CN108908117B - Constant force actuator for installing polishing head - Google Patents
Constant force actuator for installing polishing head Download PDFInfo
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- CN108908117B CN108908117B CN201810769480.6A CN201810769480A CN108908117B CN 108908117 B CN108908117 B CN 108908117B CN 201810769480 A CN201810769480 A CN 201810769480A CN 108908117 B CN108908117 B CN 108908117B
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- polishing head
- polishing
- cylinder
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- 238000005498 polishing Methods 0.000 title claims description 115
- 230000001105 regulatory effect Effects 0.000 claims abstract description 33
- 238000006073 displacement reaction Methods 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 239000000428 dust Substances 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 4
- 238000005192 partition Methods 0.000 claims 4
- 125000006850 spacer group Chemical group 0.000 claims 1
- 238000000926 separation method Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 239000002131 composite material Substances 0.000 description 4
- 238000007517 polishing process Methods 0.000 description 4
- 238000002955 isolation Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000004088 simulation Methods 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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention relates to a constant force actuator for mounting a sanding head. The device comprises an actuator support, a double-acting low-friction cylinder, an output end flange, a clearance fit type linear bearing, a linear displacement sensor, an electric control system and a universal movable mechanism, wherein the double-acting low-friction cylinder is arranged at the central part of the actuator support through a cylinder body; the first electric proportional pressure regulating valve and the second electric proportional pressure regulating valve of the electric control system are arranged at the output end of the air source main control valve in parallel, and the output ends of the first electric proportional pressure regulating valve and the second electric proportional pressure regulating valve are respectively communicated with the chambers at the two sides of the piston of the double-acting low-friction cylinder; the output end of a piston rod of the air cylinder is connected and can drive the flange of the output end to axially move; the clearance fit type linear bearing is arranged on the outer side of the double-acting low-friction cylinder, and the output end flange is connected with the actuator support through the clearance fit type linear bearing; the linear displacement sensor is arranged on the side surface of the double-acting low-friction cylinder; the universal movable mechanism is connected with and arranged at the lower part of the output end flange.
Description
Technical Field
The invention relates to the technical field of surface polishing of curved surface parts, in particular to a constant force actuator for installing a polishing head.
Background
In industrial processes, it is applied to many various types of large-size complex curved parts that require grinding prior to painting. At present, a manual polishing process is mainly adopted for polishing, so that the problems of serious noise pollution, low efficiency, high labor cost and unstable polishing quality are urgently needed to be solved.
For example, in the technical field of aircraft manufacturing, the spatial curved carbon fiber composite material aircraft structural member has the characteristics of thin wall, weak rigidity, no accurate clamping reference, inconsistent actual size of parts and mathematical model size, easy deformation after clamping and the like, and the thickness of the parts is less than or equal to 0.03mm after polishing and removal, and the parts are required to be polished uniformly. This determines that the grinding tool cannot be controlled by the robot position to directly grind the surface of the part (robot position control accuracy is low). Therefore, a constant force actuator which is suitable for the characteristics of curved surface parts and can realize flexible polishing needs to be designed and developed to solve the problem that the mechanical operation precision is inconsistent with the polished surface precision of the parts.
Accordingly, the inventors have provided a constant force actuator for mounting a sanding head.
Disclosure of Invention
The embodiment of the invention provides a constant force actuator for installing a polishing head, which can ensure that the output force of the actuator is always kept constant, and ensure that the polishing head can adjust the angle of the polishing head according to the curvature change of the surface of a part in the polishing process, so that the abrasive paper of the polishing head is fully contacted with the surface of the part, and the problem that the conventional constant force actuator cannot meet the requirement on high quality of polishing the surface of a composite material part is solved.
The embodiment of the invention provides a constant force actuator for installing a polishing head, which comprises an actuator support, a clearance fit type linear bearing, an output end flange, a double-acting low friction cylinder, a linear displacement sensor, a universal movable mechanism and an electrical control system. Wherein,
the actuator support is used for being connected with the tail end of the robot;
the double-acting low-friction cylinder is arranged at the central part of the actuator support through a cylinder body;
the electric control system comprises an air source main control valve, a first electric proportion pressure regulating valve and a second electric proportion pressure regulating valve, wherein the air source main control valve is arranged on a main road of an output end of an air source, the first electric proportion pressure regulating valve and the second electric proportion pressure regulating valve are arranged at the output end of the air source main control valve in parallel, and the output ends of the first electric proportion pressure regulating valve and the second electric proportion pressure regulating valve are respectively communicated with chambers at two sides of a piston of the double-acting low friction cylinder and are used for controlling and balancing air pressure of the chambers at two sides of the cylinder so as to keep the double-acting low friction cylinder at a constant middle part of a stroke;
the output end of the piston rod of the double-acting low-friction cylinder is connected with the output end flange and can drive the output end flange to axially move;
the clearance fit type linear bearing is arranged on the outer side of the double-acting low-friction cylinder, and the output end flange is connected with the actuator support through the clearance fit type linear bearing;
the linear displacement sensor is arranged on the side surface of the double-acting low-friction cylinder and used for detecting the stroke of a piston rod of the double-acting low-friction cylinder;
the universal movable mechanism is connected with and arranged at the lower part of the output end flange and is used for connecting a polishing head.
In a first possible implementation manner, the universal movable mechanism includes a connecting piece, a hinge shaft and a polishing head mounting seat, the connecting piece is connected with the output end flange, the polishing head mounting seat is hinged with the connecting piece through the hinge shaft, and the hinge shaft is perpendicular to the axis of the output end flange.
In combination with the foregoing possible implementation manner, in a second possible implementation manner, the polishing head mounting seat is hinged to the connecting piece through 4 hinge shafts, the 4 hinge shafts are coaxially and oppositely arranged in pairs, and axes of the two pairs of hinge shafts are mutually perpendicular.
In combination with the foregoing possible implementation manner, in a third possible implementation manner, a first inclination sensor is disposed at an upper end of the actuator support and is used for detecting a first absolute inclination of the actuator support, and a second inclination sensor is disposed at the polishing head mounting seat and is used for detecting a second absolute inclination of the polishing head mounting seat or the polishing head, so as to obtain a relative inclination angle of the polishing head mounting seat and the actuator support.
In combination with the above possible implementation manner, in a fourth possible implementation manner, a separation plate is fixedly arranged between the double-acting low friction cylinder and the output end flange, the linear displacement sensor is fixed on the actuator support, a mounting hole is formed in the separation plate, the piston rod penetrates through the mounting hole to connect the output end flange, and a fixed protection cover is arranged between the actuator support and the separation plate and is used for protecting the linear displacement sensor, the double-acting low friction cylinder and components of the electrical control system.
In combination with the foregoing possible implementation manner, in a fifth possible implementation manner, a telescopic rubber protection cover is disposed between the isolation board and the polishing head mounting seat, and is used for protecting the universal moving mechanism and following the universal moving mechanism.
In combination with the foregoing possible implementation manner, in a sixth possible implementation manner, a visual transparent protective cover is disposed at a lower end of the polishing head mounting seat, and is used for protecting the polishing head and observing a polishing state.
In combination with the above possible implementation manner, in a seventh possible implementation manner, a dust discharge port is provided on the visual transparent protective cover.
In combination with the possible implementation manner, in an eighth possible implementation manner, a stroke limit trigger point is calibrated on the double-acting low-friction cylinder, and the stroke limit trigger point is calibrated corresponding to an alarm signal of the linear displacement sensor.
In combination with the foregoing possible implementation manner, in a ninth possible implementation manner, an output end of the air source main control valve is further provided with an electrical control branch connected with the polishing head.
In summary, the double-acting low-friction air cylinder and the electric control system which is respectively communicated with the two chambers of the air cylinder and is independently controlled are arranged, so that the air cylinder is always in the middle position of the stroke of the air cylinder to be kept constant, and the displacement sensor is combined, so that the polishing force of the polishing head in the polishing process is ensured to be constant, the polishing precision is stable, and the polishing quality is improved. The constant force actuator disclosed by the invention is also provided with the universal movable mechanism, and the universal movable mechanism and the polishing head rotate relative to the actuator body, so that the constant force actuator can swing correspondingly along with different curvatures of the surface of a polished part, thereby being suitable for different part surface shapes, improving the polishing efficiency and quality, and meeting the strict requirements of complex curved surface parts on the polishing quality.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 is a schematic illustration of the sanding of large-size curved wall panels.
Fig. 2 is a schematic diagram of a prior art constant force actuator.
Fig. 3 (a) and 3 (b) are schematic cross-sectional views of a constant force actuator for mounting a sanding head according to an embodiment of the present invention.
In the figure:
100-mechanical arms; 200-constant force actuator; 300-curved surface parts; 400-tooling;
201-an actuator mount; 202-a clearance fit linear bearing; 203-an output end flange; 204-double-acting low-friction cylinder; 205-a first electrical proportional pressure regulating valve; 206-a second electrical proportional pressure regulating valve; 207-connecting piece; 208-a hinge shaft; 209-a sanding head mount; 210-grinding head; 211-a first tilt sensor; 212-a second tilt sensor; 213-separator plates; 214-a linear displacement sensor; 215-fixing the protective cover; 216-a retractable rubber boot; 217-visual transparent protective cover; 218-dust discharge opening.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, substitutions and improvements in parts, components and connections without departing from the spirit of the invention.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic illustration of the sanding of large-size curved wall panels. As shown in the figure, taking polishing of a large-size curved plane wallboard as an example, in general, a constant force actuator 200 is connected to the end of a mechanical arm 100 of a polishing robot, a curved part 300 is mounted on a tool 400, and polishing of the curved part 300 is achieved by controlling the pose of the mechanical arm 100 and the constant force actuator 200 of the robot.
Fig. 2 is a schematic diagram of a prior art constant force actuator. The structural principle of the constant force actuator developed at home and abroad at present is shown in a figure 2, wherein 2-1 is an inclination angle sensor, 2-2 is a double-acting cylinder, 2-3 is a linear displacement sensor, 2-4 is a polishing head, 2-5 is an electromagnetic valve, and 2-6 is a proportional valve. The electromagnetic valve 2-5 controls ventilation of the front cavity and the rear cavity of the double-acting cylinder 2-2, so that the polishing head 2-4 floats along the axial direction. When the lower cavity of the air cylinder is ventilated, the air pressure is regulated through the proportional valve 2-6, and the hanging weight of the grinding head 2-4 is measured based on the mechanical balance relation; after weight measurement, the electromagnetic valve is switched to the upper cavity of the air cylinder for ventilation, and the air cylinder pressure regulated by the proportional valve is added with the weight of the polishing head to be used as the polishing axial force. The inclination angle sensor 2-1 measures the swing angle position of the actuator in real time, and adjusts the gravity component force change when the proportional valve pressure compensates different swing angle positions in real time. The linear displacement sensor 2-3 measures the stroke change value of the cylinder in real time so as to adjust the pose of the robot and ensure that the cylinder works within the effective stroke. The structural constant force actuator polishing scheme composite material aircraft structural member has the following problems:
1. because the air pressure of the lower cavity of the air cylinder is zero when the polishing head of the existing actuator contacts the surface of the part, the polishing head sags to the lower end of the stroke by self weight. While the robot is programmed offline to set the sanding head to contact the part while it should be in the intermediate position of the cylinder stroke. This has the consequence that the position of the sanding head into the surface of the part deviates from the theoretical value. According to the structure, when the polishing head contacts the part after rotating, the polishing head is positioned at the lowest end of the cylinder stroke. In the process that the cylinder moves to the stroke midpoint, the polishing force precision controlled by the proportional valve cannot be stable.
2. The existing actuator has only an axial floating function, does not have angle floating, and cannot ensure that a polishing head and the surface of a part are fully attached to each other by the track precision of a robot, so that the thickness uniformity of the removal amount of the polishing surface is ensured.
3. Before polishing, the surface shape of the part needs to be measured, offline programming and simulation are carried out, the polishing head is ensured to be perpendicular to the surface normal direction of the part, and great workload is increased in the process of frequently replacing the part, so that the equipment investment cost is increased.
Fig. 3 (a) and 3 (b) are schematic cross-sectional views of a constant force actuator for mounting a sanding head according to an embodiment of the present invention. The application environment of the constant force actuator for installing a sanding head of the present invention is shown in fig. 1, and as shown in conjunction with fig. 1 and 3, the constant force actuator 200 of the present invention includes an actuator support 201, a clearance fit linear bearing 202, an output flange 203, a double-acting low friction cylinder 204, a linear displacement sensor 214, a universal motion mechanism (including a connector 207, a hinge shaft 208, and a sanding head mount 209), and an electrical control system. The actuator support 201 is used for being connected with the tail end of the robot, and the double-acting low-friction air cylinder 204 is arranged at the central part of the actuator support 201 through a cylinder body; the electric control system comprises an air source main control valve, a first electric proportion pressure regulating valve 205 and a second electric proportion pressure regulating valve 206, wherein the air source main control valve is arranged on a main road of an output end of an air source, the first electric proportion pressure regulating valve 205 and the second electric proportion pressure regulating valve 206 are arranged at the output end of the air source main control valve in parallel, and the output ends of the first electric proportion pressure regulating valve 205 and the second electric proportion pressure regulating valve 206 are respectively communicated with chambers on two sides of a piston of the double-acting low friction air cylinder 204 and are used for controlling and balancing air pressure of the chambers on two sides of the air cylinder so that the air cylinder is kept constant in the middle of a stroke; the output end of the piston rod of the double-acting low-friction cylinder 204 is connected and can drive the output end flange 203 to axially move; at least two clearance fit type linear bearings 202 (other forms of clearance fit type linear bearing pairs can be adopted, such as an axial bearing with a spline) are arranged on the outer side of the double-acting low friction cylinder 204, and an output end flange 203 is connected with an actuator support 201 through the clearance fit type linear bearings 202; the linear displacement sensor 214 is disposed on a side surface of the double-acting low friction cylinder 204, and is used for detecting a stroke of a piston rod of the double-acting low friction cylinder 204; a universal movable mechanism is connected to and arranged at the lower part of the output end flange 203, and is used for connecting a polishing head.
According to the invention, the first electric proportional pressure regulating valve 205 and the second electric proportional pressure regulating valve 206 which are arranged in parallel are adopted and are respectively communicated with the two chambers of the double-acting low-friction air cylinder 204, and the two proportional pressure regulating valves can respectively and independently control the pressure of the two chambers of the air cylinder, so that the piston can be always kept in the middle of the air cylinder, and the constant balance of the force output by the actuator can be ensured. In addition, as the output end flange 203 is connected with the universal movable mechanism, the universal movable structure is connected with the polishing head to follow along with the change of the surface curvature of the polishing part, so that the polishing head is convenient to flexibly polish along with the shape and adaptability of the polishing part, the polishing element of the polishing head is ensured to be fully contacted with the surface of the part, the problems in the prior art are solved, and the strict requirement of the composite material part on the polishing quality is met.
Specifically, the pressure of the upper and lower chambers of the piston rod of the double-acting low-friction cylinder 204 is controlled by a double-proportion pressure regulating valve, and the pressure of the lower chamber is independently used for balancing the weight W (comprising an output end flange, a universal movable mechanism and a polishing head) arranged below the piston rod. Before the polishing head contacts the surface of the part, the cylinder piston is ensured to be positioned at the middle position of the cylinder stroke; the upper cavity is ventilated after the part is contacted, and the cylinder stroke does not need to be changed in the time period between the contact of the grinding head with the part and the start of grinding, so that the normal pressure of the grinding head can be accurately controlled when the pressure of the upper cavity is independently controlled by the proportional pressure regulating valve. Especially in the process of polishing large-scale parts, the abrasive paper of polishing is frequently changed, the polishing quality of the polishing head contacting each time and leaving the part position is difficult to control, and the electric control system through the scheme can be well solved.
The universal movable mechanism comprises a connecting piece 207, a hinge shaft 208 and a polishing head mounting seat 209, wherein the connecting piece 207 is connected with the output end flange 203, the polishing head mounting seat 209 is hinged with the connecting piece 207 through the hinge shaft 208, and the hinge shaft 208 is mutually perpendicular to the axis of the output end flange 203. In this embodiment, the polishing head mounting base 209 is hinged to the connecting member 207 through 4 hinge shafts 208, where the 4 hinge shafts 208 are disposed coaxially and oppositely, and the axes of the two pairs of hinge shafts are perpendicular to each other. Through with the first mount pad 209 of polishing with connecting piece 207 articulated, can make the first mount pad 209 of polishing rotate in predetermined range for the executor body to can drive the grinding head and adapt to different curved surfaces of polishing, make grinding head and part surface fully laminate, improve efficiency of polishing, ensure that the thickness of polishing is even.
Preferably, a first inclination sensor 211 is provided at the upper end of the actuator support 201 for detecting a first absolute inclination of the actuator support 201, and a second inclination sensor 212 is provided at the polishing head mounting seat 209 for detecting a second absolute inclination of the polishing head mounting seat 209 or the polishing head, so that a relative inclination angle of the polishing head mounting seat 209 and the actuator support 201 is obtained through dynamic monitoring and comparative calculation of the first absolute inclination and the second absolute inclination, and based on the relative inclination angle, the pose of a robot for mounting the constant force actuator of the present invention can be adjusted in real time through a control program, thereby ensuring that the polishing head swings within a safe travel range of a cylinder.
It should be noted that, the safety range of the relative inclination angle of the polishing head mounting base 209 and the actuator support 201 may be set, for example, the safety range of the relative inclination angle of the swing is set to ±4.5°, an alarm signal is sent when the swing angle exceeds the safety range, and an angle compensation signal value may be set, for example, to ±1°, when the value is reached, the robot pose is timely adjusted by the program of the control system, so as to ensure that the relative inclination angle of the polishing head mounting base 209 and the actuator support 201 is zero.
In addition, a travel limit trigger point is calibrated on the double-acting low friction cylinder 204, which is calibrated in correspondence with the alarm signal of the linear displacement sensor 214. Specifically, the middle point of the stroke of the cylinder is used as 0 point, limit trigger points are arranged at the end points of the upper stroke and the lower stroke of the piston and used as a safety alarm signal, a stroke adjustment starting signal value + -5mm can be also arranged as a starting signal value, when the stroke reaches 5mm, the pose of the robot is adjusted upwards, the stroke returns to 0 point, when the stroke reaches-5 mm, the pose of the robot is adjusted downwards, the stroke returns to 0 point, and thus the polishing head is always ensured to be positioned at the middle position of the stroke of the cylinder.
The cylinder stroke linear displacement sensor 214 can sense the axial floating value of the polishing head in real time, and the pose of the robot is timely adjusted through a control program so as to ensure that the polishing head axially floats in the safe stroke range of the cylinder. The axial direction and the normal direction swing angle are automatically adjusted, so that the polishing head can realize high-quality flexible processing on the surfaces of parts with different curved surfaces. Before polishing, the running track of the robot can be set rapidly only according to the edge size of the part, in the polishing process, the robot can completely realize closed-loop compensation according to the position sensing of the sensor, the intelligent profiling flexible polishing processing is truly realized, and the accurate polishing of the part can be realized on the basis of an unpredictable accurate mathematical model of the part.
In addition, a separation plate 213 is fixed between the double-acting low friction cylinder 204 and the output flange 203, the linear displacement sensor 214 is fixed on the actuator support 201, a mounting hole is formed in the separation plate 213, and a piston rod of the cylinder passes through the mounting hole in the separation plate 213 to be connected with the output flange 203.
A fixed protection cover 215 is provided between the actuator support 201 and the isolation plate 213, for protecting the linear displacement sensor 214, the double-acting low friction cylinder 204, and components of the electrical control system (the first electrical proportional pressure regulating valve 205, the second electrical proportional pressure regulating valve 206, and the like).
A retractable rubber protection cover 216 is arranged between the isolation plate 213 and the polishing head mounting seat 209 and is used for protecting the universal movable mechanism (comprising the connecting piece 207, the hinge shaft 208 and the polishing head mounting seat 209), and the retractable rubber protection cover 216 can follow up the universal movable mechanism, so that the swing of the retractable rubber protection cover is not limited by the protection cover.
A visual transparent protective cover 217 is provided at the lower end of the polishing head mounting seat 209 for protecting the polishing head and observing the polishing state through the visual transparent protective cover 217. Be equipped with dust discharge port 218 on this visual transparent protection casing 217, dust discharge port 218 can connect special collection device for with the dust etc. that polishes go out and collect, in order to guarantee when polishing, the part surface does not have dust to pile up, ensures the quality of polishing, makes the dust cover outside not have dust to elegant, has not polluted the environment, has also guaranteed operator's health simultaneously.
In addition, the output end of the air source total control valve is also provided with an electric control branch communicated with the polishing head.
The working flow of the constant force actuator is as follows: when the robot automatically polishes, the part is clamped on the workbench, the polishing track of the robot is planned according to the shape of the edge of the part, the robot adjusts the pose to enter the zero point of the edge of the part, the lower cavity of the actuator gives an adjusted pressure P2, the polishing head stops at the middle position of the cylinder stroke, the polishing head contacts the upper surface of the workpiece, the upper cavity of the actuator supplies air P1, the polishing head rotates, the robot drives the polishing head to move along the surface of the workpiece according to the specified track, the pose of the robot is adjusted in a micro mode according to the measured values of the linear displacement sensor 214, the first inclination sensor 211 and the second inclination sensor 212 on the constant force actuator, the polishing head reaches the track end, the pressure on the cylinder cavity is adjusted to be zero, the constant force actuator drives the polishing unit to lift up and leave the workpiece, and polishing is finished.
It should be understood that, in the present specification, each embodiment is described in an incremental manner, and the same or similar parts between the embodiments are all referred to each other, and each embodiment is mainly described in a different point from other embodiments. The invention is not limited to the specific steps and structures described above and shown in the drawings. Also, a detailed description of known method techniques is omitted here for the sake of brevity.
The foregoing is merely exemplary of the present application and is not limited thereto. Various modifications and alterations of this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (7)
1. A constant force actuator for mounting a sanding head, comprising:
the actuator support is used for being connected with the tail end of the robot;
the double-acting low-friction cylinder is arranged at the central part of the actuator support through a cylinder body;
the electric control system comprises an air source main control valve, a first electric proportion pressure regulating valve and a second electric proportion pressure regulating valve, wherein the air source main control valve is arranged on a main road of an output end of an air source, the first electric proportion pressure regulating valve and the second electric proportion pressure regulating valve are arranged at the output end of the air source main control valve in parallel, and the output ends of the first electric proportion pressure regulating valve and the second electric proportion pressure regulating valve are respectively communicated with chambers at two sides of a piston of the double-acting low friction cylinder and are used for controlling and balancing air pressure of the chambers at two sides of the cylinder so that the double-acting low friction cylinder is constantly kept at the middle part of a stroke;
the output end of the piston rod of the double-acting low-friction cylinder is connected with the output end flange and can drive the output end flange to axially move;
the clearance fit type linear bearing is arranged at the outer side of the double-acting low-friction cylinder, and the output end flange is connected with the actuator support through the clearance fit type linear bearing;
the linear displacement sensor is arranged on the side surface of the double-acting low-friction cylinder and used for detecting the stroke of a piston rod of the double-acting low-friction cylinder;
the universal movable mechanism is connected with and arranged at the lower part of the output end flange and is used for connecting a polishing head;
the universal movable mechanism comprises a connecting piece, a hinge shaft and a polishing head mounting seat, wherein the connecting piece is connected with the output end flange, the polishing head mounting seat is hinged with the connecting piece through the hinge shaft, and the hinge shaft is mutually perpendicular to the axis of the output end flange;
a first inclination sensor is arranged at the upper end of the actuator support and used for detecting a first absolute inclination of the actuator support, and a second inclination sensor is arranged at the polishing head mounting seat and used for detecting a second absolute inclination of the polishing head mounting seat or the polishing head so as to obtain a relative inclination angle of the polishing head mounting seat and the actuator support;
the polishing head mounting seat is hinged with the connecting piece through two hinge shafts, the connecting piece is hinged with the output end flange through two hinge shafts, four hinge shafts are oppositely arranged in a coaxial mode, and the axes of the two pairs of hinge shafts are mutually perpendicular.
2. The constant force actuator for installing a grinding head according to claim 1, wherein a partition plate is fixedly arranged between the double-acting low friction cylinder and the output end flange, the linear displacement sensor is vertically fixed on the partition plate, a mounting hole is formed in the partition plate, the piston rod penetrates through the mounting hole to be connected with the output end flange, and a fixed protection cover is arranged between the actuator support and the partition plate.
3. The constant force actuator for mounting a sanding head as defined in claim 2, wherein a retractable rubber boot is provided between said spacer plate and said sanding head mount for protecting and following said universal movement mechanism.
4. The constant force actuator for mounting a polishing head as claimed in claim 2, wherein a visual transparent shield is provided at a lower end of the polishing head mounting seat for protecting the polishing head and observing a polishing state.
5. The constant force actuator for mounting a sanding head as defined in claim 4, wherein a dust discharge port is provided on said visual transparent protective cover.
6. The constant force actuator for installing a sanding head as defined in claim 1, wherein a travel limit trigger point is calibrated on the double-acting low friction cylinder, the travel limit trigger point being calibrated in correspondence to an alarm signal of the linear displacement sensor.
7. The constant force actuator for installing a sanding head of any one of claims 1-6 wherein the output of the gas source master valve is further provided with an electrical control branch in communication with the sanding head.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810539773 | 2018-05-30 | ||
| CN2018105397735 | 2018-05-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108908117A CN108908117A (en) | 2018-11-30 |
| CN108908117B true CN108908117B (en) | 2024-03-22 |
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Family Applications (1)
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| CN201810769480.6A Active CN108908117B (en) | 2018-05-30 | 2018-07-13 | Constant force actuator for installing polishing head |
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| CN111390722B (en) * | 2019-01-03 | 2022-02-11 | 中国科学院沈阳自动化研究所 | Intelligent polishing device based on force control and vision technology |
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| CN110281141A (en) * | 2019-06-19 | 2019-09-27 | 禹奕智能科技（上海）有限公司 | Suitable for the reciprocal beat grinding and polishing apparatus of robot end's oilstone |
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| CN110842782B (en) * | 2019-12-25 | 2021-04-06 | 东风汽车有限公司 | Floating sensing polishing head device and constant-force polishing method |
| CN110919535B (en) * | 2020-02-19 | 2020-06-05 | 中国航空制造技术研究院 | Constant force actuator |
| CN111730457A (en) * | 2020-06-28 | 2020-10-02 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Robot workstation based on unsteady constant force grinding tool |
| CN112497019B (en) * | 2020-11-27 | 2021-09-07 | 河北工业大学 | Pneumatic gentle and agreeable end effector of polishing |
| CN113732781A (en) * | 2021-09-09 | 2021-12-03 | 孚坤智能科技(上海)有限公司 | Force-controlled floating device |
| CN113894806B (en) * | 2021-10-20 | 2023-05-05 | 武汉理工大学 | Disc type polishing head-workpiece contact interface angle deviation estimation and compensation method |
| CN115026702B (en) * | 2022-08-11 | 2022-12-02 | 四川至臻光电有限公司 | High-efficient burnishing device |
| CN115415216A (en) * | 2022-08-31 | 2022-12-02 | 湖南鸿辉重科装备制造有限公司 | Force feedback manipulator for cleaning photovoltaic panel |
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