Special-shaped part surface polishing equipment

Abstract

The invention discloses special-shaped part surface polishing equipment, which belongs to the technical field of polishing equipment, and structurally comprises a shell, a U-shaped seat, a C-shaped support body and a flexible polishing sleeve, sliding rails are arranged on the two sides of the interior of the shell correspondingly, the two sides of the U-shaped base are in embedded sliding connection with the two sliding rails correspondingly, the C-shaped supporting body is rotationally installed at the end of the U-shaped base, and the flexible polishing sleeve is installed on the outer side of the C-shaped supporting body in a sleeving mode. A notch is formed in the side portion of the C-shaped supporting body, and a channel for contracting towards the inner side of the C-shaped supporting body is provided for the flexible polishing sleeve. The device is suitable for grinding and polishing the surfaces of curved-surface parts, it is guaranteed that the grinding force is evenly distributed, and the situation that precision is reduced due to local stress concentration and excessive grinding is prevented; on the basis, when a part with a complex surface structure is polished, grinding heads in different shapes do not need to be replaced frequently by changing the shape of a grinding working area, operation is convenient and fast, and the continuous use effect of the equipment is good.

Description

Technical Field

[0001] The invention relates to the technical field of polishing equipment, in particular to a surface polishing equipment for special-shaped parts. Background Art

[0002] Small polishing equipment using the positioning system of the robot arm, the grinding and polishing elements are small in size, the overall movement of the equipment is flexible, and it can perform all-round polishing on the outer side of the parts and implement surface treatment on the parts; The existing application number is CN202311671524.9, which is a manipulator polishing device for industrial automation. The patent document discloses a coordinated control of a small-sized grinding head and a manipulator, combined with sandpapers of different surface roughnesses, to cope with polishing treatments of different needs. Specifically: by controlling the centrifugal force of the grinding shell rotation speed and the performance of the electromagnetic ring, sandpapers of different mesh sizes are automatically replaced during the grinding process of the grinding equipment to adjust the grinding effect of the grinding equipment; sandpapers with larger mesh sizes have finer abrasive particles, which are suitable for repairing and polishing small surface defects and providing higher surface smoothness; sandpapers with smaller mesh sizes have coarser abrasive particles, which are suitable for grinding rough surfaces and removing thicker material layers. By replacing sandpapers of different mesh sizes, the grinding effect of the grinding equipment can be adjusted as needed to achieve the required smoothness and roughness, thereby adjusting the grinding effect and achieving grinding and polishing of the equipment; However, when using the technical solution in the above-mentioned patent document, by replacing sandpaper with different roughness on the surface of the grinding head, it can adapt to the differentiated grinding needs of heterogeneous parts such as metal alloys, composite materials and engineering plastics. However, the surface of the grinding head is always a planar structure. When polishing curved parts, due to problems such as local contact stress concentration of sandpaper, abnormal material removal rate gradient and insufficient surface quality consistency, the equipment will be limited in its use on parts with tortuous or curved contour surfaces. Therefore, the present application provides a surface polishing device for special-shaped parts. Summary of the invention

[0003] In order to solve the deficiencies in the above-mentioned prior art, the purpose of the present invention is to provide a surface polishing equipment for special-shaped parts, which is suitable for grinding and polishing the surface of curved parts, ensuring uniform distribution of grinding force, and preventing the occurrence of precision reduction caused by local stress concentration and excessive grinding; on this basis, when polishing parts with complex surface structures, by changing the shape of the grinding working area, there is no need to frequently replace grinding heads of different shapes, the operation is convenient, and the continuous use of the equipment is effective.

[0004] The technical solution adopted by the present invention to solve the technical problem is: Provided is a surface polishing device for special-shaped parts, comprising a shell, a U-shaped seat, a C-shaped support body and a flexible polishing sleeve; slide rails are respectively arranged on both sides of the interior of the shell, and both sides of the U-shaped seat are respectively slidably engaged with the two slide rails, the C-shaped support body is rotatably mounted on the end of the U-shaped seat, and the flexible polishing sleeve is sleeved and mounted on the outer side of the C-shaped support body; a notch is arranged on the side of the C-shaped support body, providing a channel for the flexible polishing sleeve to shrink toward the inner side of the C-shaped support body; a lateral pushing seat I is horizontally slidably mounted in the C-shaped support body, and an insert I on the side of the lateral pushing seat I is slidably engaged with the flexible polishing sleeve.

[0005] Among them, an opening is provided on one side of the shell, and the flexible polishing sleeve extends to the outside of the shell through the opening. A handle is installed on the other side of the shell where the opening is provided. The handle is detachably and fixedly connected to the clamping module at the end of the robotic arm; the robotic arm can use the Ark X5 type robotic arm or the Daming TM12 type robotic arm that can be purchased on the market.

[0006] Furthermore, end covers are fixedly installed at both ends of the C-shaped support body, the flexible polishing sleeve is clamped between the two end covers, and limit plates are fixedly installed on the upper and lower sides of the U-shaped seat end, the end cover and the limit plate are engaged and rotatably connected, and the upper and lower ends of the lateral push seat I are respectively abutted against the inner side surfaces of the two end covers.

[0007] An optional technical solution for the flexible polishing sleeve used in the present application is: the flexible polishing sleeve is made of hydrogenated nitrile rubber as a whole, and the outer side of the flexible polishing sleeve is solidified with silicon carbide abrasives through an electrostatic sand planting process.

[0008] Another optional technical solution for the flexible polishing sleeve used in the present application is: the flexible polishing sleeve adopts a double-layer composite structure, the inner layer is a polyurethane elastic buffer layer, and the outer layer is a polishing and grinding layer; the polishing and grinding layer can use a wear-resistant nylon material layer doped with corundum particles or a polyimide material layer reinforced with diamond micropowder.

[0009] Furthermore, a joystick is vertically slidably installed in the C-shaped support body, and the side of the joystick is connected to the lateral pushing seat II through multiple connecting rods I, and the two ends of the connecting rod I are respectively rotatably connected to the joystick and the lateral pushing seat II, and the top of the joystick passes through the end cover and the limit plate located on the upper side.

[0010] Furthermore, a lateral pushing seat II is horizontally and slidably installed in the C-shaped support body, and a plurality of inner support columns are fixedly installed on the side of the lateral pushing seat II. The inner support columns penetrate the C-shaped support body and are slidably connected to the C-shaped support body. An iron core is built into the end of the inner support column. The iron core is connected to the magnetic insert on the inner side of the flexible polishing sleeve through magnetic adsorption coupling. The lateral pushing seat II is connected to the joystick through a plurality of connecting rods II. The two ends of the connecting rod II are respectively rotatably connected to the joystick and the lateral pushing seat II. The lateral pushing seat I and the lateral pushing seat II are respectively located on both sides of the joystick.

[0011] Furthermore, the joystick is rotatably connected to the slide seat, the slide seat is slidably engaged with the guide slideway in the end cover located on the upper side, and the joystick is slidably connected to the slide groove I in the limit plate located on the upper side; the side of the U-shaped seat is equipped with a drive control seat I and an electric cylinder I for controlling the horizontal movement of the drive control seat I, the drive control seat I is slidably connected to the drive control seat II, the top of the U-shaped seat is equipped with an I-shaped column and an electric cylinder II for driving the I-shaped column to slide vertically, and the I-shaped column is slidably engaged with the slide groove II in the middle of the drive control seat II.

[0012] Furthermore, the C-shaped support body is provided with an arc groove near the notch, a limiting rib is slidably installed in the arc groove, and an insert II on the side of the limiting rib is engaged and plug-connected with the flexible polishing sleeve.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The surface polishing equipment for special-shaped parts in the example of the present invention controls the joystick to move along its own axial direction, and under the action of multiple connecting rods I, drives the lateral pushing seat I to move horizontally, pulling the flexible polishing sleeve from the notch on the side of the C-shaped support body to the inside of the C-shaped support body, forming a curved polishing area on one side of the flexible polishing sleeve; continue to control the movement of the joystick, gradually adjust the shape of the curved polishing area to make it correspond to the surface of the part to be polished, ensure that the polishing force is evenly distributed, and prevent the occurrence of precision reduction caused by local stress concentration and excessive polishing.

[0014] 2. The surface polishing equipment for special-shaped parts in the example of the present invention controls the C-shaped support body to continuously rotate relative to the U-shaped seat, drives the flexible polishing sleeve to continuously rotate with the axis of the C-shaped support body as the axis, and adjusts the position of the joystick so that the flexible polishing sleeve, under the action of its own elastic properties, restores the position corresponding to the curved polishing area to the corresponding arc of the outer side of the C-shaped support body. Under the action of centrifugation, each position outside the curved polishing area acts evenly on the surface of the workpiece to implement semi-fine grinding and polishing treatment; it is suitable for plane polishing, large-area descaling, and paint repair processing.

[0015] 3. The surface polishing equipment for special-shaped parts in the example of the present invention adjusts the rotation angle of the C-shaped support body in the shell so that the curved polishing area on the flexible polishing sleeve protrudes outward through the opening on the side of the shell, and controls the overall movement of the equipment so that the curved polishing area abuts against the outer side of the part. At the same time, the U-shaped seat is controlled to move back and forth between the slide rails on both sides of the shell to perform reciprocating fine grinding and polishing on the curved surface of the part; it is suitable for fine finishing of local positions of parts with high surface accuracy; because the reciprocating lifting control of the U-shaped seat and the vertical movement control of the joystick do not interfere with each other, the shape of the grinding work area can be changed in real time, which effectively copes with the grinding and polishing of parts with complex surface structures, and there is no need to frequently replace grinding heads of different shapes. The operation is convenient and the continuous use of the equipment is effective.

[0016] 4. The surface polishing equipment for special-shaped parts in the example of the present invention controls the vertical movement of the joystick to drive the lateral pushing seat I and the lateral pushing seat II to move simultaneously in the direction close to the axis of the joystick; a curved polishing area and a flat polishing area are respectively formed on both sides of the flexible polishing sleeve; in this process, a local position on the side of the flexible polishing sleeve shrinks and transforms into a flat polishing area, and deformation space is reserved for the flexible polishing sleeve by means of local shrinkage, so that it is suitable for use with flexible polishing sleeves with poor elasticity.

[0017] 5. The surface polishing equipment for special-shaped parts in the example of the present invention controls the horizontal movement of the drive control seat I, drives the drive control seat II and the joystick to move horizontally synchronously, and pulls the flexible polishing sleeve to extend from the notch on the side of the C-shaped support body to form a ridge; during this process, the joystick slides in the slide groove I, the I-shaped column slides in the slide groove II, and the slide slides in the guide slide; according to the degree of extension, the ridge is arc-shaped or conical, and is used for grinding and polishing the outer side of the parts with a long strip of concave structure on the outside. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A schematic diagram of the overall structure of a special-shaped parts surface polishing device provided by an embodiment of the present invention; Figure 2 A cross-sectional view of a surface polishing device for special-shaped parts provided by an embodiment of the present invention Figure 1 ; Figure 3 A cross-sectional view of a housing provided by an embodiment of the present invention; Figure 4 Schematic diagram of the structure of the surface polishing equipment for special-shaped parts provided by the embodiment of the present invention Figure 1 ; Figure 5 Schematic diagram of the structure of the surface polishing equipment for special-shaped parts provided by the embodiment of the present invention Figure 2 ; Figure 6 A cross-sectional view of a surface polishing device for special-shaped parts provided by an embodiment of the present invention Figure 2 ; Figure 7 An exploded view of the structure of the surface polishing equipment for special-shaped parts provided by an embodiment of the present invention; Figure 8 A schematic diagram of the structure of a C-shaped support body and a flexible polishing sleeve provided in an embodiment of the present invention; Fig. 9 A schematic diagram of the structure of the lateral pushing seat II and the inner support column provided in an embodiment of the present invention; Fig.10 An exploded view of the structure of the slide cylinder and the slide post provided in the embodiment of the present invention; Fig.11 An exploded view of the structure of the lateral push seat Ⅰ, the cross column Ⅰ and the insert Ⅰ provided in an embodiment of the present invention; Fig.12 This is a structural exploded view of the limiting ribs, cross column II and insert II provided in an embodiment of the present invention.

[0019] In the figure: 11, housing; 111, slide rail; 12, handle; 13, motor I; 21, U-shaped seat; 22, horizontal groove frame; 23, drive control seat I; 24, electric cylinder I; 25, drive control seat II; 26, I-shaped column; 27, electric cylinder II; 28, motor II; 29, transmission belt; 31, C-shaped support body; 32, end cover; 321, guide slide; 322, gear shaft; 33, limit plate; 331, slide groove I; 34, flexible polishing sleeve; 341, magnetic insert; 342, Plane polishing area; 343, curved surface polishing area; 35, arc groove; 36, limit rib; 37, cross column II; 371, latch II; 38, insert II; 41, slide seat; 42, joystick; 43, lateral push seat II; 44, inner support column; 45, connecting rod I; 46, lateral push seat I; 47, cross column I; 471, latch I; 48, insert I; 5, connecting rod II; 51, articulated seat I; 52, slide cylinder; 53, slide column; 54, articulated seat II; 55, spring. DETAILED DESCRIPTION

[0020] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0021] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0022] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0023] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings.

[0026] Embodiment 1: like Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 7 and Figure 8 As shown, this embodiment provides a surface polishing device for special-shaped parts, including a shell 11, a U-shaped seat 21, a C-shaped support body 31 and a flexible polishing sleeve 34; slide rails 111 are respectively arranged on both sides of the interior of the shell 11, and both sides of the U-shaped seat 21 are respectively slidably connected with the two slide rails 111, the C-shaped support body 31 is rotatably installed on the end of the U-shaped seat 21, and the flexible polishing sleeve 34 is sleeved and installed on the outer side of the C-shaped support body 31, and an opening is arranged on one side of the shell 11; a notch is arranged on the side of the C-shaped support body 31 to provide a channel for the flexible polishing sleeve 34 to shrink toward the inner side of the C-shaped support body 31; a lateral pushing seat Ⅰ46 is horizontally slidably installed in the C-shaped support body 31, and the insert Ⅰ48 on the side of the lateral pushing seat Ⅰ46 is slidably connected with the flexible polishing sleeve 34.

[0027] like Figure 1 , Figure 2 and Figure 3As shown, the flexible polishing sleeve 34 extends to the outside of the shell 11 through the opening, and the shell 11 is provided with a handle 12 installed on the other side of the opening, and the handle 12 is detachably fixedly installed with the clamping module at the end of the robot arm; the robot arm uses the Ark X5 robot arm or the Daming TM12 robot arm that can be purchased on the market; combined with the positioning system of the robot arm, the grinding and polishing position of the equipment is accurately adjusted, which is suitable for the surface treatment of complex structural parts.

[0028] An optional technical solution for the flexible polishing sleeve 34 used in the present application is: the flexible polishing sleeve 34 is made of hydrogenated nitrile rubber as a whole, and the outer side of the flexible polishing sleeve 34 is solidified with silicon carbide abrasives through an electrostatic sand planting process.

[0029] Another optional technical solution for the flexible polishing sleeve 34 used in the present application is: the flexible polishing sleeve 34 adopts a double-layer composite structure bonded to each other, with a thicker inner layer and a thinner outer layer; the inner layer is a polyurethane elastic buffer layer, and the outer layer is a polishing and grinding layer; the polishing and grinding layer can use a wear-resistant nylon material layer doped with corundum particles or a polyimide material layer reinforced with diamond micropowder.

[0030] like Figure 6 and Figure 7 As shown, end covers 32 are fixedly installed at both ends of the C-shaped support body 31, and the flexible polishing sleeve 34 is clamped between the two end covers 32. Limiting plates 33 are fixedly installed on the upper and lower sides of the end of the U-shaped seat 21, and the end covers 32 are rotatably connected with the limiting plates 33. The upper and lower ends of the lateral pushing seat Ⅰ46 are respectively abutted against the inner side surfaces of the two end covers 32.

[0031] like Figure 2 , Figure 4 and Figure 6 As shown, a joystick 42 is vertically slidably installed in the C-shaped support body 31, and the side of the joystick 42 is connected to the lateral push seat Ⅱ43 through a plurality of connecting rods Ⅰ45 of the same length; the two ends of the connecting rod Ⅰ45 are rotatably connected to the joystick 42 and the lateral push seat Ⅱ43 respectively, the top of the joystick 42 passes through the end cover 32 and the limit plate 33 located on the upper side, and the top of the U-shaped seat 21 is vertically slidably installed with a drive control seat Ⅱ25, and the end of the drive control seat Ⅱ25 is rotatably connected with the joystick 42; by controlling the vertical movement of the joystick 42, multiple connecting rods Ⅰ45 are driven to rotate synchronously, and the horizontal movement of the lateral push seat Ⅰ46 is controlled.

[0032] Among them, since the joystick 42 extends to the outside of the C-shaped support body 31, there is no need to install a driving device inside the C-shaped support body 31, the equipment is easy to manufacture and maintain, and the integrity is good.

[0033] The specific details of using the special-shaped parts surface polishing equipment of the present application to grind and polish parts are as follows: 1. Adjust the local shape of the outer side of the flexible polishing sleeve 34; The control lever 42 is moved along its own axial direction, and under the action of multiple connecting rods Ⅰ45, the lateral pushing seat Ⅰ46 is driven to move horizontally, pulling the flexible polishing sleeve 34 to shrink from the notch on the side of the C-shaped support body 31 to the inside of the C-shaped support body 31, forming a curved polishing area 343 on one side of the flexible polishing sleeve 34; the control lever 42 is continued to move, and the shape of the curved polishing area 343 is gradually adjusted to make it correspond to the surface of the part to be polished, to ensure that the polishing force is evenly distributed, and to prevent the decrease in precision caused by local stress concentration and excessive polishing.

[0034] 2. Rotary semi-fine grinding and polishing; The C-shaped support body 31 is controlled to continuously rotate relative to the U-shaped seat 21, driving the flexible polishing sleeve 34 to continuously rotate around the axis of the C-shaped support body 31, and adjusting the position of the joystick 42 so that the flexible polishing sleeve 34, under the action of its own elastic properties, restores the position corresponding to the curved polishing area 343 to the corresponding arc of the outer side of the C-shaped support body 31. Under the action of centrifugation, each position outside the curved polishing area 343 acts evenly on the surface of the workpiece to implement semi-fine grinding and polishing treatment; it is suitable for plane polishing, large-area descaling, and paint repair processing.

[0035] 3. Reciprocating fine grinding and polishing; Adjust the rotation angle of the C-shaped support body 31 in the shell 11 so that the curved polishing area 343 on the flexible polishing sleeve 34 protrudes out through the opening on the side of the shell 11, and control the overall movement of the equipment so that the curved polishing area 343 abuts against the outer side of the part. At the same time, control the U-shaped seat 21 to move back and forth between the slide rails 111 on both sides of the inside of the shell 11 to perform reciprocating fine grinding and polishing on the curved surface of the part; it is suitable for fine finishing of local positions of parts with high surface accuracy.

[0036] In the above step one, the curved polishing area 343 shrinks toward the inner side of the C-shaped support body 31 to form a depression. Depending on the degree of shrinkage, the depression is arc-shaped or conical, and is used to grind and polish the outer side of the part with a long strip-shaped raised structure on the outside; the transition between the curved polishing area 343 and the outer side of the flexible polishing sleeve 34 is used to grind and polish the outer side of the part with a narrow groove on the outside.

[0037] In the above step three, since the reciprocating lifting control of the U-shaped seat 21 and the vertical movement control of the joystick 42 do not interfere with each other, the shape of the grinding work area can be changed in real time, which can effectively cope with the grinding and polishing of parts with complex surface structures. There is no need to frequently replace grinding heads of different shapes. The operation is convenient and the equipment has a good continuous use effect.

[0038] Using the above-mentioned scheme of the present application, the curved polishing area 343 that can deform in real time is utilized to contact the surface of the part, and the handle 12 is detachably fixedly installed with the clamping module at the end of the robotic arm. Combined with the positioning system of the robotic arm, the overall movement of the equipment is controlled and the grinding and polishing position of the equipment is accurately adjusted. It is suitable for surface treatment of parts with complex structures.

[0039] The control method of the U-shaped seat 21 for vertical reciprocating sliding inside the housing 11 is as follows: like Figure 2 and Figure 3 As shown, at least two motors Ⅰ13 are installed on the outer side of the shell 11, and an eccentric rocker is fixedly installed on the output shaft of the motor Ⅰ13. The sliding pin at the end of the eccentric rocker is slidably engaged with the transverse groove frame 22 on the U-shaped seat 21, and the number of the eccentric rocker is consistent with the number of the transverse groove frame 22.

[0040] The rotation control method of the C-shaped support body 31 in this application is as follows: An optional technical solution is: install a motor on the limit plate 33 located on the lower side, so that the output shaft of the motor passes through the limit plate 33 and is connected to the end cover 32 located on the lower side through the flange structure; start the motor to directly control the C-shaped support body 31 to rotate relative to the U-shaped seat 21.

[0041] Another optional technical solution is: a gear shaft 322 is fixedly installed on the end cover 32 located at the bottom, the gear shaft 322 passes through the limit plate 33 located on the lower side and extends to the outside of the limit plate 33, and a motor II 28 is installed at the bottom of the U-shaped seat 21, and the driving gear on the output shaft of the motor II 28 is connected to the gear shaft 322 through a transmission belt 29; start the motor II 28 to control the rotation of the driving gear, and under the action of the transmission belt 29, the gear shaft 322 and the C-shaped support body 31 are driven to rotate synchronously.

[0042] During the rotation of the C-shaped support body 31, the flexible polishing sleeve 34, the operating rod 42, the connecting rod Ⅰ45, the lateral push seat Ⅰ46, the insert Ⅰ48 and the two end covers 32 are driven to rotate together; during this process, Figure 6 As shown, the annular groove on the end cover 32 is engaged and rotatably connected with the annular protrusion on the limiting plate 33.

[0043] In this embodiment, the axis of the joystick 42 and the arc center of the C-shaped support body 31 are always on the same virtual axis, and the specific method of controlling the movement of the joystick 42 is as follows; An electric cylinder is installed on the top of the U-shaped seat 21, and the movable end of the electric cylinder is connected to the drive control seat Ⅱ25; the electric cylinder is started to control the vertical movement of the drive control seat Ⅱ25, and the I-shaped structure integrally formed on the top of the joystick 42 is engaged and rotatably connected with the end of the drive control seat Ⅱ25 to drive the joystick 42 to move vertically up and down.

[0044] Embodiment 2: The features of this embodiment that are the same as those of the first embodiment are not described in detail. The difference between this embodiment and the first embodiment is that: Figure 2 , Figure 4 , Figure 6 , Figure 7 , Figure 8 and Fig.10 As shown, in this embodiment, a lateral pushing seat II 43 is horizontally slidably installed in the C-shaped support body 31, and a plurality of inner support columns 44 are fixedly installed on the side of the lateral pushing seat II 43. The inner support columns 44 penetrate the C-shaped support body 31 and are slidably connected to the C-shaped support body 31. An iron core is built into the end of the inner support column 44. The iron core is coupled with a magnetic insert 341 on the inner side of the flexible polishing sleeve 34 through magnetic adsorption. The lateral pushing seat II 43 is connected to the joystick 42 through a plurality of connecting rods II 5.

[0045] Part of the inner support column 44 has an integrally formed T-shaped structure at its end, which serves as a limit to prevent the inner support column 44 from being completely separated from the C-shaped support body 31 and ensure that the two can be stably docked again.

[0046] like Figure 8 and Fig. 9 As shown, the other side of the C-shaped support body 31 with a notch is integrally formed with a flat plate structure, and the lengths of the multiple inner support columns 44 are different; when the multiple inner support columns 44 are fully retracted, the flexible polishing sleeve 34 is abutted against the flat plate structure on the side of the C-shaped support body 31 by utilizing the magnetic attraction between the iron core and the magnetic insert 341; when the multiple inner support columns 44 are fully extended, an extrusion force from the inside to the outside is applied to the flexible polishing sleeve 34, causing the outer side of the flexible polishing sleeve 34 to return to a cylindrical surface.

[0047] The control lever 42 moves vertically, and under the action of the multiple connecting rods Ⅰ45 and Ⅱ5, the lateral push seat Ⅰ46 and the lateral push seat Ⅱ43 are driven to move simultaneously in the direction close to the axis of the joystick 42; the lateral push seat Ⅰ46 pulls the flexible polishing sleeve 34 to shrink from the notch on the side of the C-shaped support body 31 to the inside of the C-shaped support body 31; the inner support column 44 on the lateral push seat Ⅱ43 slides toward the inside of the C-shaped support body 31, and the magnetic force between the iron core and the magnetic insert 341 is used to make the flexible polishing sleeve 34 abut against the flat plate structure on the side of the C-shaped support body 31, and a curved polishing area 343 and a flat polishing area 342 are formed on both sides of the flexible polishing sleeve 34 respectively; The side of the flexible polishing sleeve 34 is partially shrunk to transform into a plane polishing area 342, and a deformation space is reserved for the flexible polishing sleeve 34 by means of partial shrinkage, so as to be suitable for the flexible polishing sleeve 34 with poor elasticity. In addition, by adjusting the rotation angle of the C-shaped support body 31 in the housing 11, the plane polishing area 342 is allowed to protrude outward through the opening on the side of the housing 11, and the plane surface of the part is reciprocated and finely ground and polished.

[0048] In this embodiment, the connecting rod II5 is in the shape of a strip plate as a whole, and the two ends of the connecting rod II5 are rotatably connected to the operating rod 42 and the lateral pushing seat II43 respectively, and the lateral pushing seat I46 and the lateral pushing seat II43 are respectively located on both sides of the operating rod 42.

[0049] Embodiment three: The features of this embodiment that are the same as those of the first embodiment are not described in detail. The difference between this embodiment and the first embodiment is that: Figure 2 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, in this embodiment, the operating rod 42 is rotatably connected to the slide seat 41, the slide seat 41 is slidably engaged with the guide slide 321 in the end cover 32 located on the upper side, and the operating rod 42 is slidably connected to the slide groove Ⅰ331 in the limit plate 33 located on the upper side; the side of the U-shaped seat 21 is installed with a drive control seat Ⅰ23 and an electric cylinder Ⅰ24 for controlling the horizontal movement of the drive control seat Ⅰ23, and a plurality of electric cylinders Ⅰ24 are provided, and the drive control seat Ⅰ23 is slidably connected with the drive control seat Ⅱ25.

[0050] In this embodiment, the axis of the joystick 42 and the arc center of the C-shaped support body 31 are not always on the same virtual axis. The specific method of controlling the movement of the joystick 42 is as follows: An I-shaped column 26 and an electric cylinder II 27 for driving the I-shaped column 26 to slide vertically are installed on the top of the U-shaped seat 21. The I-shaped column 26 is slidably connected with the slide groove II in the middle of the drive control seat II 25; starting the electric cylinder II 27 drives the control seat II 25 operating rod 42 and the drive control seat II 25 to move vertically together. During this process, the drive control seat II 25 and the drive control seat I 23 slide relative to each other.

[0051] When using the equipment of this application to grind and polish the outer side of a part with a long concave structure on the outside: First, the C-shaped support body 31 is controlled to rotate relative to the U-shaped seat 21 until the slide groove I 331 is flush with the slide groove II; Afterwards, multiple electric cylinders Ⅰ24 are started to control the horizontal movement of the drive control seat Ⅰ23, which drives the drive control seat Ⅱ25 and the joystick 42 to move horizontally synchronously, pulling the flexible polishing sleeve 34 to extend from the notch on the side of the C-shaped support body 31 to form a bulge; during this process, the joystick 42 slides in the slide groove Ⅰ331, the I-shaped column 26 slides in the slide groove Ⅱ, and the slide seat 41 slides in the guide slide 321; depending on the degree of extension, the bulge is arc-shaped or conical, which is used to grind and polish the outer side of the parts with a long strip of concave structure on the outside.

[0052] In this embodiment, the connecting rod II5 includes an articulated seat I51 and an articulated seat II54, the articulated seat I51 and the articulated seat II54 are rotatably connected to the operating rod 42 and the lateral pushing seat II43 respectively, the slide cylinder 52 on the articulated seat I51 is plug-connected and slidably connected to the slide column 53 on the articulated seat II54, and a spring 55 is sleeved and installed on the outer side of the slide column 53, and the two ends of the spring 55 are detachably fixedly connected to the ends of the slide column 53 and the slide cylinder 52 respectively; the spring 55 applies a force to the slide column 53 to slide and shrink into the slide cylinder 52, so that the shortest distance is maintained between the articulated seat I51 and the articulated seat II54; Compared with the connecting rod II5 structure in the second embodiment, the above-mentioned scheme of this embodiment can dynamically adjust the length of the connecting rod II5, so that the inner support column 44 and the C-shaped support body 31 maintain a plug-in docking state, and at the same time, ensure that the operating rod 42 can move freely horizontally relative to the C-shaped support body 31; while controlling the operating rod 42 to move horizontally relative to the C-shaped support body 31, the sliding column 53 and the sliding cylinder 52 slide relative to each other and move away from each other, and the spring 55 is gradually compressed.

[0053] Embodiment 4: The features common to the third embodiment are not described in detail here. The differences between the third embodiment and the present embodiment are as follows: Figure 7 , Figure 8 and Fig.12 As shown, in this embodiment, the C-shaped support body 31 is provided with an arc groove 35 near the notch, and a limiting rib 36 is slidably installed in the arc groove 35. The insert II 38 on the side of the limiting rib 36 is engaged and plug-connected with the flexible polishing sleeve 34.

[0054] like Fig.12 As shown, the limiting rib 36 is connected to the insert II 38 through a transverse column II 37, and the two ends of the transverse column II 37 are respectively plug-connected to the limiting rib 36 and the insert II 38 and cannot rotate relative to each other; compared with the direct connection between the limiting rib 36 and the insert II 38, the use of the transverse column II 37 can greatly reduce the direct contact area between the limiting rib 36 and the insert II 38, so that the insert II 38 can be located in a relatively central position of the side wall of the flexible polishing sleeve 34, the installation firmness of the insert II 38 on the flexible polishing sleeve 34 is better, and the equipment has high stability in use.

[0055] Among them, the limit rib 36 and the insert II 38 are respectively slidably installed with a pin II 371, and the pin II 371 is plugged into the end of the cross column II 37. By plugging and unplugging the pin II 371 on the insert II 38, the flexible polishing sleeve 34 can be easily removed from the outside of the C-shaped support body 31, and the flexible polishing sleeve 34 can be maintained and replaced.

[0056] Using the above-mentioned scheme of the present embodiment, when the flexible polishing sleeve 34 is pulled to shrink or extend from the notch on the side of the C-shaped support body 31, the flexible polishing sleeve 34 is stretched and elastically deformed, and the insert II 38 drives the limiting rib 36 to slide in the arc groove 35. After the limiting rib 36 slides to the extreme position of the arc groove 35, the insert I48 and the two inserts II 38 jointly exert a limiting effect on the flexible polishing sleeve 34, thereby constraining the deformation degree of the flexible polishing sleeve 34 in the curved polishing area 343, so that it corresponds to the shape contour of the part to be polished, ensuring that the polishing force is evenly distributed, and preventing the occurrence of precision reduction caused by local stress concentration and excessive polishing.

[0057] Embodiment five: The features of this embodiment that are the same as those of the first embodiment are not described in detail. The difference between this embodiment and the first embodiment is that: Figure 7 , Figure 8 and Fig.11 As shown, in this embodiment, the insert Ⅰ48 is connected to the lateral pushing seat Ⅰ46 through the transverse column Ⅰ47, and the two ends of the transverse column Ⅰ47 are respectively plug-connected with the lateral pushing seat Ⅰ46 and the insert Ⅰ48, and cannot rotate relative to each other; the transverse column Ⅰ47 can make the extended lateral pushing seat Ⅰ46 and the insert Ⅰ48 have a certain interval; thereby when the flexible polishing sleeve 34 is pulled outward from the side notch of the C-shaped support body 31, the local deformation caused by the direct contact between the lateral pushing seat Ⅰ46 and the inner side of the flexible polishing sleeve 34 is effectively avoided, so that the contact force between the curved polishing area 343 of the flexible polishing sleeve 34 and various parts of the part surface is balanced.

[0058] In order to improve the disassembly convenience of the flexible polishing sleeve 34, as Fig.11 As shown, a latch Ⅰ471 is slidably installed in the lateral push seat Ⅰ46 and the insert Ⅰ48 respectively, and the latch Ⅰ471 is plugged into the end of the cross column Ⅰ47; by plugging and unplugging the latch Ⅰ471 on the insert Ⅰ48, the flexible polishing sleeve 34 is disconnected from the lateral push seat Ⅰ46, and the flexible polishing sleeve 34 is maintained and replaced.

[0059] In this application, the electric cylinder can use the Winhoo SDG series electric cylinder or MOTEC servo electric cylinder or Thomson electric cylinder that can be purchased on the market; the motor can use the integrated stepper motor of Shenzhen Zhongling Technology Co., Ltd. or Silan Microelectronics SGM270SS8B7TFM motor drive module, which has a small size and high heat dissipation performance.

[0060] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0061] Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present invention, the remaining technical features will not be described here in detail.

Claims

1. A surface polishing device for special-shaped parts, comprising a housing (11), characterized in that: A U-shaped seat (21) is vertically slidably mounted in the housing (11), a C-shaped support body (31) is rotatably mounted on the U-shaped seat (21), a flexible polishing sleeve (34) is sleeved and mounted on the outer side of the C-shaped support body (31), and a notch is provided on the side of the C-shaped support body (31) to provide a channel for the flexible polishing sleeve (34) to shrink toward the inner side of the C-shaped support body (31); The two ends of the C-shaped support body (31) are respectively connected to end covers (32), the end covers (32) are engaged and rotatably connected with the limit plates (33) on the U-shaped seat (21), a lateral push seat I (46) is horizontally slidably installed between the two end covers (32), and an insert I (48) on the side of the lateral push seat I (46) is engaged and plug-connected with the flexible polishing sleeve (34); as the lateral push seat I (46) moves, the flexible polishing sleeve (34) is pulled from the notch on the side of the C-shaped support body (31) to shrink into the inside of the C-shaped support body (31), forming a curved polishing area (343) on one side of the flexible polishing sleeve (34).

2. The surface polishing equipment for special-shaped parts according to claim 1, characterized in that: A joystick (42) is vertically slidably mounted in the C-shaped support body (31); the side of the joystick (42) is connected to a lateral push seat II (43) via a plurality of connecting rods I (45); the top of the joystick (42) passes through the end cover (32) and the limit plate (33) located on the upper side; a drive control seat II (25) is vertically slidably mounted on the top of the U-shaped seat (21); the end of the drive control seat II (25) is rotatably engaged with the joystick (42).

3. The surface polishing equipment for special-shaped parts according to claim 1, characterized in that: The C-shaped support body (31) is provided with an arc groove (35) near the notch, a limiting rib (36) is slidably mounted in the arc groove (35), and an insert II (38) on the side of the limiting rib (36) is engaged and plug-connected with the flexible polishing sleeve (34).

4. The surface polishing equipment for special-shaped parts according to claim 1, characterized in that: A lateral push seat II (43) is horizontally slidably installed in the C-shaped support body (31); an inner support column (44) on the side of the lateral push seat II (43) penetrates the C-shaped support body (31) and is slidably connected to the C-shaped support body (31); the inner support column (44) is connected to a magnetically attracted insert (341) on the inner side of the flexible polishing sleeve (34) by magnetic adsorption coupling; the lateral push seat II (43) is connected to the operating rod (42) by a plurality of connecting rods II (5); and the lateral push seat I (46) and the lateral push seat II (43) are respectively located on both sides of the operating rod (42); As the operating rod (42) moves, the lateral pushing seat I (46) and the lateral pushing seat II (43) are pulled to move synchronously, and a curved surface polishing area (343) and a flat surface polishing area (342) are respectively formed on both sides of the flexible polishing sleeve (34).

5. The surface polishing equipment for special-shaped parts according to claim 4, characterized in that: The operating rod (42) is rotatably connected to the slide seat (41), the slide seat (41) is slidably engaged with a guide slideway (321) in the end cover (32) located on the upper side, and the operating rod (42) is slidably connected to a slide groove I (331) in the limit plate (33) located on the upper side; A drive control seat I (23) is horizontally slidably mounted on the side of the U-shaped seat (21), and the drive control seat I (23) is slidably connected to the drive control seat II (25). An I-shaped column (26) is vertically slidably mounted on the top of the U-shaped seat (21), and the I-shaped column (26) is slidably connected to a slide groove II in the middle of the drive control seat II (25).

6. The surface polishing equipment for special-shaped parts according to claim 1, characterized in that: The flexible polishing sleeve (34) is made entirely of hydrogenated nitrile rubber, and the outer side of the flexible polishing sleeve (34) is solidified with silicon carbide abrasives through an electrostatic sand planting process.

7. The surface polishing equipment for special-shaped parts according to claim 1, characterized in that: The flexible polishing sleeve (34) adopts a double-layer composite structure, wherein the inner layer is a polyurethane elastic buffer layer, and the outer layer is a polishing and grinding layer.

8. The surface polishing equipment for special-shaped parts according to claim 1, characterized in that: The polishing and grinding layer is a wear-resistant nylon material layer mixed with corundum particles.

9. The surface polishing equipment for special-shaped parts according to claim 1, characterized in that: The polishing and grinding layer is a polyimide material layer reinforced with diamond micropowder.

10. The surface polishing equipment for special-shaped parts according to claim 1, characterized in that: A handle (12) is installed on the outer side of the shell (11), and the handle (12) is detachably fixedly connected to a clamping module at the end of the robot arm.

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