Active compliance type surface finishing system execution device

Abstract

The utility model provides an actuating device of an active compliance type surface finishing system. The actuating device comprises an actuator shell, an axial floating feedback module, a radial floating feedback module, a pneumatic main shaft, a pressure sensor and a current controller. The system is compact in structure and easy to use, feedback loops are formed in the system through the pressure sensors and the current controllers, the corresponding feedback loops are triggered through changes of the air pressure of compressed air in all the sealed cavities, cyclic conversion among electric signals, changes of the amount of compressed air and structural displacement is achieved, and the reliability of the system is improved. Active compliance of the pneumatic spindle in the machining process is achieved, the production efficiency is improved, the labor cost is reduced, and the deburring quality of parts can be guaranteed.

Description

Technical Field

[0001] The utility model belongs to the field of mechanical processing, and in particular relates to an active compliance type surface finishing system execution device. Background Art

[0002] In the field of mechanical manufacturing, industrial robots are usually used to replace manual deburring operations to effectively improve production efficiency, reduce costs, and ensure the quality of part deburring. However, due to the positioning error of the robot, the use of rigid tools for deburring is prone to tool breakage or part damage. The floating deburring actuator can effectively solve this problem. It enables the tool to follow the burrs of the parts and can effectively avoid damage to the tool and parts due to parts and positioning errors. At present, floating deburring actuators are mainly divided into active compliance and passive compliance. The passive compliance floating system usually has only a fixed offset, which is greatly limited. At the same time, the passive compliance floating system has a relatively simple structure and no feedback loop, and there are still major defects in protecting the workpiece surface. Utility Model Content

[0003] In response to the above-mentioned technical problems, one purpose of the utility model is to provide an active compliant surface finishing system actuator, which has a compact structure and is easy to use. A feedback loop is formed in the system by a pressure sensor and a current controller. The change in the air pressure of the compressed air in each sealed cavity triggers the corresponding feedback loop, thereby realizing active compliance of the pneumatic spindle during the processing, thereby improving production efficiency, reducing labor costs, and ensuring the deburring quality of parts.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] An active compliant surface finishing system actuator comprises an actuator housing, an axial floating feedback module, a radial floating feedback module, a pneumatic spindle, a pressure sensor and a current controller;

[0006] The pneumatic spindle is arranged inside the actuator housing; a plurality of through holes are arranged on the side of the actuator housing;

[0007] The axial floating feedback module is arranged on the top of the pneumatic spindle; the axial floating feedback module comprises a piston which moves axially with the change of air pressure;

[0008] The radial floating feedback module is arranged on the side of the pneumatic main shaft; the radial floating feedback module includes a plurality of cylinders that move radially with the change of air pressure; the plurality of cylinders are connected to the side of the pneumatic main shaft through a plurality of through holes on the side of the actuator housing;

[0009] The axial floating feedback module and the radial floating feedback module are provided with an axial floating pressure sensor, the radial floating feedback module is provided with a radial floating pressure sensor, and the axial floating pressure sensor and the radial floating pressure sensor are both provided with current controllers, which are respectively connected to the valves of the axial floating feedback module and the radial floating feedback module.

[0010] In the above scheme, the axial floating feedback module also includes an actuator gland, an axial exhaust valve, an axial intake valve and an axial floating pressure sensor;

[0011] The axial exhaust valve, axial intake valve and axial floating pressure sensor are arranged on the actuator gland;

[0012] The actuator gland is arranged on the top of the actuator housing;

[0013] The piston is arranged inside the actuator housing and below the actuator gland; the actuator housing, the piston and the actuator gland form a relatively sealed cavity.

[0014] Furthermore, a ball head seat is provided at the bottom of the piston, a suspension ball head is provided in the ball head cavity of the ball head seat, a thread is provided at the bottom of the suspension ball head, and the bottom of the suspension ball head is connected to the pneumatic main shaft through the thread.

[0015] Furthermore, one end of the axial floating pressure sensor is located in a sealed cavity, and the axial floating pressure sensor is connected to a current controller. The current controller includes two signal output ends, and the two signal output ends are respectively connected to the axial exhaust valve and the axial intake valve.

[0016] In the above scheme, the inner wall of the actuator housing is provided with a plurality of axial guide rails; the side surface of the piston is provided with a plurality of grooves matching with the axial guide rails.

[0017] In the above scheme, the radial floating feedback module also includes a first gas path device, a plurality of radial exhaust valves, a radial floating pressure sensor, a plurality of radial intake valves and a second gas path device;

[0018] The first gas path device and the second gas path device are sleeved on the periphery of the actuator housing;

[0019] The first gas path device and the second gas path device both include a cavity and a ventilation port; the cavity of the first gas path device is connected to a plurality of radial exhaust valves; the cavity of the second gas path device is connected to a plurality of radial intake valves;

[0020] A radial exhaust valve and a radial intake valve are provided on the side of each cylinder; and each cylinder is connected to a radial floating pressure sensor.

[0021] Furthermore, one end of the radial floating pressure sensor is located in the cylinder, and the radial floating pressure sensor is connected to a current controller. The current controller includes two signal output ends, and the two signal output ends are respectively connected to a radial exhaust valve and a radial intake valve.

[0022] In the above solution, a dust cover is also provided at the bottom of the actuator housing.

[0023] In the above solution, a floating support module is also provided between the pneumatic spindle and the inner wall of the actuator housing;

[0024] The floating support module includes a floating system lower gland, a ball head piston, a ball head pressure rod, and a floating system upper gland;

[0025] The floating system lower gland and the floating system upper gland are both annular structures, and matching threads are provided between the floating system lower gland and the floating system upper gland. After the threads of the floating system lower gland and the floating system upper gland match, a guide rail with a groove on the side is formed;

[0026] The bottom of the ball head pressure rod is movably arranged in a guide rail groove formed by threaded engagement between the lower pressure cover of the floating system and the upper pressure cover of the floating system, and a ball head is arranged on the top of the ball head pressure rod;

[0027] The ball head piston is arranged on the ball head at the top of the ball head pressure rod, and the other end is connected to the inner wall of the actuator housing.

[0028] In the above scheme, the pneumatic spindle is provided with an air hole, and the actuator housing is provided with a through hole at a position corresponding to the air hole of the pneumatic spindle, and the air hole of the pneumatic spindle is connected to the air circuit system through the through hole of the actuator housing.

[0029] Compared with the prior art, the beneficial effects of the utility model are:

[0030] The utility model utilizes a pressure sensor, a current controller and the air pressure of a sealed cavity to form a feedback loop to control the air inlet valve and the exhaust valve, thereby controlling the offset movement of the pneumatic spindle through compressed air to achieve active compliance of the system, making the machining process more stable, and meeting various machining requirements such as deburring and flash removal and surface polishing of the machined workpiece, thereby improving production efficiency, reducing labor costs, and ensuring the deburring quality of parts.

[0031] In addition, the utility model has a compact structure, is easy to use, uses compressed air as a power source, is energy-saving and environmentally friendly, and can be used in general production sites or special environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0033] Figure 1 It is a structural schematic diagram of an implementation mode of the utility model.

[0034] Figure 2 It is a top view of an embodiment of the utility model.

[0035] Figure 3 It is a bottom view of one embodiment of the utility model.

[0036] Figure 4 It is an exploded view of an embodiment of the utility model.

[0037] Figure 5 It is a schematic diagram of an actuator housing according to one embodiment of the utility model.

[0038] Figure 6 It is a schematic diagram of an axial floating pressure sensor and a current controller according to one embodiment of the utility model.

[0039] Figure 7 It is a schematic diagram of a radial floating pressure sensor and a current controller according to one embodiment of the utility model.

[0040] In the figure: 101, dust cover; 102, first air path device; 103, radial exhaust valve; 104, radial floating pressure sensor; 105, current controller; 106, cylinder; 107, air inlet connector; 108, actuator housing; 109, floating system lower cover; 110, ball head piston; 111, ball head pressure rod; 112, floating system upper cover; 113, radial intake valve; 114, second air path device; 115, pneumatic spindle; 116, suspension ball head; 117, hexagon socket screw; 118, ball head seat; 119, piston; 120, actuator cover; 121, hexagon socket screw; 122, axial exhaust valve; 123, axial intake valve; 124, axial floating pressure sensor; 125, signal output terminal. DETAILED DESCRIPTION

[0041] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0042] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] like Figures 1 to 3 As shown, it is a preferred embodiment of the active compliant surface finishing system actuator of the utility model, the active compliant surface finishing system actuator comprises an actuator housing 108, an axial floating feedback module, a radial floating feedback module, a pneumatic spindle 115, a pressure sensor and a current controller 105;

[0045] The pneumatic spindle 115 is disposed inside the actuator housing 108; a plurality of through holes are disposed on the side of the actuator housing 108;

[0046] The axial floating feedback module is arranged on the top of the pneumatic main shaft 115; the axial floating feedback module includes a piston 119 that moves axially with the change of air pressure;

[0047] The radial floating feedback module is arranged on the side of the pneumatic main shaft 115; the radial floating feedback module includes a plurality of cylinders 106 that move radially with the change of air pressure; the plurality of cylinders 106 are connected to the side of the pneumatic main shaft 115 through a plurality of through holes on the side of the actuator housing 108;

[0048] The axial floating feedback module is provided with an axial floating pressure sensor 124, and the radial floating feedback module is provided with a radial floating pressure sensor 104. Both the axial floating pressure sensor 124 and the radial floating pressure sensor 104 are provided with a current controller 105, and the current controller 105 is respectively connected to the valves of the axial floating feedback module and the radial floating feedback module.

[0049] like Figure 4 As shown, the axial floating feedback module further includes an actuator gland 120, an axial exhaust valve 122, an axial intake valve 123 and an axial floating pressure sensor 124;

[0050] The axial exhaust valve 122, the axial intake valve 123 and the axial floating pressure sensor 124 are arranged on the actuator gland 120;

[0051] The actuator gland 120 is disposed on the top of the actuator housing 108 ; according to this embodiment, preferably, the actuator gland 120 is connected to the actuator housing 108 via a hexagon socket screw 121 .

[0052] The piston 119 is disposed inside the actuator housing 108 and below the actuator gland 120 ; the actuator housing 108 , the piston 119 and the actuator gland 120 form a relatively sealed cavity.

[0053] According to this embodiment, preferably, the air pressure in the relatively sealed cavity formed by the actuator housing 108, the piston 119 and the actuator gland 120 is a stable constant value, which is the axial force exerted on the pneumatic spindle when the machining is in progress and no axial displacement occurs.

[0054] A ball head seat 118 is provided at the bottom of the piston 119 , a suspension ball head 116 is provided in the ball head cavity of the ball head seat 118 , a thread is provided at the bottom of the suspension ball head 116 , and the bottom of the suspension ball head 116 is connected to the pneumatic main shaft 115 via the thread.

[0055] According to this embodiment, preferably, the ball seat 118 is connected to the bottom of the piston 119 by a hexagon socket screw 117.

[0056] like Figure 6 As shown, one end of the axial floating pressure sensor 124 is located in a sealed cavity. The axial floating pressure sensor 124 is connected to the current controller 105. The current controller 105 includes two signal output ends 125. The two signal output ends 125 are respectively connected to the axial exhaust valve 122 and the axial intake valve 123.

[0057] like Figure 5As shown, the inner wall of the actuator housing 108 is provided with a plurality of axial arc-shaped convex guide rails; the side of the piston 119 is provided with a plurality of arc-shaped grooves that cooperate with the axial arc-shaped convex guide rails. The arc-shaped grooves cooperate with the axial arc-shaped convex guide rails to prevent the system from rotating and ensure the stability of axial movement. According to this embodiment, preferably, the arc-shaped grooves of the piston 119 and the convex guide rails on the inner wall of the actuator housing 108 are evenly distributed along the circumferential direction, and there are 5 of them, and the angle between each is 72°.

[0058] The radial floating feedback module further includes a first gas path device 102, a plurality of radial exhaust valves 103, a radial floating pressure sensor 104, a plurality of radial intake valves 113 and a second gas path device 114;

[0059] The first gas circuit device 102 and the second gas circuit device 114 are sleeved on the outer periphery of the actuator housing 108;

[0060] The first gas circuit device 102 and the second gas circuit device 114 both include a cavity and a ventilation port; the cavity of the first gas circuit device 102 is connected to a plurality of radial exhaust valves 103; the cavity of the second gas circuit device 114 is connected to a plurality of radial intake valves 113;

[0061] A radial exhaust valve 103 and a radial intake valve 113 are provided on the side of each cylinder 106 ; each cylinder 106 is connected to a radial floating pressure sensor 104 .

[0062] According to this embodiment, preferably, the air pressure in the cylinder 106 is a stable constant value, which is the radial force exerted on the pneumatic spindle 115 when the machining is in progress and the pneumatic spindle 115 does not swing.

[0063] like Figure 7 As shown, one end of the radial floating pressure sensor 104 is located in the cylinder 106, and the radial floating pressure sensor 104 is connected to the current controller 105. The current controller 105 includes two signal output ends 125, and the two signal output ends 125 are respectively connected to the radial exhaust valve 103 and the radial intake valve 113.

[0064] According to this embodiment, preferably, the pressure sensor is screwed into the sealed cavity or the cylinder through threads.

[0065] According to this embodiment, preferably, the second air circuit device 114 inputs the compressed air required for radial floating into the cylinder 106; the radial air inlet valve 113 is installed between the upper air inlet hole of the cylinder 106 and the lower air inlet hole of the second air circuit device 114; the first air circuit device 102 discharges the radial floating compressed air from the cylinder 106; the radial exhaust valve 103 is installed between the lower air inlet hole of the cylinder 106 and the upper air inlet hole of the first air circuit device 102; the radial exhaust valve 103, the radial air inlet valve 113, the axial exhaust valve 122 and the axial air inlet valve 123 are respectively controlled by the corresponding radial feedback loop and the axial feedback loop.

[0066] When the system requires the actuator to perform radial floating processing, the radial floating pressure sensor 104 and the current controller 105 control the radial exhaust valve 103 and the radial intake valve 113, thereby controlling the amount of compressed air inside the cylinder 106, and realizing the radial displacement of the pneumatic spindle 115; similarly, when the system requires the actuator to perform axial floating processing, the axial floating pressure sensor 124 and the current controller 105 control the axial exhaust valve 122 and the axial intake valve 123, thereby controlling the amount of compressed air inside the sealed cavity formed between the piston 119 and the actuator housing 108 and the actuator cover 120, and realizing the axial displacement of the pneumatic spindle 115.

[0067] A dust cover 101 is also provided at the bottom of the actuator housing 108 .

[0068] A floating support module is also provided between the pneumatic spindle 115 and the inner wall of the actuator housing 108;

[0069] The floating support module includes a floating system lower pressure cover 109, a ball head piston 110, a ball head pressure rod 111, and a floating system upper pressure cover 112;

[0070] The floating system lower pressure cover 109 and the floating system upper pressure cover 112 are both annular structures, and a matching thread is provided between the floating system lower pressure cover 109 and the floating system upper pressure cover 112. After the threads of the floating system lower pressure cover 109 and the floating system upper pressure cover 112 are matched, a guide rail with a groove on the side is formed; according to this embodiment, preferably, the floating system lower pressure cover 109 and the inner hole of the floating system upper pressure cover 112 are installed on the pneumatic main shaft 115 by interference fit.

[0071] The bottom of the ball head pressure rod 111 is movably arranged in a guide rail groove formed by threaded engagement between the floating system lower pressure cover 109 and the floating system upper pressure cover 112, and a ball head is arranged on the top of the ball head pressure rod 111;

[0072] The ball piston 110 is disposed on the ball head at the top of the ball pressure rod 111 , and the other end is connected to the inner wall of the actuator housing 108 .

[0073] When the pneumatic spindle 115 is floating axially or radially, the floating support module supports the pneumatic spindle 115, the ball head piston 110 compresses the air and performs piston movement, and the ball head pressure rod 111 can move relatively on the guide rail, which can make the pneumatic spindle 115 float axially or radially more smoothly.

[0074] The pneumatic main shaft 115 is provided with an air hole, and the actuator housing 108 is provided with a through hole at a position corresponding to the air hole of the pneumatic main shaft 115 . The air hole of the pneumatic main shaft 115 is connected to the air circuit system through the through hole of the actuator 108 housing.

[0075] According to this embodiment, preferably, an air inlet connector 107 is provided on the through hole of the housing of the actuator 108, and the air circuit system is connected to the pneumatic spindle 115 through the air inlet connector 107 to provide power for the system.

[0076] The working process of this utility model is as follows:

[0077] The compressed air provided by the air compressor is used as the power source. During the processing, when the actuator is not subjected to radial force, the pressure of the five independent cylinders 106 in the radial floating feedback module is a stable constant value. When the actuator is subjected to radial resistance, the air pressure of each independent cylinder 106 changes, triggering the radial floating pressure sensor 104 of the cylinder 106, and the radial floating pressure sensor 104 transmits the electrical signal to the current controller 105. When the air pressure in the cylinder 106 is greater than the normal value, the current controller 105 triggers the corresponding radial exhaust valve 103 to exhaust the gas to maintain the air pressure inside the cylinder 106 at a constant value; when the air pressure in the cylinder 106 is less than the normal value, the current controller 105 triggers the corresponding radial intake valve 113 to input compressed air into the cylinder 106 to maintain the air pressure inside the cylinder 106 at a constant value. The radial swing of the pneumatic spindle 115 is achieved by changing the amount of compressed air in each cylinder 106. Similarly, when the actuator is not subjected to axial force, the pressure of the compressed air in the sealed cavity of the axial floating feedback module is a stable constant value. When the pneumatic spindle is subjected to a pressure exceeding or less than the stable constant value, the axial floating pressure sensor 124 inside the cavity is triggered. The axial floating pressure sensor 124 inputs an electrical signal into the current controller 105. When the air pressure in the sealed cavity is greater than the constant value, the current controller 105 triggers the corresponding axial exhaust valve 122 to exhaust the gas to maintain the air pressure inside the sealed cavity at a constant value; when the air pressure inside the sealed cavity is less than the constant value, the current controller 105 triggers the corresponding axial intake valve 123 to input compressed air into the sealed cavity to maintain the air pressure inside the sealed cavity at a constant value. The amount of compressed air pushes the piston 119 and causes the pneumatic spindle 115 to float axially.

[0078] The utility model has a compact structure and is easy to use. A feedback loop is formed in the system by using sensors and current controllers. The change in the air pressure of the compressed air in each sealed cavity triggers the corresponding feedback loop, thereby realizing a cyclic conversion among electrical signal→change in compressed air volume→structural displacement, and realizing active compliance of the pneumatic spindle and the tool during the machining process. The change in compressed air volume and speed gradually increases or decreases with the control of the electrical signal, thereby greatly protecting the workpiece and improving the machining quality and efficiency.

[0079] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the protection scope of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An active compliant surface finishing system execution device, characterized in that: It includes an actuator housing (108), an axial floating feedback module, a radial floating feedback module, a pneumatic spindle (115), a pressure sensor and a current controller (105); The pneumatic main shaft (115) is arranged inside the actuator housing (108); a plurality of through holes are arranged on the side of the actuator housing (108); The axial floating feedback module is arranged on the top of the pneumatic main shaft (115); the axial floating feedback module comprises a piston (119) which moves axially with the change of air pressure; The radial floating feedback module is arranged on the side of the pneumatic main shaft (115); the radial floating feedback module comprises a plurality of cylinders (106) that move radially with changes in air pressure; the plurality of cylinders (106) are connected to the side of the pneumatic main shaft (115) through a plurality of through holes on the side of the actuator housing (108); The axial floating feedback module is provided with an axial floating pressure sensor (124), and the radial floating feedback module is provided with a radial floating pressure sensor (104). Both the axial floating pressure sensor (124) and the radial floating pressure sensor (104) are provided with a current controller (105), and the current controller (105) is respectively connected to the valves of the axial floating feedback module and the radial floating feedback module.

2. The active compliant surface finishing system actuator according to claim 1, characterized in that: The axial floating feedback module also includes an actuator gland (120), an axial exhaust valve (122), an axial intake valve (123) and an axial floating pressure sensor (124); The axial exhaust valve (122), the axial intake valve (123) and the axial floating pressure sensor (124) are arranged on the actuator gland (120); The actuator gland (120) is arranged on the top of the actuator housing (108); The piston (119) is arranged inside the actuator housing (108) and below the actuator gland (120); the actuator housing (108), the piston (119) and the actuator gland (120) form a relatively sealed cavity.

3. The active compliant surface finishing system execution device according to claim 2, characterized in that: A ball head seat (118) is provided at the bottom of the piston (119), a suspension ball head (116) is provided in the ball head cavity of the ball head seat (118), a thread is provided at the bottom of the suspension ball head (116), and the bottom of the suspension ball head (116) is connected to the pneumatic main shaft (115) through the thread.

4. The active compliant surface finishing system actuator according to claim 2, characterized in that: One end of the axial floating pressure sensor (124) is located in a sealed cavity. The axial floating pressure sensor (124) is connected to a current controller (105). The current controller includes two signal output ends (125). The two signal output ends (125) are respectively connected to an axial exhaust valve (122) and an axial intake valve (123).

5. The active compliant surface finishing system actuator according to claim 1, characterized in that: The inner wall of the actuator housing (108) is provided with a plurality of axial guide rails; the side surface of the piston (119) is provided with a plurality of grooves matching with the axial guide rails.

6. The active compliant surface finishing system actuator according to claim 1, characterized in that: The radial floating feedback module further comprises a first gas path device (102), a plurality of radial exhaust valves (103), a radial floating pressure sensor (104), a plurality of radial intake valves (113) and a second gas path device (114); The first gas path device (102) and the second gas path device (114) are sleeved on the periphery of the actuator housing (108); The first gas path device (102) and the second gas path device (114) both comprise a cavity and a ventilation port; the cavity of the first gas path device (102) is connected to a plurality of radial exhaust valves (103); the cavity of the second gas path device (114) is connected to a plurality of radial intake valves (113); A radial exhaust valve (103) and a radial intake valve (113) are provided on the side of each cylinder (106); and each cylinder (106) is connected to a radial floating pressure sensor (104).

7. The active compliant surface finishing system execution device according to claim 6, characterized in that: One end of the radial floating pressure sensor (104) is located in the cylinder (106), and the radial floating pressure sensor (104) is connected to the current controller (105). The current controller includes two signal output ends (125), and the two signal output ends (125) are respectively connected to the radial exhaust valve (103) and the radial intake valve (113).

8. The active compliant surface finishing system execution device according to claim 1, characterized in that: A dust cover (101) is also provided at the bottom of the actuator housing (108).

9. The active compliant surface finishing system execution device according to claim 1, characterized in that: A floating support module is also provided between the pneumatic main shaft (115) and the inner wall of the actuator housing (108); The floating support module comprises a floating system lower pressure cover (109), a ball head piston (110), a ball head pressure rod (111), and a floating system upper pressure cover (112); The floating system lower pressure cover (109) and the floating system upper pressure cover (112) are both annular structures, and matching threads are provided between the floating system lower pressure cover (109) and the floating system upper pressure cover (112). After the threads of the floating system lower pressure cover (109) and the floating system upper pressure cover (112) are matched, a guide rail with a groove on the side is formed; The bottom of the ball head pressure rod (111) is movably arranged in a guide rail groove formed by threaded engagement of a lower pressure cover (109) of the floating system and an upper pressure cover (112) of the floating system, and a ball head is arranged on the top of the ball head pressure rod (111); The ball head piston (110) is arranged on the ball head at the top of the ball head pressure rod (111), and the other end is connected to the inner wall of the actuator housing (108).

10. The active compliant surface finishing system execution device according to claim 1, characterized in that: The pneumatic main shaft (115) is provided with an air hole, and the actuator housing (108) is provided with a through hole at a position corresponding to the air hole of the pneumatic main shaft (115). The air hole of the pneumatic main shaft (115) is connected to the air circuit system through the through hole of the actuator housing (108).

Images