WO2016177313A1 - 恒力浮动动力头机构 - Google Patents

恒力浮动动力头机构 Download PDF

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Publication number
WO2016177313A1
WO2016177313A1 PCT/CN2016/080930 CN2016080930W WO2016177313A1 WO 2016177313 A1 WO2016177313 A1 WO 2016177313A1 CN 2016080930 W CN2016080930 W CN 2016080930W WO 2016177313 A1 WO2016177313 A1 WO 2016177313A1
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Prior art keywords
outer casing
ring
power component
component mounting
sleeve
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PCT/CN2016/080930
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English (en)
French (fr)
Inventor
林中尉
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南京阿福机器人有限公司
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Publication of WO2016177313A1 publication Critical patent/WO2016177313A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition

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  • This patent relates to a constant force floating power head mechanism that allows the axis of the powerhead to oscillate, the power head being always urged toward a position coaxial with the housing axis with a nearly constant force.
  • the purpose of the present technology is to provide a constant force floating power head mechanism in which the power component can be adapted to the boundary of the workpiece to be machined and the contact force between the power component and the workpiece is substantially constant to flexibly adapt to the boundary of the workpiece.
  • the constant force floating power head mechanism of the present technology comprises a casing, the power component mounting sleeve is oscillatingly disposed on the casing; the casing is provided with a pressure sleeve moving along the axial direction of the casing; and further comprising a pressure disposed on the casing a tightening mechanism, wherein the pressing mechanism can output a constant force to drive the pressure sleeve to move in one direction along the axis of the outer casing, so that one end of the pressure sleeve contacts the one end of the power component mounting sleeve, and the power component mounting sleeve is swung to A position coaxial with the axis of the housing.
  • the pressing mechanism comprises an inner ring, an outer ring, an upper pressing cover, a lower pressing cover, an upper diaphragm and a lower diaphragm, and the outer ring of the upper diaphragm is clamped to the outer ring and Between the upper gland, the outer ring of the lower diaphragm is pressed between the outer ring and the lower gland, and the inner ring of the upper diaphragm and the inner ring of the lower diaphragm are both sealed with the inner ring; the inside of the upper gland The diameter of the hole and the diameter of the inner hole of the lower pressing hole are different; the outer ring of the pressing mechanism is disposed on the outer casing; the inner ring, the outer ring, the upper diaphragm and the lower diaphragm are surrounded by the air pressure chamber, on the inner ring or the outer ring A compressed gas inlet hole communicating with the air pressure chamber is opened; and the inner ring is connected to
  • the diameters of the inner holes of the upper cover and the lower cover are not equal, and when the compressed gas is introduced into the air pressure chamber, the upper diaphragm is pressed upward when the air pressure acts on the upper diaphragm and the lower diaphragm.
  • the pressing force generated in the direction of the cover is different from the pressing force generated in the direction in which the lower diaphragm is directed downward. It is assumed that the inner hole of the lower gland is large, and the inner hole of the upper gland is small.
  • the axial pressure generated by the action of the upper gland and the upper diaphragm is less than the pressure generated by the action of the lower gland and the lower diaphragm, thereby producing an axial force in the direction of the lower gland having a larger inner diameter.
  • the axial force described above is also constant as long as the pressure of the compression air pressure is constant.
  • the inner ring moves downward together with the pressure sleeve under the axial force and is pressed against one end surface of the power component mounting sleeve
  • the power component mounting sleeve is disposed on the outer casing by the following structure: the power component mounting sleeve is disposed on the outer casing through two coaxial pivots, the axis of the pivot shaft and the power component mounting sleeve axis Shell axis vertical.
  • the power component mounting sleeve of the power component is pivoted relative to the housing in a plane perpendicular to the pivot.
  • the above-mentioned constant-force floating power head mechanism is disposed on the outer casing by swinging a structure: a universal ring is disposed between the outer casing and the power component mounting sleeve, and the universal joint is connected to the power component mounting sleeve through two coaxial inner pins; The gimbal ring is connected to the outer casing by two coaxial outer pins, the outer pin axis being perpendicular to the inner pin axis.
  • the power component mounting sleeve on which the power component is mounted can rotate around the inner pin relative to the universal ring and the outer casing, or can rotate with the universal ring around the outer pin relative to the outer casing, and the power component mounting sleeve can be said to be connected through the universal joint structure.
  • the power component can swing with a nearly constant force over a range of 360 degrees.
  • the pressure sleeve is slidably disposed on the outer casing along the axial direction of the outer casing by a linear bearing.
  • the linear bearing is used to ensure that the pressing force of the pressure sleeve to the power component mounting sleeve is always axial and reduces the frictional resistance.
  • the invention has the beneficial effects that the pressing mechanism drives the pressure sleeve to press on the power component mounting sleeve with a constant force due to the pressing mechanism. If the power component mounting sleeve and the pressure sleeve are different shafts, the pressure sleeve will cause the power component to be installed.
  • the sleeve swings relative to the axis of the housing such that the power component mounting sleeve is always subjected to a nearly constant force tending to the housing axis, enabling the machining tool of the powerhead to flexibly conform to the workpiece boundary, and the contact force between the power component and the machining workpiece is substantially Constant.
  • the pressing force of the press sleeve to the power component mounting sleeve can be ensured to be constant. It is a constant force floating power head mechanism.
  • the pressure of the compressed air By changing the pressure of the compressed air, the power component of the power head and the workpiece can be changed. Contact force between.
  • Figure 1 is a schematic view of the constant force floating power head mechanism
  • Figure 2 is another schematic view of the constant force floating power head mechanism.
  • the power unit mounting sleeve 2 has the following universal joint structure connected to the outer casing: a universal ring 3 is arranged between the outer casing and the power component mounting sleeve.
  • the universal ring is connected to the power component mounting sleeve by two coaxial inner pins 4; the universal ring is connected to the outer casing by two coaxial outer pins 5, the outer pin axis being perpendicular to the inner pin axis.
  • the gimbal ring and the outer casing are rotatable relative to the outer pin 5, and the gimbal ring and the power component mounting sleeve are relatively rotated about the inner pin 4.
  • the outer ring 81 of the linear bearing 8 is fixed in the outer casing, and the upper and lower ends of the inner ring 82 of the linear bearing are respectively connected to the lower sleeve 99 of the pressing mechanism and the bushing 100.
  • the pressing mechanism 9 includes an inner ring 91, an outer ring 92, an upper pressing cover 93, a lower pressing cover 94, an upper diaphragm 95, a lower diaphragm 96, a bolt, an upper sleeve 98, a lower sleeve 99, and the like.
  • the outer ring of the upper diaphragm is clamped between the outer ring and the upper gland, the outer ring of the lower diaphragm is pressed between the outer ring and the lower gland, and the inner ring of the upper diaphragm is clamped in the inner ring
  • the inner ring of the lower diaphragm is pressed against the inner ring and the lower sleeve. between.
  • the bolt passes through the upper sleeve 98, the inner ring 91, and the lower sleeve 99 to axially fix the upper sleeve 98, the inner ring 91, and the lower sleeve 99.
  • the bolt passes through the upper pressing cover 93, the outer ring 92, and the lower pressing cover 94 to press the upper cover. 93.
  • the outer ring 92 and the lower pressing cover 94 are axially fixed.
  • the inner hole 903 of the upper gland is smaller in diameter than the inner hole 904 of the lower pressing hole.
  • the lower portion of the lower gland is fixed to the outer casing.
  • the inner ring, the outer ring, the upper diaphragm and the lower diaphragm enclose a pneumatic chamber 905, and a compressed gas inlet hole 906 communicating with the air chamber is formed on the outer ring.
  • the upper sleeve, the inner ring, the lower sleeve, the inner ring of the linear bearing, and the bushing are all moved downward, and one end of the bushing is in contact with one end of the power component mounting sleeve.
  • the bushing acts the same as the bushing. If the bushing is removed, it is also possible to use the end face of the inner ring to contact one end of the power component mounting sleeve. At this time, the inner ring is equivalent to the pressing sleeve.
  • the diameters of the inner holes of the upper cover and the lower cover are not equal.
  • the axial pressure generated by the upper pressure cover and the upper diaphragm is smaller than the lower pressure cover and The pressure generated by the action of the lower diaphragm produces an axial force in the direction of the lower gland having a larger inner diameter.
  • the axial force of the pressing mechanism transmits the axial force to the inner ring of the bearing through the movable component composed of the upper sleeve, the inner ring and the lower sleeve, and the inner ring transmits the axial force to the power component mounting sleeve through the bushing or directly.
  • the power component mounting sleeve is disposed in the outer casing through a cross universal mechanism composed of a universal ring, an inner pin, an outer pin, and the like, so that the power component mounting sleeve can swing a certain angle with respect to the outer casing in any direction.
  • the power component 6 passes through the upper gland, the upper sleeve, the inner ring, the lower sleeve, the bushing, the power component mounting sleeve 2, and is fixed to the power component mounting sleeve 2 by the set screws 7.
  • the power component can also be mounted on the mounting sleeve without passing through the pressing mechanism.
  • Power components are any tools that can generate power to process or meet job requirements, such as electric or pneumatic.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mechanical Treatment Of Semiconductor (AREA)
  • Actuator (AREA)

Abstract

一种恒力浮动动力头机构，包括外壳（1），动力部件安装套（2）下述的万向节结构与外壳相连：在外壳与动力部件安装套之间设置万向环（3），万向环通过两个同轴的内销（4）与动力部件安装套相连；万向环通过两个同轴的外销（5）与外壳相连，外销轴线与内销轴线垂直。该恒力浮动动力头机构可以保证压套对动力部件安装套的压紧力恒定。

Description

恒力浮动动力头机构 技术领域
本专利涉及使得动力头的轴线可以摆动的恒力浮动动力头机构，动力头始终以接近恒定的力被压向处于与外壳轴线同轴的位置。
背景技术
对于一些气动或电动机械，如电转、气锤等，动力部件在进行作业如打磨时，动力部件的呈现刚性，不能适应工件边界的差异，或者不能以接近恒定的力压紧刀具(动力头偏移中心后压力变大)，导致加工的适应性差，不能满足柔性适应工件边界的要求。
发明内容
本技术的目的是提供一种动力部件能够适应被加工工件的边界而浮动、且动力部件与加工工件之间的接触力基本恒定，以柔性适应工件边界的恒力浮动动力头机构。
本技术所述的恒力浮动动力头机构，包括外壳，动力部件安装套摆动设置在外壳上；在外壳上设置有沿着外壳的轴线方向移动的压套；它还包括设置在外壳上的压紧机构，所述压紧机构常态时能够输出一个大小恒定的力驱动压套沿外壳的轴线向一个方向移动而使得压套的一端与动力部件安装套的一端接触，带动动力部件安装套摆动到与外壳轴线同轴的位置。
上述的恒力浮动动力头机构，所述压紧机构包括内环、外环、上压盖、下压盖、上膜片、下膜片，上膜片的外圈被夹紧在外环与上压盖之间，下膜片的外圈被压紧在外环与下压盖之间，上膜片的内圈和下膜片的内圈均与内环密封相连；上压盖的内孔直径和下压孔的内孔直径大小不同；压紧机构的外环设置在外壳上；内环、外环、上膜片、下膜片围成了气压腔，在内环或外环上开有与气压腔相通的压缩气体入孔；内环与压套的一端相连。该压紧机构中，上压盖和下压盖两个盖的内孔直径不相等，当气压腔内通入压缩气体，气压作用在上膜片和下膜片上时，上膜片向上压盖方向产生的压紧力与下膜片向下膜片方向产生的压紧力不同。假定下压盖内孔大，上压盖内孔小。上压盖与上膜片作用后产生的沿轴向的压力小于下压盖与下膜片作用产生的压力，从而产生一个朝向内径较大的下压盖的方向的轴向力。只要压缩气压的压力是恒定的，上述的轴向力也是恒定的。内环在该轴向力作用下就和压套一起向下移动，压紧在动力部件安装套的一端面。
上述的恒力浮动动力头机构，动力部件安装套通过下述结构摆动设置在外壳上：动力部件安装套通过两个同轴的枢轴设置在外壳上，枢轴的轴线与动力部件安装套轴线、外壳轴线均 垂直。这样，安装动力部件的动力部件安装套绕枢轴在垂直于枢轴的平面内相对于外壳摆动。
上述的恒力浮动动力头机构，通过下述结构摆动设置在外壳上：在外壳与动力部件安装套之间设置万向环，万向环通过两个同轴的内销与动力部件安装套相连；万向环通过两个同轴的外销与外壳相连，外销轴线与内销轴线垂直。这样，安装动力部件的动力部件安装套既可以绕内销相对于万向环和外壳转动，也可以和万向环一起绕外销相对于外壳转动，动力部件安装套可以说是通过万向节结构连接在外壳上。也就是说，动力部件可在360度范围内以接近恒定的力摆动。
上述的恒力浮动动力头机构，压套通过直线轴承沿外壳的轴线方向滑动设置在外壳上。直线轴承用来保证压套对动力部件安装套的压紧力始终为轴向，并减小摩擦阻力。
本发明的有益效果：由于具有压紧机构，压紧机构以恒定的力驱动压套压紧在动力部件安装套上，如果动力部件安装套与压套不同轴，压套将使得动力部件安装套相对于外壳轴线摆动，而使得动力部件安装套始终受到一个趋向于外壳轴线的接近恒定的力，使动力头的加工刀具能够柔性适应工件边界，且动力部件与加工工件之间的接触力基本恒定。通过压缩气体的恒压力，可以保证压套对动力部件安装套的压紧力恒定，是一种恒力浮动动力头机构，改变压缩空气的压力，即可改变动力头的动力部件与加工工件之间的接触力。
附图说明
图1是本恒力浮动动力头机构的示意图；
图2是本恒力浮动动力头机构的另一个示意图。
具体实施方式
参见图1、2所示的恒力浮动动力头机构，包括外壳1，动力部件安装套2下述的万向节结构与外壳相连：在外壳与动力部件安装套之间设置万向环3，万向环通过两个同轴的内销4与动力部件安装套相连；万向环通过两个同轴的外销5与外壳相连，外销轴线与内销轴线垂直。万向环和外壳可以绕外销5相对转动，万向环和动力部件安装套绕内销4相对转动。
直线轴承8的外圈81固定在外壳内，直线轴承的内圈82的上下端分别与压紧机构的下套99、衬套100相连。
压紧机构9包括内环91、外环92、上压盖93、下压盖94、上膜片95、下膜片96、螺栓、上套98、下套99等。上膜片的外圈被夹紧在外环与上压盖之间，下膜片的外圈被压紧在外环与下压盖之间，上膜片的内圈被夹紧在内环与上套之间，下膜片的内圈被压紧在内环与下套之 间。螺栓穿过上套98、内环91、下套99把上套98、内环91、下套99轴向固定，螺栓穿过上压盖93、外环92、下压盖94把上压盖93、外环92、下压盖94轴向固定。上压盖的内孔903直径小于下压孔的内孔904。下压盖的下部固定在外壳上。内环、外环、上膜片、下膜片围成了与气压腔905，在外环上开有与气压腔相通的压缩气体入孔906。当压缩空气通入气压腔内，上套、内环、下套、直线轴承内圈、衬套整体下移，衬套一端与动力部件安装套的一端接触。
衬套的作用与压套相同。如果去掉衬套，而使用内圈的端面与动力部件安装套的一端接触也是可以的，这时候，内圈相当于压套。
压紧机构中，上压盖和下压盖两个盖的内孔直径不相等，当压缩空气进入气压腔，上压盖与上膜片作用后产生的沿轴向的压力小于下压盖与下膜片作用产生的压力，从而产生一个朝向内径较大的下压盖的方向的轴向力。
压紧机构的轴向力通过上套、内环、下套等组成的活动组件，将轴向力传递给轴承内圈，内圈通过衬套或直接将轴向力传递到动力部件安装套上。
动力部件安装套通过万向环、内销、外销等组成的十字万向机构设置在外壳内，这样，动力部件安装套相对于外壳可以向任何方向摆动一定的角度。
当动力部件安装套摆动时，会将衬套和内圈向上推动，而压紧机构产生的轴向力始终作用在动力部件安装套的端面上，使其总是有一个趋向中心的力，这样，动力部件安装套摆动时，就会有一个接近恒定的趋向于中心的回复力(360°作用力)。
动力部件6穿过上压盖、上套、内环、下套、衬套、动力部件安装套2并被紧定螺钉7固定在动力部件安装套2上。动力部件也可以不穿过压紧机构，而仅仅安装在安装套上。
动力部件是任何可以产生动力用来加工或满足工作要求的，电动或气动等工具。

Claims (5)

  1. 恒力浮动动力头机构，包括外壳，其特征是：动力部件安装套摆动设置在外壳上；在外壳上设置有沿着外壳的轴线方向移动的压套；它还包括设置在外壳上的压紧机构，所述压紧机构常态时能够输出一个大小恒定的力驱动压套沿外壳的轴线向一个方向移动而使得压套的一端与动力部件安装套的一端接触，带动动力部件安装套摆动到与外壳轴线同轴的位置。
  2. 如权利要求1所述的恒力浮动动力头机构，其特征是：所述压紧机构包括内环、外环、上压盖、下压盖、上膜片、下膜片，上膜片的外圈被夹紧在外环与上压盖之间，下膜片的外圈被压紧在外环与下压盖之间，上膜片的内圈和下膜片的内圈均与内环密封相连；上压盖的内孔直径和下压孔的内孔直径大小不同；压紧机构的外环设置在外壳上；内环、外环、上膜片、下膜片围成了气压腔，在内环或外环上开有与气压腔相通的压缩气体入孔；内环与压套的一端相连。
  3. 如权利要求1所述的恒力浮动动力头机构，其特征是：动力部件安装套通过下述结构摆动设置在外壳上：动力部件安装套通过两个同轴的枢轴设置在外壳上，枢轴的轴线与动力部件安装套轴线、外壳轴线均垂直。
  4. 如权利要求1所述的恒力浮动动力头机构，其特征是：动力部件安装套通过下述结构通过下述结构摆动设置在外壳上：在外壳与动力部件安装套之间设置万向环，万向环通过两个同轴的内销与动力部件安装套相连；万向环通过两个同轴的外销与外壳相连，外销轴线与内销轴线垂直。
  5. 如权利要求1所述的恒力浮动动力头机构，其特征是：压套通过直线轴承沿外壳的轴线方向滑动设置在外壳上。
PCT/CN2016/080930 2015-05-06 2016-05-03 恒力浮动动力头机构 WO2016177313A1 (zh)

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CN108818195A (zh) * 2018-08-31 2018-11-16 广州每通自动化设备有限公司 一种多工位去毛刺装置

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CN204673476U (zh) * 2015-05-06 2015-09-30 林中尉 恒力浮动动力头机构
CN109732476B (zh) * 2019-03-01 2020-10-13 重庆大学 变刚度恒力浮动打磨磨头
CN117123810B (zh) * 2023-10-27 2024-02-20 万向钱潮股份公司 一种三销轴万向节的加工定位装置及其固定方法

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