Pneumatic smooth grinding end effector

Abstract

The utility model belongs to the technical field of polishing and grinding equipment, and particularly relates to a pneumatic smooth grinding end effector. According to the technology, a flange plate and a grinding disc are included, a grinding head is installed at the bottom of the grinding disc, a pneumatic driving assembly is installed at the bottom of the flange plate, a mounting sleeve is fixed to the bottom of the pneumatic driving assembly, a connecting box is arranged in the mounting sleeve, and a first driving mechanism for driving the connecting box to rotate is arranged in the mounting sleeve; a connecting ring is arranged at the bottom of the connecting box, the grinding disc is fixed to the bottom of the connecting ring, and the connecting ring is detachably connected with the connecting box through a dismounting and mounting mechanism. Through the structure of the fixing rod and the fixing groove in the dismounting mechanism, the second motor is started to drive the mounting box to rotate, the mounting box drives the fixing rod to rotate, the fixing rod is moved into the fixing groove, the connecting ring and the connecting box can be connected, the second motor rotates reversely, and the fixing rod can retreat from the fixing groove. Therefore, the connecting ring can be quickly disassembled and assembled, and maintenance and replacement are convenient.

Description

Technical Field

[0001] This utility model belongs to the technical field of polishing and grinding equipment, and in particular relates to a pneumatic compliant grinding end effector. Background Technology

[0002] A pneumatic compliant grinding end effector is a device used in industrial robots that provides compliance and adaptability during the grinding process to handle workpieces of different shapes and materials. The structure includes: a pneumatic drive module, a compliant mechanism design, a posture compensation and sensing system, a grinding wheel and actuation components, and a control system and integration design.

[0003] Existing pneumatic compliant grinding end effectors typically use nuts to fix the grinding disc to the spindle. Disassembly and assembly require tools to forcefully turn the nuts, which is time-consuming and laborious. Furthermore, the grinding disc of existing pneumatic compliant grinding end effectors is rigidly connected and can only maintain a single angle without any room for floating or changing. This results in the grinding disc only making partial contact with the surface, forming point-like or line-like grinding, and the grinding effect is not very good when rotating. Utility Model Content

[0004] The purpose of this invention is to provide a pneumatic compliant grinding end effector to solve the problems mentioned in the background art.

[0005] The pneumatic compliant grinding end effector includes a flange and a grinding disc. A grinding head is installed at the bottom of the grinding disc, and a pneumatic drive assembly is installed at the bottom of the flange. A mounting sleeve is fixed at the bottom of the pneumatic drive assembly, and a connecting box is provided inside the mounting sleeve. A first drive mechanism for driving the connecting box to rotate is provided inside the mounting sleeve.

[0006] A connecting ring is provided at the bottom of the connecting box, and the grinding disc is fixed at the bottom of the connecting ring. The connecting ring is detachably connected to the connecting box through a disassembly and assembly mechanism.

[0007] Furthermore, the disassembly and assembly mechanism includes an installation box independently set inside the connecting ring. Several horizontally arranged fixing rods are evenly arranged on the outer side wall of the installation box. An insertion groove for inserting the fixing rods from top to bottom is opened on the top of the inner side wall of the connecting ring, and a fixing groove for horizontal rotation of the fixing rods is opened at the bottom of the insertion groove.

[0008] A mounting plate is horizontally mounted on the top of the mounting box, and a connecting bracket is mounted above the mounting plate. The connecting bracket is fixed to the bottom of the connecting box, and a second drive mechanism for driving the mounting box to rotate is mounted on the top of the connecting bracket. A limiting component for restricting the independent rotation of the connecting ring is mounted on the connecting bracket.

[0009] Furthermore, the limiting component includes several connecting blocks evenly fixed to the top of the connecting ring, each connecting block having a vertically fixed insertion rod on its top, and the connecting bracket having a first through hole for inserting the insertion rod.

[0010] Furthermore, the connecting bracket has a cross-shaped structure and four insertion rods.

[0011] Furthermore, the top of the mounting box and the bottom of the mounting plate are fixed, a shaped block is provided inside the mounting box, the second driving mechanism is used to drive the shaped block to rotate, the side wall of the shaped block is recessed inward, and several connecting plates are evenly distributed on the outside of the mounting box, and the fixing rod is fixed to the outer side wall of the connecting plate.

[0012] The inner sidewalls of the connecting plate are all horizontally fixed with moving rods. The sidewalls of the mounting box are provided with a second through hole for the moving rods to pass through. One end of the moving rod passes through the second through hole and contacts the side of the irregular block.

[0013] Furthermore, the sides of the irregularly shaped block have an arc-shaped structure.

[0014] Furthermore, a sliding rod is vertically fixed to the bottom of the irregular block, and a sliding groove is provided in the inner bottom of the mounting box for inserting the irregular block and rotating with it.

[0015] Furthermore, the second drive mechanism includes a vertically arranged rotating rod. The top of the connecting bracket, the mounting plate, and the mounting box are all provided with a third through hole for the rotating rod to pass through. The bottom end of the rotating rod passes through the third through hole and is fixed to the top of the irregular block. A second motor is installed on the top of the connecting bracket, and the top end of the rotating rod is connected to the output end of the second motor.

[0016] Furthermore, the first drive mechanism includes a fixed box with the slot facing downwards. Both the fixed box and the mounting sleeve are circular structures, and the fixed box is fixed inside the mounting sleeve. The connecting box is located inside the fixed box. A rotating shaft is vertically fixed on the top of the connecting box. A fourth through hole is opened at the bottom of the slot of the fixed box for the top of the rotating shaft to pass through. A first motor is installed on the top of the fixed box, and the top of the rotating shaft is connected to the output end of the first motor.

[0017] Furthermore, a fixing sleeve is independently fitted on the connecting ring, and a support sleeve is fixedly fitted on the fixing sleeve, with the support sleeve fixed to the bottom end of the fixing box.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] In this invention, by setting up a first motor, a rotating shaft, and a connecting box, after the connecting ring is installed, the first motor is started. The first motor drives the connecting box to rotate the connecting ring, and the rotation of the connecting ring drives the grinding disc and the grinding head to rotate to grind the workpiece.

[0020] In this invention, the structure of the fixing rod and fixing groove in the disassembly and assembly mechanism enables the second motor to be started. The second motor drives the mounting box to rotate, and the mounting box drives the fixing rod to rotate, so that the fixing rod moves into the fixing groove, thereby connecting the connecting ring and the connecting box. The second motor rotates in the opposite direction, thereby removing the fixing rod from the fixing groove. This design allows for quick disassembly and assembly of the connecting ring, facilitating maintenance and replacement. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of a pneumatic compliant grinding end effector proposed in this utility model;

[0022] Figure 2 This is a cross-sectional view of a pneumatic compliant grinding end effector proposed in this utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the grinding disc, grinding head, etc. of a pneumatic compliant grinding end effector proposed in this utility model.

[0024] Figure 4 This is a schematic diagram of the fixed rod, fixed groove, and other structures of a pneumatic compliant grinding end effector proposed in this utility model;

[0025] The components in the diagram are named as follows: 1. Flange; 2. Bolt; 3. Pneumatic drive assembly; 4. Mounting sleeve; 5. Support sleeve; 6. Fixing box; 7. First motor; 8. Rotating shaft; 9. Connecting box; 10. Connecting bracket; 11. Fixing sleeve; 12. Disassembly and assembly mechanism; 121. Rotating rod; 122. Mounting plate; 123. Mounting box; 124. Irregular block; 125. Moving rod; 126. Connecting plate; 127. Fixing rod; 128. Fixing groove; 129. Second motor; 1210. Sliding rod; 1211. Sliding groove; 13. Connecting ring; 14. Grinding disc; 15. Grinding head; 16. Connecting block; 17. Insert rod. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0027] Example 1

[0028] This embodiment describes a pneumatic compliant grinding end effector, such as... Figures 1 to 4As shown, it includes a flange 1 and a grinding disc 14. Several bolts 2 are provided on the flange 1, which are evenly distributed on the edge of the flange 1. The flange 1 has threaded holes that are threaded to the bolts 2. The flange 1 is connected by the bolts 2. A grinding head 15 is installed at the bottom of the grinding disc 14. A pneumatic drive assembly 3 is installed at the bottom of the flange 1. The pneumatic drive assembly 3 is a known technology. The pneumatic drive assembly 3 enables the grinding disc 14 to deflect slightly under pressure.

[0029] The bottom of the pneumatic drive assembly 3 is fixed with an installation sleeve 4, and a connecting box 9 is provided inside the installation sleeve 4. A connecting ring 13 is provided at the bottom of the connecting box 9. The grinding disc 14 is fixed at the bottom of the connecting ring 13. The connecting ring 13 is detachably connected to the connecting box 9 through a disassembly and assembly mechanism 12. The disassembly and assembly mechanism 12 allows for quick disassembly and assembly of the connecting ring 13, facilitating maintenance and replacement of the grinding disc 14.

[0030] A fixing box 6 is provided between the mounting sleeve 4 and the connecting box 9. The fixing box 6 has a groove with the opening facing downwards and a circular structure. The mounting sleeve 4 has an annular structure. The outer side wall of the fixing box 6 is fixed to the inner side wall of the mounting sleeve 4. The connecting box 9 is located inside the fixing box 6. A rotating shaft 8 is vertically fixed to the top of the connecting box 9. A fourth through hole is opened at the bottom of the groove of the fixing box 6 for the top end of the rotating shaft 8 to pass through. A first motor 7 is installed on the top of the fixing box 6, and the top end of the rotating shaft 8 is connected to the output end of the first motor 7. This section constitutes the first driving mechanism for driving the connecting box 9 to rotate within the mounting sleeve 4.

[0031] A fixing sleeve 11 is independently fitted on the connecting ring 13, and a support sleeve 5 is fixedly fitted on the fixing sleeve 11. The support sleeve 5 is fixed to the bottom end of the fixing box 6. After the connecting ring 13 is installed, the connecting ring 13 is located inside the fixing sleeve 11. The connecting ring 13 rotates inside the fixing sleeve 11. The fixing sleeve 11 and the support sleeve 5 can restrict the connecting ring 13 and increase stability.

[0032] The disassembly and assembly mechanism 12 includes an installation box 123 independently disposed within the connecting ring 13. The side wall of the installation box 123 is circular. Several horizontally arranged fixing rods 127 are evenly arranged on the outer side wall of the installation box 123. An insertion groove for inserting the fixing rods 127 from top to bottom is opened on the top of the inner side wall of the connecting ring 13. A fixing groove 128 for horizontal rotation of the fixing rods 127 is opened at the bottom of the insertion groove. The insertion groove and the fixing groove 128 are in an "L" shape. An installation plate 122 is horizontally arranged on the top of the installation box 123. A connecting bracket 10 is arranged above the installation plate 122. The connecting bracket 10 is fixed to the bottom of the connecting box 9.

[0033] A plurality of connecting blocks 16 are evenly fixed to the top of the connecting ring 13, and a rod 17 is vertically fixed to the top of each connecting block 16. A first through hole for inserting the rod 17 is provided on the connecting bracket 10. Since there are several rods 17, the connecting ring 13 will rotate through the rods 17 when the connecting bracket 10 rotates. In some embodiments, the rod 17 can also be fixed to the bottom of the connecting bracket 10, and a positioning groove for inserting the bottom end of the rod 17 is provided on the top of the connecting ring 13. This section constitutes a limiting component that restricts the independent rotation of the connecting ring 13 at the bottom of the connecting bracket 10.

[0034] The connecting bracket 10 has a cross-shaped structure and four insertion rods 17, which facilitates observation of the position of the insertion rods 17 and the end of the connecting bracket 10, and makes it easy to align the insertion rods 17 with the first through hole on the connecting bracket 10, so as to facilitate the insertion of the insertion rods 17 into the connecting bracket 10.

[0035] The top of the mounting box 123 and the bottom of the mounting plate 122 are fixed. The mounting plate 122 and the connecting bracket 10 are independent of each other. The mounting plate 122 is a circular plate. The diameter of the inner sidewall of the connecting ring 13 is smaller than the diameter of the mounting plate 122. There is a gap between the edge of the mounting plate 122 and the connecting block 16. The mounting box 123 is a hollow structure. The upper and lower ends of the mounting box 123 are sealed. A special-shaped block 124 is provided inside the mounting box 123. The sidewall of the special-shaped block 124 is concave inward. Several connecting plates 126 are evenly distributed on the outer side of the mounting box 123. The number of connecting plates 126 is the same as the number of the sides of the special-shaped block 124. The sides of the connecting plates 126 and the special-shaped block 124 correspond one-to-one. The fixing rod 127 is fixed to the outer sidewall of the connecting plate 126. The fixing rod 127 is fixed on the side of the connecting plate 126 near the inner sidewall of the connecting ring 13.

[0036] The inner sidewall of the connecting plate 126 is horizontally fixed with a moving rod 125. The inner sidewall of the connecting plate 126 is the side closest to the mounting box 123. The sidewall of the mounting box 123 is provided with a second through hole for the moving rod 125 to pass through. One end of the moving rod 125 passes through the second through hole and contacts the side of the irregular block 124. Since the side of the irregular block 124 is concave inward, when the irregular block 124 rotates, the irregular block 124 will drive the moving rod 125 to rotate. The moving rod 125 will drive the mounting box 123 and the connecting plate 126 to rotate. The connecting plate 126 drives the fixing rod 127 to rotate.

[0037] A second motor 129 is mounted on the top of the connecting bracket 10. A rotating rod 121 is vertically arranged below the second motor 129. The tops of the connecting bracket 10, the mounting plate 122, and the mounting box 123 are all provided with a third through hole for the rotating rod 121 to pass through. The bottom end of the rotating rod 121 passes through the third through hole and is fixed to the top of the irregular block 124. The top end of the rotating rod 121 is connected to the output end of the second motor 129. The connecting box 9 has no bottom, so that the second motor 129 is located inside the connecting box 9. This section constitutes the second drive mechanism that drives the mounting box 123 to rotate from the top of the connecting bracket 10.

[0038] The irregular block 124 has an arc-shaped structure on its side. The irregular block 124 is a rectangular block with an arc-shaped groove that runs vertically through the side of the rectangular block.

[0039] The bottom of the irregular block 124 is vertically fixed with a sliding rod 1210. The inner bottom of the mounting box 123 is provided with a sliding groove 1211 for the irregular block 124 to be inserted and rotate with the irregular block 124. The sliding groove 1211 has an arc-shaped structure. There are 4 sliding rods 1210. The inner bottom of the mounting box 123 is provided with 4 sliding grooves 1211. The irregular block 124 can be supported by the sliding rods 1210. The sliding rods 1210 and the sliding grooves 1211 can support the irregular block 124 and limit the position of the irregular block 124, so that the irregular block 124 can rotate along the trajectory of the sliding grooves 1211.

[0040] Working principle:

[0041] In use, the connecting ring 13 is inserted into the fixing sleeve 11, and the insertion rod 17 is inserted into the first through hole on the connecting bracket 10. The second motor 129 is started, which drives the rotating rod 121 to rotate. The rotation of the rotating rod 121 drives the irregular block 124 to rotate. The rotation of the irregular block 124 drives the moving rod 125 to move. The movement of the moving rod 125 drives the connecting plate 126 to move. The movement of the connecting plate 126 drives the fixing rod 127 to move. The fixing rod 127 moves into the fixing groove 128 on the inner side wall of the connecting ring 13, thus fixing the connecting ring 13 in the fixing sleeve 11, thereby fixing the grinding disc 14. Meanwhile, the second motor 129 moves in the opposite direction. Rotation will move the fixing rod 127 out of the fixing groove 128, thereby removing the connecting ring 13 from the fixing sleeve 11, completing the disassembly of the connecting ring 13, which facilitates maintenance and replacement of the grinding disc 14. When the workpiece is to be ground after the connecting ring 13 is installed, the first motor 7 is started. The first motor 7 drives the rotating shaft 8 to rotate, the rotating shaft 8 drives the connecting box 9 to rotate, the rotating connecting box 9 drives the connecting bracket 10 to rotate, the rotating connecting bracket 10 drives the insert rod 17 to rotate, the insert rod 17 drives the connecting ring 13 to rotate through the connecting block 16, and the rotation of the connecting ring 13 drives the grinding disc 14 and the grinding head 15 to rotate, thus grinding the workpiece.

Claims

1. A pneumatic compliant grinding end effector, comprising a flange (1) and a grinding disc (14), wherein a grinding head (15) is mounted on the bottom of the grinding disc (14), and a pneumatic drive assembly (3) is mounted on the bottom of the flange (1), characterized in that: The bottom of the pneumatic drive assembly (3) is fixed with a mounting sleeve (4), a connecting box (9) is provided inside the mounting sleeve (4), and a first drive mechanism for driving the connecting box (9) to rotate is provided inside the mounting sleeve (4). A connecting ring (13) is provided at the bottom of the connecting box (9), and the grinding disc (14) is fixed at the bottom of the connecting ring (13). The connecting ring (13) is detachably connected to the connecting box (9) through the disassembly and assembly mechanism (12).

2. The pneumatic compliant grinding end effector according to claim 1, characterized in that: The disassembly and assembly mechanism (12) includes an installation box (123) independently set in the connecting ring (13). The outer side wall of the installation box (123) is evenly provided with a number of horizontally arranged fixing rods (127). The top of the inner side wall of the connecting ring (13) is provided with an insertion groove for the fixing rods (127) to be inserted from top to bottom. The bottom of the insertion groove is provided with a fixing groove (128) for the fixing rods (127) to rotate horizontally. The top of the mounting box (123) is horizontally provided with a mounting plate (122), and a connecting bracket (10) is provided above the mounting plate (122). The connecting bracket (10) is fixed to the bottom of the connecting box (9). The top of the connecting bracket (10) is provided with a second driving mechanism to drive the mounting box (123) to rotate. The connecting bracket (10) is provided with a limiting component to restrict the independent rotation of the connecting ring (13).

3. The pneumatic compliant grinding end effector according to claim 2, characterized in that: The limiting component includes several connecting blocks (16) that are evenly fixed on the top of the connecting ring (13). Each connecting block (16) has a vertically fixed insertion rod (17) on its top. The connecting bracket (10) has a first through hole for inserting the insertion rod (17).

4. The pneumatic compliant grinding end effector according to claim 3, characterized in that: The connecting bracket (10) has a cross-shaped structure and four insertion rods (17).

5. The pneumatic compliant grinding end effector according to claim 4, characterized in that: The top of the mounting box (123) and the bottom of the mounting plate (122) are fixed. A special-shaped block (124) is provided inside the mounting box (123). The second driving mechanism is used to drive the special-shaped block (124) to rotate. The side wall of the special-shaped block (124) is recessed inward. Several connecting plates (126) are evenly distributed on the outside of the mounting box (123). The fixing rod (127) is fixed to the outer side wall of the connecting plate (126). The inner sidewall of the connecting plate (126) is horizontally fixed with a moving rod (125). The sidewall of the mounting box (123) is provided with a second through hole for the moving rod (125) to pass through. One end of the moving rod (125) passes through the second through hole and contacts the side of the irregular block (124).

6. The pneumatic compliant grinding end effector according to claim 5, characterized in that: The side of the irregular block (124) has an arc-shaped structure.

7. The pneumatic compliant grinding end effector according to claim 6, characterized in that: The bottom of the irregular block (124) is vertically fixed with a slide rod (1210), and the inner bottom of the mounting box (123) is provided with a slide groove (1211) for the irregular block (124) to be inserted and rotate with the irregular block (124).

8. The pneumatic compliant grinding end effector according to claim 7, characterized in that: The second drive mechanism includes a vertically arranged rotating rod (121). The top of the connecting bracket (10), the mounting plate (122), and the mounting box (123) are all provided with a third through hole for the rotating rod (121) to pass through. The bottom end of the rotating rod (121) passes through the third through hole and is fixed to the top of the irregular block (124). A second motor (129) is installed on the top of the connecting bracket (10), and the top end of the rotating rod (121) is connected to the output end of the second motor (129).

9. The pneumatic compliant grinding end effector according to claim 1 or 8, characterized in that: The first driving mechanism includes a fixed box (6) with the slot facing downward. Both the fixed box (6) and the mounting sleeve (4) are circular structures. The fixed box (6) is fixed inside the mounting sleeve (4). The connecting box (9) is located inside the fixed box (6). A rotating shaft (8) is vertically fixed on the top of the connecting box (9). A fourth through hole is opened at the bottom of the slot of the fixed box (6) for the top of the rotating shaft (8) to pass through. A first motor (7) is installed on the top of the fixed box (6). The top of the rotating shaft (8) is connected to the output end of the first motor (7).

10. The pneumatic compliant grinding end effector according to claim 9, characterized in that: The connecting ring (13) is independently fitted with a fixing sleeve (11), and a support sleeve (5) is fixedly fitted on the fixing sleeve (11). The support sleeve (5) is fixed to the bottom end of the fixing box (6).

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