CN113245963B - Force and position mixed type polishing tool with automatic protection function - Google Patents
Force and position mixed type polishing tool with automatic protection function Download PDFInfo
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- CN113245963B CN113245963B CN202110600722.0A CN202110600722A CN113245963B CN 113245963 B CN113245963 B CN 113245963B CN 202110600722 A CN202110600722 A CN 202110600722A CN 113245963 B CN113245963 B CN 113245963B
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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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
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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
- B24B41/02—Frames; Beds; Carriages
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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
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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
- B24B49/02—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
- B24B49/04—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation
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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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a force and position mixed type grinding tool with automatic protection, which belongs to the field of end effectors of industrial robots, is used as an end effector of a robot and is used for flexibly grinding workpieces, and is characterized by comprising the following components: a manipulator; the fixed platform base is fixed on the manipulator; the force position control device is provided with a telescopic shock absorption assembly arranged on the fixed platform base, a force sensor used for outputting a polishing force signal in real time and a displacement sensor used for measuring the elongation of the telescopic shock absorption assembly in real time; the polishing device is used for polishing the workpiece, and the manipulator controls polishing force of the polishing device and the pose of the manipulator based on the detection results of the force sensor and the displacement sensor; and the pneumatic device is arranged on the force position control device and used for driving the grinding device to move. Simultaneously, still include: the protection device is provided with a self-adaptive disc, a magnetic cylinder, a conductor and a brush and is used for sealing and preventing dust.
Description
Technical Field
The invention belongs to the field of end effectors of industrial robots, and relates to a force and position mixed type polishing tool with automatic protection for a robot.
Background
With the rapid development and reform of the intelligent manufacturing industry and the national economy of China, the manufacturing industry of China is also gradually glorious on the world stage, the competition of various products in the market is more and more intense, and the high precision, the high quality and the high efficiency of the products are increasingly the targets pursued by people. In order to improve the surface quality and precision of products, the subsequent grinding of products in the manufacturing fields of welding, casting and the like is an indispensable step. Traditional sanding currently has the following disadvantages: firstly, the efficiency is high, but the grinding type is single, and the grinding device is not flexible; secondly, the rejection rate is high, and the polishing process depends on the polishing experience of workers seriously; thirdly, the manual production cost is high, the requirement of green production is not met, and the polishing noise and dust have certain harm to the environment and human bodies.
The automatic intelligent manufacturing makes the application of industrial robot in industrial production more extensive, and the robot is polished and is had the flexibility good, does not receive space and environmental constraint, and long-term with low costs, advantages such as finished product surface quality is controllable. The robot can adopt an off-line programming technology to meet the production requirements of various workpieces; the robot has a multi-arm structure and a large working interval, and the limitation of traditional polishing is broken; the robot production, workpiece surface quality is controllable, and is efficient, and in the long run, than the cost of labor is low, and in addition, the robot production does not receive the influence of environment, has reduced the harm of noise and grinding dust to the human body, so, the robot is polished and is one of the development trend of present polishing trade. However, when the robot finishing process is performed, since the surface of the workpiece to be polished may have an irregular shape, variations in the contact force between the polishing tool and the workpiece are easily generated, and the grinding process is not easy to control the product quality, and the requirements such as the situation are not satisfied. Meanwhile, although the polishing process is performed mechanically, a protective device is not adopted in a common polishing tool, and polishing dust generated in the polishing process still can harm equipment and personnel safety and cause environmental problems.
In the existing control method for polishing by a robot, two modes are available for realizing the control of the compliance force, one mode is passive compliance force control, and the other mode is active compliance force control. The passive compliance control is realized by utilizing a buffering and energy storing structure, the passive compliance control does not have compliance control capability and can be realized only by a compliance device, the method has low flexibility and cannot adapt to various workpiece production devices, and a compliance center is difficult to accurately identify, so that the adjustment is difficult and the universality to different environments is poor. The active compliance force control means that a robot controller is combined with a force control algorithm to realize force control, and the force control method does not depend on a passive device structure, and has the characteristics of good dynamic response, high force control precision, good universality and the like, so that the force control method becomes the mainstream of mechanical arm force control.
Existing force-controlled end effectors can be classified according to the force control manner into mechanical, pneumatic, electrical, and pneumatic-electrical hybrid types. The mechanical type generally installs the spring or the damper on the end effector to realize the force control, and the method belongs to the passive type control, and has the advantages of simple structure and low force control precision. The pneumatic type can be divided into an air bag type, an air cylinder type and an artificial muscle type according to specific implementation forms, the three modes take air pressure as a power source, and the output force of the end effector is realized by adjusting the air pressure. The electric drive type realizes the force output of the end effector through the telescopic motion of the linear motor, has the advantages of high force control precision and high response speed, but has the defects of poor flexibility, large mass and the like, and is easy to generate vibration in the polishing process. The existing gas-electric hybrid makes up the defect of poor flexibility of an electric driving type, but the quality is still large, the output force is large, the force adjusting range is small, and the requirement of actual working conditions cannot be met.
The dust prevention and dust removal of the existing grinding device are realized by adding a protective box outside the grinding tool, the whole grinding tool is surrounded, and then a dust suction outlet is formed in the box.
In summary, the prior art has the following problems and disadvantages: firstly, the robot does not have the capability of flexible control, can be realized only by a flexible device, has low flexibility and low force control precision, and cannot adapt to the processing of various workpieces; secondly, the existing device has slow response and long lag time, and cannot meet the requirement of fast force control; thirdly, the response speed of the existing device is too high, and because the mass is larger and the inertia is large, impact and vibration are generated, and the flexibility is poor; fourthly, the existing device has large force, large output force and smaller force control adjustable range, and can not meet the actual processing requirement; fifthly, the existing devices adopt a polishing head protection box body, so that the polishing dust can not be prevented from splashing, and certain harm is caused to equipment and the working environment.
Disclosure of Invention
In order to solve the problems, the invention provides a force and position mixed type polishing tool with automatic protection, which is used as an end effector of a robot and used for flexibly polishing a workpiece, and adopts the following technical scheme:
the invention provides a force and position mixed type grinding tool with automatic protection, which is characterized by comprising the following components: a manipulator; the fixed platform base is fixed on the manipulator; the force position control device is provided with a telescopic shock absorption assembly arranged on the fixed platform base, a force sensor used for outputting polishing force signals in real time and a displacement sensor used for measuring the elongation of the telescopic shock absorption assembly in real time; the polishing device is used for polishing the workpiece, and the manipulator controls polishing force of the polishing device and the pose of the manipulator based on the detection results of the force sensor and the displacement sensor; and the pneumatic device is arranged on the force position control device and used for driving the grinding device to move.
The force position mixed type polishing tool with the automatic protection function further has the characteristic that the force position control device is further provided with a movable platform base, the force sensor is a six-dimensional force sensor, the movable platform base is arranged on one side, away from the fixed platform base, of the telescopic shock absorption assembly, one side of the force sensor is connected with one side, away from the fixed platform base, of the movable platform base, the other side of the force sensor is connected with the pneumatic device, and the displacement sensor is arranged on one side, close to the fixed platform base, of the movable platform base.
The force-position mixed type polishing tool with the automatic protection function also has the characteristics that the telescopic shock absorption assembly is provided with a cylinder body, a spring, a piston and at least two air cylinder air pipe joints, one side, close to the fixed platform base, of the cylinder body is tightly connected with the fixed platform base, one side, far away from the fixed platform base, of the cylinder body is connected with the displacement sensor, the spring is arranged inside the cylinder body and used for offsetting instantaneous impact and vibration on the piston, the piston and the spring are coaxially arranged and provided with a piston head and a piston rod, one end of the piston rod is connected with the piston head, the other end of the piston rod extends out of the cylinder body and is connected with the movable platform base, the spring is arranged on two sides of the piston head in the movement direction of the piston, and the air cylinder air pipe joints are sequentially arranged on the surface of the cylinder body along the extension direction of the movement of the piston.
The force and position mixed type grinding tool with the automatic protection function further has the characteristics that the pneumatic device is provided with a shell, a rotating shaft, an impeller and at least two pneumatic air pipe joints, one side of the shell is connected with the force sensor, the other side of the shell is connected with the grinding device, one end of the rotating shaft extends out of the surface of the shell and is connected with the grinding device, the other end of the rotating shaft is arranged on the impeller, the impeller is arranged in the shell and is used for driving the rotating shaft to rotate, and the pneumatic air pipe joints are arranged on the surface of the shell.
The force and position mixed type polishing tool with the automatic protection function further has the characteristic that the polishing device is provided with a quick switching assembly and a polishing head, the quick switching assembly is sleeved on the rotating shaft, and the polishing head is arranged at one end of the rotating shaft, synchronously rotates along with the rotating shaft and is embedded on the quick switching assembly.
The force-position mixed type polishing tool with the automatic protection can also be characterized in that the quick switching assembly is provided with an annular mounting seat, two mounting grooves, a fixing screw, a steel ball and a jacking spring, wherein the two mounting grooves are formed in the annular mounting seat, the fixing screw is arranged on the mounting groove, the outer surface part of the steel ball protrudes out of the inner surface of the annular mounting seat, the jacking spring is arranged between the fixing screw and the steel ball and used for pressing the steel ball to the center of the annular mounting seat, and the polishing head is provided with two positioning holes and used for positioning and fixing the polishing head in a manner of being matched with the steel ball.
The force position hybrid grinding tool with automatic protection provided by the invention can also have the following characteristics that: the protection device is provided with a self-adaptive disc, magnetic cylinders, a conductor and a brush and used for sealing and dust prevention, one side of the self-adaptive disc is connected with the pneumatic device, the other side of the self-adaptive disc is connected with the magnetic cylinders in a sealing mode, the magnetic cylinders are arranged in an annular mode, one end of the conductor is embedded in the magnetic cylinders, the other end of the conductor is connected with the brush, the brush is densely arranged around the polishing device and faces towards a workpiece, and the magnetic cylinders and the conductor form a magnetic damper and used for pressing the brush on the surface of the workpiece.
The present invention provides a force position hybrid sanding tool with automatic guard that may also feature an adaptive disk having a dust extraction aperture.
Action and Effect of the invention
The force position mixed type grinding tool with the automatic protection function is provided with a force position control device, wherein the force position control device is provided with a telescopic shock absorption assembly arranged on a fixed platform base, a force sensor used for outputting a polishing force signal in real time and a displacement sensor used for measuring the elongation of the telescopic shock absorption assembly in real time. The manipulator controls the polishing force of the polishing device and the pose of the manipulator based on the detection results of the force sensor and the displacement sensor. Thereby realized the flexibility and polished, solved and to have appeared atress inequality, dynamic force impact and too big scheduling problem of vibration easily among the polishing process.
Meanwhile, the invention combines the magnetic damping principle to realize the protection and dust collection of the polishing tool, solves the problems of the splashing of polishing dust, large volume of the protective cover, inconvenient movement and the like, prevents the damage of the polishing dust to the equipment, and ensures that the polishing space and the size of the polishing workpiece are not limited by the protective cover.
Based on the functions and effects, the force and position mixed type polishing tool with the automatic protection function can be automatically applied to manufacturing and processing curved surface pieces such as aerospace, automobiles, energy sources and the like.
Drawings
FIG. 1 is a schematic overall configuration of a force/position hybrid sanding tool with automatic guard according to an embodiment of the present disclosure;
FIG. 2 is a cross-sectional view of a force/position hybrid sanding tool with automatic guarding in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a fast switching apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an adaptive sanding mask in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of a magnetic damping array brush according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
< example >
The embodiment provides a force and position mixed type grinding tool with automatic protection, which is used as an end effector of a robot and used for flexibly grinding a workpiece.
FIG. 1 is a schematic overall configuration of a force/position hybrid sanding tool with automatic guard according to an embodiment of the present disclosure; figure 2 is a cross-sectional view of a force/position hybrid sanding tool with automatic guard in accordance with an embodiment of the present invention.
As shown in fig. 1 and fig. 2, the force and position hybrid grinding tool 100 with automatic protection provided in this embodiment includes a robot (not shown in the figure), a fixed platform base 1, a force and position control device 2, a pneumatic device 3, a grinding device 4, and a protection device 5.
And the fixed platform base 1 is fixed on the manipulator.
The force position control device 2 is provided with a telescopic shock absorption assembly 21 arranged on the fixed platform base 1, a six-dimensional force sensor 22 used for outputting a polishing force signal in real time, a displacement sensor 23 used for measuring the elongation of the telescopic shock absorption assembly 21 in real time and a movable platform base 24.
The robot (not shown in the figure) controls the polishing force of the polishing apparatus 4 and the posture of the robot based on the detection results of the six-dimensional force sensor 22 and the displacement sensor 23. That is to say, the displacement sensor 23 and the six-dimensional force sensor 22 feed back displacement and force signals to the controller (not shown in the figure), the controller (not shown in the figure) can control the air source device (not shown in the figure), and the state of the manipulator of the robot is adjusted through air supply and air discharge, so that the polishing force is more accurate, and the stress of the polishing device 4 is more uniform.
The telescopic shock-absorbing assembly 21 is located between the moving platform base 24 and the fixed platform base 1, and has a cylinder body 211, two sets of springs 212, a piston 213, and at least two cylinder air pipe joints 214, wherein the piston 213 has a piston head 213a and a piston rod 213b.
The movable platform base 24 is disposed on a side of the telescopic shock absorbing member 21 away from the fixed platform base 1, and is connected to the piston rod 213b.
The six-dimensional force sensor 22 is located between the moving platform base 24 and the housing 31 of the pneumatic device 3. The six-dimensional force sensor 22 is connected to the movable platform base 24 on the side away from the fixed platform base 1 and to the housing 31 of the pneumatic device 3 on the other side by the through screw 221.
The six-dimensional force sensor 22 is used for detecting the force applied by the polishing head 42 when the polishing head contacts with the surface of the workpiece in real time, and feeding the force back to a controller (not shown in the figure) to compare the force with a preset polishing force, and the controller (not shown in the figure) controls an electric proportional valve (not shown in the figure) to control the stretching of the telescopic shock absorption assembly 21 according to the result, so as to further realize the control of the polishing force.
The displacement sensor 23 is located between the cylinder block 211 and the moving platform base 24, that is, the displacement sensor 23 is disposed on the side of the moving platform base 24 close to the fixed platform base 1 and connected to the cylinder block 211.
The displacement sensor 23 is used for measuring the elongation of the piston 213 in real time and feeding the elongation back to a controller (not shown), and the controller (not shown) controls the pose of the robot manipulator by using a pose compensation algorithm.
One side of the cylinder body 211 close to the fixed platform base 1 is tightly connected with the fixed platform base 1 through a rubber gasket, and one side of the cylinder body 211 far away from the fixed platform base 1 is connected with the displacement sensor 23.
Two sets of springs 212 are arranged inside the cylinder block 211 for counteracting instantaneous impact and vibration to the piston, and two symmetrical cylinder air pipe joints 214 are arranged on the surface of the cylinder block 211 in sequence along the extending direction of the movement of the piston 213.
The piston 213 is installed coaxially with the two sets of springs 212, and the two sets of springs 212 are symmetrically disposed on both sides of the piston head 213b in the moving direction of the piston 213. Piston head 213b is located intermediate the two sets of springs 212 to counteract the transient shock and vibration experienced by piston 213 when the air supply is suddenly supplied.
Piston rod 213a has one end connected to piston head 213b and the other end extending from cylinder block 211 and connected to movable platform base 24. Under the action of a controller (not shown in the figure), air is supplied to both sides of the piston head 213b through electric proportional valves (not shown in the figure) to adjust the extension length of the piston rod 213a, so as to further control the contact force between the polishing head 42 and the workpiece.
The pneumatic device 3 is arranged on the force position control device 2 and is provided with a shell 31, a rotating shaft 32, an impeller 33 and at least two pneumatic air pipe joints 34 for driving the grinding device 4 to move.
The housing 31 is connected on one side to the six-dimensional force sensor 22 and on the other side to the grinding device 4.
One end of the rotary shaft 32 protrudes from the surface of the housing 31 to be connected to the polishing device 4, and the other end is provided on the impeller 33.
An impeller 33 is disposed in the housing 31 for rotating the rotary shaft 32.
The pneumatic air pipe joint 34 is arranged on the surface of the shell 31, the air source acts on the impeller 33 through the air pipe joint 34, the blade of the impeller 33 rotates to drive the rotating shaft 32 to rotate, the polishing head 42 connected with the spline at the head of the rotating shaft 32 rotates, and the transverse polishing and the rotary polishing are simultaneously realized.
The grinding device 4 is provided with a quick switching assembly 41 and a grinding head 42 for grinding a workpiece. The grinding device 4 is arranged on the pneumatic device 3 and is provided with a protective device 5 around the grinding device.
The quick switching assembly 41 is sleeved on the rotating shaft 32, is pressed on the thrust bearing by the spline at the head of the rotating shaft 32, and rotates together with the polishing head 42 embedded on the quick switching assembly 41, so that the switching of the polishing head 42 can be quickly realized under the action of tension without influencing the measurement of force and position parameters.
Fig. 3 is a schematic structural diagram of a fast switching module according to an embodiment of the present invention.
As shown in fig. 3, the fast switching assembly 41 has a ring-shaped mounting seat 411, two mounting grooves 412, a fixing screw 413, a steel ball 414 and a jacking spring 415.
Two mounting grooves 412 are provided on the annular mount 411.
The fixing screw 413 is disposed on the mounting groove 412.
The outer surface of the steel ball 414 partially protrudes from the inner surface of the annular mounting seat 411.
A jacking spring 415 is disposed between the set screw 413 and the steel ball 414 for pressing the steel ball 414 toward the center of the annular mount 411.
The sanding head 42 has two locating holes for cooperating with the steel balls to locate and secure the sanding head.
The quick switching assembly 41 realizes the engagement of the sanding head 42 and the quick switching assembly 41 through the steel ball 414 under the action of the jacking spring 415.
And a guard 5 disposed on the pneumatic device 4 and surrounding the grinding device 3, having an adaptive disk 51, a magnetic cylinder 52, a conductor 53, and a brush 54 for sealing against dust.
FIG. 4 is a schematic diagram of an adaptive sanding guard in accordance with an embodiment of the present invention; FIG. 5 is a schematic view of a magnetic damping array brush according to an embodiment of the present invention.
As shown in fig. 4 and 5, the adaptive disk 51 is connected to the housing 31 of the pneumatic device 3 on one side and to the magnetic cylinder 52 on the other side, and the adaptive disk 51 has a dust suction hole.
The cylinders 52 are arranged in a circular array.
One end of the conductor 53 is embedded in the magnetic cylinder 52, and the other end is connected to the brush 54.
The brushes 54 are closely spaced around the sanding head 42, facing the workpiece surface 55.
The magnetic cylinder 52, the conductor 53 and the hairbrush 54 form a magnetic damper, stepless telescopic motion can be realized by changing the size of the magnetic field, and the hairbrush 54 is adjusted to be tightly attached to the surface 55 of the workpiece in real time so as to be attached to the surface of the workpiece with an irregular shape, thereby forming a sealed space. Meanwhile, a dust suction hole can be formed in the base of the adaptive disc 51 for installing a dust suction device.
Examples effects and effects
The grinding tool of the embodiment adopts a force and position hybrid control mode, and is provided with a telescopic damping component arranged on a fixed platform base, a six-dimensional force sensor used for outputting polishing force signals in real time and a displacement sensor used for measuring the elongation of the telescopic damping component in real time. And then make the burnisher of this embodiment have responded fast, flexible high advantage, can realize the control of power more fast. And the technical scheme that this implementation adopted is mainly with the output power of flexible damper assembly's piston, by displacement sensor and six-dimensional force transducer feedback, the controller adjusts gas circuit air feed and gassing, adjusts the actual contact force between polishing instrument and the work piece, has higher working bandwidth to the power accuse control range is big, can satisfy actual operating condition demand effectively.
In addition, grinding tool's flexible damper unit has cylinder block, spring, piston and two cylinder air pipe connectors in this embodiment, and piston and spring combination mode have effectually reduced the impact that the sudden air feed of air supply produced, make the polishing in-process, the transition of power is more steady. And the force control mode of cylinder type has advantages such as the power-weight ratio is big, the flexibility is good, with low costs, adopts the force position hybrid control mode simultaneously, has both possessed characteristics such as the power control precision is high, the response is fast, and the mode that the piston combines the spring possesses certain shock attenuation performance again.
In addition, grinding tool's grinding device has the head of polishing and fast switch over subassembly in this embodiment, can ensure the real-time feedback of the in-process power of polishing and displacement, can fast switch over the bistrique again and improve work efficiency. Meanwhile, the mode of combining transverse polishing and rotary polishing is adopted, so that the working efficiency is further effectively improved.
In addition, the quick switch over subassembly of grinding device of burnisher in this embodiment utilizes steel ball, the tight spring structure in top to guarantee the power position and measure to realize the quick switch over of head of polishing, improvement work efficiency that can be great.
In addition, in the adaptive protection device of the polishing tool in the embodiment, the magnetic cylinders, the conductors and the brushes form magnetic dampers one by one, and the magnetic force of each magnetic cylinder and each conductor can be independently adjusted by adopting the magnetic damping array type combined brush structure, so that the damping force is adjusted, the adaptive protection device can adapt to workpieces in various shapes, and the surfaces of the workpieces are sealed. Meanwhile, the harm caused by the grinding dust is reduced by combining the dust collection treatment of the open hole of the base of the self-adaptive disc.
In addition, the self-adaptive protection device of the polishing tool in the embodiment adopts a mode that the hairbrush is separated from the polishing head, the hairbrush does not rotate along with the polishing head, the loss of the hairbrush is reduced, the service life of the hairbrush is prolonged, and the production cost is reduced.
In addition, the grinding tool in the embodiment supports the grinding head for rotating and transversely grinding to be embedded in the brush, so that the whole structure is simple and flexible. According to the different materials of the polished piece, different polishing heads are selected, and the brush can be matched with the different polishing heads.
The above-described embodiments are merely illustrative of specific embodiments of the present invention, and the present invention is not limited to the scope of the description of the above-described embodiments.
In the embodiment, two symmetrical air cylinder air pipe joints are sequentially arranged on the surface of the air cylinder body in the telescopic damping component along the extending direction of the piston movement, but in order to realize uniform stress, a plurality of air pipe joints can be symmetrically arranged on the circumferential direction of the air cylinder body and connected with corresponding branch air pipes.
Claims (6)
1. The utility model provides a take automatic power position hybrid grinding tool who protects, as the end effector of robot for carry out the flexibility to the work piece and polish, its characterized in that includes:
a manipulator;
the fixed platform base is fixed on the manipulator;
the force position control device is provided with a telescopic shock absorption assembly arranged on the fixed platform base, a force sensor used for outputting a polishing force signal in real time, a displacement sensor used for measuring the elongation of the telescopic shock absorption assembly in real time and a movable platform base,
the telescopic shock-absorbing component is provided with a cylinder body, two groups of springs, a piston and at least two cylinder air pipe joints,
one side of the cylinder body close to the fixed platform base is tightly connected with the fixed platform base, one side of the cylinder body far away from the fixed platform base is connected with the displacement sensor,
two groups of springs are arranged in the cylinder block and used for offsetting instantaneous impact and vibration on the piston,
the piston is coaxially mounted with the two sets of springs and has a piston head and a piston rod,
one end of the piston rod is connected with the piston head, the other end of the piston rod extends out of the cylinder body and is connected with the movable platform base,
two groups of the springs are symmetrically arranged on two sides of the piston head along the motion direction of the piston,
the air cylinder air pipe joints are sequentially arranged on the surface of the air cylinder body along the extending direction of the movement of the piston;
a polishing device for polishing the workpiece,
the manipulator controls the polishing force of the polishing device and the pose of the manipulator based on the detection results of the force sensor and the displacement sensor;
the pneumatic device is arranged on the force position control device and used for driving the grinding device to move; and (c) a second step of,
the protective device is provided with a self-adaptive disc, a magnetic cylinder, a conductor and a brush and is used for sealing and preventing dust,
one side of the self-adaptive disc is connected with the pneumatic device, the other side of the self-adaptive disc is hermetically connected with the magnetic cylinder,
the magnetic cylinders are arranged in a ring shape,
one end of the conductor is embedded in the magnetic cylinder, the other end of the conductor is connected with the brush,
the hairbrushes are densely arranged around the grinding device and face the workpiece,
the magnetic cylinder and the conductor form a magnetic damper to realize stepless telescopic motion, and the magnetic cylinder and the conductor are used for pressing the hairbrush on the surface of the workpiece and adjusting the position of the hairbrush in real time.
2. The automatically guarded force-position hybrid sander tool according to claim 1, further comprising:
wherein the force sensor is a six-dimensional force sensor,
the movable platform base is arranged on one side of the telescopic shock absorption assembly far away from the fixed platform base,
one side of the force sensor is connected with one side of the movable platform base far away from the fixed platform base, the other side of the force sensor is connected with the pneumatic device,
the displacement sensor is arranged on one side, close to the fixed platform base, of the movable platform base.
3. The automatically guarded force-position hybrid sander tool of claim 1, further comprising:
wherein the pneumatic device is provided with a shell, a rotating shaft, an impeller and at least two pneumatic air pipe joints,
one side of the shell is connected with the force sensor, the other side of the shell is connected with the grinding device,
one end of the rotating shaft extends out of the surface of the shell and is connected with the grinding device, the other end of the rotating shaft is arranged on the impeller,
the impeller is arranged in the shell and used for driving the rotating shaft to rotate,
the pneumatic air pipe joint is arranged on the surface of the shell.
4. The automatically guarded force-position hybrid sander tool according to claim 3, wherein:
wherein the grinding device is provided with a quick switching component and a grinding head,
the quick switching component is sleeved on the rotating shaft,
the polishing head is arranged at one end of the rotating shaft, synchronously rotates along with the rotating shaft and is embedded on the quick switching assembly.
5. The automatically guarded force-position hybrid sander tool of claim 4, wherein:
wherein the quick switching component is provided with an annular mounting seat, two mounting grooves, a fixing screw, a steel ball and a jacking spring,
the two mounting grooves are arranged on the annular mounting seat,
the fixing screw is arranged on the mounting groove,
the outer surface of the steel ball partially protrudes out of the inner surface of the annular mounting seat,
the jacking spring is arranged between the fixed screw and the steel ball and used for pressing the steel ball towards the center of the annular mounting seat,
the polishing head is provided with two positioning holes and is used for being matched with the steel balls to position and fix the polishing head.
6. The automatically guarded force-position hybrid sander tool of claim 1, further comprising:
wherein the adaptive disk has a dust suction hole.
Priority Applications (1)
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| CN203945212U (en) * | 2014-07-15 | 2014-11-19 | 海盐星辰工具有限公司 | Spanner grinding machine with turntable |
| CN104259948B (en) * | 2014-09-30 | 2016-08-31 | 温岭市海玛进出口有限公司 | A kind of building roof sanding apparatus collecting dust |
| CN106041695B (en) * | 2016-08-05 | 2018-04-20 | 无锡市天龙装饰材料有限公司 | A kind of easy-to-dismount five metalworkings grinding wheel |
| KR101876676B1 (en) * | 2017-04-25 | 2018-07-09 | 경남대학교 산학협력단 | 6-axis compliance device with force/torque sensing capability |
| CN111745536B (en) * | 2019-03-26 | 2021-10-26 | 中国科学院宁波材料技术与工程研究所 | Gas-electric hybrid power control end effector for robot |
| CN211765436U (en) * | 2020-03-05 | 2020-10-27 | 西南交通大学 | Self-adaptive cleaning mechanism for composite insulator on train roof |
| CN112192419B (en) * | 2020-08-28 | 2021-10-15 | 南京昱晟机器人科技有限公司 | Sheet metal polishing robot convenient to operate for machining |
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