Deburring swing floating device applied to robot

Abstract

The deburring swing floating device comprises a bottom plate, a base, a swing seat and a piston rod, the bottom plate and the base are fixedly connected, the swing seat is used for installing a grinding mechanism, the bottom plate is used for being connected with an industrial robot, the swing seat is rotatably connected to the base, and the piston rod is movably arranged in the base. When the swing floating device is used for being connected with a grinding mechanism to conduct deburring operation on a workpiece, the grinding mechanism exerts acting force on the workpiece, correspondingly, the workpiece exerts counter-acting force on the grinding mechanism, the grinding mechanism transmits the force to the swing seat, and the swing seat is driven to rotate relative to the base. The two sides of the swing seat are subjected to the jacking force of the piston rod and the counter-acting force of the workpiece respectively, when the relative magnitude of the two forces changes, the swing seat can correspondingly rotate relative to the base, the swing floating effect is generated, manual operation is effectively simulated, and the grinding mechanism adapts to the plane of the workpiece in real time in the operation process.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical processing equipment, and in particular relates to a deburring swing floating device applied to a robot. Background Art

[0002] In the deburring process in the field of mechanical processing, the burrs or burrs formed at the intersection of part surfaces are removed.

[0003] In the existing technology, for application scenarios with large planes and relatively large removal volumes, the more typical tool is a grinder (also known as an angle grinder). This equipment mainly uses sanding discs and cutting wheels as consumables, can provide relatively large cutting force, and is also wear-resistant and not prone to clogging. However, after the operator has worked for a long time, it is difficult to ensure that the inclination angle of the sanding disc and the part plane remains consistent during the grinding operation, which causes the surface shape to fluctuate in any direction, affecting the quality of the operation. Utility Model Content

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a deburring swinging and floating device applied to a robot, which can automatically adjust the grinding inclination according to the flatness of the grinding surface.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] The utility model provides a deburring swinging and floating device applied to a robot, comprising:

[0007] Fixedly connected base plate and foundation;

[0008] a pendulum seat, the pendulum seat being rotatably connected to the base;

[0009] a piston rod movably disposed in the base and configured to directly or indirectly push the pendulum seat to rotate relative to the base;

[0010] The swing seat is used for installing a grinding mechanism, and the base plate is used for connecting with an industrial robot.

[0011] As a preferred embodiment, it further includes a top plate, which is clamped between the piston rod and the pendulum seat and can move relative to the piston rod.

[0012] As a preferred embodiment, a piston hole is provided in the base, and the piston rod is passed through the piston hole and is slidably connected to the piston hole.

[0013] As a preferred embodiment, it further includes a rotating shaft, which passes through the base and is rotatably connected to the pendulum seat.

[0014] As a preferred embodiment, the piston rods are arranged in pairs, with at least one pair provided, and are symmetrical about the center line of the rotation axis.

[0015] As a preferred embodiment, an air inlet plug is fixedly provided on the bottom plate or the base, and the air inlet plug is used to connect the base and an external air pump, and the air pump is used to drive the piston rod to push the pendulum seat and / or the top plate to move.

[0016] As a preferred embodiment, the ejection surface of the piston rod for contacting the top plate is configured as a spherical ejection surface.

[0017] As a preferred embodiment, the plane of the top plate for contacting the piston rod is configured to be arc-shaped, and the angle between the plane of the arc and the horizontal direction is defined as α, 2°≤α≤3°.

[0018] As a preferred embodiment, an air vent is provided on the inner wall of the piston hole at one end close to the ejection side of the piston rod, so as to enhance the sensitivity of the piston rod.

[0019] As a preferred embodiment, the inner wall of the piston hole and the surface of the piston rod are both provided with a Teflon coating.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] By rotatably connecting the pendulum seat to the base, a piston rod is movably arranged in the base, which is used to directly or indirectly push the pendulum seat to rotate relative to the base. The pendulum seat is used to install a grinding mechanism, and the base plate is used to connect to an industrial robot. When the swing floating device of the utility model is used to connect the grinding mechanism to deburr the workpiece, the grinding mechanism applies an action force to the workpiece, and correspondingly, the workpiece applies a reaction force to the grinding mechanism, and the grinding mechanism transmits this force to the pendulum seat, that is, the two sides of the pendulum seat are respectively subjected to the pushing force of the piston rod and the reaction force of the workpiece. When the relative sizes of the above two forces change, the pendulum seat can rotate accordingly relative to the base to produce a swinging and floating effect, effectively simulating manual operation and realizing that the grinding mechanism adapts to the plane of the workpiece in real time during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a three-dimensional structural diagram of the swing floating device in the embodiment of the utility model;

[0024] Figure 2 For the Figure 1 A schematic cross-sectional view of a certain direction in the middle;

[0025] Figure 3 is perpendicular to Figure 2 Schematic diagram of the cross section in the mid-section direction;

[0026] Figure 4 for Figure 2 a front view of a schematic mid-section;

[0027] Figure 5 This is a three-dimensional structural diagram of the swing floating device connected to the grinding mechanism in the embodiment of the utility model;

[0028] Figure 6 This is a planar structural diagram of the swing floating device connected to the grinding mechanism in the embodiment of the utility model.

[0029] in:

[0030] 1 - bottom plate; 11 - first mounting hole; 2 - base; 21 - piston hole; 22 - vent hole; 3 - pendulum seat; 31 - second mounting hole; 4 - rotating shaft; 5 - top plate; 6 - piston rod;

[0031] 100-Grinding mechanism. DETAILED DESCRIPTION

[0032] In order to more clearly understand the above-mentioned purposes, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of this application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present invention. The embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0034] Please also refer to Figures 1 to 3The embodiment of the utility model discloses a deburring swinging and floating device for a robot, comprising a bottom plate 1 and a base 2 fixedly connected, wherein the bottom plate 1 is provided with a mounting hole for connecting with an industrial robot; the base 2 is provided with a swing seat 3 rotatably connected thereto, and the swing seat 3 is provided with a mounting hole for connecting with a deburring grinding mechanism 100. For the sake of distinction, the mounting hole on the bottom plate 1 is defined as a first mounting hole 11, and the mounting hole on the swing seat 3 is defined as a second mounting hole 31; the swinging and floating device in this embodiment also includes a piston rod 6 and a top plate 5, as shown Figure 2 and Figure 3 As shown, a piston hole 21 is provided in the base 2, and the piston rod 6 is passed through and slidably connected to the piston hole 21. The top plate 5 is clamped between the piston rod 6 and the pendulum seat 3, and the piston rod 6 extends out of the piston hole 21 on the ejecting side, which can push the top plate 5 to move, thereby driving the pendulum seat 3 to move. The top plate 5 is connected to the pendulum seat 3 by bolts to reduce the overall part quality. It can be understood that in some embodiments, the pendulum seat 3 and the top plate 5 can be configured as an integral molding, but due to the complex appearance, it is not conducive to mass production and is only used in special cases. At this time, the piston rod 6 directly pushes the pendulum seat 3 to move; an air inlet plug is fixed on the bottom plate 1 or the base 2. The air inlet plug is used to connect the base 2 and an external air pump, and the air pump is used to drive the piston rod 6 to push the pendulum The seat 3 and / or the top plate 5 move. When the swinging and floating device of the utility model is connected to the industrial robot and the grinding mechanism 100 respectively, and the workpiece is deburred, the grinding mechanism 100 applies an action force to the workpiece. Correspondingly, the workpiece applies a reaction force to the grinding mechanism 100, and the grinding mechanism 100 transmits the force to the swing seat 3. At the same time, the air pump drives the piston rod 6 to push the swing seat 3, that is, the two sides of the swing seat 3 are respectively subjected to the pushing force of the piston rod 6 and the reaction force of the workpiece. When the relative sizes of the above two forces change, the swing seat 3 can rotate accordingly relative to the base 2 to produce a swinging and floating effect, effectively simulating manual operation and realizing that the grinding mechanism 100 adapts to the plane of the workpiece in real time during operation.

[0035] Preferably, the material of the pendulum seat 3 is AL6061. Since the top plate 5 is often in contact with the ejection end of the piston rod 6, the material of the top plate 5 needs to have high hardness and wear resistance. In this embodiment, the material of the top plate 5 is S136.

[0036] Further, such as Figure 1 As shown, the base 2 is provided with a rotating shaft 4, which is passed through the base 2 and is rotatably connected to the pendulum seat 3. The piston rods 6 are arranged in pairs, at least one pair is provided, and are symmetrical about the center line of the rotating shaft 4. Figure 2 and Figure 3 It can be seen that in this embodiment, there are three pairs of piston rods 6, which are arranged axially along the rotating shaft 4. According to actual working conditions, the piston rods 6 can also be configured as one pair, two pairs or more pairs. Such changes also fall within the protection scope of the present utility model.

[0037] Preferably, the ejection surface of the piston rod 6 for contacting the top plate 5 is configured as a spherical ejection surface, and as Figure 4 As shown, the plane of the top plate 5 for contacting the piston rod 6 is configured to be arc-shaped, and the angle α between the arc-shaped plane and the horizontal direction is defined as 2°≤α≤3°. When α is less than 2°, the piston rod 6 is pushed to the limit position, and the effective contact area with the top plate 5 is too small, which can easily lead to unstable movement. When α is greater than 3°, the moving stroke of the piston rod 6 is too long, which can easily increase unnecessary losses. In this embodiment, α is taken as 2.6°, which can effectively ensure the positioning accuracy of the swing seat 3 when the piston is ejected. In some special cases, if a larger swing angle is required, the above angle and the length of the piston rod 6 can also be adjusted. In order to ensure the sensitivity of the piston when it is ejected, the inner wall of the piston hole 21 is provided with an air vent 22 on the ejection side of the piston rod 6, which ensures the sensitivity of the piston rod 6 while making the structure compact and concealed.

[0038] More preferably, the inner wall of the piston hole 21 and the surface of the piston rod 6 are both provided with a Teflon coating. Based on the properties of Teflon itself, the setting of the Teflon coating can effectively reduce the friction coefficient and provide wear resistance, thereby ensuring the sensitivity and effect of the swinging and floating.

[0039] like Figure 5 and Figure 6 As shown, when the swing floating device of this embodiment is connected to the deburring grinding mechanism 100 and the workpiece is deburred, the reaction force of the workpiece on the grinding mechanism 100 is Fr1, and the vertical distance between Fr1 and the axis of the rotating shaft 4 is R1. At this time, the thrusts of the piston rod 6 symmetrical about the center line of the rotating shaft 4 on the top plate 5 are Fr2 and Fr3 respectively, and the vertical distance between Fr2 and the axis of the rotating shaft 4 is R2, and the vertical distance between Fr3 and the axis of the rotating shaft 4 is R3. Due to the relationship between the burrs on the grinding surface of the workpiece and its own flatness, Fr1 is a variable during the grinding operation, which keeps the workpiece and the grinding mechanism 100 under pressure, and the overall force always satisfies Fr1*R1+Fr3*R3=Fr2*R2. The swing seat 3 can rotate accordingly relative to the base 2 to produce a swing floating effect, effectively simulating manual operation and realizing that the grinding mechanism 100 adapts to the workpiece plane in real time during operation.

[0040] To sum up, in a deburring swinging and floating device applied to a robot, the utility model is characterized in that the swing seat 3 is rotatably connected to the base 2, and the piston rod 6 is movably arranged in the base 2, which is used to directly or indirectly push the swing seat 3 to rotate relative to the base 2. The swing seat 3 is used to install the grinding mechanism 100, and the base plate 1 is used to connect with the industrial robot. When the swinging and floating device of the utility model is used to connect the grinding mechanism 100 and deburr the workpiece, the grinding mechanism 100 applies an action force to the workpiece, and accordingly, the workpiece applies a reaction force to the grinding mechanism 100, and the grinding mechanism 100 transmits the force to the swing seat 3, that is, the two sides of the swing seat 3 are respectively subjected to the pushing force of the piston rod 6 and the reaction force of the workpiece. When the relative sizes of the above two forces change, the swing seat 3 can rotate accordingly relative to the base 2 to produce a swinging and floating effect, effectively simulating manual operation and realizing that the grinding mechanism 100 adapts to the plane of the workpiece in real time during operation.

[0041] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Therefore, any modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A deburring swing floating device applied to a robot, characterized in that: include: A bottom plate (1) and a base (2) that are fixedly connected; a pendulum seat (3), the pendulum seat (3) being rotatably connected to the base (2); A piston rod (6), the piston rod (6) being movably disposed in the base (2) and being used for directly or indirectly pushing the pendulum seat (3) to rotate relative to the base (2); The pendulum seat (3) is used for installing a grinding mechanism (100), and the base plate (1) is used for connecting with an industrial robot.

2. The deburring swinging and floating device according to claim 1, characterized in that: It also includes a top plate (5), which is clamped between the piston rod (6) and the pendulum seat (3) and can move relative to the piston rod (6).

3. The deburring swinging and floating device according to claim 1 or 2, characterized in that: A piston hole (21) is provided in the base (2), and the piston rod (6) is passed through the piston hole (21) and is slidably connected to the piston hole (21).

4. The deburring swing and floating device according to claim 1, characterized in that: It also includes a rotating shaft (4), which is passed through the base (2) and is rotatably connected to the pendulum seat (3).

5. The deburring swing and floating device according to claim 4, characterized in that: The piston rods (6) are arranged in pairs, with at least one pair provided, and are symmetrical about the center line of the rotating shaft (4).

6. The deburring swing and floating device according to claim 2, characterized in that: An air inlet plug is fixedly provided on the bottom plate (1) or the base (2), and the air inlet plug is used to connect the base (2) and an external air pump, and the air pump is used to drive the piston rod (6) to push the pendulum seat (3) and / or the top plate (5) to move.

7. The deburring swing and floating device according to claim 2, characterized in that: The ejection surface of the piston rod (6) for contacting the top plate (5) is configured as a spherical ejection surface.

8. The deburring swing and floating device according to claim 2, characterized in that: The plane of the top plate (5) for contacting the piston rod (6) is configured to be arc-shaped, and the angle between the arc-shaped plane and the horizontal direction is defined as α, 2°≤α≤3°.

9. The deburring swing and floating device according to claim 3, characterized in that: An air vent (22) is provided on the inner wall of the piston hole (21) at one end close to the ejection side of the piston rod (6) to enhance the sensitivity of the piston rod (6).

10. The deburring swing and floating device according to claim 3, characterized in that: The inner wall of the piston hole (21) and the surface of the piston rod (6) are both provided with a Teflon coating.

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