Radial flexible force control device

Abstract

The utility model discloses a radial flexible force control device which comprises a tool, a main shaft, a holding clamp, a sealing piece, a rotating shaft, a universal joint, a plurality of pistons and a cylinder body. The universal joint and the holding clamp are respectively arranged in the cylinder body, the holding clamp is fixedly connected with the universal joint through a bolt, and the holding clamp is arranged on the periphery of the main shaft and is used for clamping and fixing the main shaft; the spindle penetrates through the cylinder body; a sealing piece is arranged at the joint of the cylinder body and the spindle; the universal joint is rotationally connected with the cylinder body through a rotating shaft; a plurality of piston mounting holes are uniformly distributed in the inner wall of the cylinder body along the circumferential direction; one end of the piston is slidably mounted in the piston mounting hole, and the other end abuts against the bottom of the universal joint; the cylinder body is provided with a compressed air inlet and a compressed air outlet, and the piston is driven by compressed air. Contact force is adjusted through air pressure, the grinding tool is rapidly and automatically returned, the grinding tool is controlled to be timely adjusted according to the relative size difference of the surface, force on the contact face of a ground product is kept constant, and consistency and stability of grinding quality are guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of mechanical processing automation, specifically to a radial flexible force control device for grinding and deburring. Background Technology

[0002] With the increasing prevalence of robotic grinding and polishing and the rising demands for better working environments, deburring of various castings (such as automotive engine housings), plastic parts, and machined parts (such as gears) is increasingly being performed using robots equipped with various grinding tools (electric spindles, pneumatic spindles) to replace manual grinding. Traditionally, the robot directly holds the grinding tools, and its trajectory is edited based on the product's surface characteristics. However, this method has several drawbacks: the editing process is cumbersome, and the robot's rigid contact with the product being ground means that even slight variations in surface dimensional tolerances or relative position shifts after workpiece replacement can lead to significant differences in grinding results. Furthermore, frequent head changes require recalibrating all robot trajectory points, which is time-consuming and labor-intensive. Especially when deburring large and complex workpieces, such as automotive engine housings, fiberglass products, large sheet metal parts, and castings and injection molded parts, situations arise where contact is insufficient, misaligned, or excessive, leading to tool or workpiece damage and hindering automated batch deburring. Therefore, a radially flexible force control device that can solve these problems is urgently needed. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a radial flexible force control device that adjusts the contact force by air pressure to realize the rapid and automatic return of the grinding tool, controls the grinding tool to adjust in a timely manner according to the relative size difference of the surface, maintains a constant force on the contact surface with the product being ground, and ensures the consistency and stability of the grinding quality.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a radial flexible force control device, comprising a tool, a spindle, a clamp, a seal, a rotating shaft, a universal joint, multiple pistons, and a cylinder;

[0005] The universal joint and clamp are respectively installed in the cylinder body. The clamp and universal joint are fixedly connected by bolts. The clamp is set on the outer periphery of the main shaft and is used to clamp and fix the main shaft. The main shaft passes through the cylinder body, and a seal is provided at the connection between the cylinder body and the main shaft. The universal joint is rotatably connected to the cylinder body through a rotating shaft. Multiple piston mounting holes are evenly distributed along the circumference of the inner wall of the cylinder body. One end of the piston is slidably installed in the piston mounting hole, and the other end abuts against the bottom of the universal joint. The cylinder body has a compressed air inlet and outlet, and the piston is driven by compressed air.

[0006] Furthermore, the axis of the rotating shaft is eccentrically set with respect to the axis of the universal joint, forming an eccentricity. The rotating shaft is rotatably connected to the cylinder body through a bearing, and the universal joint swings around the axis of the rotating shaft.

[0007] Furthermore, the number of pistons is 3-6, evenly distributed along the circumference of the inner wall of the cylinder, and each piston forms a pneumatic chamber with the cylinder. The compressed air inlet is connected to the pneumatic chamber, and the clamping force of the piston on the universal joint is adjusted by the air pressure.

[0008] Furthermore, the sealing element is an annular corrugated sleeve structure, sleeved on the outside of the main shaft, with both ends fixedly connected to the outer wall of the cylinder body and the outside of the main shaft, respectively, to isolate the inside of the cylinder body from the external environment.

[0009] Furthermore, it also includes a mounting structure plate; the cylinder body is fixed to the robot end flange or the CNC machine tool worktable via the mounting structure plate; the spindle is equipped with an electric spindle, a pneumatic spindle, or a pneumatic file.

[0010] Furthermore, the tool is connected to the spindle via a quick-change mechanism.

[0011] Furthermore, the bottom of the universal joint is provided with an abutment surface that mates with the piston. The abutment surface contacts the spherical structure at the end of the piston to achieve force transmission in all postures.

[0012] The beneficial effects of this utility model are as follows:

[0013] 1) This utility model regulates the contact force by air pressure, so that the force between the grinding tool and the surface of the product being ground remains constant, avoiding differences in grinding quality caused by changes in product size or relative position, and ensuring the consistency and stability of automated grinding and polishing.

[0014] 2) This utility model can realize the quick and automatic return of the grinding tool, control the grinding tool to adjust in time according to the difference in relative surface size, and can grind any angle of the three-dimensional shape of the product. The grinding force is constant in all postures and is suitable for surface treatment of workpieces of any shape.

[0015] 3) The clamp and universal joint of this utility model are fixedly connected by bolts, which facilitates disassembly and maintenance; the seal prevents dust from damaging the internal parts and improves the service life of the device.

[0016] 4) This utility model features a modular design, allowing for independent replacement of damaged grinding tools; it also offers an optional automatic tool changer function to enable automatic replacement of different consumables, adapting to tools such as milling cutters and grinding heads, and allowing for arbitrary combinations to meet the needs of different products and processes.

[0017] 5) When used with a robot, it reduces the difficulty of robot grinding, polishing and debugging. The operation is simple and easy to learn, reducing the requirements for robot operators. It can also be fixed to a CNC machine tool or a worktable, and is suitable for burr cleaning after casting iron, casting aluminum and plastic molding and burr cleaning after wire cutting. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a diagram showing the usage state of this utility model.

[0020] Figure 2 This is a cross-sectional view of the radial flexible force control device of this utility model. Detailed Implementation

[0021] The technical solution of this utility model will be clearly and completely described below through specific embodiments.

[0022] refer to Figure 1 and Figure 2 This invention relates to a radial flexible force control device, which is mounted on the end flange of the robot 6 via a mounting structure plate 5. It can be equipped with an electric spindle 4 (or a pneumatic spindle or a pneumatic file). The tool 2 can be selected according to the process of the product 3 being polished, using different polishing consumables such as milling cutters and grinding heads.

[0023] The radial flexible force control device in this embodiment includes a tool 2, a main shaft 1-2, a clamp 1-3, a seal 1-4, a rotating shaft 1-5, a universal joint 1-6, multiple pistons 1-7, and a cylinder 1-8.

[0024] Universal joint 1-6 and clamp 1-3 are respectively installed inside cylinder body 1-8. The clamp is located on the outer periphery of spindle 1-2 and is used to clamp and fix spindle 1-2. Clamp 1-3 and spindle 1-2 can be coaxially assembled through a detachable fixed connection structure. Clamp 1-3 and universal joint 1-6 are fixedly connected by bolts, which facilitates disassembly and maintenance. The top and bottom of cylinder body 1-8 are respectively provided with spindle inlet and spindle outlet, and spindle 1-2 passes through cylinder body 1-8. There is a certain space between the outer wall of the spindle and the inner wall of the cylinder body to support the spindle universal joint to drive the spindle to swing.

[0025] Seals 1-4 are installed at the main shaft inlet and outlet to effectively prevent dust and other impurities from entering the device and damaging internal components. Seal 1-4 is an annular corrugated sleeve structure, fitted onto the outside of the main shaft 1-2, with both ends fixedly connected to the outer wall of the cylinder body 1-8 and the outside of the main shaft, respectively. Universal joint 1-6 is rotatably connected to the cylinder body 1-8 via rotating shaft 1-5; universal joint 1-6 and rotating shaft 1-5 form an eccentric mechanism. The axis of rotating shaft 1-5 is eccentrically positioned with respect to the axis of universal joint 1-6, creating an eccentricity. Rotating shaft 1-5 is rotatably connected to the cylinder body 1-8 via bearings, and universal joint 1-6 swings around the axis of rotating shaft 1-5.

[0026] In this embodiment, the universal joint 1-6 has a special connection structure, with internal channels or connecting grooves adapted to the shape and size of the rotating shaft 1-5. The rotating shaft 1-5 passes through the channels inside the universal joint 1-6, achieving a mechanical connection between the two while ensuring relative rotation. The cylinder body 1-8 has a shaft hole. After the rotating shaft 1-5 passes through the universal joint, its end mates with the shaft hole on the cylinder body 1-8. It is fixed and supported by bearings and other components, allowing the rotating shaft 1-5 to rotate stably on the cylinder body 1-8.

[0027] The axis of the rotating shaft 1-5 is offset from the center of the universal joint 1-6. When the rotating shaft 1-5 rotates, it causes the universal joint 1-6 to swing around an axis that does not coincide with its own center. This allows the universal joint 1-6 to generate displacement and angular changes in various directions during its movement. These changes are then converted into radial force adjustment on the grinding tool through components such as the piston 1-7. When the grinding tool encounters dimensional differences or relative positional changes on the surface of the product being ground, the swinging and displacement of the universal joint 1-6 will cause the piston 1-7 to extend and retract. By adjusting the pressure of compressed air, the grinding tool is ensured to maintain constant contact with the product surface.

[0028] Multiple piston 1-7 mounting holes are evenly distributed circumferentially on the inner wall of cylinder 1-8. One end of piston 1-7 is slidably mounted in the piston mounting hole. The bottom of universal joint 1-6 is provided with a contact surface that mates with piston 1-7, and the contact surface contacts the spherical structure at the end of piston 1-7. There are 3-6 pistons 1-7, evenly distributed circumferentially on the inner wall of cylinder 1-8. Each piston 1-7 forms a pneumatic chamber with cylinder 1-8. Cylinder 1-8 has a compressed air inlet and an outlet. The compressed air inlet is connected to the pneumatic chamber. By adjusting the air pressure, the clamping force of piston 1-7 against universal joint 1-6 is adjusted. Compressed air is introduced into the compressed air inlet to drive piston 1-7, thereby achieving constant grinding force without difference in all postures.

[0029] In this embodiment, tool 2 is connected to spindle 1-2 via a quick-change mechanism. If grinding tool 2 is damaged, it can be replaced independently. If different grinding consumables need to be replaced, automatic replacement can be achieved through the optional automatic tool change function to adapt to different process requirements of different products.

[0030] Working Principle: During use, the required constant pressure output can be maintained by adjusting the compressed air pressure of the radial flexible force control device. When the robot 6 is running, the radial flexible force control device 1 ensures constant force grinding while remaining unaffected by any angular force component during the robot 6's operation, allowing for grinding at any angle of the product's three-dimensional shape. If the grinding tool 2 is damaged, it can be replaced independently; if different grinding consumables need to be changed, automatic replacement can be achieved through the optional automatic tool changer function to adapt to the different process requirements of different products.

[0031] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Those skilled in the art can make various modifications or equivalent substitutions to the present utility model within its substance and protection scope, and such modifications or equivalent substitutions should also be considered to fall within the protection scope of the present utility model's technical solution.

Claims

1. A radial flexible force control device, characterized in that: Includes tools (2), spindle (1-2), clamp (1-3), seals (1-4), rotating shaft (1-5), universal joint (1-6), multiple pistons (1-7) and cylinder (1-8); The universal joint (1-6) and clamp (1-3) are respectively installed inside the cylinder body (1-8). The clamp (1-3) and the universal joint (1-6) are fixedly connected by bolts. The clamp is set on the outer periphery of the main shaft (1-2) for clamping and fixing the main shaft (1-2). The main shaft (1-2) passes through the cylinder body (1-8). A seal (1-4) is provided at the connection between the cylinder body (1-8) and the main shaft (1-2). The universal joint (1-6) is rotatably connected to the cylinder body (1-8) through a rotating shaft (1-5). Multiple piston (1-7) mounting holes are evenly distributed circumferentially on the inner wall of the cylinder body (1-8). One end of the piston (1-7) is slidably installed in the piston mounting hole, and the other end abuts against the bottom of the universal joint (1-6). The cylinder body (1-8) has a compressed air inlet and an outlet. The piston (1-7) is driven by compressed air.

2. The radial flexible force control device according to claim 1, characterized in that: The axis of the rotating shaft (1-5) is eccentrically set with the axis of the universal joint (1-6) to form an eccentricity. The rotating shaft (1-5) is rotatably connected to the cylinder (1-8) through a bearing, and the universal joint (1-6) swings around the axis of the rotating shaft (1-5).

3. The radial flexible force control device according to claim 1, characterized in that: The number of pistons (1-7) is 3-6, and they are evenly distributed along the inner wall of the cylinder (1-8). Each piston (1-7) forms a pneumatic chamber with the cylinder (1-8). The compressed air inlet is connected to the pneumatic chamber, and the clamping force of the piston (1-7) on the universal joint (1-6) is adjusted by the pneumatic pressure.

4. The radial flexible force control device according to claim 1, characterized in that: The sealing element (1-4) is an annular corrugated sleeve structure, which is sleeved on the outside of the main shaft (1-2). Its two ends are fixedly connected to the outer wall of the cylinder (1-8) and the outside of the main shaft, respectively, and are used to isolate the inside of the cylinder (1-8) from the external environment.

5. The radial flexible force control device according to claim 1, characterized in that: It also includes a mounting structure plate (5); the cylinder body (1-8) is fixed to the end flange of the robot (6) or the CNC machine tool worktable by the mounting structure plate (5); the spindle (1-2) is equipped with an electric spindle (4), a pneumatic spindle or a pneumatic file.

6. The radial flexible force control device according to claim 1, characterized in that: The tool (2) is connected to the spindle (1-2) via a quick-change mechanism.

7. The radial flexible force control device according to claim 1, characterized in that: The bottom of the universal joint (1-6) is provided with an abutment surface that mates with the piston (1-7). The abutment surface contacts the spherical structure at the end of the piston (1-7) to achieve force transmission in all postures.

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