A multi-scenario adaptive robotic pneumatic grinding device

Abstract

The utility model discloses a multi-scenario adaptive robot pneumatic grinding device, comprising a curved surface grinding device, a flat surface grinding device, a robot connecting device, a first magnetorheological damper and a second magnetorheological damper; the robot connecting device comprises a swing cylinder, a first mounting plate and a second mounting plate, the first mounting plate is mounted at the end of a mechanical arm, the swing cylinder is fixedly mounted on the first mounting plate, and the mechanical arm drives the entire grinding device to move; the second mounting plate is mounted and fixed to the output end of the swing cylinder; the second mounting plate comprises a first mounting panel and a second mounting panel which are perpendicular to each other, the first magnetorheological damper is mounted on the first mounting panel, and the first magnetorheological damper is connected to the flat surface grinding device; the second magnetorheological damper is mounted on the second mounting panel, the output rod of the second magnetorheological damper is perpendicular to the output rod of the first magnetorheological damper, and the second magnetorheological damper is connected to the curved surface grinding device.

Description

Technical Field

[0001] The utility model belongs to the technical field of grinding equipment, in particular to a pneumatic grinding device for grinding planes and curved surfaces. Background Art

[0002] With the advancement of science and technology, grinding technology is widely used in many industries such as mechanical processing, furniture manufacturing, stone processing, etc. Its main purpose is to improve the surface finish and precision of the workpiece, so as to meet the requirements of product quality and performance. Grinding has an important impact on the aesthetics, durability and efficiency of the subsequent processing flow of the workpiece. The commonly used forms of grinding are manual grinding and robot grinding. Traditional manual grinding has poor precision, inconvenient operation, low efficiency, and requires a high level of proficiency in grinding. It cannot adapt to the current large-scale production and frequent head replacement grinding operations. Robotic grinding technology has low cost and high precision, which can significantly improve the processing quality and efficiency. However, the rigid connection between the robot arm and the grinding head often causes the blade to break due to processing accuracy problems, damaging the processed workpiece.

[0003] In the field of mechanical vibration control, traditional shock absorption methods mainly include passive shock absorption and active shock absorption. The passive shock absorption method relies on the inherent characteristics of shock absorbing elements, such as springs and dampers, to isolate or absorb vibrations. However, since the parameters of passive shock absorbing elements are fixed, they cannot adapt to vibrations of different frequencies and intensities. The active shock absorption method detects vibration signals through sensors and drives the actuators to generate reaction forces to offset vibrations. However, active shock absorption systems are usually complex in structure, expensive, and have high requirements on the stability and reliability of the control system.

[0004] Magnetorheological fluid (MRF) is a smart material whose rheological properties can change significantly under the influence of an external magnetic field. When the magnetic field strength increases, the magnetic particles in the MRF will form a chain or network structure, which increases the viscosity of the liquid and thus exhibits mechanical properties similar to those of a solid. This unique property makes MRF have a wide range of application prospects in the field of shock absorption and vibration absorption, and its rheological properties can be adjusted in real time by an external magnetic field. Therefore, the application of MRF in the field of shock absorption and vibration absorption can achieve adaptive adjustment of vibration frequency and intensity. In addition, the MRF shock absorption and vibration absorption device also has the advantages of simple structure, fast response speed, and low energy consumption, and is suitable for vibration control in various complex environments.

[0005] In comparison, the flexible polishing robot disclosed in patent document CN108406584A can adjust its posture through a retractable damping rod during the polishing process, and adjust the processing accuracy by adjusting the extension amount of the driving rod. However, its application scenarios are limited, and it can only polish flat surfaces and the outer sections of curved surfaces, but cannot process the inner sections of curved surfaces. The automatic leveling flexible grinding head device disclosed in CN112440205A includes an automatic leveling mechanism, a pneumatic clamp and a flexible base, which are connected in sequence. The flexible base can be detachably mounted on the pneumatic clamp. When the flexible base presses the strip steel and grinds the strip steel surface, the automatic leveling mechanism can adaptively twist to make the flexible base surface adapt to the deformation of the strip steel surface, ensure uniform friction between the flexible base and the strip steel contact surface, increase the contact area between the grinding head and the strip steel, and greatly improve the grinding quality. However, the use scene is limited and can only be applied to large planes or curved surfaces with small deformation, and the applicability is poor. In view of the above problems, this paper proposes a pneumatic flexible grinding device for multi-scene grinding to realize multi-scene force adaptive shock absorption and vibration absorption flexible grinding to solve the complex uneven curved surfaces and planes in the grinding process. Reduce the vibration problem generated during the grinding process and realize force adaptive flexible grinding. Utility Model Content

[0006] In order to solve the deficiencies of the prior art, the utility model provides a pneumatic flexible grinding device for multi-scenario grinding to achieve multi-scenario force-adaptive shock-absorbing and vibration-absorbing flexible grinding.

[0007] The technical solution of the utility model to solve the existing problems is:

[0008] A multi-scenario adaptive robot pneumatic grinding device, comprising a curved surface grinding device, a flat surface grinding device, a robot connecting device, a first magnetorheological damper and a second magnetorheological damper;

[0009] The robot connecting device includes a swing cylinder, a first mounting plate, and a second mounting plate. The first mounting plate is installed at the end of the robotic arm, and the swing cylinder is fixedly installed on the first mounting plate, so that the robotic arm drives the entire grinding device to move; the second mounting plate is installed and fixed to the output end of the swing cylinder; the second mounting plate includes a first mounting panel and a second mounting panel perpendicular to each other, and a first magnetorheological damper is installed on the first mounting panel, and the first magnetorheological damper is connected to the plane grinding device; the second magnetorheological damper is installed on the second mounting panel, and the output rod of the second magnetorheological damper is perpendicular to the output rod of the first magnetorheological damper, and the second magnetorheological damper is connected to the curved surface grinding device.

[0010] As a further technical solution, the curved surface grinding device includes a curved surface grinding head, a curved surface grinding pneumatic motor, a curved surface grinding flange and a second grinding fixing rod; the second magnetorheological fluid damper output rod is connected to the curved surface grinding flange through the second grinding fixing rod, the curved surface grinding flange is connected to the curved surface grinding pneumatic motor, and the curved surface grinding head is installed on the output shaft of the curved surface grinding pneumatic motor.

[0011] As a further technical solution, the rotation axis of the curved surface grinding device is in a straight line with the axis of the second grinding fixed rod and the second magnetorheological fluid damper output rod.

[0012] As a further technical solution, the plane grinding device includes a plane grinding head, a plane grinding pneumatic motor, a plane grinding flange and a first grinding fixing rod; the first magnetorheological fluid damper output rod is connected to the plane grinding flange through the first grinding fixing rod, the plane grinding flange is connected to the plane grinding pneumatic motor, and the plane grinding head is installed on the output shaft of the plane grinding pneumatic motor.

[0013] As a further technical solution, the rotation axis of the plane grinding device is perpendicular to the axis of the first grinding fixed rod and the first magnetorheological fluid damper output rod.

[0014] As a further technical solution, the swing cylinder and the plane grinding device are arranged on two opposite surfaces of the first mounting panel, and the swing cylinder and the plane grinding device are staggered.

[0015] As a further technical solution, the magnetorheological damper includes a piston chamber, a first sealing plate, a magnetorheological fluid, a piston, a guide block, a magnetorheological fluid damper output rod, a coil chamber, a second sealing plate, a coil, and a spring;

[0016] The first sealing plate is installed at the end surface of the piston cylinder, the magnetorheological fluid is filled in the cavity between the piston cylinder and the first sealing plate, the piston is installed inside the piston cylinder, the piston is fixedly installed with the magnetorheological fluid damper output rod close to the spring, the magnetorheological fluid damper output rod is away from the spring and extends out of the piston cylinder through the central opening of the first sealing plate, the spring is installed between the piston and the inner wall of the piston cylinder, a coil cavity is arranged on the outer ring of the piston cavity, a coil is arranged in the coil cavity, and a second sealing plate is installed outside the coil cavity;

[0017] As a further technical solution, a guide block is installed on the outer side of the piston, and a guide groove is provided on the inner wall of the piston cavity, and the guide block moves in the guide groove.

[0018] As a further technical solution, a threaded hole is opened at one end of the output rod of the magnetorheological fluid damper to install the screws and the piston to achieve interference fit, and an external thread is processed at the other end to connect with the corresponding polished fixing rod.

[0019] As a further technical solution, the first sealing plate and the second sealing plate are in a circular ring shape and are fixed to the magnetorheological fluid damper by screws.

[0020] The beneficial effects of the utility model are:

[0021] The utility model can realize the switching of the functions of the whole device and the adjustment of the posture through the swing cylinder installed at the end of the mechanical arm, and realize constant tension grinding. When grinding a plane, the plane grinding posture is switched to provide the initial grinding force, and the current passed into the internal coil of the magnetorheological fluid damper is adjusted. After the current is passed into the coil, a changing magnetic field is generated. According to the magnetorheological effect, the viscosity of the magnetorheological fluid can be changed, and the stiffness of the whole magnetorheological fluid damper is changed through the movement of the piston, so as to realize flexible grinding of shock absorption and vibration absorption. At the same time, the spring in the magnetorheological damper can realize the adaptive grinding of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of dual-type pneumatic grinding device for multiple scenarios;

[0023] Figure 2 Schematic diagram of curved surface grinding device;

[0024] Figure 3 Schematic diagram of the plane grinding device;

[0025] Figure 4 Schematic diagram of the cross section of a magnetorheological fluid damper.

[0026] In the figure: 1-curved surface grinding head, 2-curved surface grinding pneumatic motor, 3-hexagon socket screw, 4-grinding fixing rod, 5-magnetorheological fluid damper output rod, 6-first sealing plate, 7-second sealing plate, 8-curved surface flange, 9-first mounting plate, 10-swinging cylinder, 11-bolt, 12-flange nut, 13-second mounting plate, 14-magnetorheological fluid damper, 15-swinging cylinder air inlet, 16-flat grinding head, 17-flat flange, 18-pneumatic motor air inlet, 19-flat grinding pneumatic motor, 20-guide block, 21-piston, 22-spring, 23-coil, 24-piston chamber, 25-coil chamber. DETAILED DESCRIPTION

[0027] Below, this patent will combine the drawings in the examples of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments; based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0028] like Figure 1As shown, the present embodiment discloses a multi-scenario adaptive robot pneumatic grinding device, including a first mounting plate 9 and a second mounting plate 13; Figure 1 As shown, the first mounting plate 9 is mounted at the end of the robot arm, and the swing cylinder 10 is fixedly mounted on the first mounting plate 9, so that the robot arm drives the entire grinding device to realize rotary motion.

[0029] The second mounting plate 13 is connected to and fixed to the output shaft end of the swing cylinder 10 through the holes of the bolts 11, so that the swing cylinder 10 is connected to the swing cylinder air inlet 15 and the compressed air machine is used to drive the output shaft of the swing cylinder 10 to reciprocate and rotate within a certain angle range to achieve constant tension grinding.

[0030] A curved surface grinding device and a flat surface grinding device are fixed on the second mounting plate 13; the second mounting plate 13 includes a vertically connected first mounting panel (corresponding to Figure 1 The horizontally mounted panel in the middle) and the second mounting panel (corresponding to Figure 1 A plane grinding device is installed on the first mounting panel, and a curved surface grinding device is fixed on the second mounting panel; the swing cylinder 10 and the plane grinding device are arranged on two opposite surfaces of the first mounting panel, and the swing cylinder and the plane grinding device are staggered.

[0031] Depend on Figure 2 It can be seen that the curved surface grinding device includes a second magnetorheological fluid damper 14, a curved surface flange 8, a second grinding fixing rod 4, a curved surface grinding pneumatic motor 14, a curved surface grinding head 1, bolts 11, and flange surface nuts 12; the second magnetorheological fluid damper 14 is fixed to the second fixed panel of the second mounting plate 13 by bolts 11 and fixed by flange surface nuts 12. The magnetorheological fluid damper output rod of the second magnetorheological fluid damper 14 is connected to the second grinding fixing rod 4 of the curved flange 8. One end of the grinding fixing rod 4 of the curved flange 8 is connected to the curved flange 8. The curved flange 8 is fixed to the pneumatic motor by the hexagon socket screw 3. The rotating axis of the curved surface grinding device is in a straight line with the axis of the second grinding fixing rod 4 and the output rod of the second magnetorheological fluid damper 14. The pneumatic motor is moved by connecting the air compressor to the air inlet 18 of the pneumatic motor, driving the curved surface grinding head 1 connected to the connecting rod end of the pneumatic motor to rotate, thereby providing grinding movement in the vertical direction.

[0032] Depend on Figure 3It can be known that the plane grinding device includes a first magnetorheological fluid damper 14, a plane flange 17, a first grinding fixing rod 4, a plane grinding pneumatic motor 19, a plane grinding head 16, bolts 11, and flange face nuts 12. The first magnetorheological fluid damper 14 is fixed to the first mounting panel of the second mounting plate 13 by bolts 11 and fixed by flange face nuts 12. The magnetorheological fluid damper output rod 5 of the first magnetorheological fluid damper 14 is connected to the first grinding fixing rod 4 of the plane flange 17, and the grinding fixing rod 4 of the plane flange 17 is fixed on the pneumatic motor. The pneumatic motor is moved by connecting the air compressor to the air inlet 18 of the pneumatic motor, driving the plane grinding head 16 connected to the connecting rod end of the pneumatic motor to rotate, thereby providing grinding movement in the vertical direction. The rotating axis of the plane grinding device is perpendicular to the axis of the first grinding fixing rod 4 and the output rod of the first magnetorheological fluid damper 14.

[0033] Depend on Figure 4 It can be seen that the magnetorheological fluid damper 14 includes a piston chamber 24, a first sealing plate 6, magnetorheological fluid, a piston 21, a guide block 20, a magnetorheological fluid damper output rod 5, a coil chamber 25, a second sealing plate 7, a coil 23 and a spring 22; the first sealing plate 6 is installed at the end surface of the piston cylinder, the magnetorheological fluid is filled in the cavity between the piston cylinder and the first sealing plate 6, the piston 21 is installed inside the piston cylinder, the guide block 20 is installed outside the piston 21, the inner wall of the piston cylinder is provided with a guide groove, the guide block 20 moves in the guide groove, and the piston 21 is fixedly installed with the magnetorheological fluid damper output rod 5 close to one end of the spring. The output rod 5 of the magnetorheological fluid damper extends out of the piston cylinder through the central opening of the first sealing plate 6 away from one end of the spring. The spring 22 is installed between the piston 21 and the inner wall of the piston cylinder. The coil 23 is placed in the coil cavity 25. The second sealing plate 7 is installed outside the coil cavity 25. During the grinding process, current is passed through the coil 23, and a magnetic field can be generated in the damper space. The viscosity of the magnetorheological fluid filled in the piston cavity 24 changes, thereby achieving flexible grinding in the grinding direction. At the same time, the spring 22 in the piston cavity 24 can also provide grinding in the grinding direction, and the automatic return function of the grinding device can be realized.

[0034] The utility model can realize the switching of the functions of the whole device and the adjustment of the posture through the swing cylinder installed at the end of the mechanical arm, and realize constant tension grinding. When grinding a plane, the plane grinding posture is switched to provide the initial grinding force, and the current passed into the internal coil of the magnetorheological fluid damper is adjusted. After the current is passed into the coil, a changing magnetic field is generated. According to the magnetorheological effect, the viscosity of the magnetorheological fluid can be changed, and the stiffness of the whole magnetorheological fluid damper is changed through the movement of the piston, so as to realize flexible grinding of shock absorption and vibration absorption. At the same time, the spring in the magnetorheological damper can realize the adaptive grinding of the device.

[0035] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-scenario adaptive robotic pneumatic grinding device, characterized in that: It includes a curved surface grinding device, a flat surface grinding device, a robot connecting device, a first magnetorheological damper and a second magnetorheological damper; The robot connecting device includes a swing cylinder, a first mounting plate, and a second mounting plate. The first mounting plate is installed at the end of the robotic arm, and the swing cylinder is fixedly installed on the first mounting plate, so that the robotic arm drives the entire grinding device to move; the second mounting plate is installed and fixed to the output end of the swing cylinder; the second mounting plate includes a first mounting panel and a second mounting panel perpendicular to each other, and a first magnetorheological damper is installed on the first mounting panel, and the first magnetorheological damper is connected to the plane grinding device; the second magnetorheological damper is installed on the second mounting panel, and the output rod of the second magnetorheological damper is perpendicular to the output rod of the first magnetorheological damper, and the second magnetorheological damper is connected to the curved surface grinding device.

2. The multi-scenario adaptive robotic pneumatic grinding device according to claim 1, characterized in that: The curved surface grinding device includes a curved surface grinding head, a curved surface grinding pneumatic motor, a curved surface grinding flange and a second grinding fixing rod; the second magnetorheological fluid damper output rod is connected to the curved surface grinding flange through the second grinding fixing rod, the curved surface grinding flange is connected to the curved surface grinding pneumatic motor, and the curved surface grinding head is installed on the output shaft of the curved surface grinding pneumatic motor.

3. The multi-scenario adaptive robotic pneumatic grinding device according to claim 2, characterized in that: The rotating shaft of the curved surface grinding device is in a straight line with the axis of the second grinding fixed rod and the output rod of the second magnetorheological fluid damper.

4. The multi-scenario adaptive robotic pneumatic grinding device according to claim 1, characterized in that: The plane grinding device includes a plane grinding head, a plane grinding pneumatic motor, a plane grinding flange and a first grinding fixing rod; the first magnetorheological fluid damper output rod is connected to the plane grinding flange through the first grinding fixing rod, the plane grinding flange is connected to the plane grinding pneumatic motor, and the plane grinding head is installed on the output shaft of the plane grinding pneumatic motor.

5. The multi-scenario adaptive robotic pneumatic grinding device according to claim 4, characterized in that: The rotating shaft of the plane grinding device is perpendicular to the axis of the first grinding fixed rod and the first magnetorheological fluid damper output rod.

6. The multi-scenario adaptive robotic pneumatic grinding device according to claim 1, characterized in that: The swing cylinder and the plane grinding device are arranged on two opposite surfaces of the first installation panel, and the swing cylinder and the plane grinding device are staggered.

7. The multi-scenario adaptive pneumatic robot grinding device according to claim 1, characterized in that: The magnetorheological damper comprises a piston chamber, a first sealing plate, a magnetorheological fluid, a piston, a guide block, a magnetorheological fluid damper output rod, a coil chamber, a second sealing plate, a coil, and a spring; The first sealing plate is installed at the end surface of the piston cylinder, the magnetorheological fluid is filled in the cavity between the piston cylinder and the first sealing plate, the piston is installed inside the piston cylinder, the piston is fixed with the magnetorheological fluid damper output rod close to one end of the spring, the magnetorheological fluid damper output rod is away from the spring and extends out of the piston cylinder through the central opening of the first sealing plate, the spring is installed between the piston and the inner wall of the piston cylinder, a coil cavity is arranged on the outer ring of the piston cavity, a coil is arranged in the coil cavity, and a second sealing plate is installed outside the coil cavity.

8. The multi-scenario adaptive pneumatic robot grinding device according to claim 7, characterized in that: A guide block is installed on the outer side of the piston, a guide groove is arranged on the inner wall of the piston cavity, and the guide block moves in the guide groove.

9. The multi-scenario adaptive robotic pneumatic grinding device according to claim 1, characterized in that: A threaded hole is opened at one end of the output rod of the magnetorheological fluid damper to install screws and pistons to achieve interference fit, and an external thread is processed at the other end to connect with the corresponding polished fixing rod.

10. The multi-scenario adaptive pneumatic robot grinding device according to claim 7, characterized in that: The first sealing plate and the second sealing plate are in annular shape and are fixed on the magnetorheological fluid damper by screws.

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