Buffer module and automatic polishing device

Abstract

The buffer module comprises a bottom frame, a double-rotating-shaft mechanism is arranged in the bottom frame, the double-rotating-shaft mechanism comprises a first rotating shaft assembly, the first rotating shaft assembly is slidably and rotatably connected with the bottom frame, and a second rotating shaft assembly is slidably and rotatably connected to the first rotating shaft assembly; the first rotating shaft assembly and the second rotating shaft assembly are perpendicularly arranged, a vertically-sliding top frame is arranged at the upper end of the second rotating shaft assembly, the lower end of the top frame is arranged in the bottom frame, the lower end of the top frame and the inner wall of the bottom frame are arranged at intervals, and a plurality of elastic pieces are arranged between the top frame and the bottom frame. The buffer module is a flexible multi-degree-of-freedom elastic mechanism, so that the difficulty of a control system of the automatic polishing device is reduced, the polishing efficiency is improved, the safety of a polishing tool is improved, and the service life of a movement mechanism is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of grinding equipment, in particular to a buffer module and an automatic grinding device. Background Art

[0002] In the field of intelligent equipment, automated production and manufacturing, it is often necessary to perform automatic grinding processing on workpieces, such as castings, forgings, welded parts, and extruded blanks. This automatic grinding process generally requires the use of automatic grinding devices or equipment, such as automatic grinding robots, automatic grinding gantry (or trusses), automatic grinding machine tools, human-machine collaborative grinding devices, etc. This type of automatic grinding device or equipment usually installs an electric grinding tool on a multi-degree-of-freedom motion mechanism, and controls the contact surface and contact force between the grinding tool (which can also be a grinding wheel or grinding wheel) of the electric grinding tool and the workpiece through the motion mechanism to achieve grinding of the specified part of the workpiece.

[0003] Since the grinding of most workpieces requires the use of hard grinding heads, the control mode of the contact surface and contact force between the grinding tool and the workpiece by the automatic grinding device is a key link in the automatic grinding process. This control mode usually depends on the connection structure between the grinding tool and the motion mechanism. This connection structure generally adopts two modes, one is a hard connection method, and the other is a buffer (flexible) connection mode. The buffer connection mode has many advantages over the hard connection mode due to the existence of a flexible link. For example, it can reduce the difficulty of the automatic control system, improve the grinding efficiency, increase the safety of the grinding tool or tool, and extend the service life of the transmission mechanism of the grinding device. For this reason, the present invention proposes a buffer module for an automatic grinding device. Summary of the invention

[0004] The present invention proposes a buffer module and an automatic grinding device. The buffer module is a flexible multi-degree-of-freedom elastic mechanism, which is convenient for reducing the difficulty of the automatic grinding device control system, improving the grinding efficiency, increasing the safety of the grinding tool, and extending the service life of the motion mechanism.

[0005] The technical solution of the present invention is implemented as follows: a buffer module for an automatic grinding device includes a base frame, a double-axis mechanism is arranged in the base frame, the double-axis mechanism includes a first axis assembly, the first axis assembly is slidably and rotatably connected to the base frame, a second axis assembly is slidably and rotatably connected to the first axis assembly, the first axis assembly and the second axis assembly are vertically arranged, a vertically sliding top frame is arranged at the upper end of the second axis assembly, the lower end of the top frame is placed in the base frame, and is spaced from the inner wall of the base frame, and a plurality of elastic members are arranged between the top frame and the base frame.

[0006] Furthermore, the first rotating shaft assembly includes a bracket shaft, both ends of the bracket shaft are slidably and rotatably connected with the bracket, and the bracket is fixed in the base frame.

[0007] Furthermore, the second rotating shaft assembly includes a yoke shaft and a yoke, the yoke shaft slides and rotates through the middle of the bracket shaft, the yoke shaft and the bracket shaft are vertically arranged, both ends of the yoke shaft are connected with side plates, the side plates are connected to the lower end of the yoke, and the upper end of the yoke is vertically slidably connected to the top frame.

[0008] Furthermore, the top frame includes a pressure plate, a cover plate is arranged at the upper end of the pressure plate, a center hole is arranged on the pressure plate, a movable cavity is arranged between the center hole and the cover plate, and the upper end of the yoke slides vertically through the center hole and is placed in the movable cavity.

[0009] Furthermore, a vertical flat key is arranged in the center hole, a key slot is arranged on the side wall of the yoke for vertical sliding along the flat key, and a limiting pin is also arranged on the yoke on the upper side of the center hole to prevent the pressure plate from falling off the yoke.

[0010] Furthermore, the base frame includes a bottom plate, an outer cover is arranged at the upper end of the bottom plate, and the double-shaft mechanism and the elastic member are both located inside the outer cover.

[0011] Furthermore, a lower interface is provided on the bottom plate at a position corresponding to the elastic member, and the lower end of the elastic member is connected to the lower interface.

[0012] Furthermore, an upper interface is provided at a position on the pressure plate corresponding to the elastic member, and the upper end of the elastic member is connected to the upper interface.

[0013] Furthermore, cotter pins are provided at both ends of the yoke shaft.

[0014] An automatic grinding device comprises a motion mechanism and a grinding tool, wherein the buffer module is arranged between the motion mechanism and the grinding tool.

[0015] Furthermore, the motion mechanism is connected to the bottom frame, and the grinding tool is connected to the top frame.

[0016] Beneficial effects of the present invention:

[0017] The buffer module of the present invention is a multi-degree-of-freedom elastic mechanism with a certain flexibility. When a force in one or several directions is applied to the bottom plate of the module, the mechanism will automatically produce a certain displacement change according to the direction of the force and can transmit a force of corresponding magnitude to the grinding mechanism connected to the top frame. When the force disappears, the top frame of the module will return to its original position, and the force acting on the grinding mechanism will also disappear.

[0018] The buffer module of the present invention can be installed between the motion mechanism and the grinding tool of the automatic grinding device. During grinding, when the grinding head or tool of the grinding tool contacts the workpiece, the module has a certain flexibility, so that the contact force (or feed amount) between the grinding head or tool and the workpiece has a certain buffer amount. Due to the existence of this buffer amount, the control and response parameters of the grinding force or feed displacement of the grinding head or tool of the grinding device have a larger adjustable range, so the control difficulty of the grinding device can be reduced, and it has good adaptability within a certain range, which is convenient for adjusting the control parameters. Similarly, when the positional relationship between the tool of the grinding tool and the workpiece suddenly changes during the grinding process, the module has a buffering effect, which can avoid the generation of a large sudden contact force, so the impact on the grinding head or tool can be greatly reduced, and the safety of the grinding tool can be improved; in addition, since there is a flexible buffer between the motion mechanism of the grinding device and the grinding tool, the continuous vibration impact on the motion mechanism of the grinding device during normal grinding can also be greatly reduced, which is beneficial to prolonging the service life of the transmission components in the motion mechanism of the grinding device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 is a schematic diagram of the structure of the buffer module;

[0021] Figure 2 is a schematic diagram of the internal structure of the buffer module;

[0022] Figure 3 is a top view of the base plate;

[0023] Figure 4 is a schematic diagram of the structure of the bracket;

[0024] Figure 5 is a schematic diagram of the structure of the bracket shaft;

[0025] Figure 6 It is a schematic diagram of the structure of the yoke;

[0026] Figure 7 is a top view of the pressure plate;

[0027] Figure 8 is a top view of the cover plate;

[0028] Fig. 9 is a top view of the outer cover;

[0029] Fig.10 It is a structural schematic diagram of the yoke shaft;

[0030] Fig.11 It is a structural schematic diagram of the automatic grinding device.

[0031] Base plate 1, outer cover 2, bracket shaft 3, bracket 4, through hole 5, yoke shaft 6, yoke 7, yoke shaft hole 8, side plate 9, pressure plate 10, cover plate 11, center hole 12, movable cavity 13, pin 14, keyway 15, elastic member 16, lower interface 17, upper interface 18, moving mechanism 19, grinding tool 20. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] like Figure 1 , 2 As shown in , 4, 5 and 9, a buffer module for an automatic grinding device includes a base frame, the base frame includes a circular base plate 1, the upper end of the base plate 1 is fixed with an outer cover 2 by bolts, the outer cover 2 is cylindrical, a double-axis mechanism is arranged on the base plate 1 inside the outer cover 2, the double-axis mechanism includes a first axis assembly and a second axis assembly, the first axis assembly includes a bracket shaft 3, both ends of the bracket shaft 3 are slidably and rotatably connected with a bracket 4, that is, a through hole 5 is arranged on the bracket 4, the end of the bracket shaft 3 slides through the corresponding through hole 5, the end of the bracket shaft 3 can slide axially along the through hole 5, and can also rotate in the through hole 5, the bracket 4 is fixed to the base plate 1 by bolts, and the axial rotation of the bracket shaft 3 does not interfere with the base plate 1.

[0034] like Figure 2 , 5 , 6 and 10, the middle part of the bracket shaft 3 is a cube, and the two ends of the cube are perpendicular to the axis of the bracket shaft 3. The size of the cube is larger than the inner diameter of the through hole 5 to prevent the bracket shaft 3 from falling off the bracket 4. The second shaft assembly includes a yoke shaft 6 and a yoke 7. The yoke shaft 6 slides and rotates through the middle part of the bracket shaft 3. The yoke shaft 6 and the bracket shaft 3 are vertically arranged, that is, the middle part of the bracket shaft 3 is provided with a yoke shaft hole 8. The yoke shaft 6 slides through the yoke shaft hole 8, and the yoke shaft 6 can slide axially along the yoke shaft hole 8 and can also rotate in the yoke shaft hole 8. The axis of the yoke shaft hole 8 and the axis of the bracket shaft 3 are perpendicularly arranged, and the intersection of the two axes is the center point of the bracket shaft 3.

[0035] Both ends of the yoke shaft 6 are connected with side plates 9. Specifically, after the end of the yoke shaft 6 passes through the side plates 9, the end is plugged with a cotter pin to prevent the yoke shaft 6 from falling off. The side plates 9 are connected to the lower end of the yoke 7. The side plates 9 and the yoke 7 can be an integrated structure. The upper end of the yoke 7 is vertically slidably connected to the top frame. The spacing between the two side plates 9 is slightly larger than the front and rear width of the cube and the front and rear width of the bracket 4, so that when the yoke 7 rotates with the yoke shaft 6 as the axis, there is no interference between the bracket 4 and the bracket shaft 3.

[0036] like Figure 2 , 7 As shown in Figure 8, the top frame includes a circular pressing plate 10, which is placed in the outer cover 2, and the pressing plate 10 is spaced apart from the outer cover 2. The upper end of the pressing plate 10 is fixed with a cover plate 11 by bolts. A center hole 12 is provided on the pressing plate 10, and an active cavity 13 is provided between the upper end of the center hole 12 and the cover plate 11. The upper end of the yoke 7 vertically slides through the center hole 12 and is placed in the active cavity 13. A limited column pin 14 is also inserted on the yoke 7 on the upper side of the center hole 12. The setting of the pin shaft prevents the pressing plate 10 from falling off the yoke 7. A vertical flat key is fixed in the center hole 12, and a key slot 15 is provided on the side wall of the yoke 7 for vertical sliding along the flat key. Through the cooperation of the key slot 15 and the flat key, the yoke 7 can only slide vertically along the center hole 12 and cannot rotate circumferentially.

[0037] like Figure 2 , 3 As shown in FIG. 7 , elastic members 16 are evenly distributed along the circumferential direction between the pressure plate 10 and the base plate 1. The elastic members 16 are located in the outer cover 2 and arranged along the circumferential direction of the dual-shaft mechanism. The elastic member 16 can be a compression spring, a disc spring, an air spring, a rubber spring, etc. A lower interface 17 is provided at a position corresponding to the elastic member 16 on the base plate 1, and the lower end of the elastic member 16 is connected to the lower interface 17. An upper interface 18 is provided at a position corresponding to the elastic member 16 on the pressure plate 10, and the upper end of the elastic member 16 is connected to the upper interface 18. If the elastic member 16 is a compression spring, the lower interface 17 and the upper and lower interfaces 17 are all circular grooves, and the ends of the compression springs are placed in the corresponding circular grooves.

[0038] like Fig.11 As shown, the automatic grinding device includes a motion mechanism 19 and a grinding tool 20, the motion mechanism 19 is connected to the base frame, and the grinding tool 20 is connected to the top frame. Specifically, the base plate 1 is connected to the motion mechanism 19 by bolts, and the cover plate 11 is connected to the grinding tool 20 by bolts.

[0039] When a force is applied between the base plate 1 and the cover plate 11, the cover plate 11 will swing and displace within a certain range around the bracket axis 3 relative to the base plate 1 according to the direction and magnitude of the force, or move downward within a certain range in a direction perpendicular to the base plate 1, or both; when the force between the base plate 1 and the cover plate 11 disappears, the base plate 1 and the cover plate 11 will return to their original positions under the action of the elastic member 16; thereby achieving the purpose and technical effect of flexible buffering.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A buffer module for an automatic grinding device, characterized in that: It includes a base frame, a double-rotating axis mechanism is arranged in the base frame, the double-rotating axis mechanism includes a first rotating axis assembly, the first rotating axis assembly is slidably and rotatably connected to the base frame, a second rotating axis assembly is slidably and rotatably connected to the first rotating axis assembly, the first rotating axis assembly and the second rotating axis assembly are vertically arranged, a vertically sliding top frame is arranged at the upper end of the second rotating axis assembly, the lower end of the top frame is placed in the base frame and is spaced apart from the inner wall of the base frame, and a plurality of elastic members are arranged between the top frame and the base frame.

2. The buffer module for an automatic grinding device according to claim 1, characterized in that: The first rotating shaft assembly comprises a bracket shaft, both ends of which are slidably and rotatably connected with brackets, and the brackets are fixed in the bottom frame.

3. The buffer module for an automatic grinding device according to claim 2, characterized in that: The second rotating shaft assembly includes a yoke shaft and a yoke. The yoke shaft slides and rotates through the middle of the bracket shaft. The yoke shaft and the bracket shaft are vertically arranged. Both ends of the yoke shaft are connected with side plates. The side plates are connected to the lower end of the yoke. The upper end of the yoke is vertically slidably connected to the top frame.

4. The buffer module for an automatic grinding device according to claim 3, characterized in that: The top frame includes a pressing plate, a cover plate is arranged at the upper end of the pressing plate, a center hole is arranged on the pressing plate, an active cavity is arranged between the center hole and the cover plate, and the upper end of the yoke vertically slides through the center hole and is placed in the active cavity.

5. The buffer module for an automatic grinding device according to claim 4, characterized in that: A vertical flat key is arranged in the center hole, a keyway which slides vertically along the flat key is arranged on the side wall of the yoke, and a limiting pin is also arranged on the yoke on the upper side of the center hole to prevent the pressure plate from falling off the yoke.

6. The buffer module for an automatic grinding device according to claim 1, characterized in that: The bottom frame comprises a bottom plate, an outer cover is arranged at the upper end of the bottom plate, and the double-shaft mechanism and the elastic member are both located inside the outer cover.

7. The buffer module for an automatic grinding device according to claim 6, characterized in that: A lower interface is arranged at a position on the bottom plate corresponding to the elastic member, and the lower end of the elastic member is connected to the lower interface.

8. The buffer module for an automatic grinding device according to claim 4, characterized in that: An upper interface is arranged at a position on the pressing plate corresponding to the elastic member, and the upper end of the elastic member is connected to the upper interface.

9. An automatic grinding device, comprising a motion mechanism and a grinding tool, characterized in that: A buffer module according to any one of claims 1 to 8 is arranged between the motion mechanism and the grinding tool.

10. The automatic grinding device according to claim 9, characterized in that: The motion mechanism is connected to the bottom frame, and the grinding tool is connected to the top frame.

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