CN106891339A - Polishing process and milling robot with gravity compensation - Google Patents
Polishing process and milling robot with gravity compensation Download PDFInfo
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- CN106891339A CN106891339A CN201710072556.5A CN201710072556A CN106891339A CN 106891339 A CN106891339 A CN 106891339A CN 201710072556 A CN201710072556 A CN 201710072556A CN 106891339 A CN106891339 A CN 106891339A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The present invention relates to a kind of polishing process and milling robot with gravity compensation, comprise the following steps：According to the polishing track planned, it is P to preset multiple impact point1、P2……PnAnd multistage orbit segment is P1‑P2、P2‑P3……Pn‑1‑Pn, obtain the target-angle A of each impact point；Target-angle A according to each impact point, is calculated every section of default angle of inclination B of the orbit segment；Obtain the default angle of inclination B and default polishing power F of every section of orbit segment of quality m and combination of default floatation elementN, it is calculated every section of driving force F of the orbit segmentDrive；And polished along polishing track, in bruting process, corresponding driving force F is applied on every section of orbit segmentDrive.The polishing process with gravity compensation and milling robot are avoided that milling tools and are polished between workpiece that rigid collision occurs, and raising is polished the polishing quality stability and yield rate of workpiece.
Description
Technical field
The present invention relates to grinding workpieces technical field, more particularly to a kind of polishing process and sander with gravity compensation
Device people.
Background technology
Traditional robot automatically grinding technique (being also automatic polishing technique) is the fortune according to teaching machine teaching robot
Dynamic rail mark or according to design Workpiece standard geometrical model off-line programing generation track, follow-up grinding workpieces track be all by
The track operation that this is fixed.
But in actual bruting process, due to manufacture, every physical dimension of workpiece can set with original
Meter standard geometrical model can want difference, and its own size and burr are differed, and this will influence polishing quality.When run into compared with
During big burr, milling tools by very big polishing pressure due to that can be caused rotating speed drastically to decline or stuck；When running into
During less burr, milling tools may not reach tool surfaces, eventually result in the polishing quality of some workpiece
It is undesirable, even result in workpiece and scrap.During simultaneously for polishing curved surface, due to the change of curvature of curved surface, traditional automatic polishing
Technique bistrique effect normal direction polishing force on the surface can not follow curvature of curved surface to change precise control.
The content of the invention
Based on this, it is necessary to provide a kind of polishing process and milling robot with gravity compensation, it is allowed to milling tools with
There is a certain degree of dislocation between being polished workpiece, milling tools can be avoided and be polished between workpiece that rigid collision occurs, meanwhile,
Bistrique effect normal direction polishing force on the surface can follow curvature of curved surface to change precise control, and then can improve and be polished workpiece
Polishing quality stability and yield rate.
Its technical scheme is as follows：
A kind of polishing process with gravity compensation, comprises the following steps：
According to the polishing track planned, it is P to preset multiple impact point1、P2……PnAnd multistage orbit segment is P1-P2、
P2-P3……Pn-1-Pn, obtain the target-angle A of each impact point；
Target-angle A according to each impact point, is calculated every section of default angle of inclination B of the orbit segment；
Obtain the quality m of default floatation element and combine every section of default angle of inclination B and default polishing power of the orbit segment
FN, it is calculated every section of driving force F of the orbit segmentDrive；
Polished along polishing track, in bruting process, corresponding driving force F is applied on every section of orbit segmentDrive；
Wherein, the target-angle A is FNWith the angle of horizontal plane, and -90 °≤A≤90 °, target-angle A is positioned at level
For just, target-angle A and horizontal plane coincidence are zero, and it is negative that target-angle A is located under horizontal plane when on face；The orbit segment
It is the trajectory between two adjacent impact points, n is positive integer and n >=4；FNFor bistrique acts on workpiece surface normal direction
Normal pressure, works as FDriveWith FNWhen in the same direction, FDrive=FN﹣ m.g.sin B, work as FDriveWith FNWhen reversely, FDrive=∣ m.g.sin B ∣-FN。
When the above-mentioned polishing process with gravity compensation is used, polishing rail is first planned according to the outer surface of the workpiece that need to polish
Mark, and according to the default multiple impact point in polishing track and multistage orbit segment, off-line programing is carried out, controller control operation head is pressed and beaten
The movement of mill track and respectively detection obtain the corresponding target-angle of each impact point；Further according to the target of impact point each described
Inclination angle A, is calculated every section of default angle of inclination B of the orbit segment；The quality m of default floatation element is obtained simultaneously and is combined every
The default angle of inclination B of Duan Suoshu orbit segments and default polishing power FN, it is calculated every section of driving force F of the orbit segmentDrive, carry out
Quadratic programming, and then make in bruting process, the corresponding driving force with gravity compensation can be applied on every section of orbit segment
FDrive.The polishing process with gravity compensation allows milling tools and has a certain degree of dislocation between being polished workpiece, can avoid beating
There is rigid collision in grinder, while carrying out the gravity compensation of floatation element, exclude floatation element weight between having and being polished workpiece
Interference of the power to quality of polishing, further improves the polishing quality stability and yield rate for being polished workpiece.
Technical scheme is illustrated further below：
Wherein in one embodiment, the described default angle of inclination B of the orbit segment is equal to the corresponding two adjacent mesh
The average value of the target-angle A sums of punctuate.
Wherein in one embodiment, as an orbit segment P whereini-Pi+1When being polished, corresponding two
Impact point is PiAnd Pi+1, impact point PiTarget-angle be Ai, impact point Pi+1Target-angle be Ai+1；
Work as FDriveWith FNWhen in the same direction, the orbit segment Pi-Pi+1Corresponding driving force FDrive=FN﹣ m.g.sin B=FN﹣
m.g.sin[(Ai+Ai+1)/2]；Work as FDriveWith FNWhen reversely, FDrive=∣ m.g.sin B ∣-FN=∣ m.g.sin [(Ai+Ai+1)/2]
∣-FN；Wherein, i is positive integer.
Wherein in one embodiment, also including according to the surface curvature change of the workpiece that need to polish planning polishing track.
Wherein in one embodiment, when the surface curvature of the polishing workpiece between two adjacent impact points becomes
Change is bigger, and the length of the trajectory between corresponding two adjacent impact points is smaller.
Wherein in one embodiment, the driving force FDriveSize change by adjust proportion directional control valve side
Obtained to, voltage or size of current.
Wherein in one embodiment, driving force F needed for all orbit segmentsDriveProportional reversing valve is corresponded to respectively
Direction, electric current I or voltage U.
Wherein in one embodiment, in bruting process is carried out along polishing track, also including driving force FDriveDuring change, in advance
If driving force FDriveRegulation buffer time T.
The technical program additionally provides a kind of milling robot with gravity compensation, it is characterised in that including floating connection
Mechanism, also including moveable operating head, obliquity sensor and controller；
The floating connection mechanism includes the first coupling assembly, and first coupling assembly includes the first external disk and institute
State the first external disk it is relative first in connect disk and at least two spaced guide rods, set on the outside of the first external disk
There is external connection portion, one end of all guide rods is fixed with the described first external disk, disk is connect and fixed in the other end and described first；The
Two coupling assemblies, second coupling assembly can be slided relative to the described first external disk, and second coupling assembly includes can
Disk is connect in mobile second and connects the second relative external disk of disk and at least two spaced connecting rods with second, it is described
Disk is connect in second it is arranged in the described first external disk and described first and connects between disk and be slidably connected with all guide rods,
Connect that disk is fixed, the other end is fixed with the described second external disk in one end of all connecting rods and described second, described second
External disk is provided with connecting portion；And first retractor device, first retractor device is fixedly arranged on the described first external disk, and described
First retractor device is provided with the expansion link of the regulation output pressure that can float, and disk is connect in one end of the expansion link and described second and is consolidated
Fixed connection；
The operating head is fixedly connected with the external connection portion, and the obliquity sensor is installed on the described first external disk,
The controller can be moved according to default polishing TRAJECTORY CONTROL operating head, and the controller can obtain inclination angle sensing
Inclination data and the output pressure of the expansion link of control first retractor device that device is detected.
When above-mentioned milling robot is used, the second external disk carries out installation fixation by connecting portion and milling tools；Carry out
During polishing work, the bistrique of milling tools is contacted with flexible workpiece is polished, and when larger burr is run into, expansion link can
In the case of extruding force increase, expansion link carries out shrinking the contact force for making bistrique and being polished workpiece according to default output pressure
Adapt to the change of workpiece surface；When less burr is run into, expansion link can be in the case of extruding force reduction, and stretch pole-footing
According to default output pressure extend makes bistrique adapt to the change of workpiece surface with the contact force for being polished workpiece, thus is beating
The running speed of bistrique is uniform during mill, and the sanding and polishing quality for being polished workpiece is good, and stability is high.The polishing machine
People, it is allowed to milling tools and have a certain degree of dislocation between being polished workpiece, can avoid milling tools and be polished between workpiece
Generation rigid collision, and then the polishing quality stability and yield rate for being polished workpiece can be improved.
Technical scheme is illustrated further below：
Wherein in one embodiment, the second external disk is provided with and outwardly is arranged at the outer of the described second external disk
The fixing body of side and the mounting structure of the connecting portion is complemented each other to form with the fixing body, the fixing body is provided with cooperation
Hole, the mounting structure include can elastic reset and through the mating holes side wall locking member and be fixedly arranged on described second
Keeper on the outside of external disk.
Wherein in one embodiment, also including the second retractor device for controlling the locking member flexible, described second stretches
Compression apparatus include can in the mating holes telescopic moving cone, the big end of the cone connects disk and sets in described second
Put and big end and the locking member of the cone one end extrusion fit.
Brief description of the drawings
Fig. 1 is the flow chart of the polishing process with gravity compensation of the present invention；
Fig. 2 is the structural representation of milling robot of the present invention；
Fig. 3 is the three dimensional structure diagram of floating connection mechanism of the present invention；
Fig. 4 is the control system schematic diagram of milling robot of the present invention；
Fig. 5 is the polishing operating diagram of milling robot of the present invention；
Fig. 6 is the schematic elevation view of floating connection mechanism of the present invention；
Fig. 7 is A-A half-section diagrams in Fig. 6；
Fig. 8 is the structural representation of the first coupling assembly of the present invention；
Fig. 9 is the assembling structure schematic diagram of the second coupling assembly of the present invention and expansion link；
Figure 10 is the schematic diagram of milling tools of the present invention；
Figure 11 is the schematic diagram of the floating connection mechanism with dustproof membrane of the present invention；
Figure 12 is FN、FDriveAnd the interactively schematic diagram between floatation element.
Description of reference numerals：
100th, the first coupling assembly, the 110, first external disk connects disk in 120, first, and 122, coordinate through hole, 124, dislocation
Through hole, 130, guide rod, the 200, second coupling assembly connects disk in 210, second, and 212, linear ball bearing, 220, second is external
Disk, 224, fixing body, 202, mating holes, 204, connecting portion, 230, connecting rod, 240, mounting structure, 242, locking member, 244, fixed
Position part, the 300, first retractor device, 310, expansion link, the 400, second retractor device, 410, cone, 500, connector, 510, even
Connect hole, 520, fit, 530, location hole, 600, dust cap, 10, floating connection mechanism, 20, operating head, 30, inclination angle sensing
Device, 40, controller, 50, power set, 60, proportional reversing valve, 70, milling tools 70,72, bistrique 72,80, robot motion
Mechanism, 90, polishing workpiece 90.
Specific embodiment
To make the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing and specific embodiment party
Formula, is described in further detail to the present invention.It should be appreciated that specific embodiment described herein is only used to solve
The present invention is released, protection scope of the present invention is not limited.
It should be noted that when element is referred to as " being fixedly arranged on ", " being arranged at " or " install in " another element, it can be with
Directly on another element or can also there is element placed in the middle.When an element is considered as " connection " another yuan
Part, it can be directly to another element or may be simultaneously present centering elements；One element and another element
The concrete mode being fixedly connected can be achieved by the prior art, and will not be repeated here, it is preferred to use the fixation side of threaded connection
Formula.
Unless otherwise defined, all of technologies and scientific terms used here by the article with belong to technical field of the invention
The implication that technical staff is generally understood that is identical.The term for being used in the description of the invention herein is intended merely to description tool
The purpose of the implementation method of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more
The arbitrary and all of combination of related Listed Items.
Heretofore described " first ", " second " do not represent specific quantity and order, are only used for the area of title
Point.
As shown in figure 1, a kind of polishing process with gravity compensation of the present invention, comprises the following steps：
According to the polishing track planned, it is P to preset multiple impact point1、P2……PnAnd multistage orbit segment is P1-P2、
P2-P3……Pn-1-Pn, obtain the target-angle A of each impact point；
Target-angle A according to each impact point, is calculated every section of default angle of inclination B of the orbit segment；
Obtain the quality m of default floatation element and combine every section of default angle of inclination B and default polishing power of the orbit segment
FN, it is calculated every section of driving force F of the orbit segmentDrive；
Polished along polishing track, in bruting process, corresponding driving force F is applied on every section of orbit segmentDrive；
Wherein, the target-angle A is FNWith the angle of horizontal plane, and -90 °≤A≤90 °, target-angle A is positioned at level
For just, target-angle A and horizontal plane coincidence are zero, and it is negative that target-angle A is located under horizontal plane when on face；The orbit segment
It is the trajectory between two adjacent impact points, n is positive integer and n >=4；FNFor bistrique acts on workpiece surface normal direction
Normal pressure, works as FDriveWith FNWhen in the same direction, FDrive=FN﹣ m.g.sin B, work as FDriveWith FNWhen reversely, FDrive=∣ m.g.sin B ∣-FN。
When the above-mentioned polishing process with gravity compensation is used, polishing rail is first planned according to the outer surface of the workpiece that need to polish
Mark, and according to the default multiple impact point in polishing track and multistage orbit segment, off-line programing is carried out, controller control operation head is pressed and beaten
The movement of mill track and respectively detection obtain the corresponding target-angle of each impact point；Further according to the target of impact point each described
Inclination angle A, is calculated every section of default angle of inclination B of the orbit segment；The quality m of default floatation element is obtained simultaneously and is combined every
The default angle of inclination B of Duan Suoshu orbit segments and default polishing power FN, it is calculated every section of driving force F of the orbit segmentDrive, carry out
Quadratic programming, and then make in bruting process, the corresponding driving force with gravity compensation can be applied on every section of orbit segment
FDrive.The polishing process with gravity compensation allows milling tools and has a certain degree of dislocation between being polished workpiece, can avoid beating
There is rigid collision in grinder, while carrying out the gravity compensation of floatation element, exclude floatation element weight between having and being polished workpiece
Interference of the power to quality of polishing, further improves the polishing quality stability and yield rate for being polished workpiece.
Such as Fig. 5 and shown in Figure 12, it is necessary to described in, in the process, due to polish direction change, FDriveWith floatation element
Gravity interact and obtain polishing power FN, i.e., in polishing power FNOne timing, FDrivePower, F are all with the gravity of floatation elementDriveFor
Power, the gravity of floatation element are resistance or FDriveFor the gravity of resistance, floatation element is power, FDriveCan also be small more than zero
In zero (i.e. FDriveWith FNIn the same direction or reversely).Specifically：
(1) as shown in the figure a in Figure 12, when target-angle A is located under horizontal plane, 0 ° of A ＜, 0 ° of B ＜；Now, FDrive
For the gravity of power, floatation element is resistance, FDriveWith FNIn the same direction, FN=FDrive- ∣ m.g.sin B ∣ polishing power FNMagnitude range is
[0, FDriveMaximum-∣ m.g.sin B ∣].
(2) as shown in the figure b in Figure 12, when target-angle A is located at horizontal plane, A=0 °, B=0 °；FDriveIt is power, resistance
Power is zero, FDriveWith FNIn the same direction, polishing power FN=FDrive。
(3) as shown in the figure c in Figure 12 and figure d, when target-angle A is located on horizontal plane, 0 ° of A ＞, 0 ° of B ＞；This
When, the gravity of floatation element is power；As polishing power FNDuring ＞ ∣ m.g.sinB ∣, FDriveWith FNIn the same direction, FN=∣ m.g.sinB ∣+
FDrive；As polishing power FNDuring ＜ ∣ m.g.sinB ∣, FDriveWith FNReversely, FN=∣ m.g.sinB ∣-FDrive。
Further, the described default angle of inclination B of the orbit segment is equal to corresponding two targets of the adjacent impact point
The average value of inclination angle A sums.The Curvature varying of the impact point at orbit segment two ends less, thus is obtaining the same of preferable compensation effect
When, simplify orbit segment default inclination angle programming, programming efficiency can be improved, reduction floatation element Gravity changer air exercise can be put forward again
Grind the influence of quality.Specifically, ought an orbit segment P whereini-Pi+1When being polished, corresponding two impact points are
PiAnd Pi+1, impact point PiTarget-angle be Ai, impact point Pi+1Target-angle be Ai+1；Work as FDriveWith FNWhen in the same direction, the rail
Mark section Pi-Pi+1Corresponding driving force FDrive=FN﹣ m.g.sin B=FN﹣ m.g.sin [(Ai+Ai+1)/2]；Work as FDriveWith FNWhen reversely,
FDrive=∣ m.g.sin B ∣-FN=∣ m.g.sin [(Ai+Ai+1)/2] ∣-FN；Wherein, i is positive integer.
In the above-described embodiments, also including according to the surface curvature change of the workpiece that need to polish planning polishing track, to obtain
More optimal impact point, improves polishing quality.Further, when the polishing workpiece between two adjacent impact points
Surface curvature change it is bigger, the length of the trajectory between corresponding two adjacent impact points is smaller；With should two
The surface curvature change of the polishing workpiece between the adjacent impact point is smaller, corresponding two adjacent impact points it
Between trajectory length it is bigger.The setting at default inclination angle is thus combined, the selection of two impact points need to consider workpiece surface of polishing
Influence of the change of curvature to optimization numerical value, reasonable goal-selling point, and then preferably polishing quality can be obtained.
In the above-described embodiments, the driving force FDriveSize change by adjust proportion directional control valve voltage or electricity
Stream size is obtained.Corresponding driving force F is obtained by the output pressure that thus need to only set expansion linkDrive, it is easy to accomplish driving force
FDriveRegulation.Preferably, driving force F needed for all orbit segmentsDriveThe electric current I or voltage of the proportional reversing valve are corresponded to respectively
U, is easy to off-line programing control, it is to avoid compensated again according to detection data in detection process, it is to avoid data processing is difficult, increases
Oil (gas) filling device cost；The error caused by equipment time delay is reduced simultaneously.Further, in bruting process is carried out along polishing track,
Also include driving force FDriveDuring change, preset driving force FDriveRegulation buffer time T.One is thus given before each section of track program
Fixed power actuation time so that force value when running to impact point is consistent with predetermined value, it is to avoid driving force changes and polishing track
Change is inconsistent.
As shown in Figures 2 to 5, the present invention also provides a kind of milling robot, including floating connection mechanism 10, also including can
Mobile operating head 20, obliquity sensor 30 and controller 40,；
Floating connection mechanism 10, including：First coupling assembly 100, the first coupling assembly 100 include the first external disk 110,
The spaced guide rod 130 of disk 120 and at least two, the first external disk 110 are connect in first relative with the first external disk 110
Outside be provided with external connection portion (mark), one end of all guide rods 130 is fixed with the first external disk 110, in the other end and first
Disk 120 is connect to fix；Second coupling assembly 200, the second coupling assembly 200 can be slided relative to the first external disk 110, the second connection
Component 200 includes that disk 210 is connect in moveable second connects relative the second external disk 220 and at least two of disk 210 with second
Individual spaced connecting rod 230, connect in second disk 210 be arranged in the first external disk 110 and first connect between disk 120 and
Be slidably connected with all guide rods 130, one end of all connecting rods 230 and second in connect disk 210 fix, the other end it is external with second
Disk 220 is fixed, and the second external disk 220 is provided with connecting portion 204；And first retractor device 300, the first retractor device 300 is fixedly arranged on
On first external disk 110, and the first retractor device 300 is provided with the expansion link 310 of the regulation output pressure that can float, expansion link 310
One end connect disk 210 and be fixedly connected with second；
Operating head 20 is fixedly connected with external connection portion, and obliquity sensor 30 is installed on the first external disk 110, the energy of controller 40
It is enough to be moved according to default polishing TRAJECTORY CONTROL operating head 20, and controller 40 can obtain what obliquity sensor 30 was detected
The output pressure of the expansion link 310 of the first retractor device 300 of inclination data and control.
As shown in Figures 2 to 5, when above-mentioned milling robot is used, the second external disk 220 is by connecting portion 204 and polishing
Instrument 70 carries out installation fixation；When carrying out polishing work, the bistrique 72 of milling tools 70 be polished the flexible contact of workpiece 90, when
When running into larger burr, expansion link 310 can be in the case of extruding force increase, and expansion link 310 is according to default output pressure
Power shrink the change for making bistrique 72 that workpiece surface is adapted to the contact force for being polished workpiece 90；When running into less overlap hair
During thorn, expansion link 310 can be in the case of extruding force reduction, and expansion link 310 carries out elongation according to default output pressure makes bistrique
72 changes that workpiece surface is adapted to the contact force for being polished workpiece 90, thus the running speed of bistrique 72 is equal in bruting process
Even, the sanding and polishing quality for being polished workpiece 90 is good, and stability is high.The milling robot, it is allowed to milling tools 70 and quilt
There is a certain degree of dislocation between polishing workpiece 90, milling tools 70 can be avoided and be polished between workpiece 90 that rigid collision occurs,
And then the polishing quality stability and yield rate for being polished workpiece 90 can be improved.
As shown in Figs. 3-4, in the present embodiment, also including the power set for the offer power of the first retractor device 300
50 and the proportional reversing valve 60 of the retractor device 300 of power set 50 and first is respectively communicated with, the passing ratio reversal valve of controller 40
The output pressure of 60 control expansion links 310.
Specifically, according to the external surface shape of the workpiece 90 that need to polish, the polishing track of off-line programing planning, the multiple mesh of setting
Punctuate and multistage orbit segment, first pass through the control operation of controller 40 first 20 and drive obliquity sensor 30 to detect each impact point
Target-angle A；Further according to the target-angle A of each impact point, every section of default angle of inclination B of orbit segment is calculated；By quality
Detector detection obtains the quality m of the floatation element that the second component, milling tools 70 and expansion link 310 are constituted and with reference to every section
The default angle of inclination B of orbit segment and default polishing power FN, it is calculated every section of driving force F of orbit segmentDrive；By driving force FDriveConversion
The electric current output size or voltage output size of proportional reversal valve 60, and then the expansion link 310 of correspondence orbit segment is controlled respectively
Output pressure, the configuration processor of controller 40, drive milling tools 70 along polishing track polished, in bruting process, often
Apply corresponding driving force F on section orbit segmentDrive, until completing sanding and polishing operation.In the process, changing due to polishing direction
Become, FDriveInteracted with the gravity of floatation element and obtain polishing power FN, i.e., in polishing power FNOne timing, FDriveWith the weight of floatation element
Power is all power, FDriveFor the gravity of power, floatation element is resistance or FDriveFor the gravity of resistance, floatation element is power, FDriveCan
Might be less that zero (i.e. F more than zeroDriveWith FNIn the same direction or reversely).
As shown in Fig. 4, Fig. 5 and Figure 12, further, with reference to the above-mentioned polishing process with gravity compensation：
(1) as shown in the figure a in Figure 12, when target-angle A is located under horizontal plane, 0 ° of A ＜, 0 ° of B ＜；Now, FDrive
For the gravity of power, floatation element is resistance, FDriveWith FNIn the same direction, FN=FDrive- ∣ m.g.sin B ∣ polishing power FNMagnitude range is
[0, FDriveMaximum-∣ m.g.sin B ∣], proportional reversing valve is located at L stations.
(2) as shown in the figure b in Figure 12, when target-angle A is located at horizontal plane, A=0 °, B=0 °；FDriveIt is power, resistance
Power is zero, FDriveWith FNIn the same direction, polishing power FN=FDrive, proportional reversing valve is located at L stations.
(3) as shown in the figure c in Figure 12 and figure d, when target-angle A is located on horizontal plane, 0 ° of A ＞, 0 ° of B ＞；This
When, the gravity of floatation element is power；As polishing power FNDuring ＞ ∣ m.g.sinB ∣, FDriveWith FNIn the same direction, FN=∣ m.g.sinB ∣+FDrive；
As polishing power FNDuring ＜ ∣ m.g.sinB ∣, FDriveWith FNReversely, FN=∣ m.g.sinB ∣-FDrive, proportional reversing valve is positioned at R stations.
As shown in Fig. 3, Fig. 6 and Fig. 7, a kind of floating connection mechanism 10 of the present invention, including：First coupling assembly
100, the first coupling assembly 100 include the first external disk 110 it is relative with the first external disk 110 first in connect disk 120 and extremely
Few two spaced guide rods 130, the outside of the first external disk 110 is provided with external connection portion, one end of all guide rods 130 and first
External disk 110 is fixed, connect disk 120 and fix in the other end and first；Second coupling assembly 200, the second coupling assembly 200 can be relative
Slided in the first external disk 110, the second coupling assembly 200 includes that the moveable second interior connecing in disk 210 and second connects disk 210
The second relative external disk 220 and at least two spaced connecting rods 230, disk 210 is connect in second, and to be arranged at first external
Connect in disk 110 and first between disk 120 and be slidably connected with all guide rods 130, in one end of all connecting rods 230 and second
Connect that disk 210 is fixed, the other end is fixed with the second external disk 220, the second external disk 220 is provided with connecting portion 204；And the first flexible dress
300 are put, the first retractor device 300 is fixedly arranged on the first external disk 110, and the first retractor device 300 is provided with to float and adjusts defeated
Go out the expansion link 310 of pressure, one end of expansion link 310 with connect disk 210 in second and be fixedly connected.
It is shown as shown in Fig. 2, Fig. 3, Fig. 5, Fig. 6 and Fig. 7, when above-mentioned floating connection mechanism 10 is used, the first external disk
110 are fixedly connected by external connection portion with the operating head 20 of robot, and the second external disk 220 passes through connecting portion 204 and milling tools
70 carry out installation fixation；When carrying out polishing work using robot connection milling tools 70, the bistrique 72 and quilt of milling tools 70
The polishing flexible contact of workpiece 90, when larger burr is run into, expansion link 310 can stretch in the case of extruding force increase
Bar 310 according to default output pressure shrink the change for making bistrique 72 that workpiece surface is adapted to the contact force for being polished workpiece 90
Change；When less burr is run into, expansion link 310 can be in the case of extruding force reduction, and expansion link 310 is according to default defeated
Going out pressure carries out extending the change for making bistrique 72 and the contact force adaptation workpiece surface for being polished workpiece 90, thus is polishing
The running speed of bistrique 72 is uniform in journey, and the sanding and polishing quality for being polished workpiece 90 is good, and stability is high.The floating connection
Mechanism 10, it is allowed to milling tools 70 and have a certain degree of dislocation between being polished workpiece 90, can avoid milling tools 70 and be beaten
There is rigid collision between grinder part 90, meanwhile, bistrique effect normal direction polishing force on the surface can follow curvature of curved surface to become
Change precise control, and then the polishing quality stability and yield rate for being polished workpiece 90 can be improved.
As shown in FIG. 6 and 7, in the present embodiment, disk 120 is connect in first to be provided with and matching somebody with somebody that connecting rod 230 is slidably matched
Close through hole 122.Thus can be by connecing being slidably matched for disk 120 and connecting rod 230 in first, further the second external disk of raising
220 stationarity in reciprocating movement, makes bistrique 72 more steady in bruting process.Further, guide rod 130 is three
Individual, three uniform intervals of guide rod 130 are arranged in the first external disk 110 and first and connect between disk 120.Thus use three guide rods
130 kinds of drive, rigidity is big when moving the second coupling assembly 200, and resistance to overturning is strong, it is to avoid robot end quivers when moving
Tremble, can further improve the sanding and polishing quality for being polished workpiece 90.Further, the second interior disk 210 that connects is rolled by straight line
Pearl bearing 212 is slidably matched with guide rod 130, further makes that the movement that disk 210 is connect in second is more steady, and power transmission is more smart
Really.
In the above-described embodiments, the first retractor device 300 is hydraulic cylinder, and expansion link 310 is hydraulically extensible bar 310；Or the
One retractor device 300 is pneumatic cylinder, and expansion link 310 is air pressure telescopic link 310；It is preferred that using pneumatic cylinder, and then use pneumatic driving
Dynamic, whole process is more steady.
As shown in Fig. 3, Fig. 6, Fig. 7, in the above-described embodiments, connecting rod 230 is staggered with guide rod 130.Can thus make
First coupling assembly 100 coordinates compacter with the connection of the second coupling assembly 200, is easy to be arranged dirt-proof boot 600.
As shown in Fig. 3 and Fig. 6 to Figure 11, in the above-described embodiments, the second external disk 220 is provided with and outwardly is arranged at
The fixing body 224 in the outside of two external disks 220 and the mounting structure 240 of connecting portion 204 is complemented each other to form with fixing body 224,
Fixing body 224 is provided with mating holes 202, mounting structure 240 include can elastic reset and the side wall through mating holes 202 locking
Part 242 and the keeper 244 being fixedly arranged on the outside of the second external disk 220.Can thus be positioned by keeper 244, be recycled
Locking member 242 is locked, and realizes the fast assembling-disassembling of the second external disk 220 and milling tools 70, improves the peace of milling tools 70
Dress efficiency.Specifically, also include connector 500, connector 500 be provided with fixing body 224 socket coordinate connecting hole 510 and
The fit 520 of the immovable fitting of locking member 242 and the location hole 530 being engaged with keeper 244, fit 520 are set
In on the madial wall of connecting hole 510, the second external disk 220 is fixedly connected by connector 500 with milling tools 70.Thus, peace
During dress, the location fit of keeper 244 of the external disk 220 of location hole 530 and second of connector 500, connecting hole 510 and fixing body
224 coordinate, and now adjust the collapsing length of locking member 242, locking member 242 is formed locking with fit 520 and coordinate, and then
The external disk 220 of connector 500 and second is installed into fixation；When disassembly is desired, the output pressure of locking member 242 need to be only adjusted,
Locking member 242 is set to exit fit 520, you can to realize that connector 500 is separated with the second external disk 220.Further, also
Including the second retractor device 400 that control locking member 242 is flexible, the second retractor device 400 includes to be stretched in mating holes 202
Mobile cone 410, the big end of cone 410 connect in second disk 210 set and cone 410 big end and locking member 242
One end extrusion fit.Can be thus to be capable of achieving stretching for locking member 242 by the position of the adjustment cone 410 of the second retractor device 400
Contracting；When the big end of cone 410 and one end of locking member 242 are staggered, one end of locking member 242 automatically resets to stretch out to be arranged on and matches somebody with somebody
Close on the madial wall in hole 202；When the big end of cone 410 mutually extrudes with the one end with locking member 242, one end of locking member 242
Shrink, other end protrusion is arranged on the lateral wall of mating holes 202, and then can be formed with the wall of fit 520 of connector 500
Locking coordinates.Further, connect in first and be provided with disk 120 dislocation through hole 124, in hollow and annular, be easily installed the 4th and stretch
Compression apparatus 400, reduce 400 pairs of movement interferences of the second coupling assembly of the 4th retractor device.
It should be noted that the second retractor device 400 is hydraulic cylinder or pneumatic cylinder,；Preferred first retractor device 300 and
Second retractor device 400 use double acting single pole pneumatic cylinder, can with shared power unit 50 (power set be source of the gas dress
Put, compressed air source unit includes manual drainage filter, Manual adjustable pressure regulating overflow valve, pressure gauge and oil sprayer), using gas
Dynamic to drive, whole process is more steady, and its specific embodiment is in the prior art it is achieved that herein not in burden.
Beneficial effects of the present invention：
1st, off-line programing realizes the pose Pose Control of robot, and power control device head is controlled using air pressure proportional servo,
The control of power is implemented separately, it is to avoid cumbersome power-position coupling control.Meanwhile, the independent force application mechanism (floating connection mechanism
10) may insure that power output is quickly responded；
2nd, floating connection mechanism 10 causes to improve flexible contact between instrument and workpiece during robot polishing workpiece 90, it is allowed to
There is a certain degree of dislocation between polishing tool and workpiece, it is to avoid the rigid collision between milling tools 70 and workpiece so that polishing
Instrument 70 improves stability, the service efficiency of lifting milling tools 70 and the longevity of polishing quality in workpiece surface good operation
Life, improves the yield rate of polishing workpiece 90.
3rd, pneumatic grinding and polishing instrument can be avoided because of being short of power when grinding and polishing disk and big absorption surface pressure and rotating speed occurs and be bright
Aobvious to reduce phenomenon, the running speed of the bistrique 72 of milling tools 70 is more stable.
4th, arranged using three guide rods 130, rigidity is big, and resistance to overturning is strong, it is to avoid robot end trembles when moving.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of polishing process with gravity compensation, it is characterised in that comprise the following steps：
According to the polishing track planned, it is P to preset multiple impact point1、P2……PnAnd multistage orbit segment is P1-P2、P2-
P3……Pn-1-Pn, obtain the target-angle A of each impact point；
Target-angle A according to each impact point, is calculated every section of default angle of inclination B of the orbit segment；
Obtain the default angle of inclination B and default polishing power F of every section of orbit segment of quality m and combination of default floatation elementN, meter
Calculation obtains every section of driving force F of the orbit segmentDrive；
Polished along polishing track, in bruting process, corresponding driving force F is applied on every section of orbit segmentDrive；
Wherein, the target-angle A is FNWith the angle of horizontal plane, and -90 °≤A≤90 °, target-angle A be located at horizontal plane it
For just, target-angle A and horizontal plane coincidence are zero, and it is negative that target-angle A is located under horizontal plane when upper；The orbit segment is two
Trajectory between the individual adjacent impact point, n is positive integer and n >=4；FNFor bistrique acts on workpiece surface normal direction malleation
Power, works as FDriveWith FNWhen in the same direction, FDrive=FN﹣ m.g.sin B, work as FDriveWith FNWhen reversely, FDrive=∣ m.g.sin B ∣-FN。
2. the polishing process with gravity compensation according to claim 1, it is characterised in that the orbit segment it is described default
Angle of inclination B is equal to corresponding two average values of the target-angle A sums of the adjacent impact point.
3. the polishing process with gravity compensation according to claim 2, it is characterised in that when a track wherein
Section Pi-Pi+1When being polished, corresponding two impact points are PiAnd Pi+1, impact point PiTarget-angle be Ai, impact point Pi+1
Target-angle be Ai+1；
Work as FDriveWith FNWhen in the same direction, the orbit segment Pi-Pi+1Corresponding driving force FDrive=FN﹣ m.g.sin B=FN﹣ m.g.sin [(Ai
+Ai+1)/2]；Work as FDriveWith FNWhen reversely, FDrive=∣ m.g.sin B ∣-FN=∣ m.g.sin [(Ai+Ai+1)/2] ∣-FN；Wherein, i
It is positive integer.
4. the polishing process with gravity compensation according to claim 1, it is characterised in that also including according to the workpiece that need to polish
Surface curvature change planning polishing track.
5. the polishing process with gravity compensation according to claim 1, it is characterised in that when two adjacent impact points
Between the polishing workpiece surface curvature change it is bigger, the length of the trajectory between corresponding two adjacent impact points
Degree is smaller.
6. the polishing process with gravity compensation according to claim 1 to 5, it is characterised in that the driving force FDriveIt is big
Small change controls direction, voltage or the size of current of valve to obtain by adjusting proportion directional.
7. the polishing process with gravity compensation according to claim 6, it is characterised in that driving force needed for all orbit segments
FDriveThe direction of the proportional reversing valve, electric current I or a voltage U are corresponded to respectively.
8. a kind of milling robot with gravity compensation, it is characterised in that including floating connection mechanism, also including moveable behaviour
Make head, obliquity sensor and controller；
The floating connection mechanism includes the first coupling assembly, and first coupling assembly includes the first external disk and described the
One external disk it is relative first in connect disk and at least two spaced guide rods, be provided with outer on the outside of the first external disk
Socket part, one end of all guide rods is fixed with the described first external disk, connect disk and fix in the other end and described first；Second connects
Connected components, second coupling assembly can be slided relative to the described first external disk, and second coupling assembly includes removable
Second in connect disk with second in connect the second relative external disk of disk and at least two spaced connecting rods, described second
Inside connect disk be arranged at the described first external disk and it is described connect in first between disk and be slidably connected with all guide rods, own
Connect that disk is fixed, the other end is fixed with the described second external disk in one end of the connecting rod and described second, described second is external
Disk is provided with connecting portion；And first retractor device, first retractor device is fixedly arranged on the described first external disk, and described first
Retractor device is provided with the expansion link of the regulation output pressure that can float, and disk is connect in one end of the expansion link and described second and fixes company
Connect；
The operating head is fixedly connected with the external connection portion, and the obliquity sensor is installed on the described first external disk, described
Controller can be moved according to default polishing TRAJECTORY CONTROL operating head, and the controller can obtain obliquity sensor inspection
The output pressure of the inclination data for measuring and the expansion link for controlling first retractor device.
9. the polishing process with gravity compensation according to claim 8, it is characterised in that the second external disk be provided with to
Outer protrusion is arranged at the fixing body in the outside of the described second external disk and complements each other to form the connecting portion with the fixing body
Mounting structure, the fixing body is provided with mating holes, and the mounting structure includes can elastic reset and through the mating holes
The locking member of side wall and the keeper being fixedly arranged on the outside of the described second external disk.
10. the polishing process with gravity compensation according to claim 9, it is characterised in that also including controlling the locking
The second flexible retractor device of part, second retractor device include can in the mating holes telescopic moving cone, it is described
The big end of cone is close in described second one end extrusion fit at the big end with the locking member that connect disk setting and the cone.
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| CN113649946A (en) * | 2021-08-06 | 2021-11-16 | 重庆智能机器人研究院 | Active force position compensator and control method thereof |
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| CN108297105A (en) * | 2018-01-17 | 2018-07-20 | 广东工业大学 | A kind of mechanical arm task level time optimal trajectory planning method |
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| CN112720466A (en) * | 2020-12-17 | 2021-04-30 | 廊坊市亿创科技有限公司 | Tool inclination angle gravity compensation method |
| CN113649946A (en) * | 2021-08-06 | 2021-11-16 | 重庆智能机器人研究院 | Active force position compensator and control method thereof |
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