Variable-diameter air bag polishing device

Abstract

The invention discloses a variable-diameter air bag polishing device, and relates to the technical field of robot polishing, and the device comprises a connecting flange connected with the tail end of a mechanical arm; the actuator base body is connected with the connecting flange; the grinding and polishing head is connected with the actuator base body; the grinding and polishing head comprises an air bag diameter adjusting structure, a motor and a grinding and polishing head head structure. The air bag diameter adjusting structure is a mechanical iris structure, and the size of the central circular aperture of the mechanical iris structure is adjusted through a plurality of mutually overlapped arc-shaped thin metal blades; one end of the arc-shaped thin metal blade is a revolute pair, an arc-shaped track is arranged in the middle, and the arc-shaped thin metal blade is driven by the small cylindrical pin to move along the arc-shaped track while the arc-shaped sheet can be controlled to be opened and closed; the motor drives the opening and closing degrees of the arc-shaped thin metal blades through gear transmission, different opening and closing degrees correspond to different hole diameters in the middle, and the diameter of the air bag can be adjusted by adjusting the hole diameters.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic grinding, and particularly to a variable-diameter airbag polishing device. Background Art

[0002] As a flexible machining method, airbag polishing technology demonstrates unique advantages in aspects such as curved surface polishing and edge treatment due to its good compliance and scalability, and has been widely applied in the field of ultra-precision machining of optical elements and complex curved surface parts. Existing airbag grinding and polishing devices usually adjust the polishing force and the expansion degree of the airbag through air pressure control, but the diameter size of most devices is fixed, or different specifications of airbag components need to be manually replaced to adapt to workpieces of different sizes, which is not only cumbersome to operate but also difficult to achieve precise control of the polishing area.

[0003] In addition, some airbag grinding and polishing devices have deficiencies in force control and position maintenance. During the polishing process, due to the unevenness of the workpiece surface or the change of the polishing pressure, the airbag may displace or deform, resulting in unstable polishing force and affecting the polishing quality.

[0004] Wang Zhenzhong et al. adopted a fixed-diameter or simply inflated airbag structure in the Chinese invention patent application "An airbag polishing component, an airbag polishing device and an airbag polishing equipment" (Application No.: CN202211441128.2), and applied a mechanical iris structure to the variable-diameter structure of the airbag, enabling the airbag to have a certain deformation ability. However, when facing workpieces with different curvatures, this device needs to frequently replace airbag tools of different sizes, resulting in reduced processing efficiency and increased costs.

[0005] Therefore, those skilled in the art are committed to developing a new airbag polishing device to solve the above-mentioned defects in the prior art. Summary of the Invention

[0006] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to develop an airbag grinding and polishing device with both force control and position maintenance functions and a variable diameter, which can improve the intelligence and automation level of airbag polishing technology.

[0007] To achieve the above object, the present invention provides a variable-diameter airbag polishing device, including: A connecting flange, which is connected to the end of the robotic arm; An actuator base, which is connected to the connecting flange; A grinding and polishing head, which is connected to the actuator base; Wherein, the grinding and polishing head includes an airbag diameter adjustment structure, a motor and a grinding and polishing head head structure; The airbag diameter adjustment structure is a mechanical iris structure, which adjusts the size of the central circular aperture of the mechanical iris structure through a number of overlapping arc-shaped thin metal blades; one end of the arc-shaped thin metal blade is a rotating pair, with an arc-shaped track in the middle. While driving the arc-shaped thin metal blade to move along the arc-shaped track through a small cylindrical pin, the opening and closing of the arc-shaped piece can be controlled; the motor drives the opening and closing degree of the arc-shaped thin metal blade through gear transmission. Different opening and closing degrees correspond to different apertures in the middle. By adjusting the aperture size, the adjustment of the airbag diameter can be achieved.

[0008] Further, the polishing head is made of multiple layers of rubber materials, has elasticity, and the outer surface is covered with polishing materials.

[0009] Further, a number of air chambers are arranged inside the polishing head. Each air chamber is connected through an air passage, and a micro-channel is integrated inside. The temperature of the polishing area is controlled by the circulating coolant in the micro-channel.

[0010] Further, a pressure reducing valve, a distance sensor, a sliding guide rail, a sliding platform, an inclination sensor, an electromagnetic reversing valve, an electric screw rod, a stopper and a force sensor are integrated inside the actuator base; the pressure reducing valve and the electromagnetic reversing valve jointly adjust the internal air pressure of the polishing head to change the contact force.

[0011] Further, the sliding platform is located on the sliding guide rail and is connected to the polishing head.

[0012] Further, the electric screw rod is threadedly connected to the sliding platform, and the electric screw rod drives the sliding platform to control the feed amount of the polishing head.

[0013] Further, the sliding platform expands and contracts within the constraint range of the stopper.

[0014] Further, the force sensor is installed at the connection between the polishing head and the actuator base and is configured at the end of the sliding platform to detect the polishing force during the operation in real time.

[0015] Further, the inclination sensor is arranged between the electromagnetic reversing valve and the electric screw rod to obtain the attitude information of the actuator base.

[0016] Further, the distance sensor is installed on one side close to the polishing head to measure the distance between the polishing head and the workpiece; the controller controls the rotation speed and rotation direction of the motor through the motor driver according to the signals collected by the force sensor, the inclination sensor and the distance sensor, so as to achieve precise control of the airbag diameter and the feed amount.

[0017] The variable-diameter airbag polishing device provided by the present invention has at least the following technical effects: 1. The technical solution provided by the present invention can improve the polishing quality. The diameter of the airbag can be automatically adjusted according to the shape and size of the workpiece, ensuring precise fitting of the polishing area to the workpiece surface, achieving a uniform polishing effect, and effectively avoiding the problem of uneven polishing caused by traditional fixed-size polishing tools.

[0018] 2. The technical solution provided by the present invention can improve the polishing efficiency. There is no need to manually replace airbags of different specifications or adjust the equipment, simplifying the operation process and improving the overall work efficiency.

[0019] 3. The applicability of the technical solution provided by the present invention is enhanced. The device can better adapt to workpieces of various complex shapes and sizes, expand its application fields, and at the same time has significant cost-effectiveness, being able to reduce the types and quantities of enterprise equipment procurement, bringing significant cost-effectiveness to the enterprise.

[0020] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the drawings to fully understand the purpose, features and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the device structure of a preferred embodiment of the present invention; Figure 2 is Figure 1 a schematic diagram of the internal structure of the actuator base of the illustrated embodiment; Figure 3 is Figure 1 a schematic diagram of the polishing head structure and its variable-diameter state of the illustrated embodiment.

[0022] In particular, 1 - connecting flange, 2 - actuator base, 21 - pressure reducing valve, 22 - distance sensor, 23 - sliding guide rail, 24 - sliding platform, 25 - inclination sensor, 26 - electromagnetic directional valve, 27 - electric lead screw, 28 - limiter, 29 - force sensor, 3 - polishing head, 31 - motor, 32 - airbag diameter adjustment structure, 33 - airbag. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following introduces multiple preferred embodiments of the present invention with reference to the accompanying drawings of the specification to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0024] In the drawings, components with the same structure are denoted by the same numeral labels, and components with similar structures or functions everywhere are denoted by similar numeral labels. The dimensions and thicknesses of each component shown in the drawings are arbitrarily illustrated, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustration clearer, the thicknesses of some components in the drawings are appropriately exaggerated in some places.

[0025] Embodiment 1 As Figure 1 shown, an embodiment of the present invention provides a variable-diameter airbag polishing device, including: a connecting flange 1, an actuator base 2, and a polishing head 3.

[0026] Among them, the connecting flange 1 is connected to the end of the robotic arm; the actuator base 2 is connected to the connecting flange 1; the polishing head 3 is connected to the actuator base 2.

[0027] Particularly, the polishing head 3 includes a motor 31, an airbag diameter adjustment structure 32, and an airbag 33.

[0028] Particularly, the airbag diameter adjustment structure 32 is a mechanical iris structure, and the size of the central circular aperture of the mechanical iris structure is adjusted by a plurality of overlapping arc-shaped thin metal blades; one end of the arc-shaped thin metal blade is a revolute pair, and there is an arc-shaped track in the middle. While driving the arc-shaped thin metal blade to move along the arc-shaped track through a small cylindrical pin, the opening and closing of the arc-shaped piece can be controlled; the motor 31 drives the opening and closing degree of the arc-shaped thin metal blade through gear transmission. Different opening and closing degrees correspond to different apertures in the middle. The airbag 33 is restricted by this aperture, and the adjustment of the airbag diameter can be achieved by adjusting the aperture size. Figure 3 shows the mechanical iris structure, as well as the large-aperture state and the small-aperture state.

[0029] Embodiment 2 On the basis of Embodiment 1, the polishing head 3 is made of multiple layers of rubber materials, has elasticity, and the outer surface is covered with a polishing material. A plurality of air chambers are provided inside the polishing head 3, and each air chamber is communicated through an air duct. The number and size of the air chambers can be adjusted according to actual needs. A microchannel is integrated inside the polishing head 3, and the temperature of the polishing area is controlled by the circulating coolant in the microchannel to ensure the processing stability of heat-sensitive materials and reduce the error caused by temperature.

[0030] Embodiment 3 On the basis of Embodiment 1 or 2, as Figure 2 shown, a pressure reducing valve 21, a distance sensor 22, a sliding guide 23, a sliding platform 24, an inclination sensor 25, an electromagnetic reversing valve 26, an electric screw rod 27, a stopper 28, and a force sensor 29 are integrated inside the actuator base 2.

[0031] The sliding platform 24 is located on the sliding guide rail 23 and is connected to the grinding and polishing head 3. The electric lead screw 27 is threadedly connected to the sliding platform 24, and the electric lead screw 27 drives the sliding platform 24 to achieve the control of the feed amount of the grinding and polishing head 3. The sliding platform 24 expands and contracts within the constraint range of the position limiter 28 to ensure operation safety. The force sensor 29 is installed at the connection between the grinding and polishing head 3 and the actuator base 2 and is arranged at the end of the sliding platform 24 for real-time detection of the grinding and polishing force during the operation. The inclination sensor 25 is integrated in the actuator base 2 and is arranged between the electromagnetic directional control valve 26 and the electric lead screw 27 to obtain the attitude information of the actuator base 2 for compensating the self-weight of the grinding and polishing head at different inclinations to improve the accuracy of force control. The electromagnetic directional control valve 26 and the pressure reducing valve 21 jointly adjust the internal air pressure of the airbag 33 of the grinding and polishing head 3 to change the contact force.

[0032] Embodiment 4 On the basis of Embodiment 1, 2 or 3, the control system includes a controller, a force sensor 29, an inclination sensor 25, a distance sensor 22, an electric lead screw 27, a motor 31 and a motor driver. Among them, the distance sensor 22 is installed near the grinding and polishing head 3 for measuring the distance between the grinding and polishing head 3 and the workpiece. The controller controls the rotation speed and rotation direction of the motor through the motor driver according to the feedback signals of the force sensor 29, the inclination sensor 25 and the distance sensor 22 to achieve the precise control of the airbag diameter and the feed amount.

[0033] The control of the control system includes adjusting the diameter, force control closed loop and feed amount adjustment.

[0034] Specifically, regarding the adjustment of the diameter, first, according to the actual engineering experience, the optimal radius adjustment amount required for different shaped workpieces is calibrated, which can also be simplified into discrete multiple gears. After adjusting the radius according to the workpiece switching, subsequent processing under the force control closed loop is carried out while fitting the workpiece.

[0035] Regarding the force control closed loop, the force control closed loop system includes a pressure reducing valve 21, an electromagnetic directional control valve 26 and a controller. The force sensor 29 monitors the grinding and polishing force. When there is a deviation between the grinding and polishing force and the target value, the controller controls the pressure reducing valve 21 and the electromagnetic directional control valve 26 to adjust the air pressure of the airbag 33 according to the deviation signal, thereby achieving the precise control of the grinding and polishing force. The pressure reducing valve 21 is used to adjust the air pressure of the airbag 33 in the grinding and polishing head 3, and the electromagnetic directional control valve 26 is used to control the on-off of the air circuit. The controller calculates the control signal through the PID control algorithm or the fuzzy control algorithm according to the feedback signal of the force sensor and controls the actions of the pressure reducing valve 21 and the electromagnetic directional control valve 26.

[0036] Regarding the feed amount adjustment, the control system controls the feed amount of the electric lead screw 27 through the motor driver according to the feedback signal of the distance sensor 22 to keep the distance between the grinding and polishing head 3 and the workpiece within a certain error range (such as 0.5 mm).

[0037] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art in this technical field based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art should fall within the protection scope determined by the claims.

Claims

1. A variable-diameter airbag polishing device, characterized in that The device includes: A connecting flange, which is connected to the end of the robotic arm; An actuator base body, which is connected to the connecting flange; A grinding and polishing head, which is connected to the actuator base body; Wherein, the grinding and polishing head includes an airbag diameter adjustment structure, a motor and a grinding and polishing head head structure; The airbag diameter adjustment structure is a mechanical iris structure, and the size of the central circular aperture of the mechanical iris structure is adjusted by a plurality of overlapping arc-shaped thin metal blades; one end of the arc-shaped thin metal blade is a revolute pair, and there is an arc-shaped track in the middle. While driving the arc-shaped thin metal blade to move along the arc-shaped track through a small cylindrical pin, the opening and closing of the arc-shaped piece can be controlled; the motor drives the opening and closing degree of the arc-shaped thin metal blade through gear transmission. Different opening and closing degrees correspond to different apertures in the middle, and the diameter of the airbag can be adjusted by adjusting the aperture size.

2. The variable-diameter airbag polishing device according to claim 1, characterized in that, The grinding and polishing head is made of multiple layers of rubber materials, has elasticity, and the outer surface is covered with a polishing material.

3. The variable-diameter airbag polishing device according to claim 2, characterized in that A plurality of air chambers are arranged inside the grinding and polishing head, and each air chamber is communicated through an air passage, and a microchannel is integrated inside. The temperature of the polishing area is controlled by the circulating coolant in the microchannel.

4. The variable-diameter airbag polishing device according to claim 1, characterized in that, A pressure reducing valve, a distance sensor, a sliding guide rail, a sliding platform, an inclination sensor, an electromagnetic reversing valve, an electric lead screw, a limiter and a force sensor are integrated inside the actuator base body; the pressure reducing valve and the electromagnetic reversing valve jointly adjust the internal air pressure of the grinding and polishing head to change the contact force.

5. The variable-diameter airbag polishing device according to claim 4, wherein, The sliding platform is located on the sliding guide rail and is connected to the grinding and polishing head.

6. The variable-diameter airbag polishing device according to claim 5, wherein, The electric lead screw is threadedly connected to the sliding platform, and the electric lead screw drives the sliding platform to control the feed amount of the grinding and polishing head.

7. The variable-diameter airbag polishing device according to claim 6, wherein, The sliding platform expands and contracts within the constraint range of the limiter.

8. The variable-diameter airbag polishing device according to claim 7, wherein, The force sensor is installed at the connection between the grinding and polishing head and the actuator base body and is arranged at the end of the sliding platform for real-time detection of the grinding and polishing force during the operation.

9. The variable-diameter airbag polishing device according to claim 8, wherein, The inclination sensor is arranged between the electromagnetic reversing valve and the electric lead screw to obtain the attitude information of the actuator base body.

10. The variable-diameter airbag polishing device according to claim 9, characterized in that, The distance sensor is installed on one side close to the grinding and polishing head for measuring the distance between the grinding and polishing head and the workpiece; the controller controls the rotation speed and rotation direction of the motor through the motor driver according to the signals collected by the force sensor, the inclination sensor and the distance sensor, and realizes the precise control of the airbag diameter and the feed amount.

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