Flexible grinding head and grinding device

By installing a support rod and a spring between the grinding head and the grinding head base and using an electromagnet to adsorb the support rod, the problem of frequent replacement of the grinding head in the existing technology is solved, and efficient grinding is achieved when there are both flat and curved surfaces on the same workpiece.

CN223395036UActive Publication Date: 2025-09-30NANJING COLLEGE OF INFORMATION TECH
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Patent Information

Application Number
CN202422772271.0
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-11-14
Publication Date
2025-09-30
Estimated Expiration
2034-11-14

AI Technical Summary

Technical Problem

When existing grinding robots process workpieces with both flat and curved surfaces, they need to frequently replace the grinding head and have low grinding efficiency.

Method used

A flexible grinding head is designed. A flexible connection is achieved by installing a support rod and a spring between the grinding head and the grinding head base. An electromagnet is set in the grinding head base. The electromagnet is used to adsorb the support rod to achieve a rigid connection between the grinding head and the grinding head base, which can adapt to the grinding needs of different surface morphologies.

Benefits of technology

It is possible to achieve that when there are both flat and curved surfaces on the same workpiece, there is no need to replace the grinding head, which improves the grinding efficiency and convenience of operation and has stronger adaptability.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model discloses a flexible grinding head and a grinding device in the field of grinding devices, and aims to solve the problem that in the prior art, when different planes of a workpiece are ground, the grinding head needs to be replaced, and the grinding efficiency is influenced, the flexible grinding head comprises a grinding head module and a mounting base, and the grinding head module comprises a grinding head, a grinding head base, a supporting rod and a spring; one end of the supporting rod is connected with the grinding head, the other end of the supporting rod is movably connected with the grinding head base up and down, and the supporting rod is sleeved with the spring; and an electromagnet is arranged in the grinding head base and is used for adsorbing and connecting the supporting rod to the bottom in the grinding head base. The supporting rod is arranged between the grinding head and the grinding head base, the supporting rod is sleeved with the spring, flexible connection between the grinding head and the grinding head base is achieved, the electromagnet is arranged in the grinding head base, when a plane is ground, the electromagnet attracts the supporting rod, and the grinding head and the grinding head base are in rigid connection. The polishing head does not need to be replaced.
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Description

Technical Field

[0001] The utility model relates to the field of grinding devices, in particular to a flexible grinding head and a grinding device. Background Art

[0002] Currently, grinding robots are primarily used for surface grinding, edge deburring, weld grinding, internal cavity deburring, and threading of holes. There are two main types of grinding methods using robotic platforms: workpiece-based grinding and tool-based grinding.

[0003] Workpiece grinding: An industrial robot grips the workpiece, while the grinding tool and drive unit are mounted on a tool table. This is typically a belt sander or grinder. The grinding tool is fixed, and the workpiece moves relative to it.

[0004] Tool-type grinding: The tool and power unit are installed at the end of the robot, and the workpiece to be ground is mounted on the workbench. The position of the robot end is controlled and combined with the force control function to achieve the grinding of the workpiece.

[0005] In both grinding methods, the contact between the grinding head and the workpiece is flat. When grinding curved surfaces, a specific grinding head needs to be replaced. For a workpiece with both flat and curved surfaces, the grinding head needs to be replaced. Two grinding paths are preset, and the grinding force needs to be controlled during grinding, which slows down the grinding efficiency. Utility Model Content

[0006] The purpose of the utility model is to provide a flexible grinding head and a grinding device. A spring is installed between the grinding head and the grinding head base. When grinding a curved surface, the spring exerts an elastic force on the grinding head, so that the grinding head can better fit the processing curved surface for grinding.

[0007] In order to solve the above technical problems, the following technical solutions are adopted:

[0008] In a first aspect, the present invention provides a flexible grinding head, comprising a grinding head module and a mounting base, wherein the grinding head module is mounted in the mounting base;

[0009] The grinding head module includes a grinding head, a grinding head base, a support rod and a spring, one end of the support rod is connected to the grinding head, and the other end is movably connected to the grinding head base up and down, the outer sleeve of the support rod is provided with the spring, one end of the spring abuts against the outer edge of the grinding head base, and the other end abuts against the end of the grinding head, and the grinding head base is installed on the mounting base;

[0010] An electromagnet is provided in the grinding head base, and the electromagnet is used to adsorb and connect the support rod to the bottom of the grinding head base.

[0011] Optionally, there are multiple grinding head modules on the mounting base, and the multiple grinding head modules are parallel to each other and arranged in rows.

[0012] Optionally, the grinding head includes a grinding head, a grinding head buckle, a coupling, a motor and a sleeve; the connecting end of the grinding head is provided with a grinding head buckle, which is connected to the coupling on the motor through the grinding head buckle, and the motor is installed in the sleeve.

[0013] Optionally, a fixing plate is provided on the motor, and a slot hole that cooperates with the fixing plate is provided on the end face edge of the sleeve opening, and the motor is installed in the sleeve by bolts that cooperate with the bolt holes on the fixing plate and the slot holes on the sleeve.

[0014] Optionally, the support rod is provided at the bottom of the sleeve, and one end of the spring on the support rod abuts against the bottom of the sleeve.

[0015] Optionally, the mounting base includes an L-shaped plate and a connecting plate, the connecting plate is arranged on the opposite side of the upper side plate of the L-shaped plate, and the connecting plate is provided with a hole for installing a locking rod, and the locking rod is used to connect the grinding head base and the mounting base together.

[0016] Optionally, a plurality of mounting grooves for mounting the grinding head base are provided on the bottom plate of the L-shaped plate, and the grinding head base is mounted in the mounting grooves.

[0017] Optionally, a locking groove is provided on the side of the grinding head base, and one end of the locking rod is against the locking groove.

[0018] In a second aspect, the present invention provides a grinding device, comprising a robotic arm, wherein an execution end of the robotic arm is provided with the flexible grinding head described in any one of the first aspects.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The utility model realizes a flexible connection between the grinding head and the grinding head base by providing a support rod and a spring arranged outside the support rod between the grinding head and the grinding head base, so as to better grind the curved surface. In addition, an electromagnet is provided in the grinding head base. When grinding a flat surface, the electromagnet attracts the support rod, and the grinding head and the grinding head base are regarded as a rigid connection, so as to better grind the flat surface. When a workpiece has both a flat surface and a curved surface, there is no need to replace the grinding head.

[0021] 2. Multiple grinding head modules are set in the mounting base to improve the grinding efficiency. When grinding the curved surface, through the flexible connection of the spring, a row of grinding heads can better fit and grind the entire curved surface, thereby improving the grinding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1This is one of the structural schematic diagrams of an embodiment of the present utility model in which a grinding head module is installed on a mounting base;

[0023] Figure 2 This is the second structural diagram of an embodiment of the present invention in which a grinding head module is installed on a mounting base;

[0024] Figure 3 This is one of the overall structural diagrams of the flexible grinding head in the embodiment of the present utility model;

[0025] Figure 4 This is the second schematic diagram of the overall structure of the flexible grinding head in the embodiment of the present utility model;

[0026] Figure 5 It is a schematic diagram of the disassembled structure of the grinding head module in the embodiment of the present utility model.

[0027] Description of reference numerals:

[0028] 1. Grinding head; 2. Grinding head buckle; 3. Coupling; 4. Fixing plate; 5. Motor; 6. Sleeve; 7. Spring; 8. Grinding head base; 9. Support rod; 10. Mounting base; 11. L-shaped plate; 12. Connecting plate; 13. Locking slot; 14. Locking hole; 15. Locking rod; 16. Mounting slot. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, rather than all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Example 1

[0030] like Figure 1-Figure 3 As shown, this embodiment provides a flexible grinding head, including a grinding head module and a mounting base 10, wherein the grinding head module is mounted in the mounting base 10;

[0031] The grinding head module includes a grinding head, a grinding head base 8, a support rod 9 and a spring 7. One end of the support rod 9 is connected to the grinding head, and the other end is movably connected to the grinding head base 8 up and down. The support rod 9 is outer-circuited with the spring 7. One end of the spring 7 rests on the outer edge of the grinding head base 8, and the other end rests on the end of the grinding head. The grinding head base 8 is installed on the mounting base 10.

[0032] The support rod 9 is suspended in the grinding head base 8. The support rod 9 can move up and down within a certain range while ensuring that the support rod will not separate from the grinding head base 8. The flexible connection between the grinding head and the grinding head base is achieved through the spring and the support rod, which allows for better grinding of curved surfaces.

[0033] An electromagnet is provided in the grinding head base 8, which is used to adsorb and connect the support rod 9 to the bottom of the grinding head base 8. The support rod material can be adsorbed by the electromagnet. When the electromagnet is turned on, the end of the support rod is adsorbed to the bottom of the grinding head base. The grinding head and the grinding head base are regarded as rigidly connected, which can better grind the surface.

[0034] When in use, when the grinding head grinds the curved surface of the workpiece, after the grinding head contacts the workpiece, the support rod 9 will move toward the bottom direction of the grinding head base 8. Since one end of the spring 7 is against the outer edge of the grinding head base 8, the spring 7 on the support rod 9 will be squeezed. The squeezed spring 7 will exert a force on the grinding head to make it close to the workpiece, so that the grinding head can fit the curved surface of the workpiece and grind. When grinding the flat surface of the workpiece, the electromagnet in the grinding head base 8 is turned on, and one end of the support rod 9 in the grinding head base 8 is adsorbed to the bottom of the grinding head base 8. The spring 7 on the support rod 9 is compressed. Since the support rod 9 is adsorbed to the bottom of the grinding head base 8 by the electromagnet, the support rod 9 will not move. After the grinding head contacts the workpiece, it will grind without displacement. There is no need to control the grinding force. There is no need to replace the grinding head when grinding different positions of the same workpiece, thereby improving the grinding efficiency. Example 2

[0035] This embodiment provides a flexible grinding head based on the embodiment 1. The difference from the embodiment 1 is that: Figures 1-4 As shown, a plurality of grinding head modules are provided on the mounting base 10 . The plurality of grinding head modules are parallel to each other and are arranged in rows and mounted on the mounting base 8 .

[0036] The mounting base 10 comprises an L-shaped plate 11 and a connecting plate 12. The bottom of the L-shaped plate 11 is provided with a plurality of mounting slots 16, each of which is fitted with a grinding head module. The connecting plate 12 is mounted on the opposite side of the L-shaped plate 11. A plurality of locking holes 14 extending through the side of the connecting plate 12, near the bottom, are provided. These locking holes 14 correspond one-to-one with the mounting slots 16. A locking rod 15 passes through the locking holes 14 and abuts one end against the locking slot 12 on the side of the grinding head base 8. The width of the locking slot 12 is the same as that of the side of the grinding head base 8.

[0037] like Figure 5 As shown, the grinding head includes a grinding head 1, a grinding head buckle 2, a coupling 3, a motor 5 and a sleeve 6. The connecting end of the grinding head 1 is provided with a grinding head buckle 2, which is connected to the coupling 3 on the output end of the motor 5 through the grinding head buckle 2, and the grinding head 1 is installed on the output end of the motor 5.

[0038] A fixing plate 4 is provided on the motor 5, and bolt holes are provided on the fixing plate 4. The end face edge of the opening of the sleeve 6 is provided with a slot that cooperates with the fixing plate 4. The bolts cooperate with the bolt holes on the fixing plate 4 and the slots on the sleeve 6. One end of the motor 5 extends into the interior of the sleeve 6, and the other end is installed in the sleeve 6 through the fixing plate 4 and the bolts.

[0039] A support rod 9 is provided at the bottom of the sleeve 6, and a spring 7 is provided outside the support rod 9. The other end of the support rod 9 extends into the grinding head base 8 and does not touch the bottom of the grinding head base 8. The spring 7 is against the bottom of the sleeve 6 with one end and the outer edge of the grinding head base 8 with the other end. When the grinding head 1 contacts the workpiece, since the support rod 9 does not contact the bottom of the grinding head base 8, the support rod 9 will move toward the bottom of the grinding head base 8, thereby compressing the spring 7 provided outside the support rod 9. The grinding head 1 contacts the curved workpiece less, but the compressed spring 7 has a tendency to rebound and will support the grinding head 1 toward the workpiece. The grinding head 1 moves toward the workpiece, so that the grinding head 1 fits the curved surface and adapts to the grinding of curved workpieces.

[0040] An electromagnet is provided at the bottom of the grinding head base 8. When the electromagnet is started, one end of the support rod 9 is extended into the grinding head base 8 and adsorbed and fixed to the inner bottom of the grinding head base 8. The grinding head 1 will not move when it contacts the workpiece, which is suitable for grinding the plane of the workpiece.

[0041] When in use, a row of grinding head modules is set on the mounting base 10, and multiple grinding heads 1 act together on the grinding workpiece. When the grinding head 1 is grinding the curved surface of the workpiece, the support rod 9 is located in the middle position inside the grinding head base 8. The grinding head 1 is flexibly connected to the grinding head base 8 through the support rod 9 and the spring 7. A row of grinding heads 1 can better grind the curved surface of the workpiece. When grinding the flat surface of the workpiece, the electromagnet is started to adsorb and fix the end of the support rod 9 to the bottom of the grinding head base 8. The grinding head 1 and the grinding head base 8 are regarded as rigidly connected to adapt to grinding flat surfaces. When a workpiece has both flat and curved surfaces, the flexible grinding head of the present application is used. There is no need to replace the grinding head. It is only necessary to operate the start or stop of the electromagnet. The operation is more convenient and quick, and the grinding efficiency is improved. Example 3

[0042] This embodiment provides a grinding device, including a robotic arm, wherein the flexible grinding head of embodiment 1 or embodiment 2 is installed at the execution end of the robotic arm.

[0043] The robot arm uses a preset grinding path. When the workpiece is flat, the electromagnet in the mounting base 10 is turned on, and the electromagnet attracts and connects the support rod 9 to the bottom of the mounting base 10. When the workpiece is curved, the electromagnet is turned off, and the spring-loaded grinding head on the support rod is flexibly connected to the grinding head base to adapt to the workpiece's curved surface. During use, there is no need to replace the grinding head, which improves grinding efficiency.

[0044] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A flexible grinding head, comprising a grinding head module and a mounting base, wherein the grinding head module is mounted in the mounting base, characterized in that ； The grinding head module includes a grinding head, a grinding head base, a support rod and a spring, one end of the support rod is connected to the grinding head, and the other end is movably connected to the grinding head base up and down, the outer sleeve of the support rod is provided with the spring, one end of the spring abuts against the outer edge of the grinding head base, and the other end abuts against the end of the grinding head, and the grinding head base is installed on the mounting base; An electromagnet is provided in the grinding head base, and the electromagnet is used to adsorb and connect the support rod to the bottom of the grinding head base.

2. The flexible grinding head according to claim 1, characterized in that: There are multiple grinding head modules on the mounting base, and the multiple grinding head modules are parallel to each other and arranged in rows.

3. The flexible grinding head according to claim 1, characterized in that: The grinding head includes a grinding head, a grinding head buckle, a coupling, a motor and a sleeve; the connecting end of the grinding head is provided with a grinding head buckle, which is connected to the coupling on the motor through the grinding head buckle, and the motor is installed in the sleeve.

4. The flexible grinding head according to claim 3, characterized in that: The motor is provided with a fixing plate, and the end face edge of the sleeve opening is provided with a slot hole that matches the fixing plate. The motor is installed in the sleeve by means of bolts that match the bolt holes on the fixing plate and the slot holes on the sleeve.

5. The flexible grinding head according to claim 3, characterized in that: The support rod is provided at the bottom of the sleeve, and one end of the spring on the support rod abuts against the bottom of the sleeve.

6. The flexible grinding head according to claim 1, characterized in that: The mounting base includes an L-shaped plate and a connecting plate. The connecting plate is arranged on the opposite side of the side plate of the L-shaped plate. The connecting plate is provided with a hole for installing a locking rod. The locking rod is used to connect the grinding head base and the mounting base together.

7. The flexible grinding head according to claim 6, characterized in that: A plurality of mounting grooves for mounting the grinding head base are provided on the bottom plate of the L-shaped plate, and the grinding head base is mounted in the mounting grooves.

8. The flexible grinding head according to claim 6, characterized in that: A locking groove is provided on the side of the grinding head base, and one end of the locking rod is against the locking groove.

9. A grinding device, comprising a robotic arm, characterized in that: The execution end of the robotic arm is provided with the flexible grinding head according to any one of claims 1 to 8.