Radial constant-force floating polishing device based on compliant constant-force mechanism

Abstract

The radial constant-force floating grinding device based on the compliant constant-force mechanism comprises a driving motor, a universal transmission shaft, a spline shaft assembly, a bearing seat, a grinding head, a radial guide mechanism, the compliant constant-force mechanism and a shell, and an output shaft of the driving motor is coaxially and fixedly connected with one end of the universal transmission shaft; the spline shaft assembly comprises a spline shaft body and a shaft sleeve; the spline shaft body is coaxially and fixedly connected with the other end of the universal transmission shaft; the bearing seat is slidably arranged in the shell through the radial guide mechanism, and the shaft sleeve penetrates through the bearing seat and is rotatably connected with the bearing seat; the tail end of the shaft sleeve extends out of the shell and is coaxially and fixedly connected with the polishing head; the output end of the compliant constant force mechanism is fixedly connected with the bearing seat; the compliant constant force mechanism is provided with a pre-tightening adjusting part used for applying pre-tightening force and adjusting the constant force output value. High-precision and quick-response constant force output can be achieved, different grinding requirements can be met, the system is simple, and the cost is controllable.

Description

Technical Field

[0001] This application relates to the field of grinding and polishing equipment technology, and in particular to a radial constant force floating grinding device based on a compliant constant force mechanism. Background Technology

[0002] In the radial grinding process of industrial robots, two main methods are used to achieve constant contact force: active constant force control and passive constant force control. Active constant force control relies on drive devices such as motors and cylinders, combined with force / displacement sensors for real-time feedback and closed-loop control. However, this system suffers from high cost, complex control, limited response bandwidth, susceptibility to environmental noise, and a high risk of force overshoot, making it difficult to meet the demands of high-speed, high-stability production. Passive constant force control typically utilizes the mechanical properties of a compliant constant force mechanism with a combination of positive and negative stiffness to achieve constant force output, offering advantages such as simple structure and lower cost. However, existing passive constant force solutions generally suffer from drawbacks such as non-adjustable constant force, large displacement and long time required to enter the constant force range, and poor adaptability. Therefore, this invention proposes a radial constant force floating grinding device based on a compliant constant force mechanism. Summary of the Invention

[0003] This application provides a radial constant force floating grinding device based on a compliant constant force mechanism, which can achieve high-precision and fast-response constant force output, adapt to different grinding needs, and the system is simple and cost-controllable.

[0004] In view of this, this application provides a radial constant force floating grinding device based on a compliant constant force mechanism, including: a drive motor, a universal drive shaft, a spline shaft assembly, a bearing housing, a grinding head, a radial guide mechanism, a compliant constant force mechanism, and a housing for connecting to an external drive device;

[0005] The drive motor is fixed to the housing, and the output shaft of the drive motor extends into the housing and is coaxially and fixedly connected to one end of the universal drive shaft.

[0006] The spline shaft assembly includes a spline shaft body and a bushing that slides with the spline shaft body;

[0007] The spline shaft body is coaxially and fixedly connected to the other end of the universal drive shaft.

[0008] The bearing housing is slidably disposed within the housing via the radial guide mechanism;

[0009] The bushing passes through the bearing housing and is rotatably connected to the bearing housing;

[0010] The end of the bushing extends out of the outer casing and is coaxially and fixedly connected to the grinding head;

[0011] The compliant constant force mechanism is arranged parallel to one side of the radial guide mechanism, and the fixed end of the compliant constant force mechanism is fixedly connected to the inner wall of the outer shell, and the output end is fixedly connected to the bearing seat.

[0012] The compliant constant force mechanism is equipped with a preload adjustment component for applying preload and adjusting the constant force output value.

[0013] Optionally, the compliant constant force mechanism includes a C-shaped fixed frame, a positive stiffness structure, a negative stiffness structure, and a guide connecting plate;

[0014] The guide connecting plate is fixedly connected to the inner walls of both sides of the C-shaped fixing frame through the negative stiffness structure;

[0015] The guide connecting plate is connected to the inner bottom wall of the C-shaped fixing frame through the positive stiffness structure;

[0016] The C-shaped fixing frame has a positive stiffness pre-tightening hole on the side away from the guide connecting plate;

[0017] The pre-tightening adjustment component is a pre-tightening bolt;

[0018] The preload bolt is threaded onto the positive stiffness preload hole and is used to preload the positive stiffness structure.

[0019] Optionally, the positive stiffness structure includes a first metal block, a second metal block, a third metal block, and four first metal flexible hinges;

[0020] The first metal block is fixedly connected to the second metal block and the third metal block on both sides by a first metal flexible hinge;

[0021] The second metal block and the third metal block are respectively fixedly connected to the end of the guide connecting plate by a first metal flexible hinge, thereby forming a parallelogram structure.

[0022] Optionally, the negative stiffness structure consists of four second metal flexible hinges;

[0023] The two sides of the guide connecting plate are respectively fixedly connected to the inner walls of the two sides of the C-shaped fixing frame through two second metal flexible hinges.

[0024] Optionally, the C-shaped fixing frame, the positive stiffness structure, the negative stiffness structure, and the guide connecting plate are integrally formed.

[0025] Optionally, the guide connecting plate is slidably connected to the inner wall of the housing.

[0026] Optionally, the radial guide mechanism includes at least one set of parallel linear guides and a slider slidably disposed on the linear guides;

[0027] The bearing housing is fixedly connected to the slider.

[0028] Optionally, the bushing includes an upper bushing and a lower bushing;

[0029] One end of the upper bushing is axially slidably connected to the spline shaft body, and the other end is coaxially fixedly connected to one end of the lower bushing;

[0030] The lower bushing is rotatably connected to the bearing seat via a bearing, and the other end of the lower bushing extends out of the outer shell and is coaxially and fixedly connected to the grinding head.

[0031] Optionally, the housing is provided with threaded holes for connecting to an external drive device.

[0032] Optionally, the grinding head is a wheel-shaped grinding head.

[0033] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: This radial constant force floating grinding device based on a compliant constant force mechanism integrates the drive motor, universal drive shaft, spline shaft assembly, bearing housing, grinding head, radial guide mechanism, and compliant constant force mechanism with built-in preload adjustment components into a housing, constructing a compact and integrated passive constant force execution unit; wherein, the cooperation between the universal drive shaft and the spline shaft assembly effectively absorbs the angular and axial displacements during the transmission process, ensuring stable power transmission to the grinding head, while the radial guide mechanism constrains the bearing housing and grinding head to float only along a preset radial direction, combined with the passive elastic reaction force applied to the output end by the parallel compliant constant force mechanism, so that the device does not need to rely on expensive external components. The displacement / force sensor and complex closed-loop control system can achieve stable radial constant force output within millimeter-level strokes using only its own mechanical structure, thus significantly reducing system cost and complexity, while avoiding the force overshoot and response lag problems common in active control. In addition, the preload adjustment component on the compliant constant force mechanism allows the operator to apply preload to the mechanism and flexibly adjust its constant force output value. This not only overcomes the shortcomings of traditional passive constant force mechanisms, such as slow entry into the constant force range and non-adjustable constant force, but also achieves rapid entry into the constant force working state. Furthermore, it greatly improves the device's adaptability to different materials and workpiece surfaces with different curvatures, as well as the adjustability of grinding processes, thus comprehensively achieving the advantages of high response speed, high stability, strong adaptability, and low cost. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the radial constant force floating grinding device based on a compliant constant force mechanism in an embodiment of this application;

[0035] Figure 2 This is a schematic diagram of the internal structure of the radial constant force floating grinding device based on a compliant constant force mechanism in an embodiment of this application;

[0036] Figure 3 This is a schematic diagram of the connection structure of the bearing housing, radial guide mechanism, and compliant constant force mechanism in the embodiments of this application;

[0037] Figure 4 This is a top view of the compliant constant force mechanism in the embodiments of this application;

[0038] Figure 5 This is a schematic diagram of the compliant constant force mechanism in the embodiments of this application.

[0039] The attached figures are labeled as follows:

[0040] 1-Outer shell, 2-Drive motor, 3-Grinding head, 4-Universal drive shaft, 5-Spline shaft body, 6-Upper bushing, 7-Lower bushing, 8-Compliant constant force mechanism, 81-C-type fixing frame, 811-Positive stiffness pre-tightening hole, 82-Positive stiffness structure, 821-First metal block, 822-Second metal block, 823-Third metal block, 824-First metal flexible hinge, 83-Negative stiffness structure, 831-Second metal flexible hinge, 84-Guide connecting plate, 9-Bearing seat, 10-Linear guide rail, 11-Slider, 12-Slide rail. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0042] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] Unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0044] This application provides an embodiment of a radial constant force floating grinding device based on a compliant constant force mechanism 8. Please refer to the following for details. Figures 1 to 3 .

[0045] The radial constant force floating grinding device based on the compliant constant force mechanism 8 in this embodiment includes: a drive motor 2, a universal drive shaft 4, a spline shaft assembly, a bearing seat 9, a grinding head 3, a radial guide mechanism, a compliant constant force mechanism 8, and a housing 1 for connecting to an external drive device. The drive motor 2 is fixed on the housing 1, and the output shaft of the drive motor 2 extends into the housing 1 and is coaxially and fixedly connected to one end of the universal drive shaft 4. The spline shaft assembly includes a spline shaft body 5 and a bushing that slides with the spline shaft body 5. The spline shaft body 5 and the universal drive shaft 4 are connected in a sliding fit. The other end of the drive shaft 4 is coaxially fixedly connected; the bearing housing 9 is slidably disposed inside the housing 1 through the radial guide mechanism, and the bushing passes through the bearing housing 9 and is rotatably connected to the bearing housing 9; the end of the bushing extends out of the housing 1 and is coaxially fixedly connected to the grinding head 3; the compliant constant force mechanism 8 is arranged parallel to one side of the radial guide mechanism, and the fixed end of the compliant constant force mechanism 8 is fixedly connected to the inner wall of the housing 1, and the output end is fixedly connected to the bearing housing 9; the compliant constant force mechanism 8 is provided with a preload adjustment component for applying preload and adjusting the constant force output value.

[0046] It should be noted that this radial constant force floating grinding device based on the compliant constant force mechanism 8 integrates the drive motor 2, universal drive shaft 4, spline shaft assembly, bearing housing 9, grinding head 3, radial guide mechanism, and the compliant constant force mechanism 8 with built-in preload adjustment components into the housing 1, constructing a compact and integrated passive constant force execution unit. The cooperation between the universal drive shaft 4 and the spline shaft assembly effectively absorbs angular and axial displacements during transmission, ensuring stable power transmission to the grinding head 3. The radial guide mechanism constrains the bearing housing 9 and the grinding head 3 to float only along a preset radial direction. Combined with the passive elastic reaction force applied to their output end by the parallel compliant constant force mechanism 8, this device does not rely on expensive external displacement / The force sensor and complex closed-loop control system can achieve stable radial constant force output within a millimeter-level stroke using only its own mechanical structure, thus significantly reducing system cost and complexity, while avoiding the force overshoot and response lag problems common in active control. In addition, the pre-tightening adjustment component on the compliant constant force mechanism 8 allows the operator to apply pre-tightening to the mechanism and flexibly adjust its constant force output value. This not only overcomes the shortcomings of traditional passive constant force mechanisms, such as slow entry into the constant force range and non-adjustable constant force, but also achieves rapid entry into the constant force working state. Furthermore, it greatly improves the device's adaptability to different materials and workpiece surfaces with different curvatures, as well as the adjustability of grinding processes, thus comprehensively achieving the advantages of high response speed, high stability, strong adaptability, and low cost.

[0047] The above is Embodiment 1 of a radial constant force floating grinding device based on a compliant constant force mechanism 8 provided in this application. The following is Embodiment 2 of a radial constant force floating grinding device based on a compliant constant force mechanism 8 provided in this application. Please refer to the following for details. Figures 1 to 5 .

[0048] The radial constant force floating grinding device based on the compliant constant force mechanism 8 in this embodiment includes: a drive motor 2, a universal drive shaft 4, a spline shaft assembly, a bearing seat 9, a grinding head 3, a radial guide mechanism, the compliant constant force mechanism 8, and a housing 1 for connecting to an external drive device. The drive motor 2 is fixed to the top of the housing 1, and the output shaft of the drive motor 2 extends into the housing 1 and is coaxially and fixedly connected to one end of the universal drive shaft 4. The spline shaft assembly includes a spline shaft body 5 and a bushing that slides with the spline shaft body 5. The other end of the universal drive shaft 4 is coaxially fixedly connected; the bearing housing 9 is slidably disposed inside the housing 1 through the radial guide mechanism, the bushing passes through the bearing housing 9 and is rotatably connected to the bearing housing 9; the end of the bushing extends out of the housing 1 and is coaxially fixedly connected to the grinding head 3; the compliant constant force mechanism 8 is arranged parallel to one side of the radial guide mechanism, and the fixed end of the compliant constant force mechanism 8 is fixedly connected to the inner wall of the housing 1, and the output end is fixedly connected to the bearing housing 9; the compliant constant force mechanism 8 is provided with a preload adjustment component for applying preload and adjusting the constant force output value.

[0049] The compliant constant force mechanism 8 includes a C-shaped fixed frame 81, a positive stiffness structure 82, a negative stiffness structure 83, and a guide connecting plate 84. The guide connecting plate 84 is fixedly connected to the inner walls of both sides of the C-shaped fixed frame 81 through the negative stiffness structure 83. The guide connecting plate 84 is in contact with the inner bottom wall of the C-shaped fixed frame 81 through the positive stiffness structure 82. A positive stiffness pre-tightening hole 811 is provided on the side of the C-shaped fixed frame 81 away from the guide connecting plate 84. The pre-tightening adjustment component is a pre-tightening bolt. The pre-tightening bolt is threadedly connected to the positive stiffness pre-tightening hole 811. When screwed, it can push the positive stiffness structure 82, thereby realizing the active pre-tightening of the positive stiffness structure 82.

[0050] It should be noted that before the device starts grinding, the compliant constant force mechanism 8 can be pre-tightened in one direction by pre-tightening bolts. This operation is equivalent to applying an overall pre-displacement to the compliant constant force mechanism 8, so that it "stores" elastic potential energy in advance, thereby directly entering the optimal constant force working range. This greatly shortens the time required for the traditional flexible mechanism to deform from zero to the constant force zone, and realizes rapid constant force response.

[0051] The positive stiffness structure 82 includes a first metal block 821, a second metal block 822, a third metal block 823, and four first metal flexible hinges 824. The two sides of the first metal block 821 are fixedly connected to the second metal block 822 and the third metal block 823 through a first metal flexible hinge 824, respectively. The second metal block 822 and the third metal block 823 are fixedly connected to the ends of the guide connecting plate 84 through a first metal flexible hinge 824, thereby forming a parallelogram mechanism that can deform in the plane and provide linear positive stiffness.

[0052] The negative stiffness structure 83 consists of four second metal flexible hinges 831. The two sides of the guide connecting plate 84 are respectively fixedly connected to the inner walls of the two sides of the C-shaped fixed frame 81 through two second metal flexible hinges 831, providing a negative stiffness effect.

[0053] Understandably, a constant reaction force is output by generating millimeter-level deformation through the first metal flexible hinge 824 of the positive stiffness structure 82 and the second metal flexible hinge 831 of the negative stiffness structure 83. This reaction force is then applied to the workpiece surface through the grinding head 3. By tightening the preload bolt, an additional preload can be applied to the first metal block 821 of the positive stiffness structure 82, changing the initial deformation degree of the first metal flexible hinge 824. Based on the principle of positive and negative stiffness superposition, adjusting the preload of the positive stiffness part allows for linear and precise adjustment of the constant force output of the entire compliant constant force mechanism 8, thereby flexibly adapting to the differentiated grinding contact force requirements of workpiece materials with different hardnesses, such as aluminum alloys and titanium alloys.

[0054] Specifically, the C-shaped fixed frame 81, the positive stiffness structure 82, the negative stiffness structure 83, and the guide connecting plate 84 are integrally formed, ensuring the high precision and high reliability of the mechanism. Through the parallel and coordinated deformation of the positive and negative stiffness parts, the compliant constant force mechanism 8 can output an approximately constant reaction force within a deformation range of millimeters.

[0055] Preferably, the guide connecting plate 84 is slidably connected to the bottom of the housing 1. Specifically, a slide rail 12 is provided at the bottom of the housing 1, and the guide connecting plate 84 is slidably connected to the housing 1 through the slide rail 12, which helps to ensure that the compliant constant force mechanism 8 moves more smoothly when deformed under force and avoids jamming.

[0056] The radial guiding mechanism includes at least one set of parallel linear guides 10 and sliders 11 slidably mounted on the linear guides 10. The linear guides 10 are fixedly installed on the inner bottom of the housing 1, and the lower surfaces on both sides of the bearing seat 9 are fixedly connected to the sliders 11. This structure strictly restricts the bearing seat 9 and the bushings and grinding head 3 connected to it to move only along the guiding direction of the linear guides 10, providing precise radial floating guidance.

[0057] The bushing includes an upper bushing 6 and a lower bushing 7. One end of the upper bushing 6 is axially slidably connected to the spline shaft body 5, and the other end is coaxially fixedly connected to one end of the lower bushing 7. The lower bushing 7 is rotatably connected to the bearing seat 9 through a bearing, and the other end of the lower bushing 7 extends out of the outer shell 1 and is coaxially fixedly connected to the grinding head 3.

[0058] Understandably, one end of the upper bushing 6 has an internal spline groove, which forms a sliding pair with the external spline of the spline shaft body 5, allowing torque transmission and axial relative displacement. This design ensures that the angular changes generated by the universal joint drive shaft 4 are absorbed by the spline pair, while the lower bushing 7, as the final output shaft, guarantees the stability and continuity of power transmission.

[0059] Specifically, the rear side of the housing 1 has a threaded hole for connecting with an external drive device (such as a robotic arm), the top of the housing 1 has a mounting hole for fixing the drive motor 2, the bottom of the inner housing 1 has a positioning hole for fixing the radial guide mechanism and the compliant constant force mechanism 8, and the bottom of the housing 1 has a reserved hole for the lower bushing 7 to extend out.

[0060] In this embodiment, the grinding head 3 is preferably a wheel-shaped grinding head 3, whose rotation axis is collinear with the spline shaft body 5, the universal drive shaft 4 and the output axis of the drive motor 2. This layout is beneficial to the balance and stability of power transmission.

[0061] In practice, during the grinding operation, the drive motor 2 drives the grinding head 3 to rotate at high speed via the universal joint drive shaft 4 and the spline shaft assembly. When the robotic arm moves the device along the workpiece surface with undulations or curvature changes, the radial reaction force generated by the workpiece surface on the grinding head 3 pushes the bearing seat 9 to move along the linear guide rail 10, thereby causing the output end of the compliant constant force mechanism 8 (i.e., the guide connecting plate 84 and the part connected to it) to further deform within its constant force range. Due to the inherent constant force characteristics of this mechanism, within this deformation range, the reaction force applied to the bearing seat 9 (i.e., the grinding head 3) remains basically constant, thus achieving passive radial constant force grinding without real-time sensor feedback. At the same time, the universal joint drive shaft 4 compensates for the angular deviation caused by the device's posture adjustment, and the spline pair absorbs the resulting axial displacement, ensuring that the floating of the grinding head 3 is purely radial, greatly improving the stability of the grinding process. Compared to traditional active constant force solutions, this device eliminates expensive force sensors and complex control algorithms, significantly reduces system response lag (which can be reduced to 5-10ms), minimizes force overshoot (<5%), and possesses the unique advantages of rapid constant force input and adjustable output force. It comprehensively achieves the goals of high precision, high efficiency, high adaptability, and low cost.

[0062] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A radial constant force floating grinding device based on a compliant constant force mechanism, characterized in that, include: Drive motor, universal joint shaft, spline shaft assembly, bearing housing, grinding head, radial guide mechanism, compliant constant force mechanism, and housing for connection to external drive equipment; The drive motor is fixed to the housing, and the output shaft of the drive motor extends into the housing and is coaxially and fixedly connected to one end of the universal drive shaft. The spline shaft assembly includes a spline shaft body and a bushing that slides with the spline shaft body; The spline shaft body is coaxially and fixedly connected to the other end of the universal drive shaft. The bearing housing is slidably disposed within the housing via the radial guide mechanism; The bushing passes through the bearing housing and is rotatably connected to the bearing housing; The end of the bushing extends out of the outer casing and is coaxially and fixedly connected to the grinding head; The compliant constant force mechanism is arranged parallel to one side of the radial guide mechanism, and the fixed end of the compliant constant force mechanism is fixedly connected to the inner wall of the outer shell, and the output end is fixedly connected to the bearing seat. The compliant constant force mechanism is equipped with a preload adjustment component for applying preload and adjusting the constant force output value.

2. The radial constant force floating grinding device based on a compliant constant force mechanism according to claim 1, characterized in that, The compliant constant force mechanism includes a C-shaped fixed frame, a positive stiffness structure, a negative stiffness structure, and a guide connecting plate. The guide connecting plate is fixedly connected to the inner walls of both sides of the C-shaped fixing frame through the negative stiffness structure; The guide connecting plate is connected to the inner bottom wall of the C-shaped fixing frame through the positive stiffness structure; The C-shaped fixing frame has a positive stiffness pre-tightening hole on the side away from the guide connecting plate; The preload adjustment component is a preload bolt; The preload bolt is threaded onto the positive stiffness preload hole and is used to preload the positive stiffness structure.

3. The radial constant force floating grinding device based on a compliant constant force mechanism according to claim 2, characterized in that, The positive stiffness structure includes a first metal block, a second metal block, a third metal block, and four first metal flexible hinges; The first metal block is fixedly connected to the second metal block and the third metal block on both sides by a first metal flexible hinge; The second metal block and the third metal block are respectively fixedly connected to the end of the guide connecting plate by a first metal flexible hinge, thereby forming a parallelogram structure.

4. The radial constant force floating grinding device based on a compliant constant force mechanism according to claim 2, characterized in that, The negative stiffness structure consists of four second metal flexible hinges; The two sides of the guide connecting plate are respectively fixedly connected to the inner walls of the two sides of the C-shaped fixing frame through two second metal flexible hinges.

5. The radial constant force floating grinding device based on a compliant constant force mechanism according to claim 2, characterized in that, The C-shaped fixing frame, the positive stiffness structure, the negative stiffness structure, and the guide connecting plate are integrally formed.

6. The radial constant force floating grinding device based on a compliant constant force mechanism according to claim 2, characterized in that, The guide connecting plate is slidably connected to the inner wall of the outer shell.

7. The radial constant force floating grinding device based on a compliant constant force mechanism according to claim 1, characterized in that, The radial guide mechanism includes at least one set of parallel linear guides and a slider that is slidably disposed on the linear guides; The bearing housing is fixedly connected to the slider.

8. The radial constant force floating grinding device based on a compliant constant force mechanism according to claim 1, characterized in that, The bushing includes an upper bushing and a lower bushing; One end of the upper bushing is axially slidably connected to the spline shaft body, and the other end is coaxially fixedly connected to one end of the lower bushing; The lower bushing is rotatably connected to the bearing seat via a bearing, and the other end of the lower bushing extends out of the outer shell and is coaxially and fixedly connected to the grinding head.

9. The radial constant force floating grinding device based on a compliant constant force mechanism according to claim 1, characterized in that, The outer casing has threaded holes for connecting to external drive devices.

10. The radial constant force floating grinding device based on a compliant constant force mechanism according to claim 1, characterized in that, The grinding head is a wheel-shaped grinding head.

Images