Flexible automatic grinding device for composite material

Abstract

The utility model relates to the technical field of aviation tools, in particular to a composite material flexible automatic polishing device which comprises a mechanical arm and a polishing head, and the polishing head is installed at the tail end of the mechanical arm. The grinding head comprises an assembling shell, a dust collection assembly, a grinding disc and a linkage assembly. Wherein the assembling shell is used for connecting the grinding head to a mechanical arm, transmitting the grinding head to the grinding disc and providing stable support for the dust collection assembly; a spherical head and a spherical seat are arranged in the assembly shell, so that the polishing disc can be synchronously and adaptively inclined according to a polishing curved surface; the linkage assembly comprises a plurality of linkage rods arranged in the circumferential direction and adjusting pieces. The grinding disc is connected with the dust collection assembly through the linkage assembly, and it is guaranteed that the opening size of a dust collection opening of the dust collection assembly can be synchronously and adaptively adjusted along with the inclination action of the grinding disc. The automatic polishing device can automatically adapt to the radian of a polishing curved surface, achieves uniform polishing, can guarantee the polishing environment, and reduces the threat of dust to the health of personnel.

Description

Technical Field

[0001] The utility model relates to the technical field of composite material grinding, in particular to a flexible automatic grinding device for composite materials. Background Art

[0002] With the development of modern aviation technology, a large number of new materials have been incorporated into aircraft structures, most notably the widespread use of composite materials. This has also brought with it corresponding maintenance and repair challenges. During routine maintenance and emergency repairs following accidents, when scratches or wear appear on the surface of composite components, polishing is required to restore their structural strength and appearance. When structural damage occurs within composite components, repairs are often performed by patching and bonding, requiring the damaged area to be removed and polished to form the groove to be repaired.

[0003] At present, the fixed grinding head in the existing grinding equipment limits the adjustment of the grinding angle, making it difficult to automatically adapt to the curvature of the complex curved surface with large curvature (such as the fairing), and thus difficult to achieve uniform grinding. Failure to achieve uniform grinding will seriously affect the repair effect of composite components; in addition, when encountering a grinding point with large curvature, the grinding tool also follows the deflection, but the dust generated on the grinding side is relatively serious, resulting in the dust suction structure fixed in the existing grinding equipment being unable to effectively and synchronously clean the dust generated during the grinding process of the large curvature curved surface, and it is difficult to achieve adaptive processing and collection, which not only affects the grinding quality, but may also pose a threat to the health of the operator. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the utility model provides a flexible automatic grinding device for composite materials, which can be applied to uniformly grind composite materials with various large curvature and complex curved surfaces.

[0005] The technical solution of the utility model is:

[0006] A flexible automatic grinding device for composite materials, comprising a robotic arm and a grinding head, wherein the robotic arm is a six-axis lightweight robotic arm, and the end of the robotic arm can perform precise movements according to a set grinding path; the grinding head is installed at the end of the robotic arm;

[0007] The grinding head includes an assembly shell, a dust collection component, a grinding disc and a linkage component;

[0008] The spherical seat is fixedly mounted on the front end of the spherical seat, and the spherical head is matched with the spherical head and is buckled on the spherical head to form a movable ball joint connection; the outer cover is fixedly mounted on the outer side of the front end of the spherical seat; the rotating seat is movably mounted in the front end cavity of the spherical seat; the grinding disc is fixedly mounted on the front end surface of the rotating seat; the spherical seat and the spherical head cooperate to ensure that when grinding a large curvature surface, the grinding disc and the outer cover can be synchronously adaptively tilted according to the grinding surface; the power shaft is arranged in the shaft sleeve; the rear end of the power shaft is connected to the driving shaft of the mechanical arm, which is the power input end; the front end of the power shaft is hingedly connected to the rear end of the rotating seat, and the connection point is located at the center of the spherical seat; ensuring that when the grinding disc and the outer cover are synchronously adaptively tilted according to the grinding surface, the power shaft can still drive the rotating seat to rotate smoothly and smoothly in the spherical seat, thereby driving the grinding disc to rotate smoothly;

[0009] The dust suction assembly includes a dust suction seat and a gathering cover; the dust suction seat is a circular ring structure, coaxially fixedly mounted on the outer side of the spherical head upper section in the assembly shell; the dust suction seat is circumferentially provided with a plurality of circular dust suction ports and annular grooves; the dust suction ports and the annular grooves are axially connected; the gathering cover is sleeved on the outer side of the shaft sleeve of the assembly shell and is divided into a front section and a rear section; the front section of the gathering cover is axially provided with a plurality of dust suction channels corresponding to the dust suction ports, the front end surface of the front section of the gathering cover is sealed and fixedly connected to the dust suction seat, ensuring that the dust suction ports on the dust suction seat are matched and aligned with the dust suction channels of the front section of the gathering cover; the rear section of the gathering cover is a cavity structure connected to the dust suction channels.

[0010] The linkage assembly includes a plurality of linkage rods and adjustment plates arranged along the circumferential direction; the adjustment plate is movably arranged in an annular groove under the dust suction port in an inclined state and can be deflected; a sliding seat is provided on the bottom surface of the adjustment plate; the front end of the linkage rod is hinged to the outer wall of the assembly shell cover, and the rear end is slidingly hinged to the sliding seat; it is ensured that when the grinding disc and the outer cover are synchronously adaptively tilted according to the grinding surface, the outer cover pushes the linkage rod, and then pushes the adjustment plate above the corresponding linkage rod, so that the annular groove on the inclined side of the grinding disc is opened larger.

[0011] Furthermore, the rear end of the power shaft is connected to the drive shaft of the robotic arm through an elastic compensation part. The elastic compensation part is used to absorb and adjust the vibration and force impact generated during the grinding process, so as to avoid damage to the drive shaft of the robotic arm due to excessive force when encountering a sudden change in grinding force.

[0012] Furthermore, the elastic compensation portion is made of silicone, rubber or other highly elastic composite materials.

[0013] Furthermore, the front end of the power shaft and the rear end of the rotating seat are hinged via a universal joint.

[0014] Furthermore, the front end of the linkage rod is hinged to the outer wall of the assembly shell cover through a universal joint.

[0015] Furthermore, the number of the dust suction ports, annular grooves, dust suction channels, linkage rods, and adjustment plates is equal, that is, 8 to 12.

[0016] Beneficial effects

[0017] The utility model provides a flexible automatic grinding device for composite materials. By arranging a spherical seat and a spherical head on the grinding head, the utility model enables the grinding disc to be synchronously and adaptively tilted according to the grinding surface when grinding a large curvature surface, so that it can automatically adapt to the curvature of the grinding surface, achieve uniform grinding, and improve the grinding quality; by arranging a linkage rod to cooperate with the grinding disc for synchronous tilting, pushing the adjustment plate above the linkage rod, so that the annular groove on the tilted side of the grinding disc is opened wider, that is, the dust suction port on the tilted side of the grinding disc is opened wider, thereby achieving synchronous and adaptive processing and collection of grinding dust during the grinding of large curvature surfaces, effectively ensuring the grinding environment, and reducing the health threat of dust to operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the utility model;

[0019] Figure 2 This is a schematic diagram of the overall structure of the grinding head according to an embodiment of the present utility model;

[0020] Figure 3 This is a schematic diagram of the cross-sectional structure of a grinding head according to an embodiment of the present utility model;

[0021] Figure 4 This is a schematic diagram of the partial internal structure of the grinding head according to an embodiment of the utility model;

[0022] Figure 5 This is a schematic diagram of a partial cross-sectional structure of the interior of a grinding head according to an embodiment of the present invention;

[0023] Figure 6 This is a transmission diagram of a power shaft according to an embodiment of the present utility model;

[0024] Figure 7 This is a schematic diagram of the bottom of the dust collector according to an embodiment of the present invention;

[0025] Figure 8 A schematic diagram of a linkage assembly according to an embodiment of the present utility model;

[0026] Figure 9This is a schematic diagram of the working principle of the linkage assembly of an embodiment of the utility model;

[0027] In the figure: 1-robotic arm; 2-grinding head; 21-dust suction assembly; 211-dust suction seat; 211a-dust suction port; 211b-annular groove; 212-converging cover; 212a-front section of the convergence cover; 212b-rear section of the convergence cover; 212c-dust suction channel; 213-dust suction pipe connection end; 22-assembly shell; 221-power shaft; 222-sleeve; 223-spherical head; 224-spherical seat; 225-outer cover; 226-rotating seat; 227-elastic compensation part; 23-grinding disc; 24-linkage assembly; 241-linkage rod; 242-adjusting plate; 243-sliding seat. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods:

[0029] An embodiment of the present invention is as follows Figure 1 As shown, a flexible automatic grinding device for composite materials includes a robotic arm 1 and a grinding head 2. The robotic arm 1 is a six-axis lightweight robotic arm, and the end of the robotic arm 1 can perform precise movements according to a set grinding path; the grinding head 2 is installed at the end of the robotic arm 1;

[0030] like Figure 2 As shown, the grinding head 2 includes an assembly shell 22, a dust collection assembly 21, a grinding disc 23 and a linkage assembly 24;

[0031] like Figures 3 to 7 As shown, the assembly shell 22 includes a sleeve 222, a power shaft 221, a spherical head 223, a spherical seat 224, an outer cover 225, and a rotating seat 226; the rear end of the sleeve 222 is fixedly connected to the end of the robot arm 1; the spherical head 223 is fixedly arranged at the front end of the sleeve 222; the rear end of the spherical seat 224 matches the spherical head 223 and is buckled on the spherical head 223 to form a movable ball hinge connection; the outer cover 225 is fixedly arranged on the outer side of the front end of the spherical seat 224; the rotating seat 226 is movably installed in the front end cavity of the spherical seat 224; the grinding disc 23 is fixedly mounted on the front end surface of the rotating seat 226; the spherical seat 224 and the spherical head 223 cooperate to ensure that when grinding a large curvature surface, the grinding disc 23 and the outer cover 225 can be synchronously adaptively tilted according to the grinding surface;

[0032] The power shaft 221 is arranged in the shaft sleeve 222; the rear end of the power shaft 221 is connected to the drive shaft of the robot arm 1, which serves as the power input end; the front end of the power shaft 221 is hinged to the rear end of the rotating seat 226, and the connection point is located at the center of the spherical seat 224; this ensures that when the grinding disc 23 and the outer cover 225 are synchronously adaptively tilted according to the grinding surface, the power shaft 221 can still drive the rotating seat 226 to rotate smoothly and steadily in the spherical seat 224, thereby driving the grinding disc 23 to rotate smoothly;

[0033] The dust collection assembly 21 includes a dust collection seat 211 and a convergence cover 212; the dust collection seat 211 is a circular ring structure, coaxially fixedly mounted on the outer side of the upper section of the spherical head 223 in the assembly shell 22; the dust collection seat 211 is provided with a plurality of circular dust collection ports 211a and annular grooves 211b along the circumferential direction; the dust collection ports 211a and the annular grooves 211b are axially connected; the convergence cover 212 is sleeved on the outer side of the shaft sleeve 222 of the assembly shell 22, as shown in FIG. Figure 3 As shown, it is divided into two sections, a front section 212a and a rear section 212b; the front section 212a of the converging cover is provided with a plurality of dust suction channels 212c corresponding to the dust suction ports 211a along the axial direction, and the front end surface of the front section 212a of the converging cover is sealed and fixedly connected to the dust suction seat 211, ensuring that the dust suction ports 211a on the dust suction seat 211 are matched and aligned with the dust suction channels 212c of the front section 212a of the converging cover; the rear section 212b of the converging cover is a cavity structure connected to the dust suction channels 212c, and the rear end surface of the rear section 212b of the converging cover is provided with a dust suction pipe connecting end 213 connected to the internal cavity for connecting to a dust collection device;

[0034] like Figure 8 Figure 9 As shown, the linkage assembly 24 includes a plurality of linkage rods 241 and adjustment plates 242 arranged along the circumferential direction; Figure 7 As shown, the adjusting piece 242 is movably arranged in the annular groove 211b under the suction port 211a in an inclined state; a sliding seat 243 is provided on the bottom surface of the adjusting piece 242; the front end of the linkage rod 241 is hinged to the outer wall of the assembly shell cover 225, and the rear end is slidingly hinged to the sliding seat 243; it is ensured that when the grinding disc 23 and the outer cover 225 are synchronously adaptively tilted according to the grinding surface, the outer cover 225 pushes the linkage rod 241, and then pushes the adjusting piece 242 above the corresponding linkage rod 241, so that the annular groove 211b on the inclined side of the grinding disc 23 is opened larger.

[0035] In this embodiment, the rear end of the power shaft 221 is connected to the drive shaft of the robot arm 1 via an elastic compensating portion 227. The elastic compensating portion 227 is used to absorb and adjust the vibration and force impact generated during the grinding process, thereby preventing damage to the drive shaft of the robot arm 1 due to excessive force when encountering sudden changes in grinding force. The elastic compensating portion 227 is made of rubber material.

[0036] In this embodiment, the front end of the power shaft 221 and the rear end of the rotating seat 226 are hinged via a universal joint.

[0037] In this embodiment, the front end of the linkage rod 241 is hinged to the outer wall of the assembly shell cover 225 via a universal joint.

[0038] In this embodiment, the number of the dust suction port 211a, the annular groove 211b, the dust suction channel 212c, the linkage rod 241, and the adjustment piece 242 is equal, that is, eight.

[0039] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention.

Claims

1. A flexible automatic polishing device for composite materials, comprising a six-axis lightweight robotic arm and a polishing head. The robotic arm has a distal end capable of performing precise movements according to a set polishing path. The polishing head is mounted at the distal end of the robotic arm. The device is characterized by: The grinding head includes an assembly shell, a dust collection component, a grinding disc and a linkage component; The assembly shell includes a sleeve, a power shaft, a spherical head, a spherical seat, an outer cover, and a rotating seat; the rear end of the sleeve is fixedly connected to the end of the robotic arm; the spherical head is fixedly arranged on the front end of the sleeve; the rear end of the spherical seat matches the spherical head and is buckled on the spherical head to form a movable ball hinge connection; the outer cover is fixedly arranged on the outside of the front end of the spherical seat; the rotating seat is movably installed in the front end cavity of the spherical seat; the grinding disc is fixedly installed on the front end surface of the rotating seat; the power shaft is arranged in the sleeve; the rear end of the power shaft is connected to the drive shaft of the robotic arm, which is the power input end; the front end of the power shaft is hinged to the rear end of the rotating seat, and the connection point is located at the center of the spherical seat; The dust suction assembly includes a dust suction seat and a gathering cover; the dust suction seat is a circular ring structure, coaxially fixedly mounted on the outer side of the spherical head upper section in the assembly shell; the dust suction seat is circumferentially provided with a plurality of circular dust suction ports and annular grooves; the dust suction ports and the annular grooves are axially connected; the gathering cover is sleeved on the outer side of the shaft sleeve of the assembly shell and is divided into a front section and a rear section; the front section of the gathering cover is axially provided with a plurality of dust suction channels corresponding to the dust suction ports, the front end surface of the front section of the gathering cover is sealed and fixedly connected to the dust suction seat, ensuring that the dust suction ports on the dust suction seat are matched and aligned with the dust suction channels of the front section of the gathering cover; the rear section of the gathering cover is a cavity structure connected to the dust suction channels. The linkage assembly includes a plurality of linkage rods and adjustment plates arranged along the circumferential direction; the adjustment plate is movably arranged in an annular groove under the dust suction port in an inclined state and can be deflected; a sliding seat is provided on the bottom surface of the adjustment plate; the front end of the linkage rod is hinged to the outer wall of the assembly shell cover, and the rear end is slidingly hinged to the sliding seat.

2. The flexible automatic polishing device for composite materials according to claim 1, characterized in that: The rear end of the power shaft is connected to the driving shaft of the robotic arm through an elastic compensation portion.

3. The flexible automatic polishing device for composite materials according to claim 2, characterized in that: The elastic compensation part is made of silicone or rubber.

4. The flexible automatic polishing device for composite materials according to claim 1, characterized in that: The front end of the power shaft is hinged to the rear end of the rotating seat through a universal joint.

5. The flexible automatic polishing device for composite materials according to claim 1, characterized in that: The front end of the linkage rod is hinged to the outer wall of the assembly shell cover through a universal joint.

6. The flexible automatic polishing device for composite materials according to claim 1, characterized in that: The number of the dust suction ports, annular grooves, dust suction channels, linkage rods and adjustment plates is equal, that is, 8 to 12.

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