Robot rapid tool changing self-adaptive force control tail end executing device design

Abstract

The invention discloses a robot rapid tool changing self-adaptive force control tail end executing device design. The control tail end executing device design comprises a hemispherical clamping device, a Z-shaped tension sensor, a pressure control air cylinder, an interface device between a tail end actuator and a mechanical arm. The hemispherical clamping device, the Z-shaped pulling pressure optical sensor and the pressure control air cylinder are divided into an upper part, a middle part, and a lower part to form a pressure self-adaptive controller and a core part, and the pressure self-adaptive controller and the core part are connected and arranged as a whole; the set constraint effect of the pipe butt joint position points achieves butt joint and solid connection of the data line andthe air pipe, that is the soft tubular objects. According to the tube butt joint position points, and the data lines and the air pipes extending out of each pressure self-adaptive controller are orderly integrated into the butt joint plane for butt joint; a central bevel gear is adopted at the joint of the tail end executor to drive a surrounding bevel gear to rotate and tighten a fixing bolt andan air hole interface, and the position of the tail end executor is fixed at the same time to realize the connection of the air pipes. The robot rapid tool changing self-adaptive force control tail end executing device design has the advantages that clamping and detecting force control operation is integrated and real-time three-dimensional force control is achieved.

Description

[0001] manual technical field [0002] The invention relates to a multifunctional self-adaptive end effector for rapid tool change by a robot, in particular, automatic grinding and processing of a booster stage inlet rectifier by a robot. Background technique [0003] In the past 20 years, the application of grinding technology in aerospace, transportation machinery, shipbuilding, metallurgy, chemical industry and energy has become more and more extensive. At the same time, with the continuous development and progress of the manufacturing industry, the requirements for product processing accuracy are getting higher and higher, and a series of mechanical automation processing problems of high-precision parts are gradually exposed. [0004] Take the processing of supercharged imported rectifiers as an example to explain in detail. The supercharged inlet rectifier is an important part of the supercharged fan components. It is a typical thin-walled, welded casing, which is comp...

AI Technical Summary

Problems solved by technology

At present, there is a lack of a better processing method. The problems in the processing need to use a method that can realize fast and accurate tool change, and monitor the grinding force on the front end of the grinding head in real time through the arrangement of mechanical sensors, and carry out the grinding path. Real-time adjustment to achieve high-precision adaptive grinding automatic grinding robot to solve

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