Omnidirectional planar constant-force floating device

Abstract

The utility model discloses an omni-directional plane constant force floating device which comprises a shell, a rigid polishing tool arranged in the shell, a radial floating adjusting mechanism and a position and posture correcting mechanism. The radial floating adjusting mechanism comprises a mounting assembly and an axial limiting assembly which is arranged in the shell and used for limiting the upper side and the lower side of the mounting assembly so as to prevent the rigid polishing tool from axially moving. The pose deviation rectifying mechanism comprises a deviation rectifying assembly and a deviation rectifying driving mechanism; a deviation rectifying groove matched with the deviation rectifying assembly is formed in the mounting assembly; and the deviation rectifying driving mechanism drives the deviation rectifying assembly to be matched with the deviation rectifying groove so as to rectify the deviation of the mounting assembly and the rigid polishing tool mounted on the mounting assembly. The omni-directional plane constant-force floating device can achieve constant-force contact between a tool and a workpiece, the overall posture angle of the tool is kept unchanged while excessive grinding is prevented, and therefore the stability of grinding quality is guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of force-controlled grinding, specifically relating to an omnidirectional planar constant force floating device. Background Technology

[0002] Grinding is a contact operation, which places high demands on the accuracy of the robot path and the consistency of the grinding tool posture. Both of these factors affect the contact force during operation, thus affecting the grinding effect. Therefore, current robotic grinding operations are generally equipped with floating compensation functions to compensate for under-grinding and over-grinding caused by differences in workpieces.

[0003] Currently, there are three types of floating spindles: radial floating spindles, axial floating spindles, and axial-radial floating spindles. The floating function of the radial floating spindle is that when the force on the end tool of the spindle exceeds the set cutting contact force, the spindle body will deflect at an angle around a fulcrum in the floating structure, so that the end tool can float in a cone to reduce the contact between the tool and the workpiece, thereby preventing over-grinding.

[0004] However, the aforementioned floating adjustment method of the radial floating spindle will cause a change in the posture angle of the tool at the end of the spindle, which will lead to a change in the contact angle between the tool and the workpiece, potentially resulting in deviations in grinding quality. Utility Model Content

[0005] To overcome the shortcomings of the existing technology, this utility model provides an omnidirectional planar constant force floating device. The omnidirectional planar constant force floating device can achieve constant force contact between the tool and the workpiece, preventing excessive grinding while maintaining the overall posture angle of the tool, thereby ensuring the stability of grinding quality.

[0006] The technical solution of this utility model to solve the above-mentioned technical problems is:

[0007] An omnidirectional planar constant force floating device includes a housing, a rigid grinding tool disposed within the housing, a radial floating adjustment mechanism for causing the rigid grinding tool to float radially, and a posture correction mechanism for correcting the radially floating rigid grinding tool. The radial floating adjustment mechanism includes a mounting assembly disposed on the rigid grinding tool and an axial limiting assembly disposed within the housing for limiting the upper and lower sides of the mounting assembly to prevent axial movement of the rigid grinding tool. The posture correction mechanism includes a correction assembly disposed within the housing and a correction drive mechanism for driving the correction assembly. The mounting assembly is provided with a correction groove that cooperates with the correction assembly. The correction drive mechanism drives the correction assembly to cooperate with the correction groove to achieve correction of the mounting assembly and the rigid grinding tool mounted on the mounting assembly.

[0008] Preferably, the mounting assembly includes an upper mounting plate, a lower mounting plate, and a fastener disposed between the upper mounting plate and the lower mounting plate, wherein the fastener is mounted on the rigid grinding tool; and the correction groove is disposed on the upper mounting plate.

[0009] Preferably, the correction groove is a conical groove, and there are multiple sets of conical grooves arranged circumferentially on the upper mounting plate.

[0010] Preferably, the pose correction mechanism is in multiple sets, and the multiple sets of pose correction mechanisms are arranged in a circle; the multiple sets of pose correction mechanisms correspond one-to-one with the multiple sets of correction slots.

[0011] Preferably, the correction assembly includes a correction seat and a drive rod connected to the correction seat, wherein the lower end of the drive rod is mounted on the correction seat, and the upper end passes through a sliding hole provided in the housing and is connected to the drive end of the correction drive mechanism.

[0012] Preferably, the correction drive mechanism includes a linear driver disposed on the housing, and the linear driver is connected to the drive rod.

[0013] Preferably, the two sides of the rigid grinding tool extending from the housing are connected to the housing by a dust cover, one end of which is installed on the housing and the other end is installed on the rigid grinding tool.

[0014] Preferably, the axial limiting assembly includes a first limiting assembly and a second limiting assembly disposed in the housing, wherein the first limiting assembly abuts against the upper surface of the upper mounting plate; and the second limiting assembly abuts against the lower surface of the lower mounting plate.

[0015] Preferably, the first limiting component and the upper mounting plate, as well as the second limiting component and the lower mounting plate, are both contacted via point contact.

[0016] Preferably, the housing includes an upper housing, a middle housing, and a lower housing, wherein the upper housing is installed at the upper end of the middle housing; the lower housing is installed at the lower end of the middle housing; and the dust covers are respectively disposed between the upper housing and the rigid grinding tool, and between the lower housing and the rigid grinding tool.

[0017] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0018] When the omnidirectional planar constant force floating device of this utility model is used with different grinding tools, and when the force on the end of the tool exceeds the set cutting contact force, the rigid grinding tool will be offset on the current plane to achieve constant force contact between the tool and the workpiece, thereby preventing over-grinding while keeping the overall posture angle of the end of the rigid grinding tool unchanged, thus ensuring the stability of grinding quality. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the omnidirectional planar constant force floating device of this utility model.

[0020] Figure 2 This is a cross-sectional view (perspective view) of the omnidirectional planar constant force floating device of this utility model.

[0021] Figure 3 This is a cross-sectional view of the omnidirectional planar constant force floating device of this utility model.

[0022] Figure 4 and Figure 5 The diagram shows the structure of the posture correction mechanism from two different perspectives.

[0023] Figure 6 This is a schematic diagram of the second limiting component.

[0024] Figure 7 This is a structural diagram of the upper mounting plate. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the implementation of the present invention is not limited thereto.

[0026] See Figures 1-7 The omnidirectional planar constant force floating device of this utility model includes a housing 1, a rigid grinding tool 3 disposed within the housing 1, a radial floating adjustment mechanism for causing the rigid grinding tool 3 to float radially, and a posture correction mechanism for correcting the radially floating rigid grinding tool 3.

[0027] The radial floating adjustment mechanism includes a mounting assembly 7 disposed on the rigid grinding tool 3 and an axial limiting assembly disposed in the housing 1 for limiting the upper and lower sides of the mounting assembly 7 to prevent the rigid grinding tool 3 from axially moving.

[0028] The posture correction mechanism includes a correction component disposed in the housing 1 and a correction drive mechanism for driving the correction component to move; the mounting component 7 is provided with a correction groove 704 that cooperates with the correction component; the correction drive mechanism drives the correction component to cooperate with the correction groove 704 to realize the correction of the mounting component 7 and the rigid grinding tool 3 mounted on the mounting component 7.

[0029] See Figures 1-7 The mounting assembly 7 includes an upper mounting plate 701, a lower mounting plate 703, and a fastener 702 disposed between the upper mounting plate 701 and the lower mounting plate 703, wherein the fastener 702 is mounted on the rigid grinding tool 3; the correction groove 704 is disposed on the upper mounting plate 701; in this embodiment, the correction groove 704 is a conical groove, and there are multiple sets of conical grooves, which are arranged circumferentially on the upper mounting plate 701;

[0030] By setting the mounting component 7, the rigid grinding tool 3 can be fixed, and the axial limiting component can axially limit the mounting component 7, so that the mounting component 7 and the rigid grinding tool 3 mounted on the mounting component 7 can only move radially. In addition, the posture correction mechanism can center and correct the radially moving mounting component 7, so that the mounting component 7 and the rigid grinding tool 3 connected to the mounting component 7 return to the initial position, that is, the position where no radial movement has occurred.

[0031] See Figures 1-7 The pose correction mechanism consists of multiple sets arranged in a circular pattern. Each set of pose correction mechanisms corresponds one-to-one with each set of correction slots 704. In this embodiment, the number of pose correction mechanisms is the same as the number of correction slots 704. Thus, by cooperating one-to-one with the multiple sets of correction slots 704 on the mounting component 7, the mounting component 7 can be quickly aligned and corrected, allowing the radially floating rigid grinding tool 3 to quickly move to its initial position.

[0032] See Figures 1-7 The correction assembly includes a correction seat 11 and a drive rod 9 connected to the correction seat 11. The lower end of the drive rod 9 is mounted on the correction seat 11, and the upper end passes through the drive end of the offset drive mechanism provided in the housing 1 through the sliding hole / sliding sleeve 10.

[0033] In this embodiment, the bottom of the correction seat 11 is a tapered portion, and a ball bearing can be provided at the middle position of the tapered portion. When the correction drive mechanism drives the correction seat 11 to move downward, the tapered portion at the bottom of the correction seat 11 (or the ball bearing provided at the middle position of the tapered portion) will engage with the tapered groove on the upper mounting plate 701. During this process, if the rigid grinding tool 3 has already moved radially, the tapered portion at the bottom of the correction seat 11 (or the ball bearing provided at the middle position of the tapered portion) will contact the inner wall of the tapered groove on the upper mounting plate 701. When they contact, the horizontal component of the contact force generated by the two will cause the mounting assembly 7 and the rigid grinding tool 3 mounted on the mounting assembly 7 to move radially, thereby correcting the rigid grinding tool 3 after it has moved radially, so that the rigid grinding tool 3 moves to the initial position.

[0034] See Figures 1-7 The correction drive mechanism includes a linear actuator mounted on the housing 1. The linear actuator is connected to the drive rod 9 and is used to drive the drive rod 9 to perform linear motion. In this embodiment, the linear actuator is a linear motor, an electric push rod, a linear cylinder, or a hydraulic cylinder.

[0035] See Figures 1-7 The axial limiting assembly includes a first limiting assembly 5 and a second limiting assembly 6 disposed in the housing 1, wherein the first limiting assembly 5 abuts against the upper surface of the upper mounting plate 701; and the second limiting assembly 6 abuts against the lower surface of the lower mounting plate 703.

[0036] The mounting component 7 is axially limited by the first limiting component 5 and the second limiting component 6, so that the mounting component 7 can only move radially. Correspondingly, this also means that the rigid grinding tool 3 can only float radially. The first limiting component 5 and the upper mounting plate 701 and the second limiting component 6 and the lower mounting plate 703 are both in point contact.

[0037] In this embodiment, the structure of the first limiting component 5 is the same as that of the correction seat 11, but the first limiting component 5 is fixed inside the housing 1; the second limiting component 6 is a ball bearing disposed on the housing 1; by adopting a point contact contact method, the friction between the first limiting component 5 and the second limiting component 6 and the mounting component 7 can be reduced, so as to ensure that the contact force generated by the end of the rigid grinding tool 3 in contact with the workpiece is greater than the set cutting contact force, so that the rigid grinding tool 3 can quickly achieve radial floating, thereby improving the response speed.

[0038] See Figures 1-7The rigid grinding tool 3 extends from both sides of the housing 1 and is provided with a dust cover 4 between it and the housing 1. One end of the dust cover 4 is installed on the housing 1 and the other end is installed on the rigid grinding tool 3. By providing the dust cover 4, the contact position between the housing 1 and the rigid grinding tool 3 can be sealed, thereby preventing dust, grinding debris and other particles from entering the housing 1.

[0039] See Figures 1-7 The housing 1 includes an upper housing 101, a middle housing 102, and a lower housing 103. The upper housing 101 is installed at the upper end of the middle housing 102, and the lower housing 103 is installed at the lower end of the middle housing 102. The dust cover 4 is respectively disposed between the upper housing 101 and the rigid grinding tool 3 and between the lower housing 103 and the rigid grinding tool 3. By setting the housing 1 as a split structure, it can be easily disassembled and maintained.

[0040] See Figures 1-7 The operating principle of the omnidirectional planar constant force floating device of this utility model is as follows:

[0041] During the grinding operation, when the contact force generated when the end of the rigid grinding tool 3 contacts the workpiece is greater than the set cutting contact force, the excessive contact force will cause the rigid grinding tool 3 to move. Since the axial limiting component axially limits the mounting component 7, in other words, the axial limiting component also axially limits the rigid grinding tool 3. Thus, only the horizontal component of the excessive contact force will cause the rigid grinding tool 3 to float radially. During the radial floating process of the rigid grinding tool 3, the conical surface in the upper mounting plate 701 will cause the correction seat 11 to move away from the correction groove 704. At the same time, the correction drive mechanism will also adaptively drive the correction seat 11 to move away from the correction groove 704 until the contact force generated when the end of the rigid grinding tool 3 contacts the workpiece is within the set cutting contact force range.

[0042] When the contact force generated by the end of the rigid grinding tool 3 in contact with the workpiece decreases, the correction drive mechanism drives the correction seat 11 to move toward the correction groove 704, so that the tapered part at the bottom of the correction seat 11 (or the ball set at the middle position of the tapered part) contacts the inner wall of the tapered groove on the upper mounting plate 701. When they contact, the horizontal component of the contact force generated by the two will cause the mounting assembly 7 and the rigid grinding tool 3 mounted on the mounting assembly 7 to move radially, so as to center and correct the rigid grinding tool 3 after it has moved radially, so that the rigid grinding tool 3 moves to the initial position.

[0043] The above are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.

Claims

1. An omni-directional planar constant force floatation device, characterized by, The polishing tool comprises a shell, a rigid polishing tool arranged in the shell, a radial floating adjusting mechanism for causing the rigid polishing tool to float radially, and a pose correcting mechanism for correcting the pose of the rigid polishing tool floating radially; the radial floating adjusting mechanism comprises a mounting assembly arranged on the rigid polishing tool and an axial limiting assembly arranged in the shell for limiting the upper and lower sides of the mounting assembly to prevent the rigid polishing tool from moving axially; the pose correcting mechanism comprises a correcting assembly arranged in the shell and a correcting driving mechanism for driving the correcting assembly to act; the correcting assembly is provided with a correcting groove matched with the correcting assembly; the correcting driving mechanism drives the correcting assembly to match the correcting groove, so as to correct the mounting assembly and the rigid polishing tool mounted on the mounting assembly.

2. The omni-directional planar constant force floatation device according to claim 1, wherein, The mounting assembly comprises an upper mounting plate, a lower mounting plate, and a fixing member arranged between the upper mounting plate and the lower mounting plate, wherein the fixing member is mounted on the rigid polishing tool; the correcting groove is arranged on the upper mounting plate.

3. The omni-directional planar constant force floatation device according to claim 2, wherein, The correcting groove is a tapered groove, and a plurality of groups of the correcting groove are arranged in a circle on the upper mounting plate.

4. The omni-directional planar constant force floatation device according to claim 3, wherein, The pose correcting mechanism comprises a plurality of groups of the pose correcting mechanism, and the plurality of groups of the pose correcting mechanism are arranged in a circle; the plurality of groups of the pose correcting mechanism correspond to the plurality of groups of the correcting groove one by one.

5. The omni-directional planar constant force floatation device of claim 4, wherein, The correcting assembly comprises a correcting seat and a driving rod connected with the correcting seat, wherein the lower end of the driving rod is mounted on the correcting seat, and the upper end of the driving rod passes through a sliding hole arranged in the shell and is connected with a driving end of the correcting driving mechanism.

6. The omni-directional planar constant force floatation device of claim 5, wherein, The correcting driving mechanism comprises a linear driver arranged on the shell, and the linear driver is connected with the driving rod.

7. The omni-directional planar constant force floatation device of claim 5, wherein, The two sides of the rigid polishing tool extending out of the shell are connected with the dust cover between the shell, one end of the dust cover is mounted on the shell, and the other end of the dust cover is mounted on the rigid polishing tool.

8. The omni-directional planar constant force floatation device of claim 7, wherein, The axial limiting assembly comprises a first limiting assembly and a second limiting assembly arranged in the shell, wherein the first limiting assembly abuts against the upper surface of the upper mounting plate; and the second limiting assembly abuts against the lower surface of the lower mounting plate.

9. The omni-directional planar constant force floatation device of claim 8, wherein, Point contact is adopted between the first limiting assembly and the upper mounting plate, and between the second limiting assembly and the lower mounting plate.

10. The omni-directional planar constant force floatation device of claim 8, wherein, The shell comprises an upper shell, a middle shell, and a lower shell, wherein the upper shell is mounted on the upper end of the middle shell; the lower shell is mounted on the lower end of the middle shell; and the dust cover is arranged between the upper shell and the rigid polishing tool and between the lower shell and the rigid polishing tool, respectively.

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