A constant force flexible grinding device for an industrial mechanical arm

An industrial machinery and flexible technology, applied in grinding drive devices, grinding automatic control devices, manufacturing tools, etc., can solve the problems of difficult to achieve industrial production, poor algorithm stability, slow response speed, etc., to improve grinding quality, torque, etc. Large, ensure the effect of grinding uniformity

Active Publication Date: 2022-03-25
SHANGHAI UNIV OF ENG SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Because this method needs to realize the control of force and position at the same time, there is force / position coupling, so the realization is more complicated; second, the active force control based on the end tool
Generally speaking, using algorithms to enable the robot controller to achieve impedance control and force / position hybrid control, this method has a slow response speed, poor algorithm stability, and is difficult to achieve industrial production.

Method used

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  • A constant force flexible grinding device for an industrial mechanical arm
  • A constant force flexible grinding device for an industrial mechanical arm
  • A constant force flexible grinding device for an industrial mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] Such as Figure 1 to Figure 11 As shown, an industrial manipulator constant-force flexible grinding device includes a grinding head for grinding workpieces, a rotary motion component for driving the grinding head to rotate, an axial motion component for driving the grinding head to move axially, and a shaft for grinding. The flexible sleeve 10 for shock absorption in the direction and radial direction, as well as the internal components of the protection device and the outer casing 28 for bearing torque; the grinding device is connected to the mechanical arm through the flange 1 .

[0054] Axial moving parts include cylinder 3, upper end plate 2, lower end plate 7, thrust plate 18, linear bearing 21, floating joint 8, support rod 26, guide sleeve 29 and tension pressure sensor 9;

[0055] Rotary moving parts include air motor 25, motor mounting seat plate 30, coupling 24, ball spline, key 13 and rotary bearing 44; air motor 25 is installed on motor mounting seat plate 3...

Embodiment 2

[0064] An industrial mechanical arm constant force flexible grinding device, which is basically the same as Embodiment 1, the difference is that two cylinders 3 of the same type are used to provide the normal force during grinding, and the two cylinders 3 are symmetrically distributed about the air motor 25 The piston rod 5 of the cylinder 3 is connected to the thrust plate 18 through the floating joint 8, and the floating joint 8 can eliminate the vertical error of the connection between the thrust plate 18 and the piston rod 5, so that the cylinder 3 acts on the thrust plate 18 within a certain range of eccentricity. works fine. The air inlet A22 and the air inlet B27 of the cylinder 3 are respectively connected with an external electric proportional valve, and the air pressure of the air inlet A22 and the air inlet B27 can be precisely controlled by controlling the electric proportional valve. The air pressure of the air inlet A22 of the cylinder 3 is used for gravity compe...

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Abstract

The invention relates to a constant-force flexible grinding device of an industrial mechanical arm, which includes a grinding head for grinding workpieces, a rotary motion component for driving the grinding head to rotate, an axial motion component for driving the grinding head to move axially, internal components of the protection device and The outer casing that bears the torque and the flexible sleeve used for axial and radial shock absorption during grinding; the constant force flexible grinding device and the mechanical arm are connected by a flange; the invention designs a flexible sleeve shock absorber, It includes a spring damping bushing, which plays the role of radial and axial shock absorption. The invention improves the axial moving parts and the rotating moving parts, and can decouple the rotating motion and the axial linear motion, and separately control the two Movement to realize the control of grinding force and grinding cutting speed. The decoupling achieved by this method in terms of mechanical structure is more suitable for complex polishing tasks than the decoupling achieved in algorithm.

Description

technical field [0001] The invention belongs to the technical field of industrial robot arm grinding, and relates to a constant-force flexible grinding device for an industrial robot arm. Background technique [0002] With the development of science and technology, the accuracy and efficiency of traditional manual grinding cannot be guaranteed. Not only is the labor cost increasing day by day, but also the grinding process is noisy and dusty, and the environment is harsh, which may seriously affect the physical and mental health of workers. Therefore, the robot automatic grinding technology has been widely used in the processing process. It gets rid of the shortcomings of traditional manual grinding, such as high labor intensity, poor quality, and low efficiency, and can effectively improve the grinding efficiency and grinding quality. The quality of robot automatic grinding largely depends on two factors: the size of the grinding force and whether the grinding force is stab...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B24B41/04B24B47/14B24B49/00B24B51/00B24B41/00
CPCB24B41/04B24B41/042B24B47/14B24B49/00B24B51/00B24B41/007
Inventor 王文浩王大中郭冬云汪琪杨阳吴淑晶
Owner SHANGHAI UNIV OF ENG SCI
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