CN202428288U - Novel smooth actuating mechanism for die polishing - Google Patents
Novel smooth actuating mechanism for die polishing Download PDFInfo
- Publication number
- CN202428288U CN202428288U CN2011205021909U CN201120502190U CN202428288U CN 202428288 U CN202428288 U CN 202428288U CN 2011205021909 U CN2011205021909 U CN 2011205021909U CN 201120502190 U CN201120502190 U CN 201120502190U CN 202428288 U CN202428288 U CN 202428288U
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- Prior art keywords
- cutter
- fixedly connected
- fixed disk
- controller
- rod end
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- 238000005498 polishing Methods 0.000 title abstract description 13
- 230000007246 mechanism Effects 0.000 title description 2
- 210000001503 joint Anatomy 0.000 claims abstract description 6
- 238000009826 distribution Methods 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 abstract description 8
- 238000007517 polishing process Methods 0.000 abstract description 4
- 241000251468 Actinopterygii Species 0.000 abstract 1
- 230000003287 optical effect Effects 0.000 abstract 1
- 239000012530 fluid Substances 0.000 description 5
- 238000003754 machining Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The utility model discloses a novel mould polishing compliant actuator, which relates to a mould processing device, comprising an upper end fixing disc fixedly connected with an end execution head of a robot, wherein the lower surface of the upper end fixing disc is provided with a plurality of movable rotating hinges, rotating shafts of the movable rotating hinges are arranged in an equilateral triangle, a cylinder is fixedly connected to the lower ends of the movable rotating hinges and is connected with a controller, and the piston rod end of the cylinder is connected with a single-rod-shaped ball rod end joint bearing; the lower end of the single-rod-shaped ball head rod end joint bearing is connected with a middle joint connecting disc, a cutter chuck is fixedly connected to the lower surface of the middle joint connecting disc, the lower surface of the cutter chuck is connected with a cutter, and a multi-dimensional force sensor connected with a controller is arranged on the cutter. The utility model discloses but automatically regulated throws optical power to adjust polishing cutter's position and gesture, the operation is convenient with control, can adapt to the whole trend of change of mould free surface, and can not fish tail work surface among the polishing process, has the practicality very much.
Description
Technical field
The utility model relates to a kind of equipments machining die, relates in particular to a kind of novel die and polishes submissive executing agency.
Background technology
The mold cavity surface texture is complicated, often is Free Surface, processing difficulties.At present, the die polishing method that industrial circle is commonly used, the basic principle of removing by material can be divided into chemical etch polishing, abrasive wear polishing and the polishing of traditional mechanical cutter etc.Chemical etch polishing can increase the regional finish of die surface, but because each regional solution deep of mould is different, is difficult to adapt to the overall variation trend on mold freedom surface.The abrasive wear polishing is had relatively high expectations to the jet velocity and the angle of abrasive Flow, is difficult to control.The traditional mechanical cutter directly polish since between cutter and workpiece still for rigidity contact, easy scuffing surface of the work in the polishing process.
Summary of the invention
Problem to above-mentioned prior art existence; The utility model provides a kind of novel die to polish submissive executing agency, can regulate polishing force automatically, and regulates the position and the attitude of polishing cutter; Operation and control are convenient; The overall variation trend on mold freedom surface can be adapted to, and surface of the work can be do not scratched in the polishing process, very practical.
The technical scheme of the utility model is: a kind of novel die polishes submissive executing agency; Comprise the upper end fixed disk that is fixedly connected with the terminal Executive Head of robot; Upper end fixed disk lower surface is provided with some movable rotary gemels, and its rotating shaft is equilateral triangle and arranges that cylinder is fixedly connected on movable rotary gemel lower end; And be connected with controller, the tailpiece of the piston rod of cylinder is connected with single pole shape bulb spherical plain bearing rod end; Joint terminal pad in the middle of the lower end of single pole shape bulb spherical plain bearing rod end is connected with, joint terminal pad lower surface in the middle of the cutter chuck is fixedly connected on, cutter chuck lower surface is connected with cutter, and cutter is provided with the multi-dimension force sensor that is connected with controller.
As preferably, said movable rotary gemel is uniformly distributed in upper end fixed disk lower surface ringwise.
As preferably, said upper end fixed disk is circular, and said movable rotary gemel is three, be 120 ° along the upper end fixed disk circumferentially evenly distributes, said single pole shape bulb spherical plain bearing rod end be 120 ° be evenly distributed in the middle of joint terminal pad upper surface.
As preferably, each joint of said single pole shape bulb spherical plain bearing rod end has three rotational freedoms.The beneficial effect of the utility model is: the utility model can be regulated polishing force automatically, and regulates the position and the attitude of polishing cutter, during the utility model work; Multi-dimension force sensor at first detects the contact force of cutter and die surface; Pass to controller, controller calculates contact stress, and compares with the standard of setting; Sit out decision-making through regulating algorithm, send control signal is regulated the cylinder inner fluid to magnetic valve pressure and flow; Cylinder piston rod is moving linearly under fluid pressure action; The rectilinear motion of three piston rods is realized any action in the spatially limited controlled range through movable rotary gemel and single pole shape bulb spherical plain bearing rod end; This action is able to embody the position and the attitude of finally regulating cutter through middle joint terminal pad; Multi-dimension force sensor detects the stress information of cutter and surface of the work once more, feeds back to controller, and new control signal is sent in controller utilization closed-loop control again, so circulation.The utility model operation and control are convenient, can adapt to the overall variation trend on mold freedom surface, and can not scratch surface of the work in the polishing process, and is very practical.
Description of drawings
Fig. 1 is the structural representation of the utility model;
Fig. 2 is the installation and the work sketch map of the utility model.
The specific embodiment
As a kind of embodiment of the utility model, as depicted in figs. 1 and 2, a kind of novel die polishes submissive executing agency, comprises the upper end fixed disk 1 that is fixedly connected with the terminal Executive Head of robot 9, and upper end fixed disk 1 is in order to carry whole executing agency.Upper end fixed disk 1 lower surface is provided with some movable rotary gemels 2, and its rotating shaft is equilateral triangle to be arranged, said movable rotary gemel 2 is uniformly distributed in upper end fixed disk 1 lower surface ringwise.In the present embodiment, as preferably, said upper end fixed disk 1 is circular, and said movable rotary gemel 2 is three, be 120 ° along the upper end fixed disk 1 circumferentially evenly distributes.
Cylinder 3 is fixedly connected on movable rotary gemel 2 lower ends, and is connected with controller, produces piston rod movement by controller control cylinder 3 inner fluids, is the driving link of whole executing agency, and the tailpiece of the piston rod of cylinder 3 is connected with single pole shape bulb spherical plain bearing rod end 4; In the present embodiment, as preferably, each joint of said single pole shape bulb spherical plain bearing rod end 4 has three rotational freedoms, can realize freely rotating.
Joint terminal pad 5 in the middle of the lower end of single pole shape bulb spherical plain bearing rod end 4 is connected with; Middle joint terminal pad 5 is embodiment mechanisms of the submissive execution of whole motion; In the present embodiment; As preferably, said single pole shape bulb spherical plain bearing rod end 4 be 120 ° be evenly distributed in the middle of joint terminal pad 5 upper surfaces.Joint terminal pad 5 lower surfaces in the middle of cutter chuck 6 is fixedly connected on, cutter chuck 6 lower surfaces are connected with cutter 7, and cutter 7 is provided with the multi-dimension force sensor that is connected with controller.
The course of work of the utility model is following: mould to be processed 11 is placed on the workbench 10; Multi-dimension force sensor at first detects the contact force on cutter 7 and mould 11 surfaces; Pass to controller, controller calculates contact stress, and compares with the standard of setting; Sit out decision-making through regulating algorithm, send control signal is regulated cylinder 3 inner fluids to magnetic valve pressure and flow; The piston rod of cylinder 3 is moving linearly under fluid pressure action; Any action that the rectilinear motion of three piston rods is realized in the spatially limited controlled range through movable rotary gemel 2 and single pole shape bulb spherical plain bearing rod end 4; This action is able to embody the position and the attitude of finally regulating cutter 7 through middle joint terminal pad 5; Multi-dimension force sensor detects the stress information on cutter 7 and mould 11 surfaces once more, feeds back to controller, and new control signal is sent in controller utilization closed-loop control again, so circulation, completion Mould Machining.
The above is merely a kind of embodiment of the utility model; Not in order to restriction the utility model; Any modification of being done within all spirit and principles at the utility model, be equal to replacement and obvious mode of texturing etc., all should be included within the protection domain of the utility model.
Claims (4)
1. a novel die polishes submissive executing agency; It is characterized in that: comprise the upper end fixed disk (1) that is fixedly connected with the terminal Executive Head of robot (9); Upper end fixed disk (1) lower surface is provided with some movable rotary gemels (2), and its rotating shaft is equilateral triangle and arranges that cylinder (3) is fixedly connected on movable rotary gemel (2) lower end; And be connected with controller, the tailpiece of the piston rod of cylinder (3) is connected with single pole shape bulb spherical plain bearing rod end (4); Joint terminal pad (5) in the middle of the lower end of single pole shape bulb spherical plain bearing rod end (4) is connected with; Joint terminal pad (5) lower surface in the middle of cutter chuck (6) is fixedly connected on; Cutter chuck (6) lower surface is connected with cutter (7), and cutter (7) is provided with the multi-dimension force sensor that is connected with controller.
2. novel die according to claim 1 polishes submissive executing agency, it is characterized in that: said movable rotary gemel (2) is uniformly distributed in upper end fixed disk (1) lower surface ringwise.
3. novel die according to claim 2 polishes submissive executing agency; It is characterized in that: said upper end fixed disk (1) is for circular; Said movable rotary gemel (2) is three; Be 120 ° of circumferentially evenly distributions of fixed disk (1) along the upper end, said single pole shape bulb spherical plain bearing rod end (4) is 120 ° and is evenly distributed on middle joint terminal pad (5) upper surface.
4. polish submissive executing agency according to each described novel die among the claim 1-3, it is characterized in that: each joint of said single pole shape bulb spherical plain bearing rod end (4) has three rotational freedoms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205021909U CN202428288U (en) | 2011-12-06 | 2011-12-06 | Novel smooth actuating mechanism for die polishing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205021909U CN202428288U (en) | 2011-12-06 | 2011-12-06 | Novel smooth actuating mechanism for die polishing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202428288U true CN202428288U (en) | 2012-09-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205021909U Expired - Fee Related CN202428288U (en) | 2011-12-06 | 2011-12-06 | Novel smooth actuating mechanism for die polishing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202428288U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103983383A (en) * | 2014-05-19 | 2014-08-13 | 江西理工大学 | Sensitive element of three-dimensional micro force sensor based on flexible mechanism |
| CN105798747A (en) * | 2016-04-25 | 2016-07-27 | 上海发那科机器人有限公司 | Floating type polishing tool and polishing robot with tool |
| CN106041933A (en) * | 2016-07-06 | 2016-10-26 | 上海交通大学 | Robot polishing and grinding system and passive compliance and active compliance mixed control method |
| CN109623509A (en) * | 2018-12-29 | 2019-04-16 | 厦门大学 | A kind of centre-drive ultrasonic vibration auxiliary polishing tool |
| CN115771086A (en) * | 2022-11-15 | 2023-03-10 | 重庆大学 | Universal grinding machanism that floats |
-
2011
- 2011-12-06 CN CN2011205021909U patent/CN202428288U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103983383A (en) * | 2014-05-19 | 2014-08-13 | 江西理工大学 | Sensitive element of three-dimensional micro force sensor based on flexible mechanism |
| CN105798747A (en) * | 2016-04-25 | 2016-07-27 | 上海发那科机器人有限公司 | Floating type polishing tool and polishing robot with tool |
| CN106041933A (en) * | 2016-07-06 | 2016-10-26 | 上海交通大学 | Robot polishing and grinding system and passive compliance and active compliance mixed control method |
| CN109623509A (en) * | 2018-12-29 | 2019-04-16 | 厦门大学 | A kind of centre-drive ultrasonic vibration auxiliary polishing tool |
| CN109623509B (en) * | 2018-12-29 | 2019-12-06 | 厦门大学 | Center-driven ultrasonic vibration auxiliary polishing tool |
| CN115771086A (en) * | 2022-11-15 | 2023-03-10 | 重庆大学 | Universal grinding machanism that floats |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120912 Termination date: 20131206 |