Force-control chamfering and polishing device

Abstract

The utility model relates to the technical field of machining, and discloses a force control chamfering and polishing device which comprises an axial force control device, a radial force control device, a driving device, a cutter and a pressing wheel assembly. The radial force control device is arranged below the axial force control device, the driving device is installed below the radial force control device, the cutter is fixedly connected with an output shaft of the driving device, and the pressing wheel assembly is installed below the radial force control device. According to the utility model, the force control device is used for accurately controlling the acting force on the workpiece during chamfering and polishing, so that the surface of the polished workpiece is more uniform, and the effect of improving the chamfering quality is achieved.

Description

Technical Field

[0001] This utility model relates to the field of machining technology, specifically to a force-controlled chamfering and grinding device. Background Technology

[0002] As the manufacturing industry moves towards intelligence and automation, the requirements for the intelligence level and processing precision of processing equipment are constantly increasing. In traditional chamfering and grinding equipment, it is difficult to guarantee the uniformity and consistency of the workpiece surface. This is because the chamfering and grinding equipment is not equipped with a force control device, making it impossible to control the applied force during the chamfering and grinding process. This easily leads to over-grinding or under-grinding, thus affecting the final quality of the workpiece.

[0003] Therefore, there is an urgent need to improve the existing chamfering and grinding equipment. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a force-controlled chamfering and grinding device. By precisely controlling the force applied to the workpiece during chamfering and grinding, the device achieves a more uniform surface finish and improves the quality of the chamfer. The implementation of this technical solution is as follows:

[0005] A force-controlled chamfering and grinding device includes: an axial force control device, a radial force control device, a drive device, a cutting tool, and a pressure roller assembly; the radial force control device is disposed below the axial force control device, the drive device is installed below the radial force control device, the cutting tool is fixedly connected to the output shaft of the drive device, and the pressure roller assembly is installed below the radial force control device.

[0006] Preferably, the axial force control device includes a first support base, an axial force control unit, and a first connecting member. The axial force control unit is installed inside the first support base, and the first connecting member is disposed at the bottom of the axial force control unit.

[0007] Preferably, the axial force control unit includes a first slide rail, a first slider, a first guide plate, a first cylinder, a floating joint, a first sensor, and a first baffle; the first slide rail is fixedly connected to a first support base, the first slider is slidably connected to the first slide rail, the first slider is disposed on the first guide plate, the first guide plate is connected to a first connecting member, the first cylinder is disposed on the inner side of the first support base, one end of the floating joint is connected to the piston rod of the first cylinder, and the other end is connected to the first connecting member, the first sensor is installed on the outer side of the first support base, the first baffle is installed on the first connecting member, and the first sensor is disposed above the first baffle.

[0008] Preferably, the radial force control device includes a second support base, a radial floating force control unit, and a second connecting member; the second support base is connected to the first connecting member, the radial floating force control unit is installed on the inner side of the second support base, the second connecting member is disposed at the bottom of the radial floating force control unit, and the driving device is fixedly connected to the second connecting member.

[0009] Preferably, the radial floating force control unit includes a second slide rail, a second slider, and a second guide plate; the second slide rail is fixedly connected to a second support base, the second slider is slidably connected to the second slide rail, the second slider is disposed on the second guide plate, and the second guide plate is fixedly connected to a second connecting member.

[0010] Preferably, the cutting tool includes a handle, a body, a cutting insert, and a cutting disc; the handle is mounted on the output shaft of the drive device, the handle is integrally formed with the body, the cutting insert is mounted on the body, and the cutting disc is rotatably connected to the lower part of the body.

[0011] Preferably, the pressure roller assembly includes a pressure rod and a roller, the pressure rod being mounted on the second connector and the roller being mounted on the pressure rod.

[0012] Preferably, it further includes a cooling device, which includes a mounting frame and an air blowing component; the air blowing component is mounted on the mounting frame and has an air inlet, and the mounting frame is mounted on a second connecting member.

[0013] Compared with the prior art, this application has the following advantages:

[0014] (1) In the chamfering grinding device of this technical solution, the grinding force is precisely controlled by setting an axial force control unit during chamfering grinding. Specifically, the first sensor will continuously abut against the first baffle. The force measured by the first sensor is the force exerted by the device on the workpiece in the Z-axis direction. This force is maintained at a target value. In this way, the force exerted by the device and the workpiece to be ground in the Z-axis direction is precisely controlled during chamfering grinding. At the same time, a radial floating force control unit is set to maintain a constant grinding pressure on the workpiece 100 to be ground in the lateral position. This avoids the phenomenon of over-grinding or under-grinding caused by uneven force applied by the device to the workpiece to be ground during the grinding process, and makes the surface of the workpiece to be ground more uniform.

[0015] (2) The chamfering and grinding device of this technical solution works in conjunction with a robotic arm. The chamfering and grinding device is mounted on the robotic arm, which drives the chamfering and grinding device to a suitable position, so that the cutting edge mounted on the cutting tool body contacts the workpiece to be ground and performs chamfering and grinding, thereby forming a chamfer on the edge of the workpiece. Specifically, the cutting edge, cutting disc and roller of this utility model contact the workpiece to be ground simultaneously, so that the workpiece is subjected to force at multiple points, reducing the fine vibration generated during the grinding process, making the workpiece surface more uniform, thereby improving the quality of the chamfer.

[0016] (3) When the device is grinding and chamfering, a lot of frictional heat will be generated due to the relative movement and extrusion of the contact surfaces. This heat will cause the surface temperature of the workpiece to rise. The chamfering grinding device of this technical solution is also equipped with a cooling device, which cools the workpiece by blowing air through the cooling device. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 This is one of the structural schematic diagrams of this utility model;

[0019] Figure 2 This is the second structural schematic diagram of the present invention;

[0020] Figure 3 for Figure 1 Another structural diagram from a different perspective;

[0021] Figure 4 This is a diagram of the internal structure of the axial force control unit;

[0022] Figure 5 This is one of the exploded views of a portion of the structure of this utility model;

[0023] Figure 6 This is a schematic diagram of the radial floating force control unit.

[0024] Figure 7 This is the second exploded view of a portion of the structure of this utility model;

[0025] Figure 8 This is a schematic diagram of the structure of the cutting tool of this utility model;

[0026] Figure 9 for Figure 8 Another structural diagram from a different perspective;

[0027] Figure 10 This is a structural schematic diagram of the pressure roller assembly and cooling device;

[0028] Figure 11 for Figure 10 Another structural diagram from a different perspective;

[0029] Figure 12 This is a schematic diagram of the overall structure of this utility model.

[0030] Explanation of reference numerals in the attached figures:

[0031] 100. Workpiece to be polished;

[0032] 1. Axial force control device; 11. First support base; 12. Axial force control unit; 121. First slide rail; 122. First slider; 123. First guide plate; 124. First cylinder; 125. Floating joint; 126. First sensor; 127. First baffle; 13. First connecting piece;

[0033] 2. Radial force control device; 21. Second support base; 22. Radial floating force control unit; 221. Second slide rail; 222. Second slider; 223. Second guide plate; 23. Second connecting piece;

[0034] 3. Drive unit;

[0035] 4. Cutting tool; 41. Tool holder; 42. Tool body; 43. Cutting insert; 44. Tool disc;

[0036] 5. Pressure roller assembly; 51. Pressure rod; 52. Roller;

[0037] 6. Cooling device; 61. Fixing frame; 62. Air blowing component; 621. Air inlet. Detailed Implementation

[0038] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0039] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0041] Embodiments of this application provide a force-controlled chamfering and grinding device, such as... Figure 1-3 As shown, the chamfering and grinding device includes: an axial force control device 1, a radial force control device 2, a drive device 3, a cutting tool 4, and a pressure roller assembly 5; the radial force control device 2 is located below the axial force control device 1, the drive device 3 is installed below the radial force control device 2, the cutting tool 4 is fixedly connected to the output shaft of the drive device 3, and the pressure roller assembly 5 is installed below the radial force control device 2.

[0042] It should be noted that the chamfering and grinding device of this application is used in conjunction with a robotic arm. When the device is working, the chamfering and grinding device is mounted on the robotic arm, which moves the chamfering and grinding device to a suitable position on the workpiece 100 to be ground. The drive device 3 drives the cutter 4 to rotate, so that the cutter 4 comes into contact with the workpiece 100 to be ground. By moving the robotic arm, a chamfer is ground on the surface of the workpiece. During the processing, the pressure roller assembly 5 also comes into contact with the workpiece 100 to be ground. At the same time, the device has an axial force control device 1 and a radial force control device 2 installed between the drive device 3 and the robotic arm. During the grinding process, a constant force can be maintained. This constant force is defined as the force exerted by the device on the workpiece 100 to be ground. This improves the grinding accuracy and makes the surface of the workpiece 100 to be ground more uniform.

[0043] In some implementations, such as Figure 2 , Figure 4 and Figure 5 As shown, the axial force control device 1 includes a first support base 11, an axial force control unit 12, and a first connector 13. The first support base 11 is an inverted "L" shape. In use, the first support base 11 is fixedly connected to the end of the robotic arm. The axial force control unit 12 is installed on the inner side of the first support base 11, and the first connector 13 is located at the bottom of the axial force control unit 12.

[0044] Specifically, the axial force control unit 12 includes a first slide rail 121, a first slider 122, a first guide plate 123, a first cylinder 124, a floating joint 125, a first sensor 126, and a first baffle 127. The first slide rail 121 is fixedly connected to the first support base 11, the first slider 122 is slidably connected to the first slide rail 121, the first slider 122 is disposed on the first guide plate 123, the first guide plate 123 is connected to the first connecting member 13, the first cylinder 124 is disposed on the inner side of the first support base 11, one end of the floating joint 125 is connected to the piston rod of the first cylinder 124, and the other end is connected to the first connecting member 13, the first sensor 126 is installed on the outer side of the first support base 11, and the first baffle 127 is installed on the first connecting member 13.

[0045] Furthermore, the floating joint 125 is mainly used to absorb the eccentricity angle between the piston rod of the first cylinder 124 and the first connecting member 13, which can reduce the eccentricity of the first cylinder 124 and make the first cylinder 124 and the first connecting member 13 work stably within the allowable eccentricity range, thereby maintaining the smooth operation of the first cylinder 124 and extending the service life of the first cylinder 124.

[0046] In some implementations, such as Figure 1 and Figure 4 As shown, the first sensor 126 is located above the first baffle 127. The first sensor 126 is a pressure sensor and is used to determine the force applied by the chamfering and grinding device to the workpiece 100 to be ground in the Z-axis direction. The specific implementation process is as follows: when the device is started, the robotic arm drives the tool 4 to move towards the workpiece 100 to be ground. The device needs to move downward along the Z-axis to approach the workpiece 100 to be ground, so that the pressure roller assembly 5 contacts the top of the workpiece 100 to be ground, until the first baffle 127 and the first sensor 126 abut against each other. During the grinding process, the first baffle 127 and the first sensor 126 continue to abut against each other.

[0047] In some implementations, such as Figure 4 and Figure 5As shown, when this device is working, the first sensor 126 presets a target force, which is the contact force between the device and the workpiece 100 to be ground in the Z-axis direction. When the contact force between the pressure roller assembly 5 and the workpiece 100 is greater than the preset value, the piston rod of the first cylinder 124 retracts upward along the Z-axis until the contact force equals the target force. If the contact force between the pressure roller assembly 5 and the workpiece 100 is less than the preset value, the piston rod of the first cylinder 124 extends downward along the Z-axis until the contact force equals the target force. The force is precisely controlled in the Z-axis direction between the device and the workpiece 100 to be ground during chamfering and grinding, thus avoiding uneven force applied by the device to the workpiece 100 during grinding, which could lead to over-grinding or under-grinding, resulting in a more uniform surface of the workpiece 100. Furthermore, the first cylinder 124 of this technical solution is connected to an air pump, which is an external device used to provide an air source. The pressure of the air source is supplied according to demand. The air pump is obtained directly from the prior art, therefore, its structure is not specifically described in this application.

[0048] In some implementations, such as Figure 4 , Figure 5 and Figure 6 As shown, the first slide rail 121 is a linear slide rail. The axial force control unit 12 and the first support seat 11 are slidably connected through the first slide rail 121 and the first slider 122. The function of the first slide rail 121 is to prevent the piston rod of the first cylinder 124 from shaking when it extends or retracts, so that the force in the Z-axis direction remains linear.

[0049] In some implementations, such as Figure 3 , Figure 6 and Figure 7 As shown, the radial force control device 2 includes a second support base 21, a radial floating force control unit 22, and a second connecting member 23. The second support base 21 is connected to the first connecting member 13. The radial floating force control unit 22 is installed inside the second support base 21. The second connecting member 23 is located at the bottom of the radial floating force control unit 22. The driving device 3 is fixedly connected to the second connecting member 23. Additionally, the second support base 21 is also inverted "L" shape.

[0050] Specifically, the radial floating force control unit 22 includes a second slide rail 221, a second slider 222, and a second guide plate 223; the second slide rail 221 is fixedly connected to the second support base 21, the second slider 222 is slidably connected to the second slide rail 221, the second slider 222 is disposed on the second guide plate 223, and the second guide plate 223 is fixedly connected to the second connector 23.

[0051] In some implementations, such as Figure 2 and Figure 6As shown, during the grinding operation, the radial floating force control unit 22 is used to maintain a constant grinding pressure on the workpiece 100 to be ground in the lateral position. The radial floating force control unit 22 is composed of a cylinder, a floating joint, a sensor, and control components, etc., which are directly obtained from the prior art. The prior art has various names for floating force control units, such as: floating unit, pneumatic constant force floating module, and flexible floating force control, etc. All of the above are radial floating force control units of this application. The structure is not specifically described in this application, but this does not mean that it cannot be implemented.

[0052] In some implementations, such as Figure 6 and Figure 7 As shown, the second slide rail 221 is a linear slide rail. The radial floating force control unit 22 and the second support base 21 are slidably connected through the second slide rail 221 and the second slider 222. The function of the second slide rail 221 is to prevent the piston rod of the cylinder in the radial floating force control unit 22 from shaking when it extends or retracts, so that the force in the Y-axis direction remains linear.

[0053] In some implementations, such as Figure 8 and Figure 9 As shown, the cutting tool 4 includes a handle 41, a body 42, cutting inserts 43, and a cutting disc 44. The handle 41 is mounted on the output shaft of the drive device 3. The handle 41 is integrally formed with the body 42. The cutting inserts 43 are mounted on the body 42. The cutting disc 44 is rotatably connected to the lower part of the body 42. Further, multiple cutting inserts 43 are provided, preferably four, and the multiple cutting inserts 43 are evenly arranged at equal intervals around the axis of the body 42.

[0054] Furthermore, the drive device 3 is used to drive the tool 4 to rotate. The drive device 3 is specifically a motor. The tool 4 is connected to the output shaft of the motor. When the tool 4 is working, the drive device 3 drives the tool holder 41 to rotate. The tool 4 first moves towards the workpiece 100 to be ground. After reaching the designated position, the tool 4 feeds in the X-axis direction. The cutting edge 43 contacts the workpiece 100 to be ground, and the tool disc 44 also abuts against the side of the workpiece 100 to be ground, thus processing a chamfer. At the same time, because the tool body 42 and the tool disc 44 are rotatably connected, the tool disc 44 will rotate on the side of the workpiece 100 to be ground during the process of the tool 4 feeding towards the X-axis. Specifically, the tool disc 44 and the workpiece 100 to be ground roll relative to each other, and the tool disc 44 rotates around the Z-axis. In this way, the tool disc 44 can avoid damaging the surface of the workpiece 100 to be ground.

[0055] In some implementations, such as Figure 1 , Figure 10 and Figure 11As shown, the pressure roller assembly 5 includes a pressure rod 51 and a roller 52. The pressure rod 51 is mounted on the second connecting member 23, and the roller 52 is mounted on the pressure rod 51. A bearing is provided inside the roller 52. Thus, during the feeding of the cutter 4 along the X-axis, the roller 52 and the workpiece 100 to be ground roll relative to each other, and the cutter head 44 rotates around the Y-axis. In this way, the roller 52 can be avoided from causing damage to the surface of the workpiece 100 to be ground.

[0056] Meanwhile, during the processing, the cutting tool 4 and the pressure roller assembly 5 come into contact with the workpiece 100 to be ground, forming multiple contact areas. This ensures that the workpiece 100 is subjected to force in multiple contact areas, avoiding the slight vibration caused by the concentrated force in a certain area. This reduces the problem of uneven chamfer surface caused by vibration, thus improving the quality of the chamfer and the service life of the parts.

[0057] In some implementations, such as Figure 10 , Figure 11 and Figure 12 As shown, it also includes a cooling device 6, which includes a fixed frame 61 and an air blowing component 62. The air blowing component 62 is mounted on the fixed frame 61 and has an air inlet 621. The fixed frame 61 is mounted on the second connecting component 23. Specifically, when the device is grinding and chamfering, a large amount of frictional heat is generated due to the relative movement and compression of the contact surfaces. This heat will cause the surface temperature of the workpiece to rise. The air blowing component 62 cools the workpiece through the air outlet (not shown). In this technical solution, the air blowing component 62 is connected to an air pump through the air inlet 621. The air pump is an external device used to provide an air source. The pressure of the air source is selected according to the requirements. The air pump is directly obtained from the prior art. Therefore, its structure is not specifically described in this application.

[0058] The working principle of the chamfering and grinding device in this embodiment is as follows:

[0059] The chamfering and grinding device in this technical solution works in conjunction with a robotic arm. The chamfering and grinding device is mounted on the robotic arm, which moves it to a suitable position, causing the cutting edge 43 mounted on the cutting tool 42 to contact the workpiece 100 to be ground and perform chamfering and grinding, thereby forming a chamfer on the edge of the workpiece 100. Specifically, the cutting edge 43, the cutting disc 44, and the roller 52 of this invention simultaneously contact the workpiece 100 to be ground, resulting in multiple points of force on the workpiece 100, reducing the minute vibrations generated during the grinding process, making the workpiece surface more uniform, and thus improving the quality of the chamfer.

[0060] The chamfering grinding device of this technical solution achieves precise control of the grinding force by setting an axial force control unit 12 during chamfering grinding. Specifically, the first sensor 126 continuously abuts against the first baffle 127, and the force measured by the first sensor 126 is the force exerted by the device on the workpiece in the Z-axis direction. This force is maintained at a target value, thus accurately controlling the force exerted by the device and the workpiece 100 to be ground in the Z-axis direction during chamfering grinding. At the same time, a radial floating force control unit 22 is set to maintain a constant grinding pressure on the workpiece 100 to be ground in the lateral position, avoiding uneven force applied by the device to the workpiece 100 during the grinding process, which may lead to over-grinding or under-grinding, and making the surface of the workpiece 100 to be ground more uniform.

[0061] The above are merely embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this utility model should be included within the scope of the claims of this utility model.

Claims

1. A force-controlled chamfering and grinding device, characterized in that, include: Axial force control device; Radial force control device; the radial force control device is disposed below the axial force control device; The drive device is mounted below the radial force control device; The cutting tool is fixedly connected to the output shaft of the drive device; A pressure roller assembly, which is mounted below the radial force control device.

2. The force-controlled chamfering and grinding device according to claim 1, characterized in that, The axial force control device includes a first support base, an axial force control unit, and a first connector. The axial force control unit is installed inside the first support base, and the first connector is located at the bottom of the axial force control unit.

3. The force-controlled chamfering and grinding device according to claim 2, characterized in that, The axial force control unit includes a first slide rail, a first slider, a first guide plate, a first cylinder, a floating joint, a first sensor, and a first baffle. The first slide rail is fixedly connected to a first support base, the first slider is slidably connected to the first slide rail, the first slider is disposed on the first guide plate, the first guide plate is connected to a first connecting member, the first cylinder is disposed on the inner side of the first support base, one end of the floating joint is connected to the piston rod of the first cylinder, and the other end is connected to the first connecting member, the first sensor is installed on the outer side of the first support base, the first baffle is installed on the first connecting member, and the first sensor is disposed above the first baffle.

4. The force-controlled chamfering and grinding device according to claim 1, characterized in that, The radial force control device includes a second support base, a radial floating force control unit, and a second connecting member; the second support base is connected to the first connecting member, the radial floating force control unit is installed on the inner side of the second support base, the second connecting member is disposed at the bottom of the radial floating force control unit, and the driving device is fixedly connected to the second connecting member.

5. The force-controlled chamfering and grinding device according to claim 4, characterized in that, The radial floating force control unit includes a second slide rail, a second slider, and a second guide plate; the second slide rail is fixedly connected to a second support base, the second slider is slidably connected to the second slide rail, the second slider is disposed on the second guide plate, and the second guide plate is fixedly connected to a second connecting member.

6. The force-controlled chamfering and grinding device according to claim 1, characterized in that, The cutting tool includes a handle, a body, a cutting insert, and a cutting disc; the handle is mounted on the output shaft of the drive device, the handle is integrally formed with the body, the cutting insert is mounted on the body, and the cutting disc is rotatably connected to the lower part of the body.

7. The force-controlled chamfering and grinding device according to claim 1, characterized in that, The pressure roller assembly includes a pressure rod and a roller, the pressure rod is mounted on a second connector, and the roller is mounted on the pressure rod.

8. The force-controlled chamfering and grinding device according to any one of claims 1-7, characterized in that, It also includes a cooling device, which includes a mounting frame and an air blowing component; the air blowing component is mounted on the mounting frame and has an air inlet, and the mounting frame is mounted on a second connecting member.

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