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CN115890492A - Constant-force grinding device - Google Patents

Constant-force grinding device Download PDF

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Publication number
CN115890492A
CN115890492A CN202211516838.7A CN202211516838A CN115890492A CN 115890492 A CN115890492 A CN 115890492A CN 202211516838 A CN202211516838 A CN 202211516838A CN 115890492 A CN115890492 A CN 115890492A
Authority
CN
China
Prior art keywords
spline
polishing
main shaft
polishing head
constant force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211516838.7A
Other languages
Chinese (zh)
Inventor
左昱昱
孙磊
张华军
张志勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Saiweide Robot Co ltd
Original Assignee
Shanghai Saiweide Robot Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Saiweide Robot Co ltd filed Critical Shanghai Saiweide Robot Co ltd
Priority to CN202211516838.7A priority Critical patent/CN115890492A/en
Priority to PCT/CN2022/142172 priority patent/WO2024113444A1/en
Publication of CN115890492A publication Critical patent/CN115890492A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/04Headstocks; Working-spindles; Features relating thereto
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

The invention relates to a constant force polishing device which comprises a shell, a polishing head, a spline main shaft, a first motor, a tension and pressure sensor, a movable seat and a linear driving device, wherein the shell is provided with a plurality of grooves; the polishing head is positioned outside the shell and used for polishing the workpiece; the spline main shaft is provided with a first end and a second end, the first end is in spline connection with the spline housing, and the second end is connected with the polishing head; the first motor is used for driving the spline housing to rotate; the tension and pressure sensor is connected to the spline main shaft and used for detecting the pressure applied to the polishing head; the movable seat is connected with the spline main shaft; the linear driving device is used for driving the movable seat and the spline main shaft to move together along the axial direction of the spline main shaft. The invention enables the polishing head to carry out floating polishing operation according to the surface condition of a workpiece, realizes active flexible polishing and improves polishing efficiency and polishing quality.

Description

Constant-force grinding device
Technical Field
The invention relates to the technical field of polishing equipment, in particular to a constant-force polishing device.
Background
In order to meet the requirements of surface precision and roughness of the workpiece, the surface of the workpiece needs to be polished. The traditional polishing mode is usually completed by manual operation, and the polishing mode has lower polishing efficiency and is not easy to ensure the polishing uniformity, so that the polishing quality is poor. When the polishing operation is carried out, the polishing head is in contact with a workpiece to generate acting force, and the magnitude of the contact force is an important factor influencing the polishing quality. When a rigid workpiece is polished, a tiny displacement of a polishing head can generate a large acting force, and the production quality of the workpiece can be influenced by the excessive acting force, and even the polishing head and a driving mechanism thereof can be damaged; when the acting force is too small, the full contact between the polishing head and the workpiece cannot be ensured, and incomplete polishing or missing polishing is easy to cause; in order to ensure the grinding quality and the operation safety, the acting force between the grinding head and the workpiece needs to be kept constant, and manual grinding cannot effectively realize the point.
In order to overcome the defects of traditional manual polishing, an automatic polishing robot appears in the prior art, and can automatically polish a workpiece by controlling a polishing tool through a preset track.
For a regular workpiece, the polishing robot can control the machining error between the tail end of the robot and the workpiece within a certain range by planning a fine motion track, so that the contact force between the robot and the workpiece is kept within a certain range, and a better polishing effect is achieved; however, when the workpiece is an irregular workpiece, the robot cannot be adjusted quickly according to the shape of the workpiece in the polishing process, so that constant-force polishing cannot be guaranteed, and the robot cannot meet the polishing requirements of workpieces with different surface shapes and different roughness requirements.
Therefore, the existing polishing modes can not effectively guarantee constant-force polishing, have poor adaptability and can not meet the polishing requirements of different workpieces.
Disclosure of Invention
Therefore, the invention aims to solve the technical problem that the polishing mode in the prior art cannot effectively ensure constant-force polishing, so that the polishing requirements of different workpieces cannot be met.
In order to solve the above technical problems, the present invention provides a constant force polishing device, comprising,
a housing;
the polishing head is positioned outside the shell and used for polishing the workpiece;
the spline main shaft is provided with a first end and a second end, the first end is in spline connection with the spline sleeve, and the second end is connected with the polishing head;
the first motor is positioned inside the shell and used for driving the spline housing to rotate;
the movable seat is positioned in the shell and connected with the spline main shaft;
the linear driving device is used for driving the movable seat and the spline main shaft to move together along the axial direction of the spline main shaft;
the pulling pressure sensor is positioned in the shell and connected to the movable seat and used for detecting the pressure on the polishing head.
In an embodiment of the present invention, a first bearing seat is connected to the spline spindle, the tension and pressure sensor is located between the movable seat and the first bearing seat, shaft holes are respectively formed in the movable seat and the first bearing seat, the shaft holes are respectively connected to the spline spindle through rolling bearings, one end of the tension and pressure sensor is connected to the movable seat, and the other end of the tension and pressure sensor is connected to the first bearing seat.
In one embodiment of the invention, a first locking nut is connected to the spline spindle through a thread, and the first locking nut abuts against a rolling bearing inside the movable seat.
In an embodiment of the present invention, the spline spindle is connected to the polishing head through a transition sleeve, the transition sleeve is provided with a clamping groove, the polishing head is connected to a quick-change shaft, the quick-change shaft is connected to a clamping pin, and the clamping pin is inserted into the clamping groove.
In an embodiment of the invention, the clamping groove is an L-shaped groove, the L-shaped groove comprises a first groove body and a second groove body which are perpendicular to each other, and the widths of the first groove body and the second groove body are not smaller than the diameter of the clamping pin.
In an embodiment of the present invention, a buffering pressing member is connected inside the transition sleeve, and one end of the buffering pressing member is connected to the spline spindle, and the other end of the buffering pressing member abuts against the quick-change spindle.
In one embodiment of the invention, the buffer compression member adopts a hydraulic buffer or an elastic buffer.
In one embodiment of the present invention, the linear drive device employs an EHA actuator.
In an embodiment of the present invention, a controller is further connected inside the housing, and the controller is configured to control the linear driving device to operate according to a detection result of the tension/pressure sensor.
In one embodiment of the present invention, a bearing plate is connected inside the housing, a sliding rail is connected to the bearing plate, and a sliding block is disposed on the movable base and is slidably connected to the sliding rail.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the constant-force polishing device can effectively ensure constant-force polishing control, so that the polishing head can perform floating polishing operation according to the surface condition of a workpiece, active flexible polishing is realized, the consistency of the surface of the workpiece to be polished is improved, and the polishing efficiency and the polishing quality are improved.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference will now be made in detail to the present disclosure, examples of which are illustrated in the accompanying drawings.
FIG. 1 is a schematic three-dimensional structure of a constant force sanding apparatus of the present invention;
FIG. 2 is a schematic three-dimensional view of the constant force sander apparatus of FIG. 1 with the housing removed;
FIG. 3 is a front view of the device of FIG. 2;
FIG. 4 is a top view of the device of FIG. 3;
FIG. 5 isbase:Sub>A cross-sectional view of the device of FIG. 4 at A-A;
FIG. 6 is a schematic view of the mounting of the mobile station of FIG. 4;
FIG. 7 is a schematic view of the installation of the sanding head and the quick-change shaft;
FIG. 8 is a flow chart of the sanding head installation;
FIG. 9 is a schematic view of the use of the constant force sander of FIG. 1;
the specification reference numbers indicate: 1. a housing; 2. a first motor; 3. a splined main shaft; 4. polishing head; 41. quickly replacing the shaft body; 411. a snap pin; 5. a movable seat; 51. pushing the plate; 6. a linear drive device; 7. a pull pressure sensor; 8. a spline housing; 9. a first bearing housing; 10. a rolling bearing; 11. a first lock nut; 12. a transition sleeve; 121. a clamping groove; 1211. a first tank body; 1212. a second tank body; 13. a buffer pressing piece; 14. a controller; 15. carrying a plate; 16. a slide rail; 17. a slider; 18. and (5) a workpiece.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1-5, the present embodiment discloses a constant force polishing device, which includes a housing 1, a polishing head 4, a spline spindle 3, a first motor 2, a tension and pressure sensor 7, a movable seat 5 and a linear driving device 6;
wherein, the polishing head 4 is positioned outside the shell 1 and is used for polishing the workpiece 18;
the spline main shaft 3 is provided with a first end and a second end, the first end is in spline connection with the spline housing 8, and the second end is connected with the polishing head 4;
it can be understood that the outer wall of the first end is provided with an external spline, the inner wall of the spline housing 8 is provided with an internal spline, the external spline and the internal spline are matched to form spline connection, and through the spline connection mode, the spline main shaft 3 can make linear motion relative to the spline housing 8, and the spline housing 8 and the spline main shaft 3 can rotate together;
the first motor 2 is positioned inside the shell 1, and the first motor 2 is used for driving the spline housing 8 to rotate;
the spline housing 8 can be connected to the output shaft of the first motor 2, or the output shaft can be omitted, and the spline housing 8 is directly connected to the rotor of the first motor 2;
the movable seat 5 is positioned in the shell 1, and the movable seat 5 is connected with the spline spindle 3 so as to pre-tighten the spline spindle 3 on the movable seat 5;
the linear driving device 6 is used for driving the movable seat 5 and the spline main shaft 3 to move together along the axial direction of the spline main shaft 3;
the pulling pressure sensor 7 is positioned inside the shell 1, and the pulling pressure sensor 7 is connected to the movable base 5 and used for detecting the pressure applied to the polishing head 4.
When the device works, the linear driving device 6 can control the movable seat 5 to move back and forth according to the detection result of the tension and pressure sensor 7, so that the spline main shaft 3 and the polishing head 4 are driven to extend and float together, and the self-adaptive floating of the polishing head 4 is realized; when the tension pressure sensor 7 detects that the pressure of the polishing head 4 is increased, the linear driving device 6 drives the spline shaft and the polishing head 4 to move backwards together until the pressure is recovered to a set value, and when the tension pressure sensor 7 detects that the pressure of the polishing head 4 is reduced, the linear driving device 6 drives the spline shaft and the polishing head 4 to extend out together until the pressure is recovered to the set value, so that the polishing head 4 and the workpiece 18 are always polished by constant force, the polishing uniformity is improved, and the phenomenon of polishing omission or excessive polishing can be effectively avoided.
Because the environment of the polishing place is severe, dust, splashing, scrap iron and the like are difficult to avoid, the spline spindle 3, the first motor 2, the tension and pressure sensor 7, the movable seat 5, the linear driving device 6 and the like are sealed in the shell 1, so that the elements can be isolated from the external environment, and a better protection effect is realized on the elements.
In one embodiment, as shown in fig. 5, a first bearing seat 9 is connected to the spline spindle 3, the tension and pressure sensor 7 is located between the movable seat 5 and the first bearing seat 9, shaft holes are respectively formed in the movable seat 5 and the first bearing seat 9, the shaft holes are connected to the spline spindle 3 through rolling bearings 10, one end of the tension and pressure sensor 7 is connected to the movable seat 5, and the other end of the tension and pressure sensor is connected to the first bearing seat 9.
Specifically, one end of the tension/pressure sensor 7 is connected to the movable base 5 by a bolt, and the other end is connected to the first bearing base 9 by another bolt.
Above-mentioned structure can be better when guaranteeing spline main shaft 3 to rotate, draw pressure sensor 7 can not rotate together, the connection stability that can be better assurance simultaneously draws pressure sensor 7.
Further, the rolling bearing 10 may be a contact ball bearing to receive radial and axial forces generated during grinding.
In one embodiment, the spline spindle 3 is provided with a threaded section, the threaded section is connected with a first locking nut 11 through threads, and the first locking nut 11 abuts against a rolling bearing 10 inside the movable seat 5 and is used for pre-tightening the tension and pressure sensor 7 on the movable installation seat to realize pre-tightening of the tension and pressure sensor 7.
The first locking nut 11 rotates along with the spline spindle, and the first locking nut 11 is abutted against the inner ring of the rolling bearing 10 in the movable seat 5, so that smooth rotation of the first locking nut can be ensured, and larger friction resistance generated by the first locking nut and the movable seat 5 is avoided.
Further, the first lock nut 11 adopts a double-nut anti-loosening structure to better ensure the pre-tightening stability.
Furthermore, the measuring stroke of the tension and pressure sensor 7 is 0-50 Kg.
In order to achieve a quick mounting and dismounting between the spline spindle 3 and the sanding head 4 in order to exchange different sanding heads 4, the following connection between the spline spindle 3 and the sanding head 4 may be used:
the spline main shaft 3 is connected with the polishing head 4 through the transition sleeve 12, the transition sleeve 12 is provided with the clamping groove 121, the polishing head 4 is connected with the quick-change shaft body 41, as shown in fig. 7, the quick-change shaft body 41 is connected with the clamping pin 411, the clamping pin 411 is inserted in the clamping groove 121, and the quick installation and replacement of the polishing head 4 can be realized through the structure.
Wherein, the axes of the transition sleeve 12 and the spline spindle 3 are coincident.
Further, as shown in fig. 4 and 8, the clamping groove 121 is an L-shaped groove, the L-shaped groove includes a first groove 1211 and a second groove 1212 which are perpendicular to each other, the widths of the first groove 1211 and the second groove 1212 are not smaller than the diameter of the clamping pin 411, the structure can realize quick installation of the polishing head 4, and simultaneously, the stability of the polishing head 4 after installation can be effectively ensured, so that the polishing head 4 is not easy to loosen or fall off.
The L-shaped groove structure is more beneficial to ensuring the connection stability of the polishing head 4 and the spline main shaft 3.
In one embodiment, as shown in fig. 5, a buffering pressing piece 13 is connected inside the transition sleeve 12, one end of the buffering pressing piece 13 is connected to the spline spindle 3, the other end of the buffering pressing piece 13 abuts against the quick-change spindle, and the buffering pressing piece 13 can ensure that the polishing head 4 is pressed in the clamping groove 121, so that the loosening phenomenon in the screwing process is prevented.
Further, the buffer pressing member 13 is a hydraulic buffer or an elastic buffer.
The method for realizing the rapid installation and replacement of the polishing head 4 by utilizing the structure comprises the following steps:
as shown in fig. 8, the clamp is first used to clamp the polishing head 4 to be mounted, and the polishing device (without the polishing head 4 mounted) is moved until the transition sleeve 12 is located right above the quick-change spindle;
starting the first motor 2 to drive the spline housing 8 to rotate, so as to drive the spline shaft and the transition housing 12 to rotate together until the first groove 1211 of the clamping groove 121 in the transition housing 12 is aligned with the clamping pin 411 on the quick-change shaft body 41;
the grinding device is lowered until the clamping pin 411 enters the first groove 1211, the buffering pressing piece 13 is in a pressing state, and the buffering pressing piece 13 is pressed at the end part of the quick-change shaft body 41;
the first motor 2 is started again to drive the spline housing 8 to rotate by 45 degrees, the clamping pin 411 enters the second groove 1212 at the moment, and the buffering pressing piece 13 presses the clamping pin 411 in the second groove 1212 to prevent the clamping pin 411 from loosening;
finally, the jig holding the sanding head 4 is removed.
Through the process, the rapid installation of the polishing head 4 is realized; if a new polishing head 4 needs to be replaced, the old polishing head 4 needs to be detached from the spline spindle 3, and when the polishing head is detached, the reverse process of the installation process is executed, which is not described herein again.
In one embodiment, the linear drive 6 employs an EHA actuator.
The EHA (Electro-hydraulic Actuators) is a standard power unit formed by integrating a motor, a pump, an oil tank, a hydraulic cylinder and a control valve group in one device, the hydraulic cylinder comprises a piston rod, the cylinder body can stretch along the cylinder body, and the EHA actuator drives a moving seat 5 connected with an actuator to move by controlling the stretching of the piston rod.
The linear driving device 6 adopts an EHA actuator, so that the displacement of the movable seat 5 can be controlled accurately, and the precise floating of the polishing head can be realized.
In one embodiment, a controller 14 is further connected inside the housing 1, the tension and pressure sensor 7 feeds back the detection result to the controller 14, and the controller 14 is used for controlling the linear driving device 6 to operate according to the detection result of the tension and pressure sensor 7.
When the tension pressure sensor 7 detects that the pressure applied to the polishing head 4 is increased, the controller 14 controls the linear driving device 6 to move, so that the spline shaft and the polishing head 4 are driven to move backwards together until the pressure is recovered to a set value, and when the tension pressure sensor 7 detects that the pressure applied to the polishing head 4 is reduced, the controller 14 controls the linear driving device 6 to move, so that the spline shaft and the polishing head 4 are driven by the linear driving device 6 to extend together until the pressure is recovered to the set value.
The controller 14 may also control the start, stop and speed of the first motor 2.
In one embodiment, as shown in fig. 5 and 6, a bearing plate 15 is connected inside the housing 1, a sliding rail 16 is connected on the bearing plate 15, a sliding block 17 is arranged on the movable base 5, and the sliding block 17 is slidably connected on the sliding rail 16 to guide the movement of the movable base 5, so as to ensure that the movable base can stably perform linear movement.
The linear driving device 6 is connected with the moving seat 5 through a push plate 51, a sliding hole is arranged on the bearing plate 15, and the push plate 51 passes through the sliding hole and can move along the sliding hole.
The linear drive 6 can be arranged below the carrier plate 15, the first motor 2 being connected to the upper part of the carrier plate 15.
In one embodiment, the spline housing 8 is made of wear-resistant material, such as copper alloy, manganese alloy, etc., to ensure its service life.
The following illustrates the method of use of the above described grinding device:
referring to fig. 9, the first motor 2 is started to drive the spline shaft to rotate, and the spline shaft drives the polishing head 4 to rotate, so that the surface of the workpiece 18 is polished;
the tension pressure sensor 7 detects the pressure applied to the polishing head 4 in the polishing process in real time and transmits the detection result to the controller 14;
when the polishing head 4 moves to a convex position on the surface of the workpiece 18, the tension and pressure sensor 7 detects that the pressure applied to the polishing head 4 is increased, at the moment, the controller 14 sends a first control signal to the linear driving device 6, and after the linear driving device 6 receives the first control signal, the linear driving device 5 is driven to retreat, so that the spline spindle 3 and the polishing head 4 are driven by the movable seat 5 to retreat together, and the linear driving device 6 stops acting until the tension and pressure sensor 7 detects that the pressure applied to the polishing head 4 is reduced to a set value;
when the polishing head 4 moves to the concave position on the surface of the workpiece 18, the tension and pressure sensor 7 detects that the pressure applied to the polishing head 4 is reduced, at the moment, the controller 14 sends a second control signal to the linear driving device 6, and after the linear driving device 6 receives the second control signal, the movable seat 5 is driven to move forward, so that the movable seat 5 drives the spline spindle 3 and the polishing head 4 to move forward together, and the linear driving device 6 stops acting until the tension and pressure sensor 7 detects that the pressure applied to the polishing head 4 is increased to a set value.
Above-mentioned whole in-process of polishing, polishing head 4 can be floating motion along with spline main shaft 3 to the irregular surface of automatic adaptation work piece 18 makes polishing head 4 carry out the difference in height compensation in certain unsteady within range, accomplishes constant force all the time and polishes, has effectively guaranteed the quality of polishing.
The floating range of the polishing head 4 is + -10 mm, and the polishing head has better polishing flexibility for irregular surfaces.
The polishing head can not only be used for downward polishing working conditions, but also be suitable for operations in various working condition ranges such as vertical plate, included angle and upward polishing.
When the constant-force grinding device is actually used, the constant-force grinding device can be arranged on external motion equipment (such as a robot, a three-axis truss, a single-axis robot and the like) to be used, so that a workpiece to be ground is contacted under the driving of the external motion equipment.
The constant-force polishing device can effectively ensure constant-force polishing control, realize accurate floating displacement control of the polishing head and ensure flexible polishing operation; it can realize the flexibility under the condition that does not increase extra action and polish, especially to irregular work piece, can respond rapidly the adjustment and take the initiative flexibility and polish, has improved the degree of consistency on the work piece surface of polishing.
The constant force grinding device can be used in various industries needing grinding and polishing; and the workpiece can be used for workpieces made of various materials such as common carbon steel, stainless steel, aluminum alloy, nonmetal and the like, and the application range is wide.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Various other modifications and alterations will occur to those skilled in the art upon reading the foregoing description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the invention.

Claims (10)

1. The utility model provides a constant force grinding device which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
a housing;
the polishing head is positioned outside the shell and used for polishing the workpiece;
the spline main shaft is provided with a first end and a second end, the first end is in spline connection with the spline sleeve, and the second end is connected with the polishing head;
the first motor is positioned inside the shell and used for driving the spline housing to rotate;
the movable seat is positioned in the shell and connected with the spline main shaft;
the linear driving device is used for driving the movable seat and the spline main shaft to move together along the axial direction of the spline main shaft;
the pressure sensor is located inside the shell and connected to the movable seat and used for detecting the pressure on the polishing head.
2. The constant force sharpening device of claim 1, wherein: the spline main shaft is connected with a first bearing seat, the tension and pressure sensor is located between the moving seat and the first bearing seat, shaft holes are formed in the moving seat and the first bearing seat, the shaft holes are connected with the spline main shaft through rolling bearings, one end of the tension and pressure sensor is connected to the moving seat, and the other end of the tension and pressure sensor is connected to the first bearing seat.
3. The constant force sharpening device of claim 2, wherein: and the spline main shaft is connected with a first locking nut through threads, and the first locking nut abuts against the rolling bearing in the movable seat.
4. The constant force sharpening device of claim 1, wherein: the spline main shaft is connected with the polishing head through a transition sleeve, a clamping groove is formed in the transition sleeve, a quick-change shaft body is connected to the polishing head, a clamping pin is connected to the quick-change shaft body, and the clamping pin is inserted into the clamping groove.
5. The constant force sharpening device of claim 4, wherein: the joint groove adopts the L shape groove, the L shape groove includes mutually perpendicular's first cell body and second cell body, the groove width of first cell body and second cell body all is not less than the diameter of joint round pin.
6. The constant force sharpening device of claim 4, wherein: the transition sleeve is internally connected with a buffering and pressing piece, one end of the buffering and pressing piece is connected to the spline spindle, and the other end of the buffering and pressing piece abuts against the quick-change spindle.
7. The constant force sharpening device of claim 6, wherein: the buffering and pressing piece adopts a hydraulic buffer or an elastic buffer.
8. The constant force sharpening device of claim 1, wherein: the linear driving device adopts an EHA actuator.
9. The constant force sharpening device of claim 1, wherein: the inner part of the shell is also connected with a controller, and the controller is used for controlling the linear driving device to act according to the detection result of the pull pressure sensor.
10. The constant force sharpening device of claim 1, wherein: the bearing plate is connected inside the shell, a sliding rail is connected to the bearing plate, a sliding block is arranged on the movable seat, and the sliding block can be connected to the sliding rail in a sliding mode.
CN202211516838.7A 2022-11-29 2022-11-29 Constant-force grinding device Pending CN115890492A (en)

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CN202211516838.7A CN115890492A (en) 2022-11-29 2022-11-29 Constant-force grinding device
PCT/CN2022/142172 WO2024113444A1 (en) 2022-11-29 2022-12-27 Constant-force grinding device

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Application Number Priority Date Filing Date Title
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CN113732898A (en) * 2021-09-13 2021-12-03 磁县回头香食品有限公司 Device for polishing stone mill for producing ground sesame seed oil

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024212316A1 (en) * 2023-04-13 2024-10-17 上海赛威德机器人有限公司 Active force control hydraulic floating apparatus, and grinding robot
CN117697622A (en) * 2023-11-27 2024-03-15 佛山职业技术学院 Rigid-flexible coupling passive constant force floating polishing device
CN117697622B (en) * 2023-11-27 2024-08-09 佛山职业技术学院 Rigid-flexible coupling passive constant force floating polishing device

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