CN206982440U - Robot polishing start of adaptive spindle - Google Patents
Robot polishing start of adaptive spindle Download PDFInfo
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- CN206982440U CN206982440U CN201720904268.7U CN201720904268U CN206982440U CN 206982440 U CN206982440 U CN 206982440U CN 201720904268 U CN201720904268 U CN 201720904268U CN 206982440 U CN206982440 U CN 206982440U
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- main shaft
- adaptive
- extensible member
- cross
- robot
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Abstract
The utility model provides a kind of robot polishing start of adaptive spindle, belongs to machining equipment technical field.Robot polishing start of adaptive spindle includes body, and body has accommodating chamber；Actuator, actuator include housing and are rotationally connected with the main shaft of housing, and housing has connecting portion and service portion, and connecting portion is mobilizable to be connected to housing, and site of action is in accommodating chamber；Extensible member, extensible member is slidably connected to body along the radial direction of main shaft, the quantity of extensible member is multiple and abuts or be connected to service portion along the circumferentially distributed of main shaft, one end of extensible member, and extensible member makes service portion have the movement tendency radially slided along main shaft and main shaft is waved.Robot polishing start of adaptive spindle can realize the activity of service portion by the telescopic action of extensible member, according to lever principle, realize waving for main shaft, and then main shaft is had flexible characteristic.Robot polishing start of adaptive spindle is simple in construction, and overall using effect is preferable.
Description
Technical field
Machining equipment technical field is the utility model is related to, is polished in particular to a kind of robot adaptive
Main shaft.
Background technology
Grinding machine is the lathe for carrying out grinding to workpiece surface using grinding tool.Most grinding machine is using rotation at a high speed
Emery wheel carry out grinding, a small number of is processed using other grinding tools such as oilstone, abrasive band and free abrasive, such as honing
Machine, superfinisher, abrasive belt grinding machine, grinder and polishing machine etc..
And with the development of industrial technology, to the precision requirement more and more higher of processing, major embodiment is both ways：One side
Face, the shape of part become increasingly complex, and for the polishing of special-shaped part, require higher to technique for grinding；On the other hand, part
Dimension precision requirement more and more higher, the thickness to be polished is, it is necessary to accurately control.In order to solve the above-mentioned technical problem, high-accuracy grinding
Bed not only needs to use the sharpening of a variety of shapes and sizes, and needs the action to cutter head accurately to be controlled.
With deepening continuously for industrial automatization, the application field of industrial robot also constantly expands, principal axis of compliance
Mill in industrial goods part, cut and polishing in terms of also progressively have deep application.But it is existing at present, it is supporting with industrial robot
The power spindle of application, it is separately then (referred to as soft using additional passive compliant device installation first using traditional rigid mounting structure
Property main shaft).
Inventor has found that traditional robot polishing start of adaptive spindle at least has the following disadvantages under study for action：
It is complicated, it is unreasonable；
Using effect is poor.
Utility model content
The purpose of this utility model is the provision of a kind of robot polishing start of adaptive spindle, improves prior art not
Foot, it can realize the activity of service portion by the telescopic action of extensible member, according to lever principle, realize waving for main shaft, enter
And make main shaft that there is flexible characteristic.Robot polishing start of adaptive spindle is simple in construction, and overall using effect is preferable, and it is designed
Rationally, market application potential is huge.
What embodiment of the present utility model was realized in：
Embodiment of the present utility model provides a kind of robot polishing start of adaptive spindle, and it includes body, and body has
Accommodating chamber；Actuator, actuator include housing and are rotationally connected with the main shaft of housing, and housing has connecting portion and service portion,
Connecting portion is mobilizable to be connected to housing, and site of action is in accommodating chamber；Extensible member, extensible member are slidable along the radial direction of main shaft
Body is connected to, the quantity of extensible member is multiple and abuts or be connected to effect along the circumferentially distributed of main shaft, one end of extensible member
Portion, extensible member make service portion have the movement tendency radially slided along main shaft and main shaft is waved.
Specifically, robot polishing start of adaptive spindle can realize the work of service portion by the telescopic action of extensible member
It is dynamic, according to lever principle, waving for main shaft is realized, and then make main shaft that there is flexible characteristic.Robot polishing is adaptive main
Axle construction is simple, and overall using effect is preferable, and its is reasonable in design, and market application potential is huge.
Optionally, robot polishing start of adaptive spindle also includes cross inner sleeve, and cross inner sleeve is arranged connecting portion and makes housing
It is relatively fixed with cross inner sleeve, cross inner sleeve is provided with bearing pin part, and bearing pin part being radially arranged and slidably connecting along main shaft
In body.
Optionally, robot polishing start of adaptive spindle also includes cross overcoat, and the outside of cross overcoat is connected with body, and ten
Word inner sleeve is sheathed in cross overcoat, and cross overcoat has the pin shaft hole for being used for wearing bearing pin part.
Optionally, the first positioning hole is provided with the outside of cross overcoat, body is provided with the second positioning hole, robot polishing
Start of adaptive spindle also includes fastener, and fastener wears the second positioning hole and the first positioning hole and makes body and cross overcoat successively
It is relatively fixed.
Optionally, robot polishing start of adaptive spindle also includes positioning sleeve, and cross overcoat is provided with for housing positioning sleeve
Stepped hole, stepped hole connects with the first positioning hole, fastener wear successively the second positioning hole, positioning sleeve and the first positioning hole and
Body is set to be relatively fixed with cross overcoat.
Optionally, robot polishing start of adaptive spindle also includes cylinder, and cylinder includes cylinder body and piston rod, and cylinder body is in ring
Shape, cylinder body is connected with body and in accommodating chamber, one end of piston rod is slidably connected to cylinder body, the other end of piston rod
Form extensible member.
Optionally, the quantity of piston rod and the quantity of extensible member are identical and symmetrical along the circumference of main shaft.
Optionally, robot polishing start of adaptive spindle also includes fixed seat, fixed seat include the installed part that is connected with each other with
Fitting, installed part are connected with service portion, and fitting is cylindrical, and extensible member is along the circumferentially distributed of fitting and is connected to abutting
Part.
Optionally, actuator includes air motor, and installed part is built-in with the supply frame connected with air motor, built in body
There is air supply pipe, one end of air supply pipe is connected with supply frame and for being supplied to air motor, and the other end and the body of air supply pipe connect
Connect.
Compared with prior art, the beneficial effect of the utility model embodiment is：
In summary, robot polishing start of adaptive spindle can realize service portion by the telescopic action of extensible member
Activity, according to lever principle, waving for main shaft is realized, and then make main shaft that there is flexible characteristic.Robot polishing is adaptive
Main axle structure is simple, and overall using effect is preferable, and its is reasonable in design, and market application potential is huge.
Brief description of the drawings
, below will be to required use in embodiment in order to illustrate more clearly of the technical scheme of the utility model embodiment
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other related accompanying drawings according to these accompanying drawings.
Fig. 1 is that the structure under the first visual angle for the robot polishing start of adaptive spindle that the utility model embodiment provides is shown
It is intended to；
Fig. 2 is the structural representation under second of visual angle of the robot polishing start of adaptive spindle shown in Fig. 1；
Fig. 3 is the structural representation under the third visual angle of the robot polishing start of adaptive spindle shown in Fig. 1；
Fig. 4 is the structural representation under the 4th kind of visual angle of the robot polishing start of adaptive spindle shown in Fig. 1；
Fig. 5 is the structural representation under the 5th kind of visual angle of the robot polishing start of adaptive spindle shown in Fig. 1；
Fig. 6 is the structural representation of the cross inner sleeve of the robot polishing start of adaptive spindle shown in Fig. 5；
Fig. 7 is the structural representation of the cross overcoat of the robot polishing start of adaptive spindle shown in Fig. 5.
Icon：100- robots polishing start of adaptive spindle；200- tool holders；10- bodies；101- accommodating chambers；102- is supplied
Pipe；The positioning holes of 103- second；20- actuators；21- housings；211- connecting portions；212- service portions；22- main shafts；30- extensible members；
40- cylinders；41- cylinder bodies；42- piston rods；50- fixed seats；51- installed parts；52- fittings；60- cross overcoats；61- bearing pins
Hole；The positioning holes of 62- first；63- stepped holes；70- cross inner sleeves；71- bearing pin parts；80- fasteners；90- positioning sleeves.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in the embodiment of the utility model is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model part of the embodiment, rather than whole embodiments.Generally here described in accompanying drawing and
The component of the utility model embodiment shown can be configured to arrange and design with a variety of.
Therefore, the detailed description of the embodiment of the present utility model to providing in the accompanying drawings is not intended to limit requirement below
The scope of the utility model of protection, but it is merely representative of selected embodiment of the present utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of the utility model protection.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.
, it is necessary to explanation, term " on ", " under ", "left", "right", " interior ", " outer " etc. in description of the present utility model
The orientation or position relationship of instruction be based on orientation shown in the drawings or position relationship, or the utility model product use when
The orientation or position relationship usually put, it is for only for ease of description the utility model and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
Limitation of the present utility model.
In addition, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively important
Property.
In description of the present utility model, it is also necessary to which explanation, unless otherwise clearly defined and limited, term " are set
Put ", " installation ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Embodiment
Fig. 1-Fig. 4 is refer to, present embodiments provides a kind of robot polishing start of adaptive spindle 100, it includes body 10,
Body 10 has accommodating chamber 101；Actuator 20, actuator 20 include housing 21 and are rotationally connected with the main shaft 22 of housing 21,
Housing 21 has connecting portion 211 and service portion 212, and connecting portion 211 is mobilizable to be connected to housing 21, and service portion 212 is positioned at appearance
Receive in chamber 101；Extensible member 30, radial direction of the extensible member 30 along main shaft 22 are slidably connected to body 10, the quantity of extensible member 30
To be multiple and along the circumferentially distributed of main shaft 22, one end of extensible member 30 abuts or is connected to service portion 212, the order of extensible member 30 effect
Portion 212 has the movement tendency radially slided along main shaft 22 and main shaft 22 is waved.
It is described with the relative position in Fig. 2, housing 21 includes output section, connecting portion 211 and service portion 212, connecting portion
211 between output section and service portion 212, and main shaft 22 protrudes relative to output section, and it is used to be connected with tool holder 200.Even
Socket part 211 is connected with body 10 and can be relatively movable, and service portion 212, can be relatively movable in the presence of extensible member 30.With
Relative position in Fig. 3 is described, and extensible member 30 is circumferentially distributed along main shaft 22, that is to say, that the service portion 212 is in two dimension
Can be relatively movable up and down in plane, connecting portion 211 is located at the middle part of housing 21, according to lever principle, the output section
Can be relatively movable up and down.The final swing for realizing main shaft 22, realize the flexible characteristic of main shaft 22.
Specifically, robot polishing start of adaptive spindle 100 can realize service portion by the telescopic action of extensible member 30
212 activity, according to lever principle, waving for main shaft 22 is realized, and then make main shaft 22 that there is flexible characteristic.The robot is beaten
Mill start of adaptive spindle 100 is simple in construction, and overall using effect is preferable, and its is reasonable in design, and market application potential is huge.
With reference to Fig. 3 and Fig. 4, optionally, robot polishing start of adaptive spindle 100 also includes cylinder 40, and cylinder 40 includes cylinder
Body 41 and piston rod 42, in a ring, cylinder body 41 is connected and in accommodating chamber 101 cylinder body 41 with body 10, and the one of piston rod 42
End is slidable to be connected to cylinder body 41, and the other end of piston rod 42 forms extensible member 30.
By adjusting the air pressure size in cylinder body 41, the restoring force so as to regulating piston bar 42 to service portion 212.It is main
Axle 22 realizes passive compliance, and realizes the controllability of data.
Optionally, the quantity of piston rod 42 is identical with the quantity of extensible member 30 and symmetrical along the circumference of main shaft 22.
Explanation is needed exist for, piston rod 42 is fixedly connected or is integrally formed with extensible member 30,
It is also understood that it is the part that extensible member 30 is piston rod 42.Oil-free axle can also be set between cylinder body 41 and piston rod 42
Hold, oilless bearing and piston rod 42 pass through accurately dimensional fits, it is possible to achieve be tightly connected.
By being symmetrically distributed, service portion 212 can realize that all directions stress is equal in the presence of multiple extensible members 30
Weighing apparatus.Stationarity is preferable, practical.
Eight piston rods 42 are corresponding with from a cylinder body 41 in the present embodiment, it is when it is implemented, can also be several
Corresponding eight piston rods 42 of cylinder body 41.The quantity of cylinder body 41 and piston rod 42 can be designed according to the actual requirements.This implementation
Example on the cylinder body 41 of annular from eight piston rods 42 are set, and simple in construction, overall using effect is preferable.
Optionally, robot polishing start of adaptive spindle 100 also includes fixed seat 50, and fixed seat 50 includes the peace being connected with each other
Piece installing 51 and fitting 52, installed part 51 are connected with service portion 212, and fitting 52 is cylindrical, and extensible member 30 is along fitting 52
It is circumferentially distributed and be connected to fitting 52.
The fitting 52 is cylindrical, and extensible member 30 can be effectively connected on fitting 52, uniform force, overall flat
Stability is strong.The fitting 52 can be solid or hollow.
Optionally, actuator 20 includes air motor, and installed part 51 is built-in with the supply frame connected with air motor, body
10 are built-in with air supply pipe 102, and one end of air supply pipe 102 is connected with supply frame and for being supplied to air motor, air supply pipe 102
The other end is connected with body 10.
The other end of the air supply pipe 102 is connected by body 10 with external gases at high pressure generating means.Gases at high pressure are sent out
Gases at high pressure caused by generating apparatus are entered by air supply pipe 102, are entered by the supply frame built in installed part 51 in air motor
Portion, main shaft 22 is driven to rotate.
Fig. 5-Fig. 7 is refer to, optionally, robot polishing start of adaptive spindle 100 also includes cross inner sleeve 70, cross inner sleeve
70 are arranged connecting portion 211 and housing 21 is relatively fixed with cross inner sleeve 70, and cross inner sleeve 70 is provided with bearing pin part 71, bearing pin part
71 being radially arranged and are slidably connected to body 10 along main shaft 22.
The quantity of bearing pin part 71 can be symmetrically arranged two, that is to say, that can realize the upper and lower or left and right of main shaft 22
Swing.It can also be symmetrical four, that is to say, that can realize bobbing and weaving for main shaft 22.Certainly can also be more
It is multiple, it is possible to achieve the swing of multiple directions in the plane of two dimension.
Optionally, robot polishing start of adaptive spindle 100 also includes cross overcoat 60, the outside of cross overcoat 60 and body
10 connections, cross inner sleeve 70 are sheathed in cross overcoat 60, and cross overcoat 60 has the pin shaft hole 61 for being used for wearing bearing pin part 71.
Cross overcoat 60 can play preferable stabilization, realize the flexible connection of cross inner sleeve 70.
With reference to Fig. 2, optionally, the outside of cross overcoat 60 is provided with the first positioning hole 62, and it is fixed that body 10 is provided with second
Position hole 103, robot polishing start of adaptive spindle 100 also include fastener 80, and fastener 80 wears the He of the second positioning hole 103 successively
First positioning hole 62 and body 10 is set to be relatively fixed with cross overcoat 60.
Fastener 80 can be screw or bolt etc., and the phase of cross overcoat 60 and body 10 can be realized by fastener 80
To fixation.
Optionally, robot polishing start of adaptive spindle 100 also includes positioning sleeve 90, and cross overcoat 60 is provided with for housing
The stepped hole 63 of positioning sleeve 90, stepped hole 63 connect with the first positioning hole 62, fastener 80 wear successively the second positioning hole 103,
The positioning hole 62 of positioning sleeve 90 and first and body 10 is set to be relatively fixed with cross overcoat 60.
The positioning sleeve 90 can play positioning action, can set elastic washer above or below positioning sleeve 90, tightly
Firmware 80 can also set elastic washer with the junction of body 10.
A kind of robot polishing start of adaptive spindle 100 provided according to the utility model embodiment, robot polishing are adaptive
Answering the operation principle of main shaft 100 is：
The service portion 212 of housing 21 can be movable in the plane of two dimension in the presence of extensible member 30, former according to lever
Reason, using connecting portion 211 as the strong point, output section equally can be relatively movable, so as to realize main shaft 22 in the plane of two dimension
Activity, finally make main shaft 22 that there is flexible characteristic.
The robot polishing start of adaptive spindle 100 that the present embodiment provides, it at least has the characteristics that：
The bidimensional of main shaft 22 is flexible；
The rotating speed of main shaft 22 can reach 15000 turns；
The moment of torsion of main shaft 22 is more than 1Nm；
Adaptive machining can be realized to workpiece deburring overlap；
The air pressure of cylinder body 41 is adjustable, corresponds to regulation during processing according to the actual requirements；
The adaptive maximum output hold of main shaft 22 is more than 20Kg.
In summary, the utility model provides a kind of robot polishing start of adaptive spindle 100, and robot polishing is adaptive
Main shaft 100 is answered to realize the activity of service portion 212 by the telescopic action of extensible member 30, according to lever principle, realize main shaft
22 wave, and then main shaft 22 is had flexible characteristic.Robot polishing start of adaptive spindle 100 is simple in construction, integrally makes
Preferable with effect, its is reasonable in design, and market application potential is huge.
Preferred embodiment of the present utility model is the foregoing is only, is not limited to the utility model, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all in the spirit and principles of the utility model
Within, any modification, equivalent substitution and improvements made etc., it should be included within the scope of protection of the utility model.
Claims (9)
- The start of adaptive spindle 1. a kind of robot polishes, it is characterised in that including：Body, the body have accommodating chamber；Actuator, the actuator include housing and are rotationally connected with the main shaft of the housing, and the housing has connecting portion And service portion, the connecting portion is mobilizable to be connected to the housing, and the site of action is in the accommodating chamber；Extensible member, radial direction of the extensible member along the main shaft are slidably connected to the body, the quantity of the extensible member To be multiple and along the circumferentially distributed of the main shaft, one end of the extensible member abuts or is connected to the service portion, described flexible Part makes the service portion have the movement tendency radially slided along the main shaft and the main shaft is waved.
- The start of adaptive spindle 2. robot according to claim 1 polishes, it is characterised in that the robot polishing is adaptive Main shaft also includes cross inner sleeve, and the cross inner sleeve is arranged the connecting portion and makes the housing and the cross inner sleeve relative solid Fixed, the cross inner sleeve is provided with bearing pin part, and the bearing pin part is radially arranged along the main shaft and is slidably connected to institute State body.
- The start of adaptive spindle 3. robot according to claim 2 polishes, it is characterised in that the robot polishing is adaptive Main shaft also includes cross overcoat, and the outside of the cross overcoat is connected with the body, and the cross inner sleeve is sheathed on described ten In word overcoat, the cross overcoat has the pin shaft hole for being used for wearing the bearing pin part.
- The start of adaptive spindle 4. robot according to claim 3 polishes, it is characterised in that set on the outside of the cross overcoat The first positioning hole is equipped with, the body is provided with the second positioning hole, and the robot polishing start of adaptive spindle also includes fastener, The fastener wears second positioning hole and first positioning hole and makes the body and the cross overcoat phase successively To fixation.
- The start of adaptive spindle 5. robot according to claim 4 polishes, it is characterised in that the robot polishing is adaptive Main shaft also includes positioning sleeve, and the cross overcoat is provided with the stepped hole for housing the positioning sleeve, the stepped hole and institute The connection of the first positioning hole is stated, the fastener wears second positioning hole, the positioning sleeve and first positioning hole successively And the body is set to be relatively fixed with the cross overcoat.
- 6. the robot polishing start of adaptive spindle according to claim any one of 1-5, it is characterised in that the robot is beaten Mill start of adaptive spindle also includes cylinder, and the cylinder includes cylinder body and piston rod, the cylinder body in a ring, the cylinder body with it is described Body connects and in the accommodating chamber, one end of the piston rod is slidably connected to the cylinder body, the piston rod The other end form the extensible member.
- The start of adaptive spindle 7. robot according to claim 6 polishes, it is characterised in that the quantity of the piston rod and institute The quantity for stating extensible member is identical and symmetrical along the circumference of the main shaft.
- The start of adaptive spindle 8. robot according to claim 6 polishes, it is characterised in that the robot polishing is adaptive Main shaft also includes fixed seat, and the fixed seat includes the installed part and fitting being connected with each other, the installed part and the effect Portion connects, and the fitting is cylindrical, and the extensible member is along the circumferentially distributed of the fitting and is connected to the fitting.
- The start of adaptive spindle 9. robot according to claim 8 polishes, it is characterised in that the actuator includes pneumatic horse Reach, the installed part is built-in with the supply frame connected with the air motor, and the body is built-in with air supply pipe, the air supply pipe One end be connected with the supply frame and for being supplied to the air motor, the other end of the air supply pipe and the body company Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720904268.7U CN206982440U (en) | 2017-07-25 | 2017-07-25 | Robot polishing start of adaptive spindle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720904268.7U CN206982440U (en) | 2017-07-25 | 2017-07-25 | Robot polishing start of adaptive spindle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206982440U true CN206982440U (en) | 2018-02-09 |
Family
ID=61417183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720904268.7U Active CN206982440U (en) | 2017-07-25 | 2017-07-25 | Robot polishing start of adaptive spindle |
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| Country | Link |
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| CN (1) | CN206982440U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108637893A (en) * | 2018-03-28 | 2018-10-12 | 西安近代化学研究所 | A kind of adaptive grinding head for the polishing of single-ended arc closed head cylinder inner wall |
-
2017
- 2017-07-25 CN CN201720904268.7U patent/CN206982440U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108637893A (en) * | 2018-03-28 | 2018-10-12 | 西安近代化学研究所 | A kind of adaptive grinding head for the polishing of single-ended arc closed head cylinder inner wall |
| CN108637893B (en) * | 2018-03-28 | 2019-10-29 | 西安近代化学研究所 | A kind of adaptive grinding head for the polishing of single-ended arc closed head cylinder inner wall |
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