CN210849734U - Oilstone grinding and polishing equipment suitable for three-axis deflection of tail end of robot - Google Patents
Oilstone grinding and polishing equipment suitable for three-axis deflection of tail end of robot Download PDFInfo
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- CN210849734U CN210849734U CN201920922039.7U CN201920922039U CN210849734U CN 210849734 U CN210849734 U CN 210849734U CN 201920922039 U CN201920922039 U CN 201920922039U CN 210849734 U CN210849734 U CN 210849734U
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Abstract
The utility model provides a three-axis deflection oilstone grinding and polishing device suitable for a robot end, which comprises a main body part, a double-crank mechanism, an oilstone clamping mechanism and an oilstone (6), wherein the main body part comprises a mounting flange (1), a driving contact flange (2), a first housing (3), a connecting plate (4), a second housing (5) and a servo motor (7), the mounting flange (1), the driving contact flange (2), the first housing (3), the connecting plate (4) and the second housing (5) are connected in sequence, the servo motor (7) is positioned in a holding space limited by the first housing (3), the double-crank mechanism is located in the containing space limited by the second housing (5), the servo motor (7) is connected with the double-crank mechanism, the double-crank mechanism is connected with the connecting plate (4) and the oilstone clamping mechanism, and the oilstone clamping mechanism clamps the oilstone (6). The utility model discloses a double crank mechanism turns into the drawing circle motion of oilstone with servo motor's rotary motion and grinds the throwing to the work piece.
Description
Technical Field
The utility model relates to a processing technology field is thrown in the mill, specifically relates to be applicable to terminal triaxial beat oilstone grinding and throwing equipment of robot.
Background
The oilstone is used as a typical consolidation grinding tool and widely applied to grinding and polishing treatment of the surface of a workpiece, and in the field of industrial automation, the oilstone is mainly fixed, a special grinding machine clamps the oilstone to grind and polish the workpiece, and the oilstone is manually replaced. At present, the special oilstone grinding machine in the field of industrial automation mainly aims at batch workpieces, and no mature oilstone grinding equipment exists in the market at present for small-batch multi-variety workpieces such as automobile outer covering part stamping dies. Because the automobile outer cover mold has the requirement on continuity of the surface streamline of the mold, for example, the paint reflecting streamline of the automobile outer cover manufactured by the mold after spraying needs to have continuity, the surface of the automobile outer cover mold needs to be polished by using oilstones to meet the requirement on continuity of the surface streamline. However, currently, the grinding and polishing of the automobile outer cover mould mainly depends on manual oilstone grabbing, and the following problems exist: 1. the manual grabbing of the oilstone for grinding and polishing causes the quality stability and consistency of the grinding and polishing workpiece to be poor due to the uncontrollable grinding and polishing process, especially the uncontrollable grinding and polishing normal force and the linear speed of the oilstone; 2. the oilstone is worn quickly because the grinding and polishing process is difficult to control accurately by manpower, so that the oilstone is worn quickly.
The prior manual grinding and polishing of the automobile outer covering part die can ensure that the surface streamline of the die is continuous, the surface roughness can reach Ra (equal to or greater than 0.3-0.4 mu m), but along with the popularization and the application of new energy automobiles, the automobile body is changed into aluminum alloy through a galvanized plate for pursuing lightweight, the requirement on the surface roughness of the die is further improved, the requirement on the surface roughness reaches Ra (equal to or greater than 0.1 mu m), and the prior manual work is difficult to be competent. Based on the reasons, when the stamping die is ground and polished, the traditional oilstone automatic application mode cannot meet the surface quality requirement of the stamping die with high precision requirement because the stamping die has high requirements on the surface roughness and the form and position precision of the grinding and polishing. The oilstone equipment capable of realizing the grinding and polishing quality of the stamping die is urgently needed in the market, and the self-adaptive grinding and polishing of multiple varieties of the stamping die in small batches can be realized.
The patent document with publication number CN 203357216U discloses a ball head connecting rod for a grinding and polishing machine, which comprises a rod-shaped member, wherein the rod-shaped member is formed by connecting a clamping part and a grinding part, and the clamping part and the grinding part are arranged at an included angle; the end of the grinding part is provided with a spherical grinding head. Because the rod-shaped part of the utility model is arranged with an included angle formed by the clamping part and the grinding part instead of adopting a straight rod, the rod-shaped part is not easy to be broken when touching hard objects. Because the grinding part and the grinding auxiliary material are matched by the arc surfaces, the grinding auxiliary material such as the oilstone is always flatly attached to the surface of the die to work, and the flatness of the surface of the die is ensured regardless of the change of the angle between the grinding part and the grinding auxiliary material such as the oilstone. According to the scheme, the workpiece can be ground and polished after being arranged on the clamping part, and the position of the workpiece on the clamping part needs to be changed for grinding and polishing the whole workpiece because the angle and the position relation between the grinding part and the clamping part are fixed, so that the operation is troublesome.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model aims at providing an it throws equipment to be applicable to terminal triaxial beat oilstone of robot to grind.
According to the utility model provides a pair of be applicable to terminal triaxial beat oilstone of robot and grind equipment of throwing, including main part, double crank mechanism, oilstone fixture, oilstone, the main part includes mounting flange, active contact flange, first housing, connecting plate, second housing, servo motor, mounting flange, active contact flange, first housing, connecting plate, second housing connect gradually, servo motor is located the accommodation space that first housing was injectd, double crank mechanism is located the accommodation space that the second housing was injectd, servo motor connects double crank mechanism, double crank mechanism connects connecting plate, oilstone fixture, and oilstone fixture carries out the centre gripping to the oilstone.
Preferably, the double-crank mechanism comprises an eccentric device, a driven eccentric device and a connecting and mounting block; the eccentric device and the driven eccentric device are connected with the oilstone clamping mechanism through the connecting and mounting block.
Preferably, the driven eccentric device comprises two eccentric assemblies, each eccentric assembly comprises a first locking nut, a first paired angular contact bearing, a driven eccentric shaft, a second paired angular contact bearing and a second locking nut, one end of the driven eccentric shaft is connected with the first paired angular contact ball bearing through transition fit, the first paired angular contact ball bearing is locked through the first locking nut, the other end of the driven eccentric shaft is connected with the second paired angular contact ball bearing through transition fit, and the second paired angular contact ball bearing is connected and locked through the second locking nut.
Preferably, the eccentric assembly further comprises a first disc spring, a first elastic retainer ring, a second disc spring and a second elastic retainer ring, the first disc spring is arranged between the first lock nut and the first paired angular contact bearing, the first elastic retainer ring is arranged between the first paired angular contact bearing and one end of the driven eccentric shaft, the first paired angular contact bearing and the connecting plate are connected in a transition fit mode and fixed through the first elastic retainer ring, and the pre-tightening force of the first paired angular contact bearing is adjusted through the first disc spring;
the second disc spring is arranged between the second paired angular contact bearing and the second locking nut, the second elastic retainer ring is arranged between the other end of the driven eccentric shaft and the second paired angular contact bearing, the second paired angular contact bearing is connected with the connecting and mounting block through transition fit and is fixed through the second elastic retainer ring, and the pre-tightening force of the second paired angular contact bearing is adjusted through the second disc spring.
Preferably, the eccentric device comprises a deep groove ball bearing, a fourth elastic retainer ring, an eccentric shaft, a third locking nut and a third paired angular contact bearing, the deep groove ball bearing is connected with the connecting plate through the fourth elastic retainer ring and is radially positioned through transition fit, one end of the eccentric shaft is connected to a shaft of the servo motor through interference fit, the other end of the eccentric shaft is connected with the third paired angular contact bearing through transition fit, and the third paired angular contact bearing is locked through the third locking nut.
Preferably, the eccentric device further comprises a third disc spring and a third circlip, the third disc spring is arranged between the third lock nut and the third diagonal contact bearing, and the third circlip is arranged between the other end of the eccentric shaft and the third diagonal contact bearing; the third paired angular contact bearing and the connecting and mounting block are connected in a transition fit mode and fixed through a third elastic check ring, and the pre-tightening force of the third paired angular contact bearing is adjusted through a third disc spring.
Preferably, the rotary motion of the servo motor is converted into a circle-drawing motion of the oilstone through a double-crank mechanism, and the radius of the circle-drawing motion is adjusted through the eccentricity of a driven eccentric shaft of the driven eccentric device and the eccentricity of an eccentric shaft of the eccentric device.
Preferably, the eccentricity of the two driven eccentric shafts of the driven eccentric device is equal to the eccentricity of the eccentric shafts of the eccentric device.
Preferably, oilstone fixture includes finger cylinder, first clamping jaw, second clamping jaw, the finger cylinder is installed on connecting the installation piece, first clamping jaw, second clamping jaw are all connected on the finger cylinder to can carry out the centre gripping to the oilstone.
Preferably, a through hole is formed in the second housing, and the first clamping jaw or the second clamping jaw can clamp the oilstone through the through hole in the second housing under the action of the finger cylinder; different specifications of oilstones are clamped by replacing different clamping jaws.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the utility model discloses a slider-crank mechanism turns into the drawing circle motion of oilstone with servo motor's rotary motion, grinds the throwing at workpiece surface's drawing circle motion through the oilstone, can guarantee to grind under the unchangeable condition of throwing efficiency, guarantees that the oilstone wearing and tearing remain unanimous, improves the quality of grinding the throwing surface simultaneously.
2. The utility model discloses can process the mill through changing different specification oilstones of clamping jaw centre gripping according to the size of work piece and throw the mill requirement and throw.
3. The utility model discloses an active contact flange control oilstone keeps invariable with workpiece surface's contact force to guarantee the homogeneity of polishing.
4. The utility model discloses can realize carrying out the motion of drawing a circle under the condition that the oilstone does not rotate, can reduce workpiece surface roughness under the continuous condition of stream line is thrown in the assurance mill to improve surface quality.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of the internal assembly structure of the present invention.
Fig. 3 is a schematic structural view of the dual crank mechanism of the present invention.
The figures show that:
mounting flange 1 first disc spring 15
First paired angular contact bearings 16 of active contact flange 2
First elastic retainer ring 17 of first housing 3
Driven eccentric shaft 18 of connecting plate 4
Second elastic retainer ring 19 of second housing 5
Oilstone 6 second pair angular contact bearing 20
The first clamping jaw 9 is connected with the mounting block 23
Third paired angular contact bearing 26 of deep groove ball bearing 12
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The utility model provides an it grinds equipment of throwing to be applicable to terminal triaxial beat oilstone of robot, the rotary motion through double crank mechanism with servo motor 7 has changed the motion of drawing a circle of oilstone 6, is guaranteeing that oilstone 6 grinds under the prerequisite of throwing efficiency, guarantees that oilstone 6 grinding efficiency keeps invariable to can fine solution stamping die high accuracy requirement's surface quality demand. The utility model discloses the automatic change of in-process is thrown to other monitoring of cooperation or the fine realization oilstone 6 wearing and tearing of controlgear ability and life-span real time monitoring, oilstone 6 mill. The utility model discloses a 2 output constant forces of initiative contact flange, the contact force of accurate control oilstone and workpiece surface can promote oilstone life, reduce cost.
According to the utility model provides a pair of be applicable to terminal triaxial beat oilstone of robot grinds equipment of throwing, including main part, double crank mechanism, oilstone fixture, oilstone 6, the main part includes mounting flange 1, active contact flange 2, first housing 3, connecting plate 4, second housing 5, servo motor 7, mounting flange 1, active contact flange 2, first housing 3, connecting plate 4, second housing 5 connect gradually, servo motor 7 is located the accommodation space that first housing 3 was injectd, double crank mechanism is located the accommodation space that second housing 5 was injectd, servo motor 7 connects double crank mechanism, double crank mechanism connecting plate 4, oilstone fixture carry out the centre gripping to oilstone 6. The active contact 2 can output constant force to ensure the stability of the grinding quality, and the servo motor 7 can control the rotating speed as a power source to adapt to the requirements of different processing.
The double-crank mechanism comprises an eccentric device, a driven eccentric device and a connecting and mounting block 23; the eccentric device and the driven eccentric device are connected with the oilstone clamping mechanism through the connecting and mounting block 23.
The driven eccentric device comprises two eccentric assemblies, wherein each eccentric assembly comprises a first locking nut 11, a first paired angular contact bearing 16, a driven eccentric shaft 18, a second paired angular contact bearing 20 and a second locking nut 22, one end of the driven eccentric shaft 18 is connected with the first paired angular contact ball bearing 16 through transition fit, the first paired angular contact ball bearing 16 is locked through the first locking nut 11, the other end of the driven eccentric shaft 18 is connected with the second paired angular contact ball bearing 20 through transition fit, and the second paired angular contact ball bearing 20 is connected and locked through the second locking nut 22. The eccentric assembly further comprises a first disc spring 15, a first elastic retainer ring 17, a second disc spring 21 and a second elastic retainer ring 19, the first disc spring 15 is arranged between the first lock nut 11 and the first paired angular contact bearing 16, the first elastic retainer ring 17 is arranged between the first paired angular contact bearing 16 and one end of the driven eccentric shaft 18, the first paired angular contact bearing 16 is connected with the connecting plate 4 through transition fit and is fixed through the first elastic retainer ring 17, and the pre-tightening force of the first paired angular contact bearing 16 is adjusted through the first disc spring 15; the second disc spring 21 is arranged between the second paired angular contact bearing 20 and the second lock nut 22, the second elastic retainer ring 19 is arranged between the other end of the driven eccentric shaft 18 and the second paired angular contact bearing 20, the second paired angular contact ball bearing 20 is connected with the connecting and mounting block 23 through transition fit and is fixed through the second elastic retainer ring 19, and the pre-tightening force of the second paired angular contact ball bearing 20 is adjusted through the second disc spring 21.
The eccentric device comprises a deep groove ball bearing 12, a fourth elastic retainer ring 13, an eccentric shaft 14, a third locking nut 24 and a third paired angular contact bearing 26, the deep groove ball bearing 12 is connected with the connecting plate 4 through the fourth elastic retainer ring 13 and is radially positioned through transition fit, one end of the eccentric shaft 14 is connected to a shaft of the servo motor 7 through interference fit, the other end of the eccentric shaft 14 is connected with the third paired angular contact bearing 26 through transition fit, and the third paired angular contact bearing 26 is locked through the third locking nut 24. The eccentric device further comprises a third disc spring 25 and a third elastic retainer ring 27, wherein the third disc spring 25 is arranged between the third lock nut 24 and the third diagonal contact bearing 26, and the third elastic retainer ring 27 is arranged between the other end of the eccentric shaft 14 and the third diagonal contact bearing 26; the third paired angular contact bearings 26 are connected with the connecting and mounting block 23 in a transition fit manner and are fixed by a third elastic retainer ring 27, and the pretightening force of the third paired angular contact bearings 26 is adjusted by a third disc spring 25.
The rotary motion of the servo motor 7 is converted into the oilstone 6 to draw a circle through a double-crank mechanism, and the radius of the circle drawing motion is adjusted through the eccentricity of a driven eccentric shaft 18 of a driven eccentric device and the eccentricity of an eccentric shaft 14 of the eccentric device. The eccentricity of the two driven eccentric shafts 18 of the driven eccentric device is equal to the eccentricity of the eccentric shafts 14 of the eccentric device. The oilstone 6 performs polishing and grinding on the workpiece by continuously performing circle-drawing motion on the surface of the workpiece.
Oilstone clamping mechanism includes finger cylinder 8, first clamping jaw 9, second clamping jaw 10, finger cylinder 8 is installed on connecting installation piece 23, first clamping jaw 9, second clamping jaw 10 are all connected on finger cylinder 8 to can carry out the centre gripping to oilstone 6. A through hole is formed in the second housing 5, and the first clamping jaw 9 or the second clamping jaw 10 can penetrate through the through hole in the second housing 5 to clamp the oilstone 6 under the action of the finger cylinder 8; different specifications of oilstones 6 are clamped by replacing different clamping jaws.
The preferred embodiment:
as shown in fig. 1-3 the utility model discloses mainly by mounting flange 1, initiative contact flange 2, first housing 3, connecting plate 4, second housing 5, oilstone 6, servo motor 7, finger cylinder 8, first clamping jaw 9, second clamping jaw 10, first lock nut 11, deep groove ball bearing 12, fourth circlip 13, eccentric shaft 14, first dish spring 15, first diagonal contact bearing 16, first circlip 17, driven eccentric shaft 18, second circlip 19, second diagonal contact bearing 20, second dish spring 21, second lock nut 22, connect mounting block 23, third lock nut 24, third dish spring 25, third diagonal contact bearing 26, third circlip 27 and constitute, mounting flange 1 adopts six-shaft mounting flange. The utility model discloses a six mounting flanges link to each other with six of robot. Wherein, six shaft mounting flanges, initiative contact flange 2, first housing 3 loops through the screw connection fixed, and first housing 3 has guaranteed the rigidity of whole device through a body processing when guaranteeing intensity to reduced the vibration, connecting plate 4 passes through the fix with screw on first housing 3, and servo motor 7 passes through the fix with screw on connecting plate 4, and second housing 5 passes through the fix with screw on connecting plate 4, plays protection motion and dirt-proof effect. Six shaft mounting flange, initiative contact flange 2, first housing 3, connecting plate 4, second housing 5, servo motor 7 constitute the main part of whole device, and initiative contact flange 2 can export the constant force and guarantee the quality stability of polishing, and servo motor 7 is the power source, control rotational speed that can be convenient is in order to adapt to different requirements. The first lock nut 11, the first disc spring 15, the first paired angular contact bearing 16, the first elastic retainer ring 17, the driven eccentric shaft 18, the second elastic retainer ring 19, the second paired angular contact bearing 20, the second disc spring 21 and the second lock nut 22 form a driven eccentric device. The deep groove ball bearing 12, the fourth elastic retainer ring 13, the eccentric shaft 14, the third lock nut 24, the third disc spring 25, the third diagonal contact bearing 26 and the third elastic retainer ring 27 form an eccentric device. The eccentric device, the two driven eccentric devices and the connecting and mounting block 23 form a double-crank mechanism, and the rotary motion of the servo motor 7 is converted into the circle-drawing motion of the oilstone 6. Wherein, the deep groove ball bearing 12 is fixed on the connecting plate 4 through a fourth elastic retainer ring 13 and is positioned in the radial direction through transition fit. One end of the driven eccentric shaft 18 is connected with the first paired angular contact ball bearing 16 through transition fit and is fixed by the first lock nut 11, and the other end is connected with the second paired angular contact ball bearing 20 through transition fit and is fixed by the second lock nut 22. One end of the eccentric shaft 14 is fixed on the shaft of the servo motor 7 through interference fit, and is circumferentially positioned through a flat key to transmit torque, and the other end is connected with a third paired angular contact bearing 26 through transition fit and is fixed through a third lock nut 24. The eccentricity of the two driven eccentric shafts 18 is consistent with that of the eccentric shaft 14, so that the circle center of the circle drawing motion can be always on the central line of the shaft of the servo motor 7, and the radius of the circle drawing motion can be changed only by changing the eccentricity of the three shafts (the two driven eccentric shafts 18 and the eccentric shaft 14) at the same time. At one end of the driven eccentric shaft 18, a first paired angular contact bearing 16 is connected with the connecting plate 4 in a transition fit manner, is fixed through a first elastic retainer ring 17, and is used for adjusting the pre-tightening force of the bearing through a first disc spring 15; at the other end of the driven eccentric shaft 18, a second paired angular contact bearing 20 is connected with a connecting and mounting block 23 in a transition fit mode, fixed through a second elastic retainer ring 19, and pre-tightening force of the bearing is adjusted through a second disc spring 21. The same third paired angular contact bearings 26 are connected with the connecting and mounting block 23 in a transition fit manner, fixed through third elastic check rings 27, and the pretightening force of the bearings is adjusted through third disc springs 25. Finger cylinder 8, first clamping jaw 9, second clamping jaw 10 constitute oilstone fixture, and wherein finger cylinder 8 passes through the fix with screw on connecting installation piece 23, and first clamping jaw 9, second clamping jaw 10 all pass through the fix with screw on finger cylinder 8, through changing different clamping jaws, can accomplish the centre gripping of different specification oilstones.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A three-axis deflection oilstone grinding and polishing device suitable for the tail end of a robot is characterized by comprising a main body part, a double-crank mechanism, an oilstone clamping mechanism and an oilstone (6), the main body part comprises a mounting flange (1), an active contact flange (2), a first housing (3), a connecting plate (4), a second housing (5) and a servo motor (7), the mounting flange (1), the active contact flange (2), the first housing (3), the connecting plate (4) and the second housing (5) are connected in sequence, the servo motor (7) is positioned in the accommodating space defined by the first cover shell (3), the double-crank mechanism is positioned in the accommodating space defined by the second cover shell (5), the servo motor (7) is connected with the double-crank mechanism, the double-crank mechanism is connected with the connecting plate (4) and the oilstone clamping mechanism, and the oilstone clamping mechanism clamps the oilstone (6).
2. The apparatus for grinding and polishing a robot-end triaxial deflection oilstone as recited in claim 1, wherein said double crank mechanism comprises an eccentric, a driven eccentric, a connecting mounting block (23); the eccentric device and the driven eccentric device are connected with the oilstone clamping mechanism through connecting and mounting blocks (23).
3. The device for grinding and polishing the three-shaft deflection oilstone at the tail end of the robot is characterized in that the driven eccentric device comprises two eccentric assemblies, the eccentric assemblies comprise a first locking nut (11), a first paired angular contact bearing (16), a driven eccentric shaft (18), a second paired angular contact bearing (20) and a second locking nut (22), one end of the driven eccentric shaft (18) is connected with the first paired angular contact ball bearing (16) through transition fit, the first paired angular contact ball bearing (16) is locked through the first locking nut (11), the other end of the driven eccentric shaft (18) is connected with the second paired angular contact ball bearing (20) through transition fit, and the second paired angular contact ball bearing (20) is connected and locked through the second locking nut (22).
4. The device for grinding and polishing the tail end triaxial deflection oilstone of the robot as claimed in claim 3, wherein the eccentric assembly further comprises a first disc spring (15), a first elastic retainer ring (17), a second disc spring (21) and a second elastic retainer ring (19), the first disc spring (15) is arranged between the first lock nut (11) and the first diagonal contact bearing (16), the first elastic retainer ring (17) is arranged between the first diagonal contact bearing (16) and one end of the driven eccentric shaft (18), the first diagonal contact bearing (16) is connected with the connecting plate (4) through transition fit and fixed through the first elastic retainer ring (17), and the pre-tightening force of the first diagonal contact bearing (16) is adjusted through the first disc spring (15);
the second disc spring (21) is arranged between the second paired angular contact bearing (20) and the second locking nut (22), the second elastic retainer ring (19) is arranged between the other end of the driven eccentric shaft (18) and the second paired angular contact bearing (20), the second paired angular contact ball bearing (20) is connected with the connecting and mounting block (23) in a transition fit mode and fixed through the second elastic retainer ring (19), and the pre-tightening force of the second paired angular contact ball bearing (20) is adjusted through the second disc spring (21).
5. The device for grinding and polishing the three-shaft deflection oilstone at the tail end of the robot as claimed in claim 2, characterized in that the eccentric device comprises a deep groove ball bearing (12), a fourth elastic retainer ring (13), an eccentric shaft (14), a third locking nut (24) and a third paired angular contact bearing (26), the deep groove ball bearing (12) is connected with the connecting plate (4) through the fourth elastic retainer ring (13) and is radially positioned through transition fit, one end of the eccentric shaft (14) is connected to the shaft of the servo motor (7) through interference fit, the other end of the eccentric shaft (14) is connected with the third paired angular contact bearing (26) through transition fit, and the third paired angular contact bearing (26) is locked through the third locking nut (24).
6. The apparatus for grinding and polishing the tail end triaxial deflection oilstone of the robot as recited in claim 5, wherein the eccentric device further comprises a third disc spring (25) and a third circlip (27), wherein the third disc spring (25) is arranged between a third lock nut (24) and a third diagonal contact bearing (26), and the third circlip (27) is arranged between the other end of the eccentric shaft (14) and the third diagonal contact bearing (26); the third paired angular contact bearings (26) are connected with the connecting and mounting blocks (23) in a transition fit mode and are fixed through third elastic check rings (27), and the pre-tightening force of the third paired angular contact bearings (26) is adjusted through third disc springs (25).
7. The device for grinding and polishing the final triaxial deflection oilstone of the robot in accordance with claim 2, characterized in that the rotary motion of the servo motor (7) is converted into a circle-drawing motion of the oilstone (6) by a double crank mechanism, and the radius of the circle-drawing motion is adjusted by the eccentricity of the driven eccentric shaft (18) of the driven eccentric device and the eccentricity of the eccentric shaft (14) of the eccentric device.
8. -a device for the terminal three-axis nutational grinding and polishing of oilstones adapted to be applied to robots according to claim 2, characterised in that the eccentricity of the two driven eccentric shafts (18) of the driven eccentric is equal to the eccentricity of the eccentric shafts (14) of the eccentric.
9. The device for grinding and polishing the oilstone with the robot tail end deflected in the three shafts as claimed in claim 1, wherein the oilstone clamping mechanism comprises a finger cylinder (8), a first clamping jaw (9) and a second clamping jaw (10), the finger cylinder (8) is installed on the connecting and installing block (23), and the first clamping jaw (9) and the second clamping jaw (10) are both connected to the finger cylinder (8) and can clamp the oilstone (6).
10. The device for grinding and polishing the oilstone with the three-axis deflection at the tail end of the robot as claimed in claim 9 is characterized in that the second housing (5) is provided with a through hole, and the first clamping jaw (9) or the second clamping jaw (10) can pass through the through hole in the second housing (5) to clamp the oilstone (6) under the action of the finger cylinder (8); different specifications of oilstones (6) are clamped by replacing different clamping jaws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920922039.7U CN210849734U (en) | 2019-06-19 | 2019-06-19 | Oilstone grinding and polishing equipment suitable for three-axis deflection of tail end of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920922039.7U CN210849734U (en) | 2019-06-19 | 2019-06-19 | Oilstone grinding and polishing equipment suitable for three-axis deflection of tail end of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210849734U true CN210849734U (en) | 2020-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920922039.7U Active CN210849734U (en) | 2019-06-19 | 2019-06-19 | Oilstone grinding and polishing equipment suitable for three-axis deflection of tail end of robot |
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| Country | Link |
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| CN (1) | CN210849734U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328601A (en) * | 2019-06-19 | 2019-10-15 | 禹奕智能科技（上海）有限公司 | Suitable for robot end's flexibility beat oilstone grinding and polishing apparatus |
| CN110340797A (en) * | 2019-06-19 | 2019-10-18 | 禹奕智能科技（上海）有限公司 | Suitable for three axis beat oilstone grinding and polishing equipment of robot end |
-
2019
- 2019-06-19 CN CN201920922039.7U patent/CN210849734U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328601A (en) * | 2019-06-19 | 2019-10-15 | 禹奕智能科技（上海）有限公司 | Suitable for robot end's flexibility beat oilstone grinding and polishing apparatus |
| CN110340797A (en) * | 2019-06-19 | 2019-10-18 | 禹奕智能科技（上海）有限公司 | Suitable for three axis beat oilstone grinding and polishing equipment of robot end |
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