CN112108998B - Robot-powered polishing end effector with active damping - Google Patents

Robot-powered polishing end effector with active damping Download PDF

Info

Publication number
CN112108998B
CN112108998B CN202011103031.1A CN202011103031A CN112108998B CN 112108998 B CN112108998 B CN 112108998B CN 202011103031 A CN202011103031 A CN 202011103031A CN 112108998 B CN112108998 B CN 112108998B
Authority
CN
China
Prior art keywords
connecting plate
polishing
spline
bearing
shaped connecting
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
Application number
CN202011103031.1A
Other languages
Chinese (zh)
Other versions
CN112108998A (en
Inventor
管贻生
王兵
李坚
陈浩文
张涛
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.)
Guangdong University of Technology
Original Assignee
Guangdong University of Technology
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 Guangdong University of Technology filed Critical Guangdong University of Technology
Priority to CN202011103031.1A priority Critical patent/CN112108998B/en
Publication of CN112108998A publication Critical patent/CN112108998A/en
Application granted granted Critical
Publication of CN112108998B publication Critical patent/CN112108998B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • B24B49/16—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 taking regard of the load
    • 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
    • B24B49/006—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 taking regard of the speed
    • 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
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The application discloses a robot-controlled polishing end effector with active damping, which comprises a rotary motion assembly, a constant force adjustment assembly, a motion decoupling assembly and a polishing disc assembly; the rotary motion assembly transmits rotary power to the ball spline through the spline shaft; the constant force adjusting assembly transmits axial force to the ball spline, so that the spline shaft can axially move and synchronously rotate with the motor, decoupling of rotary motion and axial movement is realized, and the stress condition of the polishing disc assembly is monitored in real time; in addition, the constant force adjusting component provides damping through the air cylinder, so that polishing disc vibration caused by the fact that a polishing position or other external conditions are changed by an end effector in the polishing process is effectively limited; the polishing disc assembly is connected with the ball spline to realize synchronous rotation and synchronous telescopic movement with the ball spline. The application can realize the accurate control of the axial force and the rotating speed, and actively damp the vibration in the polishing and grinding process, and has the advantages of simple and compact integral structure, convenient control, high force control precision and high response bandwidth.

Description

Robot-powered polishing end effector with active damping
Technical Field
The application relates to the technical field of robot automation, in particular to a robot-operated polishing end effector with active damping.
Background
With the rapid development of modern industry, industrial robots are becoming more and more widely used in various fields, especially in some fields where working environments are severe and a lot of heavy work needs to be repeated. In some working environments requiring contact, industrial robots often are required to have certain contact sensing and adjusting capabilities so as to achieve the working requirements of the working operations such as clamping, polishing, assembling and the like. In the polishing process of the robot, constant force polishing is a key factor affecting the surface quality of a workpiece, and relative movement or other interactions between a polishing tool and the workpiece can cause the polishing tool to vibrate, so that the force control precision of the tool is affected. Therefore, it is necessary to realize constant force control of the contact force of the polishing tool with the workpiece, and it is important to realize constant force control with active damping to accomplish high-precision work.
The manual control method of the industrial robot is mainly divided into direct force control and indirect force control, wherein the direct force control is realized by controlling the moment of a driving joint of a mechanical arm, and the indirect force control is realized by additionally controlling an end effector. The two methods have advantages and disadvantages: the former needs to build an accurate robot dynamics model and develop a real-time and robust force control algorithm, which is generally applicable to force control of a new generation of lightweight robots; the force-position hybrid control decoupling is realized by the additional force-control end effector, and the dynamic characteristic and the universality of the force control are better although the system cost is slightly increased, so that the force-position hybrid control decoupling device is generally suitable for high-speed heavy-load robots and has wide application prospect. In general, the response speed of direct force control is slow, the algorithm stability is poor, and industrial production is difficult to realize, so that the force control end effector is a reasonable choice, and developing a force control polishing end effector with active damping is a reasonable way for realizing the robot constant force polishing.
Disclosure of Invention
Accordingly, the present application is directed to a robot-controlled polishing end effector with active damping that improves the stability of constant force control of the force-controlled polishing end effector.
In order to achieve the technical aim, the application provides a robot-controlled polishing end effector with active damping, which comprises a constant force adjusting component, a rotary motion component, a motion decoupling component and a polishing disc component;
The constant force adjusting assembly comprises a cylinder, a voice coil motor stator, a voice coil motor rotor, a linear guide shaft, a linear bearing, a lower connecting plate, a multidimensional force sensor and a T-shaped connecting plate;
the lower connecting plate is arranged at intervals with the T-shaped connecting plate along the axial direction of the spline shaft away from the motor;
The cylinder comprises a cylinder body and a cylinder rod;
the first end of the cylinder body is fixedly connected with the rib plate of the T-shaped connecting plate, and the second end of the cylinder body is matched and connected with the first end of the cylinder rod;
The second end of the cylinder rod is fixedly connected with the lower connecting plate;
The voice coil motor stator and the voice coil motor rotor form a voice coil motor which is arranged between the lower connecting plate and the T-shaped connecting plate, the end part of the voice coil motor stator is fixedly connected with a rib plate of the T-shaped connecting plate, and the end part of the voice coil motor rotor is fixedly connected with the lower connecting plate;
the first end of the linear guide shaft is connected with the rib plate of the T-shaped connecting plate, and the second end of the linear guide shaft is connected with the lower connecting plate;
The linear bearing is sleeved on the periphery of the linear guide shaft and used for limiting radial movement of the linear guide shaft;
the multidimensional force sensor is arranged on a wing plate of the T-shaped connecting plate;
The rotary motion assembly comprises a motor, a motor bracket, a spline shaft bearing and a first coupler;
the motor is arranged on the motor bracket;
The motor bracket is arranged on the rib plate of the T-shaped connecting plate;
The spline shaft is connected with an output shaft of the motor through the first coupler and connected with rib plates of the T-shaped connecting plate through the spline shaft bearing;
The motion decoupling assembly comprises a ball spline and a rotary bearing;
the spline shaft sequentially penetrates through the rib plate of the T-shaped connecting plate, the voice coil motor stator, the voice coil motor rotor and the lower connecting plate and then is synchronously and rotatably connected with the ball spline;
The rotary bearing is axially and fixedly connected with the lower connecting plate and the ball spline, and is used for transmitting the axial power of the lower connecting plate to the ball spline;
The polishing disc assembly comprises a polishing disc mounting piece and a polishing disc;
one end of the polishing disc mounting piece is fixedly connected with the ball spline, and the other end of the polishing disc mounting piece is connected with the polishing disc.
Preferably, the device further comprises a gas supply assembly; the air supply assembly comprises two barometers, two four-way valves, two proportional valves, an air supply tank and an air compressor;
the two barometers are connected with the air cylinder and are respectively used for measuring air pressure of a rodless cavity and a rod cavity in the air cylinder;
The first ports of the two four-way valves are respectively connected with a rodless cavity and a rod cavity of the cylinder;
the two proportional valves are respectively connected with the second ports of the two four-way valves;
The air compressor is connected with the air supply tank;
The air supply tank is connected with the two proportional valves and is used for controlling the air supplied by the air compressor to a preset air pressure value and then conveying the air to the air cylinder;
the third ports of the two four-way valves are connected with the outside, and the fourth port is in a closed state.
Preferably, the cylinder is embodied as a single rod double acting cylinder.
Preferably, the first end of the linear guide shaft is axially movably connected with the rib plate of the T-shaped connecting plate, and the second end of the linear guide shaft is fixedly connected with the lower connecting plate;
The linear bearing is arranged between the T-shaped connecting plate and the lower connecting plate, and one end of the linear bearing is fixedly connected with the rib plate of the T-shaped connecting plate.
Preferably, the constant force adjustment assembly further comprises a shaft end baffle;
the shaft end baffle is connected with a first end of the linear guide shaft penetrating through the T-shaped connecting plate and used for limiting the axial movement distance of the linear guide shaft.
Preferably, the motion decoupling assembly further comprises a spline housing; the motion decoupling assembly further comprises a second coupling;
the inner peripheral wall of the spline housing is fixedly sleeved with the ball spline, and the outer peripheral wall of the spline housing is axially fixed and rotatably sleeved in the rotary bearing;
the polishing disc mounting piece is fixedly connected with the ball spline through the spline housing;
the polishing disc mounting piece is fixedly connected with the polishing disc through a second coupling.
Preferably, the motion decoupling assembly further comprises a bearing housing and a snap spring;
The bearing shell is sleeved on the peripheral wall of the rotary bearing and connected with the rotary bearing in an interference manner;
the rotary bearing is axially and fixedly connected with the lower connecting plate through the bearing shell;
The clamp spring is arranged on the bearing shell and used for limiting the axial movement of the rotary bearing relative to the bearing shell.
Preferably, the multi-dimensional force sensor is in particular a six-dimensional force sensor.
Preferably, the number of the cylinders is two;
The number of the linear guide shafts is two;
The two cylinders and the two linear guide shafts are uniformly and symmetrically distributed on the circumference of the central shaft of the voice coil motor stator.
According to the technical scheme, the constant force adjusting assembly, the rotary motion assembly, the motion decoupling assembly and the polishing disc assembly are arranged, and the constant force adjusting device has the following advantages:
(1) The constant force adjusting assembly adopts a voice coil motor to provide axial force, and the voice coil motor is a motor which is converted into magnetic force by virtue of electric power, and the axial force is only related to the supplied current and the current parameter of the voice coil motor, so that the axial force can be directly controlled by the supplied current; the constant force adjusting assembly also provides damping through the air cylinder, so that the vibration of the polishing disc caused by the fact that the polishing position of the voice coil motor is changed by an end effector in the polishing process or other external conditions can be effectively limited, and the axial contact force is constant; meanwhile, the constant force adjusting component adopts a multidimensional force sensor to feed back the measured actual contact force of the polishing disc component as the adjustment data of the axial output force of the constant force adjusting component to the system in real time, so as to realize the accurate force control of the polishing disc component; the multidimensional force sensor is arranged on the wing plate of the T-shaped connecting plate, the stress of the multidimensional force sensor is more accurate due to the bilateral symmetry of the T-shaped connecting plate, and meanwhile, the upper end and the lower end of the rib plate of the T-shaped connecting plate are respectively connected with the rotary motion assembly and the constant force adjusting assembly, so that the number of intermediate connecting parts is reduced, and the structural strength of the connecting plate is improved;
(2) The rotary motion assembly uses a motor as a cutting power source, and has the advantages of stable rotating speed and easiness in control under the condition that the rotating speed range, the cutting force requirement and the weight are met;
(3) The motion decoupling assembly adopts a spline structure, and the inner peripheral wall of the rotary bearing is matched with the ball spline to rotate and can transmit the axial force of the lower connecting plate to the polishing disc, so that the rotary inertia is reduced by rotating corresponding parts; meanwhile, the peripheral wall of the rotary bearing can be arranged in a non-rotating mode, so that the safety problem caused by the integral rotation of the decoupling assembly is reduced;
(4) The polishing disc assembly is fixedly connected with the ball spline, synchronous rotation and axial force transmission with the ball spline are achieved, the purpose of constant force control is achieved, the whole transmission distance is short, the response speed is improved, and the service life of the spline shaft is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the application, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic view of the overall structure of a robot-controlled polishing end effector with active damping provided in the present application;
FIG. 2 is a semi-sectional view of the centerline of a robot-controlled polishing end effector motor with active damping in the direction of the centerline of a linear guide shaft provided in the present application;
FIG. 3 is a semi-sectional view of a center line of a robot-controlled polishing end effector motor with active damping along a cylinder center line direction provided in the present application;
FIG. 4 is a schematic diagram of a gas circuit of a robot-controlled polishing end effector gas supply assembly with active damping in accordance with the present application;
In the figure: 1. a motor; 2. a motor bracket; 3. a first coupling; 4. a spline shaft; 5. a spline shaft bearing; (6/23), shaft end baffle; 7. a T-shaped connecting plate; (8/21) a linear guide shaft; (9/22), linear bearings; 10. a voice coil motor stator; 11. a voice coil motor mover; 12. a lower connecting plate; 13. a bearing housing; 14. a rotating bearing; 15. polishing disc; 16. a second coupling; 17. polishing disc mounting piece; 18. a spline housing; 19. clamping springs; 20. a ball spline; 24. a multi-dimensional force sensor; (25/26), a cylinder; (27/28), barometer; (29/30), four-way valve; (31/32), a proportional valve; 33. a gas supply tank; 33. and (5) an air compressor.
Detailed Description
The following description of the embodiments of the present application will be made in detail, but not necessarily all embodiments, with reference to the accompanying drawings. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the embodiments of the present application.
In the description of the embodiments of the present application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the embodiments of the present application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present application, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, interchangeably connected, integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediary, or in communication between two elements. The specific meaning of the above terms in embodiments of the present application will be understood in detail by those of ordinary skill in the art.
The embodiment of the application discloses a robot-controlled polishing end effector with active damping.
Referring to fig. 1 to 4, an embodiment of a robot-controlled polishing end effector with active damping according to an embodiment of the present application includes: the device comprises a constant force adjusting assembly, a rotary motion assembly, a motion decoupling assembly and a polishing disc assembly; the constant force adjusting assembly comprises a voice coil motor stator 10, a voice coil motor rotor 11, a cylinder 25, a lower connecting plate 12 of a linear guide shaft 8, a linear bearing 9, a multidimensional force sensor 24 and a T-shaped connecting plate 7; the multidimensional force sensor 24 is arranged on a wing plate of the T-shaped connecting plate 7; the lower connecting plate 13 is arranged at intervals with the T-shaped connecting plate 7 along the axial direction of the spline shaft 4 away from the motor 1; the end part of the voice coil motor stator 10 is fixedly connected with a rib plate of the T-shaped connecting plate 7; the voice coil motor rotor 11 is fixedly connected with the lower connecting plate 12; the first end of the linear guide shaft 8 is connected with the rib plate of the T-shaped connecting plate 7, and the second end is connected with the lower connecting plate 12; the linear bearing 9 is sleeved on the periphery of the linear guide shaft 8 and used for limiting the radial movement of the linear guide shaft 8; the cylinder 25 includes a cylinder body and a cylinder rod; the first end of the cylinder body is fixedly connected with the rib plate of the T-shaped connecting plate, and the second end of the cylinder body is matched and connected with the first end of the cylinder rod; the second end of the cylinder rod is fixedly connected with the lower connecting plate 12; the rotary motion assembly comprises a motor 1, a motor bracket 2, a spline shaft 4 and a first coupler 3; the motor 1 is arranged on the motor bracket 2; the motor bracket 2 is arranged on a rib plate of the T-shaped connecting plate 7; the spline shaft 4 is connected with an output shaft of the motor 1 through a first coupling 3; and is rotatably connected with a T-shaped connecting plate 7 through a spline shaft bearing 5; the motion decoupling assembly includes a ball spline 20 and a swivel bearing 14; the spline shaft 4 sequentially passes through the rib plate of the T-shaped connecting plate 7, the main voice coil motor stator 10, the main voice coil motor rotor 11 and the lower connecting plate 12 and then is synchronously and rotatably connected with the ball spline 20; the rotary bearing 14 is axially and fixedly connected with the lower connecting plate 12 and the ball spline 20, and is used for transmitting the axial power of the lower connecting plate 12 to the ball spline 20; the polishing disc assembly comprises a polishing disc mounting piece 17 and a polishing disc 15; one end of the polishing disc mounting piece 17 is fixedly connected with the ball spline 20, and the other end is connected with the polishing disc 15.
Specifically, the lower connection plate 12 may be configured to transmit the output force of the voice coil motor to the ball spline 20 via the swivel bearing 14, in which the outer peripheral wall of the swivel bearing 14 is connected to the connection plate 12, while the inner peripheral wall of the swivel bearing 14 is coupled to the ball spline 20, the outer peripheral wall of the swivel bearing 14 is non-rotatable, and the inner peripheral wall is rotatable in cooperation with the ball spline 20 and transmits the axial force to the ball spline.
Specifically, the voice coil motor mover 11 and the voice coil motor stator 10 constitute a voice coil motor. The voice coil motor is arranged between the rib plate of the T-shaped connecting plate and the lower connecting plate 12; the voice coil motor is characterized in that the lower connecting plate transmits the axial force provided by the voice coil motor to parts fixedly connected with the lower connecting plate through axial force, and the relative positions of the T-shaped connecting piece and the lower connecting plate are not changed in the process of ensuring the axial force transmission through the linear guide shaft 8; wherein the cylinder 25 and the linear guide shaft 8 may be symmetrically arranged about the circumference of the voice coil motor to better maintain balance.
Specifically, the cylinder 25 is used to provide damping for the motion of the voice coil motor, and may be arranged in such a way that a cylinder rod is arranged between the lower connecting plate 12 and the T-shaped connecting plate 7; the cylinder body is arranged above the rib plate of the T-shaped connecting plate 7 and penetrates through the rib plate of the T-shaped connecting plate 7 to be connected with the cylinder rod in a matched manner. The cylinder body and the cylinder rod can be arranged between the lower connecting plate 12 and the T-shaped connecting plate 7, and the cylinder can play a role in damping the piston movement in the movement process of the voice coil motor.
It should be noted that, the manner in which the lower connecting plate 12 is matched with the linear guiding shaft 8 may be various, for example, the lower connecting plate 12 may be movably connected with the linear guiding shaft in the axial direction, and the linear guiding shaft 8 may be fixedly connected with the rib plate of the T-shaped connecting plate 7; the linear guide shaft 8 may be fixedly connected with the lower connecting plate 12 and simultaneously axially movably connected with the T-shaped connecting plate 7, without limitation.
The foregoing is a first embodiment of the present application, and the following is a second embodiment of the present application, referring to fig. 1 to fig. 4.
A robot-operated polishing end effector with active damping, comprising: the device comprises a constant force adjusting assembly, a rotary motion assembly, a motion decoupling assembly and a polishing disc assembly; the constant force adjusting assembly comprises a voice coil motor stator 10, a linear bearing 9, a voice coil motor rotor 11, a cylinder 25, a linear guide shaft 8, a lower connecting plate 12, a multi-dimensional force sensor 24 and a T-shaped connecting plate 7; the multidimensional force sensor 24 is arranged on a wing plate of the T-shaped connecting plate 7; the lower connecting plate 13 is arranged at intervals with the T-shaped connecting plate 7 along the axial direction of the spline shaft 4 away from the motor 1; the end part of the voice coil motor stator 10 is fixedly connected with a rib plate of the T-shaped connecting plate 7; the voice coil motor rotor 11 is fixedly connected with the lower connecting plate 12; the first end of the linear guide shaft 8 is connected with the rib plate of the T-shaped connecting plate 7, and the second end is connected with the lower connecting plate 12; the linear bearing 9 is sleeved on the periphery of the linear guide shaft 8 and used for limiting the radial movement of the linear guide shaft 8; the cylinder 25 includes a cylinder body and a cylinder rod; the first end of the cylinder body is fixedly connected with the rib plate of the T-shaped connecting plate, and the second end of the cylinder body is matched and connected with the first end of the cylinder rod; the second end of the cylinder rod is fixedly connected with the lower connecting plate 12; the rotary motion assembly comprises a motor 1, a motor bracket 2, a spline shaft 4 and a first coupler 3; the motor 1 is arranged on the motor bracket 2; the motor bracket 2 is arranged on a rib plate of the T-shaped connecting plate 7; the spline shaft 4 is connected with an output shaft of the motor 1 through a first coupling 3; and is rotatably connected with a T-shaped connecting plate 7 through a spline shaft bearing 5; the motion decoupling assembly includes a ball spline 20 and a swivel bearing 14; the spline shaft 4 sequentially passes through the rib plate of the T-shaped connecting plate 7, the main voice coil motor stator 10, the main voice coil motor rotor 11 and the lower connecting plate 12 and then is synchronously and rotatably connected with the ball spline 20; the rotary bearing 14 is axially and fixedly connected with the lower connecting plate 12 and the ball spline 20, and is used for transmitting the axial power of the lower connecting plate 12 to the ball spline 20; the polishing disc assembly comprises a polishing disc mounting piece 17 and a polishing disc 15; one end of the polishing disc mounting piece 17 is fixedly connected with the ball spline 20, and the other end is connected with the polishing disc 15.
Further, the device also comprises a gas supply assembly; the air supply assembly comprises an air pressure gauge 27 and an air pressure gauge 28, a four-way valve 29 and a four-way valve 30, a proportional valve 31 and a proportional valve 32, an air supply tank 33 and an air compressor 34; the barometer 27 is connected with the rodless cavity of the cylinder, and the barometer 28 is connected with the rod cavity of the cylinder and is respectively used for measuring the air pressure of the rodless cavity and the rod cavity in the cylinder; the first port of the four-way valve 29 is connected with the rodless cavity of the cylinder, and the second port is connected with the proportional valve 31; the first port of the four-way valve 30 is connected with a rod cavity of the cylinder, and the second port is connected with the proportional valve 32; the third ports of the four-way valve 29 and the four-way valve 30 are communicated with air, and the fourth ports are in a closed state; the air compressor 34 is connected with the air supply tank 33; the air supply tank 33 is connected to the two proportional valves 29, and is used for delivering the air supplied by the air compressor 34 to the two proportional valves, and controlling the air pressure to a preset air pressure value through the proportional valves, and delivering the air to the air cylinders.
Specifically, referring to fig. 4, the interior of the cylinder is divided into a rod cavity and a rodless cavity by a cylinder rod partition, wherein the cavity where the rib rod with the cylinder rod is located is the rod cavity; when the cylinder is sealed after the air pressure for balancing the rodless cavity and the rod cavity is introduced into the cylinder through the air supply tank 33, the cylinder rod moves along with the piston in the axial movement process of the lower connecting plate 12 along the linear guide shaft, and the air pressure in the rod cavity and the air pressure in the rodless cavity are out of balance, so that damping is generated.
Specifically, since the areas of the rod cavity and the rodless cavity in the cylinder are different, and the balance in the cavity is related to the air pressure and the area, when the air pressure in the cylinder is in a balanced state, the air pressure is different, and thus two proportional valves 29 and two four-way valves are used for ventilation respectively, and two four-way valves and two barometers are correspondingly configured; when the cylinders use different numbers according to the needs, the number of the barometer, the proportional valve and the four-way valve can be correspondingly changed along with the number of the barometer, the proportional valve and the four-way valve, or a mode that rodless cavities of all the cylinders are connected with the same barometer and the same proportional valve and rod cavities of all the cylinders are connected with another barometer and another proportional valve is adopted, and the method is not limited.
In this embodiment, the four-way valve may be a three-position four-way solenoid valve, which has three control positions, and the distribution is a left position, a middle position, and a right position. Referring to fig. 4, the four-way valve 29 and the four-way valve 30 include four ports, and the upper left port is a first port communicating with the cylinder 25 as described in the orientation of fig. 4; the lower left through hole is a second through hole and is communicated with the proportional valve 31; the lower right through hole is a third through hole and is communicated with the outside air; the upper right through hole is a fourth through hole and is in a closed state.
When the four-way valve is opened at the left side, the first port is communicated with the second port, the third port is communicated with the fourth port, and at the moment, the proportional valve can be used for introducing gas into the cylinder through the four-way valve.
When the four-way valve is opened at the middle position, the four ports are not communicated with each other, and the main gas circuit is in an open-circuit closed state.
When the four-way valve is opened to the right side, the first port is communicated with the third port, and at the moment, the gas in the cylinder can be discharged out through the four-way valve 28 and the four-way valve 29, so that damping is not provided; the second port is communicated with the fourth port, and the proportional valve is in an open circuit state.
Further, the number of cylinders is two, namely, a cylinder 25 and a cylinder 26.
In the process of polishing and grinding the robot, when the end effector reaches a designated position, the polishing disc 15 is in contact with a workpiece, and an ideal axial force is applied, the two four-way valves are opened at the left side, the air channel is in a communication state, the air compressor 34 compresses air and supplies the compressed air to the air supply tank 33, the air supply tank controls the air channel air pressure to a preset air pressure value through the proportional valve 31 and the proportional valve 32 respectively, and then the air is conveyed into the air cylinder 25 and the air cylinder 26 through the two four-way valves respectively. After the gas is conveyed, the air pressure in the rod cavity and the rodless cavity of the air cylinder reaches a balance value, the two four-way valves are controlled to be opened at the middle position, and at the moment, the two air cylinders are in a closed state, and the telescopic movement of the cylinder rod generates damping, so that the polishing disc vibration of the voice coil motor caused by the fact that the polishing position is changed by an end effector in the polishing process or other external conditions is limited, and the change of axial force is reduced. When the ideal axial force needs to be adjusted greatly or needs to be changed, the right side position of the four-way valve 28 is controlled to be opened, and after the air exhaust is completed, the ventilation process is repeated when the damping is needed, and the air is re-ventilated to be in an equilibrium state.
Further, in the present embodiment, the cylinders 25 and 26 are specifically single-rod double-acting cylinders.
Further, in this embodiment, the first end of the linear guide shaft 8 is movably connected with the rib plate of the T-shaped connecting plate 7 in the axial direction, and the second end is fixedly connected with the lower connecting plate 12; the linear bearing 9 is arranged between the T-shaped connecting plate 7 and the lower connecting plate 12, one end of the linear bearing is fixedly connected with a rib plate of the T-shaped connecting plate 7, and the linear bearing is sleeved on the periphery of the linear guide shaft 8 and used for limiting radial movement of the linear guide shaft 8, so that a better guiding effect is achieved.
Specifically, the linear guide shaft 8 is fixedly connected with the lower connecting plate 12, and moves along the lower connecting plate 12 in the axial direction.
Further, the constant force adjustment assembly also comprises a shaft end baffle 6; the shaft end baffle 6 is connected with a first end of the linear guide shaft 8 penetrating through the T-shaped connecting plate 7 and used for limiting the axial movement distance of the linear guide shaft 8, and when the lower connecting plate 12 drives the linear guide shaft 8 to move downwards, the shaft end baffle 6 is used for limiting and preventing the whole linear guide shaft 8 from completely sliding off the T-shaped connecting plate.
Further, the motion decoupling assembly also includes a spline housing 18; the inner peripheral wall of the spline housing 18 is fixedly sleeved with a ball spline 20, and the outer peripheral wall of the spline housing 18 is axially fixed and rotatably sleeved in the rotary bearing 14.
Specifically, the present embodiment provides a possible structural arrangement of the mechanical device in the case that the ball spline 20 can rotate and also can transmit the axial force from the lower connecting plate 12. In practical application, in order to make the ball spline 20 better adapt to the size of the rotating bearing, and better transmit motion and force to the polishing disc connector, the spline shaft 4 and the ball spline 20 are further provided with a spline housing 18; wherein the ball spline 20 is fixedly connected with the spline housing 18 by a screw, and the outer circumferential surface of the ball spline 20 is in clearance fit with the inner surface of the spline housing 18, so that rotational power can be transmitted from the ball spline 20 to the spline housing 18; the integral rotary response parts are reduced, the rotary inertia is reduced, the response speed is improved, and the service life of the spline shaft 4 is prolonged; the outer circumference of the spline housing 18 is matched with the rotary bearing 14; the lower connection plate 12 transmits the output force of the voice coil motor to the spline housing 18 through the swivel bearing 14.
Further, the polishing disc mounting member 17 is fixedly connected with the ball spline 20 through the spline housing 18.
Specifically, the polishing disc mounting piece 17 is connected with the lower end face of the spline housing 18 through a screw, and receives rotary power and linear power through the spline housing 18.
Further, the motion decoupling assembly further comprises a bearing housing 13 and a snap spring 19; the bearing shell 13 is sleeved on the peripheral wall of the rotary bearing 14 and is in interference connection with the rotary bearing 14; the rotary bearing 14 is fixedly connected with the lower connecting plate 12 in the axial direction through the bearing shell 13; a snap spring 19 is mounted to the bearing housing 13 for limiting axial movement of the swivel bearing 14 relative to the bearing housing.
Specifically, to avoid rotation of the outer circumference of the motion decoupling assembly, so as to reduce the safety problem caused by the integral rotation of the decoupling assembly, in this embodiment, the outer circumferential wall of the rotary bearing 14 is fixed by interference connection with the bearing housing 13, and the inner circumferential wall is rotatably engaged with the spline housing 18; simultaneously, the axial movement of the rotary bearing 14 is more firmly limited by the clamp spring 19; the whole structure is safer and more firm.
Specifically, the rotary bearing 14 may be a double row angular ball bearing, etc., and may be selected according to actual needs without limitation.
Further, the multi-dimensional force sensor 24 is embodied as a six-dimensional force sensor.
Specifically, the most complete form of multidimensional force is a six-dimensional force sensor, namely a sensor capable of measuring three force components and three moment components simultaneously, and accurate force control of the polishing disc can be realized more accurately.
Further, the number of the linear guide shafts is two, namely a linear guide shaft 8 and a linear guide shaft 21; correspondingly, the linear bearing and the shaft end baffle are respectively provided with two, wherein the linear bearing 9 and the shaft end baffle 6 are connected with the linear guide shaft 8 in a matching way, and the linear bearing 22 and the shaft end baffle 23 are connected with the linear guide shaft 21 in a matching way.
In order to make the stress of the lower connecting plate 12 more uniform and the feedback adjustment more accurate, the two cylinders and the two linear guide shafts are circumferentially and uniformly distributed about the central axis of the voice coil motor stator 10, that is, the four cylinders 25, 26, the linear guide shaft 8 and the linear guide shaft 21 are circumferentially distributed about the central axis of the voice coil motor stator 10 in an array, and the connecting line between every two of the two linear guide shafts and the central axis of the voice coil motor stator 10 has an included angle of 90 degrees.
Further, the polishing disc mounting piece 17 is fixedly connected with the polishing disc 15 through the second coupling 16, so that the polishing discs with different sizes and meshes can be rapidly switched as required.
Further, the first coupling 3 may be a diaphragm coupling or the like; the second coupling 16 may be a rigid coupling or the like, without limitation.
It should be noted that, the foregoing is only a preferred embodiment of the present application, and the present application is not limited thereto, and although the present application has been described in detail with reference to the examples, it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing examples, or equivalents may be substituted for some of the technical features thereof, but any modifications, equivalents, improvements and the like made within the spirit and principle of the present application are included in the scope of the present application.

Claims (8)

1. The robot-controlled polishing end effector with the active damping is characterized by comprising a constant force adjusting assembly, a rotary motion assembly, a motion decoupling assembly and a polishing disc assembly;
The constant force adjusting assembly comprises a cylinder, a voice coil motor stator, a voice coil motor rotor, a linear guide shaft, a linear bearing, a lower connecting plate, a multidimensional force sensor and a T-shaped connecting plate;
the multidimensional force sensor is arranged on a wing plate of the T-shaped connecting plate;
The rotary motion assembly comprises a motor, a motor bracket, a spline shaft bearing and a first coupler;
the motor is arranged on the motor bracket;
The motor bracket is arranged on the rib plate of the T-shaped connecting plate;
The spline shaft is connected with an output shaft of the motor through the first coupler and connected with rib plates of the T-shaped connecting plate through the spline shaft bearing;
the lower connecting plate is arranged at intervals with the T-shaped connecting plate along the axial direction of the spline shaft away from the motor;
The cylinder comprises a cylinder body and a cylinder rod;
the first end of the cylinder body is fixedly connected with the rib plate of the T-shaped connecting plate, and the second end of the cylinder body is matched and connected with the first end of the cylinder rod;
The second end of the cylinder rod is fixedly connected with the lower connecting plate;
The voice coil motor stator and the voice coil motor rotor form a voice coil motor which is arranged between the lower connecting plate and the T-shaped connecting plate, the end part of the voice coil motor stator is fixedly connected with a rib plate of the T-shaped connecting plate, and the end part of the voice coil motor rotor is fixedly connected with the lower connecting plate;
the first end of the linear guide shaft is connected with the rib plate of the T-shaped connecting plate, and the second end of the linear guide shaft is connected with the lower connecting plate;
The linear bearing is sleeved on the periphery of the linear guide shaft and used for limiting radial movement of the linear guide shaft;
The motion decoupling assembly comprises a ball spline and a rotary bearing;
the spline shaft sequentially penetrates through the rib plate of the T-shaped connecting plate, the voice coil motor stator, the voice coil motor rotor and the lower connecting plate and then is synchronously and rotatably connected with the ball spline;
The rotary bearing is axially and fixedly connected with the lower connecting plate and the ball spline, and is used for transmitting the axial power of the lower connecting plate to the ball spline;
The polishing disc assembly comprises a polishing disc mounting piece and a polishing disc;
One end of the polishing disc mounting piece is fixedly connected with the ball spline, and the other end of the polishing disc mounting piece is connected with the polishing disc;
The constant force adjusting assembly further comprises a shaft end baffle plate;
The shaft end baffle is connected with the first end of the linear guide shaft penetrating through the T-shaped connecting plate and used for limiting the axial movement distance of the linear guide shaft;
the motion decoupling assembly further comprises a spline housing;
The ball spline is fixedly sleeved on the inner peripheral wall of the spline housing, and the outer peripheral wall of the spline housing is axially fixed and can be rotationally connected with the inner peripheral wall of the rotary bearing.
2. The robot-controlled polishing end effector with active damping of claim 1, further comprising an air supply assembly; the air supply assembly comprises two barometers, two four-way valves, two proportional valves, an air supply tank and an air compressor;
the two barometers are connected with the air cylinder and are respectively used for measuring air pressure of a rodless cavity and a rod cavity in the air cylinder;
The first ports of the two four-way valves are respectively connected with a rodless cavity and a rod cavity of the cylinder;
the two proportional valves are respectively connected with the second ports of the two four-way valves;
The air compressor is connected with the air supply tank;
The air supply tank is connected with two proportional valves, and the proportional valves are used for controlling the air supplied by the air compressor to a preset air pressure value and then conveying the air to the air cylinders;
the third ports of the two four-way valves are connected with the outside, and the fourth ports are in a closed state.
3. The robotically controlled polishing end effector with active damping of claim 2, wherein the cylinder is embodied as a single rod double acting cylinder.
4. The robot-controlled polishing end effector with active damping of claim 1, wherein the linear guide shaft has a first end axially movably connected to the cross-web of the T-web and a second end fixedly connected to the lower web;
The linear bearing is arranged between the T-shaped connecting plate and the lower connecting plate, and one end of the linear bearing is fixedly connected with the rib plate of the T-shaped connecting plate.
5. The robot-controlled polishing end effector with active damping of claim 1, wherein the polishing disc assembly further comprises a second coupling;
the polishing disc mounting piece is fixedly connected with the ball spline through the spline housing;
the polishing disc mounting piece is fixedly connected with the polishing disc through a second coupling.
6. The robot-controlled polishing end effector with active damping of claim 1, wherein the motion decoupling assembly further comprises a bearing housing and a snap spring;
The bearing shell is sleeved outside the rotary bearing and is in interference connection with the rotary bearing;
the rotary bearing is axially and fixedly connected with the lower connecting plate through the bearing shell;
The clamp spring is arranged on the bearing shell and used for limiting the axial movement of the rotary bearing relative to the bearing shell.
7. The robotically controlled polishing end effector with active damping of claim 1, wherein the multi-dimensional force sensor is in particular a six-dimensional force sensor.
8. The robot-controlled polishing end effector with active damping of claim 1, wherein the cylinders are two in particular;
The number of the linear guide shafts is two;
the two cylinders and the two linear guide shafts are uniformly and symmetrically distributed on the circumference of the central axis of the voice coil motor stator.
CN202011103031.1A 2020-10-15 2020-10-15 Robot-powered polishing end effector with active damping Active CN112108998B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011103031.1A CN112108998B (en) 2020-10-15 2020-10-15 Robot-powered polishing end effector with active damping

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011103031.1A CN112108998B (en) 2020-10-15 2020-10-15 Robot-powered polishing end effector with active damping

Publications (2)

Publication Number Publication Date
CN112108998A CN112108998A (en) 2020-12-22
CN112108998B true CN112108998B (en) 2024-06-07

Family

ID=73794590

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011103031.1A Active CN112108998B (en) 2020-10-15 2020-10-15 Robot-powered polishing end effector with active damping

Country Status (1)

Country Link
CN (1) CN112108998B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114448320B (en) * 2021-12-22 2024-05-24 上海智能制造功能平台有限公司 Electromagnetic compliance device based on voice coil motor
CN114800551B (en) * 2022-04-20 2024-04-19 中南大学 Robot-powered grinding and polishing device for complex curved surface and control method
CN115213768B (en) * 2022-07-12 2024-05-10 中国科学院西安光学精密机械研究所 Optical element surface polishing method
CN115816174A (en) * 2023-02-14 2023-03-21 中北大学 Robot-controlled ultrasonic polishing and grinding end effector

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006056179A1 (en) * 2006-11-27 2008-06-05 Bernd Luckas Grinding head for use in industrial robot, in grinding system, comprises grinding unit for processing surface of workpiece, where connection device is provided for connecting grinding unit to holder
CN108818303A (en) * 2018-07-20 2018-11-16 广东工业大学 A kind of robot rubbing down power control end effector
CN109590853A (en) * 2019-01-07 2019-04-09 河北工业大学 A kind of large-scale curved Pneumatic flexible grinding device
CN110103114A (en) * 2019-05-23 2019-08-09 华中科技大学 Large complicated carved Three Degree Of Freedom self-adapting flexible grinding and polishing apparatus and robot
CN110103116A (en) * 2019-05-23 2019-08-09 华中科技大学 A kind of main passive compliance grinding and polishing apparatus and grinding and polishing robot of Adaptive Attitude
CN111496643A (en) * 2020-04-30 2020-08-07 中国航空工业集团公司北京长城航空测控技术研究所 Robot polishing end effector and polishing method
CN213197092U (en) * 2020-10-15 2021-05-14 广东工业大学 Robot power control polishing and grinding end effector with active damping

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006056179A1 (en) * 2006-11-27 2008-06-05 Bernd Luckas Grinding head for use in industrial robot, in grinding system, comprises grinding unit for processing surface of workpiece, where connection device is provided for connecting grinding unit to holder
CN108818303A (en) * 2018-07-20 2018-11-16 广东工业大学 A kind of robot rubbing down power control end effector
CN109590853A (en) * 2019-01-07 2019-04-09 河北工业大学 A kind of large-scale curved Pneumatic flexible grinding device
CN110103114A (en) * 2019-05-23 2019-08-09 华中科技大学 Large complicated carved Three Degree Of Freedom self-adapting flexible grinding and polishing apparatus and robot
CN110103116A (en) * 2019-05-23 2019-08-09 华中科技大学 A kind of main passive compliance grinding and polishing apparatus and grinding and polishing robot of Adaptive Attitude
CN111496643A (en) * 2020-04-30 2020-08-07 中国航空工业集团公司北京长城航空测控技术研究所 Robot polishing end effector and polishing method
CN213197092U (en) * 2020-10-15 2021-05-14 广东工业大学 Robot power control polishing and grinding end effector with active damping

Also Published As

Publication number Publication date
CN112108998A (en) 2020-12-22

Similar Documents

Publication Publication Date Title
CN112108998B (en) Robot-powered polishing end effector with active damping
CN108908117B (en) Constant force actuator for installing polishing head
CN213197093U (en) Robot power control polishing and grinding end effector with active inhibition function
US7849761B2 (en) Wrist unit to a robot arm
CN213197092U (en) Robot power control polishing and grinding end effector with active damping
JP5383135B2 (en) Directly driven tool changer with actuator for reciprocating and swiveling motion
CN108772714B (en) Double-pendulum direct-drive type AC pendulum head
CN108818303A (en) A kind of robot rubbing down power control end effector
CN111015696B (en) Force control connecting device for flexible operation of industrial robot
JP2009090457A6 (en) Directly driven tool changer with actuator for reciprocating and swiveling motion
US20200094421A1 (en) Robot unit
CN108044646B (en) Double-drive universal joint
CN209868599U (en) Rigid-flexible hybrid force control end effector driven by gas and electricity
US6354168B1 (en) Tripod bearing device and a method of torsion compensation
CN112091819A (en) Robot power control polishing and grinding end effector with active inhibition function
CN110202545B (en) Auxiliary driving unit and six-degree-of-freedom parallel mechanism comprising same
CN104608146A (en) Novel mechanical arm based on double-bevel deflection joints
CN114425733A (en) Two-degree-of-freedom force control end effector
KR20110124925A (en) Joint module for robot and joint system for robot having the same
CN110919342B (en) Automatic screw system and automatic screw robot of beating
CN110509309B (en) Wrist joint of grinding and polishing robot
CN208880471U (en) A kind of robot rubbing down power control end effector
CN217619131U (en) High-rigidity force-control floating device
CN115972095A (en) Embedded numerical control machine tool force control grinding and polishing device
CN111890409A (en) Multi-degree-of-freedom active and passive variable stiffness flexible joint based on controllable viscosity medium

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