Robot compliance force control grinding and polishing platform device

Abstract

The utility model provides a robot compliance force control grinding and polishing platform device which comprises a force control grinding and polishing body, a connecting flange is arranged at one end of the force control grinding and polishing body, a protective cover is arranged at the other end of the force control grinding and polishing body, a transmission shaft is arranged on one side of the protective cover, and a grinding and polishing disc is arranged at one end of the transmission shaft. One side of the protective cover is fixedly connected with a positioning sleeve arranged outside the transmission shaft in a sleeving mode, the positioning sleeve is rotationally connected with the transmission shaft, a dust collection disc of a hollow structure is arranged outside the positioning sleeve, the dust collection disc is rotationally connected with the positioning sleeve, and dust collection holes are formed in the dust collection disc. The dust collection disc and the transfer box are arranged on the back face of the polishing and grinding disc, flying dust generated during operation of the polishing and grinding disc can be conveniently absorbed, the problem of large-area flying dust is avoided, the dust collection disc is rotationally arranged, the dust collection amount of the dust collection disc is conveniently increased, and the dust collection efficiency is improved. Compared with the prior art, the device has the advantage that grinding and polishing machining flying dust pollution is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of terminal grinding and polishing devices, in particular to a robot compliant force-controlled grinding and polishing platform device. Background Art

[0002] The force-controlled end-effector grinding and polishing device is an end effector used to control the magnitude and direction of the contact force between the tool head and the workpiece during continuous contact operations of machine tools or robots. As a key component of the robot's force-position hybrid control and continuous contact operations, its performance has an important impact on improving the robot's operation quality and expanding its application scope.

[0003] The utility model, with publication number CN217619918U, proposes an end-active force-controlled polishing device, comprising a connecting flange, two guide assemblies, a displacement sensor capable of providing feedback on the position of a voice coil motor, a polishing module, and a force sensor for detecting the contact force and torque of the polishing module. The voice coil motor comprises a stator and a mover. The guide assemblies are symmetrically arranged on either side of the voice coil motor and comprise a guide rail mounting plate, a guide rail, and a slider slidably engaged with the guide rail, with the guide rail and slider mounted on the guide rail mounting plate. The lower end of the connecting flange is connected to both the stator and the guide rail mounting plate of the voice coil motor, with the mover of the voice coil motor directly or indirectly connected to the slider. The displacement sensor is mounted on the guide assembly, with one end of the force sensor connected to the mover of the voice coil motor and the other end connected to the polishing module. This utility model can compensate for the robot's position, ensuring motion smoothness and displacement accuracy, and guaranteeing the device's response speed and force control accuracy.

[0004] However, the above-mentioned existing technology still has shortcomings when used: the movement trajectory of the grinding disc on the force-controlled end-end grinding and polishing device depends on the shape of the product, that is, the robot will drive the force-controlled end-end grinding and polishing device to move universally to perform grinding processing on different positions of the workpiece, but a large amount of grinding dust will be generated during the grinding process. Such dust will not only pollute the processing environment, but also easily enter the rotating and sliding pairs in the force-controlled end-end grinding and polishing device, thereby affecting the reliability of the operation of the force-controlled end-end grinding and polishing device.

[0005] To this end, the utility model provides a robot flexible force-controlled grinding and polishing platform device. Utility Model Content

[0006] In view of the deficiencies in the prior art, the present invention aims to provide a robot-compliant force-controlled grinding and polishing platform device to solve the problems raised in the above-mentioned background technology. The present invention has.

[0007] In order to achieve the above-mentioned purpose, the utility model is realized through the following technical scheme: a robot flexible force-controlled grinding and polishing platform device, including a force-controlled grinding and polishing body, one end of the force-controlled grinding and polishing body is provided with a connecting flange and the other end is provided with a protective cover, one side of the protective cover is provided with a transmission shaft, one end of the transmission shaft is provided with a grinding disc, one side of the protective cover is fixedly connected with a positioning sleeve arranged on the outside of the transmission shaft, the positioning sleeve is rotatably connected to the transmission shaft, a dust suction disc with a hollow structure is provided on the outside of the positioning sleeve, the dust suction disc and the positioning sleeve are rotatably connected and a dust suction hole is opened on it, one side of the protective cover is fixedly provided with an adapter box rotatably connected to the dust suction disc, the inner cavity of the adapter box is communicated with the inner cavity of the dust suction disc, one side of the adapter box is fixedly connected with an exhaust pipe, one side of the protective cover is provided with a transmission combination, and the transmission shaft is connected to the dust suction disc through the transmission combination.

[0008] Furthermore, the outer peripheral fixed sleeve of the dust collecting disc is provided with a positioning ring sleeve, and one end of the positioning ring sleeve is fixedly connected to a circle of protective wool strips.

[0009] Furthermore, dust collection holes evenly distributed in the circumferential direction are provided on the outer periphery of the dust collection disc and on the side facing the polishing disc.

[0010] Furthermore, the middle part of the dust collector is fixedly connected to an adapter sleeve which is mounted on the outside of the positioning sleeve, and the adapter sleeve is connected to the inner cavity of the dust collector. One side of the adapter box is fixedly connected to a connecting sleeve which is mounted on the outside of the adapter sleeve, and the connecting sleeve and the adapter sleeve are rotatably sealed and the inner cavities of the two are connected.

[0011] Furthermore, a clearance gap is provided on the outer peripheral wall of the positioning sleeve, and the transmission combination includes pulley one, pulley two, pulley three, pulley four, belt one, belt two and a rotating shaft, and pulley one and pulley four are fixedly mounted on the transmission shaft and the adapter sleeve respectively, one end of the rotating shaft is connected to one side of the protective cover, and pulley three and pulley four are both fixedly mounted on the rotating shaft and both are connected to pulley one and pulley two through belt one and belt two respectively.

[0012] Furthermore, one end of the adapter sleeve is fixedly connected to a positioning ring 1 connected to the positioning sleeve through a sealing bearing, and both ends of the connecting sleeve are fixedly connected to a positioning ring 2 connected to the outer peripheral wall of the adapter sleeve through a sealing bearing. The outer peripheral wall of the adapter sleeve is provided with a ventilation hole located in the connecting sleeve.

[0013] Furthermore, the cross sections of the belt 1 and the belt 2 are both circular.

[0014] The beneficial effects of the utility model are as follows:

[0015] 1. The utility model arranges a dust collecting disc and a transfer box on the back of the polishing disc, so as to absorb the dust generated by the polishing disc operation and avoid the problem of large-scale dust. In addition, the dust collecting disc is arranged to rotate, which is convenient for increasing the amount of dust absorbed by the dust collecting disc. Compared with the existing technology, this arrangement has the advantage of reducing dust pollution during grinding and polishing.

[0016] 2. The utility model uses a transmission combination consisting of pulley one, pulley two, pulley three, pulley four, belt one, belt two and a rotating shaft, so that the rotation of the dust suction disc is driven by the transmission shaft that drives the grinding disc to rotate. This arrangement will not affect the grinding process of the grinding disc. In other words, the transmission combination occupies a small space and will not interfere with the movement of the force-controlled grinding and polishing body, which is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a robot-compliant force-controlled grinding and polishing platform device of the present utility model;

[0018] Figure 2 This is a schematic diagram of the bottom of a robot-based flexible force-controlled grinding and polishing platform device of the present invention;

[0019] Figure 3 This is a schematic diagram of the coordination of the dust collecting disc, positioning sleeve and adapter box of a robot's flexible force-controlled grinding and polishing platform device of the present invention;

[0020] Figure 4 for Figure 3 Schematic diagram at the bottom;

[0021] Figure 5 This is a schematic diagram of the detailed connection between the dust collecting disc and the adapter box of a robot flexible force-controlled grinding and polishing platform device of the present invention;

[0022] Figure 6 This is a plan view of the connection between the positioning sleeve and the dust collecting disc of a robot's flexible force-controlled grinding and polishing platform device of the present utility model;

[0023] Figure 7 The utility model is a plan view of the transmission combination of a robot flexible force-controlled grinding and polishing platform device.

[0024] In the figure: 1. Force-controlled grinding and polishing body; 11. Connecting flange; 12. Protective cover; 13. Drive shaft; 14. Polishing disc; 3. Positioning sleeve; 31. Notch; 4. Dust suction disc; 41. Dust suction hole; 42. Adapter sleeve; 421. Positioning ring 1; 423. Ventilation hole; 5. Adapter box; 51. Exhaust pipe; 52. Connecting sleeve; 521. Positioning ring 2; 6. Positioning ring sleeve; 61. Protective strip; 8. Transmission assembly; 81. Pulley 1; 82. Pulley 2; 83. Pulley 3; 84. Pulley 4; 85. Belt 1; 86. Belt 2; 87. Rotating shaft. DETAILED DESCRIPTION

[0025] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0026] See also Figures 1 to 7 The utility model provides a technical solution: a robot-compliant force-controlled grinding and polishing platform device, comprising a force-controlled grinding and polishing body 1, a connecting flange 11 being provided at one end of the force-controlled grinding and polishing body 1 and a protective cover 12 being provided at the other end, the connecting flange 11 being used to connect the device to the end of the industrial robot, a transmission shaft 13 being provided on one side of the protective cover 12, the transmission shaft 13 being driven to rotate by the grinding and polishing motor in the device, a polishing disc 14 being provided at one end of the transmission shaft 13, the polishing disc 14 being a component for grinding, the working principle and internal structure of the force-controlled grinding and polishing body 1 both adopt the structure in the patent literature mentioned in the background technology, and will not be described in detail in this application.

[0027] In the present technical solution, a positioning sleeve 3 is fixedly connected to one side of the protective cover 12 and is sleeved on the outside of the transmission shaft 13. The positioning sleeve 3 is rotatably connected to the transmission shaft 13. A dust suction disc 4 with a hollow structure is provided on the outside of the positioning sleeve 3. The dust suction disc 4 is rotatably connected to the positioning sleeve 3 and has dust suction holes 41 thereon. Dust will be generated when the polishing disc 14 rotates and polishes. The dust suction disc 4 will absorb most of the dust, which can effectively reduce the pollution of the dust to the device itself and the external environment. The rotating setting of the dust suction disc 4 enables the dust suction holes 41 thereon to absorb more dust to the maximum extent.

[0028] Furthermore, a transfer box 5 rotatably connected to the dust collecting disc 4 is fixedly provided on one side of the protective cover 12. The inner cavity of the transfer box 5 is connected to the inner cavity of the dust collecting disc 4. An exhaust pipe 51 is fixedly connected to one side of the transfer box 5. When in use, the exhaust pipe 51 is connected to an external exhaust fan through a hose. After the exhaust fan is started, the inside of the transfer box 5 is in a negative pressure state, and the external gas will be sucked into the dust collecting disc 4.

[0029] Specifically, the middle part of the dust collecting disc 4 is fixedly connected to an adapter sleeve 42 that is sleeved on the outside of the positioning sleeve 3. The adapter sleeve 42 is in communication with the inner cavity of the dust collecting disc 4. In a specific implementation, preferably, one end of the adapter sleeve 42 is fixedly connected to a positioning ring 1 421 that is connected to the positioning sleeve 3 via a sealed bearing. One side of the adapter box 5 is fixedly connected to a connecting sleeve 52 that is sleeved on the outside of the adapter sleeve 42. The connecting sleeve 52 and the adapter sleeve 42 are rotatably sealed and their inner cavities are in communication. In a specific implementation, preferably, both ends of the connecting sleeve 52 are fixedly connected to a positioning ring 2 521 that is connected to the outer peripheral wall of the adapter sleeve 42 via a sealed bearing. The outer peripheral wall of the adapter sleeve 42 is provided with a ventilation hole 423 located in the connecting sleeve 52. As a result, dust and debris will pass through the dust collecting hole 41, the ventilation hole 423 and the connecting sleeve 52 in sequence, and then enter the adapter box 5, and finally be discharged by the exhaust pipe 51.

[0030] A transmission assembly 8 is provided on one side of the protective cover 12, and a transmission shaft 13 is connected to the dust collecting disc 4 via the transmission assembly 8. In other words, the rotation of the dust collecting disc 4 is driven by the transmission shaft 13 via the transmission assembly 8. This arrangement can reduce the space occupied by the structure for driving the rotation of the dust collecting disc 4 without affecting the movement and operation of the device.

[0031] Specifically, the outer wall of the positioning sleeve 3 is provided with a clearance notch 31. The transmission assembly 8 includes pulley 1 81, pulley 2 82, pulley 3 83, pulley 4 84, belt 1 85, belt 2 86, and a rotating shaft 87. Pulley 1 81 and pulley 4 84 are fixedly mounted on the transmission shaft 13 and the adapter sleeve 42, respectively. Pulley 1 81 is located in the clearance notch 31. One end of the rotating shaft 87 is connected to one side of the protective cover 12. Pulley 3 83 and pulley 4 84 are both fixedly mounted on the rotating shaft 87 and are connected to pulley 1 81 and pulley 2 82 via belt 1 85 and belt 2 86, respectively. When the rotating shaft 87 rotates, it simultaneously drives pulley 3 83 and pulley 4 84 to rotate. When the transmission shaft 13 rotates, it drives pulley 1 81 to rotate, which in turn drives pulley 3 83 to rotate. Then, pulley 4 84 drives the adapter sleeve 42 to rotate via belt 2 86, thereby realizing the drive control of the rotation of the dust collector 4. It should be noted that when pulley 1 81 , pulley 2 82 , pulley 3 83 and pulley 4 84 with different outer diameters are selected, the rotation speed of the adapter sleeve 42 is also different. During manufacturing, a suitable transmission ratio is selected according to needs.

[0032] Furthermore, the cross-sections of belt 1 85 and belt 2 86 are both circular. The purpose of this arrangement is to provide slip protection and avoid collision damage to the dust collecting disc 4.

[0033] In this embodiment, a positioning ring sleeve 6 is provided on the outer peripheral fixed sleeve of the dust collecting disc 4, and one end of the positioning ring sleeve 6 is fixedly connected to a circle of protective wool strips 61. The protective wool strips 61 have the function of preventing dust from spreading and increasing the suction force around the dust collecting disc 4. That is to say, the provision of the protective wool strips 61 will reduce the gap between the dust collecting disc 4 and the workpiece, thereby increasing the flow rate of the airflow passing through the gap, thereby improving the dust collection force.

[0034] Working principle: When grinding is required, the robot arm drives the grinding disc 14 on the device close to the workpiece, and then starts the grinding disc 14 to rotate at high speed and grind. Dust will be generated when the workpiece is being polished, and such dust will be directly sucked away by the dust suction hole 41. At the same time, due to the transmission action of the transmission combination 8, the dust suction disc 4 is in a rotating state, and the revolving dust suction hole 41 will further increase the dust suction amount, thereby greatly reducing dust pollution.

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

Claims

1. A robot-compliant force-controlled polishing platform device, comprising a force-controlled polishing body (1), one end of the force-controlled polishing body (1) is provided with a connecting flange (11) and the other end is provided with a protective cover (12), one side of the protective cover (12) is provided with a transmission shaft (13), one end of the transmission shaft (13) is provided with a polishing disc (14), characterized in that: One side of the protective cover (12) is fixedly connected to a positioning sleeve (3) sleeved on the outside of the transmission shaft (13), the positioning sleeve (3) and the transmission shaft (13) are rotatably connected, the outside of the positioning sleeve (3) is provided with a dust collecting disc (4) with a hollow structure, the dust collecting disc (4) and the positioning sleeve (3) are rotatably connected and a dust collecting hole (41) is opened thereon, one side of the protective cover (12) is fixedly provided with a transfer box (5) rotatably connected to the dust collecting disc (4), the inner cavity of the transfer box (5) is communicated with the inner cavity of the dust collecting disc (4), one side of the transfer box (5) is fixedly connected to an exhaust pipe (51), one side of the protective cover (12) is provided with a transmission assembly (8), the transmission shaft (13) is connected to the dust collecting disc (4) via the transmission assembly (8).

2. The robot-compliant force-controlled grinding and polishing platform device according to claim 1, characterized in that: The outer peripheral fixed sleeve of the dust collecting disc (4) is provided with a positioning ring sleeve (6), and one end of the positioning ring sleeve (6) is fixedly connected to a circle of protective wool strips (61).

3. The robot-compliant force-controlled grinding and polishing platform device according to claim 2, characterized in that: The outer periphery of the dust collecting disc (4) and the side facing the polishing disc (14) are both provided with dust collecting holes (41) evenly distributed in the circumferential direction.

4. The robot-compliant force-controlled grinding and polishing platform device according to claim 1, characterized in that: The middle of the dust collecting disc (4) is fixedly connected to an adapter sleeve (42) sleeved on the outside of the positioning sleeve (3), and the adapter sleeve (42) is communicated with the inner cavity of the dust collecting disc (4). One side of the adapter box (5) is fixedly connected to a connecting sleeve (52) sleeved on the outside of the connecting sleeve (42), and the connecting sleeve (52) and the connecting sleeve (42) are rotatably sealed and the inner cavities of the two are communicated.

5. The robot-compliant force-controlled grinding and polishing platform device according to claim 4, characterized in that: The outer peripheral wall of the positioning sleeve (3) is provided with a clearance gap (31), and the transmission assembly (8) comprises a pulley 1 (81), a pulley 2 (82), a pulley 3 (83), a pulley 4 (84), a belt 1 (85), a belt 2 (86) and a rotating shaft (87). The pulley 1 (81) and the pulley 4 (84) are fixedly sleeved on the transmission shaft (13) and the adapter sleeve (42), respectively. One end of the rotating shaft (87) is connected to one side of the protective cover (12), and the pulley 3 (83) and the pulley 4 (84) are both fixedly sleeved on the rotating shaft (87) and are connected to the pulley 1 (81) and the pulley 2 (82) through the belt 1 (85) and the belt 2 (86), respectively.

6. The robot-compliant force-controlled polishing platform device according to claim 4, characterized in that: One end of the adapter sleeve (42) is fixedly connected to a first positioning ring (421) connected to the positioning sleeve (3) via a sealing bearing, and both ends of the connection sleeve (52) are fixedly connected to a second positioning ring (521) connected to the outer peripheral wall of the adapter sleeve (42) via a sealing bearing. The outer peripheral wall of the adapter sleeve (42) is provided with a ventilation hole (423) located in the connection sleeve (52).

7. The robot-compliant force-controlled grinding and polishing platform device according to claim 5, characterized in that: The cross sections of the belt 1 (85) and the belt 2 (86) are both circular.

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