CN112571238A - Special grinding and polishing composite grinding tool fast switching device for robot - Google Patents
Special grinding and polishing composite grinding tool fast switching device for robot Download PDFInfo
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- CN112571238A CN112571238A CN202011396481.4A CN202011396481A CN112571238A CN 112571238 A CN112571238 A CN 112571238A CN 202011396481 A CN202011396481 A CN 202011396481A CN 112571238 A CN112571238 A CN 112571238A
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- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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- 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
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- 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
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- 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
- B24B55/04—Protective covers for the grinding wheel
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- 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
- B24B57/00—Devices for feeding, applying, grading or recovering grinding, polishing or lapping agents
- B24B57/02—Devices for feeding, applying, grading or recovering grinding, polishing or lapping agents for feeding of fluid, sprayed, pulverised, or liquefied grinding, polishing or lapping agents
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a quick switching device for a special grinding and polishing composite grinding tool for a robot, which belongs to the technical field of grinding and polishing robot equipment and comprises three functional modules, namely a high-efficiency constant-force rough grinding unit for improving grinding and polishing efficiency, an accurate grinding unit for controlling the shape and size of a workpiece and a polishing unit for controlling the surface quality and performance of the workpiece, wherein the high-efficiency constant-force rough grinding unit, the accurate grinding unit and the polishing unit are annularly arranged and integrated into a whole so as to realize the efficient removal of a consolidation grinding tool and the robot cooperative grinding and polishing of the accurate polishing of a flexible grinding tool. The invention integrates three processes of rough grinding, fine grinding and polishing into a whole, can reasonably plan the process steps according to different sizes, appearances and surface qualities of workpieces to be ground and polished, realizes the engineering application of the automatic grinding and polishing of the high-temperature alloy component robot, ensures the consistency of the high-temperature alloy component robot, and improves the production efficiency, the processing precision and the surface integrity.
Description
Technical Field
The invention relates to the technical field of robot processing equipment, in particular to a grinding and polishing composite integrated processing device for a high-temperature alloy component of an engine.
Background
High-temperature alloy components such as blades, blade discs, combustion chambers and the like are cores and vulnerable parts of the engine, and the grinding and polishing level of the high-curvature complex surface of the high-temperature alloy components seriously influences the reliability and safety of the engine.
At present, complete sets of technology and equipment are researched in the field of robot grinding and polishing of high-temperature alloy components of engines abroad, and the technology and the equipment are successfully applied to the actual production of aero-engines. The manual grinding and polishing is still mainly used in China, the problems of high labor intensity, poor stability, low timeliness and the like exist, and the research on the robot grinding and polishing technology belongs to the starting stage.
With the change of the design concept of the high-temperature alloy component of the new-generation engine, the grinding and polishing of the high-temperature alloy component must be completed by adopting an intelligent technology, and the production process based on manual grinding and polishing cannot meet the processing and production requirements of the core component of the aero-engine in future. In this case, how to integrate the rough grinding, the finish grinding and the polishing processes into a whole to form a special grinding and polishing composite device for the robot to realize controllable constant-force grinding and polishing is a key problem of high-precision grinding and polishing engineering and intellectualization.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a quick switching device for a special grinding and polishing composite grinding tool for a robot, aiming at forming equipment integrating rough grinding, fine grinding and polishing of a high-temperature alloy component, and improving the processing precision, the production efficiency and the production safety.
The specific technical scheme provided by the invention is as follows:
a quick switching device of a grinding and polishing composite grinding tool special for a robot comprises a six-dimensional force sensor, a robot-six-dimensional force sensor connecting flange, a quick switching mechanism, a high-efficiency constant-force rough grinding unit, a fine grinding unit and a polishing unit; one end of the robot-six-dimensional force sensor connecting flange is arranged at the tail end of a sixth joint of the robot, the other end of the robot-six-dimensional force sensor connecting flange is connected with the six-dimensional force sensor, and the six-dimensional force sensor is used for monitoring force information of six degrees of freedom in a machining process in real time; the quick switching mechanism is fixed on the six-dimensional force sensor; the high-efficiency constant-force rough grinding unit, the fine grinding unit and the polishing unit are arranged on the quick switching mechanism at intervals of 120 degrees in an annular sequence through the connecting frame.
Preferably, the quick switching mechanism comprises a main body bracket, a switching turntable, a servo motor, a crossed roller bearing and a locking mechanism. The main body bracket is fixedly arranged on the six-dimensional force sensor; the inner ring of the crossed roller bearing is fixedly connected with the main body bracket, the outer ring of the crossed roller bearing is fixedly connected with a switching turntable, and a crossed roller bearing external bevel gear is concentrically and fixedly connected to the switching turntable; the servo motor is fixedly arranged in the main body support, an output flange of the servo motor is fixedly connected with a drive motor external bevel gear, and the output flange of the servo motor is meshed with the cross roller bearing external bevel gear for driving the switching turntable to move.
Preferably, the locking mechanism comprises an air cylinder and three pin hole sleeves; the cylinder is fixedly arranged on a main body bracket of the quick switching device; the three pin hole sleeves are fixedly arranged on the switching rotary table at intervals of 120 degrees by taking the rotating center of the switching rotary table as a circle center, when the switching rotary table rotates to reach one of three locking positions, a push rod of the air cylinder is driven out, and the push rod is inserted into the pin hole sleeves to lock the positioning switching rotary table.
Preferably, the high-efficiency constant-force rough grinding unit comprises a rough grinding constant-force control system, a constant-force executing mechanism, a high-speed right-angle motor, a first tool chuck and a rough grinding wheel; the main body of the constant force actuating mechanism is fixed on the connecting frame, and the push plate is fixedly connected with the supporting frame through the pressure sensor; the output flange of the high-speed right-angle motor is fixedly connected with a first tool chuck, and coarse grinding wheels of different models can be installed on the first tool chuck in a replaceable mode.
Preferably, the constant force actuator comprises: the constant force execution cylinder, the connecting frame, the supporting frame, the pressure sensor, the push plate, the polished rod and the linear bearing are arranged on the frame; the constant force execution cylinder is fixed on the switching turntable through the connecting frame, the output end of the constant force execution cylinder is provided with threads and is fixedly connected with the push plate, one side of the push plate is fixedly connected with two polished rods, the other side of the push plate is fixedly connected with the pressure sensor, the other side of the pressure sensor is fixedly connected with the supporting frame, and the polished rods are in sliding fit with two linear bearings arranged in the cylinder shell to provide larger bending and twisting resistance for the cylinder; the other side of the supporting frame is fixedly connected with the high-speed right-angle motor through a connecting screw.
Preferably, the rough grinding constant force control system fuses grinding tangential force and grinding pressure signals collected by the six-dimensional force sensor and the pressure sensor, real-time force data are obtained after processing through a filtering algorithm, expected force data are compared to obtain a force compensation value, the force compensation value is converted into control signals of air pressure, flow rate and the like after processing through the algorithm to control the constant force execution cylinder to act, and constant force grinding with the grinding force stabilized within a threshold range set by a user is achieved.
Preferably, the fine grinding processing unit comprises a fine grinding control system, a constant force actuating mechanism, a ball screw linear module, a cover plate, a ball screw, a driving motor, an absolute position photoelectric encoder, a fine grinding high-speed motor, a second tool chuck, a fine grinding wheel and the like; the constant force actuating mechanism is fixedly installed on the switching turntable through a connecting screw, a ball screw penetrates through deep groove ball bearings with flanges, which are installed at two ends of the supporting frame, and is movably installed in a cavity formed by the supporting frame and the protective cover, an input end is connected with an output shaft of a driving motor through an elastic coupling and can rotate around an axis under the driving of the output shaft, an upper sliding block of the constant force actuating mechanism is matched with a guide rail and the ball screw at the same time, when the ball screw rotates, the sliding block can translate along the axis direction of the ball screw under the constraint of the guide rail, a movable end of an absolute position photoelectric encoder is fixedly connected with the sliding block through the connecting screw, and a grating end of the absolute position photoelectric encoder is fixedly installed on.
Preferably, the fine grinding high-speed motor is fixed on the sliding block through a connecting piece, a flange at the output end of the electric main shaft of the fine grinding high-speed motor is fixedly provided with a second tool chuck through a mounting screw, and the second tool chuck is provided with fine grinding wheels of different models in a replaceable manner.
Preferably, the accurate grinding control system fuses grinding pressure and grinding tangential force acquired by the pressure sensor and the six-dimensional force sensor and displacement data of an absolute position photoelectric encoder in the ball screw linear module as a basis, obtains force-position deviation information after algorithm processing, sends a compensation control signal to a driver of a driving motor of the ball screw linear module, and realizes accurate control of grinding force and high-precision profile size compensation in the machining process through advanced PID adjustment.
Preferably, the polishing processing unit comprises a polishing control system, a ball screw linear module, a constant force execution cylinder, a polishing servo motor, a toughened glass cover, a third tool chuck, a polishing wheel and a polishing solution supply device; the ball screw linear module comprises a supporting frame, a protective cover, a ball screw, a driving motor and an absolute position photoelectric encoder; the support frame is fixedly installed on the pressure sensor, the ball screw is installed in a cavity formed by the support frame and the protective cover and can rotate around an axis, the upper sliding block of the ball screw can translate along the axis direction of the ball screw, the polishing high-speed motor is fixed on the sliding block, the output end of the driving motor is fixedly installed at the input end of the ball screw to drive the screw to rotate, and the fixed end of the absolute position photoelectric encoder is installed at the other end of the driving motor and used for monitoring position data of the polishing high-speed motor. Polishing wheels with different types can be installed on the tool chuck in a replaceable way; the toughened glass cover is detachably mounted on the switching disc, and the polishing high-speed motor and the polishing wheel are both located inside the toughened glass cover and used for preventing polishing liquid from splashing.
Preferably, the polishing solution supply device comprises a polishing solution tank, a polishing solution pump and a polishing solution nozzle; the polishing solution nozzle is connected with a polishing solution pump fixed at the rear of the robot through a liquid conveying pipe, and the polishing solution pump is connected with a polishing solution box through a liquid pumping pipe.
Preferably, the polishing control system fuses polishing force data acquired by the pressure sensor and the six-dimensional force sensor and displacement data of an absolute position linear encoder in the ball screw linear module as a basis, obtains force-position deviation information after algorithm processing, sends a compensation control signal to a driver of a driving motor of the ball screw linear module, and controls the flow and pressure of polishing liquid through advanced PID adjustment according to different process requirements so as to ensure that the polishing force and the polishing contact position float and polish within a threshold range set by a user.
Preferably, the first tool chuck, the second tool chuck and the third tool chuck are all hand-tightening movable iron chucks, and can be tightened or loosened by using a hand-tightening wrench, so that tools with different types and transmission rod diameters of 1.5-13mm can be replaced.
By adopting the technical scheme of the invention, the invention has the following beneficial effects: according to the device for quickly switching the special grinding and polishing composite grinding tool for the robot, the rough grinding processing unit, the fine grinding processing unit and the polishing processing unit are annularly arranged and integrated into a whole, so that a special grinding and polishing tool for the robot, which can be quickly switched according to different processing requirements, is formed, and the device is suitable for high-efficiency and high-precision grinding and polishing of complex surfaces; each unit has real-time force control feedback control and high control precision, wherein the fine grinding unit has a high-precision profile size compensation function, and the grinding and polishing integrated engineering application aiming at the complex profile, high machining efficiency, high profile size precision and high profile performance quality of the high-temperature alloy component of the engine can be realized.
Description of the drawings:
FIG. 1 is a schematic view of a high precision finish grinding process of the present invention;
FIG. 2 is a schematic view of a high quality polishing process of the present invention;
FIG. 3 is a schematic view of the rough grinding process of the present invention;
fig. 4 is a schematic side view of the overall structure of the rapid switching device of the grinding and polishing composite abrasive tool special for the robot, three processing units are fixedly assembled in a triangular outer frame, and other auxiliary conversion components are fixed on one side of the frame body;
FIG. 5 is a schematic structural view of the rapid switching device of the grinding and polishing composite abrasive tool special for the robot of the invention;
FIG. 6 is a schematic view of the connection between the rough grinding unit and the switching plate;
FIG. 7 is a schematic view of the connection between the precision polishing unit structure and the switching turntable;
FIG. 8 is a schematic view of the connection between the polishing unit and the switching turntable;
in the figure: the device comprises a high-efficiency constant-force rough grinding unit 1, a robot-six-dimensional force sensor connecting flange 2, a six-dimensional force sensor 3, a main body bracket 4, a pneumatic telescopic rod 5, a servo motor 6, a crossed roller bearing 7, a motor external bevel gear 8, a crossed roller bearing external bevel gear 9, a switching turntable 10, a cover plate 11, a fine grinding unit 12, a second tool chuck 13, a workbench 14, a clamping tool 15, a workpiece to be processed 16, a grinding and polishing tool library 17, a fine grinding tool 18, a first tool chuck 19, a polishing unit 20, a third tool chuck 21, a polishing tool 22, a polishing liquid supply system 23, a toughened glass cover 24, a rough grinding wheel 25, a pin hole sleeve 26, a constant-force execution cylinder 27, a protective cover 28, a ball screw 29, a guide rail 30, a driving motor 31, an absolute position photoelectric encoder 32, a connecting frame 33, a connecting screw 34, a supporting frame 35, A fine grinding high-speed motor 36, a slide block 37, a high-speed right-angle motor 38, a ball screw linear module 39, a polishing servo motor 40, a pressure sensor 41, a push plate 42, a polished rod 43 and a linear bearing 44.
Detailed Description
The invention is further described below with reference to the following figures and specific examples.
Referring to fig. 1 to 8, the invention provides a quick switching device for a grinding and polishing composite grinding tool special for a robot, which comprises a high-efficiency constant-force rough grinding unit 1, a robot-six-dimensional force sensor connecting flange 2, a six-dimensional force sensor 3, a quick switching mechanism, a fine grinding unit 12 and a polishing unit 20; robot-six dimension force sensor flange 2 one end is installed at robot sixth joint end, and the other end is connected six dimension force sensor 3, six dimension force sensor 3 is used for the force information on the six degrees of freedom of real-time supervision course of working, adopts six dimension force sensor to carry out data processing can effectively avoid because the monitoring error of processing power data that processing and installation error lead to provides the assurance for the power accuse precision of system.
The quick switching mechanism comprises a main body support 4, a servo motor 6, a crossed roller bearing 7, a locking mechanism and a switching turntable 10, and is fixed on the six-dimensional force sensor 3. The high-efficiency constant-force rough grinding unit 1, the fine grinding unit 12 and the polishing unit 20 are arranged on the rapid switching mechanism at intervals of 120 degrees in an annular sequence through a connecting frame 33.
The robot-six-dimensional force sensor connection and the quick switching mechanism main body support-six-dimensional force sensor connection are connected through rigid flange plates, so that the connection reliability is guaranteed.
The inner ring of the crossed roller bearing is fixed on the main body support 4 through a countersunk screw, the outer ring of the crossed roller bearing is fixed on the switching turntable 10 through the countersunk screw, and the concentric whole row of screw holes on the switching turntable 10 are used for fixedly connecting the external bevel gear 9 of the crossed roller bearing.
The servo motor 6 is fixedly arranged in the main body support 4 through a mounting screw, an output shaft of the servo motor is fixedly connected with an external bevel gear 8 of the motor and is meshed with an external bevel gear 9 of the crossed roller bearing to drive the switching turntable 10 to move, and a static inner ring of the crossed roller bearing provides space for the arrangement and routing of the three functional units.
The locking mechanism comprises an air cylinder 5 and three pin hole sleeves 26; the cylinder 5 is fixedly arranged on a main body bracket 4 of the quick switching device through a holding collet, and the three pin hole sleeves 26 are annularly and fixedly arranged on the switching turntable 10 at intervals of 120 degrees by taking the rotating center of the switching turntable 10 as the circle center; when the switching rotary disc 10 rotates to reach one of the three locking positions, the push rod of the air cylinder 5 is driven out, and the push rod is inserted into the pin hole sleeve 26 to lock and position the switching rotary disc 10.
The high-efficiency constant-force rough grinding unit 1 comprises a rough grinding constant-force control system, a constant-force executing mechanism, a high-speed right-angle motor 38, a first tool chuck 19 and a rough grinding wheel 25; an output flange of the high-speed right-angle motor 38 is fixedly connected with the first tool chuck 19, and the first tool chuck 19 can be provided with different types of rough grinding wheels 25 in a replaceable mode.
The constant force actuator includes: the constant force execution cylinder 27, the connecting frame 33, the supporting frame 35, the pressure sensor 41, the push plate 42, the polish rod 43 and the linear bearing 44.
The cylinder body diameter of the constant force execution cylinder 27 is 32mm, and can provide 0-50KG continuous thrust, the constant force execution cylinder 27 is fixed on the switching turntable 10 through the connecting frame 33, the output end of the constant force execution cylinder 27 is provided with threads and is fixedly connected with the push plate 42, one side of the push plate is fixedly connected with two polish rods 43, the other side of the push plate is fixedly connected with the pressure sensor 41, the other side of the pressure sensor 41 is fixedly connected with the supporting frame 35, and the polish rods 43 are in sliding fit with two linear bearings 44 arranged in the cylinder shell, so that greater bending and twisting resistance is provided for the cylinder; the other side of the support frame 35 is fixedly connected with a high-speed right-angle motor 38 through a connecting screw 34.
The rough grinding constant force control system fuses grinding tangential force and grinding pressure signals collected by the six-dimensional force sensor 3 and the pressure sensor 41, real-time force data are obtained after processing through a filtering algorithm, a force compensation value is obtained by comparing expected force data, the force compensation value is converted into control signals of air pressure, flow rate and the like after processing through the algorithm to control the constant force execution cylinder 27 to act, and constant force grinding with grinding force stabilized within a threshold range set by a user is achieved.
The fine grinding processing unit 12 comprises a fine grinding control system, a constant force actuating mechanism, a ball screw linear module 39, a cover plate 28, a ball screw 29, a driving motor 31, an absolute position photoelectric encoder 32, a fine grinding high-speed motor 36, a second tool chuck 13, a fine grinding wheel 18 and the like; the constant force actuator is fixedly mounted on the switching turntable 10 through a connecting screw 34, the ball screw 29 passes through a deep groove ball bearing with flanges mounted at two ends of the supporting frame 35 and is movably mounted in a cavity formed by the supporting frame 35 and the protective cover 28, the input end of the ball screw is connected with the output shaft of the driving motor 31 through an elastic coupling and can rotate around the axis under the driving of the output shaft, the upper slide block 37 of the ball screw is simultaneously matched with the guide rail 30 and the ball screw 29, when the ball screw 29 rotates, the slide block 37 can translate along the axial direction of the ball screw 29 under the restriction of the guide rail 30, the movable end of the absolute position photoelectric encoder 32 is fixedly connected with the slide block 37 through the connecting screw 34, and the grating end of the absolute position photoelectric encoder is fixedly mounted on the supporting frame through the connecting screw.
The end face of the output shaft of the driving motor 31 is fixed in the supporting frame 35 through 4 connecting screws 34.
The fine grinding high-speed motor 36 is fixed on the sliding block 37 through a connecting piece, the output end flange of the electric spindle is fixedly provided with the second tool chuck 13 through a mounting screw, and the fine grinding wheel 18 with different models can be mounted on the second tool chuck 13 in a replaceable manner.
The accurate grinding control system integrates the grinding pressure and the grinding tangential force acquired by the pressure sensor 41 and the six-dimensional force sensor 3 and the displacement data of the absolute position linear encoder in the ball screw linear module as the basis, obtains force-position deviation information after algorithm processing, sends a compensation control signal to a driver of a driving motor 31 of the ball screw linear module, and realizes accurate control of grinding force and high-precision profile size compensation in the machining process through advanced PID adjustment.
The polishing processing unit 20 comprises a polishing control system, a constant force executing mechanism, a toughened glass cover 24, a third tool chuck 21, a polishing wheel 22, a polishing solution supply device 23, a cover plate 28, a ball screw 29, a driving motor 31, an absolute position photoelectric encoder 32, a ball screw linear module 39, a polishing servo motor 40, the third tool chuck 21 and the polishing wheel 22; the constant force actuating mechanism is fixedly provided with a polishing servo motor 40 through a sliding block 37, a flange at the output end of the motor is fixedly provided with a third tool chuck 21 through a mounting screw, and polishing wheels 22 of different models can be installed on the third tool chuck 21 in a replaceable manner; the toughened glass cover 24 is detachably mounted on the switching turntable 10 through a buckle, and the polishing servo motor 40 and the polishing wheel 22 are both located inside the toughened glass cover 24 and used for preventing polishing liquid from splashing.
The polishing solution supply device comprises a polishing solution box, a polishing solution pump and a polishing solution nozzle; the polishing solution nozzle is connected with a polishing solution pump fixed at the rear of the robot through a liquid conveying pipe, and the polishing solution pump is connected with a polishing solution box through a liquid pumping pipe.
The polishing control system fuses polishing force data acquired by the pressure sensor 41 and the six-dimensional force sensor 3 and displacement data of an absolute position linear encoder in the ball screw linear module as a basis, obtains force-position deviation information after algorithm processing, sends a compensation control signal to a driver of a driving motor of the ball screw linear module, and controls the flow and pressure of polishing liquid through advanced PID adjustment according to different process requirements so as to ensure that the polishing force and the polishing contact position float and polish within a threshold range set by a user.
The first tool chuck 19, the second tool chuck 13 and the third tool chuck 21 are all hand-tightening movable iron chucks, and can be tightened or loosened by using a hand-tightening wrench, so that tools with different types and transmission rod diameters of 1.5-13mm can be replaced.
The above detailed description is provided for the fast switching device of the grinding and polishing composite grinding tool special for the robot, and specific examples are applied in the detailed description to explain the structure and the working principle of the invention, and the description of the above embodiments is only used to help understand the method and the core idea of the invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A quick switching device of a grinding and polishing composite grinding tool special for a robot is characterized by comprising a six-dimensional force sensor, a robot-six-dimensional force sensor connecting flange, a quick switching mechanism, a high-efficiency constant-force rough grinding unit, a fine grinding unit and a polishing unit; one end of the robot-six-dimensional force sensor connecting flange is arranged at the tail end of a sixth joint of the robot, and the other end of the robot-six-dimensional force sensor connecting flange is connected with the six-dimensional force sensor and is used for monitoring force information of six degrees of freedom in the machining process in real time; the quick switching mechanism is fixed on the six-dimensional force sensor; the high-efficiency constant-force rough grinding unit, the fine grinding unit and the polishing unit are arranged on the quick switching mechanism at intervals of 120 degrees in an annular sequence through the connecting frame.
2. The quick switching device of the grinding and polishing composite grinding tool special for the robot according to claim 1, wherein the quick switching mechanism comprises a main body bracket, a switching turntable, a servo motor, a crossed roller bearing and a locking mechanism; the main body bracket is fixedly arranged on the six-dimensional force sensor; the inner ring of the crossed roller bearing is fixedly connected with the main body bracket, the outer ring of the crossed roller bearing is fixedly connected with a switching turntable, and a crossed roller bearing external bevel gear is concentrically and fixedly connected to the switching turntable; the servo motor is fixedly arranged in the main body support, an output flange of the servo motor is fixedly connected with a drive motor external bevel gear, and the output flange of the servo motor is meshed with the cross roller bearing external bevel gear for driving the switching turntable to move.
3. The quick switching device for the grinding and polishing composite grinding tool special for the robot as claimed in claim 2, wherein the locking mechanism comprises a cylinder and three pin hole sleeves; the cylinder is fixedly arranged on a main body bracket of the quick switching device; the three pin hole sleeves are fixedly arranged on the switching rotary table at intervals of 120 degrees by taking the rotation center of the switching rotary table as a circle center, when the switching rotary table rotates to reach one of three locking positions, a push rod of the air cylinder is driven out, and the push rod is inserted into the pin hole sleeves to lock and position the switching rotary table.
4. The quick switching device for the grinding and polishing composite grinding tool special for the robot according to claim 1, wherein the high-efficiency constant-force rough grinding unit comprises a rough grinding constant-force control system, a constant-force actuator, a high-speed right-angle main shaft, a first tool chuck and a rough grinding wheel; the main body of the constant force actuating mechanism is fixed on the connecting frame, and the push plate is fixedly connected with the supporting frame through the pressure sensor; the output flange of the high-speed right-angle motor is fixedly connected with a first tool chuck, and coarse grinding wheels of different models can be installed on the first tool chuck in a replaceable mode.
5. The rapid switching device of the special grinding and polishing composite grinding tool for the robot according to claim 4, wherein the constant force actuator comprises: the constant force execution cylinder, the connecting frame, the supporting frame, the pressure sensor, the push plate, the polished rod and the linear bearing are arranged on the frame; the constant force execution cylinder is fixed on the switching turntable through the connecting frame, the output end of the constant force execution cylinder is provided with threads and is fixedly connected with the push plate, one side of the push plate is fixedly connected with two polished rods, the other side of the push plate is fixedly connected with the pressure sensor, the other side of the pressure sensor is fixedly connected with the supporting frame, and the polished rods are in sliding fit with two linear bearings arranged in the cylinder shell to provide larger bending and twisting resistance for the cylinder; the other side of the supporting frame is fixedly connected with the high-speed right-angle motor through a connecting screw.
6. The quick switching device of the special grinding and polishing composite grinding tool for the robot according to claim 5, wherein the rough grinding constant force control system fuses grinding tangential force and grinding pressure signals collected by a six-dimensional force sensor and a pressure sensor, real-time force data is obtained after processing through a filtering algorithm, a force compensation value is obtained by comparing expected force data, and the force compensation value is converted into control signals such as air pressure and flow rate after processing through the algorithm to control a constant force execution cylinder to act, so that constant force grinding with the grinding force stabilized within a threshold range set by a user is realized.
7. The rapid switching device for the grinding and polishing composite grinding tool special for the robot according to claim 1, wherein the fine grinding processing unit comprises a fine grinding control system, a constant force actuator, a ball screw linear module, a cover plate, a ball screw, a driving motor, an absolute position photoelectric encoder, a fine grinding high-speed motor, a second tool chuck, a fine grinding wheel and the like; the constant force actuating mechanism is fixedly installed on the switching turntable through a connecting screw, a ball screw penetrates through deep groove ball bearings with flanges, which are installed at two ends of the supporting frame, and is movably installed in a cavity formed by the supporting frame and the protective cover, an input end is connected with an output shaft of a driving motor through an elastic coupling and can rotate around an axis under the driving of the output shaft, an upper sliding block of the constant force actuating mechanism is matched with a guide rail and the ball screw at the same time, when the ball screw rotates, the sliding block can translate along the axis direction of the ball screw under the constraint of the guide rail, a movable end of an absolute position photoelectric encoder is fixedly connected with the sliding block through the connecting screw, and a grating end of the absolute position photoelectric encoder is fixedly installed on.
8. The quick switching device for the grinding and polishing composite grinding tool special for the robot as claimed in claim 7, wherein the fine grinding high-speed motor is fixed on the sliding block through a connecting piece, a flange at the output end of the electric main shaft of the fine grinding high-speed motor is fixedly provided with a second tool chuck through a mounting screw, and fine grinding wheels of different types can be installed on the second tool chuck in a replaceable manner; the accurate grinding control system integrates grinding pressure and grinding tangential force acquired by the pressure sensor and the six-dimensional force sensor and displacement data of the absolute position photoelectric encoder in the ball screw linear module as a basis, obtains force-position deviation information after algorithm processing, sends a compensation control signal to a driver of a driving motor of the ball screw linear module, and realizes accurate control of grinding force and high-precision profile size compensation in the machining process through advanced PID adjustment.
9. The rapid switching device for the grinding and polishing composite grinding tool special for the robot according to claim 1, wherein the polishing processing unit comprises a polishing control system, a ball screw linear module, a constant force execution cylinder, a polishing servo motor, a toughened glass cover, a third tool chuck, a polishing wheel and a polishing liquid supply device; the ball screw linear module comprises a supporting frame, a protective cover, a ball screw, a driving motor and an absolute position photoelectric encoder; the support frame is fixedly installed on the pressure sensor, the ball screw is installed in a cavity formed by the support frame and the protective cover and can rotate around an axis, the upper sliding block of the ball screw can translate along the axis direction of the ball screw, the polishing high-speed motor is fixed on the sliding block, the output end of the driving motor is fixedly installed at the input end of the ball screw to drive the screw to rotate, and the fixed end of the absolute position photoelectric encoder is installed at the other end of the driving motor and used for monitoring position data of the polishing high-speed motor. Polishing wheels with different types can be installed on the tool chuck in a replaceable way; the toughened glass cover is detachably mounted on the switching disc, and the polishing high-speed motor and the polishing wheel are both located inside the toughened glass cover and used for preventing polishing liquid from splashing.
10. The rapid switching device for the grinding and polishing composite grinding tool special for the robot according to claim 9, wherein the polishing liquid supply device comprises a polishing liquid tank, a polishing liquid pump and a polishing liquid nozzle; the polishing control system fuses polishing force data acquired by the pressure sensor and the six-dimensional force sensor and displacement data of an absolute position linear encoder in the ball screw linear module as a basis, force-position deviation information is obtained after processing by using an algorithm, a compensation control signal is sent to a driver of a driving motor of the ball screw linear module, and the flow and pressure of the polishing liquid are regulated and controlled by advanced PID according to different process requirements, so that the polishing force and the polishing contact position are guaranteed to float and polish within a threshold range set by a user.
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