CN108406526B - Active and passive composite flexible polishing method and device - Google Patents
Active and passive composite flexible polishing method and device Download PDFInfo
- Publication number
- CN108406526B CN108406526B CN201810280984.1A CN201810280984A CN108406526B CN 108406526 B CN108406526 B CN 108406526B CN 201810280984 A CN201810280984 A CN 201810280984A CN 108406526 B CN108406526 B CN 108406526B
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- abrasive belt
- guide rod
- polishing
- pull rod
- rod
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- 238000005498 polishing Methods 0.000 title claims abstract description 75
- 239000002131 composite material Substances 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 34
- 230000008859 change Effects 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 37
- 239000000463 material Substances 0.000 claims description 17
- 238000007517 polishing process Methods 0.000 claims description 10
- 230000000903 blocking effect Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 239000002245 particle Substances 0.000 claims description 7
- 239000004576 sand Substances 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 239000004744 fabric Substances 0.000 claims description 4
- 239000004745 nonwoven fabric Substances 0.000 claims description 4
- 239000000853 adhesive Substances 0.000 claims 1
- 230000001070 adhesive effect Effects 0.000 claims 1
- 238000003754 machining Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 239000002585 base Substances 0.000 description 3
- 239000011230 binding agent Substances 0.000 description 3
- 239000006061 abrasive grain Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 229920003048 styrene butadiene rubber Polymers 0.000 description 1
Classifications
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/02—Machines or devices using grinding or polishing belts; Accessories therefor for grinding rotationally symmetrical surfaces
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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
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
Abstract
After the polishing head is contacted with a workpiece, the contact force is slowly increased, the force is transmitted to a six-dimensional force sensor arranged at the front end of a pull rod hydraulic cylinder by a guide rod and a narrow sliding plate which are fixed on an upper box body, the six-dimensional force sensor collects the contact force information transmitted from the front end of the polishing head, and the telescopic movement of the pull rod is controlled by controlling the oil quantity flowing through the pull rod hydraulic cylinder through adjusting a servo proportional valve so as to change the contact force of the polishing head and the workpiece; a flexible abrasive belt with variable elasticity is adopted. And providing an active-passive composite flexible polishing device. The invention has better adaptability and unlimited application range.
Description
Technical Field
The invention relates to a polishing method and a polishing device, in particular to polishing of a rotary shell part.
Background
In modern technology, abrasive belts are an indispensable processing method in the technical field of polishing as a novel technology with economical efficiency. The polishing machine has high processing efficiency and can be suitable for polishing complex special-shaped workpieces. Besides, the abrasive belt can be used for processing materials which can be processed by the abrasive wheel, and also can be used for processing nonferrous metals, nonmetallic soft materials and the like, so that the abrasive belt has extremely wide application. However, the common abrasive belt polishing still has more problems, for example, in the polishing process, if the contact wheel is too soft, the situation that abrasive particles on the abrasive surface become dull but do not fall off easily occurs, and the hard contact wheel can cause the abrasive belt to rigidly contact with the surface of a workpiece, so that the abrasive particles can cause processing defects such as scratches and the like on the surface of the workpiece. On the existing force control scheme, a single main force control mode has the problem of response lag, and real-time constant force control cannot be completely achieved. A single passive compliance achieves compliant motion of the workpiece through a mechanical device capable of absorbing or storing energy. However, the problem between the high rigidity and the high flexibility of the polishing of the robot cannot be solved by the flexible mode. And the adaptability is poor, and the application range is limited.
Disclosure of Invention
In order to overcome the defects of poor adaptability and limited application range of the conventional abrasive belt polishing device, the invention provides an active and passive composite flexible polishing method and device with good adaptability and unlimited application range.
The technical scheme adopted for solving the technical problems is as follows:
after the polishing head is contacted with a workpiece, the contact force is slowly increased, the force is transmitted to a six-dimensional force sensor arranged at the front end of a guide rod of a pull rod hydraulic cylinder by a guide rod and a sliding plate which are fixed on an upper box body, the six-dimensional force sensor collects the contact force information transmitted from the front end of the polishing head, and the telescopic movement of the pull rod is controlled by controlling the oil quantity flowing through the pull rod hydraulic cylinder through adjusting a servo proportional valve so as to change the contact force of the polishing head and the workpiece; the method comprises the steps that a variable-elasticity flexible abrasive belt is adopted, the variable-elasticity flexible abrasive belt consists of a lower base layer, an elastic layer, a middle base layer and an abrasive particle layer from bottom to top, and under the condition of tensioning, the elastic layer adhered to the base layer is small in deformation due to the fact that the elastic modulus of the base layer is large and the deformation amount is small, and under the condition, the elastic layer still has good residual elasticity, and passive compliance in processing can be provided; in the case of the tangential tension of the belt of the variable elasticity flexible abrasive belt when the polishing head contacts the workpiece during polishing, the belt elastic layer still has sufficient residual elasticity in the normal direction of the variable elasticity flexible abrasive belt to provide passive contact compliance.
Further, in the variable elastic flexible abrasive belt, the base material serving as the carrier of the abrasive and the binder can be selected from cloth base, non-woven fabric or composite base material, an elastic layer with a certain thickness is adhered to the base layer through primer, sand is directly planted on the elastic layer, and a layer of base layer is continuously adhered above the elastic layer of the variable elastic flexible abrasive belt, so that sand is planted above the base layer.
The flexible abrasive belt with elasticity is of a closed structure, the installation of the abrasive belt is completed through an abrasive belt driving wheel, a spring roller mechanism, a contact wheel, a spring roller mechanism, a driven wheel and a tensioning wheel controlled by a swinging cylinder, the abrasive belt is supported by the contact wheel at the front end of an abrasive belt rod to be in contact with a workpiece in the polishing process, and the elastic layer is used for realizing the passive compliance function.
The polishing time-varying elastic flexible abrasive belt is contacted with a workpiece through the support of the contact wheel at the front end of the abrasive belt rod, and the device is driven by the mechanical arm to have a given space path planning; when polishing to different areas, the contact force is difficult to avoid to fluctuate, and fluctuation information of the contact force is collected by a six-dimensional force sensor arranged between the sliding plate and the pull rod; the front end of a guide rod of the pull rod hydraulic cylinder is provided with a rectangular plate of a slide plate, holes are formed in the periphery of the slide plate, an upper guide rod sleeve capable of allowing the guide rod to pass through is arranged on the holes, and a plurality of guide rods are arranged in the device so as to ensure the straightness of motion of the pull rod cylinder output to the rectangular plate; in addition, the guide rod close to the bottom plate and the lower guide rod sleeve are in clearance fit, so that the sliding plate and the lower guide rod sleeve can reciprocate on the guide rod, the upper guide rod sleeves on the two upper guide rods are in fixed connection with each other in relative position, the upper guide rod sleeve moves together with the sliding plate and the guide rod, and the upper guide rod is fixedly connected with the L-shaped structure, so that the movement of the upper box body is realized; the flow of the pull rod hydraulic cylinder arranged on the bottom plate is controlled by adjusting the servo proportional valve through analyzing the deviation between the real-time contact force and the ideal value, so that the extension and retraction of the guide rod of the pull rod hydraulic cylinder are controlled.
The mechanical arm is fixedly connected to the base, and the path planning aiming at the surface polishing of different parts is completed by the mechanical arm; however, when the polishing is performed by completing the path planning, the contact force can fluctuate in real time due to the shape and position change of the contact surface, however, the mechanical arm cannot adjust the polishing path in real time according to the change of the contact force, i.e. constant force polishing cannot be realized.
The servo proportional valve is an electrohydraulic servo proportional valve, a hydraulic pull rod cylinder is connected to a bottom plate through a bolt, and an oil inlet and an oil outlet of the hydraulic cylinder are connected to the electrohydraulic servo proportional valve through an oil pipe; the front end of the hydraulic cylinder pull rod is provided with a six-dimensional force sensor, the information of the contact force change collected by the six-dimensional force sensor is transmitted to a computer to compare the ideal contact force, and the feedback result is input into the electrohydraulic servo proportional valve in the form of an electric signal; the electrohydraulic servo proportional valve can convert the transmitted low-power electric signal into high-power hydraulic energy to be output, so that the telescopic control of the pull rod is realized.
The active-passive composite flexible polishing device comprises an active-passive compliant mechanism, a mechanical arm and a rotary workbench, wherein the active-passive compliant mechanism is arranged at the action end of the mechanical arm, the mechanical arm is arranged on a base, and the execution end of the active-passive compliant mechanism is positioned on a polishing station of the rotary workbench;
the active and passive compliant mechanism comprises an upper box body, a lower box body and a bottom plate, a pull rod hydraulic cylinder is fixedly arranged on the bottom plate, a guide rod of the pull rod hydraulic cylinder is connected with a six-dimensional force sensor, the other end of the six-dimensional force sensor is connected to a sliding plate, the sliding plate is in sliding connection with the guide rod on the bottom plate, the sliding plate is fixedly connected with the guide rod of the upper box body, the integral linear motion of the upper box body and the abrasive belt rod is realized, and the telescopic motion of the pull rod is controlled by adjusting the oil quantity flowing through the pull rod hydraulic cylinder through a servo proportional valve; the upper box body is provided with a variable-elasticity flexible abrasive belt, and the variable-elasticity flexible abrasive belt is composed of a lower base layer, an elastic layer, a middle base layer and an abrasive particle layer from bottom to top.
Furthermore, the variable elastic flexible abrasive belt is a closed abrasive belt, the installation of the abrasive belt is completed through an abrasive belt driving wheel, a spring roller mechanism, a contact wheel, a spring roller mechanism, a driven wheel and a tensioning wheel controlled by a swinging cylinder, the variable elastic flexible abrasive belt is installed through the abrasive belt driving wheel, the driven wheel, the tensioning wheel and a grinding contact wheel installed at the front end of an abrasive belt rod, the attachment of the variable elastic flexible abrasive belt and the abrasive belt rod is realized through the spring roller mechanism, and the tensioning of the abrasive belt is completed through a rotary swinging cylinder; the edge of the abrasive belt rod is provided with a section groove, and the section groove is matched with a blocking fork of the spring roller mechanism, so that the blocking fork is clamped in the groove of the abrasive belt rod to prevent the abrasive belt from sliding sideways in the processing process.
The rotating shaft of the abrasive belt driving wheel is provided with a driven gear which is meshed with a driving gear, and the driving gear is connected with an output shaft of a driving motor.
Still further, a rectangular plate of a slide plate is arranged at the front end of the guide rod of the pull rod cylinder, holes are formed in the periphery of the slide plate, an upper guide rod sleeve which can allow the guide rod to pass through is arranged on the holes, and the guide rod is arranged in the slide plate so as to ensure the straightness of the motion of the pull rod cylinder output to the rectangular plate; in addition, the guide rod close to the bottom plate and the lower guide rod sleeve are in clearance fit, so that the sliding plate and the upper guide rod sleeve can reciprocate on the guide rod together, the upper guide rod sleeves on the two upper guide rods are in fixed connection relative to each other, the upper guide rod sleeve moves together with the sliding plate and the guide rod, and the upper guide rod is fixedly connected with the L-shaped structure, so that the movement of the upper box body is realized.
In the invention, the contact force control during abrasive belt grinding is realized by changing the constitution of the abrasive belt and adopting an electrohydraulic servo proportion structure. And matching with the space path planning capability of the mechanical arm to rapidly realize the pose and speed control of the device. The path planning of polishing processing is completed through the mechanical arm, in the polishing process, fluctuation information of contact force between the contact wheel and the workpiece can be transmitted to a computer through a six-dimensional force sensor, an electrohydraulic servo proportional valve is controlled by the computer, the stretching of a pull rod hydraulic cylinder guide rod is realized, the relative position between the contact wheel and the workpiece is regulated, and the size of the contact force is changed. The active and passive compliant composite polishing of the workpiece is realized by matching the passive compliant function provided by the variable-elasticity flexible abrasive belt.
The beneficial effects of the invention are mainly shown in the following steps: the adaptability is better, and the application range is not limited.
Drawings
Fig. 1 is an assembly view of the present invention.
Fig. 2 is an isometric view of a variable elasticity flexible abrasive belt of the present invention, wherein lower base layer 231, elastic layer 232, middle base layer 233, and abrasive grain layer 234.
Fig. 3 is an assembly view of the end mill of the present invention, in which the upper case 12, the lower case 42, and the bottom plate 43.
Fig. 4 is an assembly view of the upper case of the end mill of the present invention.
Fig. 5 is an assembly view of a lower case of the end mill of the present invention, in which a is a front view and b is a top view.
Fig. 6 is a bottom end view of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1-6, after the polishing head is contacted with a workpiece, the contact force is slowly increased, the force is transmitted to a six-dimensional force sensor arranged at the front end of a guide rod of a pull rod hydraulic cylinder by a guide rod and a sliding plate fixed on an upper box body, the six-dimensional force sensor collects the contact force information transmitted from the front end of the polishing head, and the telescopic movement of the guide rod is controlled by controlling the oil quantity flowing through the pull rod hydraulic cylinder through a servo proportional valve so as to change the contact force of the polishing head and the workpiece; the method comprises the steps that a variable-elasticity flexible abrasive belt is adopted, the variable-elasticity flexible abrasive belt consists of an upper base layer, an elastic layer, a middle base layer and an abrasive grain layer, under the condition that the abrasive belt is tensioned, the elastic layer adhered to the base layer is small in deformation due to the fact that the elastic modulus of the base layer is large, and under the condition that the elastic layer still has good residual elasticity, passive compliance in processing can be provided; in the case of the tangential tension of the belt of the variable elasticity flexible abrasive belt when the polishing head contacts the workpiece during polishing, the belt elastic layer still has sufficient residual elasticity in the normal direction of the variable elasticity flexible abrasive belt to provide passive contact compliance.
Further, in the variable elastic flexible abrasive belt, the base material serving as the carrier of the abrasive and the binder can be selected from cloth base, non-woven fabric or composite base material, an elastic layer with a certain thickness is adhered to the base layer through primer, sand is directly planted on the elastic layer, and a layer of base layer is continuously adhered above the elastic layer of the variable elastic flexible abrasive belt, so that sand is planted above the base layer.
The flexible abrasive belt with elasticity is of a closed structure, the installation of the abrasive belt is completed through an abrasive belt driving wheel, a spring roller mechanism, a contact wheel, a spring roller mechanism, a driven wheel and a tensioning wheel controlled by a swinging cylinder, the abrasive belt is supported by the contact wheel at the front end of an abrasive belt rod to be in contact with a workpiece in the polishing process, and the elastic layer is used for realizing the passive compliance function.
The polishing time-varying elastic flexible abrasive belt is contacted with a workpiece through the support of the contact wheel at the front end of the abrasive belt rod, and the device is driven by the mechanical arm to have a given space path planning; when polishing to different areas, the contact force is difficult to avoid to fluctuate, and fluctuation information of the contact force is collected by a six-dimensional force sensor arranged between the sliding plate and the pull rod; a rectangular plate with a sliding plate is arranged at the front end of a guide rod of a pull rod cylinder, holes are formed in the periphery of the sliding plate, an upper guide rod sleeve capable of allowing the guide rod to pass through is arranged on the holes, and a plurality of guide rods are arranged in the device so as to ensure the straightness of motion of the pull rod cylinder output to the rectangular plate; in addition, the guide rod close to the bottom plate and the lower guide rod sleeve are in clearance fit, so that the sliding plate and the upper guide rod sleeve can reciprocate on the guide rod together, the upper guide rod sleeves on the two upper guide rods are in fixed connection with each other in relative position, the upper guide rod sleeve moves together with the sliding plate and the guide rod, and the upper guide rod is fixedly connected with the L-shaped structure, so that the movement of the upper box body is realized; the flow of the pull rod hydraulic cylinder arranged on the bottom plate is controlled by adjusting the servo proportional valve through analyzing the deviation between the real-time contact force and the ideal value, so that the extension and retraction of the guide rod of the pull rod hydraulic cylinder are controlled.
The mechanical arm is fixedly connected to the base, and the path planning aiming at the surface polishing of different parts is completed by the mechanical arm; however, when the polishing is performed by completing the path planning, the contact force can fluctuate in real time due to the shape and position change of the contact surface, however, the mechanical arm cannot adjust the polishing path in real time according to the change of the contact force, i.e. constant force polishing cannot be realized.
The servo proportional valve is an electrohydraulic servo proportional valve, a hydraulic pull rod cylinder is connected to a bottom plate through a bolt, and an oil inlet and an oil outlet of the hydraulic cylinder are connected to the electrohydraulic servo proportional valve through an oil pipe; the front end of the hydraulic cylinder pull rod is provided with a six-dimensional force sensor, the information of the contact force change collected by the six-dimensional force sensor is transmitted to a computer to compare the ideal contact force, and the feedback result is input into the electrohydraulic servo proportional valve in the form of an electric signal; the electrohydraulic servo proportional valve can convert the transmitted low-power electric signal into high-power hydraulic energy to be output, so that the telescopic control of the pull rod is realized.
The active-passive composite flexible polishing device comprises an active-passive compliant mechanism, a mechanical arm and a rotary workbench, wherein the active-passive compliant mechanism is arranged at the action end of the mechanical arm, the mechanical arm is arranged on a base, and the execution end of the active-passive compliant mechanism is positioned on a polishing station of the rotary workbench;
the active and passive compliant mechanism comprises an upper box body, a lower box body and a bottom plate, a pull rod hydraulic cylinder is fixedly arranged on the bottom plate, a guide rod of the pull rod hydraulic cylinder is connected with a six-dimensional force sensor, the other end of the six-dimensional force sensor is connected to a sliding plate, the sliding plate is in sliding connection with the guide rod on the bottom plate, the sliding plate is fixedly connected with the guide rod of the upper box body, the integral linear motion of the upper box body and the abrasive belt rod is realized, and the telescopic motion of the pull rod is controlled by adjusting the oil quantity flowing through the pull rod hydraulic cylinder through a servo proportional valve; the upper box body is provided with a variable-elasticity flexible abrasive belt, and the variable-elasticity flexible abrasive belt is composed of a lower base layer, an elastic layer, a middle base layer and an abrasive particle layer.
Furthermore, the variable elastic flexible abrasive belt is a closed abrasive belt, the installation of the abrasive belt is completed through an abrasive belt driving wheel, a spring roller mechanism, a contact wheel, a spring roller mechanism, a driven wheel and a tensioning wheel controlled by a swinging cylinder, the variable elastic flexible abrasive belt is installed through the abrasive belt driving wheel, the driven wheel, the tensioning wheel and a grinding contact wheel installed at the front end of an abrasive belt rod, the attachment of the variable elastic flexible abrasive belt and the abrasive belt rod is realized through the spring roller mechanism, and the tensioning of the abrasive belt is completed through a rotary swinging cylinder; the edge of the abrasive belt rod is provided with a section groove, and the section groove is matched with a blocking fork of the spring roller mechanism, so that the blocking fork is clamped in the groove of the abrasive belt rod to prevent the abrasive belt from sliding sideways in the processing process.
The rotating shaft of the abrasive belt driving wheel is provided with a driven gear which is meshed with a driving gear, and the driving gear is connected with an output shaft of a driving motor.
Still further, a rectangular plate of a slide plate is arranged at the front end of the guide rod of the pull rod cylinder, holes are formed in the periphery of the slide plate, an upper guide rod sleeve which can allow the guide rod to pass through is arranged on the holes, and the guide rod is arranged in the slide plate so as to ensure the straightness of the motion of the pull rod cylinder output to the rectangular plate; in addition, the guide rod close to the bottom plate and the lower guide rod sleeve are in clearance fit, so that the sliding plate and the upper guide rod sleeve can reciprocate on the guide rod together, the upper guide rod sleeves on the two upper guide rods are in fixed connection relative to each other, the upper guide rod sleeve moves together with the sliding plate and the guide rod, and the upper guide rod is fixedly connected with the L-shaped structure, so that the movement of the upper box body is realized.
The active-passive composite flexible polishing device of the embodiment comprises a robot front end 1, a robot small arm 2, a rotating shaft 3, a connecting block 4, a robot large arm 5, a rotating platform 6, a base 7, a workpiece rotating platform 8, a workpiece 9, a driving wheel 10, a nut 11, an upper box 12, a tensioning wheel 13, a tensioning rod 14, a rotary swinging cylinder 15, a driven wheel 16, a nut 17, a bolt 18, an L-shaped connection 19, a spring 20, an abrasive belt rod 21, a contact wheel 22, a flexible abrasive belt 23 with variable elasticity, a fastening screw 24, a roller 25, a blocking fork 26, a screw 27, an L-shaped structure 28, an upper guide rod sleeve 29, a guide rod 30, a sliding plate 31, a lower guide rod sleeve 32, a bottom plate 33, a pull rod hydraulic cylinder guide rod 34, a six-dimensional force sensor 35, a pull rod hydraulic cylinder 36, a boss 37, a gear box 38, a driven bevel gear 39, a driving bevel gear 40 and a driving motor 41.
The mechanical arm is arranged on the base, the active and passive compliant mechanism is arranged at the tail end of the mechanical arm, and the space pose and the motion of the active and passive compliant mechanism are realized by controlling the motion of the mechanical arm.
The elasticity-variable flexible abrasive belt is formed by a base material serving as an abrasive and binder carrier, wherein the base material can be selected from cloth base, non-woven fabrics, composite base materials and the like. An elastic layer is adhered on the base material, and the elastic layer can be selected to be proper according to the workpiece materials and grinding parameters in the actual grinding process. For example: styrene butadiene rubber, SBS and other alternative elastomeric materials. And bonding a layer of primer on the elastic layer, bonding a layer of base layer on the primer, and implanting abrasive serving as a cutting edge and playing a role in grinding on the base layer. The material of the abrasive is also selected according to the nature of the workpiece material to be processed and the relevant parameters of grinding. The elasticity-variable flexible abrasive belt is relatively large in the tangential direction due to the elastic modulus of the base material. The deformation of the flexible abrasive belt is relatively small when the abrasive belt is ground. In this case, however, in a direction perpendicular to the direction of movement of the belt, the wires can still be elastically deformed in this direction due to the presence of the elastic layer, in order to provide contact flexibility.
The rear end of the upper box body is provided with a round hole, and under the condition that the coaxiality of an output shaft of the motor and the round hole is guaranteed, the motor is mounted on the upper box body through bolt connection, and meanwhile, the positioning requirement is met. The strength and stability of the connecting part are enhanced by arranging a boss on the upper box body at the connecting part. The end of the output shaft of the motor is connected with a group of straight bevel gears, so that the motion is transferred to the abrasive belt driving wheel.
On the bevel gear box at last box back, be connected to last box through bolted connection with the motor, connect straight-tooth bevel gear at the axle head of motor, another matched straight-tooth bevel gear is connected to a coaxial epaxial with the action wheel, and this straight-tooth bevel gear passes through key connection with the axle, realizes circumference location, cooperation nut realizes axial positioning. In the polishing process, the power of the servo motor is transmitted to a driving abrasive belt wheel shaft through a bevel gear, the driving abrasive belt wheel shaft is in circumferential positioning with a driving abrasive wheel through key connection, the motion on the shaft is transmitted to the driving abrasive wheel, and the driving abrasive wheel drives the variable-elasticity flexible abrasive belt to move in an upper box body. The bevel gear of the upper box body is provided with a gear box, so that the bevel gear is prevented from being polluted by abrasive dust in the moving process, and the service life is prevented from being influenced.
An electrohydraulic servo proportion control device is arranged below the upper box body, takes a pull rod cylinder as an output element at the tail end, and the pull rod hydraulic cylinder is connected with the bottom plate through bolts. An L-shaped connection is arranged on the bottom plate, one surface of the bottom plate is provided with a bolt connection, and the L-shaped structure is connected to the bottom plate through the bolt connection. The other half is provided with a hole for connecting the upper guide rod sleeve, the guide rod is matched with the upper guide rod sleeve, and the upper guide rod sleeve is matched with the L-shaped connection. Above the bottom plate there is the same L-shaped connection. The L-shaped connection is connected to the upper box body through a bolt, a hole on the other side is matched with an upper guide rod sleeve, and the upper guide rod sleeve is matched with the guide rod.
In the guide rod mechanism, the shaft end of the telescopic shaft of the pull rod cylinder is connected with a six-dimensional force sensor, and the other side of the six-dimensional force sensor is connected to the rectangular sliding plate. The rectangular sliding plate is provided with holes matched with four guide rods, the four holes are connected through shaft sleeves, the shaft sleeves are fixedly connected to the sliding plate, the two upper guide rod sleeves above the rectangular sliding plate are fixedly connected with the guide rods, and the two lower guide rod sleeves below the rectangular sliding plate are in clearance fit with the guide rods, so that relative sliding can be realized, and the straightness of movement can be ensured.
The contact wheel is arranged at the front end of the abrasive belt rod through a fixed rotating shaft. The contact wheel is sized to be tangent to the beveled belt bar edge line after attachment to the belt bar. The edge of the abrasive belt rod is provided with a groove, and the spring roller mechanism in the device is matched with the abrasive belt rod for use, so that the elastic abrasive belt can be pre-tensioned and positioned laterally, and the abrasive belt is prevented from shifting in the polishing process, and the processing precision is prevented from being influenced. Has good effect on improving the polishing quality of the workpiece.
The bolt is connected with the baffle fork and penetrates through the spring, and is connected to the front end of the L-shaped connection through the nut, and the spring forms certain pre-pressure by screwing the nut. A cylindrical roller is arranged in the U-shaped groove below the baffle fork. Under the action of the spring and the pressure, the cylindrical roller completes the pretension of the abrasive belt and the abrasive belt rod. The L-shaped connection is connected to the upper box body through screws.
The right side of the upper box body is provided with a rotary shaft of two belt pulleys, the rightmost side is provided with a swinging cylinder, and the rotary swinging cylinder is adopted to drive the tensioning wheel to do rotary motion by controlling the rotary rod, so that the tensioning of the variable-elasticity flexible abrasive belt is realized. An abrasive belt rod is arranged on the left side of the upper box body and is connected and fixed on the upper box body through screws. The motor is arranged on the back of the driving wheel corresponding to the upper box body, and the gear box is arranged, so that the pollution of machining abrasive dust is avoided. And a pull rod cylinder is arranged on the other side of the motor to balance the weights on the two sides. The size of the assembly body is reduced as much as possible, so that the space position movement of the device at the tail end of the mechanical arm is not limited by the size of the device.
The technical scheme and the effect of the invention are more clear and definite by further describing the specific embodiments of the invention with reference to the attached drawings.
This embodiment takes polishing a rotary shell-like workpiece 9 as an example. As shown in fig. 1 to 6, a work 9 is mounted above the work turntable 8. The mechanical arm is arranged on the base 7, and the active and passive compliant mechanism is arranged at the tail end of the mechanical arm. In the upper box body, the variable-elasticity flexible abrasive belt 23 adopts a closed structure, and is installed through the abrasive belt driving wheel 10, the driven wheel 16, the tensioning wheel 13 and the grinding contact wheel 22 installed at the front end of the abrasive belt rod 21. And the spring roller mechanism realizes the attachment of the variable-elasticity flexible abrasive belt 23 and the abrasive belt rod 21, and the tensioning of the abrasive belt is completed by using the rotary swing cylinder 15. A segment groove is formed on the edge of the belt pole 21 and cooperates with a stop fork 26 of the spring roller mechanism. The stop fork 26 is clamped in the groove of the abrasive belt rod 21 to prevent the abrasive belt from sliding sideways during processing. The running stability of the abrasive belt is improved, so that the surface accuracy of grinding is improved. The driving motor 41 for placing the driving abrasive belt wheel and the bevel gears 39 and 40 for transmission are arranged below the upper box body, the two guide rods are connected to the upper box body through bolts, the two guide rods 30 are fixedly connected with the upper guide rod sleeve 29, and the upper guide rod sleeve 29 is fixedly connected with the sliding plate 31. Meanwhile, two guide rods and a lower guide rod sleeve 32 matched with the two guide rods are also connected to the bottom plate, and the two guide rods connected to the bottom plate are in clearance fit with the lower guide rod sleeve 32 in a relatively sliding manner, so that the upper guide rod sleeve 29 is fixedly connected with the sliding plate. A pull rod hydraulic cylinder 36 is arranged on the bottom plate, a six-dimensional force sensor 35 is arranged at the end part of a guide rod of the pull rod hydraulic cylinder 36, the other end of the six-dimensional force sensor is connected to a sliding plate, and the sliding plate is connected with the four guide rod sleeves.
In the machining process, the rotary table 8 drives the workpiece 9 to perform fixed-axis rotary motion. The relative speed between the workpiece and the abrasive belt in the polishing process can be adjusted by adjusting the rotating speed of the rotary workbench. The polishing device provided by the invention realizes the adjustment of the space pose under the drive of the mechanical arm. In this example, the polishing path of the polishing head is planned for the rotary shell-like workpiece 9, and the polishing head is slowly moved near the initial machining point of the target workpiece and is slowly fed. Until the elastically flexible abrasive belt 23 is brought into engagement with the workpiece under the support of the contact wheel 22. Due to the elasticity of the variable elasticity flexible abrasive belt 23, the passive compliance of the processing can be realized. The device moves according to a preset space processing path under the control of a mechanical arm. In the machining process, as the contact force of the abrasive belt and the workpiece has great influence on the quality of the machined surface, the force change is transmitted to the six-dimensional force sensor 35 through the abrasive belt rod 21, the upper box body, the guide rod 30 and the sliding plate 31 at the place where the contact force greatly fluctuates, the six-dimensional force sensor 35 transmits the force change information to a computer in real time, and the computer transmits an electric signal to the electrohydraulic servo proportional valve by comparing the deviation between the actual value and the ideal value. The electrohydraulic servo proportional valve converts the low-power electric signal into high-power hydraulic energy to be output, controls the inlet and outlet flow of the pull rod hydraulic cylinder, and realizes the telescopic movement of the guide rod 34 of the pull rod hydraulic cylinder. The sliding plate 31 moves together with the pull rod hydraulic cylinder guide rod 34 and the six-dimensional force sensor 35 to drive the upper box body to do feeding motion in the linear direction, the relative position between the polishing head and the workpiece is changed, the contact force is directly changed, the six-dimensional force sensor at the end part of the pull rod hydraulic cylinder guide rod 34 still collects the contact force information, the electrohydraulic servo proportional valve can complete dynamic response in a very short time, the hysteresis of active compliance is avoided, and the real-time control of the contact force in the polishing process by the polishing device is realized. The polishing device well realizes the composite use of active and passive compliance functions, improves the adaptability of the device to workpieces with higher requirements on machining contact force, and ensures that the device well finishes polishing due to the strong adaptability of the mechanical arm to the path.
Claims (7)
1. The active and passive composite flexible polishing method is characterized in that after a polishing head is contacted with a workpiece, the contact force is slowly increased, the force is transmitted to a six-dimensional force sensor arranged at the front end of a guide rod of a pull rod hydraulic cylinder by a sand belt rod fixed on an upper box body and then passes through a guide rod and a sliding plate fixed on the upper box body, the six-dimensional force sensor collects contact force information transmitted from the front end of the polishing head, and the telescopic movement of the guide rod is controlled by adjusting a servo proportional valve to control the oil quantity flowing through the pull rod hydraulic cylinder so as to change the contact force of the polishing head and the workpiece; the method comprises the steps that a variable-elasticity flexible abrasive belt is adopted, the variable-elasticity flexible abrasive belt consists of a lower base layer, an elastic layer, a middle base layer and an abrasive particle layer from bottom to top, and under the condition of tensioning, the elastic layer adhered to the base layer is small in deformation due to the fact that the elastic modulus of the base layer is large and the deformation amount is small, and under the condition, the elastic layer still has good residual elasticity, and passive compliance in processing can be provided; when the polishing head contacts with a workpiece in the polishing process, under the condition that the variable elasticity flexible abrasive belt is tensioned along the tangential direction of the belt, the abrasive belt elastic layer still has enough residual elasticity in the normal direction of the variable elasticity flexible abrasive belt to provide passive contact compliance;
in the elasticity-variable flexible abrasive belt, a base material serving as an abrasive and an adhesive carrier is selected from a cloth base, a non-woven fabric or a composite base material, an elastic layer material with a certain thickness is adhered to a base layer through primer, a layer of base layer is continuously adhered above the elastic layer of the elasticity-variable flexible abrasive belt, and sand is planted above the base layer;
the flexible abrasive belt with elasticity is of a closed structure, the installation of the abrasive belt is completed through an abrasive belt driving wheel, a spring roller mechanism, a contact wheel, a spring roller mechanism, a driven wheel and a tensioning wheel controlled by a swinging cylinder, the abrasive belt is supported by the contact wheel at the front end of an abrasive belt rod to be in contact with a workpiece in the polishing process, and the elastic layer is used for realizing the passive compliance function.
2. The active-passive composite flexible polishing method as recited in claim 1, wherein: the polishing time-varying elastic flexible abrasive belt is contacted with a workpiece through the support of the contact wheel at the front end of the abrasive belt rod, and the device is driven by the mechanical arm to have a given space path planning; when polishing to different areas, the contact force is difficult to avoid to fluctuate, and fluctuation information of the contact force is collected by a six-dimensional force sensor arranged between the sliding plate and the guide rod of the pull rod hydraulic cylinder; the front end of a guide rod of the pull rod hydraulic cylinder is provided with a rectangular plate of a slide plate, holes are formed in the periphery of the slide plate, an upper guide rod sleeve capable of allowing the guide rod to pass through is arranged on the holes, and a plurality of guide rods are arranged in the device so as to ensure the straightness of motion of the pull rod cylinder output to the rectangular plate; in addition, the guide rod close to the bottom plate and the lower guide rod sleeve are in clearance fit, so that the sliding plate and the upper guide rod sleeve can reciprocate on the guide rod together, the upper guide rod sleeves on the two upper guide rods are in fixed connection with each other in relative position, the upper guide rod sleeve moves together with the sliding plate and the guide rod, and the upper guide rod is fixedly connected with the L-shaped connecting piece to realize the movement of the upper box body; the flow of the pull rod hydraulic cylinder arranged on the bottom plate is controlled by adjusting the servo proportional valve through analyzing the deviation between the real-time contact force and the ideal value, so that the extension and retraction of the guide rod of the pull rod hydraulic cylinder are controlled.
3. The active-passive composite flexible polishing method as recited in claim 2, wherein: the mechanical arm is fixedly connected to the base, and the path planning aiming at the surface polishing of different parts is completed by the mechanical arm; however, when the polishing is performed by completing the path planning, the contact force can fluctuate in real time due to the shape and position change of the contact surface, however, the mechanical arm cannot adjust the polishing path in real time according to the change of the contact force, i.e. constant force polishing cannot be realized.
4. The active-passive composite flexible polishing method as recited in claim 1, wherein: the servo proportional valve is an electrohydraulic servo proportional valve, a hydraulic pull rod cylinder is connected to a bottom plate through a bolt, and an oil inlet and an oil outlet of the hydraulic cylinder are connected to the electrohydraulic servo proportional valve through an oil pipe; the front end of the hydraulic cylinder pull rod is provided with a six-dimensional force sensor, the information of the contact force change collected by the six-dimensional force sensor is transmitted to a computer to compare the ideal contact force, and the feedback result is input into the electrohydraulic servo proportional valve in the form of an electric signal; the electrohydraulic servo proportional valve can convert the transmitted low-power electric signal into high-power hydraulic energy to be output, so that the telescopic control of the pull rod is realized.
5. A polishing apparatus for implementing the active-passive composite flexible polishing method according to claim 1, characterized in that: the polishing device comprises a driving and driven compliant mechanism, a mechanical arm and a rotary workbench, wherein the driving and driven compliant mechanism is arranged at the action end of the mechanical arm, the mechanical arm is arranged on a base, and the execution end of the driving and driven compliant mechanism is positioned on a polishing station of the rotary workbench;
the active and passive compliant mechanism comprises an upper box body, a lower box body and a bottom plate, a pull rod hydraulic cylinder is fixedly arranged on the bottom plate, a guide rod of the pull rod hydraulic cylinder is connected with a six-dimensional force sensor, the other end of the six-dimensional force sensor is connected to a sliding plate, the sliding plate is in sliding connection with the guide rod on the bottom plate, the sliding plate is fixedly connected with the guide rod of the upper box body, the integral linear motion of the upper box body and the abrasive belt rod is realized, and the telescopic motion of the guide rod is controlled by adjusting the oil quantity flowing through the pull rod hydraulic cylinder through a servo proportional valve; the upper box body is provided with a variable-elasticity flexible abrasive belt, and the variable-elasticity flexible abrasive belt consists of a lower base layer, an elastic layer, a middle base layer and an abrasive particle layer from bottom to top;
a rectangular plate with a sliding plate is arranged at the front end of a guide rod of a pull rod hydraulic cylinder, holes are formed in the periphery of the sliding plate, an upper guide rod sleeve capable of allowing the guide rod to pass through is arranged on the holes, and the guide rod is arranged in the sliding plate so as to ensure the straightness of movement of the pull rod cylinder output to the rectangular plate; in addition, the guide rod close to the bottom plate and the lower guide rod sleeve are in clearance fit, so that the sliding plate and the upper guide rod sleeve can reciprocate on the guide rod together, the upper guide rod sleeves on the two upper guide rods are in fixed connection with each other in relative position, the upper guide rod sleeve moves together with the sliding plate and the guide rod, and the upper guide rod is fixedly connected with the L-shaped connecting piece, so that the movement of the upper box body is realized.
6. The polishing apparatus according to claim 5, wherein: the variable elastic flexible abrasive belt is a closed abrasive belt, the installation of the abrasive belt is completed through an abrasive belt driving wheel, a spring roller mechanism, a contact wheel, a spring roller mechanism, a driven wheel and a tensioning wheel controlled by a swinging cylinder, the installation of the variable elastic flexible abrasive belt is realized through the abrasive belt driving wheel, the driven wheel, the tensioning wheel and a grinding contact wheel arranged at the front end of an abrasive belt rod, the attachment of the variable elastic flexible abrasive belt and the abrasive belt rod is realized through the spring roller mechanism, and the tensioning of the abrasive belt is completed through a rotating swinging cylinder; the edge of the abrasive belt rod is provided with a section groove, and the section groove is matched with a blocking fork of the spring roller mechanism, so that the blocking fork is clamped in the groove of the abrasive belt rod to prevent the abrasive belt from sliding sideways in the processing process.
7. The polishing apparatus according to claim 6, wherein: the rotating shaft of the abrasive belt driving wheel is provided with a driven gear which is meshed with a driving gear, and the driving gear is connected with an output shaft of a driving motor.
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