CN105234807A - Force-controlled flange for polishing operation of industrial robot and polishing method - Google Patents
Force-controlled flange for polishing operation of industrial robot and polishing method Download PDFInfo
- Publication number
- CN105234807A CN105234807A CN201510522550.4A CN201510522550A CN105234807A CN 105234807 A CN105234807 A CN 105234807A CN 201510522550 A CN201510522550 A CN 201510522550A CN 105234807 A CN105234807 A CN 105234807A
- Authority
- CN
- China
- Prior art keywords
- air spring
- spring
- base
- industrial robot
- force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/3207—Constructional features
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a force-controlled flange for the polishing operation of an industrial robot and a polishing method. The force-controlled flange comprises an upper base, a lower base, an air spring and a proportional valve. The upper base and the lower base are arranged in a spaced mode up and down. The air spring is arranged between the upper base and the lower base. The proportional valve can adjust the pressure in the air spring. A displacement sensor is arranged between the upper base and the lower base. The proportional valve comprises a pressure sensor for monitoring the pressure in the air spring. According to the force-controlled flange for the polishing operation of the industrial robot and the polishing method, the adjustment of the contact force can be achieved; the requirement for position precision of the industrial robot in the polishing process is lowered; the production cost is reduced, and the quality of products can be improved. The force-controlled flange is simple in structure, convenient to control and easy to popularize in a grinding production line. A ball spline is selected for replacing a guiding rail and a rectilinear motion ball bearing, and the rotational degree of freedom is restrained, accordingly, the influence of the radial force (relative to the guiding rail) can be better eliminated.
Description
Technical field
The present invention relates to robotic contact's Force control system field, particularly relate to power control flange and the rubbing down method of the operation of a kind of industrial robot rubbing down.
Background technology
Over nearly 20 years, machine artificially realizes industrial automation and provides a kind of effective economic means, and it is widely used in the fields such as the removal burr of part, chamfering and grinding fine finishining.Along with robot every field apply increasingly extensive, many application requirements robots have perception and the control ability of contact force, such as robot Fine Boring, repair and scrape or in the operating process such as grinding workpiece surface, grinding and scouring, require to keep its end effector and environmental exposure.So robot completes these job tasks, the ability to contact force Shared control must be possessed.
Traditional robotic programming mode adopts the principle of definition path and speed, and that is, no matter stressed size in process, the operating path of robot and speed remain value set in advance.If surface or the size of set path and part misfit, quality problems will be produced immediately, also may damage bistrique.
Summary of the invention
The object of the present invention is to provide power control flange and the rubbing down method of the operation of a kind of industrial robot rubbing down, to overcome deficiency of the prior art.
For achieving the above object, the invention provides following technical scheme:
The embodiment of the present application discloses the power control flange of a kind of industrial robot rubbing down operation, comprise top base, bottom base, air spring and proportioning valve, described top base and bottom base are between the upper and lower every setting, described air spring is located between described top base and bottom base, described proportioning valve can regulate pressure in described air spring, be provided with displacement transducer between described top base and bottom base, described proportioning valve comprises the pressure sensor of monitoring pressure in described air spring.
Preferably, in the power control flange of above-mentioned industrial robot rubbing down operation, rail brackets is provided with between described top base and bottom base, ball spline and Compress Spring, described ball spline comprises guide rail, ball and urceolus, described rail brackets is installed on described bottom base, described urceolus is sheathed on the outside of described guide rail, described ball-shaped is formed between described urceolus and guide rail, the top of described guide rail is fixed on described top base, described ball spline is fixed on described rail brackets, described Compress Spring be sheathed on described guide rail outside and between the bottom being connected to described guide rail and rail brackets, described ball spline is positioned at the top of described Compress Spring.
Preferably, in the power control flange of above-mentioned industrial robot rubbing down operation, described ball spline is fixed on described rail brackets by flat key and spline block, and described spline block to be fixed on described rail brackets and to be positioned at the top of described ball spline.
Preferably, in the power control flange of above-mentioned industrial robot rubbing down operation, the outside of described top base and bottom base is coated with dirt-proof boot, and described air spring, rail brackets, ball spline and Compress Spring are positioned at described dirt-proof boot.
Preferably, in the power control flange of above-mentioned industrial robot rubbing down operation, the outside of described proportioning valve is provided with cover body, described cover body is fixed with the mechanical interface being connected to Industrial robots Mechanical's arm.
Preferably, in the power control flange of above-mentioned industrial robot rubbing down operation, described top base with the opposite face of bottom base protrudes out respectively the upper sealing panel and lower seal plate that are connected with described air spring end.
Disclosed herein as well is a kind of rubbing down method of power control flange, comprise: when power control flange and workpiece come in contact, top base is relative to bottom base generation relative displacement, displacement transducer returns the signal of telecommunication and sends to controller through overregulating, then controller according to the signal of telecommunication returned to proportioning valve pressure regulation signal, force value is tuned up, after the pressure of proportioning valve is set again, then to opening to gas magnetic valve, close electromagnetic valve for air discharge, air compressor starts to air spring air feed by wireway, pressure values in pressure sensor Real-Time Monitoring air spring in proportioning valve, air spring starts to extend drive top base and does off-straight motion relative to bottom base, Compress Spring now starts to be squeezed and produces restoring force F
spring, the decrement of displacement transducer Real-Time Monitoring Compress Spring, applies power F on the contact surface
contactfor the driving force F that air spring produces
pthe restoring force F produced with Compress Spring
springdifference, the signal of telecommunication that this power is decomposed into pressure sensor and displacement transducer sends controller to, it compares with the masterpiece set by controller, if identical, keep pressure values now constant, if different, then continue to regulate pressure according to the difference DELTA F between them, repeat said process until difference DELTA F is zero, finally obtain the contact force required.
Passing ratio valve of the present invention realizes controlling the pressure in air spring, is applied in the contact of workpiece to be ground and grinding tool air spring and Compress Spring are produced with joint efforts.The present invention has following advantage relative to existing technology: the adjustment that can realize contact force, reduces the requirement to industrial robot positional precision in rubbing down process, reduces production cost, and can improve the quality of products; This apparatus structure is simple, is convenient to control, and is easy to the popularization on grinding production line; Select ball spline to replace guide rail and ball bushing, limited rotary freedom, the impact of radial load (relative to guide rail) can be eliminated better.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Figure 1 shows that the overall appearance figure of power control flange in the specific embodiment of the invention;
Figure 2 shows that the cut-away view of power control flange in the specific embodiment of the invention;
Figure 3 shows that the sectional view of power control flange in the specific embodiment of the invention;
Figure 4 shows that the schematic diagram of movements of proportioning valve in the specific embodiment of the invention;
Figure 5 shows that the control principle drawing of power control flange in the specific embodiment of the invention.
Detailed description of the invention
In automation rubbing down system, need to adjust contact force value between workpiece to be machined and grinding tool to guarantee the grinding quality (normally in order to increase the size of contact force) of processing work, and the power control flange in the present embodiment be able to be realized this goal.When workpiece does not contact with grinding tool, proportioning valve is regulated to provide a suitable pressure to ensure that its air-tightness is good to air spring.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be described in detail the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
Shown in ginseng Fig. 1 to Fig. 3, power control flange comprises top base 6, bottom base 3, air spring 5 and proportioning valve 18, top base 6 and bottom base 3 are between the upper and lower every setting, air spring 5 is located between top base 6 and bottom base 3, proportioning valve 18 can regulate pressure in air spring 5, be provided with displacement transducer 7 between top base 6 and bottom base 3, the upper surface of bottom base 3 is provided with the location-plate 13 of fixed displacement sensor.Proportioning valve 18 comprises the pressure sensor of monitoring pressure in air spring 5.
Rail brackets 15, ball spline and Compress Spring 16 is provided with between top base 6 and bottom base 3, ball spline comprises guide rail 10, ball and urceolus 12, rail brackets 15 is installed on bottom base 3, urceolus 12 is sheathed on the outside of guide rail, ball-shaped is formed between urceolus 12 and guide rail, the top of guide rail is fixed on top base 6, ball spline is fixed on rail brackets 15, Compress Spring 16 is sheathed on the outside of guide rail and is connected between the bottom of guide rail and rail brackets 15, and ball spline is positioned at the top of Compress Spring 16.Connector 17 is fixed on the bottom of guide rail 10, is used for limit compression spring 16.
Ball spline is fixed on rail brackets 15 by flat key 9 and spline block 19, and spline block 19 to be fixed on rail brackets 15 and to be positioned at the top of ball spline.
The outside of top base 6 and bottom base 3 is coated with dirt-proof boot 14, and air spring 5, rail brackets 15, ball spline and Compress Spring 16 are positioned at dirt-proof boot 14.Dirt-proof boot 14 two ends are fixed on upper bottom base by garter spring 20.
The outside of proportioning valve 18 is provided with cover body 2, cover body 2 is fixed with the mechanical interface 1 being connected to Industrial robots Mechanical's arm.
Top base 6 with the opposite face of bottom base 3 protrudes out respectively the upper sealing panel 8 and lower seal plate 4 that are connected with air spring 5 end.
Figure 4 shows that the operating principle of proportioning valve.Wherein, represented by dotted arrows gas circuit, solid line represents circuit, and SUP represents air supply opening, and EXH represents exhaust outlet, and OUT indicates gas port and is connected with air spring 5.1. represent to gas magnetic valve, 2. represent electromagnetic valve for air discharge, 3. representative pressure sensor, be used for monitoring the pressure values of gas outlet, 4. represent control loop.
The control principle drawing of the control of power shown in Fig. 5 flange.Wherein S represents the effective area of air spring 5, and k represents the coefficient of elasticity of Compress Spring, F
prepresent the driving force that in air spring 5, air pressure produces, its value is PS, F
springrepresent the restoring force that Compress Spring produces, its value is kx, F
contactrepresent actual contact force, its value is F
p-F
spring, F
requiredfor the power required in actual rubbing down process, Δ F is actual contact force and the difference requiring power, u be controller according to Δ F to the pressure regulation signal of proportioning valve 18.
The operation principle of this case power control flange is: when a contact is made, relative displacement is there is in top base 6 relative to bottom base 3, displacement transducer 7 returns the signal of telecommunication (as voltage or electric current) and sends to controller through overregulating, then controller according to the signal of telecommunication returned to proportioning valve 18 1 pressure regulation signals, force value is tuned up, after the pressure of proportioning valve 18 is set again, 1. become ON then to gas magnetic valve, 2. electromagnetic valve for air discharge is OFF, air compressor (diagram does not provide) starts to air spring 5 air feed by wireway, pressure sensor in proportioning valve 18 3. can pressure values (can calculate the driving force of air spring according to pressure values) in Real-Time Monitoring air spring, air spring 5 starts to extend drive top base 6 and does off-straight motion relative to bottom base 3, because guide rail 10 is fixedly connected with top base 6, guide rail 10 also opposite rail support 15 moves, frictional force when ball spline to be arranged on rail brackets to reduce guide rail movement and between rail brackets, and prevent from twisting between bottom base.Compress Spring 16 now starts to be squeezed and produces restoring force F
spring, the elongation (namely the decrement of spring) of this timer of displacement transducer 7 meeting Real-Time Monitoring, applies power F on the contact surface
contactfor the driving force F that air spring 5 produces
pthe restoring force F produced with Compress Spring 16
springdifference, this power can be decomposed into pressure sensor and 3. send controller to the signal of telecommunication of displacement transducer 7, it compares with the masterpiece required by controller, if identical, keep pressure values now constant, if different, then need to continue to regulate pressure according to the difference DELTA F between them, repeat above process until difference DELTA F is zero, finally can obtain the contact force required, guarantee the quality of rubbing down.
It should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operating space, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
The above is only the detailed description of the invention of the application; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the application's principle; can also make some improvements and modifications, these improvements and modifications also should be considered as the protection domain of the application.
Claims (7)
1. the power control flange of industrial robot rubbing down operation, it is characterized in that, comprise top base, bottom base, air spring and proportioning valve, described top base and bottom base are between the upper and lower every setting, described air spring is located between described top base and bottom base, described proportioning valve can regulate pressure in described air spring, and be provided with displacement transducer between described top base and bottom base, described proportioning valve comprises the pressure sensor of monitoring pressure in described air spring.
2. the power control flange of industrial robot rubbing down according to claim 1 operation, it is characterized in that: between described top base and bottom base, be provided with rail brackets, ball spline and Compress Spring, described ball spline comprises guide rail, ball and urceolus, described rail brackets is installed on described bottom base, described urceolus is sheathed on the outside of described guide rail, described ball-shaped is formed between described urceolus and guide rail, the top of described guide rail is fixed on described top base, described ball spline is fixed on described rail brackets, described Compress Spring be sheathed on described guide rail outside and between the bottom being connected to described guide rail and rail brackets, described ball spline is positioned at the top of described Compress Spring.
3. the power control flange of industrial robot rubbing down according to claim 2 operation, it is characterized in that: described ball spline is fixed on described rail brackets by flat key and spline block, described spline block to be fixed on described rail brackets and to be positioned at the top of described ball spline.
4. the power control flange of industrial robot rubbing down according to claim 2 operation, it is characterized in that: the outside of described top base and bottom base is coated with dirt-proof boot, described air spring, rail brackets, ball spline and Compress Spring are positioned at described dirt-proof boot.
5. the power control flange of industrial robot rubbing down according to claim 1 operation, is characterized in that: the outside of described proportioning valve is provided with cover body, described cover body is fixed with the mechanical interface being connected to Industrial robots Mechanical's arm.
6. the power control flange of industrial robot rubbing down according to claim 1 operation, is characterized in that: described top base with the opposite face of bottom base protrudes out respectively the upper sealing panel and lower seal plate that are connected with described air spring end.
7. utilize the rubbing down method of power control flange described in claim 1, it is characterized in that, comprise: when power control flange and workpiece come in contact, top base is relative to bottom base generation relative displacement, displacement transducer returns the signal of telecommunication and sends to controller through overregulating, then controller according to the signal of telecommunication returned to proportioning valve pressure regulation signal, force value is tuned up, after the pressure of proportioning valve is set again, then to open proportioning valve inside give gas magnetic valve, close electromagnetic valve for air discharge, air compressor starts to air spring air feed by wireway, pressure values in pressure sensor Real-Time Monitoring air spring in proportioning valve, air spring starts to extend drive top base and does off-straight motion relative to bottom base, Compress Spring now starts to be squeezed and produces restoring force F
spring, the decrement of displacement transducer Real-Time Monitoring Compress Spring, applies power F on the contact surface
contactfor the driving force F that air spring produces
pthe restoring force F produced with Compress Spring
springdifference, the signal of telecommunication that this power is decomposed into pressure sensor and displacement transducer sends controller to, it compares with the masterpiece set by controller, if identical, keep pressure values now constant, if different, then continue to regulate pressure according to the difference DELTA F between them, repeat said process until difference DELTA F is zero, finally obtain the contact force required.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510522550.4A CN105234807A (en) | 2015-08-24 | 2015-08-24 | Force-controlled flange for polishing operation of industrial robot and polishing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510522550.4A CN105234807A (en) | 2015-08-24 | 2015-08-24 | Force-controlled flange for polishing operation of industrial robot and polishing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105234807A true CN105234807A (en) | 2016-01-13 |
Family
ID=55032756
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510522550.4A Pending CN105234807A (en) | 2015-08-24 | 2015-08-24 | Force-controlled flange for polishing operation of industrial robot and polishing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105234807A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751218A (en) * | 2016-05-05 | 2016-07-13 | 佛山市新鹏机器人技术有限公司 | Constant force device used for tail end of robot and control method for constant force device |
| CN105773368A (en) * | 2016-04-28 | 2016-07-20 | 广东利迅达机器人系统股份有限公司 | Force-controlled polishing device and polishing robot applying force-controlled polishing device |
| CN108346567A (en) * | 2018-04-02 | 2018-07-31 | 浙江工业大学 | A kind of Fenton polishes SIC surface methodologies with ultrasonic wave added variation rigidity Pneumatic grinding wheel |
| CN108372442A (en) * | 2018-04-02 | 2018-08-07 | 浙江工业大学 | A kind of Fenton auxiliary variation rigidity Pneumatic grinding wheel polishing SIC freeform optics surface methods |
| CN110193817A (en) * | 2019-05-29 | 2019-09-03 | 中国科学院宁波材料技术与工程研究所 | A kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot |
| CN111015461A (en) * | 2019-12-17 | 2020-04-17 | 安徽工程大学 | Flexible working tool of polishing robot |
| CN111015696A (en) * | 2019-12-25 | 2020-04-17 | 中南大学 | Force control connecting device for flexible operation of industrial robot |
| CN111136543A (en) * | 2020-01-13 | 2020-05-12 | 河北工业大学 | Grinding and polishing force control end execution device |
| CN111376265A (en) * | 2018-12-18 | 2020-07-07 | 维苏威集团有限公司 | Metallurgical casting equipment |
| CN111421423A (en) * | 2020-03-30 | 2020-07-17 | 中国科学院西安光学精密机械研究所 | Self-rotating wheel type end polishing device |
| CN113787407A (en) * | 2021-11-17 | 2021-12-14 | 江苏北人智能制造科技股份有限公司 | Floating type machining cutter connecting device |
| CN114536164A (en) * | 2022-04-26 | 2022-05-27 | 龙口通力汽车零部件制造有限公司 | Flexible grinding device for special-shaped part of automobile |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020158381A1 (en) * | 2000-03-20 | 2002-10-31 | Gunther Foerster | Pneumatic shock-absorber |
| CN201033413Y (en) * | 2007-01-25 | 2008-03-12 | 江南大学 | Pressure regulated and controlled numerically controlled fraise machine self-adaption flexible buffing attachment |
| CN201974413U (en) * | 2011-01-26 | 2011-09-14 | 北京主导时代科技有限公司 | Probe positioning device of rim and spoke flaw detection system based on manipulator |
| CN103429400A (en) * | 2011-03-16 | 2013-12-04 | 菲尔罗伯蒂克斯顺从式机器人技术有限公司 | Active handling apparatus and method for contact tasks |
| CN104369064A (en) * | 2014-11-20 | 2015-02-25 | 苏州大学 | Air bag polishing tool and system and method |
| CN105196296A (en) * | 2015-08-13 | 2015-12-30 | 江苏汇博机器人技术有限公司 | Endpoint force feedback system and method applied to grinding industry robot operation |
-
2015
- 2015-08-24 CN CN201510522550.4A patent/CN105234807A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020158381A1 (en) * | 2000-03-20 | 2002-10-31 | Gunther Foerster | Pneumatic shock-absorber |
| CN201033413Y (en) * | 2007-01-25 | 2008-03-12 | 江南大学 | Pressure regulated and controlled numerically controlled fraise machine self-adaption flexible buffing attachment |
| CN201974413U (en) * | 2011-01-26 | 2011-09-14 | 北京主导时代科技有限公司 | Probe positioning device of rim and spoke flaw detection system based on manipulator |
| CN103429400A (en) * | 2011-03-16 | 2013-12-04 | 菲尔罗伯蒂克斯顺从式机器人技术有限公司 | Active handling apparatus and method for contact tasks |
| CN104369064A (en) * | 2014-11-20 | 2015-02-25 | 苏州大学 | Air bag polishing tool and system and method |
| CN105196296A (en) * | 2015-08-13 | 2015-12-30 | 江苏汇博机器人技术有限公司 | Endpoint force feedback system and method applied to grinding industry robot operation |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105773368A (en) * | 2016-04-28 | 2016-07-20 | 广东利迅达机器人系统股份有限公司 | Force-controlled polishing device and polishing robot applying force-controlled polishing device |
| CN105751218A (en) * | 2016-05-05 | 2016-07-13 | 佛山市新鹏机器人技术有限公司 | Constant force device used for tail end of robot and control method for constant force device |
| CN105751218B (en) * | 2016-05-05 | 2018-05-08 | 佛山市新鹏机器人技术有限公司 | A kind of constant force device and its control method for robot end |
| CN108346567A (en) * | 2018-04-02 | 2018-07-31 | 浙江工业大学 | A kind of Fenton polishes SIC surface methodologies with ultrasonic wave added variation rigidity Pneumatic grinding wheel |
| CN108372442A (en) * | 2018-04-02 | 2018-08-07 | 浙江工业大学 | A kind of Fenton auxiliary variation rigidity Pneumatic grinding wheel polishing SIC freeform optics surface methods |
| CN111376265A (en) * | 2018-12-18 | 2020-07-07 | 维苏威集团有限公司 | Metallurgical casting equipment |
| CN110193817A (en) * | 2019-05-29 | 2019-09-03 | 中国科学院宁波材料技术与工程研究所 | A kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot |
| CN111015461A (en) * | 2019-12-17 | 2020-04-17 | 安徽工程大学 | Flexible working tool of polishing robot |
| CN111015696A (en) * | 2019-12-25 | 2020-04-17 | 中南大学 | Force control connecting device for flexible operation of industrial robot |
| CN111015696B (en) * | 2019-12-25 | 2021-05-18 | 中南大学 | Force control connecting device for flexible operation of industrial robot |
| CN111136543A (en) * | 2020-01-13 | 2020-05-12 | 河北工业大学 | Grinding and polishing force control end execution device |
| CN111136543B (en) * | 2020-01-13 | 2020-11-13 | 河北工业大学 | Grinding and polishing force control end execution device |
| CN111421423A (en) * | 2020-03-30 | 2020-07-17 | 中国科学院西安光学精密机械研究所 | Self-rotating wheel type end polishing device |
| CN113787407A (en) * | 2021-11-17 | 2021-12-14 | 江苏北人智能制造科技股份有限公司 | Floating type machining cutter connecting device |
| CN114536164A (en) * | 2022-04-26 | 2022-05-27 | 龙口通力汽车零部件制造有限公司 | Flexible grinding device for special-shaped part of automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105234807A (en) | Force-controlled flange for polishing operation of industrial robot and polishing method | |
| CN105196296A (en) | Endpoint force feedback system and method applied to grinding industry robot operation | |
| CN206254004U (en) | A kind of robot flexibility polishing system | |
| CN103878666B (en) | A kind of free form surface robot polishing system | |
| CN108972256B (en) | Smooth abrasive belt grinding device facing free-form surface | |
| CN101983838A (en) | Milling, grinding and polishing device based on intelligent numerically-controlled platform | |
| CN108608321A (en) | One kind is about servo force control polishing workbench | |
| CN105904297B (en) | A kind of flexible polishing straight grinder device for robot end | |
| CN111451888A (en) | Robot polishing dual-control system and method based on laser limiting and constant force control | |
| CN108818303B (en) | End effector for polishing and grinding force control of robot | |
| CN105904328A (en) | Flexible polisher device for robot end | |
| CN107598747A (en) | Inner-walls of duct sanding apparatus | |
| CN109202687A (en) | Robot grinding system, grinding device and grinding control method | |
| CN109605198A (en) | A kind of flexible polishing device for robot polishing | |
| CN204622064U (en) | Robot flexibility self adaptation end equipment | |
| CN204893961U (en) | Terminal force feedback system for industrial robot operation of polishing | |
| CN110497317B (en) | Constant pressure device suitable for automatic polishing equipment | |
| CN206662964U (en) | Numerical-control polishing equipment | |
| EP0636444A4 (en) | Method and apparatus for discharge machining control. | |
| CN112338689A (en) | Control system of full-automatic polishing robot | |
| CN115922533A (en) | Pneumatic polishing force control device and control method | |
| CN102240974A (en) | Automatic elasticity compensating knife-feeding device | |
| CN212240604U (en) | Constant force control device based on welding seam is polished | |
| CN210550131U (en) | Efficient micro-removing device and terminal product | |
| CN209681363U (en) | A kind of three axis mobile systems for tin soldering machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160113 |