CN214923241U - Industrial robot's terminal gentle and agreeable grinding tool passively - Google Patents
Industrial robot's terminal gentle and agreeable grinding tool passively Download PDFInfo
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- CN214923241U CN214923241U CN202121296321.2U CN202121296321U CN214923241U CN 214923241 U CN214923241 U CN 214923241U CN 202121296321 U CN202121296321 U CN 202121296321U CN 214923241 U CN214923241 U CN 214923241U
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- industrial robot
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- 238000007667 floating Methods 0.000 claims abstract description 14
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000035939 shock Effects 0.000 claims description 2
- 239000003292 glue Substances 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 2
- 238000005498 polishing Methods 0.000 description 16
- 238000012545 processing Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 244000137852 Petrea volubilis Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
本实用新型公开了一种工业机器人的末端被动柔顺打磨工具，包括机器人安装板、导向浮动装置及砂轮；所述导向浮动装置包括外壳套筒、上盖板、下盖板、气动马达、滚珠导向轴、气动马达安装板及气动马达固定板；所述上盖板及下盖板分别设置在外壳套筒的两端位置处，所述滚珠导向轴设置在上盖板与下盖板之间，所述气动马达安装板及气动马达固定板分别通过滚珠花键轴承穿设在滚珠导向轴上，所述气动马达一端固定在气动马达安装板上，另一端穿设在气动马达固定板上；本实用新型有着极好的适应能力，能够把工人从一些危险恶劣的工作环境中替换出来，保证了人的安全性。
The utility model discloses a passively compliant grinding tool for an industrial robot, comprising a robot mounting plate, a guiding floating device and a grinding wheel; the guiding floating device comprises a casing sleeve, an upper cover plate, a lower cover plate, a pneumatic motor, and a ball guide. shaft, air motor mounting plate and air motor fixing plate; the upper cover plate and the lower cover plate are respectively arranged at the two ends of the casing sleeve, and the ball guide shaft is arranged between the upper cover plate and the lower cover plate, The air motor mounting plate and the air motor fixing plate are respectively penetrated on the ball guide shaft through ball spline bearings, one end of the air motor is fixed on the air motor installation plate, and the other end is penetrated on the air motor fixing plate; The utility model has excellent adaptability, can replace workers from some dangerous and harsh working environments, and ensure the safety of people.
Description
Technical Field
The utility model relates to a machining equipment technical field, concretely relates to industrial robot's terminal gentle and agreeable grinding tool passively.
Background
With the rapid development of the robot technology, the robot polishing technology is more and more widely applied. Therefore, it is necessary to develop an active and passive flexible polishing system based on an industrial robot, so as to further improve the polishing surface quality and polishing efficiency, and simultaneously release workers from the heavy working conditions and the severe working environment. Against the background of industrial robot application and intelligent manufacturing, a terminal passive compliant polishing tool in a robot active and passive flexible polishing system is designed. Considering protecting industrial robot under some stress sudden change circumstances of processing to compensate the instrument wearing and tearing of polishing, unidirectional flexibility is when considering the requirement of polishing of high accuracy, to terminal attitude control's accuracy, reaches to improve the quality of polishing, promotes the processing automation of polishing, liberates the workman from heavy station simultaneously.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem existing in the prior art, the utility model provides a terminal passive gentle and agreeable grinding tool of industrial robot of rational in infrastructure design.
The technical scheme of the utility model as follows:
a passive compliant polishing tool at the tail end of an industrial robot comprises a robot mounting plate, a guide floating device and a grinding wheel; the guiding floating device comprises a shell sleeve, an upper cover plate, a lower cover plate, a pneumatic motor, a ball guiding shaft, a pneumatic motor mounting plate and a pneumatic motor fixing plate; the upper cover plate and the lower cover plate are respectively arranged at two ends of the shell sleeve, the ball guide shaft is arranged between the upper cover plate and the lower cover plate, the pneumatic motor mounting plate and the pneumatic motor fixing plate are respectively arranged on the ball guide shaft in a penetrating manner through a ball spline bearing, one end of the pneumatic motor is fixed on the pneumatic motor mounting plate, and the other end of the pneumatic motor is arranged on the pneumatic motor fixing plate in a penetrating manner; the ball guide shaft is provided with a fixing ring above the pneumatic motor fixing plate, and the ball guide shaft is provided with a rectangular spiral spring between the pneumatic motor fixing plate and the fixing ring.
Furthermore, a force sensor is arranged between the guiding floating device and the robot mounting plate.
Furthermore, a damping rubber sleeve is arranged between the upper cover plate and the shell sleeve; and a dustproof rubber sleeve is arranged between the lower cover plate and the shell sleeve.
Furthermore, a bearing seat is arranged at the bottom of a pneumatic motor mounting plate of the pneumatic motor, and an output shaft of the pneumatic motor penetrates through the lower cover plate to be in transmission connection with the grinding wheel.
Furthermore, a grinding wheel connecting rod is fixedly arranged on the grinding wheel through a bolt, and the grinding wheel connecting rod is connected with an output shaft of the pneumatic motor through a coupler.
Furthermore, the bottom end of the ball guide shaft is provided with a limiting block, one end of the ball guide shaft is limited and installed on the lower cover plate through the limiting block, and the other end of the ball guide shaft is installed on the upper cover plate.
The utility model has the advantages that:
1) make through ball spline bearing, ball guiding axle and rectangle coil spring the utility model discloses realize the unsteady function of axial flexibility, and the ball guiding axle has rectangle coil spring, realizes the direction and supports, and the adaptation that can be better polishes the unsteady requirement of axial of this type of uncertain high frequency vibration, has better reliability and compliance to the accessible realizes pretightning force and the spacing design of stroke to the adjustment of retainer ring position, and has guaranteed the stroke of device.
2) Pneumatic motor and ball guide shaft are connected with two sets of ball spline bearings, can reach and bear the moment of torsion of whole device on the one hand, restrict the torsion at both ends about the whole device on the one hand, reach the motion that only has a degree of freedom, unidirectional flexibility, make it protect industrial robot under the certain stress sudden change condition of processing, and compensate the instrument wearing and tearing of polishing, and when considering the requirement of polishing at the high accuracy, to terminal attitude control's accuracy, reach and improve the quality of polishing, promote the automation of processing of polishing process.
3) The utility model discloses there is fabulous adaptability, can replace the workman out from some dangerous abominable operational environment, guaranteed people's security.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic perspective view of the guiding floating device of the present invention;
fig. 3 is a schematic view of the installation structure of the guiding floating device of the present invention;
FIG. 4 is a schematic structural view of the grinding wheel of the present invention;
in the figure: 1. a robot mounting plate; 2. a force sensor; 3. an upper cover plate; 4. a shock pad; 5. a guiding floating device; 51. a housing sleeve; 52. a fixing ring; 53. a rectangular coil spring; 54. a pneumatic motor fixing plate; 55. a ball spline bearing; 56. a ball guide shaft; 57. a ball spline bearing; 58. a pneumatic motor mounting plate; 59. a limiting block; 6. a lower cover plate; 7. a coupling; 8. a grinding wheel connecting rod; 9. a grinding wheel; 10. a pneumatic motor; 11. and a bearing seat.
Detailed Description
The invention is further described with reference to the accompanying drawings.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
As shown in fig. 1-4, the end passive compliant grinding tool of an industrial robot comprises a pneumatic motor 10 arranged on a pneumatic motor mounting plate for grinding, and a grinding wheel 11; a ball guide shaft 56 provided on the upper cover plate 3 and the lower cover plate 6 of the housing sleeve for guiding, a ball spline bearing 57 provided on the air motor mounting plate 58 for cooperating with the ball guide shaft 56, a fixing ring 53 and a rectangular coil spring 53 provided on the ball guide shaft 56, and a force sensor 2 connected between the upper cover plate 3 and the robot connecting plate 1 by a plurality of sets of bolts for transmitting force,
the force sensing device 2 is a six-dimensional force sensor, the rectangular spiral spring 53 adjusts the elongation of the grinding wheel 9 in real time through compression, the control and adjustment of force during the grinding operation of the robot can be better realized, the flexibility is good, and the abrasion of the grinding wheel can be compensated.
The guiding floating device 5 comprises an air motor 10 arranged on an air motor mounting plate 54 and used for grinding and driving, a ball guiding shaft 56 arranged between an upper cover plate 3 and a lower cover plate 6 of a shell sleeve 51 and used for guiding, a ball spline bearing 55 arranged on the air motor mounting plate 58 and an air motor fixing plate 54 and used for being matched with the ball guiding shaft 56, a fixing ring 52 arranged on the ball guiding shaft 56 and a rectangular spiral spring 53.
The guiding floating device 5 is connected and fixed by bolts at the lower side of the force sensing device 2 (force sensor), the pneumatic motor 10 can be replaced by other power drivers such as an electric grinder, and the grinding wheel 9 can be replaced by other types such as sand paper.
In order to ensure that the stroke of the guiding floating device 5 is between 0 mm and 15mm, the ball spline bearing 55, the fixing ring 52 and the rectangular spiral spring 53 are coaxially connected by two groups of guiding shafts 56, so that the torque of the whole device can be borne on one hand, the torsion of the upper end and the lower end of the whole device is limited on the other hand, one ends of the two guiding shafts 56 are arranged in the groove of the upper cover plate 3, the other ends of the two guiding shafts are arranged in the groove of the lower cover plate 6, the movement with only one degree of freedom is achieved, and the operation precision and the quality of the device are greatly improved.
The upper cover plate 3 is connected to the shell sleeve 51 through a plurality of groups of bolts, the lower cover plate 6 is connected to the shell sleeve 51 through a plurality of groups of bolts, and the torque transmitted by the two groups of guide shafts 56 at the tail end of the polishing is borne through a plurality of groups of bolts.
The pneumatic motor 10 is connected to the pneumatic motor mounting plate 58 through a plurality of groups of bolts, the bearing seat 11 arranged on the pneumatic motor mounting plate 58 circumferentially fixes the output shaft of the pneumatic motor to reduce the influence of circumferential force on the output shaft of the pneumatic motor, the reliability and the service life of the pneumatic motor are improved, the coupler 7 arranged between the output shaft of the pneumatic motor and the grinding wheel connecting rod bears the motion and the torque, the two shafts are enabled to rotate together, and the grinding wheel connecting rod 8 is connected with the grinding wheel 9 through the bolt 91 arranged on the grinding wheel connecting rod 8.
The utility model discloses a use method: firstly, before starting, the relative position of the fixing ring 52 on the two groups of ball guide shafts 56 is adjusted according to requirements, and then the compression amount of the rectangular coil spring 53 is changed, so that a certain pressure exists between the fixing ring 52 and the air motor fixing plate 54. Two sets of guide shafts 56 coaxially connect the ball spline bearing 55, the fixing ring 52 and the rectangular coil spring 53, so that the torque of the whole device is borne on one hand, the torsion of the upper end and the lower end of the whole device is limited on the other hand, one ends of the two guide shafts are arranged in the grooves of the upper cover plate 3, and the other ends of the two guide shafts are arranged in the grooves of the lower cover plate 6. When the force is too large during the processing, the pneumatic motor 10, the pneumatic motor fixing plate 54 and the mounting plate pneumatic motor 58 move upwards to compress the rectangular spiral spring 53, so that the grinding wheel 9 moves upwards to buffer the force to protect the robot, and the service life of the robot and the reliability of equipment are improved. When the grinding wheel 9 is worn, the contact force is reduced, the compression amount of the rectangular spiral spring 53 is released, the grinding wheel 9 moves downwards, the abrasion amount is compensated, and the processing precision and efficiency are guaranteed. Meanwhile, a force sensor device is arranged above the device, so that the upper computer can acquire the current stress condition in real time, and a polishing path is made, and the quality and the precision of machining are further improved by adjusting the robot.
It should be understood that the above description of the embodiments of the present invention is only for illustrating the technical lines and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention accordingly, but the present invention is not limited to the above specific embodiments. All changes and modifications that come within the scope of the claims are to be embraced within their scope.
Claims (6)
1. A passive compliant grinding tool for the tail end of an industrial robot is characterized by comprising a robot mounting plate (1), a guide floating device (5) and a grinding wheel (9); the guiding floating device (5) comprises a shell sleeve (51), an upper cover plate (3), a lower cover plate (6), a pneumatic motor (10), a ball guiding shaft (56), a pneumatic motor mounting plate (58) and a pneumatic motor fixing plate (54); the upper cover plate (3) and the lower cover plate (6) are respectively arranged at two ends of the shell sleeve (51), the ball guide shaft (56) is arranged between the upper cover plate (3) and the lower cover plate (6), the pneumatic motor mounting plate (58) and the pneumatic motor fixing plate (54) are respectively arranged on the ball guide shaft (56) in a penetrating manner through the ball spline bearing (55), one end of the pneumatic motor (10) is fixed on the pneumatic motor mounting plate (58), and the other end of the pneumatic motor (10) is arranged on the pneumatic motor fixing plate (54) in a penetrating manner; the ball guide shaft (56) is provided with a fixing ring (52) above the pneumatic motor fixing plate (54), and the ball guide shaft (56) is provided with a rectangular spiral spring (53) between the pneumatic motor fixing plate (54) and the fixing ring (52).
2. An end passive compliant grinding tool of an industrial robot according to claim 1 characterized in that a force sensor (2) is provided between the guiding floating device (5) and the robot mounting plate (1).
3. An industrial robot's end passive compliant sanding tool as defined in claim 1, characterized in that a shock absorbing glue sleeve (4) is provided between the upper cover plate (3) and the housing sleeve (51); and a dustproof rubber sleeve is arranged between the lower cover plate (6) and the shell sleeve (51).
4. The end passive compliant grinding tool of an industrial robot according to claim 1, characterized in that the bottom of the pneumatic motor mounting plate (58) of the pneumatic motor (10) is provided with a bearing seat (11), and the output shaft of the pneumatic motor (10) passes through the lower cover plate (6) and is in transmission connection with the grinding wheel (9).
5. The end passive compliant grinding tool of an industrial robot according to claim 1, characterized in that the grinding wheel (9) is fixedly provided with a grinding wheel connecting rod (8) through a bolt (91), and the grinding wheel connecting rod (8) is connected with the output shaft of the pneumatic motor (10) through a coupling (7).
6. The end passive compliant grinding tool of an industrial robot according to claim 1, characterized in that the ball guide shaft (56) is provided with a stopper (59) at the bottom end, one end of the ball guide shaft (56) is mounted on the lower cover plate (6) in a limiting way through the stopper (59), and the other end is mounted on the upper cover plate (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121296321.2U CN214923241U (en) | 2021-06-10 | 2021-06-10 | Industrial robot's terminal gentle and agreeable grinding tool passively |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121296321.2U CN214923241U (en) | 2021-06-10 | 2021-06-10 | Industrial robot's terminal gentle and agreeable grinding tool passively |
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| Publication Number | Publication Date |
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| CN214923241U true CN214923241U (en) | 2021-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121296321.2U Active CN214923241U (en) | 2021-06-10 | 2021-06-10 | Industrial robot's terminal gentle and agreeable grinding tool passively |
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| CN (1) | CN214923241U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029934A (en) * | 2021-12-11 | 2022-02-11 | 浙江工业大学 | A universal active radially compliant constant force end effector and its working method |
-
2021
- 2021-06-10 CN CN202121296321.2U patent/CN214923241U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029934A (en) * | 2021-12-11 | 2022-02-11 | 浙江工业大学 | A universal active radially compliant constant force end effector and its working method |
| CN114029934B (en) * | 2021-12-11 | 2023-08-15 | 浙江工业大学 | Universal active radial compliant constant force end effector and working method thereof |
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