CN210139296U

CN210139296U - Constant force device and grinding processing equipment

Info

Publication number: CN210139296U
Application number: CN201920920800.3U
Authority: CN
Inventors: 莫庆龙; 许文杰
Original assignee: Zhaoqing Jinma Lingke Intelligent Technology Co ltd
Current assignee: Zhaoqing Jinma Lingke Intelligent Technology Co ltd
Priority date: 2019-06-18
Filing date: 2019-06-18
Publication date: 2020-03-13
Anticipated expiration: 2029-06-18

Abstract

The application provides a constant force device and grinding processing equipment relates to the intelligent processing field. The constant force device comprises a constant pressure output unit for realizing constant force output, a telescopic cover body and an air pressure compensation device. The retractable cover body includes a first mounting port connected to an external device, a second mounting port connected to a force receiving device, and a sealed chamber for accommodating the constant pressure output unit. The air pressure compensation device comprises a shrinkable closed space, the shrinkable closed space is communicated with the sealing cavity and is used for maintaining the air pressure stability of the sealing cavity when the volume of the sealing cavity changes. The air pressure stability of the sealed space in the constant force device can be realized, and the sealing characteristic of the sealed space of the constant force device is improved.

Description

Constant force device and grinding processing equipment

Technical Field

The application relates to the field of intelligent processing, in particular to a constant force device and grinding processing equipment.

Background

In the production and processing process of ceramic bathroom accessories, the blank to be processed is soft, and dust is easily generated in the grinding process, so that dust prevention measures need to be made. In order to achieve a better dustproof effect, a dustproof cover is usually arranged outside the processing equipment, so that the dust is isolated from external dust. In an automated polishing process, in order to improve the polishing quality, a device having a buffering capacity is generally used to achieve a constant force output of a polishing apparatus. In order to prevent dust from entering the constant force output device, the constant force output device and the dust cover need to form a sealed space together. The constant force output device is used for keeping constant force output and is generally provided with a telescopic cavity with variable volume.

When the constant force output device is subjected to external force to cause the volume of the telescopic cavity to change, the air pressure in the dust cover can be increased or decreased along with the change, correspondingly, the trend that the air in the dust cover bulges outwards or the external air drills into the dust cover has certain destructive capacity for the sealing performance of the sealing space formed by the constant force output device and the dust cover.

SUMMERY OF THE UTILITY MODEL

An object of the embodiments of the present application is to provide a constant force device that can stabilize air pressure in a sealed space formed by a constant force output device and a dust cover, and improve sealing characteristics of the sealed space formed by the constant force output device and the dust cover.

In a first aspect, an embodiment of the present application provides a constant force apparatus, which includes

The constant pressure output unit is used for realizing constant force output;

the telescopic cover body comprises a first mounting port connected with an external device, a second mounting port connected with a stressed device, and a sealing cavity for accommodating the constant pressure output unit;

the air pressure compensation device comprises a retractable closed space, wherein the retractable closed space is communicated with the sealed cavity and is used for maintaining the stable air pressure of the sealed cavity when the volume of the sealed cavity changes.

In the implementation process, the shrinkable closed space and the inside of the sealed cavity form a closed and stretchable space, and the volume of the inside of the sealed cavity changes when the constant pressure output unit performs stretching movement. When the internal volume of the sealed cavity is increased, the shrinkable sealed space expands; when the internal volume of sealed chamber reduces, collapsible airtight space shrink to through the flexible characteristic in collapsible airtight space, realize that the atmospheric pressure of sealed intracavity portion is stable, improve constant pressure output unit's sealing characteristic.

As an embodiment, the constant force apparatus further comprises a mounting plate comprising a mounting portion and an extension portion;

the mounting portion is mounted on the first mounting port; the mounting part is provided with a first air passage which is communicated with the sealing cavity and the shrinkable closed space;

the extension portion is provided with a flange to which the external device is connected.

In the implementation process, the installation part is arranged at the first installation port, and compared with the telescopic cover body and the air pressure compensation device, the installation part is positioned at the middle upper part of the constant force device, so that the rigidity of the whole constant force device can be better.

In one possible implementation, the mounting portion and the extension portion are disposed at an included angle.

In the implementation process, the extending part is obliquely arranged relative to the installation part and has a position relation with an angle range of 180 degrees between the extending part and the installation part, the included angle range between the extending part and the installation part can be increased due to the inclination of the extending part, and the extending part has more installation reserved spaces. The installation reserved space of the extension part is enlarged, and the extension part can be connected with an external device more conveniently.

In one possible implementation, the air pressure compensation device includes:

the annular supporting piece is arranged on one side, away from the sealing cavity, of the mounting part, and an inner ring through hole of the annular supporting piece covers an outlet of the first air passage;

the first air bag is sleeved and hooped on the periphery of the middle upper part of the annular strutting piece.

In the implementation process, the inner ring through hole of the annular support piece covers the outlet of the first air passage, so that no exposed seam exists between the first air passage and the annular support piece, and the air flowing through the first air passage enters the first air bag through the hollow pipeline of the annular support piece to realize the communication between the sealing cavity and the first air bag.

As an embodiment, the air pressure compensation device further includes:

and the air bag support rod is arranged in the first air bag and fixed at the top of the annular support piece so as to shape the first air bag.

In the implementation process, the air bag support rod has a shaping effect on the first air bag, and when the first air bag is not expanded, the air bag support rod is not prone to falling into a sealed cavity formed by the organ cover through the first air passage.

In another possible implementation, the length of the first balloon is less than the height of the annular struts.

When the first air bag is not expanded, the first air bag has the possibility of falling into the sealed cavity formed by the organ cover, in the implementation process, the length of the first air bag is smaller than the height of the annular supporting piece, and even if the first air bag is not expanded and is in a falling state, the falling position of the first air bag is only positioned in the hollow channel of the annular supporting piece, so that the sealed cavity formed by the organ cover cannot be influenced.

In one possible implementation, the shape and area of the inner ring of the annular strut are the same as the shape and area of the cross section of the first air passage, and the inner ring of the annular strut and the outlet of the first air passage are aligned.

In the above-mentioned realization process, the setting is aimed at to the export of the inner ring of cyclic annular piece and first air flue, and the air flue interface between installation department and the cyclic annular piece links up smoothly promptly, and when the gas in the sealed intracavity flows to first gasbag, the air current is through more smooth, is difficult for producing the noise.

As an embodiment, the air pressure compensation device further includes:

the protective cover is arranged on the mounting part and forms an air bag cavity together with the mounting part for accommodating the annular strutting piece and the first air bag;

the protective cover is provided with a through hole. In one possible implementation, the through holes on the protective cover comprise a plurality of fine holes which are uniformly arranged.

In the implementation process, the volume change of the sealed cavity is compensated through the expansion and contraction of the air bag in the first air bag cavity, and the outer wall of the protective cover is provided with a plurality of pores communicated with the outside of the constant force device so as to compensate the influence of the expansion and contraction of the first air bag on the pressure of the residual gas in the air bag cavity.

In one possible implementation, the retractable cover body is an organ cover;

the constant pressure output unit comprises a cylinder mounting frame, a telescopic cylinder, a linear bearing assembly and a floating joint;

the cylinder mounting rack comprises a plurality of supporting columns fixedly connected to the mounting part and supporting plates mounted at the lower end parts of the supporting columns; the telescopic cylinder is arranged on a supporting plate of the cylinder mounting frame;

the linear bearing assembly is mounted on the cylinder mount; the linear bearing assembly comprises a linear bearing arranged on the cylinder mounting frame and a guide pillar matched with the linear bearing, and the guide pillar stretches and retracts relative to the linear bearing; the guide post is parallel to the moving direction of the piston rod of the telescopic cylinder along the telescopic direction of the linear bearing;

the piston of the telescopic cylinder is connected with the second mounting port through the floating joint; the guide post is connected with the second mounting port through a guide post clamping block arranged on the second mounting port.

In a possible implementation manner, a first joint and a second joint are arranged on the mounting part;

the second mounting port is provided with a stressed device air source joint connected with the stressed device;

a first air pipe and a second air pipe are arranged in the telescopic cover body, and the first air pipe is communicated with the first joint and the constant pressure output unit; and the second air pipe is communicated with the second joint and the air source joint of the stressed device.

In the implementation process, the first air pipe and the second air pipe are arranged in the sealed cavity, namely the air source access air circuit of the stressed device and the air source access air circuit of the constant pressure output unit are arranged in the sealed cavity, and the external part of the constant force device does not need to be additionally spliced with an air source pipeline, so that the constant force device in the embodiment is more compact in structure and more stable in operation.

In a possible implementation manner, a second air passage communicated with the sealing cavity and the retractable closed space is arranged on the side wall of the first mounting port, and the air pressure compensation device is independent of the retractable cover body.

In one possible implementation, the second airway includes a rigid conduit; the air pressure compensation device comprises a second air bag, and the second air bag is sleeved and hooped on the end part of the rigid pipeline extending out of the sealing cavity.

According to another aspect of the present invention, there is also provided a grinding processing apparatus, comprising a mechanical arm, a grinding head and the constant force device; the mechanical arm is fixedly connected with a first mounting port in the constant force device, and the grinding head is fixedly connected with a second mounting port.

According to the technical scheme, the sealing cavity where the constant pressure output unit is located is communicated with the sealing cavity, the sealing cavity and the sealing cavity form the sealed and telescopic retractable closed space, the air pressure inside the sealing cavity is stable through the retractable characteristic of the retractable closed space, and the sealing characteristic of the constant pressure output unit is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic diagram of a constant force apparatus according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a constant force apparatus according to an embodiment of the present disclosure;

FIG. 3 is a top view of the constant force apparatus shown in FIG. 2;

FIG. 4 is a cross-sectional view taken along line A-A of the constant force apparatus of FIG. 2;

FIG. 5 is a schematic view of the constant force apparatus of FIG. 2 without the telescoping cover;

fig. 6 is a schematic structural diagram of another constant force apparatus according to an embodiment of the present application.

Icon: 100-constant pressure output unit; 110-cylinder mounting frame, 111-support column; 112-a support plate; 120-telescopic cylinder, 130-linear bearing assembly; 131-linear bearings; 132-guide pillars; 140-a floating joint; 200-a retractable cover; 210-a first mounting port; 211-a second airway; 220-a second mounting port; 230-a sealed cavity; 300-air pressure compensation means; 310-a ring-shaped strut; 311-inner ring via hole; 330-airbag struts; 340-a protective cover; 320-a first balloon; 330-a second balloon; 400-mounting a plate; 410-a mounting portion; 411 — first airway; 420-an extension; 421-a flange; 430-a first joint; 440-a second linker; 133-guide post clamp block.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when in use, and are used only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Fig. 1 is a schematic diagram of a constant force apparatus according to an embodiment of the present disclosure. Referring to fig. 1, the constant force apparatus includes a constant pressure output unit 100, a retractable cover 200, and an air pressure compensating apparatus 300.

The constant pressure output unit 100 is retractable for realizing a constant force output.

The telescoping cage 200 is telescoping, and the telescoping cage 200 includes a first mounting port 210, a second mounting port 220, and a sealed chamber 230 for receiving the constant pressure output unit 100. The first mounting port 210 is connected with an external device; the second mounting port 220 is connected to a force-receiving device.

The first and second mounting

ports

210 and 220 may be part of the sealed chamber 230 cavity, i.e., the sealed chamber 230 cavity communicates with the outside through the first and second mounting

ports

210 and 220. When the first installation port 210 and the second installation port 220 are components of a cavity of the sealed cavity 230, the first installation port 210 is provided with an external device, the second installation port 220 is provided with a stress device, the external device blocks the first installation port 210, the stress device blocks the second installation port 220, and the blocked first installation port 210 and second installation port 220 and the sealed cavity 230 form a sealed cavity together. In another possible implementation, the first and second mounting

ports

210 and 220 may not be formed as an integral part of the sealing chamber 230, but may be directly mounted at predetermined positions on an outer wall of the sealing chamber 230.

The air pressure compensation device 300 includes a collapsible closed space, which is communicated with the sealed cavity 230, and when the volume of the sealed cavity 230 changes, the collapsible closed space expands and contracts accordingly, so as to maintain the air pressure of the sealed cavity 230 stable.

In the implementation process, a sealed and telescopic space is formed between the collapsible sealed space and the inside of the sealed cavity 230, when the constant pressure output unit 100 performs telescopic motion, the volume inside the sealed cavity 230 changes, and when the volume inside the sealed cavity 230 increases, the collapsible sealed space expands; when the internal volume of the sealed chamber 230 is reduced, the collapsible sealed space is collapsed, so that the air pressure inside the sealed chamber 230 is stabilized by the collapsible characteristic of the collapsible sealed space, and the sealing characteristic of the constant pressure output unit 100 is improved.

Fig. 2 is a schematic structural diagram of a constant force device according to an embodiment of the present disclosure. FIG. 3 is a top view of the constant force apparatus shown in FIG. 2; fig. 4 is a sectional view taken along line a-a of the constant force apparatus of fig. 2. Referring to fig. 2-4, in the present embodiment, the retractable cover 200 is a concertina cover. An external device, such as a mechanical arm, a manipulator and the like, is connected to the first mounting port 210 of the organ cover; the second mounting port 220 of the accordion cover is connected to a force-receiving member, such as a grinding head in a grinding apparatus.

In one embodiment, the mounting plate 400 is mounted to the first mounting port 210 of the retractable cover 200, and the mounting plate 400 includes a mounting portion 410 and an extension portion 420. The mounting portion 410 is mounted above the first mounting port 210, and in this embodiment, the air pressure compensating device 300 is mounted at a position above the mounting portion 410. Correspondingly, the mounting portion 410 is provided with a first air passage 411 for communicating the sealed cavity 230 and the collapsible sealed space. The extension part 420 is disposed away from the organ cover, the extension part 420 is configured to be connected to an external device, and correspondingly, a flange 421 for connecting to the external device is disposed on the extension part 420.

In the above implementation, the mounting portion 410 of the mounting plate 400 can be mounted at the first mounting port 210 or the second mounting port 220, but since the second mounting port 220 is located at the bottom of the retractable cover 200, the mounting of the relevant structures such as the constant pressure output unit 100 and the like needs to be supported by the relatively fixed mounting structure, and the bottom of the retractable cover 200 needs to be connected with a force-receiving member such as a grinding head, the second mounting port 220 is not suitable for the mounting portion 410. Meanwhile, in the embodiment, the mounting portion 410 is disposed at the first mounting port 210, and the mounting portion 410 is located at the middle upper portion of the constant force apparatus relative to the retractable cover body 200 and the air pressure compensation apparatus 300, so that the rigidity of the entire constant force apparatus is better.

In one possible implementation, the mounting portion 410 and the extension portion 420 are disposed at an angle.

In the implementation process, the extending portion 420 is obliquely arranged relative to the mounting portion 410, and has a position relationship with an angle range of 180 degrees between the extending portion 420 and the mounting portion 410, the inclination of the extending portion 420 can increase the included angle range between the extending portion 420 and the mounting portion 410, and the extending portion 420 has more mounting reserved space. The installation allowance space of the extension part 420 is increased, and the connection with an external device can be more conveniently performed.

In one possible implementation, the air pressure compensating device 300 includes a ring support 310 and a first air bag 320. The annular supporter 310 is disposed on a side of the mounting portion 410 away from the sealing chamber 230, and the inner ring through hole 311 of the annular supporter 310 covers an outlet of the first air duct 411. The first air bag 320 is sleeved and tightened around the middle upper portion of the ring-shaped supporter 310.

In the implementation process, the inner ring through hole 311 of the annular supporter 310 covers the outlet of the first air duct 411, so that no open seam exists between the first air duct 411 and the annular supporter 310, and the air flowing through the first air duct 411 enters the first air bag 320 through the hollow pipeline of the annular supporter 310, so as to communicate the seal cavity 230 with the first air bag 320.

As an embodiment, the air pressure compensating device 300 further includes an air bag brace 330. The balloon stay 330 is disposed inside the first balloon 320 and fixed to the top of the ring stay 310. The airbag stay 330 stretches the inner wall of the first airbag 320 to a position away from the first air passage 411.

In the implementation process, the airbag stay 330 has a shaping effect on the first airbag 320, and when the first airbag 320 is not expanded, the airbag stay cannot fall into the sealed cavity 230 formed by the wind organ cover through the first air passage 411.

In another possible implementation, the length of the first bladder 320 is less than the height of the annular struts 310.

When the first airbag 320 is not expanded, the first airbag 320 may fall into the sealed cavity 230 formed by the organ cover, and in the implementation process, the length of the first airbag 320 is smaller than the height of the annular strut member 310, so that even if the first airbag 320 is not expanded and is in a falling state, the falling position of the first airbag 320 is only located in the hollow channel of the annular strut member 310, and the falling position does not affect the sealed cavity 230 formed by the organ cover.

In one possible implementation, the shape and area of the inner ring through hole 311 are the same as the shape and area of the cross section of the first air duct 411, and the outlet of the inner ring through hole 311 and the outlet of the first air duct 411 are aligned.

In the implementation process, the inner ring through hole 311 and the outlet of the first air duct 411 are aligned, that is, the air duct interface between the mounting portion 410 and the annular supporting member 310 is smoothly connected, and when the air in the sealing cavity 230 flows to the first air bag 320, the air flow is more smooth and smooth, and noise is not easily generated.

As an embodiment, the air pressure compensating device 300 further includes a protective cover 340. The protective cover 340 is disposed on the mounting portion 410, and encloses a bladder chamber for accommodating the annular stay 310 and the first bladder 320 together with the mounting portion 410.

In the above implementation, the protection cover 340 is provided to protect the first air bag 320 from being damaged and to protect the appearance of the constant force apparatus. In one possible implementation, the outer shape of the protection cover 340 is a hollow cylinder, and the outer diameter of the protection cover 340 is the same as that of the organ cover.

Further, a through hole is opened on the protection cover 340. In one possible implementation, the through holes on the protective cover 340 include a plurality of fine holes (not shown) uniformly arranged.

In the implementation process, the volume change of the sealed cavity 230 is compensated by the expansion and contraction of the air bag in the first air bag 320 cavity, and the outer wall of the protective cover 340 is provided with a plurality of fine holes communicated with the outside of the constant force device so as to compensate the influence of the expansion and contraction of the first air bag 320 on the residual air pressure in the air bag cavity.

In one possible implementation, the mounting portion 410 is provided with a first joint 430 and a second joint 440. The mounting portion 410 is provided therein with a passage communicating with the first joint 430 and the second joint 440. The second mounting port 220 is mounted with a stressed device air supply connection connected to the stressed device. The first and second air tubes are provided in the retractable cover 200. The first air pipe communicates the first joint 430 with the constant pressure output unit 100; the second air pipe is communicated with the second joint 440 and the air source joint of the force-bearing device.

In the implementation process, the first air pipe and the second air pipe are arranged in the sealed cavity 230, namely, the air source access air circuit of the stressed device and the air source access air circuit of the constant pressure output unit 100 are both arranged in the sealed cavity 230, and an additional air source pipeline does not need to be additionally inserted outside the constant force device, so that the constant force device in the embodiment is more compact in structure and more stable in operation.

Fig. 5 is a schematic structural view of the constant force apparatus shown in fig. 2 without the retractable cover. Referring to fig. 4 and 5, the constant pressure output unit 100 in this embodiment includes a cylinder mount 110, a telescopic cylinder 120, a linear bearing assembly 130, and a floating joint 140.

The cylinder mount 110 is fixedly mounted on the mounting portion 410 of the mounting plate 400. In one possible implementation, the cylinder mount 110 includes a plurality of support columns 111 fixedly coupled to the mounting portion 410, and a support plate 112 mounted at lower end portions of the plurality of support columns 111.

The telescopic cylinder 120 is mounted on the support plate 112 of the cylinder mount 110.

The linear bearing assembly 130 is mounted on the cylinder mount 110. In one possible implementation, the linear bearing assembly 130 includes a linear bearing 131 mounted on the cylinder mount 110, and a guide post 132 engaged with the linear bearing 131, the guide post 132 telescoping relative to the linear bearing 131. The guide post 132 is parallel to the moving direction of the piston rod of the telescopic cylinder 120 along the telescopic direction of the linear bearing 131.

The piston of the telescopic cylinder 120 is connected to the second mounting port 220 through the floating joint 140, and the guide post 132 of the linear bearing 131 assembly 130 is connected to the second mounting port 220 through the guide post clamp block 133 provided to the second mounting port 220.

In the implementation process, the second mounting port 220 moves under the influence of the force-bearing device, the second mounting port 220 moves up and down along the guide post 132, the piston of the telescopic cylinder 120 moves synchronously, the volume of the cylinder increases or decreases accordingly, and the air pressure in the sealing cavity 230 also changes accordingly.

It should be noted that the structure of the constant pressure output unit 100 in the present embodiment is only exemplary, and any device that can be connected to the second mounting port 220 and provide a constant force output when the second mounting port 220 is moved to generate a position falls within the protection scope of the present application.

Fig. 6 is a schematic structural diagram of another constant force apparatus according to an embodiment of the present application. As shown in fig. 6, a second air passage 211 communicating the sealed chamber 230 and the collapsible sealed space is provided on a side wall of the first mounting port 210 of the collapsible housing, and the air pressure compensating device 300 is provided independently of the collapsible housing 200. The second air passage 211 comprises a rigid pipe; the air pressure compensation device 300 includes a second air bag 330, and the second air bag 330 is sleeved on and hooped on the end portion of the rigid pipeline extending out of the sealing cavity 230.

In the embodiment of the application, 6 constant-force devices are selected to carry out a constant-force output experiment and the service life of the ceramic body polishing machine working in a dust environment (the harmfulness degree of a dust working place is II level) of ceramic body polishing. Wherein the dynamometer is mounted at a second mounting port for connection with the stressed device.

The experimental data are shown in Table 1-1: (Note: constant force control output 30N)

TABLE 1-1 results of constant force output experiment and device life test

According to the experimental data, the output force of the constant force device is stable, and the service life of the constant force device is 10000h (obtained through an accelerated aging test).

According to the utility model discloses on the other hand, still provide a grinding processing equipment, including arm, grinding head and foretell constant force device. The robotic arm is fixedly coupled to a first mounting port 210 and the polishing head is fixedly coupled to a second mounting port 220 of the constant force apparatus.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A constant force apparatus, comprising:

the constant pressure output unit is used for realizing constant force output;

2. The constant force apparatus of claim 1, further comprising a mounting plate, the mounting plate comprising a mounting portion and an extension;

3. The constant force apparatus according to claim 2, wherein the mounting portion and the extension portion are disposed at an included angle.

4. The constant force apparatus according to claim 2, wherein the air pressure compensating means comprises:

5. The constant force apparatus according to claim 4, wherein the air pressure compensation apparatus further comprises:

6. The constant force apparatus according to claim 4, wherein the length of the first bladder is less than the height of the annular struts.

7. The constant force device according to claim 4, wherein the shape and area of the inner ring of the annular strut is the same as the shape and area of the cross-section of the first air passage, and the inner ring of the annular strut and the outlet of the first air passage are aligned.

8. The constant force apparatus according to any one of claims 4 to 7, wherein the air pressure compensation apparatus further comprises:

the protective cover is provided with a through hole.

9. The constant force apparatus according to claim 2, wherein the collapsible cover is an accordion cover;

10. The constant force apparatus according to claim 2, wherein the mounting portion is provided with a first joint and a second joint;

11. The constant force apparatus according to claim 1, wherein a second air passage is provided on a side wall of the first mounting port to communicate the sealed chamber with the collapsible closed space, and the air pressure compensation apparatus is provided independently of the collapsible cover.

12. The constant force apparatus according to claim 11, wherein the second airway comprises a rigid conduit; the air pressure compensation device comprises a second air bag, and the second air bag is sleeved and hooped on the end part of the rigid pipeline extending out of the sealing cavity.

13. An abrasive machining apparatus comprising a robotic arm, an abrasive head, and a constant force device as claimed in any one of claims 1 to 11; the mechanical arm is fixedly connected with a first mounting port in the constant force device, and the grinding head is fixedly connected with a second mounting port.