Constant force polishing apparatus

Abstract

The application discloses a constant force polishing device, which comprises a shell, a first guide rail, a bearing and a polishing component arranged in sequence along an axial direction in the shell, a driving device arranged on the shell and used for driving the first sliding block to rotate around the axis, a first sliding block arranged on the first guide rail, a rotating shaft arranged along the axial direction and connected between the first sliding block and the polishing component, the rotating shaft being connected with an inner ring of the bearing, the first guide rail being capable of driving the polishing component to rotate around the axial direction through the first sliding block, a working end of the polishing component extending out of the shell, and a constant force mechanism arranged in the shell and fixedly connected with an outer ring of the bearing and used for adjusting a contact force between the polishing component and a polished workpiece. The constant force polishing device has the advantages of no overshoot, simple control, low cost, wide application range, capability of being installed at the end of a machine arm and application in automatic polishing and polishing operation of exerting constant contact force on an object.

Description

Technical Field

[0001] This application pertains to the field of automated processing equipment, and in particular relates to a constant force polishing device. Background Technology

[0002] With the development of precision industries, the demand for high machining precision is increasing daily. Since most products require a smooth and glossy outer surface, the efficiency, precision, and damage of polishing and grinding technology, as the final processing step, have always been a major concern. The most common polishing and grinding technology is mechanical grinding. Currently, there are applications that mount the polishing end effector on a robotic arm to achieve high efficiency, high stability, and high flexibility in polishing and grinding. Generally speaking, maintaining a constant contact force between the polishing end and the workpiece during the grinding process can effectively improve the polishing and grinding effect. Polishing and grinding technology includes two methods: active compliance control and passive compliance control. Active compliance control is expensive and increases the risk of damaging precision instruments, while the constant force of passive compliance cannot be adjusted. The gravitational component along the passive compliance direction changes with the tilt angle of the polishing end, so it is usually only suitable for specific constant force magnitudes and specific operating angles, thus limiting its use. Summary of the Invention

[0003] The purpose of this application is to at least solve one of the technical problems existing in the prior art, and to provide a constant force polishing device that can achieve a constant contact force with the workpiece being polished.

[0004] The technical solution adopted by this application to solve its technical problem is:

[0005] A constant force polishing device includes a housing. A first guide rail, a bearing, and a polishing component are sequentially arranged along an axial direction inside the housing. A driving device for driving a first slider to rotate around an axial direction is provided on the housing. A first slider is provided on the first guide rail. A rotating shaft arranged along an axial direction connects the first slider and the polishing component. The rotating shaft is connected to the inner ring of the bearing. The first guide rail can drive the polishing component to rotate around an axial direction via the first slider. The working end of the polishing component extends out of the housing. A constant force mechanism is provided inside the housing. The outer ring of the bearing is fixedly connected to the constant force mechanism for adjusting the contact force between the polishing component and the workpiece being polished.

[0006] Preferably, the constant force mechanism includes a curved beam structure and a straight beam structure that form zero stiffness when combined. The curved beam structure and the straight beam structure are arranged sequentially along the axial direction, and both the curved beam structure and the straight beam structure are arranged radially. A connecting block is provided at the middle position of the curved beam structure. The outer ring of the bearing is fixedly connected to the connecting block. The bearing is a vertical bearing.

[0007] Preferably, the curved beam structure includes two pairs of radially arranged curved beams, which are arranged in parallel along the axial direction. The two ends of the connecting block are respectively connected to the middle position of the two pairs of curved beams. The straight beam structure includes two pairs of radially arranged straight beams, which are arranged sequentially along the axial direction and connected in series.

[0008] Preferably, the housing is provided with a screw and a nut that cooperate with each other. One end of the screw is connected to the side of the constant force mechanism, and the other end of the screw extends out of the housing and is connected to the nut. One end of the constant force mechanism is slidably connected to the housing.

[0009] Preferably, a second guide rail is provided on the inner wall of the housing, and a second slider is provided on the second guide rail, the second slider being connected to the connecting block.

[0010] Preferably, a third guide rail is provided on the inner wall of the housing, and a third slider is provided on the third guide rail. The third slider is connected to the end of the straight beam structure away from the bearing.

[0011] Preferably, the housing is provided with a counterweight, and a connecting line is provided between the counterweight and the connecting block. The housing is provided with a fourth guide rail, and the counterweight is provided with a fourth slider that cooperates with the fourth guide rail. The fourth guide rail is arranged parallel to the top of the rotating shaft.

[0012] Preferably, the housing is provided with a fixed pulley, the counterweight is provided with a connecting part, one end of the connecting line is connected to the connecting block, and the other end passes around the fixed pulley and is connected to the connecting part.

[0013] Preferably, the drive device includes a DC motor mounted on the housing, and the output shaft of the DC motor is connected to the first guide rail via a coupling.

[0014] Preferably, the grinding component includes a clamp and a sticking plate, one end of the clamp is fixedly connected to the rotating shaft, and the other end holds the sticking plate.

[0015] One of the above technical solutions has at least one of the following advantages or beneficial effects: The constant force polishing device maintains a constant contact force between the polishing component and the workpiece through a constant force mechanism. During operation, the drive device drives the first guide rail to rotate, the first slider to rotate, which in turn drives the rotating shaft to rotate, thereby driving the polishing component to rotate and polish the workpiece. Since the rotating shaft is fixedly connected to the inner ring of the bearing, when the polishing component contacts the workpiece, the polishing component is subjected to the force of the workpiece. This force acts on the first slider through the polishing component and the rotating shaft. The first slider slides along the first guide rail. At the same time, since the constant force mechanism is connected to the outer ring of the bearing, the constant force mechanism limits the axial movement of the bearing, thus producing a certain stabilizing effect. Constant force polishing of the polishing component can be achieved within the constant force range. The constant force polishing device has the advantages of no overshoot, simple control, and low cost. It is also highly adaptable and has a wide range of applications. It can be installed at the end of a robot arm for automated polishing operations that apply a constant contact force to objects.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a perspective view of one embodiment of this application;

[0019] Figure 2 This is a top view of one embodiment of this application;

[0020] Figure 3 This is a front view of one embodiment of this application;

[0021] Figure 4 This is a left view of one embodiment of this application. Detailed Implementation

[0022] This section will describe in detail the specific embodiments of this application. Preferred embodiments of this application are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of this application, but they should not be construed as limiting the scope of protection of this application.

[0023] In this application, when directions (up, down, left, right, front, and back) are described, it is only for the purpose of describing the technical solution of this application, and does not indicate or imply that the technical features referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on this application.

[0024] In this application, "several" means one or more, "multiple" means two or more pairs, "greater than," "less than," "exceeding," etc. are understood to exclude the number itself; "above," "below," "within," etc. are understood to include the number itself. In the description of this application, the terms "first" and "second" are used only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0025] In this application, unless otherwise explicitly defined, the terms "setup," "installation," and "connection" should be interpreted broadly. For example, they can refer to direct connection or indirect connection through an intermediate medium; they can refer to fixed connection, detachable connection, or integral molding; they can refer to mechanical connection, electrical connection, or connection capable of mutual communication; they can refer to the internal connection of two pairs of components or the interaction between two pairs of components. Those skilled in the art can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0026] in, Figure 3 The reference direction coordinate system of this application embodiment is given below, in conjunction with Figure 3 The directions shown are used to illustrate embodiments of this application.

[0027] An embodiment of this application provides a constant force polishing device, see [link to relevant documentation]. Figure 1 , Figure 2 , Figure 3 and Figure 4The system includes a housing 100, within which a first guide rail 200, a bearing 400, and a grinding component 500 are sequentially arranged along the axial direction. The housing 100 is equipped with a drive device 600 for driving a first slider 300 to rotate axially. The first slider 300 is mounted on the first guide rail 200. A rotating shaft 700, arranged along the axial direction, connects the first slider 300 and the grinding component 500. The rotating shaft 700 is connected to the inner ring of the bearing 400. The first guide rail 200 can drive the grinding component 500 to rotate axially via the first slider 300. The working end of the grinding component 500 extends outwards. The housing 100 contains a constant force mechanism 800. The outer ring of the bearing 400 is fixedly connected to the constant force mechanism 800 to adjust the contact force between the grinding component 500 and the workpiece being ground, ensuring that the contact force between the grinding component 500 and the grinding target remains constant during the grinding process. This constant force polishing device maintains a constant contact force between the grinding component 500 and the workpiece being ground through the constant force mechanism 800. During operation, the drive device 600 drives the first guide rail 200 to rotate, the first slider 300 rotates, and the rotating shaft 700... The rotation of the rotating shaft 700, in turn, drives the grinding component 500 to rotate, thus grinding the workpiece. Since the rotating shaft 700 is fixedly connected to the inner ring of the bearing 400, when the grinding component 500 contacts the workpiece, it experiences a force from the workpiece. This force acts on the first slider 300 through the grinding component 500 and the rotating shaft 700, causing the first slider to slide (linear motion) along the first guide rail 200. Simultaneously, because the constant force mechanism 800 is connected to the outer ring of the bearing 400, the constant force mechanism 800 restricts the axial movement of the bearing 400, thus generating a certain degree of stability. The constant force mechanism 800 can achieve constant force grinding of the grinding component 500 within the constant force range. The constant force mechanism 800 can decompose the direction of motion and is set on the housing 100. It will not rotate with the grinding component 500. This constant force polishing device has the advantages of no overshoot, simple control, and low cost. It is also highly adaptable and has a wide range of applications. It can be installed at the end of a robot arm for automated polishing operations that apply a constant contact force to objects. In addition, the constant force polishing device has a simple structure. The grinding component 500 does not require external wires during use, so there is no risk of wire entanglement.

[0028] As a preferred embodiment of this application, the first guide rail 200 is a ball spline slide rail, and the first slider 300 is a ball spline flange slider. The ball spline flange slider can realize linear motion. The ball spline slide rail and the ball spline flange slider can achieve high-precision position control and smooth motion while achieving low friction. They have advantages such as high load capacity, high speed, tight connection, high rigidity and high precision.

[0029] See Figure 3The constant force mechanism 800 includes a curved beam structure 810 and a straight beam structure 820 that, when combined, form a zero-stiffness structure. The curved beam structure 810 and the straight beam structure 820 are arranged sequentially along the axial direction, and both are arranged radially. A connecting block is provided at the middle position of the curved beam structure 810. The outer ring of the bearing 400 is fixedly connected to the connecting block. The bearing 400 is a vertical bearing. The curved beam structure 810 provides negative stiffness and also provides a certain stabilizing effect on the connecting block in the middle of the curved beam structure 810; the straight beam structure 820 provides... Positive stiffness, and then the positive and negative stiffness formed above combine to produce zero stiffness, that is, constant force range, so that constant force control of grinding component 500 is achieved through bearing 400. It can be understood that this constant force polishing device adopts passive compliant control. The constant force mechanism 800 can also use spring or compliant mechanism to achieve constant contact force under open loop control. During operation, the linear motion of grinding component 500 is transmitted to the connecting block of constant force mechanism 800, so that constant force mechanism 800 provides a constant contact force between grinding component 500 and workpiece being polished.

[0030] As a preferred embodiment of this application, see Figure 3 The curved beam structure 810 includes two pairs of radially arranged curved beams 811, which are connected in parallel along the axial direction. That is, the two pairs of curved beams 811 are responsible for providing negative stiffness. The two ends of the connecting block are respectively connected to the middle position of the two pairs of curved beams 811. The straight beam structure 820 includes two pairs of radially arranged straight beams 821, which are responsible for providing positive stiffness. The two pairs of straight beams 821 are arranged sequentially along the axial direction and connected in series.

[0031] In some embodiments, the housing 100 is provided with a screw 110 and a nut 120 that cooperate with each other. One end of the screw 110 is connected to the side of the constant force mechanism 800. Preferably, the screw 110 is connected to the end of the straight beam 821 away from the bearing 400 (i.e., one end of the screw 110 is not connected to the middle position of the two pairs of curved beams 811). The housing 100 is provided with a threaded hole, and the screw 110 is threadedly connected to the housing 100. The other end of the screw 110 extends out of the housing 100 and is connected to the nut 120. One end of the constant force mechanism 800 is slidably connected to the housing 100. Specifically, the end of the straight beam 821 away from the bearing 400 is slidably connected to the housing. By rotating the screw 110, the distance between the two ends of the screw 110 can be adjusted to adjust the position of the straight beam 821, so that the zero position of the positive stiffness is offset, thereby adjusting the constant force amplitude of the constant force mechanism 800, that is, realizing the adjustment of the position of the constant force mechanism 800.

[0032] See Figure 2 The inner wall of the housing 100 is provided with a second guide rail 130, and a second slider 131 is provided on the second guide rail 130. The second slider 131 is connected to the connecting block and plays a stabilizing role.

[0033] Preferred, see Figure 2 The inner wall of the housing 100 is provided with a third guide rail 140, and a third slider 141 is provided on the third guide rail 140. The third slider 141 is connected to the end of the straight beam structure 820 away from the bearing 400, which plays a stabilizing role.

[0034] As a preferred embodiment of this application, see Figure 3 and Figure 4 The housing 100 is provided with a counterweight 900, and a connecting line 910 is provided between the counterweight 900 and the connecting block. The housing 100 is provided with a fourth guide rail 150, and a fourth slider 151 that cooperates with the fourth guide rail 150 is provided on the counterweight 900. The fourth guide rail 150 is arranged parallel above the rotating shaft 700.

[0035] See Figure 3 The housing 100 is equipped with a fixed pulley 920, and the counterweight 900 is equipped with a connecting part 930. One end of the connecting line 910 is connected to the connecting block, and the other end passes around the fixed pulley 920 and is connected to the connecting part 930. The fixed pulley is a V-groove pulley, which provides guidance for the connecting line 910. The gravitational component in the straight direction of the grinding component 500 is canceled by the counterweight 900. Furthermore, since the connecting line 910 is parallel to the axial direction, the tilting of the grinding component 500 will not change the contact force, that is, the amplitude of the multi-angle constant force remains unchanged, thereby achieving passive wide-angle operation constant force polishing. The gravitational component in the passive compliant direction will change with the change of the tilt angle of the polishing end. Therefore, the passive polishing end actuator is usually only suitable for specific constant force magnitudes and specific operating angles.

[0036] In some embodiments, see Figure 3 The drive unit 600 includes a DC motor mounted on the housing 100. The output shaft of the DC motor is connected to the first guide rail 200 via a coupling 610 to provide force for rotating the grinding component 500.

[0037] Preferably, the grinding component 500 includes a clamp 520 and a sticking plate 510. One end of the clamp 520 is fixedly connected to the rotating shaft 700, and the other end holds the sticking plate 510.

[0038] This constant-force polishing mechanism achieves passive, compliant constant-force polishing by introducing a constant-force mechanism 800 that combines positive and negative stiffness. Through the decomposition of the motion direction by the transmission mechanism, the constant-force mechanism 800 does not rotate with the polishing component 500. Furthermore, the constant-force amplitude is finely adjusted by regulating the fixed position of the positive stiffness end. The use of connecting line 910 and counterweights eliminates the influence of gravity, thus achieving passive wide-angle operation and adjustable constant-force polishing. This constant-force polishing device has the advantages of no overshoot, simple control, and low cost, overcoming the shortcomings of common passive constant-force polishing methods, such as high specificity and limited application range.

[0039] In the description of this specification, references to terms such as "example," "embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0040] Of course, the invention of this application is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A constant force polishing device, characterized in that: The device includes a housing. Inside the housing, a first guide rail, a bearing, and a grinding component are sequentially arranged along an axial direction. A first slider is mounted on the first guide rail. The housing has a drive device for driving the first slider to rotate axially. A rotating shaft, also along an axial direction, connects the first slider and the grinding component. The rotating shaft is connected to the inner ring of the bearing. The first guide rail can drive the grinding component to rotate axially via the first slider. The working end of the grinding component extends out of the housing. A constant force mechanism is provided inside the housing. The outer ring of the bearing is fixedly connected to the constant force mechanism to adjust the contact force between the grinding component and the workpiece being ground. The constant force mechanism includes a curved beam structure and a straight beam structure that form zero stiffness when combined. The curved beam structure and the straight beam structure are sequentially arranged along the axial direction, and both are radially arranged. A connecting block is provided at the middle position of the curved beam structure. The outer ring of the bearing is connected to the connecting block. The fixed connection includes two pairs of radially arranged curved beams, which are arranged in parallel along the axial direction. The two ends of the connecting block are respectively connected to the middle positions of the two pairs of curved beams. The straight beam structure includes two pairs of radially arranged straight beams, which are arranged sequentially along the axial direction and connected in series. The housing is provided with mutually cooperating screws and nuts. One end of the screw is connected to the side of the constant force mechanism, and the other end of the screw extends out of the housing and is connected to the nut. One end of the constant force mechanism is slidably connected to the housing. The housing is provided with a counterweight, and a connecting line is provided between the counterweight and the connecting block. The housing is provided with a fourth guide rail, and the counterweight is provided with a fourth slider that cooperates with the fourth guide rail. The fourth guide rail is arranged parallel to the top of the rotating shaft. The housing is provided with a fixed pulley, and the counterweight is provided with a connecting part. One end of the connecting line is connected to the connecting block, and the other end passes around the fixed pulley and is connected to the connecting part.

2. The constant force polishing device according to claim 1, characterized in that: The bearing is a vertical bearing.

3. The constant force polishing device according to claim 1, characterized in that: The inner wall of the housing is provided with a second guide rail, and a second slider is provided on the second guide rail. The second slider is connected to the connecting block.

4. The constant force polishing device according to claim 1, characterized in that: The inner wall of the housing is provided with a third guide rail, and the third guide rail is provided with a third slider. The third slider is connected to the end of the straight beam structure away from the bearing.

5. The constant force polishing device according to claim 1, characterized in that: The drive device includes a DC motor mounted on the housing, and the output shaft of the DC motor is connected to the first guide rail via a coupling.

6. The constant force polishing device according to claim 1, characterized in that: The grinding component includes a clamp and a sticking plate. One end of the clamp is fixedly connected to the rotating shaft, and the other end holds the sticking plate.

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