CN110977661B - Automatic compensating deburring device and manipulator - Google Patents
Automatic compensating deburring device and manipulator Download PDFInfo
- Publication number
- CN110977661B CN110977661B CN201911001343.9A CN201911001343A CN110977661B CN 110977661 B CN110977661 B CN 110977661B CN 201911001343 A CN201911001343 A CN 201911001343A CN 110977661 B CN110977661 B CN 110977661B
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- flat plate
- plate
- swing rod
- extension
- contact
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- 238000001514 detection method Methods 0.000 claims description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 9
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052802 copper Inorganic materials 0.000 claims description 4
- 239000010949 copper Substances 0.000 claims description 4
- 239000000956 alloy Substances 0.000 claims description 2
- 229910045601 alloy Inorganic materials 0.000 claims description 2
- 239000002184 metal Substances 0.000 claims description 2
- 229910052751 metal Inorganic materials 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 238000007517 polishing process Methods 0.000 abstract description 3
- 238000005498 polishing Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
-
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic compensation deburring device and a manipulator. The device comprises a clamping seat, a grinding wheel machine and a fixed bracket, wherein the fixed bracket is provided with a first flat plate part; the two fixing seats are arranged on the lower surface of the first flat plate; a contact plate having a main body portion and a contact portion; the rotating shaft is arranged on the fixed seat, and a fixing part fixed with the main body part is arranged in the middle of the rotating shaft; at least one torsion spring sleeved with the rotating shaft and abutted between the upper side of the clamping seat and the first flat plate part; the swing rod bracket is arranged at the front side of the first flat plate part; the swing rod is pivoted with the swing rod bracket and is provided with a first extension part and a second extension part, the first extension part is abutted against the contact part, and the second extension part extends backwards; the sensor bracket is arranged at the rear end of the upper surface of the first flat plate part, and is provided with a first position sensor and a second position sensor; a spring bracket is arranged on the first flat plate part; an extension spring connects the spring support and the second extension. The device realizes timely compensation in the polishing process.
Description
Technical Field
The invention relates to a manipulator polishing and deburring technology, in particular to an automatic compensation deburring device and a manipulator.
Background
In the processes of casting, forging, cutting processing and the like, burrs are difficult to avoid, the burrs can affect the assembly of a mechanical system, the reliability and stability of equipment and the like, and therefore, most mechanical parts are subjected to deburring. At present, the floating deburring main shaft of the mechanical arm is used for deburring by an electric tool in a polishing mode, and due to the fact that the stability of the electric tool is low, the feeding amount of a cutter is high, products are easy to damage or uneven polishing cannot be achieved, and the reject ratio of the products is high. The automatic compensation device has no detection and automatic compensation functions on the cutter, and the quality of products can be seriously affected if the cutter cannot be compensated in time after being worn.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art and providing an automatic compensation deburring device and a manipulator with the deburring device.
The first object of the present invention can be achieved by the following technical means:
the automatic compensation deburring device is used for being arranged at the tail end of a manipulator and comprises a clamping seat and a grinding wheel machine, wherein the grinding wheel machine is fixedly arranged on the clamping seat, and a grinding wheel of the grinding wheel machine is positioned in front of the clamping seat; the two fixing seats are respectively arranged at the left side and the right side of the lower surface of the first flat plate; the contact plate is provided with a main body part and a contact part, the main body part is fixedly arranged above the clamping seat, and the contact part extends forwards from the front end of the main body part; the left end and the right end of the rotating shaft are provided with pivoting parts, the pivoting parts are rotatably arranged on the fixed seat, a fixing part is arranged in the middle of the rotating shaft, and the lower end of the fixing part is fixed with the main body part; the main body of the torsion spring is wound around the rotating shaft, one tail end of the torsion spring is respectively abutted against the front side above the clamping seat, and the other tail end of the torsion spring is fixed with the first flat plate part, so that the front side of the clamping seat has a trend of moving away from the first flat plate part; the swing rod bracket is arranged at the front side of the first flat plate part; the swing rod is provided with a connecting part, a first extending part and a second extending part, wherein the first extending part and the second extending part are positioned at two ends of the rotating part, the connecting part is rotatably connected with the swing rod bracket, the first extending part is abutted against the contact part, the second extending part extends backwards, and the length of the second extending part is longer than that of the first extending part; the sensor bracket is arranged at the rear end of the upper surface of the first flat plate part, a first position sensor and a second position sensor for sensing the rear end position of the second extension part are arranged on the sensor bracket, and the second position sensor is positioned above the first position sensor; the spring bracket is arranged on the upper surface of the first flat plate part, is positioned on the front side of the sensor bracket and is positioned on the side edge of the second extension part; an extension spring connects the spring support and the second extension.
As a further preferable scheme, the fixing bracket further comprises a second flat plate part, wherein the second flat plate part is connected with the tail end of the first flat plate part and extends downwards for connecting with the tail end of the manipulator; at least one reinforcing plate is arranged between the first flat plate part and the first flat plate part.
As a further preferable mode, the end of the first extension part is provided with a contact bearing, and the contact bearing abuts against the contact part.
As a further preferable scheme, the sensor bracket is provided with a U-shaped seat which is opened downwards, the first position sensor and the second position sensor are arranged on the side walls of the U-shaped seat, and the tail end of the second extension part is positioned between the two side walls of the U-shaped seat.
As a further preferable scheme, the clamping seat comprises an upper clamping plate and a lower clamping plate, wherein the upper side of the upper clamping plate is provided with a base part and two downward sunken step parts positioned on the left side and the right side of the base part, the base part is locked with the main body part, the left side and the right side are respectively provided with the downward sunken step parts, and one tail end of the torsion spring is abutted against the step parts.
As a further preferable scheme, a concave part is arranged in the middle of the fixing part of the rotating shaft, the concave part accommodates the base part, the concave part is provided with a mounting plane, and the main body part of the contact plate is locked with the mounting plane.
As a further preferable scheme, the clamping seat comprises a front limit bolt and a rear limit bolt which are oppositely arranged in the front-back direction and used for limiting the swing amplitude of the clamping seat, the front limit bolt corresponds to the front side of the main body part, and the rear limit bolt corresponds to the rear side of the main body part.
As a further preferable scheme, the first flat plate part is provided with a torsion spring limiting block used for clamping the tail end of the torsion spring.
The other purpose of the invention can be achieved by the following technical means:
The automatic compensation deburring device comprises the automatic compensation deburring device, a fixing support of the automatic compensation deburring device is connected with the tail end of the manipulator, and a first position sensor and a second position sensor are in signal connection with the manipulator.
Compared with the prior art, the invention has the following beneficial effects:
1. The automatic compensation deburring device is simple in structure and exquisite in design, and the swing deviation of the grinding machine is detected by sensing the positions of the swing rods through the two position sensors which are arranged on the fixed support and are vertically spaced. The feeding amount of the deburring device is adjusted after the mechanical arm receives signals of the swinging rods measured by the first position sensor and the second position sensor, so that timely compensation in the polishing process is realized, the reliability and stability of the polishing deburring device in the processing process are improved, and the processing quality of products is improved.
2. By skillfully utilizing the lever principle, the length of the second extension part of the swing rod is larger than that of the first extension part, the swing distance of the grinder is enlarged through the swing rod, the compensation precision of the device is improved, the quick response of a mechanical arm is facilitated, and therefore the deburring effect of a product is ensured.
Drawings
FIG. 1 is a schematic diagram of an automatic compensation deburring apparatus;
FIG. 2 is a side view of an automatically compensating deburring apparatus;
FIG. 3 is a cross-sectional view of an automatically compensating deburring apparatus;
FIG. 4 is a top view of an automatically compensating deburring apparatus;
FIG. 5 is an enlarged view of a portion of FIG. 4 at A;
FIG. 6 is a schematic view of a structure of a rotating shaft according to the present invention;
In the figure, a manipulator connecting plate 1, a fixed support 2, a first flat plate part 201, a second flat plate part 202, a reinforcing plate 203, a sensor bracket 3, a first position sensor 4, a second position sensor 5, a U-shaped seat 6, a detection block 7, a sensor bracket 8, a swing rod 9, a first extending part 91, a connecting part 92, a second extending part 93, a rear limit bolt 10, a rear limit nut 11, a front limit bolt 12, a front limit nut 13, a swing rod bracket 14, a contact bearing 15, a contact plate 16, a main body part 161, a contact part 162, a bearing seat 17, a swing rod rotating shaft 19, a contact bearing rotating shaft 20, a fixed seat 21, a copper sleeve 22, a torsion spring 23, a set screw 24, a rotating shaft 25, an upper clamping plate 26, a base 261, a step part 262, a lower clamping plate 27, a tension spring 28, a spring bracket 29, a torsion spring 30, a limit block 31, a reinforcing rib 32 and a grinding wheel machine.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto, and the present invention is not limited thereto.
Example 1
Referring to fig. 1-2, the present invention provides an automatic compensation deburring device, which includes a clamping seat, a grinder 32, a contact plate 16, a fixing bracket 2, a pair of fixing seats 21, a swing rod bracket 14, a swing rod 9, a sensor bracket 8 and a spring bracket 29. The device is suitable for being installed at the tail end of the manipulator and polishing a workpiece with burrs.
As shown in fig. 1 and 2, the holder is fixed to the main body of the grinder 32, and the grinding wheel of the grinder is located in front of the holder for grinding burrs on the surface of the workpiece, with the rotation axis thereof being substantially in the front-rear direction. The clamping seat comprises an upper clamping plate 26 and a lower clamping plate 27, and clamps and fixes the base of the grinder from the upper side and the lower side. The upper side of the upper clamping plate has a base 261 and two stepped portions 262 recessed downward at the left and right sides of the base.
As shown in fig. 1 and 2, the contact plate 16 may be made of a hard metal or alloy, and has a main body 161 attached to and fixed to the base of the upper clamping plate, and a contact portion 162 extending forward from the front end of the main body and having a smaller width than the main body. The contact portion is located substantially directly above the axis of rotation of the grinder. When the grinder swings, the contact plate swings with the grinder.
As shown in fig. 1 and 2, the fixing bracket includes a first flat plate portion 201 disposed horizontally and a second flat plate portion 202 disposed vertically. The second flat plate part is connected with the rear end of the first flat plate part and is provided with a manipulator connecting plate 1 which can be connected with the tail end of a manipulator. In this embodiment, the second flat plate portion and the second flat plate portion are vertically arranged with the reinforcing plate 203 mounted therebetween. The first plate portion is provided with a long reinforcing rib 31 above, and in this embodiment, two reinforcing ribs are provided, which are respectively located at the left end and the right end above the first plate portion. To facilitate structural balance. The reinforcing plate and the reinforcing ribs are arranged to strengthen the overall strength of the fixing support, and bending deformation of the first plate part due to stress in the polishing process is avoided, so that the strength and stability of the device are improved.
Two fixing bases 21 are respectively installed on the left and right sides of the lower surface of the first flat plate. The fixing seat 21 is provided with a supporting copper sleeve 22, and a set screw 24 is adopted to axially position the copper sleeve 22 on the fixing seat 21. A rotating shaft 25 connected to the two fixing bases, which includes a pivot portion 253 at two ends, a fixing portion 251 in the middle, and a combining portion 252 connecting the corresponding pivot portion and fixing portion. The pivoting part is rotatably arranged on the mounting hole of the fixing seat in a penetrating manner. A recess 254 is provided below the fixing portion, and accommodates the main body portion 161 of the contact plate and the base portion 261 of the upper clamping plate. The recess 254 is provided with a mounting surface, and the body 161 of the contact plate is welded to the mounting surface. A torsion 23 spring is sleeved on the periphery of each combining part, one end part of the torsion spring is abutted against the front half section of the step part of the upper clamping plate, and the other end part of the torsion spring extends upwards to pass through the first flat plate part, so that the front side of the grinding machine has a trend of swinging away from the first flat plate part. The upper surface of the first flat plate part is provided with a torsion spring limiting block used for clamping the upper end part of the torsion spring.
Further, the deburring device further includes a front limit bolt 12 and a rear limit bolt 10 mounted to the first flat plate portion. The bottom of the front limit bolt is provided with a front limit nut 13, and the front limit nut corresponds to the front side of the main body part of the contact plate; the bottom of the rear limit bolt is provided with a rear limit nut 11, and the rear limit nut corresponds to the rear side of the main body part of the contact plate. The front limit bolt and the rear limit bolt are used for limiting the swing angle of the grinder so as to be applicable to different workpieces and operation angles. The positions of the front and rear limit bolts are adjustable up and down so as to be suitable for different working conditions.
The swing link bracket 14 is mounted on the front side of the first flat plate portion. The swing rod 9 is connected with one side of the head of the swing rod bracket. The projection of the swing rod in the vertical direction coincides with the central axis of the grinder, and the swing rod is provided with a connecting part 92, a first extending part 91 and a second extending part 93 positioned at two ends of the connecting part. The connecting part is provided with a transversely extending swing rod rotating shaft 19 which is arranged on a bearing seat 17 on the swing rod bracket. The first extension is bent downward, and a contact bearing 15 is mounted at the end of the first extension, and the contact bearing abuts against the contact portion by the outer peripheral surface of the contact bearing. The contact bearing can convert the contact between the first extension part and the contact plate into rolling friction, so that the abrasion is reduced, and the service life of the device is prolonged. The second extension portion is longer than the first extension portion and extends rearward to a position near the end of the first flat plate portion. The second extension is longer than the second extension. Because the compensation amount of the grinding machine or the distance required to be supplemented into a table is small in the actual grinding process, the position sensor is difficult to quickly react, and therefore the swing distance of the grinding machine is enlarged by the swing rod, and the sensor is convenient to detect and timely transmit to the manipulator. The angle of the second extension is preferably 100-150 deg., in this embodiment the angle of the first extension and the second extension is approximately 135 deg..
The sensor support 8 is fixedly arranged at the rear end of the upper surface of the first flat plate part, and the sensor support is positioned at one side of the second extension part. The sensor support side is installed a U type seat 6 that opens downwards, the end of second extension is equipped with a detection piece 7, and the detection piece is located between two lateral walls of U type seat. The first position sensor 4 and the second position sensor 5 are installed on the side wall of the U-shaped seat at intervals, and the first position sensor is located below the second position sensor. The first position sensor and the second position sensor are connected with the manipulator through signals and are used for sensing the position of the detection block so as to detect the movement condition of the swing rod. The limit sensor can be a proximity sensor, a photoelectric sensor or a laser sensor.
The spring bracket 29 is fixedly arranged on the upper side of the first flat plate part, is arranged on the front side of the sensor bracket 3 and is positioned on the side edge of the second extension part. The spring bracket is provided with a first connecting rod which is transversely arranged, and a second connecting rod which transversely extends towards the transverse spring bracket is arranged at the position, close to the spring bracket, of the second extension part. The first connecting rod and the second connecting rod are connected through the tension spring 28 for tensioning the second connecting rod upwards, and meanwhile, the deflection of the swing rod in the left-right direction can be reduced, and the stability of the device is improved. When the grinding wheel does not contact the workpiece, the second extension part swings upwards under the action of the torsion spring and the extension spring, the second position sensor senses the signal of the detection block, and the mechanical arm compensates a certain feeding amount after receiving the signal at the moment, so that the contact between the grinding wheel and the workpiece is increased. If the grinding wheel contacts the workpiece too much, the front side of the grinding wheel machine approaches to the jacking contact part, the second extension of the swinging rod swings downwards, the first position sensor senses the signal of the detection block, and the mechanical arm reduces the feeding amount to reduce the contact with the surface of the workpiece. If the contact amount is normal, the height position of the detection block is located between the first position sensor and the second position sensor, and the first position sensor and the second position sensor have no signals.
The working principle of the automatic compensation deburring device is as follows:
the swing rod is arranged on the fixed support, and the swing quantity of the grinder is amplified by the swing rod. And then the position movement condition of the swing rod is detected by two position sensors which are arranged at intervals up and down. When the grinding wheel does not contact the workpiece, the second extension part swings upwards under the action of the torsion spring and the extension spring, the second position sensor senses the signal of the detection block, and the mechanical arm compensates a certain feeding amount after receiving the signal at the moment, so that the contact between the grinding wheel and the workpiece is increased. If the abrasion loss is too great, the front side of the grinder is close to the jacking contact part, the second extension of the swinging rod swings downwards, the position of the detection block is lowered, the first position sensor senses the signal of the detection block, and at the moment, the feeding amount of the manipulator is reduced so as to reduce the contact with the surface of a workpiece. Thereby achieving the function of automatic compensation, and ensuring that the grinding machine keeps the optimal distance from the workpiece so as to ensure the quality of the polished product.
Example 2
The embodiment provides a manipulator, and this manipulator includes above-mentioned automatic compensation's burring device, and automatic compensation's burring device's fixed bolster connects the terminal of manipulator, and first position sensor and second position sensor are connected with the manipulator signal.
As described above, the present invention can be better achieved, and the above-described embodiments are disclosed as preferred embodiments of the present invention, and are not intended to limit the scope of the above-described invention; all equivalent changes and modifications are intended to be covered by the scope of the appended claims.
Claims (9)
1. An automatic compensating deburring device for installation at a robot end, comprising: the device comprises a clamping seat, a grinder, a contact plate, a fixed support, two fixed seats, a rotating shaft, a swing rod support, a swing rod, a sensor support and a spring support;
The clamping seat is fixed on the main body part of the grinder, the grinding wheel of the grinder is positioned in front of the clamping seat, the clamping seat comprises an upper clamping plate and a lower clamping plate, the upper clamping plate and the lower clamping plate clamp and fix the base of the grinder from the upper side and the lower side, the upper side of the upper clamping plate is provided with a base part and two step parts which are sunken downwards, and the two step parts are respectively positioned at the left side and the right side of the base part;
The contact plate is provided with a main body part and a contact part, the main body part is attached to and fixed on the base part of the upper clamping plate, the contact part extends forwards from the front end of the main body part, and the width of the contact part is smaller than that of the main body part;
The fixed support comprises a first flat plate part and a second flat plate part, wherein the first flat plate part is horizontally arranged, the second flat plate part is vertically arranged, the second flat plate part is connected with the rear end of the first flat plate part, and the second flat plate part is provided with a manipulator connecting plate capable of being connected with the tail end of a manipulator;
The two fixing seats are respectively arranged at the left side and the right side of the lower surface of the first flat plate, the rotating shaft is connected with the two fixing seats, the rotating shaft comprises a pivoting part positioned at two ends, a fixing part positioned in the middle and a combining part connected with the corresponding pivoting part and the fixing part, the pivoting part is rotatably arranged on a mounting hole of the fixing seat in a penetrating mode, a concave part is arranged below the fixing part and is used for accommodating the main body part of the contact plate and the base part of the upper clamping plate, the concave part is provided with a mounting plane, the main body part of the contact plate is fixedly welded with the mounting plane, a torsion spring is sleeved on the periphery of each combining part, one end part of the torsion spring is abutted to the front half section of the step part of the upper clamping plate, and the other end part of the torsion spring extends upwards and penetrates through the first flat plate;
The swing rod support is arranged on the front side of the first flat plate part, the swing rod is connected with one side of the head part of the swing rod support, the projection of the swing rod in the vertical direction coincides with the central axis of the grinder, the swing rod is provided with a connecting part, a first extending part and a second extending part which are positioned at two ends of the connecting part, the connecting part is provided with a swing rod rotating shaft which transversely extends, the swing rod rotating shaft is arranged on a bearing seat on the swing rod support, the first extending part is bent downwards, and the tail end of the first extending part is provided with a contact bearing;
the sensor support is fixedly arranged at the rear end of the upper surface of the first flat plate part, the sensor support is positioned at one side of the second extension part, a U-shaped seat which is opened downwards is arranged at the side edge of the sensor support, a detection block is arranged at the tail end of the second extension part and is positioned between two side walls of the U-shaped seat, a first position sensor and a second position sensor are arranged on the sensor support, the first position sensor and the second position sensor are arranged at intervals and are arranged on the side walls of the U-shaped seat, and the first position sensor is positioned below the second position sensor;
The spring bracket is fixedly arranged on the upper side of the first flat plate part, the spring bracket is arranged on the front side of the sensor bracket and is positioned on the side edge of the second extension part, the spring bracket is provided with a first connecting rod which is transversely arranged, the second extension part is close to the spring bracket and is provided with a second connecting rod, the second connecting rod transversely extends towards the spring bracket, and the first connecting rod is connected with the second connecting rod through an extension spring.
2. The self-compensating deburring device of claim 1, wherein said contact plate is of a hard metal or alloy.
3. The automatic compensating deburring device of claim 1, wherein said first and second plate portions are vertically disposed with a reinforcing plate mounted therebetween.
4. The automatic compensating deburring device of claim 1, wherein said first plate portion has elongated ribs mounted thereon.
5. The automatic compensation deburring device according to claim 1, further comprising a front limit bolt and a rear limit bolt mounted on the first flat plate portion, wherein a front limit nut is provided at the bottom of the front limit bolt, the front limit nut corresponds to the front side of the main body portion of the contact plate, a rear limit nut is provided at the bottom of the rear limit bolt, and the rear limit nut corresponds to the rear side of the main body portion of the contact plate.
6. The self-compensating deburring device of claim 1, wherein said second extension is longer than said first extension.
7. The automatic compensation deburring device according to claim 1, wherein a torsion spring stopper for clamping an upper end portion of the torsion spring is provided on an upper surface of the first flat plate portion.
8. The automatic compensation deburring device of claim 1, wherein said mounting base is provided with a supporting copper sleeve.
9. A manipulator comprising an automatically compensating deburring device as claimed in any of claims 1 to 8, wherein a fixed support of the automatically compensating deburring device is connected to the end of the manipulator, and wherein the first and second position sensors are in signal connection with the manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911001343.9A CN110977661B (en) | 2019-10-21 | 2019-10-21 | Automatic compensating deburring device and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911001343.9A CN110977661B (en) | 2019-10-21 | 2019-10-21 | Automatic compensating deburring device and manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110977661A CN110977661A (en) | 2020-04-10 |
| CN110977661B true CN110977661B (en) | 2024-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911001343.9A Active CN110977661B (en) | 2019-10-21 | 2019-10-21 | Automatic compensating deburring device and manipulator |
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| CN (1) | CN110977661B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102005056998A1 (en) * | 2005-11-30 | 2007-05-31 | Audi Ag | Rotational body e.g. camshaft, deburring device for vehicle construction, has cam whose diameter is greater than diameter of cam shaft, and deburring tool designed as deburring disk that is rotatable about tool axis |
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