Radial floating constant force grinding tool

Abstract

The present invention relates to a radial floating constant force grinding tool, comprising a constant force base, a radial floating head, and a pneumatic spindle. The constant force base comprises a thrust column, a sliding seat, a sliding seat cover, and a multi-channel cylinder body; the radial floating head comprises a floating cover, a floating ring, and a pneumatic spindle fixing ring; the annular air path of the multi-channel cylinder body is used to supply air to the six thrust columns constantly, and the thrust column constantly pushes the floating ring to drive the pneumatic spindle fixing ring and the pneumatic spindle. When the pneumatic spindle is subjected to force during operation, the floating ring gives a constant reverse force under the action of the thrust column. To facilitate the floating of the floating ring in the radial direction, the surface of the floating ring is designed as an cambered surface, so that it always fits the inside of the floating cover when floating, and realizes controllable position floating. The sliding seat is installed at the tail of the pneumatic spindle, and the sliding seat slides in the sliding bottom cover during operation to avoid direct collision between the pneumatic spindle and the constant force base, thereby damaging the pneumatic spindle.

Description

Technical Field

[0001] The invention belongs to the field of mechanical technology, and in particular relates to a radial floating constant force grinding tool. Background Art

[0002] At present, robots are playing an increasingly important role in more manufacturing segments, and grinding, polishing, and deburring are indispensable basic processes in the manufacturing industry. With the disappearance of the demographic dividend, as well as the requirements for reducing costs and improving product quality, the market demand for grinding and polishing robots has become increasingly strong, and industrial robots are increasingly used for grinding work to replace manual labor. Pressure control is crucial for robot grinding. If you want robots to replace manual labor to do some grinding applications, you need a constant force floating mechanism between the robot and the grinding tool. For different working conditions, sometimes a radial constant force floating mechanism is required, and sometimes an axial constant force floating mechanism is required. This type of constant force floating mechanism can compensate for the comprehensive position error, ensure that the grinding tool and the workpiece being polished remain in contact, and ensure that the contact force is the pressure required by the grinding process, thereby ensuring the stability of the grinding process.

[0003] The Chinese patent with the announcement number CN109318120B and the name "A Constant Force Grinding and Polishing Head Mechanism" discloses 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 housing, 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 housing; the inner wall of the inner cavity of the housing 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 attached to the outer wall of the spindle motor, and the bottom of the spindle motor is connected to the grinding head. The constant force control quality of the constant force grinding and polishing head mechanism in the radial direction still has room for further improvement. Summary of the invention

[0004] The purpose of the present invention is to provide a design scheme for a radial floating constant force grinding tool, which realizes radial constant force control of the grinding tool by utilizing the working principle of the cylinder, and cooperates with a robot to achieve constant force polishing and grinding of the product surface.

[0005] In order to solve the above technical problems, the present invention discloses a radial floating constant force grinding tool, including a pneumatic spindle and a constant force component and a radial floating component sleeved on the pneumatic spindle;

[0006] The constant force assembly includes a sliding seat cover, a sliding seat and a multi-channel cylinder body arranged from back to front along the pneumatic main shaft, the sliding seat cover and the multi-channel cylinder body are installed on the constant force base, and there is a gap between the sliding seat cover, the multi-channel cylinder body and the outer wall of the pneumatic main shaft; the sliding seat is fixed on the pneumatic main shaft;

[0007] The radial floating assembly comprises a pneumatic spindle fixing ring and a floating ring installed along the front and back of the pneumatic spindle, and the pneumatic spindle fixing ring and the floating ring move with the pneumatic spindle; it also comprises a cover body connected to the constant force base, and the floating ring and the pneumatic spindle fixing ring are movably arranged in the cover body; the outer side surface of the floating ring is processed into an arc surface; the outer side surface of the floating ring can be rotatably abutted against the inner side surface of the cover body, and the floating ring has a movable margin in the axial direction; there is a gap between the outer side wall of the pneumatic spindle fixing ring and the inner side surface of the cover body for providing radial movable space for the pneumatic spindle;

[0008] The front side of the multi-channel cylinder body is evenly processed with a plurality of first accommodating holes for accommodating thrust columns, and a constant force cylinder and a thrust column are arranged in each first accommodating hole. The front side of the multi-channel cylinder body is against the floating ring, pushing the thrust column forward to balance the backward force from the pneumatic spindle. The constant force cylinder applies a constant force to the thrust column, and the floating ring is subjected to a combined force of F from the multiple thrust columns. During grinding, the pneumatic spindle is subjected to radial force and tilts, and the floating ring tilts accordingly. The multiple thrust columns make corresponding contraction or forward movements with the posture of the floating ring. At this time, the force applied by each constant force cylinder to the thrust column remains unchanged, and the combined force of F from the multiple thrust columns to the floating ring is still achieved, thereby achieving a constant force state of the pneumatic spindle in the radial direction during grinding.

[0009] Preferably, a plurality of second accommodating holes for accommodating locking columns are further processed on the front side of the multi-channel cylinder body, and locking columns are arranged in the second accommodating holes. Corresponding locking column air inlets for supplying air to the second accommodating holes are arranged on the outer side of the multi-channel cylinder body. When air is ventilated to the locking column through the locking column air inlet, the locking column enters the second accommodating hole to realize position locking, thereby closing the radial floating ability of the radial floating assembly; when locked, it is used for position teaching of automatic grinding.

[0010] Preferably, the front end of the thrust column is processed into a flat surface or a curved surface.

[0011] Preferably, a groove is processed on the front side surface of the thrust column, and a ball is arranged in the groove.

[0012] Preferably, the ball is arranged on the side of the front side of the thrust column away from the pneumatic main shaft.

[0013] Preferably, the number of the first receiving holes is 6-10.

[0014] Preferably, the thrust column is installed in the multi-channel cylinder body through a wear-resistant sleeve to reduce mechanical wear of the thrust column and the multi-channel cylinder body.

[0015] Preferably, the sliding seat is slidably disposed between the sliding seat cover and the constant force base to play a buffering role.

[0016] Preferably, the sliding seat and the sliding seat cover are made of PC material.

[0017] Preferably, the maximum floating angle of the pneumatic main shaft in the radial direction is 4°-6°.

[0018] The radial floating constant force grinding tool of the present invention has at least the following advantages:

[0019] 1. The present invention provides a constant radial floating force for the pneumatic spindle through the optimized layout of multiple constant force cylinders and the setting of the sliding seat, while better balancing the force from the axial direction, reducing working noise, and effectively preventing the pneumatic spindle from losing its floating ability during rotation.

[0020] 2. The present invention can close the floating capacity through the self-locking structure of the independent air circuit to ensure safety during shutdown, and facilitate the position teaching of automatic grinding when locked.

[0021] 3. The present invention can further improve the constant force control quality of radial constant force floating by eccentrically arranging a ball or roller at the front end of the thrust column, effectively reduce the wear of the front end of the thrust column, and extend the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the general assembly diagram of the radial floating constant force grinding tool in Example 1 of the present invention;

[0023] Figure 2 is an exploded view of the radial floating constant force grinding tool in Example 1 of the present invention;

[0024] Figure 3 Schematic diagram of the internal structure of the radial floating constant force grinding tool according to Embodiment 1 of the present invention;

[0025] Figure 4 It is a schematic structural diagram of a thrust column with a ball in Embodiment 2 of the present invention.

[0026] The numbers in the figure are: constant force base 1, cover body 2, pneumatic spindle 3, thrust column 1-1, locking column 1-2, locking column air inlet 1-3, sliding seat 1-4, sliding seat cover 1-5, multi-channel cylinder body 1-6, ball 1-7, first accommodating hole 1-8, second accommodating hole 1-9, arc surface 2-1, floating ring 2-2, pneumatic spindle fixing ring 2-3. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below through examples so that those skilled in the art can implement the invention with reference to the description.

[0028] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof. Example 1

[0029] like Figure 1-3 As shown, a radial floating constant force grinding tool comprises a pneumatic spindle 3 and a constant force component and a radial floating component sleeved on the pneumatic spindle 3;

[0030] The constant force assembly includes a sliding seat cover 1-5, a sliding seat 1-4 and a multi-channel cylinder body 1-6 arranged from back to front along the pneumatic main shaft 3, the sliding seat cover 1-5 and the multi-channel cylinder body 1-6 are installed on the constant force base 1, and there is a gap between the sliding seat cover 1-5, the multi-channel cylinder body 1-6 and the outer wall of the pneumatic main shaft 3; the sliding seat 1-4 is fixed on the pneumatic main shaft 3;

[0031] like Figure 2-3 As shown, the radial floating assembly includes a pneumatic spindle fixing ring 2-3 and a floating ring 2-2 installed along the front and back of the pneumatic spindle 3. The pneumatic spindle fixing ring 2-3 and the floating ring 2-2 move with the pneumatic spindle 3. The pneumatic spindle fixing ring 2-3 clamps the pneumatic spindle 3 and is connected to the floating ring 2-2. It also includes a cover body 2 connected to the constant force base 1. The floating ring 2-2 and the pneumatic spindle fixing ring 2-3 are movably arranged in the cover body 2. The outer side surface of the floating ring 2-2 is processed into a cambered surface 2-1, so that the pneumatic spindle 3 can It can rotate within a certain range in the radial direction with the arc surface 2-1 as the fulcrum; the outer side surface of the floating ring 2-2 can be rotated to abut against the inner side surface of the cover body 2, and the floating ring 2-2 has a movable margin in the axial direction; there is a gap between the outer side wall of the pneumatic spindle fixing ring 2-3 and the inner side surface of the cover body 2 to provide a radial movable space for the pneumatic spindle 3; in order to prevent the pneumatic spindle 3 from losing its radial floating ability due to self-rotation, a groove can be provided along the axial direction on the inner wall of the cover body 2, and a corresponding protrusion or bump can be provided on the floating ring 2-2 to avoid this phenomenon.

[0032] like Figure 2As shown, the front side of the multi-channel cylinder body 1-6 is uniformly processed with a plurality of first accommodating holes 1-8 for accommodating the thrust column 1-1, each of which is provided with a constant force cylinder and a thrust column 1-1, and an annular air path is provided inside the multi-channel cylinder body 1-6 to supply air to each constant force cylinder at the same time. During the grinding operation, the front sides of the plurality of thrust columns 1-1 are against the floating ring 2-2, pushing the thrust column 1-1 forward to balance the backward force from the pneumatic spindle 3, and the constant force cylinder thrusts the thrust column 1-1. The column 1-1 applies a constant force, and the floating ring 2-2 is subjected to a combined force of F from multiple thrust columns 1-1. During grinding, the pneumatic spindle 3 is subjected to radial force and tilts, and the floating ring 2-2 tilts accordingly. Multiple thrust columns 1-1 make corresponding contraction or forward movements according to the posture of the floating ring 2-2. At this time, the force applied by each constant force cylinder to the thrust column 1-1 remains unchanged, and the combined force of F from multiple thrust columns 1-1 to the floating ring 2-2 is still achieved, thereby achieving a constant force state of the pneumatic spindle 3 in the radial direction during grinding.

[0033] The front side of the multi-channel cylinder body 1-6 is also processed with a plurality of second accommodating holes 1-9 for accommodating the locking column 1-2, and the second accommodating holes 1-9 are provided with locking columns 1-2. The outer side surface of the multi-channel cylinder body 1-6 is correspondingly provided with locking column air inlets 1-3 for supplying air to the second accommodating holes 1-9 separately. When air is ventilated to the locking column 1-2 through the locking column air inlet 1-3, the locking column 1-2 enters the second accommodating hole 1-9 to achieve position locking (the locking column 1-2 can be designed as a cylinder that automatically retracts when there is no air, or the locking column 1-2 is connected to the cylinder that automatically retracts when there is no air), closing the radial floating ability of the radial floating assembly; the position teaching for automatic grinding when locked can also ensure safety during shutdown. Figure 3 In the embodiment, except for the first accommodating hole and the second accommodating hole, the remaining holes on the front side of the multi-channel cylinder body are mounting holes.

[0034] The front end of the thrust column 1-1 is processed into a plane or a curved surface. In this embodiment, the front end of the thrust column 1-1 is processed into a plane.

[0035] The number of the first receiving holes is 6 to 10. In this embodiment, the number of the first receiving holes is 6, so as to reduce the processing cost and the amount of constant force cylinders used.

[0036] The thrust column 1-1 is installed in the multi-channel cylinder body 1-6 through a wear-resistant sleeve to reduce mechanical wear of the thrust column 1-1 and the multi-channel cylinder body 1-6. In this embodiment, the wear-resistant sleeve is a steel sleeve.

[0037] The sliding seat 1-4 is slidably arranged between the sliding seat cover 1-5 and the constant force base 1 to play a buffering role, thereby avoiding direct collision between the pneumatic spindle 3 and the constant force base 1 during operation and reducing collision noise.

[0038] The sliding seat 1-4 and the sliding seat cover 1-5 are made of PC material.

[0039] The maximum floating angle of the pneumatic main shaft 3 in the radial direction is 4°-6°. In this embodiment, the maximum floating angle of the pneumatic main shaft 3 in the radial direction is 4°. Example 2

[0040] like Figure 4 As shown, it is similar to Example 1, the difference being that a groove is processed on the front side of the thrust column 1-1, and a ball 1-7 is arranged in the groove. The arrangement of the ball can change sliding friction into rolling friction, effectively reducing the wear on the front end of the thrust column and extending the service life.

[0041] Furthermore, the ball 1-7 is arranged on the front side of the thrust column 1-1 away from the pneumatic main shaft 3. The farther away from the center of the floating ring 2-2, the greater the stroke change of the thrust column 1-1 under the same radial floating angle (tilt angle of the floating ring 2-2), and the more precise or delicate the control of the resultant force during radial floating is. Without changing other design structures and parameters, the eccentrically arranged ball 1-7 can further improve the constant force control quality and delicacy of the radial constant force floating.

[0042] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the embodiments shown and described herein.

Claims

1. A radial floating constant force grinding tool, characterized in that: It comprises a pneumatic main shaft (3) and a constant force component and a radial floating component sleeved on the pneumatic main shaft (3); The constant force assembly comprises a sliding seat cover (1-5), a sliding seat (1-4) and a multi-channel cylinder body (1-6) arranged from back to front along the pneumatic main shaft (3); the sliding seat cover (1-5) and the multi-channel cylinder body (1-6) are mounted on the constant force base (1), and a gap is provided between the sliding seat cover (1-5), the multi-channel cylinder body (1-6) and the outer wall of the pneumatic main shaft (3); the sliding seat (1-4) is fixed on the pneumatic main shaft (3); The radial floating assembly comprises a pneumatic spindle fixing ring (2-3) and a floating ring (2-2) installed along the front and rear of the pneumatic spindle (3), and the pneumatic spindle fixing ring (2-3) and the floating ring (2-2) move with the pneumatic spindle (3); and also comprises a cover body (2) connected to the constant force base (1), and the floating ring (2-2) and the pneumatic spindle fixing ring (2-3) are movably arranged in the cover body (2); the outer side surface of the floating ring (2-2) is processed into an arc surface (2-1); the outer side surface of the floating ring (2-2) can be rotatably abutted against the inner side surface of the cover body (2), and the floating ring (2-2) has a movable margin in the axial direction; there is a gap between the outer side wall of the pneumatic spindle fixing ring (2-3) and the inner side surface of the cover body (2) for providing radial movable space for the pneumatic spindle (3); The front side of the multi-channel cylinder body (1-6) is uniformly processed with a plurality of first accommodating holes (1-8) for accommodating the thrust columns (1-1), each of the first accommodating holes (1-8) being provided with a constant force cylinder and a thrust column (1-1), and an annular air path is provided inside the multi-channel cylinder body (1-6) for simultaneously supplying air to each constant force cylinder. During the grinding operation, the front sides of the plurality of thrust columns (1-1) are abutted against the floating ring (2-2), pushing the thrust columns (1-1) forward to balance the backward force from the pneumatic spindle (3), and the constant force cylinder pushes the thrust columns (1-1) to the front side of the floating ring (2-2). 1-1) applies a constant force, the floating ring (2-2) is subjected to a combined force of F from the multiple thrust columns (1-1), the pneumatic spindle (3) is subjected to radial force and tilts during grinding, the floating ring (2-2) tilts accordingly, the multiple thrust columns (1-1) perform corresponding contraction or forward movement with the posture of the floating ring (2-2), at this time, the force applied by each constant force cylinder to the thrust column (1-1) remains unchanged, the combined force of F from the multiple thrust columns (1-1) on the floating ring (2-2), thereby achieving a constant force state of the pneumatic spindle (3) in the radial direction during grinding; The front side of the multi-channel cylinder body (1-6) is also processed with a plurality of second accommodating holes (1-9) for accommodating locking columns (1-2), the second accommodating holes (1-9) are provided with locking columns (1-2), and the outer side surface of the multi-channel cylinder body (1-6) is correspondingly provided with locking column air inlets (1-3) for supplying air to the second accommodating holes (1-9) separately. When air is ventilated to the locking columns (1-2) through the locking column air inlets (1-3), the locking columns (1-2) enter the second accommodating holes (1-9) to achieve position locking, thereby closing the radial floating ability of the radial floating assembly; when locked, the position is used for automatic grinding teaching.

2. The radial floating constant force grinding tool according to claim 1, characterized in that: The front end of the thrust column (1-1) is processed into a flat surface or a curved surface.

3. The radial floating constant force grinding tool according to claim 1, characterized in that: The front side surface of the thrust column (1-1) is processed with a groove, and a ball (1-7) is arranged in the groove.

4. The radial floating constant force grinding tool according to claim 3, characterized in that: The ball (1-7) is arranged on a side of the front side of the thrust column (1-1) that is away from the pneumatic main shaft (3).

5. The radial floating constant force grinding tool according to claim 1, characterized in that: The number of the first receiving holes is 6-10.

6. The radial floating constant force grinding tool according to claim 1, characterized in that: The thrust column (1-1) is installed in the multi-channel cylinder body (1-6) via a wear-resistant sleeve, so as to reduce mechanical wear of the thrust column (1-1) and the multi-channel cylinder body (1-6).

7. The radial floating constant force grinding tool according to claim 1, characterized in that: The sliding seat (1-4) is slidably arranged between the sliding seat cover (1-5) and the constant force base (1) to play a buffering role.

8. The radial floating constant force grinding tool according to claim 7, characterized in that: The sliding seat (1-4) and the sliding seat cover (1-5) are made of PC material.

9. The radial floating constant force grinding tool according to claim 1, characterized in that: The maximum floating angle of the pneumatic main shaft (3) in the radial direction is 4°-6°.

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