CN103831695B - Large-scale free form surface robot polishing system - Google Patents

Large-scale free form surface robot polishing system Download PDF

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Publication number
CN103831695B
CN103831695B CN201410123244.9A CN201410123244A CN103831695B CN 103831695 B CN103831695 B CN 103831695B CN 201410123244 A CN201410123244 A CN 201410123244A CN 103831695 B CN103831695 B CN 103831695B
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China
Prior art keywords
polishing
pneumatic
robot
control cabinet
industrial robot
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CN201410123244.9A
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Chinese (zh)
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CN103831695A (en
Inventor
王健
刘漫贤
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中国科学院自动化研究所
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Publication of CN103831695A publication Critical patent/CN103831695A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/02Frames; Beds; Carriages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/04Headstocks; Working-spindles; Features relating thereto
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00Drives or gearings; Equipment therefor
    • B24B47/10Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/14Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by liquid or gas pressure

Abstract

The invention discloses a kind of large-scale free form surface robot polishing system, it comprises pneumatic grinding head, industrial robot, robot control cabinet, traveller gantry, vision system, Pneumatic control cabinet and system control cabinet.During polishing system work, first demarcate part benchmark rapidly and accurately by the accurate calibration technique of benchmark, industrial robot is driven to arrive target surface by traveller gantry again, and drive pneumatic grinding head to polish to target surface by path planning by industrial robot, bruting process adopts pneumatic Compliant Force Control technology and normal direction polishing power control technology, effectively ensures polishing precision and polishing quality conformance; Polished after a target surface, drive industrial robot to arrive next target surface by traveller gantry, industrial robot drives pneumatic grinding head to polish by path planning again, progressively completes the polishing of all free form surfaces so in order.Structure of the present invention is simple, and working range is wide, is applicable to the polishing of large-scale free form surface.

Description

Large-scale free form surface robot polishing system
Technical field
The present invention relates to Industrial Robot Technology field, particularly relate to a kind of large-scale free form surface robot polishing system.
Background technology
Current large-scale free form surface sanding and polishing is substantially all come by experience by artificial hand-held power tool, this makes polishing pressure and polishing path be difficult to keep uniformity, badly influence the polishing quality of product, simultaneously, for the workpiece that volume is larger, manual polishing finite rate, makes working (machining) efficiency lower, and the bad environments of sanding and polishing, healthy to labourer of serious threat.
At present, in commercial Application, there have been commercial product in the companies such as ABB, KUKA, FANUC for robot polishing system, but great majority are the polishings for miniature parts, for the polishing of large-scale Free-form Surface Parts, the solution of intelligent robot polishing system also imperfect at present.
Summary of the invention
For above-mentioned Problems existing, the present invention proposes a kind of large-scale free form surface robot polishing system, described system comprises: traveller gantry, industrial robot, robot control cabinet, pneumatic grinding head, vision system, Pneumatic control cabinet, system control cabinet, described large-scale free form surface robot polishing system realizes the motion of traveller gantry and industrial robot by control instruction, and the tool marks stayed after driving pneumatic grinding head effectively to remove digital control processing according to path planning, part to be processed surface is made to obtain lower surface roughness and the higher accuracy of form and position, significantly reduce labour intensity and the production cost of workman, improve die surface quality and working (machining) efficiency.
The one large-scale free form surface robot polishing system that the present invention proposes comprises: traveller gantry, industrial robot 4, pneumatic grinding head 5, vision system, robot control cabinet 8, Pneumatic control cabinet 9 and system control cabinet 10, wherein:
Described traveller gantry moves in three directions on a large scale for making industrial robot 4 mounted thereto;
Described industrial robot 4 is fixedly mounted on the slide saddle member 3 of described traveller gantry, to realize moving on three directions on a large scale by the slip of the slide saddle member 3 of described traveller gantry, beam part 6 and pillar parts 2, and pneumatic grinding head 5 is driven accurately to polish according to path planning by the control instruction of robot control cabinet 8;
Described pneumatic grinding head 5 is arranged on described industrial robot 4, for being driven the milling tools high-speed rotation of its end by compressed air, to the polishing of part free form surface, realized the control of Compliant Force by compressed air, to carry out uniform grinding to free form surface simultaneously;
Described vision system comprises video frequency collection card and industrial camera 7, wherein, described industrial camera 7 is arranged on described beam part 6, for precisely demarcating the benchmark of part to be processed, the i.e. identification of part benchmark and location, for robot path planning provides reference data;
Described robot control cabinet 8, for generating control instruction, controls industrial robot 4 and drives pneumatic grinding head 5 to move according to the path of advance planning;
Described Pneumatic control cabinet 9 controls according to the instruction that system control cabinet 10 sends the control that its inner pneumatic circuit realizes the rotary motion of described pneumatic grinding head 5 and Compliant Force;
Described system control cabinet 10 is for carrying out robot kinematics and dynamic (dynamical) off-line resolves, carry out communication with described robot control cabinet 8, control traveller gantry servomotor, control pneumatic circuit, IMAQ and process and human-computer dialogue.
The beneficial effect of polishing system of the present invention has: the polishing pressure of (1) pneumatic main shaft and surface to be machined is easy to control, and can ensure that bruting process polishing pressure size remains consistent, the polishing removal amount of effective guarantee part, pneumatic main shaft also possesses milling tools wear automatic-compensation function simultaneously, makes bruting process can continue to carry out; (2) the present invention adopts normal direction polishing power control technology, makes polishing pressure remain in the normal direction of surface to be machined, effectively ensure free form surface polishing precision and polishing quality conformance by robot path planning; (3) the present invention adopts the accurate calibration technique of benchmark, adopts overall Vision mode to detect the benchmark of part to be processed, utilizes nonlinear calibration method to carry out hand and eye calibrating to vision system, demarcate part benchmark rapidly and accurately; (4) adopt PROFIBUS bussing technique, achieve the real-time Communication for Power between control system and robot controller, make system monitoring convenient and expansion is good; (5) the present invention can realize the polishing of single large area Free-form Surface Parts, also can realize the batch polishing of multiple same part, possess higher grinding efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of polishing system according to an embodiment of the invention.
Fig. 2 is Working table structure schematic diagram according to an embodiment of the invention.
Fig. 3 is pillar construction schematic diagram according to an embodiment of the invention.
Fig. 4 is saddle structure schematic diagram according to an embodiment of the invention.
Fig. 5 is beam structure schematic diagram according to an embodiment of the invention.
Fig. 6 is pneumatic according to an embodiment of the invention grinding head structural representation.
Fig. 7 is that control system forms schematic diagram according to an embodiment of the invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
The present invention proposes a kind of large-scale free form surface robot polishing system, it is by integrated industrial robot, traveller gantry and pneumatic grinding head, the polishing to large-scale Free-form Surface Parts can be realized, or batch polishing is carried out to multiple part of the same type, effectively improve production efficiency.
Fig. 1 is the structural representation of polishing system according to an embodiment of the invention, as shown in Figure 1, according to one embodiment of the invention, described large-scale free form surface robot polishing system comprises traveller gantry, industrial robot 4, pneumatic grinding head 5, vision system, robot control cabinet 8, Pneumatic control cabinet 9 and system control cabinet 10, wherein:
Described traveller gantry moves on X, Y, Z tri-directions on a large scale for making industrial robot 4 mounted thereto, effectively expands the working range of industrial robot, thus can be used for large-scale free form surface of polishing;
Described traveller gantry comprises worktable part 1, pillar parts 2, slide saddle member 3 and beam part 6, and wherein, described pillar parts 2 is vertically mounted on the both sides of described worktable part 1, can move forward and backward along the direction of described worktable part 1; Described beam part 6 level is arranged between described pillar parts 2, can move up and down along the direction of described pillar parts 2; Described slide saddle member 3 is arranged on described beam part 6, can move left and right along the direction of described beam part 6, and in an embodiment of the present invention, above each parts realize respective rectilinear motion by ball guide screw nat and linear guides;
Fig. 2 is Working table structure schematic diagram according to an embodiment of the invention, as shown in Figure 2, described worktable part 1 comprises workbench 1-3 and the first moving cell, wherein, described workbench 1-3 fixes on the ground as by foundation bolt, for supporting and fixing the pillar parts 2 of part to be processed and traveller gantry; Described first moving cell symmetry is arranged on the both sides of described workbench 1-3, for installing described pillar parts 2, can move forward and backward on described workbench 1-3.Each first moving cell includes the first servomotor 1-1, the first motor cabinet 1-2, the first ball guide screw nat 1-4, the first nut seat 1-5, the first slide block 1-6, the first linear guides 1-7 and clutch shaft bearing seat 1-8, and above-mentioned parts conveniently combine to be installed to make pillar parts 2 can move forward and backward on described workbench 1-3.
Fig. 3 is pillar construction schematic diagram according to an embodiment of the invention, as shown in Figure 3, described pillar parts 2 comprises column 2-1 and is arranged on the second moving cell of described column 2-1 side, wherein, described second moving cell comprises the second servomotor 2-2, the second motor cabinet 2-3, the second nut seat 2-4, the second slide block 2-5, the second linear guides 2-6, the second ball guide screw nat 2-7 and the second bearing block 2-8.Described column 2-1 is arranged on the linear guides 1-7 of worktable part 1 by slide block 1-6, and drives ball guide screw nat 1-4 to drive left and right pillar parts 2 movable on the linear guides 1-7 of worktable part 1 by the servomotor 1-1 of worktable part 1 the right and left simultaneously;
Fig. 4 is beam structure schematic diagram according to an embodiment of the invention, as shown in Figure 4, beam part 6 comprises crossbeam 6-8 and is arranged on the 3rd moving cell of described crossbeam 6-8 side, wherein, described 3rd moving cell comprises the 3rd servomotor 6-1, the 3rd motor cabinet 6-2, the 3rd ball guide screw nat 6-3, the 3rd nut seat 6-4, the 3rd slide block 6-5, third linear guide rail 6-6 and the 3rd bearing block 6-7.Described beam part 6 is arranged on the linear guides 2-6 of the right and left pillar parts 2 by slide block 2-5, and drives ball guide screw nat 2-7 to realize beam part 6 by the servomotor 2-2 of pillar parts 2 the right and left to move up and down at pillar parts 2 simultaneously.
Fig. 5 is saddle structure schematic diagram according to an embodiment of the invention, as shown in Figure 5, described slide saddle member 3 is arranged on the linear guides 6-6 of beam part 6 by slide block 6-5, a hole is provided with in the middle of slide saddle member 3, for mounting nuts seat 6-4, and driving ball guide screw nat 6-3 to drive slide saddle member 3 to move left and right on linear guides 6-6 by the servomotor 6-2 of beam part 6, industrial robot 4 is arranged on above slide saddle member 3 and moves with slide saddle member 3 simultaneously.
Described industrial robot 4 is fixedly mounted on the slide saddle member 3 of described traveller gantry by its base, move with slide saddle member 3, thus realize moving on X, Y, Z tri-directions on a large scale by the movement of slide saddle member 3, beam part 6 and pillar parts 2, and pneumatic grinding head is driven accurately to polish according to path planning by the control instruction of robot control cabinet; In an embodiment of the present invention, described industrial robot 4 comprises 6 frees degree.
Described pneumatic grinding head 5 is arranged on described industrial robot 4, for being driven the milling tools high-speed rotation of its end by compressed air, realize the polishing to part free form surface, realized the control of Compliant Force by compressed air, to carry out uniform grinding to free form surface simultaneously; Described pneumatic grinding head 5 possesses milling tools wear automatic-compensation function;
Fig. 6 is pneumatic according to an embodiment of the invention grinding head structural representation, as shown in Figure 6, in an embodiment of the present invention, described pneumatic grinding head 5 comprises connector 5-1, the pneumatic main shaft 5-2 and milling tools 5-3 that connect successively, wherein, connector 5-1 is for being fixed on the flange being positioned at described industrial robot 4 end by pneumatic main shaft 5-2; Pneumatic main shaft 5-2 possesses pneumatic Compliant Force Control function, for controlling the polishing pressure of milling tools 5-3, the pressure size that makes to polish in bruting process remains consistent, the polishing removal amount of effective guarantee part, realize the uniform grinding to free form surface, make milling tools 5-3 High Rotation Speed and part of polishing simultaneously, and possess milling tools wear automatic-compensation function; Described milling tools 5-3 is clamped by the scroll chuck formula chuck bottom pneumatic main shaft 5-2, is fixed on the flange of industrial robot 4 end by connector 5-1, and carries out polishing processing according to path planning to part to be processed with industrial robot 4.
Wherein, described pneumatic main shaft 5-2 comprises air motor and submissive cylinder, and submissive cylinder possesses pneumatic Compliant Force Control function, for controlling the polishing pressure of milling tools 5-3, possesses milling tools wear automatic-compensation function simultaneously; Air motor is used for realizing milling tools 5-3 High Rotation Speed and part of polishing; Milling tools 5-3 selects corresponding flexible abrasive particle to polish for part to be processed according to different technological requirements, material properties.
Described vision system comprises video frequency collection card and industrial camera 7, and wherein, described industrial camera 7 is arranged on described beam part 6, such as central bottom, for precisely demarcating the benchmark of part to be processed, i.e. the identification of part benchmark and location, for robot path planning provides reference data;
In an embodiment of the present invention, described industrial camera 7 adopts short-focus lens, and pixel is higher than 1,200 ten thousand pixels.
In an embodiment of the present invention, overall Vision mode is adopted to detect the benchmark of part to be processed, for guaranteeing that the visual angle of industrial camera 7 can effectively cover whole part to be processed, industrial camera 7 is arranged on crossbeam central bottom, when carrying out benchmark calibration to part to be processed, pillar parts 2 is placed in the centre of workbench 1-3, and beam part 6 is placed in the top of column 2-1, then nonlinear calibration method is utilized to carry out hand and eye calibrating to vision system, to alleviate the impact of pattern distortion; After industrial camera 7 obtains part image, first histogram equalization method is adopted to strengthen the contrast of image, adopt median filter method to the smoothing process of image again, by edge detection operator, edge extracting is carried out to image, extract the bore edges feature of workpiece benchmark, finally determine its center line, complete the demarcation of part benchmark.
Described robot control cabinet 8 generates control instruction for the path file according to coordinates measurement Software Create, controls industrial robot 4 and drives pneumatic grinding head 5 to move according to the path of advance planning;
Described Pneumatic control cabinet 9 inside is provided with two-way pneumatic circuit, the solenoid directional control valve that the control instruction control compressed air sent by system control cabinet 10 divides two-way to enter Pneumatic control cabinet 9 respectively and pneumatic proportional valve, with realization to the rotary motion of pneumatic main shaft 5-2 of described pneumatic grinding head 5 and the control of Compliant Force, wherein, Compliant Force Control mainly regulates electric Proportion valve to make the pneumatic grinding head of bruting process compress surface to be machined all the time by system control cabinet 10 and polishing pressure size remains at setting value, the polishing removal amount of effective guarantee part, realize the uniform grinding to free form surface, possesses milling tools wear automatic-compensation function simultaneously,
Described system control cabinet 10 is for carrying out robot kinematics by profibus fieldbus and dynamic (dynamical) off-line resolves, carry out communication with described robot control cabinet 8, control traveller gantry servomotor, control pneumatic circuit, IMAQ and process and human-computer dialogue.
Fig. 7 is that control system forms schematic diagram according to an embodiment of the invention, as shown in Figure 7, before the polishing system work of described large-scale free form surface robot, the threedimensional model of coordinates measurement software to part to be processed is first utilized to process, extract processed curved surface data, then polishing region and polishing order is divided, generate control instruction, and control instruction is sent to system control cabinet 10, send control instruction to control the driving of servomotor on X, Y, Z tri-directions on traveller gantry by system control cabinet 10; Coordinates measurement software is according to curved surface data and technique for grinding database determination technological parameter simultaneously, the polishing path in each polishing region of regeneration, and is sent to robot control cabinet 8, and industrial robot 4 is polished according to path planning.
When described large-scale free form surface robot polishing system is started working, first by vision system, benchmark calibration is carried out to industrial robot 4, X on traveller gantry is controlled again by system control cabinet 10, Y, servomotor on Z tri-directions, industrial robot 4 is made to move quickly into the overhead of the suitable height in distance polishing target area, the original position that pneumatic grinding head 5 to be moved to polishing path by industrial robot 4 is controlled again by robot control cabinet 8, industrial robot 4 drives pneumatic grinding head 5 to perform polishing to free form surface according to the polishing path of planning in advance, after a slice of having polished free form surface, the first return of industrial robot 4, then controlling traveller gantry by system control cabinet 10 drives industrial robot 4 to move quickly into next polishing target area, robot control cabinet 8 controls industrial robot 4 and again drives pneumatic grinding head 5 to polish according to path planning, the free form surface of each zones of different of so progressively polishing in order, finally complete the polishing of all free form surfaces.Polished the advanced horizontal reset of postindustrial robot 4, then traveller gantry carries out Aligning control again.
The present invention's large-scale free form surface robot polishing system makes pneumatic grinding head 5 compress surface to be machined all the time by the pneumatic proportional valve controlling pneumatic circuit in Pneumatic control cabinet 9 in bruting process, and make bruting process pressure size remain constant by arranging electric Proportion valve, pass through robot path planning simultaneously, polishing pressure is made to remain in surface to be machined normal direction, namely adopt normal direction polishing power control technology, thus effectively ensure the uniformity of free form surface polishing precision and polishing quality.
The present invention is applicable to the polishing of complex free curved surface, can make the steady quality that large-scale free form surface is polished, and effect is unified, instead of workman simultaneously and works in this rugged environment of sanding and polishing, and improve Product processing efficiency.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. one kind large-scale free form surface robot polishing system, it is characterized in that, this system comprises: traveller gantry, industrial robot (4), pneumatic grinding head (5), vision system, robot control cabinet (8), Pneumatic control cabinet (9) and system control cabinet (10), wherein:
Described traveller gantry moves in three directions on a large scale for making industrial robot (4) mounted thereto;
Described industrial robot (4) is fixedly mounted on the slide saddle member (3) of described traveller gantry, to realize moving on three directions on a large scale by the slip of the slide saddle member (3) of described traveller gantry, beam part (6) and pillar parts (2), and pneumatic grinding head (5) is driven accurately to polish according to path planning by the control instruction of robot control cabinet (8);
Described pneumatic grinding head (5) is arranged on described industrial robot (4), for being driven the milling tools high-speed rotation of its end by compressed air, to the polishing of part free form surface, realized the control of Compliant Force by compressed air, to carry out uniform grinding to free form surface simultaneously;
Described vision system comprises video frequency collection card and industrial camera (7), wherein, described industrial camera (7) is arranged on described beam part (6), for precisely demarcating the benchmark of part to be processed, the i.e. identification of part benchmark and location, for robot path planning provides reference data;
Described robot control cabinet (8), for generating control instruction, controls industrial robot (4) and drives pneumatic grinding head (5) to move according to the path of advance planning;
Described Pneumatic control cabinet (9) controls according to the instruction that system control cabinet (10) sends the control that its inner pneumatic circuit realizes described pneumatic grinding head (5) rotary motion and Compliant Force;
Described system control cabinet (10) is for carrying out robot kinematics and dynamic (dynamical) off-line resolves, carry out communication with described robot control cabinet (8), control traveller gantry servomotor, control pneumatic circuit, IMAQ and process and human-computer dialogue.
2. system according to claim 1, it is characterized in that, described traveller gantry comprises worktable part (1), pillar parts (2), slide saddle member (3) and beam part (6), wherein, described pillar parts (2) is vertically mounted on the both sides of described worktable part (1), can move forward and backward along the direction of described worktable part (1); Described beam part (6) level is arranged between described pillar parts (2), can move up and down along the direction of described pillar parts (2); Described slide saddle member (3) is arranged on described beam part (6), can move left and right along the direction of described beam part (6).
3. system according to claim 2, is characterized in that, pillar parts (2), slide saddle member (3) and beam part (6) realize rectilinear motion by ball guide screw nat and linear guides.
4. system according to claim 2, it is characterized in that, described worktable part (1) comprises workbench (1-3) and the first moving cell, wherein, described workbench (1-3) fixes on the ground, for supporting and fixing the pillar parts (2) of part to be processed and traveller gantry; Described first moving cell symmetry is arranged on the both sides of described workbench (1-3), for installing described pillar parts (2), and can be upper movable at described workbench (1-3).
5. system according to claim 4, it is characterized in that, described first moving cell comprises the first servomotor (1-1), the first motor cabinet (1-2), the first ball guide screw nat (1-4), the first nut seat (1-5), the first slide block (1-6), the first linear guides (1-7) and clutch shaft bearing seat (1-8).
6. system according to claim 2, it is characterized in that, described pillar parts (2) comprises column (2-1) and is arranged on the second moving cell of described column (2-1) side, and described beam part (6) comprises crossbeam (6-8) and is arranged on the 3rd moving cell of described crossbeam (6-8) side.
7. system according to claim 6, it is characterized in that, described second moving cell comprises the second servomotor (2-2), the second motor cabinet (2-3), the second nut seat (2-4), the second slide block (2-5), the second linear guides (2-6), the second ball guide screw nat (2-7) and the second bearing block (2-8); Described 3rd moving cell comprises the 3rd servomotor (6-1), the 3rd motor cabinet (6-2), the 3rd ball guide screw nat (6-3), the 3rd nut seat (6-4), the 3rd slide block (6-5), third linear guide rail (6-6) and the 3rd bearing block (6-7).
8. system according to claim 1, it is characterized in that, described pneumatic grinding head (5) comprises the connector (5-1), pneumatic main shaft (5-2) and the milling tools (5-3) that connect successively, wherein, connector (5-1) is for being fixed on the flange being positioned at described industrial robot (4) end by pneumatic main shaft (5-2); Pneumatic main shaft (5-2), for controlling the polishing pressure of milling tools (5-3), makes milling tools (5-3) High Rotation Speed and part of polishing simultaneously; Described milling tools (5-3) is clamped by the scroll chuck formula chuck of pneumatic main shaft (5-2) bottom, be fixed on by connector (5-1) on the flange of industrial robot (4) end, and according to path planning, polishing processing carried out to part to be processed with industrial robot (4).
9. system according to claim 8, it is characterized in that, described pneumatic main shaft (5-2) comprises air motor and submissive cylinder, and submissive cylinder possesses pneumatic Compliant Force Control function, for controlling the polishing pressure of milling tools (5-3), possesses milling tools wear automatic-compensation function simultaneously; Air motor is used for realizing milling tools (5-3) High Rotation Speed and part of polishing.
10. system according to claim 8, is characterized in that, described milling tools (5-3) selects corresponding flexible abrasive particle to polish for part to be processed according to different technological requirements, material properties.
CN201410123244.9A 2014-03-28 2014-03-28 Large-scale free form surface robot polishing system CN103831695B (en)

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