A robot for active force controlled grinding

Abstract

This utility model relates to a robot for active force-controlled grinding, comprising: a base on which a fixed bracket is mounted; an outer shell mounted on the base, forming a sealed cavity between the outer shell and the base, with the fixed bracket located inside the outer shell; a power element mounted on the fixed bracket; a floating component connected to the output end of the power element; and a motor connected to the floating component via an adapter. The power element provides buoyancy to the motor through the floating component. The motor is mounted on the fixed bracket and is capable of sliding relative to the fixed bracket. The output shaft of the motor extends out of the outer shell and is connected to the grinding head. The floating device of the robot for active force-controlled grinding described in this utility model uses an EHA electro-hydraulic actuator or an electric linear servo actuator equipped with a planetary roller screw as the force-controlled floating control device. This device has advantages such as small size, high rigidity, and fast response speed.

Description

Technical Field

[0001] This utility model relates to the field of polishing robot technology, and in particular to a robot for active force-controlled polishing. Background Technology

[0002] Grinding is a processing method that uses tools and other objects to treat surfaces, mainly to achieve the desired surface finish. For example, small workpieces need to have their oxide layer, oil stains, rust, burrs, or sharp edges ground off during the manufacturing process.

[0003] Currently, in the field of traditional force-controlled grinding robots, pneumatic devices using valves and cylinders are generally used. For example, Chinese utility model patent CN220921992U discloses a pneumatically controlled floating device, including a fixed cover, a floating cover, a pneumatic drive device, and a control valve group. A mounting plate is connected to the fixed cover; the floating cover is slidably connected to the mounting plate; the pneumatic drive device includes a cylinder, which includes a cylinder body and a piston rod. The piston rod includes a piston body with a connecting rod connected to it, and the connecting rod is connected to the floating cover. The piston body divides the cylinder interior into a rod-side chamber and a rodless chamber; the control valve group includes a main valve block, an electro-proportional valve, and a directional valve, with the main valve block connected between the electro-proportional valve and the directional valve. This type of edge-rolling tool typically adjusts the rolling pressure by setting the cylinder pressure through a valve. This pneumatic floating force-controlled device has relatively large components and requires a dry air source. The pneumatic floating device also has relatively poor rigidity, resulting in poor force-controlled floating performance.

[0004] In addition, the output shaft of commonly used main power control grinding robots is usually connected to the main spindle motor by a spline. This connection method has a complex mechanical structure, causes energy loss during transmission, and is prone to failure. Utility Model Content

[0005] Therefore, the technical problem to be solved by this utility model is to overcome the problem of complex structural design and poor floating effect caused by the separate connection between the output shaft and the motor main shaft in the prior art.

[0006] To solve the above-mentioned technical problems, this utility model provides a robot for active force-controlled grinding, comprising: a base on which a fixed bracket is mounted; an outer shell mounted on the base, forming a sealed cavity between the outer shell and the base, the fixed bracket being located inside the outer shell; a power element mounted on the fixed bracket; a floating component connected to the output end of the power element; and a motor connected to the floating component via an adapter. The power element provides buoyancy to the motor through the floating component. The motor is mounted on the fixed bracket and is capable of sliding relative to the fixed bracket. The output spindle of the motor extends out of the outer shell and is connected to the grinding head.

[0007] In one embodiment of this utility model, the power element is an EHA electro-hydrostatic actuator.

[0008] In one embodiment of this utility model, the power element is an electric linear servo actuator.

[0009] In one embodiment of this utility model, the floating element is a spring, and the central axis of the spring is arranged parallel to the axis of the motor spindle.

[0010] In one embodiment of this utility model, the fixed bracket is provided with a guide rail, which is arranged parallel to the axis of the motor spindle.

[0011] In one embodiment of this utility model, a motor bracket is installed on the outer wall of the motor, and a slider is connected to the motor bracket. The slider is disposed on a guide rail and can slide relative to the guide rail.

[0012] In one embodiment of this utility model, an adapter bracket is provided between the floating component and the motor bracket, and one end of the floating component is connected to the motor bracket through the adapter bracket.

[0013] In one embodiment of this utility model, the output end of the power element is connected to a moving block, and the floating component is mounted on the moving block.

[0014] In one embodiment of this utility model, a second slider is connected to the movable block, a second guide rail is provided on the fixed bracket, the second guide rail is parallel to the axis of the output main shaft of the motor, the second slider is disposed on the second guide rail, and the second slider can slide relative to the second guide rail.

[0015] In one embodiment of this utility model, the outer casing is provided with a through hole, and the output spindle of the motor extends out of the through hole.

[0016] Compared with the prior art, the above-mentioned technical solution of this utility model has the following beneficial effects:

[0017] The robot for active force-controlled grinding described in this invention employs an EHA electro-hydraulic actuator or an electric linear servo actuator equipped with a planetary roller screw as the force-controlled floating control device. This device has advantages such as small size, high rigidity, and fast response speed. This device innovatively floats the entire grinding spindle motor, resulting in a simple structure, low failure rate, and no loss of motor output kinetic energy. The device offers two control methods: force control mode and position control mode, which can be freely switched according to the actual processing conditions. Attached Figure Description

[0018] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein:

[0019] Figure 1 This is a schematic diagram of the structure of a robot for active force-controlled grinding, as described in a preferred embodiment of the present invention. Figure 1 ;

[0020] Figure 2 This is a schematic diagram of the structure of a robot for active force-controlled grinding, as described in a preferred embodiment of the present invention. Figure 2 ;

[0021] Figure 3 This is a schematic diagram of the structure of a robot for active force-controlled grinding, as described in a preferred embodiment of the present invention. Figure 3 ;

[0022] Figure 4 This is a schematic diagram of the structure of the robot for active force-controlled grinding in a preferred embodiment of the present invention, specifically embodiment two. Figure 1 ;

[0023] Figure 5 This is a schematic diagram of the structure of the robot for active force-controlled grinding in a preferred embodiment of the present invention, specifically embodiment two. Figure 2 ;

[0024] Figure 6 This is a schematic diagram of the structure of the robot for active force-controlled grinding in a preferred embodiment of the present invention, specifically embodiment two. Figure 3 .

[0025] Explanation of the reference numerals in the accompanying drawings: Base 1, Fixed bracket 11, Guide rail 111, Guide rail 2 112, Outer cover 2, Through hole 21, Positioning ring 22, Sealing ring 23, Power element 3, Moving block 31, Slider 2 311, Floating part 4, Motor 5, Motor bracket 51, Slider 1 52, Adapter bracket 53. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0027] Reference Figure 1-6As shown, the robot for active force-controlled grinding of this utility model includes: a base 1, an outer shell 2, a power element 3, a floating component 4, and a motor 5. The base 1 has a fixed bracket 11 mounted on it. The outer shell 2 is mounted on the base 1, forming a sealed cavity between the outer shell 2 and the base 1. The fixed bracket 11 is located inside the outer shell 2. The power element 3 is mounted on the fixed bracket 11. The floating component 4 is connected to the output end of the power element 3. The motor 5 is connected to the floating component 4 via an adapter. The power element 3 provides floating force to the motor 5 through the floating component 4. The motor 5 is mounted on the fixed bracket 11 and can slide relative to the fixed bracket 11. The output spindle of the motor 5 extends out of the outer shell 2 and is connected to the grinding head. By directly eliminating the floating spindle originally connected to the output spindle of the motor 5, the motor 5 is made floating, thus reducing some components and saving space. The output spindle of motor 5 can be controlled to apply a constant rolling pressure. For example, when the rolling surface is uneven, the magnitude of the force applied to the rolling surface is actively controlled by the power element 3 to make the rolling surface equal (or close) to the rolling pressure, so as to adjust the rolling pressure of the edge rolling tool.

[0028] Reference Figure 1-3 As shown, the power element 3 is an EHA electro-hydraulic actuator. The EHA electro-hydraulic actuator used in this embodiment is an electro-hydraulic actuator developed by the applicant. EHA (Electro-Hydrostatic Actuators) is a standard power unit that integrates a motor, pump, oil tank, hydraulic cylinder, and control valve group into one device. The hydraulic cylinder includes a piston rod that can extend and retract along the cylinder body. The EHA electro-hydraulic actuator drives the floating part 4 to move by controlling the extension and retraction of the piston rod. Using the EHA electro-hydraulic actuator can better achieve precise control of the displacement of the floating part 4, thereby achieving precise floating of the grinding head.

[0029] Specifically, the EHA electro-hydraulic actuator includes force control mode and position control mode, and its usage mode can be determined according to different usage scenarios.

[0030] Reference Figure 4-6 As shown, the power element 3 is an electric linear servo actuator. The electric linear servo actuator is a drive structure that uses a servo motor equipped with a planetary roller screw to control linear movement.

[0031] Preferably, the floating element 4 is a spring, specifically a helical spring, and the central axis of the spring is parallel to the axis of the motor 5's main shaft. This allows the motor 5 to float when the helical spring is stretched or compressed along its axis.

[0032] In the above structure, to ensure the stability of the motor 5 during its floating process, the fixed bracket 11 is equipped with a guide rail 111, which is parallel to the axis of the motor 5's main shaft. A motor bracket 51 is mounted on the outer wall of the motor 5, and a slider 52 is connected to the motor bracket 51. The slider 52 is positioned on the guide rail 111 and can slide relative to the guide rail 111. While the motor 5 floats, the slider 52 can reciprocate relative to the guide rail 111.

[0033] In the above structure, a transition bracket 53 is provided between the floating component 4 and the motor bracket 51, and one end of the floating component 4 is connected to the motor bracket 51 through the transition bracket 53.

[0034] In the above structure, the output end of the power element 3 is connected to a moving block 31, and the floating element 4 is mounted on the moving block 31. A second slider 311 is connected to the moving block 31, and a second guide rail 112 is provided on the fixed bracket 11. The second guide rail 112 is parallel to the axis of the output main shaft of the motor 5. The second slider 311 is disposed on the second guide rail 112, and the second slider 311 can slide relative to the second guide rail 112.

[0035] In the above structure, the outer casing 2 is provided with a through hole 21, preferably a circular hole, and the output shaft of the motor 5 extends out of the through hole 21. A positioning ring 22 is installed on the inner wall of the outer casing 2, and the positioning ring 22 is installed on the outer casing 2 at the location of the through hole 21. The positioning ring 22 is provided with a sealing ring 23, and the output shaft of the motor 5 passes through the sealing ring 23. The sealing ring 23 is used to seal between the output shaft of the motor 5 and the through hole 21.

[0036] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A robot for active force-controlled grinding, characterized in that, include: The base has a fixed bracket installed on it; An outer casing is mounted on a base, and a sealed cavity is formed between the outer casing and the base, with the fixing bracket located inside the outer casing; The power component is mounted on a fixed bracket; A floating component, which is connected to the output end of the power element; The motor is connected to the floating component via an adapter. The power element provides buoyancy to the motor through the floating component. The motor is mounted on a fixed support and is capable of sliding relative to the fixed support. The output spindle of the motor extends out of the outer casing and is connected to the grinding head.

2. The robot for active force-controlled grinding according to claim 1, characterized in that: The power component is an EHA electro-hydrostatic actuator.

3. The robot for active force-controlled grinding according to claim 1, characterized in that: The power component is an electric linear servo actuator.

4. The robot for active force-controlled grinding according to claim 1, characterized in that: The floating component is a spring, and the central axis of the spring is set parallel to the axis of the motor spindle.

5. The robot for active force-controlled grinding according to claim 1, characterized in that: The fixed bracket is provided with a guide rail, which is arranged parallel to the axis of the motor spindle.

6. The robot for active force-controlled grinding according to claim 5, characterized in that: A motor bracket is installed on the outer wall of the motor, and a slider is connected to the motor bracket. The slider is set on a guide rail and can slide relative to the guide rail.

7. The robot for active force-controlled grinding according to claim 6, characterized in that: An adapter bracket is provided between the floating component and the motor bracket, and one end of the floating component is connected to the motor bracket through the adapter bracket.

8. The robot for active force-controlled grinding according to claim 1, characterized in that: The output end of the power element is connected to a moving block, and the floating component is mounted on the moving block.

9. The robot for active force-controlled grinding according to claim 8, characterized in that: The movable block is connected to a second slider, and the fixed bracket is provided with a second guide rail. The second guide rail is parallel to the axis of the motor's output main shaft. The second slider is mounted on the second guide rail and can slide relative to the second guide rail.

10. The robot for active force-controlled grinding according to claim 1, characterized in that: The outer casing is provided with a through hole, and the output spindle of the motor extends out of the through hole.

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