Self-adaptive track sanding device for complex curved surface

Abstract

The utility model discloses a self-adaptive track sanding device for a complex curved surface. The device comprises a flange seat, a universal cross arranged at the front end of the flange seat, a motor body arranged in the universal cross, a brake ring and a polishing disc, wherein the brake ring and the polishing disc are arranged at the output end of the motor body; the universal cross is of a circular ring structure and is rotationally connected with the front end of the flange base through a first pin shaft, the upper portion of the motor body penetrates through the universal cross, and the motor body and the universal cross are rotationally connected through a second pin shaft. Connecting lines respectively formed by the first pin shaft and the second pin shaft are crossed, and the motor body realizes two-degree-of-freedom rotation through the first pin shaft and the second pin shaft. The motor body rotates through the universal cross to adjust the binding face between the grinding disc and the to-be-ground curved surface to achieve self-adaption to the to-be-ground curved surface, it can be guaranteed that the normal of the grinding disc coincides with the normal of the curved surface without precisely adjusting the posture and the positioning precision of a robot, and therefore the good grinding effect is obtained.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the sanding equipment technical field, more specifically, it relates to a kind of self-adapting track sanding device for complex surface. BACKGROUND

[0002] Sanding machine is a kind of power tool widely used in workpiece surface polishing, track sander is applied to the surface movement of sanding, polishing object with slight rotation or track movement to realize the fine polishing of surface.Currently, sanding equipment applied to robot polishing mostly adopts manual disc polishing tool to polish by connecting flange connected on force control tool.The force control tool for disc polishing tool generally adopts single-shaft self-adapting control displacement and pressure.In polishing process, it needs to ensure that the normal line of grinding disc surface coincides with the normal line of curved surface to obtain more uniform polishing effect.

[0003] Chinese patent with publication number CN106239319A discloses a sanding mechanism, which comprises connecting back plate, upper plate, lower plate, motor and sand disc, the upper plate is fixed on connecting back plate, upper plate and lower plate are spaced apart and connected through a plurality of connecting rods, the upper end of connecting rod is connected with upper plate, and the lower end of connecting rod is connected with lower plate through joint bearing; the motor is fixed on the upper end face of lower plate, and the output shaft of motor is fixedly connected with sand disc arranged below lower plate through lower plate.It has high flexibility, can not only polish flat surface but also sand small-curvature curved surface, and has the advantages of high production efficiency, good sanding quality and effective protection of workpiece corners.

[0004] However, in the case that the normal line of polished curved surface does not coincide with the normal line of grinding disc, the contact point between grinding disc and curved surface is located at the edge of grinding disc.The edge of grinding disc transmits the pressing force of force control tool, and the linear velocity of grinding disc edge is large, so the polished surface is prone to appear concave caused by over-polishing, and the overall curved surface shows uneven polishing removal amount.Therefore, a self-adapting track sanding device for complex surface is needed, which increases curved surface self-adapting mechanism to ensure that the normal line of grinding disc in sanding equipment adapts to the normal line of curved surface during polishing complex curved surface, and guarantees the uniformity of polishing quality. UTILITY MODEL CONTENTS

[0005] In view of the above defects or improvement needs of prior art, the utility model provides a self-adapting track sanding device for complex surface, which realizes universal rotation of polishing disc, and the motor body rotates through universal cross to adjust the fitting surface between polishing disc and curved surface to be polished to adapt to the curved surface to be polished, without the need for accurate adjustment of robot posture and positioning accuracy, so as to ensure that the normal line of polishing disc coincides with the normal line of curved surface, thereby obtaining better polishing effect.

[0006] To achieve the above object, the utility model discloses a kind of self-adapting track sanding device for complex surface, including flange seat, the front end of the universal cross of being provided in the flange seat, the motor body in the universal cross is provided and the brake ring and the polishing disc of the output end of the motor body are equipped;

[0007] The universal cross is a circular ring structure, and the front end of the flange seat is rotatably connected by a first pin shaft. The upper part of the motor body passes through the universal cross, and the two are rotatably connected by a second pin shaft.

[0008] The connecting lines formed by the first pin shaft and the second pin shaft cross each other. The motor body realizes two degrees of freedom rotation through the two.

[0009] Further, the rear end of the flange seat is a cylinder with one open end. The open end is symmetrically provided with an extension as a mounting plate.

[0010] The universal cross is mounted at the front end of the mounting plate and rotates on the flange seat around the first pin shaft.

[0011] A fixing frame is provided on the outer ring of the motor body. The fixing frame is connected with the inner ring of the universal cross and rotates on the universal cross around the second pin shaft.

[0012] Further, when the polishing disc contacts the curved surface to be polished, the motor body rotates through the universal cross to adjust the fitting surface between the polishing disc and the curved surface to be polished, so that the normal line of the polishing disc coincides with the normal line of the curved surface to be polished.

[0013] Further, a plurality of spring seats are provided on the flange seat. The spring seats are uniformly distributed on the end face of the open end of the flange seat and located between the two mounting plates of the flange seat.

[0014] Springs are provided between the spring seats and the fixing frame of the motor body. The plurality of springs uniformly stress the motor body. When not subjected to external force, the motor body always coincides with the axis of the sanding device under the action of the plurality of springs.

[0015] Further, a dust removal cover is provided at the front end of the motor body. A plurality of guide plates are provided in the dust removal cover to form a guide plate array. A dust suction port is provided on one side of the dust removal cover for connecting an external dust collector.

[0016] Further, the motor body includes a motor housing, a rear end cover provided at the rear end of the motor housing, a front end cover provided at the front end of the motor housing, and a brushless motor provided in the motor housing.

[0017] Further, the motor shell is provided with a hole in the circumferential direction, and a silencer is arranged in the hole.

[0018] When compressed air is introduced into the air pipe joint, the air flow enters the motor body through the flow guide holes in the damping ring, and then flows out from the silencer, thereby cooling the motor body.

[0019] Further, the output end of the brushless motor is provided with an eccentric body, the center of the eccentric body is fixedly connected with the output shaft of the brushless motor, an eccentric block is arranged at the front end of the eccentric body away from the center, a plurality of heat dissipation fins are arranged on the rear end along the end surface to form a heat dissipation fin array, and the heat dissipation fin array is opposite to the flow guide plate array.

[0020] Further, the polishing disc is installed in the eccentric block on the eccentric body through a connecting pin shaft, and the connecting pin shaft and the eccentric block are connected through a connecting bearing, so that the polishing disc and the eccentric body are always in a movable state, and the polishing disc and the output shaft of the brushless motor have an eccentric distance.

[0021] Overall, compared with the prior art, the above technical scheme of the utility model can achieve the following beneficial effects:

[0022] 1. The sanding device of the utility model, the connecting lines of the first pin shaft and the connecting lines of the second pin shaft at both ends cross each other, the motor body realizes two degrees of freedom rotation through the first pin shaft and the second pin shaft, so that the polishing disc realizes universal rotation, and due to the uneven stress point or the non-central position of the polishing disc, the motor body rotates through the universal cross to adjust the fitting surface between the polishing disc and the curved surface to be polished to realize self-adaption to the curved surface to be polished, so that the normal line of the polishing disc and the normal line of the curved surface coincide, thereby obtaining a better polishing effect.

[0023] 2. The sanding device of the utility model, the plurality of springs make the motor body bear uniform stress, when not subjected to external force, the motor body always keeps coinciding with the axis of the sanding device under the action of the plurality of springs, when the sanding device does not contact the curved surface to be polished, the sanding device is balanced to prevent the sanding device from being rubbed and miscontacted when contacting the curved surface to be polished, thereby preventing the curved surface to be polished from being damaged or partially polished.

[0024] 3. The sanding device of the utility model, the brake ring and the polishing disc form a sliding friction pair, in the polishing process, the friction resistance of the brake ring to the polishing disc makes the movement track of the sandpaper sand particles on the polishing disc be a random cycloid movement, the surface quality obtained after polishing is more uniform, and in the shutdown process, the brake ring can realize rapid braking of the polishing disc.

[0025] 4. The sanding device of the utility model, the suction force generated by the external dust collector makes the external air enter the dust removal cover through the air inlet, and then flows on the heat dissipation fin array to drive the heat therein and realize heat dissipation of the sanding device, and under the action of high-speed centrifugation, dust particles escape from the edge of the heat dissipation fin, and finally are sucked into the dust collector through the dust suction port, effectively preventing dust from entering the motor body or the bearing.

[0026] 5. The sanding device of the utility model, the rotation movement of the polishing disc is the resultant movement of the rotation movement of the motor and the eccentric force couple generated by the eccentric rotation movement of the eccentric body, and the movement track of each sand particle on the sandpaper adhered on the polishing disc in the polishing process is a random track, and the random movement of the sand particles in the polishing process can obtain relatively uniform polishing quality.

[0027] 6. The sanding device of the utility model, when it is necessary to lock the normal direction of the sanding device, the single-acting cylinder piston rod acts in the concave ring on the motor body, the sanding device cannot swing, and plays a locking role, and the sanding device is locked when polishing the edge of the curved surface to prevent excessive polishing of the edge due to excessive deflection of the sanding device.

[0028] 7. The sanding device of the utility model, after the service life of the sandpaper reaches, the robot moves the sanding machine to the automatic sandpaper tearing mechanism, and starts the single-acting cylinder to lock the normal direction of the polishing disc, so that the polishing disc is prevented from deflecting in the sandpaper tearing process, and the sandpaper replacement success rate is improved. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a structure explosion map of the adaptive track sanding device for complex curved surfaces of the utility model embodiment;

[0030] Figure 2 It is a structure schematic view of the adaptive track sanding device for complex curved surfaces of the utility model embodiment;

[0031] Figure 3 It is a schematic view of the position relationship between the polishing disc and the curved surface to be polished in the traditional scheme;

[0032] Figure 4 It is a schematic view of the position relationship between the polishing disc and the curved surface to be polished in the scheme of the utility model embodiment 1;

[0033] Figure 5A motor body structure schematic view of a self-adaptive track sanding device for a complex curved surface of an embodiment of the present utility model;

[0034] Figure 6 An eccentric body installation schematic view of a self-adaptive track sanding device for a complex curved surface of an embodiment of the present utility model;

[0035] Figure 7 A single-acting cylinder installation schematic view of a self-adaptive track sanding device for a complex curved surface of an embodiment of the present utility model;

[0036] Figure 8 A position relation schematic view between a polishing disc and a curved surface to be polished in the scheme of an embodiment 2 of the present utility model;

[0037] Figure 9 A flow schematic view of a self-adaptive track sanding method for a complex curved surface of an embodiment of the present utility model.

[0038] In all the drawings, same reference signs represent same technical features, specifically: 1-flange seat, 2-single-acting cylinder, 3-first pin shaft, 4-first oil-free bearing, 5-spring seat, 6-spring, 7-universal cross, 8-second pin shaft, 9-second oil-free bearing, 10-motor body, 11-dust cover, 12-brake ring, 13-polishing disc, 1001-air pipe joint, 1002-concave ring, 1003-rear end cover, 1004-damping ring, 1005-motor shell, 1006-silencer, 1007-brushless motor, 1008-front end cover, 1009-eccentric body, 1010-connecting bearing, 1011-connecting shaft. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present utility model more clear and understandable, the present utility model is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model, and are not used to limit the present utility model. In addition, the technical features involved in each embodiment of the present utility model described below can be combined with each other as long as there is no conflict.

[0040] Embodiment 1

[0041] As Figure 1 , 2As shown in the utility model embodiment, the self-adaptive track sanding device for a complex curved surface comprises a flange base 1, a universal cross 7 arranged at the front end of the flange base 1, a motor body 10 arranged in the universal cross 7, and a brake ring 12 and a polishing disc 13 arranged at the output end of the motor body 10. The universal cross 7 is a circular ring structure, is connected with the front end of the flange base 1 along a diameter by a first pin shaft 3, the upper part of the motor body 10 penetrates through the universal cross 7, and a certain gap is left between the two, and the two are also connected by a second pin shaft 8 along a diameter. The connecting lines of the first pin shaft 3 and the connecting lines of the second pin shaft 8 at both ends cross each other, the motor body 10 realizes rotation in two degrees of freedom through the first pin shaft 3 and the second pin shaft 8, so that the polishing disc 13 realizes universal rotation, realizes self-adaption to a curved surface to be polished, and the normal line of the polishing disc is coincident with the normal line of the curved surface without the need for accurate adjustment of the posture of a robot and positioning accuracy, thereby obtaining a better polishing effect.

[0042] The rear end of the flange base 1 is a cylindrical body with one end open, a plurality of mounting holes are opened at the bottom, an extension part is symmetrically arranged at the opening end to the front end as a mounting plate, the universal cross 7 is mounted at the front end of the mounting plate through the first pin shaft 3 and rotates on the flange base 1 around the first pin shaft 3. A fixing frame is arranged on the outer ring of the motor body 10, and the fixing frame and the inner ring of the universal cross 7 are rotationally connected through the second pin shaft 8. When the polishing disc 13 contacts the curved surface to be polished, the motor body 10 rotates through the universal cross 7 to adjust the fitting surface between the polishing disc 13 and the curved surface to be polished, so that the normal line of the polishing disc 13 is coincident with the normal line of the curved surface to be polished, because the stress points of the polishing disc 13 are uneven or not at the center position.

[0043] As shown in the utility model embodiment, the self-adaptive track sanding device for a complex curved surface comprises a flange base 1, a universal cross 7 arranged at the front end of the flange base 1, a motor body 10 arranged in the universal cross 7, and a brake ring 12 and a polishing disc 13 arranged at the output end of the motor body 10. The universal cross 7 is a circular ring structure, is connected with the front end of the flange base 1 along a diameter by a first pin shaft 3, the upper part of the motor body 10 penetrates through the universal cross 7, and a certain gap is left between the two, and the two are also connected by a second pin shaft 8 along a diameter. The connecting lines of the first pin shaft 3 and the connecting lines of the second pin shaft 8 at both ends cross each other, the motor body 10 realizes rotation in two degrees of freedom through the first pin shaft 3 and the second pin shaft 8, so that the polishing disc 13 realizes universal rotation, realizes self-adaption to a curved surface to be polished, and the normal line of the polishing disc is coincident with the normal line of the curved surface without the need for accurate adjustment of the posture of a robot and positioning accuracy, thereby obtaining a better polishing effect. Figure 3 , 4 As shown in the utility model embodiment, the self-adaptive track sanding device for a complex curved surface comprises a flange base 1, a universal cross 7 arranged at the front end of the flange base 1, a motor body 10 arranged in the universal cross 7, and a brake ring 12 and a polishing disc 13 arranged at the output end of the motor body 10. The universal cross 7 is a circular ring structure, is connected with the front end of the flange base 1 along a diameter by a first pin shaft 3, the upper part of the motor body 10 penetrates through the universal cross 7, and a certain gap is left between the two, and the two are also connected by a second pin shaft 8 along a diameter. The connecting lines of the first pin shaft 3 and the connecting lines of the second pin shaft 8 at both ends cross each other, the motor body 10 realizes rotation in two degrees of freedom through the first pin shaft 3 and the second pin shaft 8, so that the polishing disc 13 realizes universal rotation, realizes self-adaption to a curved surface to be polished, and the normal line of the polishing disc is coincident with the normal line of the curved surface without the need for accurate adjustment of the posture of a robot and positioning accuracy, thereby obtaining a better polishing effect.

[0044] To ensure the flexibility of the ball pin pair rotation and reduce the rotation wear, a first oil-free bearing 4 is installed at the connection between the first pin shaft 3 and the flange seat 1, and a second oil-free bearing 9 is installed at the connection between the motor body 10 and the universal cross 7. The universal cross has one rotational degree of freedom relative to the flange seat 1, and the motor body 10 has one rotational degree of freedom relative to the universal cross 7, and the sanding device is passively adaptive to the curved surface during polishing.

[0045] The flange seat 1 is also provided with a plurality of spring seats 5, which are uniformly distributed on the opening end face of the flange seat 1 and located between the two mounting plates of the flange seat 1. The spring seat 5 and the fixed frame of the motor body 10 are provided with a spring 6, and a plurality of springs 6 make the motor body 10 uniformly stressed, and under the action of the plurality of springs 6, it always keeps coinciding with the axis of the sanding device. When the sanding device does not contact the curved surface to be polished, the swing caused by the gravity of the sanding device and external disturbance force is balanced, preventing the sanding device from being accidentally touched before friction and causing damage or local excessive polishing of the curved surface to be polished.

[0046] The front end of the motor body 10 is also provided with a dust removal cover 11, and the dust removal cover 11 is provided with a plurality of guide plates to form a guide plate array. The dust removal cover 11 is also provided with a dust suction port on one side for connecting an external dust collector. During polishing, the dust collector generates suction, air enters the dust removal cover 11 along the guide plate array from the air inlet, and the dust generated by polishing is sucked into the dust collector from the dust suction port, so as to achieve the purpose of dust removal.

[0047] The brake ring 12 is a rubber ring, which forms a sliding friction pair with the polishing disc 13. During polishing, the friction resistance of the brake ring 12 to the polishing disc 13 makes the motion trajectory of the abrasive particles on the polishing disc 13 be a random cycloid motion, so that the surface quality after polishing is more uniform and uniform, and the brake ring 12 can quickly brake the polishing disc 13 during shutdown.

[0048] As Figure 5 , 6As shown, the motor body 10 includes a motor housing 1005, a rear end cover 1003 arranged at the rear end of the motor housing 1005, a front end cover 1008 arranged at the front end of the motor housing 1005, and a brushless motor 1007 arranged in the motor housing 1005. The motor housing 1005 is also uniformly provided with holes in the circumferential direction, and the holes are provided with silencers 1006. The rear end cover 1003 is also provided with an air pipe joint 1001 for introducing compressed air. The motor housing 1005 and the rear end cover 1003 are also provided with a damping ring 1004, which is provided with a plurality of small holes as flow guide holes. After the compressed air is introduced into the air pipe joint 1001, the air flow enters the inside of the motor body 10 through the flow guide holes on the damping ring 1004, and then flows out from the silencers 1006, thereby cooling the motor body 10 and preventing the temperature from being too high during operation to affect the polishing effect. The compressed air introduced into the motor body 10 forms a positive pressure in the internal space, preventing dust generated during polishing of the polishing disc 13 at the front end from entering the inside and damaging the parts, thereby prolonging the service life of the sanding device.

[0049] The output end of the brushless motor 1007 is provided with an eccentric body 1009, the center of which is fixedly connected with the output shaft of the brushless motor 1007. An eccentric block is arranged at the front end away from the center, and a plurality of heat dissipation fins are arranged equidistantly on the rear end surface to form a heat dissipation fin array. The heat dissipation fin array is opposite to the flow guide plate array. The suction force generated by the external dust collector causes the external air to enter the dust removal cover 11 through the air inlet, flow over the heat dissipation fin array, drive the heat therein, and achieve cooling of the sanding device. Under the action of high-speed centrifugation, dust particles escape from the edges of the heat dissipation fins and are finally sucked into the dust collector through the suction port, effectively preventing dust from entering the inside of the motor body 10 or the bearing.

[0050] The polishing disc 13 is installed in the eccentric block on the eccentric body 1009 through a connecting pin shaft 1011, and the connecting pin shaft 1011 and the eccentric block are connected through a connecting bearing 1010, so as to ensure that there is no circumferential constraint between the connecting pin shaft 1011 and the eccentric body 1009, i.e., the polishing disc 13 and the eccentric body 1009 are always in a state of activity. The center of the pin shaft 1011 and the center of the eccentric body 1009 are designed as an eccentric structure, i.e., there is an eccentric distance between the polishing disc 13 and the output shaft of the brushless motor 1007. The rotational motion of the polishing disc 13 is the resultant motion of the rotational motion of the motor and the eccentric force couple generated by the rotational motion of the eccentric body 1009. The motion track of each sand particle on the polishing disc 13 during polishing is a random track, so that the random motion of the sand particles during polishing can obtain a more uniform polishing quality.

[0051] As Figure 7As shown, the rear end cover 1003 is also provided with a concave ring 1002, which is embedded in the center of the rear end face of the rear end cover 1003, and the surface is a conical inner recess structure. The inner bottom of the flange seat 1 is also provided with a single-acting cylinder 2. When the piston rod of the single-acting cylinder 2 is extended, it is just opposite to the concave ring 1002. When it is necessary to lock the normal direction of the sanding device, the single-acting cylinder piston rod acts on the concave ring 1002 on the motor body 10, so that the sanding device cannot swing, and the locking effect is achieved. When polishing the edge of the curved surface, the sanding device is locked to prevent the edge from being excessively polished due to excessive deflection of the sanding device. When the sandpaper reaches the end of its life and the robot moves the sander to the automatic sandpaper tearing mechanism, the single-acting cylinder is started to lock the normal direction of the polishing disc to prevent the polishing disc from deflecting during the sandpaper tearing process, thereby improving the success rate of sandpaper replacement.

[0052] The flange seat 1 is also connected to the robot end force control tool through the flange, and the movement of the sanding device is controlled by the robot end force control tool.

[0053] Embodiment 2

[0054] As Figure 8 shown, the utility model discloses another self -adaptation track sanding device for complex curved surface. In this embodiment, the other contents are same with the contents in embodiment 1, and the difference is that the ball pin pair is arranged between the robot flange and the force control tool.

[0055] Embodiment 3

[0056] As Figure 9 shown, the utility model discloses a kind of self -adaptation track sanding method for complex curved surface, specifically including the following steps:

[0057] S100, sanding device is connected to the force control tool of robot through flange seat, and ensure that motor body 10 can be realized multi-angle free rotation by universal cross 7;

[0058] S200, adjust the posture of robot, make polishing disc 13 substantially align the position of the curved surface to be polished, start brushless motor 1007, and motor drives polishing disc 13 to rotate;

[0059] S300, when polishing disc 13 contacts the curved surface to be polished, due to the uneven stress point or not in the center position of polishing disc 13, so that motor body 10 is adaptively adjusted in angle by universal cross 7, to make the normal of polishing disc 13 coincide with the normal of the curved surface to be polished;

[0060] S400, start external dust collector, and the suction force generated by dust collector effectively sucks and collects the dust generated in the polishing process;

[0061] S500, the eccentric body 1009 makes the motor rotate and the eccentric force couple rotates to move into the rotation of the polishing disc, and the friction between the brake ring 12 and the polishing disc 13 makes the movement track of the sand paper sand particles on the polishing disc be a random cycloid movement;

[0062] S600, for the edge of the surface to be polished, the single-acting cylinder 2 is used to lock the normal direction of the polishing disc 13, and prevent the excessive swing of the polishing disc 13 from causing the edge of the surface to be polished to be excessively polished;

[0063] S700, after the life of the sand paper reaches, the robot moves the sander to the automatic sand paper tearing mechanism, and the single-acting cylinder 2 is started to lock the normal direction of the polishing disc 13, and prevent the polishing disc from swinging during the sand paper tearing process, thereby improving the success rate of sand paper replacement;

[0064] S800, after the polishing is completed, the brushless motor 1007 is stopped, the polishing disc 13 is quickly braked by the brake ring 12, and the polishing work is ended.

[0065] Those skilled in the art can easily understand that the above description is only a preferred embodiment of the present application, and is not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An adaptive orbital sanding device for complex curved surfaces, characterized in that: It comprises a flange seat (1), a universal cross (7) arranged at the front end of the flange seat (1), a motor body (10) arranged in the universal cross (7), and a brake ring (12) and a grinding disc (13) arranged at the output end of the motor body (10); The universal cross (7) is a circular ring structure and is rotatably connected to the front end of the flange seat (1) via a first pin shaft (3). The upper part of the motor body (10) passes through the universal cross (7), and the two are rotatably connected via a second pin shaft (8); The connecting lines formed by the first pin shaft (3) and the second pin shaft (8) respectively intersect each other, and the motor body (10) realizes rotation with two degrees of freedom through the two.

2. The adaptive orbital sanding device for complex curved surfaces according to claim 1, characterized in that: The rear end of the flange seat (1) is a cylinder with one end open, and the open end is symmetrically provided with an extension portion serving as a mounting plate; The universal cross (7) is mounted on the front end of the mounting plate and rotates on the flange seat (1) around the first pin (3); A fixing frame is provided on the outer ring of the motor body (10), and the fixing frame is connected to the inner ring of the universal cross (7) and rotates on the universal cross (7) around the second pin shaft (8).

3. The adaptive orbital sanding device for complex curved surfaces according to claim 2, characterized in that: When the grinding disc (13) contacts the curved surface to be ground, since the force point of the grinding disc (13) is uneven or not at the center, the motor body (10) is rotated through the universal cross (7) to adjust the contact surface between the grinding disc (13) and the curved surface to be ground, so that the normal line of the grinding disc (13) and the normal line of the curved surface to be ground coincide with each other.

4. An adaptive orbital sanding device for complex curved surfaces according to any one of claims 1 to 3, characterized in that: The flange seat (1) is further provided with a plurality of spring seats (5), which are evenly distributed on the open end surface of the flange seat (1) and are located between the two mounting plates of the flange seat (1); A spring (6) is provided between the spring seat (5) and the fixing frame of the motor body (10). The plurality of springs (6) allow the motor body (10) to be uniformly stressed. When not subjected to external force, the motor body (10) always remains aligned with the axis of the sanding device under the action of the plurality of springs (6).

5. An adaptive orbital sanding device for complex curved surfaces according to any one of claims 1 to 3, characterized in that: A dust cover (11) is also provided at the front end of the motor body (10), an air inlet is opened around the dust cover (11), and a plurality of guide plates are provided from the air inlet to the middle to form a guide plate array. A dust suction port is also provided on one side of the dust cover (11) for connecting to an external dust collector.

6. The adaptive orbital sanding device for complex curved surfaces according to claim 5, characterized in that: The motor body (10) comprises a motor housing (1005), a rear end cover (1003) arranged at the rear end of the motor housing (1005), a front end cover (1008) arranged at the front end of the motor housing (1005), and a brushless motor (1007) arranged in the motor housing (1005).

7. The adaptive orbital sanding device for complex curved surfaces according to claim 6, characterized in that: The motor housing (1005) is also provided with holes uniformly opened along the circumference, and a muffler (1006) is provided in each of the holes. The rear end cover (1003) is also provided with an air pipe joint (1001) for introducing compressed air. A damping ring (1004) is also provided between the motor housing (1005) and the rear end cover (1003), and the damping ring (1004) is provided with a plurality of small holes serving as guide holes. After compressed air is introduced into the air pipe joint (1001), the airflow passes through the guide hole on the damping ring (1004) and enters the interior of the motor body (10), and then flows out from the muffler (1006), dissipating heat for the motor body (10). The compressed air is introduced into the motor body (10), forming a positive pressure in the internal space thereof, thereby preventing dust generated by the grinding disc (13) at the front end thereof during grinding from entering the interior thereof.

8. The adaptive orbital sanding device for complex curved surfaces according to claim 7, characterized in that: An eccentric body (1009) is provided at the output end of the brushless motor (1007), the center of the eccentric body (1009) is fixedly connected to the output shaft of the brushless motor (1007), an eccentric block is provided at the front end away from the center, and a plurality of heat dissipation fins are provided at equal distances along the end surface at the rear end to form a heat dissipation fin array, and the heat dissipation fin array is opposite to the guide plate array.

9. The adaptive orbital sanding device for complex curved surfaces according to claim 8, characterized in that: The grinding disc (13) is installed in the eccentric block on the eccentric body (1009) via a connecting pin (1011), and the connecting pin (1011) and the eccentric block are connected via a connecting bearing (1010). The grinding disc (13) and the eccentric body (1009) are always in an active state, and an eccentric distance exists between the grinding disc (13) and the output shaft of the brushless motor (1007).

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