CN103753363B - The flexible adaptive mechanism of angle grinding machine - Google Patents
The flexible adaptive mechanism of angle grinding machine Download PDFInfo
- Publication number
- CN103753363B CN103753363B CN201310694014.3A CN201310694014A CN103753363B CN 103753363 B CN103753363 B CN 103753363B CN 201310694014 A CN201310694014 A CN 201310694014A CN 103753363 B CN103753363 B CN 103753363B
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- CN
- China
- Prior art keywords
- shrouding
- link
- grinding machine
- gripper shoe
- angle grinding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 15
- 238000005498 polishing Methods 0.000 abstract description 11
- 238000000034 method Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000007634 remodeling Methods 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B23/00—Portable grinding machines, e.g. hand-guided; Accessories therefor
- B24B23/02—Portable grinding machines, e.g. hand-guided; Accessories therefor with rotating grinding tools; Accessories therefor
- B24B23/028—Angle tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the flexible adaptive mechanism of a kind of angle grinding machine, it comprises the first fixed head etc., first fixed head, first shrouding, second shrouding, 3rd shrouding connects to form a casing successively, fixed block is between the first fixed head and mount pad, lining is arranged on mount pad, first contour bolt is positioned at lining, cylinder installs present bottom, cylinder is connected with connector, connector is connected with the first link, second contour bolt and the first link are fixed, second link and the first link are parallel to each other, first gripper shoe is connected with the second link, second gripper shoe is positioned at the below of the first gripper shoe, an angle grinding machine is between the second gripper shoe and the 4th shrouding, fixture block is between angle grinding machine and the 4th shrouding.The present invention improves the yield rate of robot automatically grinding workpiece, the polishing stability of quality, the service efficiency of angle grinding machine and life-span.
Description
Technical field
The present invention relates to a kind of angle grinding machine, particularly relate to the flexible adaptive mechanism of a kind of angle grinding machine.
Background technology
Traditional robot automatically grinding technique carrys out the movement locus of teaching robot, and in bruting process, for every part workpiece, robot runs by fixing track.But in the bruting process of reality, own dimensions and the burr of every part workpiece are all inconsistent, and this can affect polishing quality.When running into large burr, angle grinding machine is easy to damage.For improving the yield rate of robot automatically grinding workpiece, the polishing stability of quality, the service efficiency of angle grinding machine and life-span, be necessary to develop a kind of mechanism that can adjust grinding machine polishing position, angle and attitude by the burr size run in real time, coordinate robot to carry out automation polishing to workpiece.
Summary of the invention
Technical problem to be solved by this invention is to provide the flexible adaptive mechanism of a kind of angle grinding machine, and it improves the yield rate of robot automatically grinding workpiece, the polishing stability of quality, the service efficiency of angle grinding machine and life-span.
The present invention solves above-mentioned technical problem by following technical proposals: the flexible adaptive mechanism of a kind of angle grinding machine, is characterized in that, it comprises the first fixed head, first shrouding, second shrouding, 3rd shrouding, fixed block, mount pad, lining, first contour bolt, cylinder, connector, first link, second link, second contour bolt, first gripper shoe, second gripper shoe, 4th shrouding, fixture block, the first fixed head, first shrouding, second shrouding, 3rd shrouding connects to form a casing successively, fixed block is between the first fixed head and mount pad, lining is arranged on mount pad, first contour bolt is positioned at lining, cylinder installs present bottom, cylinder is connected with connector, connector is connected with the first link, second contour bolt and the first link are fixed, second link and the first link are parallel to each other, and the first gripper shoe is connected with the second link, and the second gripper shoe is positioned at the below of the first gripper shoe, an angle grinding machine is between the second gripper shoe and the 4th shrouding, and fixture block is between angle grinding machine and the 4th shrouding.
Positive progressive effect of the present invention is: the present invention ensures constant polishing contact force by keeping constant air pressure, the size of the flexible adaptive mechanism confining force of the present invention is arranged according to the material of workpiece and the cutting parameter of cutter, the flexibility of flexible adaptive mechanism can the deviation of auto-compensation workpiece self, effectively can evade large burr diagonal angle grinding machine and cause and damage and ensure stable polishing quality.The flexible adaptive mechanism of the present invention can reduce the teaching difficulty of robot motion's track, improves the operating efficiency implemented.
Accompanying drawing explanation
Fig. 1 is the structural representation of the flexible adaptive mechanism of angle of the present invention grinding machine.
Fig. 2 is the structural representation after flexible skew occurs the flexible adaptive mechanism of angle of the present invention grinding machine.
Detailed description of the invention
Present pre-ferred embodiments is provided, to describe technical scheme of the present invention in detail below in conjunction with accompanying drawing.
As depicted in figs. 1 and 2, the flexible adaptive mechanism of angle of the present invention grinding machine comprises the first fixed head 1, first shrouding 2, second fixed head 3, second shrouding 4, 3rd shrouding 5, fixed block 6, mount pad 7, lining 8, first contour bolt 9, cylinder 10, connector 11, first link 12, second link 13, second contour bolt 14, first gripper shoe 15, second gripper shoe 16, 4th shrouding 17, fixture block 18, the first fixed head 1, first shrouding 2, second shrouding 4, 3rd shrouding 5 connects to form a casing successively, fixed block 6 is between the first fixed head 1 and mount pad 7, lining 8 is arranged on mount pad 7, first contour bolt 9 is positioned at lining 8, cylinder 10 installs the bottom of present 7, cylinder 10 is connected with connector 11, connector 11 is connected with the first link 12, second contour bolt 14 and the first link 12 are fixed, second link 13 and the first link 12 are parallel to each other, and the first gripper shoe 15 is connected with the second link 13, and the second gripper shoe 16 is positioned at the below of the first gripper shoe 15, an angle grinding machine 19 is between the second gripper shoe 16 and the 4th shrouding 17, and fixture block 18 is between angle grinding machine 19 and the 4th shrouding 17.
Angle grinding machine and absorption surface, be subject to certain polishing power, and when polishing power is less than the confining force of cylinder, angle grinding machine does not offset; When polishing power is greater than the confining force of cylinder, angle grinding machine offsets.The confining force of cylinder can accurately be controlled in real time by electric Proportion valve, and electric Proportion valve is air pressure control element, is arranged in control cabinet.The linkage of parallelogram comprises the first link 12, second link 13 and is fixed on the second fixed head 3 by the second contour bolt 14, connects the first gripper shoe 15 by the second contour bolt 14.Composition graphs 1 and Fig. 2 known, the linkage of parallelogram guarantees that angle grinding machine is the skew of level, ensures that angle grinding machine does not deflect.The attitude of angle grinding machine and absorption surface will not change.When running into large burr, angle grinding machine, by flexible adaptive mechanism, can offset, not disfiguring workpiece body in real time, improves the yield rate of robot automatically grinding workpiece.Due to flexible adaptive mechanism, also greatly reduce the external force suffered by the grinding machine of angle, improve service efficiency and the life-span of angle grinding machine.
Those skilled in the art can carry out various remodeling and change to the present invention.Therefore, present invention covers the various remodeling in the scope falling into appending claims and equivalent thereof and change.
Claims (1)
1. a flexible adaptive mechanism for angle grinding machine, is characterized in that, it comprises the first fixed head, first shrouding, second shrouding, 3rd shrouding, fixed block, mount pad, lining, first contour bolt, cylinder, connector, first link, second link, second contour bolt, first gripper shoe, second gripper shoe, 4th shrouding, fixture block, the first fixed head, first shrouding, second shrouding, 3rd shrouding connects to form a casing successively, fixed block is between the first fixed head and mount pad, lining is arranged on mount pad, first contour bolt is positioned at lining, cylinder installs present bottom, cylinder is connected with connector, connector is connected with the first link, second contour bolt and the first link are fixed, second link and the first link are parallel to each other, and the first gripper shoe is connected with the second link, and the second gripper shoe is positioned at the below of the first gripper shoe, an angle grinding machine is between the second gripper shoe and the 4th shrouding, and fixture block is between angle grinding machine and the 4th shrouding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310694014.3A CN103753363B (en) | 2013-12-18 | 2013-12-18 | The flexible adaptive mechanism of angle grinding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310694014.3A CN103753363B (en) | 2013-12-18 | 2013-12-18 | The flexible adaptive mechanism of angle grinding machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103753363A CN103753363A (en) | 2014-04-30 |
| CN103753363B true CN103753363B (en) | 2016-03-23 |
Family
ID=50520764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310694014.3A Active CN103753363B (en) | 2013-12-18 | 2013-12-18 | The flexible adaptive mechanism of angle grinding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103753363B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985525A (en) * | 2015-08-15 | 2015-10-21 | 芜湖新兴铸管有限责任公司 | Grinding machine capable of compensating abrasion loss automatically |
| CN108170177A (en) * | 2017-12-25 | 2018-06-15 | 天津百利机械装备集团有限公司中央研究院 | The chamfered edge robot taught point constant force control method of manual teaching |
| CN110695810B (en) * | 2019-10-16 | 2020-06-16 | 浙江特意电气有限公司 | Finish machining device and method for glass fiber reinforced plastic electric meter box |
| CN114800114B (en) * | 2022-06-24 | 2022-09-02 | 江苏豪然新材料有限公司 | Grinding device of aluminum alloy fuel storage tank |
| CN116117521A (en) * | 2023-03-13 | 2023-05-16 | 重庆福瑞斯自动化设备股份有限公司 | Machining device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3742430A1 (en) * | 1987-12-15 | 1989-06-29 | Waldmann Mechthild | Tool-clamping device for hand-held angle grinding machine (angle grinder) |
| US6244943B1 (en) * | 1998-12-30 | 2001-06-12 | Guther Bohler Gmbh | Surface-processing apparatus |
| CN202291674U (en) * | 2011-09-22 | 2012-07-04 | 上海阿爱姆电器有限公司 | Floating power head bracket for deburring machine |
| CN203109755U (en) * | 2013-03-28 | 2013-08-07 | 黑龙江科技学院 | Metal material surface processing device |
| CN203679987U (en) * | 2013-12-18 | 2014-07-02 | 格林策巴赫机械(上海)有限公司 | Flexible self-adaptive mechanism of angle grinder |
-
2013
- 2013-12-18 CN CN201310694014.3A patent/CN103753363B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3742430A1 (en) * | 1987-12-15 | 1989-06-29 | Waldmann Mechthild | Tool-clamping device for hand-held angle grinding machine (angle grinder) |
| US6244943B1 (en) * | 1998-12-30 | 2001-06-12 | Guther Bohler Gmbh | Surface-processing apparatus |
| CN202291674U (en) * | 2011-09-22 | 2012-07-04 | 上海阿爱姆电器有限公司 | Floating power head bracket for deburring machine |
| CN203109755U (en) * | 2013-03-28 | 2013-08-07 | 黑龙江科技学院 | Metal material surface processing device |
| CN203679987U (en) * | 2013-12-18 | 2014-07-02 | 格林策巴赫机械(上海)有限公司 | Flexible self-adaptive mechanism of angle grinder |
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| Publication number | Publication date |
|---|---|
| CN103753363A (en) | 2014-04-30 |
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| C14 | Grant of patent or utility model | ||
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| CP01 | Change in the name or title of a patent holder |
Address after: 201600 Shanghai City, Songjiang District Songjiang Industrial Zone No. 388 East min Shenlu Patentee after: WM TECHNOLOGIES (SHANGHAI) LTD. Address before: 201600 Shanghai City, Songjiang District Songjiang Industrial Zone No. 388 East min Shenlu Patentee before: GRENZEBACH MACHINERY (SHANGHAI) Co.,Ltd. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20181220 Address after: Room B2107, 2nd floor, 368 Liuhe Road, Binjiang District, Hangzhou City, Zhejiang 310000 Patentee after: Hangzhou Wanmengte Technology Co.,Ltd. Address before: 201600 No. 388 Minshen Road, East Songjiang Industrial Zone, Songjiang District, Shanghai Patentee before: WM TECHNOLOGIES (SHANGHAI) LTD. |
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Effective date of registration: 20231101 Address after: Block A, Building 3, No. 388 Minshen Road, Xinqiao Town, Songjiang District, Shanghai, 201600 Patentee after: WANMENGTE AUTOMATION (SHANGHAI) Co.,Ltd. Address before: Room B2107, 2nd floor, 368 Liuhe Road, Binjiang District, Hangzhou City, Zhejiang 310000 Patentee before: Hangzhou Wanmengte Technology Co.,Ltd. |
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| TR01 | Transfer of patent right |