A polishing machine

Abstract

This invention discloses a grinding and polishing machine, relating to surface processing equipment. The grinding and polishing machine includes a motor, a support member, a linear actuator, and a force sensor. The motor drives the working head to rotate and includes a motor housing assembly and a rotor. The rotor includes a rotating shaft that can move relative to the motor housing assembly along the axial direction of the rotor. The support member is connected to the rear end of the motor housing assembly. The linear actuator is connected to the support member and drives the rotating shaft to move along the axial direction of the rotating shaft. The force sensor is connected between the rotating shaft and the linear actuator. The linear actuator moves the working head by driving the rotating shaft to adjust the contact force. Compared to driving the entire motor, the driven component has a smaller mass and volume, the drive is more sensitive, and the contact force can be adjusted more quickly and instantly. Furthermore, the overall grinding and polishing machine has a smaller mass and volume, reducing the load capacity requirements of industrial robots.

Description

Technical Field

[0001] This invention relates to a surface processing device, and more particularly to a grinding and polishing machine. Background Technology

[0002] Grinding and polishing machines (or simply grinding and polishing machines) are used to grind and polish the surface of workpieces. During operation, an industrial robot typically carries the grinding and polishing machine along a preset trajectory to process the workpiece surface. However, workpiece surfaces often have unevenness or curvature variations, requiring dynamic and high-frequency adjustment of contact stress during the grinding and polishing process. Due to the large size, heavy weight, and high inertia of industrial robots, their dynamic response during control is slow, making it difficult to reliably maintain a stable contact force. Both excessively large and insufficient contact force will severely affect the polishing quality.

[0003] To address the aforementioned issues, Chinese Patent Application No. 202221377655.7 discloses an end-effector active force-controlled grinding and polishing device. This device incorporates a voice coil motor and a force sensor between the connecting flange and the grinding and polishing motor. The force sensor detects the contact force in real time, and the voice coil motor drives the grinding and polishing motor to adjust the contact force, thereby achieving efficient adjustment of the contact force.

[0004] However, this existing technology still has the following shortcomings: its structure is relatively complex, and its size and weight are relatively large. For example, in order to guide the movement of the voice coil motor, the device needs to set up multiple components such as a stator mounting plate connected to the connecting flange, guide rail connectors, guide rail mounting plates, guide rails, and sliders to form a double guide rail guiding mechanism. The overall structure is redundant, which leads to an increase in size and weight, places higher demands on the load capacity of industrial robots, and causes problems such as reduced effective load capacity and dynamic response speed of robots, and lag and overshoot in contact force control during the polishing process.

[0005] Furthermore, the voice coil motor needs to directly drive the entire grinding and polishing motor to move. The grinding and polishing motor itself has a large mass, large size, and large inertia. This not only limits the voice coil motor's ability to respond quickly and adjust the contact force in real time, but also forces the voice coil motor itself to increase its driving force, which in turn further increases its mass and size, forming a vicious cycle.

[0006] Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects.

[0007] The above content is only used to help understand the technical solution of this application and does not constitute an admission that the above is prior art. Summary of the Invention

[0008] The purpose of this invention is to provide a grinding and polishing machine to solve at least one technical problem in the prior art.

[0009] To achieve the above-mentioned objectives, the present invention provides a grinding and polishing machine, comprising:

[0010] An electric motor for driving a working head to rotate, the electric motor including a motor housing assembly and a rotor, the rotor including a shaft movable relative to the motor housing assembly along the axial direction of the rotor;

[0011] A support member is connected to the rear end of the motor housing assembly;

[0012] A linear actuator, connected to the support member, is used to drive the rotating shaft to move along the axial direction of the rotating shaft; and,

[0013] A force sensor is connected between the rotating shaft and the linear drive.

[0014] Furthermore, the rotor includes a hollow shaft rotatably connected to the motor housing assembly, the rotating shaft passing through the hollow shaft, the rotating shaft and the hollow shaft being circumferentially limited and axially slidingly fitted.

[0015] Furthermore, one of the rotating shaft and the hollow shaft is provided with a connecting key, and the other is provided with a keyway to accommodate the connecting key. The width of the keyway is adapted to the connecting key, and the length L1 of the keyway along the axis of the rotor is greater than the length L2 of the connecting key along the axis of the rotor.

[0016] Furthermore, the motor housing assembly and the hollow shaft are connected by a motor bearing, and the rotor includes a rotor body connected to the hollow shaft. The rotor is housed within the motor stator of the motor and can rotate relative to the motor stator under the drive of electromagnetic force.

[0017] Furthermore, the force sensor is a tension / compression sensor.

[0018] Furthermore, the support member is a shell-shaped structure covering the rear end of the motor housing assembly, and a receiving space is formed between the support member and the motor housing assembly. The support member includes an end plate and a side shell connected between the motor housing assembly and the end plate. The linear actuator and the force sensor are both disposed within the receiving space.

[0019] Furthermore, the end of the rotating shaft extends into the receiving space, and the polishing machine also includes a connecting assembly connected to the end of the rotating shaft. The rotating shaft and the connecting assembly are rotatably connected. The force sensor is located between the connecting assembly and the linear driver and is connected to both the connecting assembly and the linear driver.

[0020] Furthermore, the connecting assembly includes a bearing housing core surrounding the outside of the rotating shaft, a connecting component connected to the bearing housing core, and an end bearing connected between the bearing housing core and the rotating shaft. The connecting component is plate-shaped, and its outer edge is connected to the end of the bearing housing core opposite to the rotating shaft. The force sensor is connected to the connecting component.

[0021] Furthermore, the linear drive includes a stator and a mover, and the polishing machine further includes an elastic element that applies a spring force to the mover away from the side where the motor is located, and a guide assembly that guides the mover to move along the axial direction of the rotor.

[0022] Furthermore, the guide assembly includes a connecting post connected to the motor housing assembly, a guide member connected to the connecting post, and a first gasket and a second gasket movably connected to the guide member along the axial direction of the rotor. The mover is provided with a receiving cavity that mates with the head of the guide member. The elastic member elastically abuts between the first gasket and the second gasket, and applies a thrust to the mover through the first gasket.

[0023] Furthermore, the linear actuator includes a stator and a mover, the stator being connected to the end plate;

[0024] The grinding and polishing machine also includes a displacement sensor for measuring the displacement of the moving part. The displacement sensor includes a grating ruler connected to the moving part and a reading head connected to the side housing. The reading head is positioned toward the grating ruler, and the grating ruler is positioned along the axial direction of the rotating shaft.

[0025] Furthermore, the support member is provided with a mounting shell located outside the side housing and a clearance hole communicating with the mounting shell, and the reading head is located inside the mounting shell and partially extends into the clearance hole.

[0026] Furthermore, the polishing machine also includes a circuit board connected to the surface of the mover facing the motor and a cable connected to the circuit board. The wires of the displacement sensor, the linear driver and the force sensor are all connected to the circuit board, and the cable passes through the support member.

[0027] Furthermore, an insulating pad is provided between the circuit board and the mover, and the circuit board is provided with a receiving hole for accommodating a portion of the force sensor, the force sensor portion being embedded in the mover.

[0028] Furthermore, the grinding and polishing machine also includes a working head connector, a transmission assembly connected between the working head connector and the rotating shaft, and an impeller driven to rotate by the rotating shaft;

[0029] The motor housing assembly includes a main housing and a front cover and a rear cover respectively connected to both ends of the main housing, and the support member is connected to the rear cover;

[0030] The grinding and polishing machine also includes a housing connected to the front end cover and the rear end cover. The housing surrounds the outside of the motor and the impeller, and forms a first air duct between the housing and the main housing. The front end cover has a front air inlet communicating with the first air duct. The support member includes a side housing connected to the rear end cover and a cover surrounding the outside of the side housing. A second air duct is formed between the cover and the side housing. The cover has an air inlet communicating with the second air duct and the outside. The rear end cover has a rear air inlet communicating with the first air duct and the second air duct.

[0031] Compared with the prior art, the present invention has the following beneficial effects: According to at least one embodiment of the present invention, a polishing machine includes a motor, a support member, a linear actuator, and a force sensor. The motor is used to drive the working head to rotate. The motor includes a motor housing assembly and a rotor. The rotor includes a rotating shaft that can move relative to the motor housing assembly along the axial direction of the rotor. The support member is connected to the rear end of the motor housing assembly. The linear actuator is connected to the support member and is used to drive the rotating shaft to move along the axial direction of the rotating shaft. The force sensor is connected between the rotating shaft and the linear actuator. The linear actuator moves the working head by driving the rotating shaft to adjust the contact force. Compared with driving the entire motor, the mass and volume of the driven component are smaller, the drive is more sensitive, and the contact force can be adjusted more quickly and instantly. The smaller mass of the driven component also reduces the driving force requirement of the linear actuator. A linear actuator with a smaller mass and volume can be selected. The mass and volume of the entire polishing machine are smaller, thereby reducing the load capacity requirement of the industrial robot, which is beneficial to improving dynamic response speed and polishing quality. Attached Figure Description

[0032] Figure 1 This is a three-dimensional schematic diagram of a grinding and polishing machine according to some embodiments of the present invention.

[0033] Figure 2 yes Figure 1 The diagram shows a cross-sectional view of the grinding and polishing machine.

[0034] Figure 3 This is a schematic diagram showing the connection between the rotating shaft and the motor bearing, end bearing, and hollow shaft in some embodiments of the present invention.

[0035] Figure 4 This is a three-dimensional schematic diagram of the connection between the rotating shaft and the hollow shaft in some embodiments of the present invention.

[0036] Figure 5This is a cross-sectional schematic diagram of the rear end of the grinding and polishing machine in some embodiments of the present invention.

[0037] Figure 6 yes Figure 5 Enlarged view of section I in the middle.

[0038] Figure 7 This is a perspective view showing the connection between the rear cover and the connecting component and the guide component in some embodiments of the present invention.

[0039] Figure 8 This is a schematic diagram showing the connection between the guide component, the linear actuator, and the rear end cover in some embodiments of the present invention.

[0040] Figure 9 This is a schematic diagram showing the connection of the guide components and elastic elements in some embodiments of the present invention.

[0041] Figure 10 This is a three-dimensional schematic diagram of the support member in some embodiments of the present invention.

[0042] Figure 11 This is a three-dimensional schematic diagram showing the connection between a linear driver and a grating ruler in some embodiments of the present invention.

[0043] Figure 12 This is a three-dimensional schematic diagram showing the connection between the motor and the impeller in some embodiments of the present invention. Detailed Implementation

[0044] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0045] The terms “comprising” and “having”, and any variations thereof, used in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0046] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0047] Some embodiments of the present invention provide a grinding and polishing machine, such as Figure 1 and Figure 2 As shown, it includes a motor 1, which drives a working head 83 to rotate. The working head 83 can directly contact the workpiece surface for polishing and grinding operations. In the illustrated embodiment, the polishing machine includes a working head connector 80 and a transmission assembly connecting the working head connector 80 and the motor 1. The working head connector 80 is used to mount the working head 83, and the motor 1 drives the working head connector 80 to rotate via the transmission assembly, thereby driving the working head 83 to rotate. In other embodiments, the motor 1 can drive the working head 83 to rotate in other ways, such as by direct connection between the two.

[0048] The structure in which the motor 1 directly or indirectly drives the working head connector 80 to rotate can be achieved using existing technology.

[0049] In this application, such as Figure 2 As shown, the grinding and polishing machine also includes a support 2, a linear driver 3, a force sensor 4, and a control module.

[0050] The motor 1 includes a motor housing assembly 10 and a rotor capable of rotation to drive the working head 83 to rotate. It is understood that the motor 1 also includes a motor stator 12, which is located within and fixedly connected to the motor housing assembly 10. The motor stator 12 typically includes a stator core and stator windings, while the rotor generally includes a rotor body 14 and a drive shaft connected to the rotor body 14. The rotor body 14 is, for example, composed of a rotor core and an excitation section. The rotor is housed within the motor stator 12 and is capable of rotating relative to the motor stator 12 under the drive of electromagnetic force.

[0051] In this embodiment, the rotor includes a shaft 110 that is movable relative to the motor housing assembly 10 along the axial direction of the rotor. It is understood that the rotor and the shaft 110 are coaxially arranged; therefore, the axial direction of the rotor is the same as the axial direction of the shaft 110, which is also referred to as the axial direction in this document.

[0052] The support member 2 is connected to the rear end of the motor housing assembly 10. In this application, the end where the working head 83 is located is the front end, and the end where the support member 2 is located is the rear end (or end, tail end). The support member 2 and the working head 83 are located at the two ends of the axial direction of the grinding and polishing machine, respectively.

[0053] The linear actuator 3 is connected to the support member 2. The linear actuator 3 can drive the rotating shaft 110 to move along the axis of the rotating shaft 110, thereby driving the working head 83 to move along the axis of the rotating shaft 110, changing the contact force between it and the workpiece. Optionally, the linear actuator 3 is a voice coil motor, which has excellent performance such as high acceleration, high speed, fast response, and smooth force characteristics, and is small in size. In other embodiments, the linear actuator 3 can also be other devices that can perform telescopic movements under electric drive.

[0054] Force sensor 4 is used to detect the contact force between the working head 83 and the workpiece surface. Both the linear actuator 3 and the force sensor 4 are electrically connected to the control module, which may include a control chip and supporting circuitry. Based on the detection signal from force sensor 4, the control module controls the extension and retraction of the linear actuator 3 to adjust the contact force between the working head 83 and the workpiece surface. When the linear actuator 3 extends, it pushes the rotating shaft 110 to move, increasing the contact force between the working head 83 and the workpiece surface. Conversely, when the linear actuator 3 retracts, the contact force decreases. Thus, when the contact force detected by force sensor 4 is too large, the linear actuator 3 can be retracted to reduce the contact force; when the contact force detected by force sensor 4 is too small, the linear actuator 3 can be extended to increase the contact force. This achieves a closed-loop control function, controlling the extension and retraction of the linear actuator 3 based on the detection result of force sensor 4, thereby controlling the contact force between the working head 83 and the workpiece surface.

[0055] In some embodiments, the force sensor 4 is a tension / compression sensor capable of detecting tension and compression along the rotor axis. The force sensor 4 is connected between the rotating shaft 110 and the linear actuator 3, transmitting force between them. During operation, the reaction force of the contact force between the working head 83 and the workpiece surface is transmitted to the force sensor 4 through the working head 83, the working head connector 80, the transmission assembly, and the rotating shaft 110, and detected by the force sensor 4. The magnitude of the contact force between the working head 83 and the workpiece surface can then be calculated. Calculating the contact force using the detection signal from the force sensor 4 can be achieved using existing technology.

[0056] Optionally, the force sensor 4, the rotating shaft 110, and the linear actuator 3 are arranged coaxially. In this case, the force transmission is more direct and the structure is more compact. In other embodiments, the force sensor 4 can be eccentrically arranged relative to the rotating shaft 110, the linear actuator 3, etc., and the force is transmitted through a transmission structure.

[0057] In this application, the linear actuator 3 moves the working head 83 by driving the rotating shaft 110. It can be understood that compared to driving the entire motor 1, the mass and volume of the driven component are smaller, the drive is more sensitive, and the contact force can be adjusted more quickly and instantly. The smaller mass of the driven component also reduces the driving force requirement of the linear actuator 3. A linear actuator 3 with a smaller mass and volume can be selected. The mass and volume of the entire grinding and polishing machine are smaller, which reduces the load capacity requirement of the industrial robot and helps to improve the dynamic response speed and polishing quality.

[0058] Optionally, the support member 2 is a shell-shaped structure covering the rear end of the motor housing assembly 10, forming a receiving space 20 between the support member 2 and the motor housing assembly 10. The linear actuator 3 and the force sensor 4 are both located within the receiving space 20 and protected by the support member 2, resulting in better waterproof and dustproof performance. It is understandable that polishing liquids and other liquids are often sprayed during the polishing process; higher waterproof and dustproof performance can improve the reliability and service life of the polishing machine, ensure reliable operation of polishing work, and reduce maintenance costs.

[0059] In some embodiments, the rotor includes a hollow shaft 111 rotatably connected to the motor housing assembly 10, such as Figures 2 to 4 As shown, both ends of the hollow shaft 111 are connected to the motor housing assembly 10 via motor bearings 13. The rotor body 14 is connected to the hollow shaft 111. The rotating shaft 110 passes through the hollow shaft 111. The rotating shaft 110 and the hollow shaft 111 are in a circumferential limiting fit, allowing the rotating shaft 110 to rotate synchronously with the hollow shaft 111. The rotating shaft 110 and the hollow shaft 111 are in an axial sliding fit, allowing them to move relative to each other in the axial direction.

[0060] In one feasible implementation, one of the rotating shaft 110 and the hollow shaft 111 is provided with a connecting key 112, and the other is provided with a keyway 1110 to accommodate the connecting key 112. The width of the keyway 1110 is adapted to the connecting key 112, and the length L1 of the keyway 1110 along the axial direction of the rotor is greater than the length L2 of the connecting key 112 along the axial direction of the rotor. When the hollow shaft 111 rotates, it drives the rotating shaft 110 to rotate synchronously through the connecting key 112. At the same time, since the length L2 of the connecting key 112 is less than the length L1 of the keyway 1110, the rotating shaft 110 has a space for movement along the axial direction and can move along the axial direction. In the embodiment shown in the figure, the rotating shaft 110 is provided with a connecting key 112, and the hollow shaft 111 is provided with a keyway 1110, with the connecting key 112 extending into the keyway 1110. In other embodiments, the connecting key 112 may also be provided on the hollow shaft 111, and the keyway 1110 may be provided on the rotating shaft 110.

[0061] The motor housing assembly 10 has a rear bearing mounting hole 1041 through which the rotating shaft 110 passes. The rotating shaft 110 and the rear bearing mounting hole 1041 are connected by a motor bearing 13. The end 1100 of the rotating shaft 110 extends into the receiving space 20. The polishing machine also includes a connecting assembly 5 connected to the end 1100 of the rotating shaft 110. The rotating shaft 110 and the connecting assembly 5 are rotatably connected. For example, the connecting assembly 5 includes an end bearing 52 connected to the rotating shaft 110. In this way, when the rotating shaft 110 rotates, it will not cause the connecting assembly 5 to rotate as a whole. The connecting assembly 5 can move along the axis 110a of the rotating shaft 110.

[0062] Force sensor 4 is located between connecting component 5 and linear driver 3, and is connected to both connecting component 5 and linear driver 3.

[0063] like Figures 5 to 7 As shown, the connecting assembly 5 includes a bearing housing core 50 surrounding the outside of the rotating shaft 110 and a connecting member 51 connected to the bearing housing core 50. An end bearing 52 connects the rotating shaft 110 and the bearing housing core 50, allowing the rotating shaft 110 to rotate smoothly. Simultaneously, the end bearing 52 transmits axial force between the rotating shaft 110 and the connecting assembly 5, enabling the rotating shaft 110 and the connecting assembly 5 to move synchronously along the axial direction. In some embodiments, such as... Figure 6 As shown, the inner surface of the bearing housing core 50 is provided with a radially protruding first inner convex ring 500, which positions the lower end of the outer ring of the end bearing 52. The end 1100 of the rotating shaft 110 is provided with a shoulder 1101 and a retaining ring 1102, which respectively position the two ends of the inner ring of the end bearing 52. In this way, the end bearing 52 is reliably limited between the rotating shaft 110 and the connecting assembly 5. A retaining ring 1102 can also be provided at the upper end of the outer ring of the end bearing 52 for limitation, so that the axial force can be transmitted more reliably between the rotating shaft 110 and the connecting assembly 5 through the end bearing 52.

[0064] In the illustrated embodiment, the connecting component 51 is sheet-shaped, for example, it can be made of a metal sheet, which is thin and can effectively reduce the space occupied in the axial direction. The outer edge of the connecting component 51 is connected to the end of the bearing housing core 50 opposite to the rotating shaft 110, and the force sensor 4 is connected to the connecting component 51.

[0065] like Figure 2 and Figure 12 As shown, the motor housing assembly 10 includes a main housing 102 and a front cover 103 and a rear cover 104 respectively connected to both ends of the main housing 102. The support member 2 is connected to the rear cover 104. In some embodiments, such as Figure 5 and Figure 10As shown, the support member 2 includes an end plate 21 and a side housing 22 connected between the motor housing assembly 10 and the end plate 21. Specifically, the side housing 22 is connected to the rear end cover 104 and is bolted to the rear end cover 104 along the axial direction of the rotating shaft 110. The linear actuator 3 includes a stator 30 and a mover 31. In the illustrated embodiment, the linear actuator 3 is a voice coil motor, with its stator 30 connected to the end plate 21 and its mover 31 connected to a force sensor 4. The force sensor 4 is axially connected between the force sensor 4 and the mover 31. The end plate 21 is perpendicular to the axis of the rotating shaft 110, providing stable support for the voice coil motor.

[0066] like Figures 7 to 9 As shown, the polishing machine includes an elastic element 60 that applies a spring force to the mover 31 on the side opposite to the motor 1, and a guide assembly 61 that guides the mover 31 to move along the axis of the rotor. When the mover moves axially, the elastic element 60 and the guide assembly 61 can provide a flexible guide to avoid mechanical jamming or unnecessary radial force transmission to the force sensor. At the same time, they can provide a definite and repeatable preload or reset force to ensure that the mover 31 is stable at zero position and does not wobble when not in operation.

[0067] Optionally, the guide assembly 61 includes a connecting post 610 connected to the motor housing assembly 10, a guide member 611 connected to the connecting post 610, and a first washer 612 and a second washer 613 movably connected to the guide member 611 along the rotor axis. The mover 31 has a receiving cavity 310 that mates with the head 6110 of the guide member 611. The elastic member 60 elastically abuts between the first washer 612 and the second washer 613, and applies a thrust to the mover 31 through the first washer 612. When the mover 31 is pressed down, the engagement between the head 6110 and the receiving cavity 310 guides the mover 31 to move along the rotor axis. At the same time, the mover 31 presses down on the elastic member 60 through the first washer 612, and the elastic member 60 pushes the second washer 613 to remain in contact with the connecting post 610. The elastic member 60 is compressed between the two washers.

[0068] Optionally, the connecting post 610 is threaded to the rear end cover 104, and the height of the connecting post 610 (along the rotor axis) can be adjusted by adjusting the screw-in depth. Optionally, the guide member 611 is threaded to the connecting post 610, and the height of the guide member 611 (along the rotor axis) can be adjusted by adjusting the screw-in depth. It is understood that the polishing machine includes multiple sets of guide assemblies 61 and matching elastic members 60. The multiple sets of guide assemblies 61 surround the outside of the rotor axis. By adjusting the height of the guide member 611, the consistency of the elastic force on different parts of the mover 31 can be ensured, preventing uneven force from affecting the operation of the linear drive 3. The guide member 611 can be, for example, a bolt, and the elastic member 60 can be, for example, a spring, which can reduce costs.

[0069] The wire structure formed by the connecting post 610, guide 611, gasket, spring, etc. is relatively simple, occupies little space, and does not excessively increase the overall weight.

[0070] In some embodiments, such as Figure 5 As shown, the polishing machine also includes a displacement sensor for measuring the displacement of the mover 31. The displacement sensor includes a grating ruler 70 connected to the mover 31 and a reading head 71 connected to the side housing 22, with the reading head 71 facing the grating ruler 70. When the mover 31 moves, the grating ruler 70 moves synchronously with the mover 31, and the reading head 71 can read the amount of movement of the grating ruler 70, thereby calculating the extension amount of the mover 31. During the operation of the linear drive 3, the position of the mover 31 is fed back in real time. Based on the position information fed back by the displacement sensor and the contact force information fed back by the force sensor 4, the displacement of the voice coil motor can be precisely controlled, achieving precise adjustment of the contact force and keeping the contact force within the preset pressure range.

[0071] like Figure 5 , Figure 6 and Figure 11 As shown, the displacement sensor includes a grating ruler mounting base 72, which includes a radial connecting portion 720 connected to the rotor 31 and a base body 721 connected to the radial connecting portion 720. The base body 721 extends along the axial direction of the rotor.

[0072] Furthermore, such as Figure 1 and Figure 2 As shown, the support member 2 has a mounting shell 23 located outside the side shell 22. The mounting shell 23 is integrally formed with the side shell 22, and the reading head 71 is located inside the mounting shell 23. Figure 6 and Figure 10 As shown, the side housing 22 is provided with a clearance hole 221 that communicates with the interior of the mounting housing 23. The reading head 71 extends into the clearance hole 221 so that the distance between the reading head 71 and the grating ruler 70 is closer, so as to accurately read the grating ruler 70's scale. The grating ruler 70 can also be located inside the clearance hole 221.

[0073] It is understood that in other embodiments, the reading head 71 can also be connected to the mover 31. As the mover 31 moves, the grating ruler 70 can be connected to the side housing 22, with the reading head 71 facing the grating ruler 70, thus achieving the same function of measuring the displacement of the mover 31. Since the reading head 71 is relatively large, placing it inside the receiving space 20 and connecting it to the mover 31 would increase the volume of the support member 2 and the overall mass. Placing it outside the receiving space 20 and providing a separate mounting shell 23 for the reading head 71 would help reduce the overall volume and mass.

[0074] Understandably, the linear actuator 3, force sensor 4, and displacement sensor all have wires that need to be routed to connect to external control devices. The total number of wires in these components could reach, for example, 18, resulting in a large number of wires needing to be routed out, increasing the overall size and impacting the wiring efficiency. To solve this problem, such as... Figure 6 As shown, the polishing machine also includes a circuit board 90 housed within the receiving space 20 and cables connected to the circuit board 90. The wires of the displacement sensor, linear driver 3, and force sensor 4 are all connected to the circuit board 90. The circuit board 90 is equipped with signal processing circuitry (such as an ADC, microcontroller, communication interface chip, etc.), which can pre-process signals (e.g., converting multiple analog / digital signals into a single serial digital bus). The cables pass through the support member 2, and the processed signals are transmitted to external control equipment via the cables. This effectively reduces the number of wires that need to pass through the support member 2, ultimately reducing the number of wires in the cable to, for example, six, significantly reducing the amount of wire used and facilitating wiring. Optionally, the cables are multi-core cables.

[0075] Optionally, the circuit board 90 is connected to the surface of the mover 31 facing the motor 1, and its area can be made larger to facilitate the arrangement of electronic components and wiring. An insulating pad 91 is provided between the circuit board 90 and the mover 31 to improve the reliability of the circuit board 90 and reduce the risk of short circuits. The circuit board 90 is provided with a receiving hole 900 to accommodate part of the force sensor 4, which can make the structure more compact and reduce the space occupied in the axial direction. Further optionally, the force sensor 4 is partially embedded in the mover 31 to further improve the compactness of the structure and at the same time, it can also be positioned.

[0076] like Figure 2 As shown, the front cover 103 has a front bearing mounting hole 1031. The rotor (specifically, a hollow shaft 111) is connected to the front bearing mounting hole 1031 via a motor bearing 13. The front end of the rotating shaft 110 extends out of the front cover 103 through the front bearing mounting hole 1031. The front end of the rotating shaft 110 has a bearing mounting seat 1103. The transmission assembly includes a front bearing 810 disposed within the bearing mounting seat 1103. The working head connector 80 is connected to the front bearing 810. The axis 810a of the front bearing 810 is eccentrically set with the axis 110a of the rotating shaft 110. When the rotating shaft 110 rotates, the working head 83 revolves around the axis 110a of the rotating shaft 110. In the illustrated embodiment, the rotating shaft 110 and the bearing mounting seat 1103 are integrally formed. In other embodiments, they can also be separately set, for example, connected by bolts.

[0077] In some embodiments, such as Figure 2 and Figure 12 As shown, the polishing machine also includes an impeller 811 that is driven to rotate by a rotating shaft 110.

[0078] In some embodiments, such as Figure 1 and Figure 2 As shown, the polishing machine also includes a housing 82 connected to the front cover 103 and the rear cover 104. The housing 82 surrounds the motor 1 and the impeller 811, and forms a first air duct 106 between it and the main housing 102. The front cover 103 is provided with a front air inlet 1030 that communicates with the first air duct 106. The support member 2 includes a cover 24 that surrounds the side housing 22. A second air duct 25 is formed between the cover 24 and the side housing 22. The cover 24 is provided with an air inlet 240 that communicates with the second air duct 25 and the outside. The rear cover 104 is provided with a rear air inlet 1040 that communicates with the first air duct 106 and the second air duct 25. When the impeller 811 rotates, a negative pressure is generated behind it. The airflow is drawn in from the air inlet 240, passes through the second air duct 25, the rear air outlet 1040, the first air duct 106, the front air outlet 1030 and the impeller 811, and is blown out from the front opening of the housing 82, thereby carrying away the heat of the support 2 and the motor 1, and playing a role in efficient active heat dissipation.

[0079] Optionally, the first air duct 106 and the second air duct 25 are annular to increase the exposed area of ​​the side housing 22 and the main housing 102 and improve the heat dissipation effect. Heat dissipation fins can also be further provided on the outer surfaces of the side housing 22 and the main housing 102 to further improve heat dissipation efficiency.

[0080] During the rotation of motor 1, impeller 811 is also driven to rotate, thus enabling active heat dissipation during the polishing process with the help of motor 1. It can also simultaneously dissipate heat from linear driver 3 and motor 1, eliminating the need for an additional power source for heat dissipation, resulting in a more compact overall structure.

[0081] like Figure 1 As shown, the rear cover 104 protrudes to the outside of the outer shell 82, forming a connecting flange that can be connected to the industrial robot. Compared with the industrial robot being connected to the support 2, the connection between the industrial robot and the rear cover 104 can make the connection position closer to the center of gravity of the grinding and polishing machine, which can reduce the inertial torque, improve the force control accuracy, and improve the dynamic response speed, thereby improving the polishing effect.

[0082] It should be noted that, in the absence of conflict, the various embodiments described herein can be combined with each other to obtain more implementation schemes.

[0083] The above are merely specific embodiments of the present invention, and any improvements made based on the concept of the present invention shall be considered within the scope of protection of the present invention.

Claims

1. A grinding and polishing machine, characterized in that, include: A motor (1) is used to drive the working head (83) to rotate. The motor (1) includes a motor housing assembly (10) and a rotor, the rotor including a shaft (110) that is movable relative to the motor housing assembly (10) along the axial direction of the rotor. The support member (2) is connected to the rear end of the motor housing assembly (10); A linear actuator (3), connected to the support member (2), is used to drive the rotating shaft (110) to move along the axial direction of the rotating shaft (110); and, A force sensor (4) is connected between the rotating shaft (110) and the linear driver (3).

2. The polishing machine as described in claim 1, characterized in that, The rotor includes a hollow shaft (111) rotatably connected to the motor housing assembly (10), the rotating shaft (110) passing through the hollow shaft (111), the rotating shaft (110) and the hollow shaft (111) being circumferentially limited and axially slidingly fitted.

3. The polishing machine as described in claim 2, characterized in that, One of the rotating shaft (110) and the hollow shaft (111) is provided with a connecting key (112), and the other is provided with a keyway (1110) to accommodate the connecting key (112). The width of the keyway (1110) is adapted to the connecting key (112), and the length L1 of the keyway (1110) along the axis of the rotor is greater than the length L2 of the connecting key (112) along the axis of the rotor.

4. The polishing machine as described in claim 2, characterized in that, The motor housing assembly (10) and the hollow shaft (111) are connected by a motor bearing (13). The rotor includes a rotor body (14) connected to the hollow shaft (111). The rotor is housed in the motor stator (12) of the motor (1) and can rotate relative to the motor stator (12) under the drive of electromagnetic force.

5. The polishing machine as described in claim 1, characterized in that, The force sensor (4) is a tension / compression sensor.

6. The polishing machine as described in claim 1, characterized in that, The support member (2) is a shell-shaped structure covering the rear end of the motor housing assembly (10). A receiving space (20) is formed between the support member (2) and the motor housing assembly (10). The support member (2) includes an end plate (21) and a side shell (22) connected between the motor housing assembly (10) and the end plate (21). The linear actuator (3) and the force sensor (4) are both located in the receiving space (20).

7. The polishing machine as described in claim 6, characterized in that, The end (1100) of the rotating shaft (110) extends into the receiving space (20). The polishing machine also includes a connecting assembly (5) connected to the end (1100) of the rotating shaft (110). The rotating shaft (110) and the connecting assembly (5) are rotatably connected. The force sensor (4) is located between the connecting assembly (5) and the linear actuator (3) and is connected to the connecting assembly (5) and the linear actuator (3).

8. The polishing machine as described in claim 7, characterized in that, The connecting assembly (5) includes a bearing housing core (50) surrounding the outside of the rotating shaft (110), a connecting component (51) connected to the bearing housing core (50), and an end bearing (52) connected between the bearing housing core (50) and the rotating shaft (110). The connecting component (51) is plate-shaped, and its outer edge is connected to one end of the bearing housing core (50) away from the rotating shaft (110). The force sensor (4) is connected to the connecting component (51).

9. The polishing machine as described in claim 8, characterized in that, The linear drive (3) includes a stator (30) and a mover (31). The polishing machine also includes an elastic element (60) that applies a spring force to the mover (31) on the side opposite to the motor (1) and a guide assembly (61) that guides the mover (31) to move along the axial direction of the rotor.

10. The polishing machine as described in claim 9, characterized in that, The guide assembly (61) includes a connecting post (610) connected to the motor housing assembly (10), a guide member (611) connected to the connecting post (610), and a first gasket (612) and a second gasket (613) movably connected to the guide member (611) along the axial direction of the rotor. The mover (31) is provided with a receiving cavity (310) that mates with the head (6110) of the guide member (611). The elastic member (60) elastically abuts between the first gasket (612) and the second gasket (613), and applies a thrust to the mover (31) through the first gasket (612).

11. The polishing machine as described in claim 6, characterized in that, The linear actuator (3) includes a stator (30) and a mover (31), the stator (30) being connected to the end plate (21); The polishing machine also includes a displacement sensor for measuring the displacement of the mover (31). The displacement sensor includes a grating ruler (70) connected to the mover (31) and a reading head (71) connected to the side housing (22). The reading head (71) is positioned toward the grating ruler (70), which is positioned along the axial direction of the rotating shaft (110).

12. The polishing machine as described in claim 11, characterized in that, The support member (2) is provided with a mounting shell (23) located outside the side shell (22) and a clearance hole (221) communicating with the mounting shell (23). The reading head (71) is located inside the mounting shell (23) and partially extends into the clearance hole (221).

13. The polishing machine as described in claim 11, characterized in that, The polishing machine also includes a circuit board (90) connected to the surface of the mover (31) facing the motor (1) and a cable connected to the circuit board (90). The wires of the displacement sensor, the linear driver (3) and the force sensor (4) are all connected to the circuit board (90), and the cable passes through the support member (2).

14. The polishing machine as described in claim 13, characterized in that, An insulating pad (91) is provided between the circuit board (90) and the mover (31). The circuit board (90) is provided with a receiving hole (900) for accommodating a portion of the force sensor (4). The force sensor (4) is partially embedded in the mover (31).

15. The polishing machine according to any one of claims 1 to 14, characterized in that, It also includes a working head connector (80), a transmission assembly (81) connected between the working head connector (80) and the rotating shaft (110), and an impeller (811) driven to rotate by the rotating shaft (110). The motor housing assembly (10) includes a main housing (102) and a front end cover (103) and a rear end cover (104) respectively connected to both ends of the main housing (102), and the support member (2) is connected to the rear end cover (104); The polishing machine also includes a housing (82) connected to the front cover (103) and the rear cover (104). The housing (82) surrounds the motor (1) and the impeller (811) and forms a first air duct (106) between it and the main housing (102). The front cover (103) is provided with a front air inlet (1030) communicating with the first air duct (106). The support member (2) includes a side housing (22) connected to the rear cover (104) and a cover (24) surrounding the side housing (22). A second air duct (25) is formed between the cover (24) and the side housing (22). The cover (24) is provided with an air inlet (240) communicating with the second air duct (25) and the outside. The rear cover (104) is provided with a rear air inlet (1040) communicating with the first air duct (106) and the second air duct (25).

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