Active force control floating unit

Abstract

The utility model relates to the technical field of polishing devices, in particular to an active force control floating unit which comprises an upper flange and a lower cover, a structural body is connected to the upper flange, a spline bearing is connected to one end, far away from the upper flange, of the structural body, the spline bearing partially extends into the structural body, and a spline stroke shaft is connected to the lower cover and connected with the upper flange. The spline stroke shaft is slidably connected into the spline bearing, an air cylinder is connected to the upper flange, a piston is movably connected into the air cylinder, the piston is connected with a floating rod extending out of the air cylinder, the floating rod is connected with the lower cover, and a pressure proportional valve, an electromagnetic valve and an acceleration sensor which are electrically connected with the control module assembly are connected to the structural body. The pressure proportional valve is communicated with the air cylinder through an electromagnetic valve, the upper flange is connected with a displacement sensor, the uniformity of the grinding process is ensured through constant grinding force and high-precision control, the quality of product surface treatment is remarkably improved, and the grinding device has wide application prospects in the technical field of grinding devices.

Description

Technical Field

[0001] The utility model relates to the technical field of grinding devices, in particular to an active force control floating unit. Background Art

[0002] With the explosive growth of the robot grinding industry, the accuracy requirements for robot grinding have gradually increased. However, in the prior art, the performance of robots used for grinding varies, and they cannot meet the required accuracy for grinding. In addition, during the grinding process, due to the uneven surface of the workpiece, the grinding tool needs to have a floating function during the grinding process to achieve a better grinding effect. However, in the prior art, due to the uneven surface of the workpiece, the force exerted by the floating unit on the grinding tool is not constant, which easily damages the workpiece or results in incomplete grinding of the workpiece. Therefore, a device that solves the above problems is needed. Summary of the Utility Model

[0003] To solve the problems in the prior art that the performance of robots used for grinding varies and cannot meet the required accuracy for grinding, and in addition, during the grinding process, due to the uneven surface of the workpiece, the grinding tool needs to have a floating function during the grinding process to achieve a better grinding effect. However, in the prior art, due to the uneven surface of the workpiece, the force exerted by the floating unit on the grinding tool is not constant, which easily damages the workpiece or results in incomplete grinding of the workpiece, an active force control floating unit is invented.

[0004] The technical solution of the utility model is as follows: it includes an upper flange and a lower cover. Among them, a structure body is connected to the upper flange. One end of the structure body away from the upper flange is connected with a spline bearing. Part of the spline bearing extends into the structure body. A spline travel shaft is connected to the lower cover. The spline travel shaft is slidably connected in the spline bearing. A cylinder is connected to the upper flange. A piston is movably connected in the cylinder. The piston is connected with a floating rod extending outside the cylinder. The floating rod is connected to the lower cover. A pressure proportional valve, a solenoid valve and an acceleration sensor electrically connected to a control module assembly are connected to the structure body. The pressure proportional valve is communicated with the solenoid valve. The solenoid valve is communicated with the cylinder. A displacement sensor for detecting the moving distance of the piston is connected to the upper flange. Rubber sleeves are clamped on the outer end faces of the upper flange and the lower cover.

[0005] Preferably, a limit block is connected to the spline travel shaft inside the structure body.

[0006] Preferably, a first clamping groove and a second clamping groove are formed on the outer surface of the piston. A sealing washer and a magnetic ring are respectively clamped and fixed in the first clamping groove and the second clamping groove. The magnetic ring is flush with the outer surface of the piston. The displacement sensor is a magnetic induction sensor.

[0007] Preferably, a connector is threadedly connected to one end of the floating rod outside the cylinder, and the connector is connected to the lower cover.

[0008] Preferably, a protective nylon is sleeved on one end of the spline stroke shaft connected to the lower cover, and the protective nylon is connected to the lower cover.

[0009] Preferably, a sealing ring is snap-fitted and fixed to the inner end face at the opening of the cylinder. The floating rod passes through the sealing ring, and both ends of the cylinder are respectively connected to a solenoid valve through a first air supply joint and a second air supply joint.

[0010] Preferably, an air inlet head communicating with a pressure proportional valve is provided on the upper flange.

[0011] Preferably, electrical interfaces for a pressure proportional valve, a solenoid valve, and an acceleration sensor are provided on the upper flange.

[0012] The technical solution of the present utility model can achieve the following beneficial effects: (1) Through the spline bearing and the spline stroke shaft, it is convenient to limit the upper flange and the lower cover, avoid relative rotation, and at the same time increase the radial torsion force between the upper flange and the lower cover; (2) Through the cylinder, the floating rod, the pressure proportional valve, and the solenoid valve, the pressure proportional valve is used to adjust the air pressure to control the output force of the cylinder. The movement direction of the piston in the cylinder is controlled by the solenoid valve, forming a double-acting cylinder where pressure can be applied both during the forward and backward strokes, realizing the force output during the active floating grinding unit process, and then automatically achieving constant pushing and pulling force; (3) Through the displacement sensor and the magnetic ring, the displacement of the cylinder is monitored in real time and fed back to the pressure proportional valve to adjust the pressure size in real time, and the output of the force is compensated in cooperation with the cylinder and the solenoid valve; (4) Through the acceleration sensor, when the floating unit is tilted, the acceleration sensor can detect the signal, and the output of the force is compensated through the cylinder, the floating rod, the pressure proportional valve, and the solenoid valve, so that the force in the vertical direction of the entire floating unit is constant; The technical solution of the present utility model has a wide application prospect in the technical field of grinding devices. Description of the Drawings

[0013] Figure 1 is a cross-sectional view of the active force-controlled floating unit of the present utility model.

[0014] Figure 2 is a perspective view of the active force-controlled floating unit of the present utility model.

[0015] Among them, 1. upper flange, 2. lower cover, 3. rubber sleeve, 4. structure body, 5. spline bearing, 6. spline stroke shaft, 7. cylinder, 8. floating rod, 9. connector, 10. pressure proportional valve, 11. solenoid valve, 12. acceleration sensor, 13. displacement sensor, 14. limit plate, 15. air inlet head, 16. electrical interface, 17. first gas transmission joint, 18. second gas transmission joint, 19. screen groove, 20. screen cover plate, 21. upper connection flange, 22. lower connection flange, 23. protective nylon. Specific implementation manner

[0016] The technical solutions of each embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of 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 fall within the scope of protection of the present invention. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention 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 of the present invention.

[0017] In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0018] The upper flange 1 is used to be detachably fixed to the robotic arm by bolts, and then connect the entire floating unit to the robotic arm, so as to control the movement of the floating unit through the robotic arm.

[0019] The upper connection flange 21 is detachably fixed to the upper flange 1 by bolts, and the robotic arm is detachably fixed to the upper connection flange 21 by bolts, so that the robotic arm is connected to the upper flange 1 through the upper connection flange 21.

[0020] The lower cover 2 is used to be detachably connected to different types of grinding tools such as angle grinders, pneumatic grinders, and straight grinders through bolts. Then, the floating unit and the grinding tool are controlled by a robotic arm to move, so as to realize the grinding operation on the workpiece.

[0021] The lower connecting flange 22 is formed by extending from the lower cover 2. The grinding tool is detachably and fixedly connected to the lower connecting flange 22 through bolts, so that the lower cover 2 and the grinding tool are better connected together through the lower connecting flange 22.

[0022] The structure body 4 is detachably and fixedly connected to the upper flange 1 of the seat through bolts, so that the structure body 4 and the upper flange 1 are connected together to form a whole.

[0023] The spline bearing 5 is detachably and fixedly connected to one end of the structure body 4 away from the upper flange 1 through bolts, and one end extends into the connecting groove opened in the structure body 4, so that the spline bearing 5 is connected to the structure body 4.

[0024] The spline travel shaft 6 has one end detachably and fixedly connected to the lower cover 2 through bolts, and the other end is slidably connected in the spline bearing 5 and extends into the connecting groove opened in the structure body 4, so that the movement mode between the lower cover 2 and the upper flange 1 is limited by the spline bearing 5 and the spline travel shaft 6, so that the upper flange 1 and the lower cover 2 can only move along the axial direction of the spline travel shaft 6 and cannot rotate relative to each other. In addition, the radial torsion between the upper flange 1 and the lower cover 2 is also increased.

[0025] The limit block is detachably and fixedly connected to the spline travel shaft 6 through bolts in the connecting groove opened in the structure body 4. The maximum width of the limit block is greater than the maximum width of the spline travel shaft 6, so that the spline travel shaft 6 is limited by the limit block to prevent the end of the spline travel shaft 6 from disengaging from the structure body 4.

[0026] The protective nylon 23 is sleeved outside the spline travel shaft 6 and is detachably and fixedly connected to the lower cover 2 through bolts. The protective nylon is made of rubber material and is used to reduce the impact force when the lower cover 2 collides with the spline bearing 5.

[0027] The air cylinder 7 is detachably and fixedly connected to the limiting plate 14 extending from the structure body 4 through bolts, so that the air cylinder 7 is connected to the structure body 4.

[0028] The piston is slidably connected in the air cylinder 7, so that by respectively supplying air through the first air supply joint 17 and the second air supply joint 18 at both ends of the air cylinder 7, the piston can slide in different directions in the air cylinder 7.

[0029] The floating rod 8 has one end detachably and hermetically fixed together by bolts. The piston slides within the cylinder 7 to drive the floating rod 8 to move relative to the upper flange 1. The other end is threadedly connected to the connecting head 9, and the connecting head 9 is threadedly connected to the lower cover 2, so that the floating ring is connected to the lower cover 2 through the connecting head 9. At the same time, the connecting head 9 is used to prevent the connecting block 14 on the floating rod 8 from not corresponding to that on the lower cover 2, which is inconvenient for connection due to misalignment. Furthermore, the floating rod 8 enables floating between the lower cover 2 and the upper flange 1.

[0030] A sealing ring is snap-fitted and fixed to the inner end face at the opening of the cylinder 7. The floating rod 8 passes through the sealing ring, so that the gap between the opening of the cylinder 7 and the floating rod 8 is sealed by the sealing ring, and the inside of the cylinder 7 is kept in a sealed state. A first snap groove is formed on the outer surface of the piston, and a sealing washer is snap-fitted and fixed in the first snap groove, so that the gap between the piston and the inner wall of the cylinder 7 is sealed by the sealing washer. Furthermore, the internal space of the cylinder 7 on both sides of the piston is divided into two independent air chambers. The first air supply joint 17 and the second air supply joint 18 are respectively communicated with the two independent air chambers, so that air is respectively input into the cylinder 7 through the first air supply joint 17 and the second air supply joint 18 to enable the piston to move in different directions within the cylinder 7.

[0031] The displacement sensor 13 is detachably fixed to the upper flange 1 by bolts, so that the displacement sensor 13 is connected to the upper flange 1. A second snap groove is formed on the outer surface of the piston, and a magnetic ring is snap-fitted and fixed in the second snap groove. The displacement sensor 13 is a magnetic induction sensor, so that the displacement of the piston within the cylinder 7 is monitored in real time by the displacement sensor 13, and is transmitted back to the PLC through an analog signal, and fed back to the pressure proportional valve 10 to regulate the pressure size in real time. Furthermore, by inflating the cylinder 7, the vertical force between the upper flange 1 and the lower cover 2 is made constant.

[0032] The pressure proportional valve 10 and the solenoid valve 11. The pressure proportional valve 10 is a common control valve body in the market for regulating air pressure, and the solenoid valve 11 is a common electromagnetic control valve in the market. Both are detachably fixed to the structure body 4 by bolts, and are used to regulate the air pressure conveyed from the air inlet head 15. Furthermore, air of different pressures is conveyed from the solenoid valve 11 to the first air supply joint 17 and the second air supply joint 18. The gas enters from the air inlet head 15, and the air pressure size is controlled by the pressure proportional valve 10. If the downward thrust of the floating rod 8 in this state is required, the solenoid valve 11 does not work, and the air pressure is introduced into the cylinder 7 through the first air supply joint 17 to move the piston within the cylinder 7, driving the floating rod 8 to extend downward to provide a downward pressure. If the upward pulling force of the floating rod 8 in this state is required, the solenoid valve 11 performs a commutation operation, and the air pressure is introduced into the cylinder 7 through the second air supply joint 18 to move the piston within the cylinder 7 upward, driving the floating rod 8 to pull back upward to provide an upward pulling force.

[0033] The upper flange 1 is provided with electrical interfaces 16 for a pressure proportional valve 10, a solenoid valve 11, and an acceleration sensor 12, which are used to communicate with an external power supply. A pressure proportional valve 10, a solenoid valve 11, a displacement sensor 13, and an acceleration sensor 12, which are electrically connected to the control module assembly, are detachably and fixedly connected to the structure 4 by bolts. The control module assembly is a common single-chip microcomputer control board on the market, enabling the control module assembly to receive and process the signals of the pressure proportional valve 10, the solenoid valve 11, the displacement sensor 13, and the acceleration sensor 12, and then controlling the air pressure of the pressure proportional valve 10 and the solenoid valve 11 and the opening and closing of the solenoid valve 11.

[0034] The acceleration sensor 12 is detachably and fixedly connected to the structure 4 by bolts and is used to detect whether the upper flange 1 and the lower cover 2 are in the same vertical plane. When the upper flange 1 and the lower cover 2 are not in the same vertical plane, the control module assembly controls the pressure proportional valve 10 and the solenoid valve 11 to deliver air into the cylinder 7, so that the force in the vertical direction between the upper flange 1 and the lower cover 2 remains constant.

[0035] A screen groove 19 is formed on the upper flange 1. A circuit board is detachably and fixedly connected to the screen groove 19 by bolts. The circuit board is electrically connected to a display screen. The control module assembly and the displacement sensor 13 are electrically connected to the circuit board, enabling the appropriate distance of the piston in the cylinder 7 to be displayed through the display screen, and then enabling the entire floating unit to maintain a floating state with a constant force by setting a specific vertical Henry. A screen cover plate 20 is detachably and fixedly connected to the opening of the screen groove 19 by bolts, facilitating the sealing of the opening of the screen groove 19 through the screen cover plate 20 and isolating and protecting the display screen and the circuit board in the screen groove 19.

[0036] An upper clamping groove is formed on the outer surface of the upper flange 1, and a lower clamping groove is formed on the outer surface of the lower cover 2. Upper clamping heads and lower clamping heads extend from the inner end faces of both ends of the rubber sleeve 3. The upper clamping heads and the lower clamping heads are respectively clamped and connected in the upper clamping groove and the lower clamping groove, enabling both ends of the rubber sleeve 3 to be connected to the upper flange 1 and the lower cover 2 respectively, and then isolating the components between the upper flange 1 and the lower cover 2 from the outside through the rubber sleeve 3 to prevent debris from entering during grinding and affecting the normal operation of the internal components.

[0037] In the above embodiments, the equipment components involved are all conventional equipment components without special instructions. The structural setting methods, working methods, or control methods involved are all conventional setting methods, working methods, or control methods in the art without special instructions.

[0038] The above-described embodiments merely represent several implementation manners of the present utility model. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all fall within the protection scope of the present utility model. Therefore, the protection scope of the present utility model patent shall be subject to the appended claims.

Claims

1. The active force control floating unit includes an upper flange (1) and a lower cover (2), and is characterized in that, A structure (4) is connected to the upper flange (1). One end of the structure (4) away from the upper flange (1) is connected to a spline bearing (5). Part of the spline bearing (5) extends into the structure (4). A spline travel shaft (6) is connected to the lower cover (2). The spline travel shaft (6) is slidably connected within the spline bearing (5). A cylinder (7) is connected to the upper flange (1). A piston is movably connected within the cylinder (7). The piston is connected to a floating rod (8) extending outside the cylinder (7). The floating rod (8) is connected to the lower cover (2). A pressure proportional valve (10), a solenoid valve (11), and an acceleration sensor (12) electrically connected to a control module assembly are connected to the structure (4). The pressure proportional valve (10) is in communication with the solenoid valve (11). The solenoid valve (11) is in communication with the cylinder (7). A displacement sensor (13) for detecting the moving distance of the piston is connected to the upper flange (1). Rubber sleeves (3) are snap-connected to the outer end faces of the upper flange (1) and the lower cover (2).

2. The active force control floating unit according to claim 1, wherein A limiting block is connected to the spline travel shaft (6) within the structure (4).

3. The active force control floating unit according to claim 1, characterized in that First and second clamping grooves are formed on the outer surface of the piston. A sealing washer and a magnetic ring are respectively clamped and fixed within the first and second clamping grooves. The magnetic ring is flush with the outer surface of the piston. The displacement sensor (13) is a magnetic induction sensor.

4. The active force control floating unit according to claim 1, wherein A connector (9) is threadedly connected to one end of the floating rod (8) outside the cylinder (7). The connector (9) is connected to the lower cover (2).

5. The active force control floating unit according to claim 1, wherein A protective nylon (23) is sleeved on one end of the spline travel shaft (6) connected to the lower cover (2). The protective nylon (23) is connected to the lower cover (2).

6. The active force control floating unit according to claim 1, wherein, A sealing ring is clamped and fixed to the inner end face at the opening of the cylinder (7). The floating rod (8) passes through the sealing ring. Both ends of the cylinder (7) are respectively in communication with the solenoid valve (11) through a first gas inlet joint (17) and a second gas inlet joint (18).

7. The active force control floating unit according to claim 1, wherein An air inlet head (15) in communication with the pressure proportional valve (10) is provided on the upper flange (1).

8. The active force control floating unit according to claim 1, characterized in that Electrical interfaces (16) for the pressure proportional valve (10), the solenoid valve (11), and the acceleration sensor (12) are provided on the upper flange (1).

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