Parallel six-degree-of-freedom floating grinding tool platform

Abstract

The utility model relates to the field of automatic polishing, in particular to a parallel six-degree-of-freedom floating polishing tool platform. A parallel six-degree-of-freedom floating grinding tool platform comprises a base, a plurality of connecting rod assemblies and a floating seat used for installing a tool clamp. The connecting rod assembly comprises two joints, two crosses, a piston assembly and a pressure sensor; the two connectors are connected to the two ends of the piston assembly through the two crosses. The connector and the piston assembly are rotationally connected to the cross. The piston assembly comprises a piston cylinder and a piston rod. The grinding tool platform has the advantages that the grinding tool platform has the floating function to replace the floating function of a floating grinding head. The pressure sensor is used for detecting the gas pressure in the closed gas cavity, and the direction, the magnitude and the displacement of the force borne by the parallel six-degree-of-freedom floating polishing tool platform can be calculated through the pressure change in the closed gas cavity of the multiple piston assemblies, so that the force control function of a six-dimensional force sensor is replaced.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic grinding, in particular to a parallel six-degree-of-freedom floating grinding tool platform. Background Technique

[0002] In the automatic grinding industry, existing conventional floating grinding solutions generally use pneumatic floating grinding heads or electric floating grinding heads to achieve the floating function. Some also install six-axis force sensors for force control protection of the floating grinding heads. At the same time, the grinding tool platform is generally fixed and non-floating.

[0003] Its main defects are as follows: (1) Pneumatic floating grinding heads and electric floating grinding heads are generally expensive, with high costs. (2) When the six-axis force sensor is not installed, the grinding head lacks force control and is easily damaged due to excessive force. (3) The six-axis force sensor is also relatively expensive. After installing the six-axis force sensor, the cost is even higher, and the six-axis force sensor has a range limit. When the misoperation exceeds the range, the six-axis force sensor is easily damaged, resulting in high maintenance costs. Content of the Utility Model

[0004] The purpose of the utility model is to provide a parallel six-degree-of-freedom floating grinding tool platform to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solutions:

[0006] A parallel six-degree-of-freedom floating grinding tool platform, comprising: a base, a plurality of connecting rod assemblies, and a floating seat for installing a tooling fixture; the connecting rod assembly: two joints, two cross members, a piston assembly, and a pressure sensor; the two joints are connected to both ends of the piston assembly through the two cross members; the joints and the piston assembly are both rotatably connected to the cross members; the rotation axes of the relative rotation between the cross members and the joints and between the cross members and the piston assembly are perpendicular to each other; the piston assembly includes: a piston cylinder and a piston rod; the piston rod is slidably installed in the piston cylinder; a closed air chamber is formed between the piston rod and the piston cylinder; when the piston rod slides relative to the piston cylinder, the volume of the closed air chamber changes; the pressure sensor is installed in the piston cylinder to detect the pressure in the closed air chamber; the two joints of the same connecting rod assembly are respectively installed on the base and the floating seat; the axis of the piston assembly is inclined to the base and the floating seat.

[0007] As a further embodiment of the utility model, the number of the connecting rod assemblies is an even number; every two adjacent connecting rod assemblies of the even number of connecting rod assemblies are grouped together to form a plurality of sets; the plurality of sets are evenly distributed in the circumferential direction of the base; the plurality of sets are evenly distributed in the circumferential direction of the floating seat.

[0008] As a further embodiment of the utility model, the number of the connecting rod assemblies is six; the six joints connecting the floating seat are evenly distributed in the circumferential direction of the floating seat.

[0009] As a further embodiment of the present utility model, the axes of the piston assemblies of the two connecting rod assemblies of the same set are inclined to each other.

[0010] As a further embodiment of the present utility model, the distance between the positions where the two connecting rod assemblies of the same set are connected to the base is less than the distance between the positions where the two connecting rod assemblies of the same set are connected to the floating seat.

[0011] As a further embodiment of the present utility model, the multiple joints installed on the base are located on the outer periphery of the multiple joints installed on the floating seat.

[0012] As a further embodiment of the present utility model, the piston assembly is inclined circumferentially along the floating seat from bottom to top and inclined towards the center line of the floating seat.

[0013] The beneficial effects of the present utility model are as follows: The grinding tool platform is provided with a floating function to replace the floating function of the floating grinding head. The pressure sensor is used to detect the gas pressure in the closed air chamber. The direction, magnitude, and displacement of the force received by the parallel six-degree-of-freedom floating grinding tool platform can be calculated through the pressure change in the closed air chamber of the multiple piston assemblies, so as to replace the force control function of the six-axis force sensor.

[0014] The overall structure is simple, the cost is low, and it is not easy to be damaged.

[0015] Other features and advantages of the present utility model will be disclosed in detail in the following specific embodiments and drawings. Brief Description of the Drawings

[0016] Figure 1 is a perspective view of a parallel six-degree-of-freedom floating grinding tool platform as an embodiment of the present utility model;

[0017] Figure 2 is Figure 1 a front view of a parallel six-degree-of-freedom floating grinding tool platform in

[0018] Figure 3 is Figure 2 a top view of a parallel six-degree-of-freedom floating grinding tool platform in

[0019] Figure 4 is Figure 1 a schematic diagram of a parallel six-degree-of-freedom floating grinding tool platform installing a fixture and clamping a part to be ground in

[0020] Figure 5 is Figure 1 a front view of a connecting rod assembly of a parallel six-degree-of-freedom floating grinding tool platform in

[0021] Figure 6 is Figure 5 the right view of the connecting rod assembly in

[0022] Figure 7 is Figure 6 the sectional view of the connecting rod assembly along line A-A in

[0023] List of reference numerals: Parallel six-degree-of-freedom floating grinding tool platform 100, base 10, connecting rod assembly 20, joint 21, cross 22, piston assembly 23, piston cylinder 231, piston rod 232, closed air cavity 2301, pressure sensor 24, floating seat 30, tooling fixture 101, part to be ground 102. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] As Figures 1 to 7 shown, a parallel six-degree-of-freedom floating grinding tool platform 100 includes: a base 10, a plurality of connecting rod assemblies 20, and a floating seat 30 for installing a tooling fixture 101.

[0026] The tooling fixture 101 is installed on the floating seat 30. The tooling fixture 101 realizes the clamping and fixing of the part to be ground 102. The connecting rod assembly 20 includes: two joints 21, two crosses 22, a piston assembly 23, and a pressure sensor 24. The two joints 21 are connected to both ends of the piston assembly 23 through the two crosses 22. The joint 21 and the piston assembly 23 are both rotatably connected to the cross 22. The rotation axes of the relative rotation between the cross 22 and the joint 21 and between the cross 22 and the piston assembly 23 are perpendicular to each other. The piston assembly 23 includes: a piston cylinder 231 and a piston rod 232. The piston rod 232 is slidably installed in the piston cylinder 231. A closed air cavity 2301 is formed between the piston rod 232 and the piston cylinder 231. When the piston rod 232 slides relative to the piston cylinder 231, the volume of the closed air cavity 2301 changes. The pressure sensor 24 is installed in the piston cylinder 231 to detect the pressure in the closed air cavity 2301.

[0027] The two joints 21 of the same connecting rod assembly 20 are respectively installed on the base 10 and the floating seat 30. The axis of the piston assembly 23 is inclined to the base 10 and the floating seat 30.

[0028] As a specific implementation manner, the number of the connecting rod assemblies 20 is an even number. Every two adjacent connecting rod assemblies 20 among the even number of connecting rod assemblies 20 are grouped together to form a plurality of sets. The plurality of sets are evenly distributed in the circumferential direction of the base 10. The plurality of sets are evenly distributed in the circumferential direction of the floating seat 30.

[0029] As a specific implementation manner, the number of the connecting rod assemblies 20 is six. The six connectors 21 connecting the floating seat 30 are evenly distributed in the circumferential direction of the floating seat 30. As an alternative implementation manner, the number of the connecting rod assemblies 20 is 8, 10 or 12.

[0030] As a specific implementation manner, the axes of the piston assemblies 23 of the two connecting rod assemblies 20 in the same set are inclined to each other.

[0031] As a specific implementation manner, the distance between the positions where the two connecting rod assemblies 20 in the same set are connected to the base 10 is less than the distance between the positions where the two connecting rod assemblies 20 in the same set are connected to the floating seat 30.

[0032] As a specific implementation manner, the plurality of connectors 21 installed on the base 10 are located on the outer periphery of the plurality of connectors 21 installed on the floating seat 30. In the top view direction, the plurality of connectors 21 installed on the floating seat 30 are arranged in a circular shape. The plurality of connectors 21 installed on the base 10 are located outside the circle.

[0033] As a specific implementation manner, the piston assembly 23 is inclined along the circumferential direction of the floating seat 30 from bottom to top and is inclined towards the center line of the floating seat 30.

[0034] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-mentioned exemplary embodiments, and the present utility model can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present utility model. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0035] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A parallel six-degree-of-freedom floating grinding tool platform (100), characterized in that, Comprising: A base (10), a plurality of connecting rod assemblies (20), and a floating seat (30) for mounting a tooling fixture (101); The connecting rod assembly (20): two joints (21), two cross members (22), a piston assembly (23), and a pressure sensor (24); the two joints (21) are connected to both ends of the piston assembly (23) through the two cross members (22); the joints (21) and the piston assembly (23) are both rotatably connected to the cross members (22); the rotational axes of relative rotation between the cross members (22) and the joints (21) and between the cross members (22) and the piston assembly (23) are perpendicular to each other; the piston assembly (23) includes: a piston cylinder (231) and a piston rod (232); the piston rod (232) is slidably mounted in the piston cylinder (231); a closed air cavity (2301) is formed between the piston rod (232) and the piston cylinder (231); when the piston rod (232) slides relative to the piston cylinder (231), the volume of the closed air cavity (2301) changes; the pressure sensor (24) is mounted in the piston cylinder (231) to detect the pressure in the closed air cavity (2301); the two joints (21) of the same connecting rod assembly (20) are respectively mounted to the base (10) and the floating seat (30); the axis of the piston assembly (23) is inclined to the base (10) and the floating seat (30).

2. The parallel six-degree-of-freedom floating grinding tool platform (100) according to claim 1, characterized in that The number of the connecting rod assemblies (20) is an even number; every two adjacent ones of the even number of connecting rod assemblies (20) are grouped together to form a plurality of sets; the plurality of sets are evenly distributed in the circumferential direction of the base (10); the plurality of sets are evenly distributed in the circumferential direction of the floating seat (30).

3. The parallel six-degree-of-freedom floating grinding tool platform (100) according to claim 2, characterized in that The number of the connecting rod assemblies (20) is six; the six joints (21) connecting the floating seat (30) are evenly distributed in the circumferential direction of the floating seat (30).

4. The parallel six-degree-of-freedom floating grinding tool platform (100) according to claim 3, characterized in that The axes of the piston assemblies (23) of the two connecting rod assemblies (20) in the same set are inclined to each other.

5. The parallel six-degree-of-freedom floating grinding tool platform (100) according to claim 3, characterized in that The distance between the positions where the two connecting rod assemblies (20) in the same set are connected to the base (10) is less than the distance between the positions where the two connecting rod assemblies (20) in the same set are connected to the floating seat (30).

6. The parallel six-degree-of-freedom floating grinding tool platform (100) according to claim 1, characterized in that A plurality of the joints (21) mounted to the base (10) are located on the outer circumference of a plurality of the joints (21) mounted to the floating base (30).

7. A parallel six-degree-of-freedom floating grinding tool platform (100) according to claim 1, wherein the piston assembly (23) is inclined circumferentially along the floating base (30) from bottom to top and is inclined towards the center line of the floating base (30).

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