CN108581745B - A kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive device - Google Patents
A kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive device Download PDFInfo
- Publication number
- CN108581745B CN108581745B CN201810356845.2A CN201810356845A CN108581745B CN 108581745 B CN108581745 B CN 108581745B CN 201810356845 A CN201810356845 A CN 201810356845A CN 108581745 B CN108581745 B CN 108581745B
- Authority
- CN
- China
- Prior art keywords
- polishing
- grinding
- ring
- curved surface
- component
- 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.)
- Active
Links
Classifications
-
- 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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
-
- 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
- B24B49/00—Measuring 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
- B24B49/02—Measuring 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 according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
- B24B49/04—Measuring 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 according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation
- B24B49/045—Specially adapted gauging instruments
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive devices, including two-dimensional attitude adjustment component, linear servo power control component, grinding and polishing component and controller.Linear servo power control component realizes the real-time control and feedback to polishing contact force by contact force closed-loop control, guarantees constant contact force processing；Two-dimensional attitude adjusts the real-time adjustment that component realizes mill posture by closed-loop control, is overlapped grinding surface with curved surface local tangential plane always and realizes curved surface adaptive, effectively prevent the problems such as uneven, overground of polishing, realizes robot self-adapting flexible polishing processing.The invention enables do centering movement when mill carries out pose adjustment always, to which unnecessary displacement will not be generated when adapting to curved surface variation, it effectively prevent repeating grinding and polishing to polishing region, guarantee uniformity, consistency that grinding and polishing process requires, the adaptive high-precision polishing processing suitable for large-scale Free-form Surface Parts especially wind turbine blade.
Description
Technical field
The invention belongs to curved surface class workpiece Intelligent Machining manufacturing field more particularly to the large sizes of industrial robot application
Curved surface adaptive power controls grinding and polishing field, more particularly, to a kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing
End executive device.
Background technique
Wind energy is inexhaustible as a kind of clean renewable energy, therefore the demand of wind energy increasingly increases
Add, various countries worldwide, which is tried to be the first, develops wind generating technology.Key of the wind turbine blade as Wind turbines converting wind energy
Component, as Global Wind-power Market turns to the wind energy development of low wind speed and marine wind field, the demand of wind turbine blade is year by year
Go up.The surface of wind turbine blade goes the quality of putty polishing and polishing processing technique to seriously affect generating efficiency.It is large-scale
Wind electricity blade is since length is up to as many as 59.5 meters, mutability of polishing, and surface is complicated and changeable, and these problems are to large-scale wind electricity leaf
Piece grinding and polishing process proposes very high requirement.The polishing processing of the free form surfaces such as current wind turbine blade mainly includes hand
Work grinding and polishing and a small amount of robot polishing processing；Manual polishing processing, inefficient, grinding and polishing surplus is uneven, piece surface
Quality is influenced very greatly by worker's skills involved in the labour, and robot polishing system is high-efficient, processing consistency is good, corresponding at low cost,
It is the trend developed at present.
When robot such as polish, polish constraint manipulation in complex-curved equal unstructured moving grids, workpiece
Geometrical morphology is difficult to Accurate Model, and the characteristics such as arm length, mutability of wind turbine blade class workpiece often require that grinding and polishing work
Tool has certain flexibility, and the shortage of processing object accurate model causes robot motion's trajectory planning difficult or inaccurate
Really.
Robot compliance can be divided into active compliance and passive compliance.Passive compliance mainly passes through adjustment spring rigidity and obtains
Required flexibility, such as the submissive passive mechanical device of remote center of the experimental center america's MIT Draper design, but by
Slow in spring corresponding speed, that there are precision is uncontrollable for the device, is easy to produce the non-uniform problem of overground or grinding and polishing.Active compliance
The pneumatic variable force device ACF of a company, middle Austria production can preferably between implementation tool end and workpiece contact force,
But it is uneven equally to easily lead to grinding and polishing since the characteristic of gas compression can generate nonlinear problem for the gas variable force device.Specially
Application No. is 201610580987 " a kind of submissive polishing series-parallel robot technique platforms in curved surface space-like " to adjust for benefit
Contact force of polishing and adjustment terminal angle, but the position of grinding head can change during the grinding process, be easy to cause repetition
Grinding and polishing.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of Three Degree Of Freedom curved surface adaptive intelligence
Ability control flexibility grinding and polishing end executive device, its object is to adjust component and linear servo power control group by design two-dimensional attitude
Part, the posture and grinding force of the grinding head of adjustment in real time in situ, to prevent while improving grinding accuracy, realizing submissive grinding and polishing
It only repeats grinding and polishing and grinding and polishing is uneven.
To achieve the goals above, the present invention provides a kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing ends
Hold executive device, including pedestal, end cap, two-dimensional attitude adjustment component, linear servo power control component, grinding and polishing component and controller；
Pedestal is the barrel-shaped structure of lower ending opening, and end cap is set to pedestal upper end, and end cap is used for and grinding and polishing robot end couple
Connect fixation；
Two-dimensional attitude adjusts component and is set to inside pedestal, including tilt adjusting mechanism and rotating and regulating mechanism；
The adjustable track of tilt adjusting mechanism is arc rack, is driven by the tilt drive gear engaged with arc rack
Tilt adjusting mechanism is rotated centered on the center of circle of arc rack, and the center of circle of arc rack is located at the rotary shaft of rotating and regulating mechanism
On line；
Linear servo power control component is installed on tilt adjusting mechanism, including screw rod, linear slider, screw drive motor and
Six-dimension force sensor；Screw rod and linear slider form ball screw framework, and the output shaft of screw drive motor is docked with screw rod, and six
Dimensional force sensor is fixed in linear slider；
Grinding and polishing component includes bistrique connecting plate, bistrique driving motor and mill；The upper end of bistrique connecting plate is fixed on six
On dimensional force sensor；Mill is installed on the output shaft of bistrique driving motor, and mill center is overlapped with the center of circle of arc rack；Mill
Head driving motor is fixed on bistrique connecting plate lower end, and its output shaft is located at the line of centres at mill center and tilt drive gear
On；
Controller is connect with six-dimension force sensor, screw drive motor respectively, and is adjusted with tilt adjusting mechanism and rotation
The driving part of complete machine structure connects.
Further, rotating and regulating mechanism includes ring ring, rotary drive motor, ring gear and rotary drive gear；
Wherein,
Ring ring, rotary drive motor are fixed both with respect to pedestal；Ring gear be set to ring ring on and with annulus rail
Road is coaxially arranged；Rotary drive gear is set on the output shaft of rotary drive motor, and is engaged with ring gear；Controller connection rotation
Turn driving motor, when rotary drive motor work, is with ring gear own axes by rotary drive gear drive ring gear
Center rotates on ring ring.
Further, tilt adjusting mechanism includes arc rack, tilt drive gear, guide part, the second mounting rack and inclines
Oblique driving motor；Wherein,
The center of circle of arc rack is located on the axis of ring gear, and the side in arc rack towards the center of circle is the flank of tooth, backwards to circle
The side of the heart is guide surface；Tilt drive gear is connected with guide part by the second mounting rack, tilt drive gear and circle-arc tooth
The flank engagement of item；Tilt drive gear is installed on the output shaft of tilt drive motor, and tilt drive motor is relative to second
Installation rack position is fixed, and controller connects tilt drive motor；The guide surface of guide part and arc rack cooperation, to be driven in inclination
Tilt adjusting mechanism is oriented in moving gear rotation process.
Further, linear servo power control component includes connecting plate, line slide rail, screw rod, linear slider, screw rod driving electricity
Machine and six-dimension force sensor；Wherein,
Connecting plate is fixed on the second mounting rack lower part, and connecting plate is equipped with the sliding rail parallel with internal tooth coil axis；Screw rod with
Linear slider forms ball screw framework, and screw rod is parallel with line slide rail, and linear slider is slidably matched with line slide rail；Screw rod drives
Dynamic motor is fixed relative to connecting plate, and its output shaft is docked with screw rod；Six-dimension force sensor is fixed in linear slider.
Further, the guide surface of arc rack is equipped with the arc groove of circumferentially extending, the center of circle of arc groove and circular arc
The center of circle of rack gear is overlapped；Guide part be two idler wheels, two idler wheels and tilt drive gear three be distributed in isosceles triangle and
The axis of three is parallel to each other, and the line of centres of two idler wheels is the bottom edge of isosceles triangle；Two idler wheels are and arc groove
Cooperation.
Further, guide pad is arc shaped slider, and the center of circle of arc shaped slider is overlapped with the center of circle of arc rack.
Further, ring gear lower surface is equipped with multiple the first sliding blocks being uniformly distributed circumferentially, the first sliding block lower surface
Equipped with the sliding slot equal with ring ring width, ring ring upper surface is located in sliding slot.
It further, further include protective cover, the bistrique connecting plate of linear servo power control component and grinding and polishing component is located at protection
Cover is internal, and the bistrique driving motor and mill of grinding and polishing component are located at outside protective cover, and protective cover upper end is docked with pedestal lower end
It is fixed.
Further, annular erecting bed is equipped with inside pedestal, ring ring is fixed on annular erecting bed.
In general, the contemplated above scheme of the present invention compared with prior art, has following advantages:
1. the present invention passes through motion control closed loop and power using two-dimensional attitude adjustment component and linear servo power control component
Control closed loop guarantee make grinding head i.e. mill and workpiece it is complex-curved between can have good expectation contact force and active it is suitable
The variation realization zero moment polishing for answering curved surface, effectively prevents processing impact, grinding and polishing unevenness, excessive grinding and polishing and repetition grinding and polishing etc.
Problem.
2. the ingehious design of two-dimensional attitude adjustment component in the present invention, i.e. the center of circle of arc rack is located at internal tooth coil axis
Upper, mill center is overlapped with the arc rack center of circle, so that guaranteeing mill during pose adjustment while adjusting mill posture
End face center position it is constant, do always centering movement, to guarantee that mill will not be subjected to displacement when carrying out pose adjustment, i.e.,
Pose adjustment will not change polishing position, to effectively avoid repeating to be ground.
3. the present invention passes through the contact force and torque and access controller during six-dimension force sensor measurement polishing processing
It realizes force feedback, then component is adjusted by the feeding control amount and two-dimensional attitude of controller control linear servo power control component
Angle variable quantity adjusts the amount of feeding and posture of mill in real time, realizes the polishing processing of power control closed loop and motion control closed loop, protects
Demonstrate,prove the interference free performance of adaptive machining and to complex-curved flexibility.
4. traditional complex-curved class part processing is limited to, existing active control device pose Adjustment precision is insufficient to be asked
The problems such as topic, mostly uses the modes such as artificial grinding and polishing, but still not high bad with surface quality consistency there are dimensional accuracy, this hair
It is bright to use the method for adaptively complying with curved surface and the control polishing of Intelligent contact power, make polishing processing that there is active compliance, size
It is complex-curved to can be realized automation processing for the advantages such as controllability height, precision, surface conformance be good.
5. the present invention is connected to grinding and polishing robot end by end cap, the large-scale attitudes vibration of robot is indirectly real
Show large-scale motion control and pose adjustment of the invention, and the adaptive adjustment of precision of the invention can with compensation function
The problems such as robot positioning accuracy in polishing processing is not high, adaptive ability is insufficient is effectively made up, realizes and has complementary advantages.I.e.
Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive device of the invention is reached by the movement of robot
Designated position, Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive device through the invention can be specified
Adaptive pose and grinding force, torque adjustment are realized in position, complete accurate grinding and polishing automation processing.
Detailed description of the invention
Fig. 1 is a kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end that the preferred embodiment of the present invention provides
The overall structure diagram of executive device；In order to show each component positional relationship in figure, end cap, pedestal, protective cover are carried out
Section view processing；
Fig. 2 is the stereoscopic schematic diagram of Fig. 1；
Fig. 3 is the stereoscopic schematic diagram of end cap, pedestal, protective cover in Fig. 1；
Fig. 4 is the stereoscopic schematic diagram that the two-dimensional attitude that the preferred embodiment of the present invention provides adjusts component；
Fig. 5 is the main view of Fig. 4；
Fig. 6 (a) is that the core of tilt adjusting mechanism in Fig. 4 adjusts component stereoscopic schematic diagram, and Fig. 6 (b) is the flat of Fig. 6 (a)
Face schematic diagram；
Fig. 7 is the combination diagram of linear servo power control component and grinding and polishing component that the preferred embodiment of the present invention provides；
Fig. 8 is the decomposition diagram of Fig. 7；
Fig. 9 is the combining structure schematic diagram for the grinding head that the preferred embodiment of the present invention provides；
Figure 10 is the centering schematic diagram of the preferred embodiment of the present invention；
Figure 11 is the schematic diagram that end executive device of the present invention is installed in industrial robot end；
Figure 12 is the physical model schematic diagram of wind turbine blade；
Figure 13 (a), 13 (b), 13 (c) are that attitude-adaptive of the preferred embodiment of the present invention when polishing curved surface adjusted
Journey schematic diagram.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1- end cap 2- pedestal 3- protective cover
4- two-dimensional attitude adjusts component 41- rotating and regulating mechanism 42- tilt adjusting mechanism
411- ring ring 412- ring gear the first sliding block of 413-
414- rotary drive motor 415- rotary drive gear the first mounting rack of 416-
421- arc rack 422- the second mounting rack 423- tilt drive motor
424- idler wheel 425- tilt drive gear
5- linear servo power control component 51- connecting plate 52- slide
53- line slide rail 54- screw drive motor 55- screw rod
56- linear slider 57- sensor mounting plate 58- six-dimension force sensor
6- grinding and polishing component 61- bistrique connecting plate 62- bistrique flange
63- bistrique driving motor 64- mill
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in Figures 1 to 3, the Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end of the preferred embodiment of the present invention
Executive device includes: end cap 1, pedestal 2, protective cover 3, two-dimensional attitude adjustment component 4, linear servo power control component 5, grinding and polishing component
6 and controller (not shown).End cap 1 is fixed by bolts in 2 upper end of pedestal, end cap 1 be equipped with for industrial grinding and polishing machine
The flange of the end on of people or lathe.Pedestal 2 is cylindrical tube shape construction, and protective cover 3 is ladder barrel-shaped structure, is fixed on base
2 lower end of frame.Two-dimensional attitude adjusts component 4 and is set in pedestal 2, and lower end connects linear servo power control component 5；Linear servo power control group
The lower end of part 5 connects grinding and polishing component 6.
Referring to figure 4. and Fig. 5, two-dimensional attitude adjusts component 4 and passes through rotating and regulating mechanism 41 and tilt adjusting mechanism 42
Resultant motion directly drives linear servo power control component 5 and 6 associated movement of grinding and polishing component, realizes pose adjustment.In this implementation
In example, rotating and regulating mechanism 41 includes ring ring 411, ring gear 412, the first sliding block 413, rotary drive motor 414, rotation
Drive gear 415 and the first mounting rack 416.Ring ring 411 is equipped with counter sink, is fixed in pedestal 2 by dormant bolt
On the annular erecting bed in portion, 412 lower surface of ring gear is fixedly connected with four the first sliding blocks 413 by dormant bolt, and four first
Sliding block 413 is evenly distributed on ring ring 411 and slides on ring ring 411.On the output shaft of rotary drive motor 414
Rotary drive gear 415 is installed, rotary drive gear 415 is engaged with ring gear 412.Rotary drive motor 414 passes through first
Mounting rack 416 is fixedly mounted on inside pedestal 2.
Tilt adjusting mechanism 42 includes arc rack 421, the second mounting rack 422, tilt drive motor 423, idler wheel 424
With tilt drive gear 425.The both ends of arc rack 421 are bolted to connection in 412 upper surface of ring gear, with internal tooth
412 rotation of circle.The center of circle of arc rack 421 is located on the axis of ring gear 412, and the axis of arc rack 421 and ring gear 412
Line is coplanar.The side in arc rack 421 towards the center of circle is the flank of tooth, and the side backwards to the center of circle is guide surface.Tilt drive motor
423 are fixed on the second mounting rack 422, and tilt drive gear 425 is installed on the output shaft of tilt drive motor 423, and with
The flank engagement of arc rack 421.As shown in Fig. 6 (a), 6 (b), the guide part of the present embodiment is two idler wheels 424, circle-arc tooth
The guide surface of item is the arc groove being slidably matched with two idler wheels 424, the center of circle of arc groove and the center of circle weight of arc rack
It closes, when assembling, directly passes through gap of 421 one end of arc rack between idler wheel 424 and tilt drive gear 425.
Two idler wheels 424 and tilt drive gear 425 form stable isosceles triangular structure, so that pitch drives
When gear 425 rotates, linear servo power control component 5 and grinding and polishing component 6 is driven to do centering movement.Certainly, in other embodiments
(not shown), guide part can also be changed into have with the consistent sliding block of 421 radian of arc rack, which both can be with second
422 separable assembled of mounting rack, can also be integrally formed or welding fabrication；It can also be not provided with arc groove, by widening idler wheel
Width, directly with the guide surface of arc rack 421 cooperate；Or single idler wheel 424 also can with the cooperation of tilt drive gear 425
Realize centering movement, but it is high to the requirement of the gear-tooth strength of tilt drive gear 425, and tooth force is bigger.On the whole, excellent
Select the construction of two idler wheels 424 and arc groove, the cooperation of tilt drive gear 425 in embodiment the most stable, pitch drives tooth
The gear teeth burden of wheel 425 is also smaller, manufactures and assemble equal very simple, and due to the frictional force of rolling friction minimum, controllable
Property is most strong, and overall performance is more preferable.
Fig. 7, Fig. 8 are please referred to, linear servo power control component 5 includes connecting plate 51, slide 52, line slide rail 53, screw rod drive
Dynamic motor 54, screw rod 55, linear slider 56, sensor mounting plate 57 and six-dimension force sensor 58.Connecting plate 51 is fixed on second
422 lower part of mounting rack, slide 52 are fixed on connecting plate 51, and it is sliding that slide 52 is equipped with the straight line parallel with 412 axis of ring gear
Rail 53.Screw drive motor 54 is fixed relative to connecting plate 51, and its output shaft is docked with screw rod 55, and screw rod drives in the present embodiment
Dynamic motor 54 is fixed on slide 52.Screw rod 55 and linear slider 56 form ball screw framework, screw rod 55 and line slide rail 53
In parallel, linear slider 56 is slidably matched with line slide rail 53.Six-dimension force sensor 58 is fixed on directly by sensor mounting plate 57
On line sliding block 56.In the present embodiment, six-dimension force sensor uses ATI sensor.Screw drive motor 54 is using band band-type brake servo
Motor uses photoelectric encoder to realize precision positions feedback as position sensor, guarantees motion control accuracy, and not
With under posture shut down when can automatic band-type brake, will not slide because of gravity, accurate positioning, be more advantageous to pose adjust.
As shown in figs. 7-9, grinding and polishing component 6 includes bistrique connecting plate 61, bistrique flange 62, bistrique driving motor 63 and mill
Disk 64.The upper end of bistrique connecting plate 61 is fixed on six-dimension force sensor 58；Mill bistrique flange 62 is installed on bistrique connecting plate
61 lower ends；Bistrique driving motor 63 is fixed on bistrique flange 62, and its output shaft is located at 64 center of mill and pitch drives tooth
On the line of centres of wheel 425；Mill 64 is installed on the output shaft of bistrique driving motor 63, and the center of mill 64 and circle-arc tooth
The center of circle of item 421 is overlapped.Controller (not shown) respectively with six-dimension force sensor 58, rotary drive motor 414, pitch drives
Motor 423 and screw drive motor 54 connect.The rotary drive motor 414, tilt drive motor 423 and screw rod of the present embodiment drive
Dynamic motor 54 is all made of servo motor, and bistrique driving motor 63 uses low speed flat electric machine.The rotation of low speed flat electric machine is direct
The band rotation of movable grinding disc 64 carries out surface grinding and polishing, and its revolving speed is controllable, can effectively prevent excessive speeds and causes wind turbine blade table
Face burn, mill 64 can be replaced directly, and operation is simple and reliable.
As shown in Fig. 2, Fig. 4, Fig. 6 (b) and Figure 10, the work of the present invention centering of mill 64 movement during pose adjustment
It is as follows to make principle:
The movement of two-dimensional attitude adjustment component 4 is made of two mutually orthogonal rotary motions, two rotary motion difference
It is realized by rotating and regulating mechanism 41 and tilt adjusting mechanism 42.Since the center of mill 64 is overlapped with the center of circle of arc rack 421,
And be located on the axis of ring gear 412, so that in 42 motion process of rotating and regulating mechanism 41 and tilt adjusting mechanism, mill 64
Center remain unchanged, that is, two-dimensional attitude, which adjusts when component 4 carries out accurate adjustment to the posture of mill 64, can only change mill
The posture of disk 64, the center that not will lead to mill 64 generates additional displacement, to not change mill during guaranteeing pose adjustment
64 with the position of curve surface of workpiece contact point.The rotation of rotating and regulating mechanism 41 and tilt adjusting mechanism 42 in 2 orthogonal directions
Resultant motion realize the adjustment of 64 posture of mill, so that the variation of adaptive curved surface is to realize the weight of grinding surface Yu curved surface tangent plane
It closes.
Further, since when the variation of contact force only results from mill 64 and workpiece curved face contact to be processed, mill 64 with
The displacement of the movement of linear slider 56 is adjusted actually very by screw drive motor 54 under workpiece curved face contact state to be processed
It is small, the position of grinding and polishing contact point is influenced can be ignored.
As shown in figure 11, by end cap 1 by the end of Three Degree Of Freedom power control flexibility grinding and polishing flange and robot of the invention
Flanged joint provides large-scale position and attitude regulation using the movement of robot, is end executive device energy of the invention
It is enough quickly to reach designated position.And end executive device of the invention has the characteristics that constant force, the adjustment of posture precision, can be realized
The constant force polishing processing of given position, while the curved surface of adaptive given position carries out pose adjustment, realizes normal direction contact, prevents
It only repeats grinding and polishing, guarantee grinding and polishing uniformity consistency.
In the following, the course of work of the invention is introduced in conjunction with Figure 13 (a)~13 (c) by taking the wind turbine blade of Figure 12 as an example,
The label of each element is referring to attached drawing 4~9 and Detailed description of the invention.
As shown in Figure 13 (a), grinding and polishing currently is carried out to the certain point of wind turbine blade, when the grinding and polishing terminates
Afterwards, it needs to run to the next position, i.e., position shown in Figure 13 (b) carries out continuous polish-grinding.Since grinding and polishing position changes at this time,
The curvature and normal direction of curved surface are also changed, and the rotary shaft of mill 64 is no longer overlapped with the normal of current grinding points, such as
The direct grinding and polishing of fruit, then can grinding and polishing precision and grinding and polishing degree be difficult to ensure.At this point, the six-dimensional force of linear servo power control component 5 passes
Sensor 58 acquires the contact force and torque signals between mill 64 and workpiece in real time, and contact force and torque signals are fed back to control
Device processed, controller calculate rotary drive motor 414, tilt drive motor according to the contact force size and torque signals received
423 and screw drive motor 54 amount of exercise, and export corresponding control signal and make mill so as to adjust the posture of mill 64
64 rotary shaft is overlapped with the normal of grinding curved face contact point again, while adjusting the contact force between mill 64 and workpiece to pre-
If value realizes constant force grinding and polishing, it is ensured that the uniformity consistency of grinding and polishing.Screw drive motor 54 is passed through using band band-type brake servo motor
Band-type brake realizes motor braking, and realizes precision positions feedback as position sensor using photoelectric encoder, guarantees motion control
Precision can freely be shut down in pose adjustment and switching, without sliding because of gravity, while can be used for band-type brake system
It is dynamic.
In short, the present invention in order to improve single-degree-of-freedom power control grinding and polishing sector posture cannot adaptive curved surface variation,
Two-dimensional attitude adjustment component 4 is increased on the basis of one dimension force control component, carries out the normal direction of the grinding head in curved surface bruting process
The pose adjustment of contact force control and local tangential plane realizes that grinding head and workpiece Free Surface reach constant force, normal direction connects
Touching.When grinding and polishing, the contact force and torque of mill and workpiece curved surface to be processed are transferred to six-dimension force sensor by bistrique connecting plate,
Six-dimension force sensor is used to acquire the contact force and torque signals of mill and workpiece to be processed, and is uploaded to controller；Controller
For controlling the operation of rotary drive motor and tilt drive motor according to the contact force and torque signals received, thus real
When adjust mill posture, is overlapped the grinding surface of mill with the local tangential plane of workpiece curved face contact point to be processed always, realization
Curved surface adaptive to be processed；Controller is also used to the fortune according to contact force and torque signals the control screw drive motor received
Row adjusts grinding force in real time, realizes flexible grinding and polishing
The negative-feedback master that there is accurate, high bandwidth control characteristic servo motion platform and force snesor to constitute of the invention
Dynamic compliant system can control the contact force size and contact posture of mill and workpiece well, to actively adaptively control
System polishing contact force and polishing posture.The present invention integrates linear servo power control component 5 with ball-type orbit centre invariance principle
The two-dimensional attitude of core adjusts component 4, realizes power-position decoupling in Robot Force control polishing processing, meets and process large-scale wind
Precision is high when electric blade free form surface, the good requirement of surface conformance, and it is not high caused to can effectively avoid robot localization precision
Contact posture of the grinding head with free form surface is unsatisfactory for the problems such as requirement and excessively grinding and polishing and uneven grinding and polishing, can be widely applied
In the large-scale curved especially wind electricity blade class complex free curved surface of robot grinding and polishing.
The present invention adjusts component using linear servo power control platform and two-dimensional attitude ingenious in design, and passes with six-dimensional force
Sensor realizes the controllable polishing processing of contact force of the digital attitude-adaptive adjustment of full electricity, compared with prior art, linear servo
Power control component uses mechanization SERVO CONTROL, and high rigidity structure and precise flange compensate for gas variable force device due to gas
Nonlinear problem caused by body compresses；The two-dimensional attitude adjustment component of ingehious design of the present invention can guarantee that pose adjustment will not change
The position for becoming grinding points effectively avoids repeating to polish；The present invention has essence using power control closed-loop control and fortune control closed-loop control
The advantages that degree controllability is good, and control precision is high, and have significantly in terms of guaranteeing that grinding and polishing is uniform and prevents excessively
Advantage.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive device, for installing to grinding and polishing robot
End executes flexible grinding and polishing, which is characterized in that including pedestal, end cap, two-dimensional attitude adjustment component, linear servo power control component,
Grinding and polishing component and controller；
Pedestal is the barrel-shaped structure of lower ending opening, and end cap is set to pedestal upper end, and end cap is used for solid with grinding and polishing robot end on
It is fixed；
Two-dimensional attitude adjusts component and is set to inside pedestal, including tilt adjusting mechanism and rotating and regulating mechanism；
The adjustable track of tilt adjusting mechanism is arc rack, passes through the tilt drive gear drive incline engaged with arc rack
Adjustment mechanism is rotated centered on the center of circle of arc rack, and the center of circle of arc rack is located at the rotation axis of rotating and regulating mechanism
On；
Linear servo power control component is installed on tilt adjusting mechanism, including screw rod, linear slider, screw drive motor and 6 DOF
Force snesor；Screw rod and linear slider form ball screw framework, and the output shaft of screw drive motor is docked with screw rod, six-dimensional force
Sensor is fixed in linear slider；
Grinding and polishing component includes bistrique connecting plate, bistrique driving motor and mill；The upper end of bistrique connecting plate is fixed on six-dimensional force
On sensor；Mill is installed on the output shaft of bistrique driving motor, and mill center is overlapped with the center of circle of arc rack；Bistrique drives
Dynamic motor is fixed on bistrique connecting plate lower end, and its output shaft is located on the line of centres of mill center and tilt drive gear；
Controller is connect with six-dimension force sensor, screw drive motor respectively, and with tilt adjusting mechanism and rotation adjustment machine
The driving part of structure connects.
2. a kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end as described in claim 1 executive device,
It is characterized in that, rotating and regulating mechanism includes ring ring, rotary drive motor, ring gear and rotary drive gear；Wherein,
Ring ring, rotary drive motor are fixed both with respect to pedestal；Ring gear is set on ring ring and same with ring ring
Axis arrangement；Rotary drive gear is set on the output shaft of rotary drive motor, and is engaged with ring gear；Controller connection rotation is driven
Dynamic motor drives ring gear centered on ring gear own axes when rotary drive motor work by rotary drive gear
It is rotated on ring ring.
3. a kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end as claimed in claim 2 executive device,
It is characterized in that, tilt adjusting mechanism includes arc rack, tilt drive gear, guide part, the second mounting rack and pitch drives electricity
Machine；Wherein,
The center of circle of arc rack is located on the axis of ring gear, and the side in arc rack towards the center of circle is the flank of tooth, backwards to the center of circle
Side is guide surface；Tilt drive gear is connected with guide part by the second mounting rack, tilt drive gear and arc rack
Flank engagement；Tilt drive gear is installed on the output shaft of tilt drive motor, and tilt drive motor is relative to the second installation
Rack position is fixed, and controller connects tilt drive motor；The guide surface of guide part and arc rack cooperation, in pitch drives tooth
Tilt adjusting mechanism is oriented to during wheel rotation.
4. a kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end as claimed in claim 3 executive device,
It is characterized in that, linear servo power control component includes connecting plate, line slide rail, screw rod, linear slider, screw drive motor and 6 DOF
Force snesor；Wherein,
Connecting plate is fixed on the second mounting rack lower part, and connecting plate is equipped with the sliding rail parallel with internal tooth coil axis；Screw rod and straight line
Sliding block forms ball screw framework, and screw rod is parallel with line slide rail, and linear slider is slidably matched with line slide rail；Screw rod driving electricity
Machine is fixed relative to connecting plate, and its output shaft is docked with screw rod；Six-dimension force sensor is fixed in linear slider.
5. a kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end according to claim 3 or 4 executes dress
It sets, which is characterized in that the guide surface of arc rack is equipped with the arc groove of circumferentially extending, the center of circle of arc groove and arc rack
The center of circle be overlapped；Guide part is two idler wheels, two idler wheels and tilt drive gear three in isosceles triangle distribution and three
Axis it is parallel to each other, the lines of centres of two idler wheels is the bottom edge of isosceles triangle；Two idler wheels cooperate with arc groove.
6. a kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end according to claim 3 or 4 executes dress
It sets, which is characterized in that guide part is arc shaped slider, and the center of circle of arc shaped slider is overlapped with the center of circle of arc rack.
7. as the described in any item Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing ends of claim 2~4 execute dress
It sets, which is characterized in that ring gear lower surface is equipped with multiple the first sliding blocks being uniformly distributed circumferentially, and the first sliding block lower surface is equipped with
The sliding slot equal with ring ring width, ring ring upper surface are located in sliding slot.
8. as the described in any item Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing ends of claim 2~4 execute dress
It sets, which is characterized in that annular erecting bed is equipped with inside pedestal, ring ring is fixed on annular erecting bed.
9. as a kind of described in any item Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing ends of Claims 1 to 4 are held
Luggage is set, which is characterized in that further includes protective cover, the bistrique connecting plate of linear servo power control component and grinding and polishing component is located at protection
Cover is internal, and the bistrique driving motor and mill of grinding and polishing component are located at outside protective cover, and protective cover upper end is docked with pedestal lower end
It is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810356845.2A CN108581745B (en) | 2018-04-20 | 2018-04-20 | A kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810356845.2A CN108581745B (en) | 2018-04-20 | 2018-04-20 | A kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108581745A CN108581745A (en) | 2018-09-28 |
| CN108581745B true CN108581745B (en) | 2019-08-13 |
Family
ID=63613586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810356845.2A Active CN108581745B (en) | 2018-04-20 | 2018-04-20 | A kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108581745B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333530B (en) * | 2018-10-08 | 2020-05-26 | 浙江工业大学 | Six-joint mechanical arm contact force control method based on series elastic actuator |
| CN111098230B (en) * | 2018-10-29 | 2022-03-29 | 中国科学院沈阳自动化研究所 | Constant-force self-adjusting robot automatic machining tool carrier equipment |
| CN109491505B (en) * | 2018-11-13 | 2021-01-12 | 天津城建大学 | Percussion instrument playing simulation system and force feedback device based on virtual reality technology |
| CN109623565A (en) * | 2018-12-04 | 2019-04-16 | 厦门大学深圳研究院 | A kind of grinding and polishing apparatus and system |
| CN110125748A (en) * | 2019-04-25 | 2019-08-16 | 陕西斯瑞新材料股份有限公司 | Rail traffic motor anisotropic copper bar automatically profile-followed constant basis environmental protection polishing process |
| CN110103115B (en) * | 2019-05-23 | 2020-07-10 | 华中科技大学 | Three-degree-of-freedom telecentric fixed-point flexible force-controlled grinding and polishing actuator with compliant curved surface |
| CN110103116B (en) * | 2019-05-23 | 2020-10-02 | 华中科技大学 | Active and passive compliant grinding and polishing device adaptive to postures and grinding and polishing robot |
| CN110103114B (en) * | 2019-05-23 | 2020-11-17 | 华中科技大学 | Three-degree-of-freedom self-adaptive flexible grinding and polishing device for large complex curved surface and robot |
| CN110103245B (en) * | 2019-06-06 | 2022-02-18 | 哈尔滨工业大学 | Automatic chamfering tool for robot |
| CN113021162B (en) * | 2021-03-01 | 2021-12-17 | 机械工业第九设计研究院股份有限公司 | Burnishing device is used in automobile production |
| CN114454060B (en) * | 2022-02-23 | 2023-06-09 | 无锡中车时代智能装备研究院有限公司 | Robot self-adaptive curved surface tracking constant force polishing method and system |
| CN117400091B (en) * | 2023-12-14 | 2024-02-09 | 山东粤海金半导体科技有限公司 | Barreling device for silicon carbide ingot |
| CN117506668B (en) * | 2024-01-08 | 2024-03-12 | 扬州中辉机电有限公司 | Multi-angle adjusting grinder |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5738568A (en) * | 1996-10-04 | 1998-04-14 | International Business Machines Corporation | Flexible tilted wafer carrier |
| CN201109062Y (en) * | 2007-10-26 | 2008-09-03 | 吉林大学 | Blade grinding polishing processing machine having surface adaptability |
| CN103341865B (en) * | 2013-07-05 | 2015-06-24 | 大连理工大学 | Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method |
| CN204843740U (en) * | 2015-06-11 | 2015-12-09 | 安庆市华鑫重工股份有限公司 | Device is leveled in shellfish type grab bucket overlap |
| CN105538095B (en) * | 2015-12-01 | 2018-07-03 | 无锡中车时代智能装备有限公司 | A kind of wind turbine blade multirobot collaboration polishing system and method |
| CN107598765B (en) * | 2017-10-17 | 2018-11-02 | 华中科技大学 | A kind of full electricity digitlization two-freedom degree force control grinding head device |
-
2018
- 2018-04-20 CN CN201810356845.2A patent/CN108581745B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108581745A (en) | 2018-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108581745B (en) | A kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive device | |
| CN108044463B (en) | A kind of one-dimensional variable force grinding and polishing apparatus integrating main passive compliance and control method | |
| CN110103116B (en) | Active and passive compliant grinding and polishing device adaptive to postures and grinding and polishing robot | |
| CN110103115B (en) | Three-degree-of-freedom telecentric fixed-point flexible force-controlled grinding and polishing actuator with compliant curved surface | |
| CN101664897B (en) | Coated abrasive grinder of propeller blade | |
| CN110103114A (en) | Large complicated carved Three Degree Of Freedom self-adapting flexible grinding and polishing apparatus and robot | |
| CN205008800U (en) | Positioner | |
| CN104440474A (en) | Self-adaption profile modification blade abrasive belt polishing machine tool | |
| CN207402802U (en) | A kind of stiffness variable flexible joint based on lever mechanism | |
| CN205817848U (en) | A kind of four-degree-of-freedom SCARA robot | |
| CN106112977A (en) | A kind of curved surface class workpiece submissive polishing Serial-Parallel Type robot technique platform | |
| CN103612185A (en) | Seven-axis linkage numerical control abrasive belt grinding and polishing machine tool | |
| CN201511295U (en) | Screw propeller blade abrasive band grinding machine | |
| CN108394225B (en) | 5-axis cambered surface spherical sticky drilling machine | |
| CN111708322A (en) | Three-coordinate positioner posture adjusting operation and control method and system, posture adjusting controller and storage medium | |
| CN112317776A (en) | Novel numerical control polyhedron center | |
| CN105157254A (en) | Tracing transmission mechanism suitable for solar concentrating system | |
| CN206135692U (en) | Permanent magnetism transmission and pump | |
| CN209697279U (en) | A kind of three-freedom planar spray robot | |
| CN110053072A (en) | A kind of composite mechanical arm mechanism and its method for carrying out material carrying | |
| CN109773762B (en) | Automatic continuous leg adjusting and stretching mechanism of exoskeleton robot | |
| CN113084701B (en) | Variable-rigidity grinding and polishing execution device and execution method thereof | |
| CN203600070U (en) | Main shaft device provided with revolution mechanism and autorotation mechanism | |
| CN208614003U (en) | Four-axis milling device | |
| CN208276910U (en) | A kind of lead screw servo articulated mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |