CN107877315A - End effector mechanism for rocket storage incubator surface polyurethane adiabatic layer of polishing - Google Patents
End effector mechanism for rocket storage incubator surface polyurethane adiabatic layer of polishing Download PDFInfo
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- CN107877315A CN107877315A CN201710863645.1A CN201710863645A CN107877315A CN 107877315 A CN107877315 A CN 107877315A CN 201710863645 A CN201710863645 A CN 201710863645A CN 107877315 A CN107877315 A CN 107877315A
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- China
- Prior art keywords
- polishing
- sanding apparatus
- leading screw
- pneumatic
- pneumatic sanding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/26—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C1/00—Milling machines not designed for particular work or special operations
- B23C1/12—Milling machines not designed for particular work or special operations with spindle adjustable to different angles, e.g. either horizontal or vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/02—Milling surfaces of revolution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
- B23Q17/2471—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of workpieces
-
- 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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/22—Single-purpose machines or devices for particular grinding operations not covered by any other main group characterised by a special design with respect to properties of the material of non-metallic articles to be ground
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/10—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving electrical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention provides a kind of end effector mechanism for rocket storage incubator surface polyurethane adiabatic layer of polishing, including instrument fast replacing device, actively adaptive flange, installing plate, first pneumatic sanding apparatus, second pneumatic sanding apparatus, 3rd pneumatic sanding apparatus, linear laser sensor and current vortex sensor, instrument fast replacing device is connected by standard flange with industrial robot end, actively the upper end of adaptive flange is fixedly and coaxially connected with instrument fast replacing device, lower end is fixedly connected with installing plate, first pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus are connect by Cutting tool installation manner axle and installation board shaft, second pneumatic sanding apparatus is fixedly connected with installing plate, linear laser sensor and current vortex sensor are fixedly connected with installing plate.End effector mechanism provided by the invention once can store incubator thermal insulation layer surface with three cutters while rocket of polishing, while the position of polishing tool and angle are adjusted by executing agency.
Description
Technical field
The present invention relates to a kind of end effector mechanism for being used to polish, and in particular to one kind is used for rocket storage incubator table of polishing
The end effector mechanism of face polyurethane adiabatic layer.
Background technology
With the continuous development of Industrial Robot Technology, application of the robot technology in aviation field is more and more wider
It is general, but compared with traditional machining manufacturing industry, the size and weight of aeronautical product are bigger, and the architectural feature of itself is more
For complexity, material also has certain particularity requirement, higher requirement is it is also proposed to the precision of processing.Due to versatility machine
The utilization ratio of people is low, and automaticity is insufficient for daily production requirement, therefore, height intelligence and the machine of specificity
People will be increasing in Aero-Space manufacturing field demand.Polishing is a kind of important processing technology in Field of Aviation Manufacturing, is permitted
More air equipment surfaces all have to pass through technique for grinding to complete precision processing, as sterilization of medical instrument device, MISSILE LAUNCHING case add
Strengthening tendons, space flight Cryogenic tank, engine cast member etc. are required for polishing to its surface and polishing, to meet different works
Requirement under condition.For the machined surface of air equipment from the overall situation, machined surface is larger, but from the point of view of local, and because each
Plant weld signature and make it that partial operation face is not only complicated but also narrow and small, with important equipment-Cryogenic tank in space launch vehicle
Polishing processing situation exemplified by, the structure of Cryogenic tank mainly includes the end socket at long cylinder section and both ends, while further comprises welding
Flange, support and the first-class feature of connection in long cylinder section and both ends end socket.
For that can store liquid hydrogen, liquid oxygen propellant, the outer surface of Cryogenic tank is coated with polyurethane adiabatic layer, due to spraying
Technique is difficult to spray uniform and accurate thickness, so general tank coating thickness can all be more than required thickness,
Again by carrying out further polishing working process to the Cryogenic tank surface after spraying.The polishing processing of tank thermal insulation layer surface is not
Only contain to the long cylinder section of Cryogenic tank and the processing of both ends end socket, and further comprises to various features and long cylinder section and two
The part of end seal head connection and long cylinder section and the processing of the coupling part of both ends end socket.These polishing processing are main still at present
Apparatus is polished to complete by man-hour manually hand-held, and there is harm is big, efficiency is low, labor intensity for this semi-automatic mode
The shortcomings of excessive and quality is extremely unstable.Realize that the polishing of tank heat insulation layer is that enterprise is currently employed using industrial robot
Another processing approach, the application of industrial robot solve certain polishing quality and efficiency, but for structure shape
Shape and changes in material frequently tank, due to the end effector of industrial robot, not have reconstruct flexible, so can not realize
High-quality and high-efficiency, therefore, it is necessary to a kind of flexible intelligent polishing end effector towards under different operating modes is developed, it is logical to overcome
With industrial robot it is existing in the application the drawbacks of.
In rocket storage incubator heat insulation layer polishing process, the following problem of generally existing：A, cost of labor is high, in
State's demographic dividend is progressively disappeared, price rise, and single cost of labor is substantially increased, on the premise of artificial quantity is constant, polishing
Processing technology needs to put into increasing cost of labor；B, processing efficiency is low, and efficiency is low not only to show that manual grinding is disappeared
It is more to be embodied in quickly duration shortening caused by the science and technology replacement on the total time of consumption；C, quality is unstable, manually beats
The precision of mill is mainly the experienced degree by employee, it is impossible to forms quantification, has very big uncertainty；D, human body
Harm is big, and substantial amounts of dust can be produced by storing in incubator heat insulation layer bruting process, suck substantial amounts of Composite Dusts to human body
Very big potential hazard be present in function；E, the specificity of all-purpose robot is low, causes each industrial robot application
Small, utilization rate is low；All-purpose robot to it is complex-curved carry out polishing processing when grinding efficiency it is low, and its end effector lacks
Reconstruct in structure is flexible, causes each industrial robot to may be only available for a certain specific storage incubator.
The content of the invention
It is used for rocket storage incubator surface polyurethane adiabatic layer of polishing the technical problem to be solved in the present invention is to provide a kind of
End effector mechanism, the polishing for solving generally existing in Aero-Space manufacturing field and other similar manufacturing fields are difficult
Topic, the automaticity to Aerospace Products processing and manufacturing is improved, effectively improves productivity ratio and crudy, while reduce people
Work cost.
In order to solve the above technical problems, embodiments of the invention, which provide one kind, is used for rocket storage incubator surface polyurethane of polishing
The end effector mechanism of heat insulation layer, including instrument fast replacing device, actively adaptive flange, installing plate, the first pneumatic sanding apparatus,
Second pneumatic sanding apparatus, the 3rd pneumatic sanding apparatus, linear laser sensor and current vortex sensor, the instrument change the outfit soon
Put and be connected by standard flange with industrial robot end, the adaptive flange of active includes upper flange, the power being sequentially connected
Control device and lower flange, the upper flange are fixedly and coaxially connected with instrument fast replacing device by bolt, the lower flange and peace
Loading board is fixedly connected, and the first pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus pass through Cutting tool installation manner axle and installation board shaft
Connect, the second pneumatic sanding apparatus is located between the first pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus and consolidated with installing plate
Fixed connection, the linear laser sensor is located between the second pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus and and installing plate
It is fixedly connected, the current vortex sensor is fixedly connected located at the side of the second pneumatic sanding apparatus and with installing plate, and described
The central axis of current vortex sensor is parallel with the center cutter line of the second pneumatic sanding apparatus and is located at same and installing plate
In vertical plane.
Wherein, the instrument fast replacing device includes robot interface end, gas-liquid module, electrical appliance module and tool interface end,
The robot interface end is connected by standard flange with industrial robot end, and the tool interface end is coaxially solid with upper flange
Fixed connection, the robot interface end and tool interface end are quickly connected by pneumatic mode, the gas-liquid module and electrical equipment mould
Block is connected with the end effector of industrial robot.
Wherein, the force control device includes retractable sack, spring and displacement transducer, and the spring and displacement transducer are set
In in retractable sack.
Wherein, the structure of the described first pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus is identical, including the first polishing
Adjustment mechanism and the first polishing executing agency, the first polishing executing agency pass through the first polishing adjustment mechanism and Cutting tool installation manner
Axle is connected；The second pneumatic sanding apparatus include second polishing installing mechanism and second polishing executing agency, described second dozen
Mill executing agency is fixedly connected by the second polishing installing mechanism with installing plate.
Preferably, it is described first polishing adjustment mechanism include leading screw panel, leading screw mounting bracket, unit head fixed plate, leading screw,
Leading screw fixed block, leading screw fix case and hand rotating disk, and the leading screw mounting bracket is formed to be sequentially connected by bottom plate, side plate and top plate
Frame, the side plate of the leading screw mounting bracket is fixedly connected with one end of Cutting tool installation manner axle, the Cutting tool installation manner axle it is another
End connects with installation board shaft, and the leading screw panel is located at the top of top plate located at the lower section of bottom plate, leading screw fixed block, the leading screw
Lower end connects after extending downwardly from bottom plate with leading screw panel axle, and the upper end of the leading screw sequentially passes through top plate, leading screw fixed block and leading screw
It is fixedly connected after fixed case with hand rotating disk, unit head fixed plate is bolted with the leading screw among the top plate and bottom plate,
The unit head fixed plate is fixedly connected with the first polishing executing agency.
Preferably, the first polishing executing agency is identical with the structure of the second polishing executing agency, includes pneumatic control
Device, pneumatic main shaft unit head and carbide-tipped milling cutter processed, the carbide-tipped milling cutter are connected on pneumatic main shaft unit head.
Further, the first polishing installing mechanism also includes scale and indicator, and the scale is installed on the side of side plate
On face, the indicator is installed in unit head fixed plate and points to scale.
Wherein, the linear laser sensor is fixedly connected by I-shaped fixed plate with installing plate.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
1st, end effector mechanism provided by the invention once can store incubator thermal insulation layer surface with three cutters while rocket of polishing, together
When the position of polishing tool and angle are adjusted by executing agency.
2nd, end effector mechanism of the invention is applied to the rocket storage incubator of different-diameter, and can realize that three cutters exist
Normal orientation in bruting process with storage incubator surface is always consistent.
3rd, end effector mechanism of the invention is the method being combined using line laser measurement and electric eddy current measurement, and can be right
The thickness of storage incubator polyurethane adiabatic layer measures, and then can realize the polishing required precision of heat insulation layer.
4th, the present invention improves applicability of the robot under multi-state, expands industrial robot and manufactures neck in Aero-Space
The application in domain.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention one；
Fig. 2 is the partial structurtes enlarged drawing at the first pneumatic sanding apparatus in embodiment one；
Fig. 3 is the working condition schematic diagram of three cutters in the present invention.
Description of reference numerals：
1st, instrument fast replacing device；100th, robot interface end；101st, gas-liquid module；102nd, electrical appliance module；103rd, tool interface end；
2nd, the adaptive flange of active；200th, upper flange；201st, force control device；202nd, lower flange；3rd, the first pneumatic sanding apparatus；4th, pacify
Loading board；5th, the second pneumatic sanding apparatus；6th, linear laser sensor；7th, current vortex sensor；8th, the 3rd pneumatic sanding apparatus；
31st, carbide-tipped milling cutter；32nd, leading screw panel；33rd, leading screw mounting bracket；34th, unit head fixed plate；35th, leading screw；36th, leading screw is fixed
Block；37th, leading screw fixes case；38th, hand rotating disk；39th, scale；310th, indicator；311st, Cutting tool installation manner axle；312nd, pneumatic control fills
Put；313rd, pneumatic main shaft unit head.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
As shown in figure 1, embodiments of the invention offer is a kind of to be used for rocket storage incubator surface polyurethane adiabatic layer of polishing
End effector mechanism, including instrument fast replacing device 1, active adaptive flange 2, installing plate 4, the first pneumatic sanding apparatus 3, second
Pneumatic sanding apparatus 5, the 3rd pneumatic sanding apparatus 8, linear laser sensor 6 and current vortex sensor 7, the instrument change the outfit soon
Putting 1 includes robot interface end 100, gas-liquid module 101, electrical appliance module 102 and tool interface end 103, the robot interface
End 100 is connected by standard flange with industrial robot end, and the robot interface end 100 and tool interface end 103 pass through
It is pneumatically connected structure quickly to connect, the end effector phase of the gas-liquid module 101 and electrical appliance module 102 and industrial robot
Even, air pressure signal and electric signal are sent to end effector.
The instrument fast replacing device 1 is connected by standard flange with industrial robot end, the adaptive flange 2 of active
Including the upper flange 200, force control device 201 and lower flange 202 being sequentially connected, the force control device 201 include retractable sack,
Spring and displacement transducer, the spring and displacement transducer are in retractable sack.End effector needs to have cutter stress
There is the ability adjusted in real time, the pneumatic polishing that actively force control device 201 among adaptive flange 2 can not only be to connecting below
The stress of device is sensed, while by the effect of the mechanism such as retractable sack and its interior spring and displacement transducer, can be realized
Closed-loop control to power, actively adaptively flange is realized to being contacted between end cutter and heat insulation layer by the elastic telescopic of itself
The Real-time Feedback and adjustment control of power, it is ensured that cutter to adiabatic layer surface can polish along normal orientation.
The tool interface end 101 is fixedly and coaxially connected with upper flange 200 by bolt, the lower flange 202 and installation
Plate 4 is fixedly connected, and first pneumatic 3 and the 3rd pneumatic sanding apparatus 8 of sanding apparatus passes through Cutting tool installation manner axle 311 and installing plate
4 axles connect, the second pneumatic sanding apparatus 5 be located at the first pneumatic 3 and the 3rd pneumatic sanding apparatus 8 of sanding apparatus between and with peace
Loading board 4 is fixedly connected, and the linear laser sensor 7 is located between the second pneumatic 5 and the 3rd pneumatic sanding apparatus 8 of sanding apparatus
And be fixedly connected by I-shaped fixed plate with installing plate 4, the current vortex sensor 6 is located at the second pneumatic sanding apparatus 5
Side is simultaneously fixedly connected with installing plate 4, and the knife of the central axis of the current vortex sensor 6 and the second pneumatic sanding apparatus 5
Having centerline parallel and in the same plane vertical with installing plate 4, it is ensured that electric turbine sensor is vertical with being polished face,
It is easy to the measurement and calculating of polishing thickness degree.
Linear laser sensor in said structure can to the distance of heat insulation layer, current vortex sensor for measuring mount point
The distance that mount point stores incubator surface to metal is measured, the thickness of heat insulation layer can be calculated according to geometrical principle using two groups of data
Degree.
The structure of the first pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus in the present embodiment is identical, including first dozen
Adjustment mechanism and the first polishing executing agency are ground, the first polishing executing agency is pacified by the first polishing adjustment mechanism with cutter
Dress axle is connected；The second pneumatic sanding apparatus include second polishing installing mechanism and second polishing executing agency, described second
Polishing executing agency is fixedly connected by the second polishing installing mechanism with installing plate.
As shown in Fig. 2 the first polishing adjustment mechanism includes leading screw panel 32, leading screw mounting bracket 33, unit head and fixed
Plate 34, leading screw 35, leading screw fixed block 36, leading screw fix case 37 and hand rotating disk 38, and the leading screw mounting bracket 33 is by bottom plate, side
Plate and top plate are sequentially connected the frame of composition, and the side plate of the leading screw mounting bracket 33 and one end of Cutting tool installation manner axle 311 are fixed
Connection, the other end and the axle of installing plate 4 of the Cutting tool installation manner axle 311 connect, and the leading screw panel 32 is located at the lower section of bottom plate, leading screw
Fixed block 36 is located at the top of top plate, and the lower end of the leading screw 35 extends downwardly from passing through bearing axle with leading screw panel 32 after bottom plate
Connect, the upper end of the leading screw 35 is sequentially passed through after top plate, leading screw fixed block 36 and leading screw fix case 37 to be fixed with hand rotating disk 38
Connection, is bolted with unit head fixed plate 34, the unit head fixed plate 34 on the leading screw 35 among the top plate and bottom plate
It is fixedly connected with the first polishing executing agency.
By said structure, the first pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus can be realized turn under external force
Dynamic and mobile two frees degree, the end cutter of the second pneumatic sanding apparatus is vertical with being polished face all the time, as shown in Figure 3.
The first polishing installing mechanism also includes scale 39 and indicator 310, and the scale 39 is installed on the side of side plate
On face, the indicator 310 is installed in unit head fixed plate 34 and points to scale 39.
The first polishing executing agency is identical with the structure of the second polishing executing agency, including air control unit
312nd, pneumatic main shaft unit head 313 and carbide-tipped milling cutter 31, the carbide-tipped milling cutter 31 are connected to pneumatic main shaft unit head
On 313.
It is a feature of the present invention that the first pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus, under external force can
Realize and rotate and mobile two frees degree, for adjust the carbide-tipped milling cutter of end installation and arc to be polished face tangent,
The globoidal structure of different-diameter can be applied to.The position of linear laser sensor installation on a mounting board is pneumatically beaten between second
Between mill apparatus and the 3rd pneumatic sanding apparatus, in the cutter of the central axis of current vortex sensor and the second pneumatic sanding apparatus
Heart line is overlapping in the plane upslide movie queen where installing plate.End effector mechanism needs have the energy adjusted in real time to cutter stress
Power, the power being carried on cutter can be perceived and fed back, it is ensured that cutter can carry out material removal, it is ensured that cutter can be to exhausted
Thermosphere surface carries out the polishing along normal orientation.
The present invention operation principle be：To improve grinding efficiency, end effector mechanism is mounted with the same pneumatic of 3 structures
Sanding apparatus.The second middle pneumatic sanding apparatus is fixedly mounted on a mounting board, the first pneumatic sanding apparatus and the 3rd pneumatic
Sanding apparatus can be realized to be rotated rotating around center N and M, while can be moved in the axial direction.F, G and J is respectively the 3rd gas
End cutter contact with heat insulation layer normal direction of dynamic sanding apparatus, the second pneumatic sanding apparatus and the first pneumatic sanding apparatus
Point, r are the radius value after heat insulation layer polishing, for the installation center of the first pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus to knife
Have the elongation of end, the angle between the 3rd pneumatic sanding apparatus and the second pneumatic sanding apparatus.For different radii
Store the polishing processing of incubator heat insulation layer, end effector mechanism of the invention can adjust the by adjusting value that accompanying drawing 3 neutralizes
The Installation posture of one pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus, so as to realize three cutters all with adiabatic layer surface phase
Cut.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of end effector mechanism for rocket storage incubator surface polyurethane adiabatic layer of polishing, it is characterised in that including work
Tool fast replacing device, actively adaptive flange, installing plate, the first pneumatic sanding apparatus, the second pneumatic sanding apparatus, the 3rd pneumatically beat
Mill apparatus, linear laser sensor and current vortex sensor, the instrument fast replacing device pass through standard flange and industrial robot
End connects, and the adaptive flange of active includes upper flange, force control device and the lower flange being sequentially connected, the upper flange
It is fixedly and coaxially connected with instrument fast replacing device by bolt, the lower flange is fixedly connected with installing plate, and described first pneumatically beats
Mill apparatus and the 3rd pneumatic sanding apparatus are connect by Cutting tool installation manner axle and installation board shaft, and the second pneumatic sanding apparatus is located at the
It is fixedly connected between one pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus and with installing plate, the linear laser sensor is located at
It is fixedly connected between second pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus and with installing plate, the current vortex sensor is located at
The side of second pneumatic sanding apparatus is simultaneously fixedly connected with installing plate, and the central axis of the current vortex sensor and the second gas
The center cutter line of dynamic sanding apparatus is parallel and in the same plane vertical with installing plate.
2. the end effector mechanism according to claim 1 for rocket storage incubator surface polyurethane adiabatic layer of polishing, its
It is characterised by, the instrument fast replacing device includes robot interface end, gas-liquid module, electrical appliance module and tool interface end, described
Robot interface end is connected by standard flange with industrial robot end, and coaxially fixation connects with upper flange at the tool interface end
Connect, the robot interface end and tool interface end are quickly connected by pneumatic mode, the gas-liquid module and electrical appliance module with
The end effector of industrial robot is connected.
3. the end effector mechanism according to claim 1 for rocket storage incubator surface polyurethane adiabatic layer of polishing, its
It is characterised by, the force control device includes retractable sack, spring and displacement transducer, and the spring and displacement transducer, which are located at, to be stretched
Contract intracapsular.
4. the end effector mechanism according to claim 1 for rocket storage incubator surface polyurethane adiabatic layer of polishing, its
It is characterised by, the structure of the first pneumatic sanding apparatus and the 3rd pneumatic sanding apparatus is identical, including the first polishing adjustment
Mechanism and the first polishing executing agency, the first polishing executing agency pass through the first polishing adjustment mechanism and Cutting tool installation manner axle phase
Even；The second pneumatic sanding apparatus includes the second polishing installing mechanism and the second polishing executing agency, and second polishing is held
Row mechanism is fixedly connected by the second polishing installing mechanism with installing plate.
5. the end effector mechanism according to claim 4 for rocket storage incubator surface polyurethane adiabatic layer of polishing, its
It is characterised by, it is solid that the first polishing adjustment mechanism includes leading screw panel, leading screw mounting bracket, unit head fixed plate, leading screw, leading screw
Determine block, leading screw fixation case and hand rotating disk, the leading screw mounting bracket is that the frame shape formed is sequentially connected by bottom plate, side plate and top plate
Frame, the side plate of the leading screw mounting bracket are fixedly connected with one end of Cutting tool installation manner axle, the other end and peace of the Cutting tool installation manner axle
Loading board axle connects, and the leading screw panel is located at the top of top plate located at the lower section of bottom plate, leading screw fixed block, the lower end of the leading screw to
Connect after lower stretching bottom plate with leading screw panel axle, the upper end of the leading screw sequentially passes through top plate, leading screw fixed block and leading screw and fixes cover
It is fixedly connected after shell with hand rotating disk, unit head fixed plate is bolted with the leading screw among the top plate and bottom plate, it is described dynamic
Power head fixed plate is fixedly connected with the first polishing executing agency.
6. the end effector mechanism according to claim 4 for rocket storage incubator surface polyurethane adiabatic layer of polishing, its
Be characterised by, it is described first polishing executing agency with second polishing executing agency structure it is identical, including air control unit,
Pneumatic main shaft unit head and carbide-tipped milling cutter, the carbide-tipped milling cutter are connected on pneumatic main shaft unit head.
7. the end effector mechanism according to claim 5 for rocket storage incubator surface polyurethane adiabatic layer of polishing, its
It is characterised by, the first polishing installing mechanism also includes scale and indicator, and the scale is installed on the side of side plate, institute
Indicator is stated to be installed in unit head fixed plate and point to scale.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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