Force control grinding device for robot

Abstract

The invention provides a force control grinding device for a robot. The force control grinding device comprises a motor seat, a driving motor, a transmission assembly, a bearing seat, a grinding wheel, a rotating shaft and a force control mechanism. The force control mechanism and the grinding tool are combined together, the grinding force is controllable, the grinding impact force can be isolated, the grinding stability and precision are improved, meanwhile, the motor is connected with the grinding wheel through the transmission assembly, the occupied space of the grinding wheel is greatly reduced, interference generated by the size of the motor when a complex curved surface, especially a high-gradient element is machined is avoided, and the machining precision is improved. The grinding wheel is clamped and fixed through the front-end flange and the rear-end flange to be used as an independent component, grinding wheels of different sizes and particle sizes can be replaced conveniently, an inner hole of the front-end flange is matched with the conical section of the main shaft through taper, the loading capacity is high, transmission is stable, self-locking performance is achieved, connection is reliable, the front end and the rear end of the grinding wheel are fixed and supported through bearings, and better stability is achieved. And vibration and abrasion are reduced, the service life is prolonged, and the precision is improved.

Description

Technical Field

[0001] The invention relates to the field of grinding equipment, and in particular to a force-controlled grinding device for a robot. Background Art

[0002] With the rapid development of national defense science and technology, aerospace, information technology and other fields, optical components are widely used in many large scientific facilities and high-end equipment applications, and the engineering requirements for their quality are becoming more and more stringent. The optical component processing process mainly adopts the grinding forming method, using super-hard abrasive grinding wheels combined with high-performance grinding equipment to grind the optical components, and obtain micron-level high-precision, high-quality, and low-damage optical components with high removal rate; Ultra-precision CNC grinding machines are currently commonly used high-performance grinding equipment. Due to their high requirements for precision performance, they have problems such as high cost, long development cycle, and high development difficulty. At the same time, they also face challenges such as limited processing size and space, poor machine tool versatility, and expensive equipment maintenance costs. Therefore, designing a force-controlled grinding device for a robot that is small in size, reliable in connection, and easy to disassemble and maintain becomes an urgent problem to be solved. Summary of the invention

[0003] 1. Technical issues to be resolved In order to solve the above problems in the prior art, the present invention provides a force-controlled grinding device for a robot.

[0004] (II) Technical solution In order to achieve the above object, the main technical solutions adopted by the present invention include: A force-controlled grinding device for a robot, comprising a motor seat, a drive motor, a transmission assembly, a bearing seat, a grinding wheel, a rotating shaft and a force-controlled mechanism; The bearing seats are provided in two groups, which are symmetrically arranged at the bottom of the motor seat; The rotating shaft is installed between the two sets of bearing seats; The grinding wheel is mounted on the rotating shaft; The driving motor is mounted on the motor seat and connected to the rotating shaft through the transmission assembly; The force control mechanism is mounted on the motor seat.

[0005] Preferably, it also includes an overload protection mechanism, which includes a gear hub, an engagement sleeve, an electromagnetic coil, a spring, a guide rod, an outer shell and a shift fork armature; The rotating shaft is disconnected, and the disconnected end of the rotating shaft is equipped with the gear hub; The engagement sleeve is installed on one of the gear hubs, and when the engagement sleeve moves the connection between the two gear hubs, the disconnected rotating shaft is connected; The shift fork armature is connected to the engagement sleeve; The electromagnetic coil is installed in the outer shell and is arranged on one side of the shift fork armature. When the electromagnetic coil is energized, the armature is attracted to move toward the electromagnetic coil, and the engagement sleeve moves to the connection between the two gear hubs. The guide rod is horizontally installed in the outer shell, and the shift fork armature is provided with a guide hole corresponding to the guide rod; The spring is installed on the guide rod, one end of the spring is connected to the inner wall of the housing, and the other end of the spring is connected to the shift fork armature.

[0006] Preferably, a limiting flange ring is installed on one side of the electromagnetic coil close to the shift fork armature, and the limiting flange ring blocks the electromagnetic coil and the shift fork armature, so that a magnetic attraction gap is retained between the electromagnetic coil and the shift fork armature.

[0007] Preferably, the transmission assembly includes a driving wheel, a driven wheel and a synchronous belt; The driving wheel is connected to the driving motor; The driven wheel is connected to one end of the rotating shaft; The synchronous belt connects the driving wheel and the driven wheel.

[0008] Preferably, the rotating shaft includes a truncated cone portion and a connecting portion, and the connecting portion is provided in two groups, which are respectively installed at two ends of the truncated cone portion and connected to the corresponding bearing seat.

[0009] Preferably, it further comprises a front end flange and a rear end flange, wherein the front end flange and the rear end flange clamp the grinding wheel front and back and then fix the grinding wheel via bolts, and fix the grinding wheel on the truncated table portion.

[0010] Preferably, one end of the bottom of the force control mechanism is connected to the motor seat via a lower end flange, and one end of the top of the force control mechanism is connected to the end effector of the industrial robot via a terminal flange.

[0011] (III) Beneficial effects The beneficial effects of the present invention are: The present invention combines a force control mechanism with a grinding tool, so that the grinding force is controllable, the grinding impact force can be isolated, and the grinding stability and precision are improved. At the same time, the motor and the grinding wheel are connected through a transmission component, which greatly reduces the space occupied by the grinding wheel and avoids interference caused by the motor size when processing complex curved surfaces, especially high-steepness components. The grinding wheel is clamped and fixed by the front end flange and the rear end flange and used as a separate component, which is convenient for replacing grinding wheels of different sizes and grain sizes. The inner hole of the front end flange and the tapered section of the main shaft are matched through a taper, so the load capacity is strong, the transmission is stable, it has self-locking properties, and the connection is reliable. The front and rear ends of the grinding wheel are fixedly supported by bearings, which has better stability, uniform force, reduced vibration and wear, and improved life and precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of the structure of a force-controlled grinding device for a robot Figure 1 ; Figure 2 A schematic diagram of the structure of a force-controlled grinding device for a robot Figure 2 ; Figure 3 It is a schematic diagram of the internal structure of a force-controlled grinding device for a robot; Figure 4 It is a structural diagram of the overload protection mechanism.

[0013] [Description of Reference Numerals] 1. Motor seat; 2. Drive motor; 3. Transmission components; 31. Driving wheel; 32. Driven wheel; 33. Synchronous belt; 4. Bearing seat; 5. Grinding wheel; 6. Force control mechanism; 7. Lower end flange; 8. End flange; 9. Rotation axis; 91. truncated cone portion; 92. connecting portion; 10. Overload protection mechanism; 101. Outer shell; 102. Gear hub; 103. Guide rod; 104. Shift fork armature; 105. Spring; 106. Electromagnetic coil; 107. Engaging sleeve; 108. Limiting flange ring. DETAILED DESCRIPTION

[0014] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0015] Please refer to Figures 1 to 3 , the first embodiment of the present invention: A force-controlled grinding device for a robot, comprising a motor seat 1, a drive motor 2, a transmission assembly 3, a bearing seat 4, a grinding wheel 5, a rotating shaft 9 and a force-controlled mechanism 6; The bearing seats 4 are provided in two groups, which are symmetrically arranged at the bottom of the motor seat 1; The rotating shaft 9 is installed between the two sets of bearing seats 4; The grinding wheel 5 is mounted on the rotating shaft 9; The driving motor 2 is mounted on the motor base 1 and connected to the rotating shaft 9 through the transmission assembly 3; The force control mechanism 6 is installed on the motor base 1; It should be noted that the force control mechanism 6 of the present application is the force control device ACF121 of FERROBOTICS, and the maximum expected force set by the force control flange is 500 N, the compression amount is 48 mm, and the accuracy is 5N.

[0016] In this embodiment, the transmission assembly 3 includes a driving wheel 31, a driven wheel 32 and a synchronous belt 33; The driving wheel 31 is connected to the driving motor 2; The driven wheel 32 is connected to one end of the rotating shaft 9; The synchronous belt 33 connects the driving wheel 31 and the driven wheel 32; When in use, the motor drives the driving wheel 31 to rotate, and the driving wheel 31 drives the driven wheel 32 to rotate through the synchronous belt 33.

[0017] In this embodiment, the rotating shaft 9 includes a truncated cone portion 91 and a connecting portion 92 . The connecting portion 92 is provided in two groups, which are respectively installed at two ends of the truncated cone portion 91 and connected to the corresponding bearing seat 4 .

[0018] In this embodiment, a front end flange and a rear end flange are further included, and the front end flange and the rear end flange clamp the grinding wheel 5 front and back and fix the grinding wheel 5 on the truncated cone portion 91 through bolts.

[0019] In this embodiment, the bottom end of the force control mechanism 6 is connected to the motor base 1 through the lower end flange 7, and the top end of the force control mechanism 6 is connected to the end effector of the industrial robot through the end flange 8; When in use, the present invention combines the force control mechanism 6 with the grinding tool, the grinding force is controllable, the grinding impact force can be isolated, and the grinding stability and precision are improved. At the same time, the motor and the grinding wheel 5 are connected through the transmission component 3, which greatly reduces the space occupied by the grinding wheel 5 and avoids interference caused by the motor size when processing complex curved surfaces, especially high-steepness components. The grinding wheel 5 is clamped and fixed by the front end flange and the rear end flange and used as a separate component, which is convenient for replacing grinding wheels 5 of different sizes and grain sizes. The inner hole of the front end flange and the tapered section of the main shaft are matched through the taper, with strong load capacity, smooth transmission, self-locking, and reliable connection. The front and rear ends of the grinding wheel 5 are fixedly supported by bearings, which has better stability, uniform force, reduced vibration and wear, and improved life and precision.

[0020] refer to Figure 4 , the second embodiment of the present invention: On the basis of the above-mentioned embodiment 1, an overload protection mechanism 10 is further included, and the overload protection mechanism 10 includes a gear hub 102, an engagement sleeve 107, an electromagnetic coil 106, a spring 105, a guide rod 103, an outer shell 101 and a shift fork armature 104; The rotating shaft 9 is disconnected, and the gear hub 102 is installed at the disconnected portion of the rotating shaft 9; The engagement sleeve 107 is installed on one of the gear hubs 102, and when the engagement sleeve 107 moves the connection between the two gear hubs 102, the disconnected rotating shaft 9 is connected; The shift fork armature 104 is connected to the engagement sleeve 107; The electromagnetic coil 106 is installed in the outer shell 101 and is arranged on one side of the shift fork armature 104. When the electromagnetic coil 106 is energized, the armature is attracted to move toward the electromagnetic coil 106, and the engagement sleeve 107 moves to the connection between the two gear hubs 102; The guide rod 103 is horizontally installed in the outer shell 101, and the shift fork armature 104 is provided with a guide hole corresponding to the guide rod 103; The spring 105 is mounted on the guide rod 103, one end of the spring 105 is connected to the inner wall of the outer shell 101, and the other end of the spring 105 is connected to the shift fork armature 104; When in use, the electromagnetic coil 106 generates magnetism after being energized, attracting the shift fork armature 104 to move in the direction of the electromagnetic coil 106. The shift fork armature 104 overcomes the spring 105 and moves to the connection between the two gear hubs 102, so that the rotating shaft 9 is in a connected state and can be used for normal use. When the external grinding is too large, the electromagnetic coil 106 is de-energized, and the shift fork armature 104 is separated from the connection between the two gear hubs 102 under the action of the spring 105, so that the rotating shaft 9 is disconnected, thereby achieving overload protection.

[0021] In this embodiment, a limiting flange ring 108 is installed on one side of the electromagnetic coil 106 close to the shift fork armature 104, and the limiting flange ring 108 blocks between the electromagnetic coil 106 and the shift fork armature 104, so that a magnetic attraction gap is retained between the electromagnetic coil 106 and the shift fork armature 104; During the process of magnetic connection between the shift fork armature 104 and the electromagnetic coil 106, a magnetic gap is retained between the electromagnetic coil 106 and the shift fork armature 104 due to the influence of the limiting flange ring 108. Due to the characteristics of magnetic attraction, when the magnetic attraction part is close to the magnetically attracted part, the magnetic force increases with the decrease of the stroke. At the end stroke position, the magnetic attraction force will be significantly improved. Therefore, in this application, normal voltage is first passed through the electromagnetic coil 106 to generate corresponding magnetic force to attract the shift fork armature 104, and then the limiting flange ring 108 is used to make the distance between the shift fork armature 104 and the electromagnetic coil 106 meet the position requirement of the end stroke in the magnetic attraction characteristic, and then the voltage of the electromagnetic coil 106 is reduced so that the magnetic attraction force can just overcome the force of the spring 105, and finally the rotating shaft 9 is in a connected state, thereby reducing the heat generated by the electromagnetic coil 106.

[0022] The working principle of the present invention is as follows: The present invention combines the force control mechanism 6 with the grinding tool, the grinding force is controllable, the grinding impact force can be isolated, and the grinding stability and precision are improved. At the same time, the motor and the grinding wheel 5 are connected through the transmission component 3, which greatly reduces the space occupied by the grinding wheel 5 and avoids interference caused by the motor size when processing complex curved surfaces, especially high-steepness components. The grinding wheel 5 is clamped and fixed by the front end flange and the rear end flange and used as a separate component, which is convenient for replacing grinding wheels 5 of different sizes and grain sizes. The inner hole of the front end flange and the tapered section of the main shaft are matched through the taper, with strong load capacity, smooth transmission, self-locking, and reliable connection. The front and rear ends of the grinding wheel 5 are fixedly supported by bearings, which has better stability, uniform force, reduced vibration and wear, and improved life and precision.

[0023] The circuits, electronic components and modules involved are all prior art and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to software and methods.

[0024] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

[0025] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A force-controlled grinding device for a robot, characterized in that: It includes a motor seat, a driving motor, a transmission assembly, a bearing seat, a grinding wheel, a rotating shaft and a force control mechanism; The bearing seats are provided in two groups, which are symmetrically arranged at the bottom of the motor seat; The rotating shaft is installed between the two sets of bearing seats; The grinding wheel is mounted on the rotating shaft; The driving motor is mounted on the motor seat and connected to the rotating shaft through the transmission assembly; The force control mechanism is mounted on the motor seat.

2. A force-controlled grinding device for a robot according to claim 1, characterized in that: It also includes an overload protection mechanism, which includes a gear hub, an engagement sleeve, an electromagnetic coil, a spring, a guide rod, an outer shell, and a shift fork armature; The rotating shaft is disconnected, and the disconnected end of the rotating shaft is equipped with the gear hub; The engagement sleeve is installed on one of the gear hubs, and when the engagement sleeve moves the connection between the two gear hubs, the disconnected rotating shaft is connected; The shift fork armature is connected to the engagement sleeve; The electromagnetic coil is installed in the outer shell and is arranged on one side of the shift fork armature. When the electromagnetic coil is energized, the armature is attracted to move toward the electromagnetic coil, and the engagement sleeve moves to the connection between the two gear hubs. The guide rod is horizontally installed in the outer shell, and the shift fork armature is provided with a guide hole corresponding to the guide rod; The spring is installed on the guide rod, one end of the spring is connected to the inner wall of the housing, and the other end of the spring is connected to the shift fork armature.

3. A force-controlled grinding device for a robot according to claim 2, characterized in that: A limiting flange ring is installed on one side of the electromagnetic coil close to the shift fork armature, and the limiting flange ring blocks the electromagnetic coil and the shift fork armature, so that a magnetic attraction gap is retained between the electromagnetic coil and the shift fork armature.

4. A force-controlled grinding device for a robot according to claim 1, characterized in that: The transmission assembly includes a driving wheel, a driven wheel and a synchronous belt; The driving wheel is connected to the driving motor; The driven wheel is connected to one end of the rotating shaft; The synchronous belt connects the driving wheel and the driven wheel.

5. A force-controlled grinding device for a robot according to claim 1, characterized in that: The rotating shaft includes a truncated cone portion and a connecting portion. The connecting portion is provided in two groups, which are respectively installed at two ends of the truncated cone portion and connected to the corresponding bearing seats.

6. A force-controlled grinding device for a robot according to claim 5, characterized in that: It also includes a front end flange and a rear end flange, which clamp the grinding wheel front and back and then fix it through bolts, and fix the grinding wheel on the truncated table part.

7. A force-controlled grinding device for a robot according to claim 1, characterized in that: One end of the bottom of the force control mechanism is connected to the motor seat through a lower end flange, and one end of the top of the force control mechanism is connected to the end effector of the industrial robot through a terminal flange.

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