Intelligent floating force control polishing head

Abstract

The utility model discloses a kind of intelligent floating force control polishing head, intelligent floating actuator, polished product, polishing tool and robot;The intelligent floating actuator is installed on the mechanical arm of robot;Polishing tool is installed on intelligent floating actuator, and polishing tool is under the action of intelligent floating actuator and is applied to polished product.This utility model intelligent floating actuator based on pneumatic principle, can control polishing tool timely adjustment along with the relative size difference of surface, and keep the force constant with the contact surface of polished product, ensure that the product polished will not because itself size or relative position change leads to obvious differentiation of quality, ensure the consistency, stability and realizability of automatic polishing.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of polishing equipment, and particularly relates to an intelligent floating force control polishing head. BACKGROUND

[0002] In industrial production, more and more factories adopt robot automatic polishing technology. At present, a robot is usually used to directly clamp a polishing tool, and a robot running track is edited according to product surface features. However, the editing process is tedious, and since the polishing product is in rigid contact, when the product surface size tolerance is slightly large or the relative position after replacement of the workpiece is slightly offset, the polishing effect will be obviously different. Especially in surface treatment of large and complex curved surfaces, such as automobile shells, glass steel products, large sheet metal parts and castings and injection molded parts, the situation of not contacting, not fitting or overcontacting may occur, thereby causing damage to the tool or the workpiece and leading to failure to realize batch automatic polishing. Therefore, there is an urgent need for a polishing head capable of solving the above problems. SUMMARY

[0003] To solve the above problems, the utility model provides an intelligent floating force control polishing head, solves the polishing effect difference caused by rigid contact and other problems in existing robot polishing, realizes consistency, stability and realizability of automatic polishing, and reduces the debugging difficulty and requirements on operators.

[0004] The technical scheme of the utility model is as follows: an intelligent floating force control polishing head, an intelligent floating execution mechanism, a polished product, a polishing tool and a robot; the intelligent floating execution mechanism is installed on a mechanical arm of the robot; the polishing tool is installed on the intelligent floating execution mechanism, and the polishing tool is applied to the polished product under the action of the intelligent floating execution mechanism.

[0005] Further, the polishing tool is a manual tool changing electric spindle, an automatic tool changing electric spindle or a pneumatic grinding head.

[0006] Furthermore, the intelligent floating actuator includes an end flange, a dust cover, a housing, an aviation connector, a drive plate, a miniature solenoid valve, an internal air passage, a pressure sensor, a piston rod, a cavity, a needle roller array, sealing gaskets 1-13, a piston 1-14, and hollow bolts; the end flange and the cavity are connected by bolts, and the two ends of the dust cover 1-2 are respectively inserted into the grooves corresponding to the housing 1-4 and the end flange; the piston 1-14 and the piston rod 1-10 are connected by hollow bolts 1-15; a sealing gasket 1-13 is added between the piston 1-14 and the piston rod 1-10; the cavity 1-11 fits onto the piston 1-14 to form a gap seal, and the needle roller array 1-12 is placed between the housing 1-4 and the cavity 1-11 to form a seal. Rolling friction is generated; an internal air passage 1-8 is provided inside the housing 1-4; the internal air passage 1-8 is connected to the piston rod 1-10 and the piston 1-14, and external compressed gas enters the cavity through the internal air passage 1-8, achieving floating under the drive of air pressure; a drive plate 1-6 is installed inside the housing 1-4; the drive plate 1-6 is connected to the pressure sensor 1-9, the miniature solenoid valve 1-7 and the aviation connector 1-5 through electrical circuits, forming the core control unit of the internal control system; the pressure sensor 1-9 is installed on the internal air passage 1-8; the miniature solenoid valve 1-7 is connected in series in the internal air passage 1-8; the aviation connector 1-5 is fixed to the outside of the housing 1-4, and its internal pins are electrically connected to the drive plate 1-6.

[0007] Furthermore, the intelligent floating actuator 1 also includes a limit 1-3; fixedly disposed on the inner wall of the housing 1-4 or the outer side of the cavity 1-11, limiting the relative movement stroke between the cavity 1-11 and the housing 1-4.

[0008] Furthermore, the intelligent floating actuator 1 is electrically connected to the control system 5 via the connector 1-5; the control system 5 sets the pressure parameters of the intelligent floating actuator, controls the magnitude of the force applied by the actuator to the product surface in real time, detects and provides feedback on the operating status in real time during the grinding and polishing process, makes corresponding adjustments in an instant, and controls the constant output of the grinding force.

[0009] The beneficial effects of this utility model are as follows:

[0010] This utility model of intelligent floating force control grinding head can be composed of an electric spindle or a pneumatic grinding head and an intelligent floating force control. The intelligent floating force control is composed of an intelligent floating actuator and a control system. The intelligent floating actuator is based on pneumatic principle and can control the grinding tool to adjust in a timely manner according to the relative size difference of the surface, and maintain a constant force on the contact surface with the product being ground. This ensures that the product being ground will not have significant quality differences due to changes in its size or relative position, and ensures the consistency, stability and feasibility of automated grinding and polishing. Attached Figure Description

[0011] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0012] Figure 1 This is a diagram showing the state of the intelligent floating force-controlled grinding head of this utility model acting on the product being ground.

[0013] Figure 2 This is a schematic diagram of the overall structure of this utility model.

[0014] Figure 3 This is a schematic diagram of the structure of an intelligent floating actuator. Detailed Implementation

[0015] The technical solution of this utility model will be clearly and completely described below through specific embodiments.

[0016] refer to Figures 1-2 This invention relates to an intelligent floating force-controlled grinding head, comprising an intelligent floating actuator 1, a product to be ground 2, a grinding tool 3, a robot 4, and a control system 5. The intelligent floating actuator 1 is mounted on the robot 4, and the grinding tool 3 is mounted on the intelligent floating actuator 1 (the grinding tool 3 can be a manual tool-changing electric spindle, an automatic tool-changing electric spindle, a pneumatic grinding head, etc.). The grinding tool 3 acts on the product to be ground under the action of the intelligent floating actuator 1. The intelligent floating actuator 1 is electrically connected to the control system 5. The control system 5 can set pressure parameters and control the magnitude of the force applied to the product surface by the actuator in real time, ensuring that the force on the product surface is controlled within the required parameter range.

[0017] The intelligent floating actuator 1 includes an end flange 1-1, a dust cover 1-2, a housing 1-4, a connector 1-5, a drive plate 1-6, a miniature solenoid valve 1-7, an internal air passage 1-8, a pressure sensor 1-9, a piston rod 1-10, a cavity 1-11, a needle roller assembly 1-12, a sealing gasket 1-13, a piston 1-14, and hollow bolts 1-15. The end flange 1-1 and the cavity 1-11 are bolted together. The dust cover 1-2 is secured at both ends in grooves corresponding to the housing 1-4 and the end flange 1-1, preventing dust from damaging internal components. The piston 1-14 and the piston rod 1-10 are connected by hollow bolts 1-15. A sealing gasket 1-13 is placed between the piston 1-14 and the piston rod 1-10. The cavity 1-11 fits onto the piston 1-14 to form a gap seal. The needle roller assembly 1-12 is positioned between the housing 1-4 and the cavity 1-15. Rolling friction is formed between -11, reducing the impact of friction on the output force; an internal air passage 1-8 is set inside the housing 1-4; the internal air passage 1-8 is connected to the piston rod 1-10 and the piston 1-14, and external compressed gas enters the cavity through the internal air passage 1-8, achieving floating under the drive of air pressure; a drive plate 1-6 is installed inside the housing 1-4; the drive plate 1-6 is connected to the pressure sensor 1-9, the miniature solenoid valve 1-7 and the aviation connector 1-5 through electrical circuits, forming the core control unit of the internal control system, which can control the air intake of the internal air passage 1-8, thereby controlling the constant setting of the grinding pressure; the pressure sensor 1-9 is installed on the internal air passage 1-8; the miniature solenoid valve 1-7 is connected in series in the internal air passage 1-8; the aviation connector 1-5 is fixed to the outside of the housing 1-4, and its internal pins are electrically connected to the drive plate 1-6.

[0018] The intelligent floating actuator 1 also includes a limit 1-3; which is fixedly installed on the inner wall of the housing 1-4 or the outer side of the cavity 1-11 to limit the relative movement stroke between the cavity 1-11 and the housing 1-4.

[0019] The intelligent floating actuator 1 in this embodiment is based on pneumatic principle and can control the grinding tool 3 to adjust in a timely manner according to the relative size difference of the surface, and maintain a constant force on the contact surface with the product being ground 2. This ensures that the product being ground 2 will not have significant quality differences due to changes in its size or relative position, and ensures the consistency, stability and feasibility of automated grinding and polishing.

[0020] The intelligent floating actuator 1 is electrically connected to the control system 5 via the connector 1-5; the control system 5 sets the pressure parameters of the intelligent floating actuator, controls the magnitude of the force applied by the actuator to the product surface in real time, detects and provides feedback on the operating status in real time during the grinding and polishing process, makes corresponding adjustments in time, and controls the constant output of the grinding force.

[0021] During the polishing process in conjunction with robot 4, the intelligent floating actuator 1 monitors and provides feedback on the operating status in real time, making corresponding adjustments to control the constant output of polishing force. The algorithm of control system 5 counteracts the effects of its own weight and friction, ensuring that the polishing head is unaffected by the angular force during robot 4's operation, enabling it to polish the product from any angle in three dimensions.

[0022] 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. An intelligent floating force-controlled grinding head, characterized in that: The system comprises an intelligent floating actuator (1), a product to be polished (2), a polishing tool (3), and a robot (4); the intelligent floating actuator (1) is mounted on the robotic arm of the robot (4); the polishing tool (3) is mounted on the intelligent floating actuator (1), and the polishing tool (3) acts on the product to be polished (2) under the action of the intelligent floating actuator; the intelligent floating actuator (1) includes an end flange (1-1), a dust cover (1-2), a housing (1-4), a jet connector (1-5), a drive plate (1-6), a miniature solenoid valve (1-7), an internal air passage (1-8), a pressure sensor (1-9), a piston rod (1-10), a cavity (1-11), and a needle roller. (1-12), sealing gasket (1-13), piston (1-14), and hollow bolt (1-15); the end flange (1-1) and the cavity (1-11) are connected by bolts, and the dust cover (1-2) is respectively inserted into the grooves corresponding to the shell (1-4) and the end flange (1-1); the piston (1-14) and the piston rod (1-10) are connected by hollow bolt (1-15); a sealing gasket (1-13) is added between the piston (1-14) and the piston rod (1-10); the cavity (1-11) fits onto the piston (1-14) to form a gap seal, and the needle roller (1-12) is placed between the shell (1-4) and the cavity (1-11) to form rolling friction; An internal air passage (1-8) is provided inside the housing (1-4); the internal air passage (1-8) is connected to the piston rod (1-10) and the piston (1-14), and external compressed gas enters the cavity through the internal air passage (1-8) and floats under the drive of air pressure; a drive plate (1-6) is installed inside the housing (1-4); the drive plate (1-6) is connected to the pressure sensor (1-9), the miniature solenoid valve (1-7) and the aviation connector (1-5) through electrical circuits, forming the core control unit of the internal control system; the pressure sensor (1-9) is installed on the internal air passage (1-8); the miniature solenoid valve (1-7) is connected in series in the internal air passage (1-8); the aviation connector (1-5) is fixed on the outside of the housing (1-4), and its internal pins are electrically connected to the drive plate (1-6).

2. The intelligent floating force-controlled grinding head according to claim 1, characterized in that: The grinding tool (3) is a manual tool-changing electric spindle, an automatic tool-changing electric spindle, or a pneumatic grinding head.

3. The intelligent floating force-controlled grinding head according to claim 1, characterized in that: The intelligent floating actuator (1) also includes a limit (1-3); which is fixedly set on the inner wall of the housing (1-4) or the outer side of the cavity (1-11) to limit the relative movement stroke between the cavity (1-11) and the housing (1-4).

4. The intelligent floating force-controlled grinding head according to claim 1, characterized in that: The intelligent floating actuator (1) is electrically connected to the control system (5) via a connector (1-5); the control system (5) sets the pressure parameters of the intelligent floating actuator, controls the magnitude of the force applied by the actuator to the product surface in real time, detects and provides feedback on the operating status in real time during the grinding and polishing process, makes corresponding adjustments in time, and controls the constant output of the grinding force.

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