3-DOF active compliance robot polishing device

Abstract

The invention belongs to the technical field of robot grinding and polishing, and discloses a 3-DOF active compliance robot polishing device. The 3-DOF active compliance robot polishing device comprises a connecting plate, a horizontal plane moving unit, a vertical plane moving unit and a polishing unit, wherein the polishing device is connected with a robot tail end through the connecting plate;one end of the vertical plane moving unit is connected with the connecting plate, and the other end of the vertical plane moving unit is connected with the polishing unit through the horizontal planemoving unit for achieving the pitching motion of the polishing unit in a vertical plane; the horizontal plane moving unit is arranged on the vertical plane moving unit for achieving the forward and backward movement and rotation of the polishing unit in the horizontal direction; and the polishing unit is used to polish an object to be polished and provided with a distance sensor. By controlling the movement input of the vertical plane moving unit and the horizontal plane moving unit, the movement of the polishing unit in the vertical plane and the horizontal plane can be adjusted, and then the3-DOF active compliance of a complex hook face is achieved. The 3-DOF active compliance robot polishing device can effectively improve the grinding accuracy and efficiency, and has a wide range of application.

Description

technical field [0001] The invention belongs to the technical field of robot grinding and polishing, and more specifically relates to a three-degree-of-freedom active compliance robot grinding device. Background technique [0002] When performing mobile grinding on large and complex curved workpieces, due to the large range of curvature of the workpiece, fixed grinding tools cannot grind all positions, so the grinding tools need to be able to conform to the shape of the curved surface to ensure the quality of the grinding process. Therefore, the grinding tip with active compliance is of great significance for the machining of workpieces with curved shapes, especially workpieces with variable curvature. [0003] Patent 201810035845.2 proposes a retractable grinding device with a translational degree of freedom. The retractable grinding head achieves buffer contact with the workpiece, thus having a certain degree of compliance function, but its structure is complex and limited...

AI Technical Summary

Problems solved by technology

[0003] Patent 201810035845.2 proposes a retractable grinding device with a translational degree of freedom. The retractable grinding head achieves buffer contact with the workpiece, thus having a certain degree of compliance function, but its structure is complex and limited by a single degree of freedom. Larger, for the processing of workpieces with complex curved surfaces, the single-degree-of-freedom grinding device needs to plan the grinding trajectory back and forth during the grinding process, the grinding time is long, and the grinding efficiency is low. Therefore, for the processing of workpieces with complex curved surfaces, there is an urgent need for A Grinding device with multiple degrees of freedom

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