1), the connecting plate four (2-21) is arranged on the side of the connecting plate three (2-18) in the width direction and It is arranged vertically with the connecting plate three (2-18), the connecting plate four (2-21) is provided with a blowing joint (2-11), the low-friction cylinder (2-8) is arranged at the upper end of the connecting plate three (2-18), the connecting plate four (2-21) is connected to the bottom end of the cylinder body of the low-friction cylinder (2-8), the guide rod of the low-friction cylinder (2-8) is connected to the cylinder floating joint (2-17), the other end of the cylinder floating joint (2-17) is inserted into the T-slot of the radial floating grinding head connecting plate (2-5), and the position sensor The position sensor connection seat (2-22) is installed on the connection plate three (2-18), the position sensor adjustment support (2-23) is installed on the position sensor connection seat (2-22), the position sensor (2-10) is inserted into the hole of the connection plate four (2-21) through the position sensor connection seat (2-22) and the position sensor adjustment support (2-23), the connection plate one (2-2) is installed on the side opposite to the connection plate four (2-21), and a polyurethane stop bolt is installed in the threaded hole of the connection plate one (2-2). (2-1); the sheet metal one (2-4) and the sheet metal two (2-12) are installed on the two side surfaces in the length direction of the connecting plate three (2-18) and are arranged perpendicular to the connecting plate three (2-18); the sheet metal one (2-4) and the sheet metal two (2-12) are fixed to the connecting plate three (2-18) by hinges (2-13); the sheet metal one (2-4) and the sheet metal two (2-12) are fixed by a sheet metal locking block (2-3); and the connecting plate two (2-14) is arranged at the lower end of the connecting plate three (2-18).

4. The constant force accompanying grinding tool according to claim 1, characterized in that: The radial locking mechanism (4) comprises a radial locking shaft (4-1), a bushing three (4-2), a retaining spring one (4-3), a retaining spring two (4-4) and a plunger (4-5); the bushing three (4-2) is arranged in a side hole of the grinding head housing (1-1); the radial locking shaft (4-1) is inserted into the inner hole of the bushing three (4-2) and passes through the hole at the other end of the grinding head housing (1-1); the two ends of the radial locking shaft (4-1) are clamped by retaining spring one (4-3) and retaining spring two (4-4) respectively; and the plunger (4-5) is installed in a threaded hole at the bottom of the grinding head housing (1-1).

5. The constant force accompanying grinding tool according to claim 1, characterized in that: The calibration sensing device (7) comprises a calibration sensor bracket (7-1), a detection bracket (7-2), a calibration sensor support (7-3) and a calibration sensor (7-4), wherein the detection bracket (7-2) is mounted on the upper end of the second clamping ring (6-4), the calibration sensor bracket (7-1) is mounted on the side end of the annular cylinder (5), the calibration sensor support (7-3) is mounted on the upper end of the calibration sensor bracket (7-1), and the calibration sensor (7-4) is inserted into the mounting hole of the calibration sensor support (7-3).

6. The constant force accompanying grinding tool according to claim 3, characterized in that: The lower end of the second connecting plate (2-14) is connected to the robot flange mounting seat (9).

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