A floating polishing device

Abstract

The utility model discloses a kind of floating type polishing devices, it is related to robot polishing technical field, including axial floating subassembly and radial floating subassembly, radial floating subassembly includes first mounting bracket, second mounting bracket, third mounting bracket, rotary drive mechanism and output shaft, the output end of rotary drive mechanism and the one end of output shaft coaxially detachable connection, output shaft is rotatably connected on third mounting bracket;Joint bearing is set between the outside of third mounting bracket and the inside of first mounting bracket;Several floating rods that can be reset along length direction are slidably connected on second mounting bracket, and the end of floating rod away from second mounting bracket acts on third mounting bracket.The utility model can make the polishing tool installed on output shaft not only axial floating in polishing process, but also radial floating, to adapt in the workpiece surface of complex curvature and complex profile and carry out polishing, to solve the problem that existing polishing device flexibility is single and poor adaptability.

Description

Technical Field

[0001] This utility model belongs to the field of robotic polishing technology, and in particular relates to a floating polishing device. Background Technology

[0002] In the field of robotic grinding technology, with the improvement of industrial automation, the demand for grinding complex curved surfaces and irregular workpieces has surged, which puts forward higher requirements for the flexible adjustment and adaptability of grinding equipment.

[0003] Existing grinding devices mostly adopt a single axial flexible floating structure, while radial floating is designed with a fixed stroke and cannot flexibly adjust the floating range according to the working conditions, which has the technical limitation of single flexible adjustment. At the same time, existing grinding devices are difficult to achieve axial and radial coordinated flexible control, have poor versatility, and cannot be adapted to grinding workpieces with different specifications and curved surface features. During operation, jamming and floating lag are prone to occur, which seriously affect grinding accuracy and operational stability, and restrict the overall processing efficiency and finished product quality. Utility Model Content To overcome the shortcomings of the prior art, this utility model provides a floating grinding device that can realize the axial and radial floating of the grinding tool and is suitable for grinding workpiece surfaces with complex curvature and profile.

[0004] The objective of this utility model is achieved through the following technical solution: A floating grinding device includes an axial floating assembly and a radial floating assembly. The radial floating assembly includes a first mounting bracket, a second mounting bracket, a third mounting bracket, a rotation drive mechanism, and an output shaft for mounting grinding tools. The first and second mounting brackets are fixedly connected to the floating end of the axial floating assembly. The fixed end of the rotary drive mechanism is fixedly connected to one end of the third mounting bracket. The output end of the rotary drive mechanism is coaxially and detachably connected to one end of the output shaft. The output shaft is rotatably connected to the third mounting bracket and its relative position to the third mounting bracket in the axial direction is fixed. A spherical bearing is provided between the outer side of the third mounting bracket and the inner side of the first mounting bracket. The inner ring axis of the spherical bearing coincides with the axis of the output shaft, and the outer ring axis of the spherical bearing is aligned with the floating direction of the axial floating assembly output. The second mounting bracket has several floating rods that can be reset along the length direction. The end of the floating rod away from the second mounting bracket acts on the third mounting bracket. The floating rods are arranged circumferentially along the axis of the outer ring of the spherical bearing, and the axes of all the floating rods intersect the axis of the outer ring of the spherical bearing.

[0005] Furthermore, the second mounting bracket has several glands threadedly connected to it, and a spring is provided between the gland and the floating rod, with one end of the spring sleeved on the gland; the axial direction of the thread on the gland and the length direction of the spring are both matched with the axial direction of the floating rod.

[0006] Furthermore, the second mounting bracket is equipped with several first displacement sensors, each used to detect the radial floating displacement of several floating rods. Furthermore, the axial floating assembly includes a first mounting plate and a second displacement sensor for detecting the axial floating displacement of the first mounting plate, with a first mounting bracket and a second mounting bracket fixedly connected to the first mounting plate.

[0007] Furthermore, the radial floating assembly includes a first deep groove ball bearing, a second deep groove ball bearing, and a flat bearing mounted on the output shaft, and the output shaft is rotatably connected to the third mounting bracket via the first deep groove ball bearing, the second deep groove ball bearing, and the flat bearing.

[0008] Furthermore, a limiting shoulder is provided at one end of the output shaft, and a bushing, a first limiting ring and a second limiting ring are sequentially fitted at the other end of the output shaft. The two ends of the first deep groove ball bearing abut against the limiting shoulder and one end of the bushing, respectively. The two ends of the second deep groove ball bearing abut against the other end of the bushing and one end of the first limiting ring, respectively. The two ends of the planar bearing abut against the other end of the first limiting ring and one end of the second limiting ring, respectively. One end of the third mounting bracket is detachably connected to an end cap for abutting the other end of the second limiting ring, and the end of the output shaft away from the rotation drive mechanism extends out of the end cap.

[0009] Furthermore, a skeleton oil seal is provided between the inner side of the end cover and the outer side of the output shaft.

[0010] Furthermore, a first protective cover is provided between one end of the third mounting bracket and the end of the first mounting bracket away from the second mounting bracket, a second protective cover is provided between the other end of the third mounting bracket and the end of the second mounting bracket away from the first mounting bracket, and a third protective cover is provided between the first mounting bracket and the second mounting bracket, with the first protective cover, the second protective cover and the third protective cover covering the third mounting bracket.

[0011] Furthermore, the third protective cover is provided with an external interface for connecting an external air source; wherein, the air source supplies air into the third protective cover to create positive pressure inside the third protective cover and the third mounting bracket.

[0012] Furthermore, a connecting pin is provided through the outer ring of the spherical plain bearing, and a connecting groove is provided on the outer side of the inner ring of the spherical plain bearing along the axial direction, with one end of the connecting pin extending into the connecting groove.

[0013] The beneficial effects of this utility model are as follows: By combining the radial floating component with the axial floating component, the grinding tool mounted on the output shaft can float not only axially but also radially during the grinding process, so as to adapt to grinding workpiece surfaces with complex curvature and profiles. This solves the problems of limited flexibility and poor adaptability of existing grinding devices. Attached Figure Description

[0014] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings. Wherein: Figure 1 This shows a schematic diagram of the radial floating component in this invention; Figure 2 Showing Figure 1 Sectional view at point AA; Figure 3 Showing Figure 2 A magnified view of a section at point B in the middle; Figure 4 This invention shows a schematic diagram of the connection of the spherical bearing. Figure 5 This invention displays a schematic diagram of the axial floating component. Figure 6 This shows a top view of the axial floating assembly of this utility model after the first mounting plate has been removed; Figure 7 The image shows a bottom view of the axial floating component of this invention; Figure 8 A schematic diagram of the structure of this utility model is shown; In the accompanying drawings, the same parts use the same reference numerals. The drawings are not to scale.

[0015] Figure label: 1. Radial floating assembly; 101. Rotary drive mechanism; 102. Adapter plate; 103. Third mounting bracket; 104. First protective cover; 105. First mounting bracket; 106. Third protective cover; 107. Output shaft; 108. End cover; 109. Second protective cover; 110. Flange protective cover; 111. Second mounting bracket; 112. Connecting pin; 113. Floating rod; 114. Spherical plain bearing; 115. First deep groove ball bearing; 116. Bushing; 117. Second deep groove ball bearing; 118. First limiting ring; 119. Surface bearing; 120. Second limit ring; 121. Skeleton oil seal; 122. Spring; 123. First displacement sensor; 124. Pressure cap; 2. Axial floating assembly; 201. Flange mounting plate; 202. Floating cylinder; 203. Limit proximity switch; 204. Universal joint; 205. Floating support block; 206. Linear guide rail; 207. First mounting plate; 208. Second displacement sensor; 209. Second limit stop; 210. First limit stop; 211. Second mounting plate; 212. Protective brush; 213. Fourth protective cover; 3. Grinding tool. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings.

[0017] This utility model provides a floating grinding device, such as Figures 1 to 8 As shown, it includes an axial floating component 2 and a radial floating component 1; The axial floating assembly 2 may include a first mounting plate 207 and a second mounting plate 211. One end face of the second mounting plate 211 is mounted on the end flange of the industrial robot via a flange mounting plate 201. A floating cylinder 202 is also fixedly connected to one end face of the second mounting plate 211. The piston rod of the floating cylinder 202 extends and retracts axially, and its end is connected to a floating support block 205 via a universal joint 204. The floating support block 205 is fixedly connected to the first mounting plate 207. The first mounting plate 207 is slidably connected to the other end face of the second mounting plate 211 via two axially extending linear guides 206. The axial floating assembly 2 may also adopt the device disclosed in the authorization announcement number CN209954448U. The radial floating assembly 1 includes a first mounting bracket 105, a second mounting bracket 111, a third mounting bracket 103, a rotation drive mechanism 101, and an output shaft 107 for mounting grinding tools 3 such as grinding wheels. The rotation drive mechanism 101 can be a pneumatic motor. The first mounting bracket 105 and the second mounting bracket 111 are fixedly connected to the first mounting plate 207. The fixed end of the rotation drive mechanism 101 is fixedly connected to one end of the third mounting bracket 103 via the adapter plate 102; the output end of the rotation drive mechanism 101 is coaxially connected to one end of the output shaft 107 via a key, so that the output shaft 107 rotates together with the pneumatic motor; the output shaft 107 is rotatably connected to the third mounting bracket 103 and its relative position to the third mounting bracket 103 in the axial direction is fixed. A spherical bearing 114 is provided between the outer side of the third mounting bracket 103 and the inner side of the first mounting bracket 105. The inner ring axis of the spherical bearing 114 coincides with the axis of the output shaft 107, and the outer ring axis direction of the spherical bearing 114 matches the floating direction output by the axial floating assembly 2. Eight floating rods 113 that can be reset along the length direction are slidably connected to the second mounting bracket 111. The end of the floating rod 113 away from the second mounting bracket 111 acts on the third mounting bracket 103. Several floating rods 113 are arranged circumferentially along the outer ring axis of the spherical bearing 114, and the axes of all floating rods 113 intersect the axis of the outer ring of the spherical bearing 114.

[0018] It is understandable that by combining the radial floating component 1 with the axial floating component 2, the grinding tool 3 installed on the output shaft 107 can not only float axially but also radially during the grinding process, so as to adapt to grinding on the surface of workpieces with complex curvature and complex profiles, thereby solving the problems of single flexible adjustment and poor adaptability of the existing grinding device.

[0019] In one embodiment, such as Figures 1 to 3 As shown, eight pressure caps 124 are threaded onto the second mounting bracket 111. A spring 122 is provided between the pressure cap 124 and the floating rod 113, with one end of the spring 122 sleeved on the pressure cap 124. The axial direction of the thread on the pressure cap 124 and the length direction of the spring 122 are both matched with the axial direction of the floating rod 113. A retaining ring is provided in the middle of the floating rod 113, and the retaining ring is located inside the second mounting bracket 111 to prevent the floating rod 113 from coming out of the second mounting bracket 111 as a whole. In addition, the spring 122 may be located between the pressure cap 124 and the retaining ring.

[0020] It should be noted that the pressure exerted by the spring 122 on the floating rod 113 can be adjusted by turning the pressure cap 124.

[0021] It should also be noted that a channel can be provided on the second mounting bracket 111 to allow gas to be introduced and the floating rod 113 to be controlled to float by air pressure.

[0022] Because the radial floating structure of existing grinding devices lacks effective control components and real-time feedback mechanisms, it can only float passively and cannot detect the floating stroke, which easily leads to insufficient radial accuracy and uneven constant force output. When grinding complex workpieces, it is easy to cause surface damage or incomplete grinding due to pressure imbalance. Therefore, this utility model provides eight first displacement sensors 123 on the second mounting bracket 111 for detecting the radial floating displacement of eight floating rods 113. The first displacement sensors 123 can be mounted on the second mounting bracket 111 through sensor mounting panels and located outside the pressure cover 124. The end of the floating rod 113 away from the third mounting bracket 103 can pass through the pressure cover 124. The detection end of the first displacement sensor 123 can face the floating rod 113 and detect the displacement of the part of the floating rod 113 that passes through it. In addition, a flange protective cover 110 can be provided on the second mounting bracket 111 to cover all the sensor mounting panels and other components inside.

[0023] It is understandable that the radial floating range can be controlled by the extension distance of the eight floating rods 113 that are evenly distributed circumferentially inside the flange cover 110, and the first displacement sensor 123 can detect the radial floating displacement of the floating rods 113, which makes it more convenient and flexible to control the radial floating force.

[0024] In one embodiment, such as Figures 5 to 8 As shown, the axial floating assembly 2 includes a second displacement sensor 208 fixedly connected to the other end face of the second mounting plate 211. The detection end of the second displacement sensor 208 can face the floating support block 205 and perform displacement detection on the floating support block 205 in order to obtain the axial floating displacement of the first mounting plate 207.

[0025] It should be noted that the axial floating assembly 2 also includes two limit proximity switches 203 fixedly connected to the second mounting plate 211, and two trigger plates are provided on the first mounting plate 207; wherein, when the first mounting plate 207 is displaced to the limit position relative to the second mounting plate 211 along one axial direction, one trigger plate triggers one limit proximity switch 203; when the first mounting plate 207 is displaced to the limit position relative to the second mounting plate 211 along another opposite axial direction, the other trigger plate triggers the other limit proximity switch 203. In addition, a first limiting block 210 is fixedly connected to the end of the first mounting plate 207 near the second mounting plate 211, and a second limiting block 209 is fixedly connected to the end of the second mounting plate 211 near the first mounting plate 207. When the floating cylinder 202 extends to its limit position, the second limiting block 209 can block the first limiting block 210.

[0026] It should also be noted that the side of the first mounting plate 207 is provided with a protective brush 212 extending to the second mounting plate 211, and the end of the second mounting plate 211 away from the first mounting plate 207 and the ends of the first mounting plate 207 and the second mounting plate 211 are provided with a fourth protective cover 213 to cover and protect the floating cylinder 202, the upper limit proximity switch 203, the lower limit proximity switch 203, the floating support block 205, the linear guide rail 206 and the second displacement sensor 208.

[0027] In one embodiment, such as Figure 2 and Figure 3 As shown, the radial floating assembly 1 includes a first deep groove ball bearing 115, a second deep groove ball bearing 117 and a flat bearing 119 sleeved on the output shaft 107. The output shaft 107 is rotatably connected to the third mounting bracket 103 through the first deep groove ball bearing 115, the second deep groove ball bearing 117 and the flat bearing 119.

[0028] In one embodiment, a limiting shoulder is provided at one end of the output shaft 107, and a bushing 116, a first limiting ring 118, and a second limiting ring 120 are sequentially fitted at the other end of the output shaft 107. The two ends of the first deep groove ball bearing 115 abut against the limiting shoulder and one end of the bushing 116, respectively. The two ends of the second deep groove ball bearing 117 abut against the other end of the bushing 116 and one end of the first limiting ring 118, respectively. The two ends of the flat bearing 119 abut against the other end of the first limiting ring 118 and one end of the second limiting ring 120, respectively. One end of the third mounting bracket 103 is detachably connected to an end cap 108 for abutting against the other end of the second limiting ring 120, and the end of the output shaft 107 away from the rotation drive mechanism 101 extends out of the end cap 108. This arrangement allows radial and axial floating to be transmitted and realized, thereby facilitating the axial and radial floating control of the entire output shaft 107.

[0029] In one embodiment, a skeleton oil seal 121 is provided between the inner side of the end cap 108 and the outer side of the output shaft 107; a first protective cover 104 is provided between one end of the third mounting bracket 103 and the end of the first mounting bracket 105 away from the second mounting bracket 111; a second protective cover 109 is provided between the other end of the third mounting bracket 103 and the end of the second mounting bracket 111 away from the first mounting bracket 105; a third protective cover 106 is provided between the first mounting bracket 105 and the second mounting bracket 111; and the first protective cover 104, the second protective cover 109, and the third protective cover 106 cover the third mounting bracket 103.

[0030] Understandably, this configuration can reduce the amount of dust entering the first protective cover 104, the second protective cover 109, the third protective cover 106, and the third mounting bracket 103 to a certain extent, thereby reducing the impact on the operation of components such as the pneumatic motor, output shaft 107, spherical plain bearing 114, first deep groove ball bearing 115, second deep groove ball bearing 117, and flat bearing 119.

[0031] In one embodiment, the third protective cover 106 is provided with an external interface for connecting an external air source, and the bushing 116 and the third mounting bracket 103 are respectively provided with channels; wherein, the air source supplies air into the third protective cover 106 to create positive pressure inside the first protective cover 104, the second protective cover 109, the third protective cover 106 and the third mounting bracket 103, thereby preventing dust during the grinding process from entering the first protective cover 104, the second protective cover 109, the third protective cover 106 and the third mounting bracket 103 and affecting the normal operation of components such as the pneumatic motor, the output shaft 107, the spherical bearing 114, the first deep groove ball bearing 115, the second deep groove ball bearing 117 and the flat bearing 119, and thus preventing dust from affecting the working state of the grinding device.

[0032] In one embodiment, such as Figures 1 to 4 As shown, a connecting pin 112 is provided on the outer ring of the spherical plain bearing 114, and a connecting groove is provided on the outer side of the inner ring of the spherical plain bearing 114 along the axial direction. One end of the connecting pin 112 extends into the connecting groove so that the spherical plain bearing 114 can meet the radial floating requirement and effectively prevent it from rotating with the output shaft 107. The groove width of the connecting groove matches the shaft diameter of the connecting pin 112.

[0033] In the description of this utility model, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0034] While specific embodiments of the present invention have been described herein with reference to them, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A floating polishing device, characterized by, It includes an axial floating assembly (2) and a radial floating assembly (1). The radial floating assembly (1) includes a first mounting bracket (105), a second mounting bracket (111), a third mounting bracket (103), a rotation drive mechanism (101), and an output shaft (107) for mounting a grinding tool (3). The first mounting bracket (105) and the second mounting bracket (111) are fixedly connected to the floating end of the axial floating assembly (2). The fixed end of the rotation drive mechanism (101) is fixedly connected to one end of the third mounting bracket (103). The output end of the rotation drive mechanism (101) is coaxially and detachably connected to one end of the output shaft (107). The output shaft (107) is rotatably connected to the third mounting bracket (103) and its relative position to the third mounting bracket (103) in the axial direction is fixed. A spherical bearing (114) is provided between the outer side of the third mounting bracket (103) and the inner side of the first mounting bracket (105). The inner ring axis of the spherical bearing (114) coincides with the axis of the output shaft (107), and the outer ring axis direction of the spherical bearing (114) matches the floating direction output by the axial floating assembly (2). The second mounting bracket (111) is slidably connected with a plurality of floating rods (113) that can be reset along the length direction. The end of the floating rod (113) away from the second mounting bracket (111) acts on the third mounting bracket (103). The plurality of floating rods (113) are arranged circumferentially along the outer ring axis of the spherical bearing (114), and the axes of all the floating rods (113) intersect the axis of the outer ring of the spherical bearing (114).

2. A floating sander as defined in claim 1, wherein The second mounting bracket (111) is threaded with several pressure caps (124), and a spring (122) is provided between the pressure cap (124) and the floating rod (113). One end of the spring (122) is sleeved on the pressure cap (124). The axial direction of the thread on the pressure cap (124) and the length direction of the spring (122) are both matched with the axial direction of the floating rod (113).

3. A floating sander as claimed in claim 1 or 2, wherein The second mounting bracket (111) is provided with a plurality of first displacement sensors (123) for detecting the radial floating displacement of the plurality of floating rods (113).

4. A floating sander as defined in claim 3, wherein The axial floating assembly (2) includes a first mounting plate (207) and a second displacement sensor (208) for detecting the axial floating displacement of the first mounting plate (207). The first mounting bracket (105) and the second mounting bracket (111) are fixedly connected to the first mounting plate (207).

5. A floating sander as defined in claim 1, wherein, The radial floating assembly (1) includes a first deep groove ball bearing (115), a second deep groove ball bearing (117), and a flat bearing (119) sleeved on the output shaft (107). The output shaft (107) is rotatably connected to the third mounting bracket (103) via the first deep groove ball bearing (115), the second deep groove ball bearing (117), and the flat bearing (119).

6. A floating sander as defined in claim 5, wherein, One end of the output shaft (107) is provided with a limiting shoulder, and the other end of the output shaft (107) is sequentially fitted with a bushing (116), a first limiting ring (118) and a second limiting ring (120). The two ends of the first deep groove ball bearing (115) abut against the limiting shoulder and one end of the bushing (116), respectively. The two ends of the second deep groove ball bearing (117) abut against the other end of the bushing (116) and one end of the first limiting ring (118), respectively. The two ends of the flat bearing (119) abut against the other end of the first limiting ring (118) and one end of the second limiting ring (120), respectively. One end of the third mounting bracket (103) is detachably connected to an end cap (108) for abutting against the other end of the second limiting ring (120), and the end of the output shaft (107) away from the rotation drive mechanism (101) extends out of the end cap (108).

7. A floating sander as defined in claim 6, wherein A skeleton oil seal (121) is provided between the inner side of the end cap (108) and the outer side of the output shaft (107).

8. A floating sander as claimed in claim 1 or 6, wherein A first protective cover (104) is provided between one end of the third mounting bracket (103) and the end of the first mounting bracket (105) away from the second mounting bracket (111). A second protective cover (109) is provided between the other end of the third mounting bracket (103) and the end of the second mounting bracket (111) away from the first mounting bracket (105). A third protective cover (106) is provided between the first mounting bracket (105) and the second mounting bracket (111). The first protective cover (104), the second protective cover (109) and the third protective cover (106) cover the third mounting bracket (103).

9. A floating sander as defined in claim 8, wherein, The third protective cover (106) is provided with an external interface for connecting an external air source; wherein, the air source supplies air into the third protective cover (106) so that positive pressure is formed inside the third protective cover (106) and the third mounting bracket (103).

10. A floating sander as defined in claim 1, wherein, The outer ring of the spherical bearing (114) is provided with a connecting pin (112), and the outer side of the inner ring of the spherical bearing (114) is provided with a connecting groove along the axial direction. One end of the connecting pin (112) extends into the connecting groove.

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