Axial floating force-controlled grinding spindle

Abstract

The application relates to the technical field of terminal polishing equipment, and discloses an axial floating force control polishing spindle, which comprises a servo motor transmission system, a spindle speed increasing mechanism, a tool changing spindle, a guide mechanism, a floating force executing mechanism, a displacement detection sensor, an angle detection sensor, a loose tool electromagnetic valve and an information display screen. The servo motor transmission system comprises a servo motor, a shaft coupling and a ball spline, the servo motor is connected with the ball spline through the shaft coupling, the ball spline is composed of a ball shaft and a ball bearing, the ball bearing can be telescoped along the axial direction of the ball shaft, so that the tool changing spindle can realize rotary motion and axial floating motion at the same time. The application has the advantages of compact overall structure, convenient installation and high reliability, and is suitable for automatic polishing operation of various complex curved surface workpieces.

Description

Technical Field

[0001] This invention relates to the field of terminal grinding equipment technology, specifically to an axial floating force-controlled grinding spindle. Background Technology

[0002] In the robotic end-machinery industry, grinding is a crucial process, primarily used to remove burrs, flash, and oxide scale from workpiece surfaces, as well as to polish them. Traditional grinding methods rely mainly on manual hand-held grinding tools, which suffers from drawbacks such as high labor intensity, harsh working environments, inconsistent grinding quality, and low production efficiency.

[0003] With the development of industrial automation technology, more and more companies are adopting robots in conjunction with grinding spindles for automated grinding operations. However, most existing grinding spindles are rigid structures and cannot automatically adjust the grinding force according to changes in the shape of the workpiece surface. When there are errors on the workpiece surface or the installation and positioning are inaccurate, over-grinding or under-grinding can easily occur, seriously affecting the grinding quality. In addition, when traditional grinding spindles work at different angles, the grinding force at the end of the spindle changes due to its own weight, making it difficult to maintain a constant force and reducing grinding accuracy and consistency. Summary of the Invention

[0004] The purpose of this invention is to provide an axially floating force-controlled grinding spindle that can achieve simultaneous rotation and axial floating of the spindle. Through real-time angle detection and gravity compensation technology, it ensures that the end grinding force is constant at any angle, thereby improving grinding quality and consistency and solving the problems of the prior art.

[0005] The present invention adopts the following technical solution: an axial floating force-controlled grinding spindle, including a servo motor transmission system, a spindle speed-up mechanism, a tool-changing spindle, a guide mechanism, a floating force actuator, a displacement detection sensor, an angle detection sensor, a tool release solenoid valve, and an information display screen.

[0006] The servo motor transmission system includes a servo motor, a coupling, and a ball spline. The servo motor is connected to the ball spline via the coupling. The ball spline consists of a ball shaft and a ball bearing. The ball bearing can extend and retract along the axial direction of the ball shaft, enabling the tool changer spindle to simultaneously achieve rotary motion and axial floating motion.

[0007] The spindle speed-increasing mechanism includes a driving synchronous pulley, a driven synchronous pulley, and a synchronous belt. The driving synchronous pulley is connected to a ball spline, the driven synchronous pulley is connected to the tool-changing spindle, and the synchronous belt is sleeved on the driving and driven synchronous pulleys. Through the transmission ratio design of the large and small synchronous pulleys, the tool-changing spindle achieves a high rotational speed, meeting the requirements of grinding operations.

[0008] The floating force actuator is connected to the tool-changing spindle and is used to provide axial grinding force. Further, the floating force actuator includes a low-friction cylinder, a floating joint of the cylinder, a reversing valve, and a proportional valve, the proportional valve being electrically connected to a host computer. The host computer calculates the change in the gravitational force component based on the angle data collected by the angle detection sensor, and outputs a control signal to the proportional valve in conjunction with the set grinding force value to adjust the cylinder's output air pressure, thereby achieving constant force grinding.

[0009] The angle detection sensor is connected to the grinding spindle body and is used to collect the angle data of the grinding spindle in real time. This provides a basis for the host computer to calculate the cylinder output force, so as to ensure that the influence of gravity is eliminated at each angle and the grinding force is kept constant.

[0010] The displacement detection sensor is connected to the tool change spindle and is used to detect the axial extension and retraction displacement of the tool change spindle, providing feedback for precise control of the grinding process.

[0011] The solenoid valve for releasing and pulling the tool is connected to the tool changing spindle and is used to drive the tool changing spindle to perform the tool changing action, thereby realizing the automatic replacement of grinding consumables.

[0012] The information display screen is electrically connected to the displacement detection sensor, the angle detection sensor, and the floating force actuator, respectively, and is used to display the magnitude of the floating force and the amount of spindle displacement in real time, so as to facilitate operators to monitor the operating status of the equipment.

[0013] Furthermore, the guiding mechanism includes a linear slide rail and a slider. The slider is fixedly connected to the tool-changing spindle via a connector, and the linear slide rail is fixed to the mounting plate. The guiding mechanism ensures the smoothness and stability of the spindle's up-and-down movement, improving grinding accuracy.

[0014] Furthermore, the end of the tool changing spindle is equipped with grinding consumables, and the tool changing spindle has a replaceable tool holder structure, which can automatically replace different types of grinding consumables to adapt to different grinding process requirements.

[0015] Furthermore, it also includes a protective cover, which is installed outside the main shaft speed-increasing mechanism and the floating force actuator to protect the internal mechanisms and prevent dust from entering.

[0016] Furthermore, the main shaft speed-increasing mechanism also includes a tensioning mechanism for adjusting the tension of the synchronous belt to ensure transmission efficiency and service life.

[0017] Furthermore, the low-friction cylinder adopts a seal-free structure, which has the advantages of compact structure, fast response speed and low friction.

[0018] Furthermore, the angle detection sensor adopts a three-axis accelerometer or gyroscope, which can accurately measure the angle change of the grinding spindle in three-dimensional space.

[0019] Furthermore, the displacement detection sensor adopts a linear displacement sensor or a magnetic grating ruler, which has the characteristics of high measurement accuracy and fast response speed.

[0020] Furthermore, the information display screen adopts a touch-screen LCD display, which can also be used to set grinding force parameters and display the operating status of the equipment, making operation more convenient.

[0021] The beneficial effects of this invention are as follows: The ball spline structure enables the tool-changing spindle to simultaneously perform rotary and axial floating motions, adapting to changes in workpiece surface shape and avoiding over- or under-grinding issues caused by rigid grinding. An angle detection sensor collects real-time angle data of the grinding spindle, and the host computer calculates the influence of gravity based on angle changes. A proportional valve precisely adjusts the cylinder output air pressure to ensure constant end-grinding force at any angle, significantly improving grinding quality and consistency. Equipped with an automatic tool-changing spindle, it can automatically change different types of grinding consumables without manual intervention, improving production efficiency and automation. Displacement detection sensors and an information display screen allow for real-time monitoring of the spindle's telescopic displacement and floating force, facilitating operator monitoring of equipment operation and timely problem detection and resolution. The overall structure is compact, easy to install, and highly reliable, suitable for automated grinding operations on various complex curved workpieces. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0024] Embodiments of the present invention: like Figure 1 As shown, the present invention provides an axial floating force-controlled grinding spindle, which mainly consists of a servo motor 1, a coupling 2, a ball spline 3, an active synchronous pulley 41, a driven synchronous pulley 42, a synchronous belt 43, a tool changing spindle 5, grinding consumables 51, a floating force actuator 6, a mounting plate 7, and a protective cover 8.

[0025] Servo motor 1 is connected to the upper end of ball spline 3 via coupling 2, transmitting power to ball spline 3. Ball spline 3 consists of ball shaft 31 and ball bearing 32. Ball bearing 32 is sleeved on ball shaft 31, allowing it to rotate with ball shaft 31 and also freely extend and retract along the axial direction of ball shaft 31. This structural design enables subsequent mechanisms connected to ball bearing 32 to obtain rotational power and achieve axial floating.

[0026] The driving synchronizer pulley 41 is fixedly mounted on the lower end of the ball bearing 32, and the driven synchronizer pulley 42 is fixedly mounted on the upper end of the tool changer spindle 5. The synchronizer belt 43 is sleeved on the driving synchronizer pulley 41 and the driven synchronizer pulley 42. By rationally designing the diameter ratio of the driving synchronizer pulley 41 and the driven synchronizer pulley 42, the tool changer spindle 5 can obtain a higher speed, meeting the speed requirements of grinding operations. The spindle speed increase mechanism also includes a tensioning mechanism (not shown in the figure) used to adjust the tension of the synchronizer belt 43 to ensure transmission efficiency and service life.

[0027] The lower end of the tool changing spindle 5 is equipped with grinding consumables 51 for grinding operations. The tool changing spindle 5 adopts a pneumatic tool release and pull structure, which is driven by a tool release and pull solenoid valve (not shown in the figure) to perform the tool changing action. It can automatically change different types of grinding consumables 51, such as grinding wheels, sandpaper, polishing wheels, etc., to adapt to different grinding process requirements.

[0028] The floating force actuator 6 is connected to the tool changing spindle 5 and is used to provide axial grinding force. The floating force actuator 6 mainly consists of a low-friction cylinder, a floating joint for the cylinder, a reversing valve, and a proportional valve. The low-friction cylinder adopts a seal-less structure, which has the advantages of compact structure, fast response speed, and low friction. The proportional valve is electrically connected to the host computer. The host computer can output a control signal to the proportional valve according to the set grinding force value to adjust the output air pressure of the cylinder, thereby controlling the grinding force.

[0029] To eliminate the influence of the grinding spindle's own gravity on the grinding force when it operates at different angles, this invention also includes an angle detection sensor (not shown in the figure). The angle detection sensor is a triaxial accelerometer, mounted on the grinding spindle body, capable of acquiring the grinding spindle's angle data in three-dimensional space in real time and transmitting the data to a host computer. The host computer calculates the change in the gravitational component based on the angle data and compensates for the output of the proportional valve in real time, ensuring that the grinding force applied to the end effector remains constant at all angles.

[0030] The guiding mechanism includes a linear guide rail and a slider (not shown in the figure). The slider is fixedly connected to the tool changer spindle 5 via a connector, and the linear guide rail is fixed to the mounting plate 7. The guiding mechanism ensures the smoothness and stability of the tool changer spindle 5's up-and-down movement, preventing jamming or offset and improving grinding accuracy.

[0031] The displacement detection sensor (not shown in the figure) is a linear displacement sensor, which is installed on one side of the tool changer spindle 5 to detect the axial extension and retraction displacement of the tool changer spindle 5 and transmit the displacement data to the host computer and information display screen.

[0032] The information display screen (not shown in the figure) is a touch-screen LCD display, installed on the outside of the protective cover 8. The information display screen is electrically connected to the displacement detection sensor, angle detection sensor, and floating force actuator 6, and can display the magnitude of the floating force, the displacement of the transmission mechanism, and the operating status of the equipment in real time. Operators can also set grinding force parameters and other process parameters via the touch-screen display, making operation very convenient.

[0033] The protective cover 8 is installed on the outside of the main shaft speed-increasing mechanism and the floating force actuator 6, which serves to protect the internal mechanisms from dust and debris contamination and to prevent accidental contact by personnel.

[0034] The working principle of this invention is as follows: During operation, the servo motor 1 starts and drives the ball spline 3 to rotate through the coupling 2. The ball spline 3 transmits power to the tool changing spindle 5 through the driving synchronous pulley 41, the synchronous belt 43 and the driven synchronous pulley 42, so that the tool changing spindle 5 drives the grinding consumable 51 to rotate at high speed to perform grinding operations.

[0035] During the grinding process, when there are protrusions or depressions on the workpiece surface, the tool-changing spindle 5 will automatically float axially under the action of the floating force actuator 6 to adapt to the shape changes of the workpiece surface. Simultaneously, the angle detection sensor collects the angle data of the grinding spindle in real time and transmits the data to the host computer. The host computer calculates the change in the gravitational component based on the angle data and, combined with the preset grinding force value, outputs a control signal to the proportional valve to adjust the output air pressure of the low-friction cylinder, thereby precisely controlling the magnitude of the grinding force applied to the end effector and ensuring that the grinding force remains constant at any angle.

[0036] The displacement detection sensor monitors the axial extension and retraction displacement of the tool changing spindle 5 in real time and displays the data on the information display screen, facilitating operator monitoring of the grinding process. When the grinding consumable 51 wears to a certain extent or needs to be replaced with a different type of grinding consumable, the tool release and pull-back solenoid valve is activated, driving the tool changing spindle 5 to perform tool release and pull-back actions, thereby achieving automatic replacement of the grinding consumable.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An axially floating force-controlled grinding spindle, characterized in that, Servo motor drive system, spindle speed-increasing mechanism, tool changing spindle (5), guide mechanism, floating force actuator (6), displacement detection sensor, angle detection sensor, tool release solenoid valve and information display screen; The servo motor transmission system includes a servo motor (1), a coupling (2), and a ball spline (3). The servo motor (1) is connected to the ball spline (3) through the coupling (2). The ball spline (3) consists of a ball shaft (31) and a ball bearing (32). The ball bearing (32) can extend and retract along the axial direction of the ball shaft (31), so that the tool changing spindle (5) can simultaneously achieve rotational motion and axial floating motion. The spindle speed-increasing mechanism includes a driving synchronous pulley (41), a driven synchronous pulley (42), and a synchronous belt (43). The driving synchronous pulley (41) is connected to a ball spline (3), the driven synchronous pulley (42) is connected to a tool-changing spindle (5), and the synchronous belt (43) is sleeved on the driving synchronous pulley (41) and the driven synchronous pulley (42). The floating force actuator (6) is connected to the tool changing spindle (5) and is used to provide axial grinding force; The angle detection sensor is connected to the grinding spindle body and is used to collect the angle data of the grinding spindle in real time; The displacement detection sensor is connected to the tool change spindle (5) and is used to detect the axial extension and retraction displacement of the tool change spindle (5); The solenoid valve for releasing the tool is connected to the tool changing spindle (5) and is used to drive the tool changing spindle (5) to perform the tool changing action; The information display screen is electrically connected to the displacement detection sensor, the angle detection sensor and the floating force actuator (6) respectively, and is used to display the floating force and the main shaft displacement in real time.

2. The axial floating force-controlled grinding spindle according to claim 1, characterized in that, The floating force actuator (6) includes a low-friction cylinder, a floating joint of the cylinder, a reversing valve and a proportional valve. The proportional valve is electrically connected to the host computer. The host computer calculates the change of gravity component force based on the angle data collected by the angle detection sensor, and outputs a control signal to the proportional valve in combination with the set grinding force value to adjust the output air pressure of the cylinder and achieve constant force grinding.

3. The axial floating force-controlled grinding spindle according to claim 2, characterized in that, The guiding mechanism includes a linear slide rail and a slider. The slider is fixedly connected to the tool change spindle (5) via a connector, and the linear slide rail is fixed on the mounting plate (7).

4. The axial floating force-controlled grinding spindle according to claim 3, characterized in that, The end of the tool changing spindle (5) is equipped with a grinding consumable (51). The tool changing spindle (5) has a replaceable tool holder structure and can automatically replace the grinding consumable (51).

5. An axially floating force-controlled grinding spindle according to claim 3, characterized in that, It also includes a protective cover (8), which covers the outside of the main shaft speed-up mechanism and the floating force actuator (6).

6. The axial floating force-controlled grinding spindle according to claim 3, characterized in that, The main shaft speed-increasing mechanism also includes a tensioning mechanism for adjusting the tension of the synchronous belt (43).

7. An axially floating force-controlled grinding spindle according to claim 2, characterized in that, The low-friction cylinder adopts a seal-free structure.

8. The axial floating force-controlled grinding spindle according to claim 7, characterized in that, The angle detection sensor is a three-axis accelerometer or a gyroscope.

9. The axial floating force-controlled grinding spindle according to claim 1, characterized in that, The displacement detection sensor is a linear displacement sensor or a magnetic grating ruler.

10. An axially floating force-controlled grinding spindle according to claim 1, characterized in that, The information display screen uses a touch LCD screen and can also be used to set grinding force parameters and display the operating status of the equipment.

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