CN108581745A - A kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive device - Google Patents
A kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive device Download PDFInfo
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- CN108581745A CN108581745A CN201810356845.2A CN201810356845A CN108581745A CN 108581745 A CN108581745 A CN 108581745A CN 201810356845 A CN201810356845 A CN 201810356845A CN 108581745 A CN108581745 A CN 108581745A
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- 238000005498 polishing Methods 0.000 title claims abstract description 93
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims description 41
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- 238000000034 method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 210000001503 joint Anatomy 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims 2
- 238000012545 processing Methods 0.000 abstract description 18
- 238000007517 polishing process Methods 0.000 abstract description 4
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 230000036544 posture Effects 0.000 description 15
- 230000008859 change Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
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- 238000005096 rolling process Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/02—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 according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
- B24B49/04—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 according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation
- B24B49/045—Specially adapted gauging instruments
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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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of Three Degree Of Freedom curved surface adaptive intelligent Force control flexibility grinding and polishing end executive devices, including two-dimensional attitude adjustment component, linear servo power control component, grinding and polishing component and controller.Linear servo power control component realizes the real-time control and feedback to contact force of polishing by contact force closed-loop control, ensures constant contact force processing；Two-dimensional attitude adjusts the real-time adjustment that component realizes mill posture by closed-loop control, so that grinding surface is overlapped always with curved surface local tangential plane and realizes curved surface adaptive, effectively prevent the problems such as uneven, overground of polishing, realizes robot self-adapting flexible polishing processing.The invention enables do centering movement when mill carries out pose adjustment always, to not will produce unnecessary displacement when adapting to curved surface variation, it effectively prevent repeating grinding and polishing to polishing region, ensure uniformity, consistency that grinding and polishing process requires, is suitable for the adaptive high-precision polishing processing of large-scale Free-form Surface Parts especially wind turbine blade.
Description
Technical Field
The invention belongs to the field of intelligent processing and manufacturing of curved surface workpieces, particularly relates to the field of large-scale curved surface adaptive force control grinding and polishing in industrial robot application occasions, and more particularly relates to a three-degree-of-freedom curved surface adaptive intelligent force control flexible grinding and polishing tail end execution device.
Background
Wind energy is used as a clean renewable energy source, is inexhaustible, so that the demand of the wind energy is increasing day by day, and various countries around the world strive for the development of a wind power generation technology. The large-scale wind power blade is used as a key component for converting wind energy of a wind turbine generator, and the demand of the large-scale wind power blade rises year by year along with the global wind power market turning to low wind speed and the development of wind energy of offshore wind farms. The surface of the large-scale wind power blade is subjected to putty removing and polishing, and the power generation efficiency is seriously influenced by the quality of the polishing and burnishing processing technology. The large-scale wind power blade has the defects of grinding changeability and complex and changeable surface due to the fact that the length of the large-scale wind power blade can reach 59.5 meters, and the problems put very high requirements on the grinding and polishing process of the large-scale wind power blade. The current grinding and polishing processing of free-form surfaces of large wind power blades and the like mainly comprises manual grinding and polishing and a small amount of robot grinding and polishing processing; the manual grinding and polishing processing has the advantages of low efficiency, uneven grinding and polishing allowance, great influence of the technical proficiency of workers on the surface quality of parts, high efficiency of a robot grinding and polishing system, good processing consistency and low corresponding cost, and is the current development trend.
When the robot performs constraint operations such as grinding and polishing in unstructured environments such as complex curved surfaces, the geometric shape of a workpiece is difficult to accurately model, the characteristics such as cantilever length and changeability of a large-scale wind-power blade workpiece often require that a grinding and polishing tool has certain flexibility, and the lack of an accurate model of a processing object causes the difficulty or inaccuracy of planning the motion track of the robot.
Robot compliance can be divided into active compliance and passive compliance. Passive compliance is mainly achieved by adjusting the spring stiffness, for example, a passive mechanical device designed by the MIT Draper experiment center in the united states and compliant in a remote center is adopted, but due to the corresponding slow speed of a spring, the device has the problems of uncontrollable precision and easy generation of over-grinding or uneven grinding and polishing. The pneumatic force changing device ACF produced by Austria in active compliance can well realize the contact force between the tail end of a tool and a workpiece, but the pneumatic force changing device has a non-linear problem due to the characteristic of gas compression and is also easy to cause uneven grinding and polishing. The 'curved surface type space compliant grinding series-parallel robot process platform' with the patent application number of 201610580987 can adjust the grinding contact force and adjust the tail end posture, but the position of the grinding head can change in the grinding process, so that repeated grinding and polishing can be easily caused.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a three-degree-of-freedom curved surface self-adaptive intelligent force-control flexible grinding and polishing tail end executing device, which aims to adjust the posture and the grinding force of a grinding head in situ in real time by designing a two-dimensional posture adjusting assembly and a linear servo force control assembly, thereby improving the grinding precision, realizing smooth grinding and polishing and simultaneously preventing repeated grinding and polishing as well as uneven grinding and polishing.
In order to achieve the purpose, the invention provides a three-degree-of-freedom curved surface self-adaptive intelligent force-control flexible grinding and polishing tail end executing device which comprises a base frame, an end cover, a two-dimensional attitude adjusting assembly, a linear servo force control assembly, a grinding and polishing assembly and a controller, wherein the base frame is provided with a base frame;
the base frame is of a cylindrical structure with an opening at the lower end, the end cover is arranged at the upper end of the base frame and is used for being fixedly butted with the tail end of the grinding and polishing robot;
the two-dimensional attitude adjusting assembly is arranged in the base frame and comprises an inclination adjusting mechanism and a rotation adjusting mechanism;
the adjusting track of the inclination adjusting mechanism is an arc rack, the inclination adjusting mechanism is driven to rotate by an inclination driving gear meshed with the arc rack by taking the circle center of the arc rack as the center, and the circle center of the arc rack is positioned on the rotating axis of the rotation adjusting mechanism;
the linear servo force control assembly is arranged on the inclination adjusting mechanism and comprises a screw rod, a linear sliding block, a screw rod driving motor and a six-dimensional force sensor; the ball screw mechanism is formed by the screw rod and the linear sliding block, the output shaft of the screw rod driving motor is in butt joint with the screw rod, and the six-dimensional force sensor is fixed on the linear sliding block;
the grinding and polishing assembly comprises a grinding head connecting plate, a grinding head driving motor and a grinding disc; the upper end of the grinding head connecting plate is fixed on the six-dimensional force sensor; the grinding disc is arranged on an output shaft of the grinding head driving motor, and the center of the grinding disc is superposed with the circle center of the arc rack; the grinding head driving motor is fixed at the lower end of the grinding head connecting plate, and an output shaft of the grinding head driving motor is positioned on a central connecting line of the center of the grinding disc and the inclined driving gear;
the controller is respectively connected with the six-dimensional force sensor, the screw rod driving motor and the driving parts of the inclination adjusting mechanism and the rotation adjusting mechanism.
Further, the rotation adjusting mechanism comprises a circular ring track, a rotation driving motor, an inner gear ring and a rotation driving gear; wherein,
the circular track and the rotary driving motor are fixed relative to the base frame; the inner gear ring is arranged on the circular ring track and is coaxially arranged with the circular ring track; the rotary driving gear is arranged on an output shaft of the rotary driving motor and is meshed with the inner gear ring; the controller is connected with the rotary driving motor, and when the rotary driving motor works, the inner gear ring is driven to rotate on the circular track by the rotary driving gear with the axis of the inner gear ring as the center.
Further, the inclination adjusting mechanism comprises an arc rack, an inclination driving gear, a guide piece, a second mounting frame and an inclination driving motor; wherein,
the circle center of the arc rack is positioned on the axis of the inner gear ring, one side of the arc rack, which faces the circle center, is a tooth surface, and the side, which is back to the circle center, is a guide surface; the inclined driving gear is connected with the guide piece through a second mounting frame and meshed with the tooth surface of the circular arc rack; the inclination driving gear is arranged on an output shaft of the inclination driving motor, the inclination driving motor is fixed relative to the second mounting frame, and the controller is connected with the inclination driving motor; the guide piece is matched with the guide surface of the arc rack so as to guide the inclination adjusting mechanism in the rotation process of the inclination driving gear.
Further, the linear servo force control assembly comprises a connecting plate, a linear slide rail, a screw rod, a linear slide block, a screw rod driving motor and a six-dimensional force sensor; wherein,
the connecting plate is fixed at the lower part of the second mounting frame, and a sliding rail parallel to the axis of the inner gear ring is arranged on the connecting plate; the screw rod and the linear sliding block form a ball screw mechanism, the screw rod is parallel to the linear sliding rail, and the linear sliding block is in sliding fit with the linear sliding rail; the screw rod driving motor is fixed relative to the connecting plate, and an output shaft of the screw rod driving motor is in butt joint with the screw rod; the six-dimensional force sensor is fixed on the linear sliding block.
Furthermore, the guide surface of the arc rack is provided with an arc groove extending in the circumferential direction, and the circle center of the arc groove is superposed with that of the arc rack; the guide piece is two rollers, the two rollers and the inclined driving gear are distributed in an isosceles triangle shape, the axes of the two rollers and the inclined driving gear are parallel to each other, and the central connecting line of the two rollers is the bottom edge of the isosceles triangle; two rollers are matched with the arc-shaped groove.
Furthermore, the guide block is an arc-shaped sliding block, and the circle center of the arc-shaped sliding block is overlapped with that of the arc-shaped rack.
Further, the lower surface of the inner gear ring is provided with a plurality of first sliding blocks which are uniformly distributed along the circumferential direction, the lower surface of each first sliding block is provided with a sliding groove which is equal to the width of the circular ring track, and the upper end surface of the circular ring track is located in the sliding groove.
The grinding head driving motor and the grinding disc of the grinding and polishing assembly are positioned outside the protective cover, and the upper end of the protective cover is fixedly butted with the lower end of the base frame.
Furthermore, an annular mounting table is arranged in the base frame, and the annular rail is fixed on the annular mounting table.
In general, compared with the prior art, the above solution contemplated by the present invention has the following advantages:
1. according to the invention, the two-dimensional attitude adjusting assembly and the linear servo force control assembly are adopted to ensure that a polishing head, namely a grinding disc and a workpiece complex curved surface, can have good expected contact force through the motion control closed loop and the force control closed loop, and can actively follow the change of the curved surface to realize zero-torque polishing, so that the problems of processing impact, uneven polishing, excessive polishing, repeated polishing and the like are effectively avoided.
2. According to the invention, the two-dimensional attitude adjusting assembly is skillfully designed, namely, the circle center of the arc-shaped rack is positioned on the axis of the inner gear ring, and the center of the grinding disc is superposed with the circle center of the arc-shaped rack, so that the center position of the end surface of the grinding disc is kept unchanged in the attitude adjusting process while the attitude of the grinding disc is adjusted, and the grinding disc always performs centering motion, thereby ensuring that the grinding disc cannot be displaced when the attitude is adjusted, namely, the grinding position cannot be changed by the attitude adjustment, and further effectively avoiding repeated grinding.
3. The six-dimensional force sensor is used for measuring contact force and moment in the grinding and polishing process and is connected with the controller to realize force feedback, the controller is used for controlling the feeding control quantity of the linear servo force control assembly and the angle variation quantity of the two-dimensional attitude adjusting assembly, the feeding quantity and the attitude of the grinding disc are adjusted in real time, the grinding and polishing of the force control closed loop and the motion control closed loop are realized, and the anti-interference performance of self-adaptive processing and the flexibility of a complex curved surface are ensured.
4. The traditional complex curved surface part processing is limited by the problem that the pose adjustment precision of the existing active control equipment is insufficient, manual grinding and polishing and other modes are adopted, but the problems that the size precision is not high, the surface quality consistency is not good and the like still exist.
5. The invention is connected to the tail end of the grinding and polishing robot through the end cover, the large-scale motion control and the posture adjustment of the invention are indirectly realized through the large-scale posture change of the robot, and the precise self-adaptive adjustment and compensation functions of the invention can effectively solve the problems of low positioning precision, insufficient self-adaptive capacity and the like of the robot in the grinding and polishing process, thereby realizing the advantage complementation. The three-degree-of-freedom curved surface adaptive intelligent force-control flexible grinding and polishing tail end executing device can achieve self-adaptive posture, grinding force and moment adjustment at the designated position, and precision grinding and polishing automatic processing is completed.
Drawings
Fig. 1 is a schematic view of an overall structure of a three-degree-of-freedom curved surface adaptive intelligent force-controlled flexible grinding and polishing end executing device according to a preferred embodiment of the present invention; in the figure, in order to show the position relation of each component, the end cover, the pedestal and the protective cover are subjected to section treatment;
FIG. 2 is a perspective view of FIG. 1;
FIG. 3 is a perspective view of the end cap, base frame, and protective cover of FIG. 1;
FIG. 4 is a schematic perspective view of a two-dimensional attitude adjustment assembly according to a preferred embodiment of the present invention;
FIG. 5 is a front view of FIG. 4;
FIG. 6(a) is a perspective view of a core adjustment member of the tilt adjustment mechanism of FIG. 4, and FIG. 6(b) is a plan view of FIG. 6 (a);
FIG. 7 is a schematic view of a combination of a linear servo force control assembly and a polishing assembly in accordance with a preferred embodiment of the present invention;
FIG. 8 is an exploded view of FIG. 7;
fig. 9 is a schematic view of the combined structure of the polishing head provided by the preferred embodiment of the present invention;
FIG. 10 is a schematic view of the centering of the preferred embodiment of the present invention;
FIG. 11 is a schematic view of an industrial robot end-mounted end effector of the present invention;
FIG. 12 is a schematic diagram of a physical model of a large wind turbine blade;
fig. 13(a), 13(b), and 13(c) are schematic diagrams of the attitude adaptive adjustment process when the curved surface is ground according to the preferred embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-end cap 2-pedestal 3-protective cover
4-two-dimensional attitude adjustment assembly 41-rotation adjustment mechanism 42-tilt adjustment mechanism
411-circular ring track 412-inner gear ring 413-first sliding block
414-rotation drive motor 415-rotation drive gear 416-first mounting bracket
421-arc rack 422-second mounting rack 423-inclination driving motor
424-roller 425-bevel drive gear
5-linear servo force control assembly 51-connecting plate 52-sliding seat
53-linear slide rail 54-screw rod driving motor 55-screw rod
56-linear slide block 57-sensor mounting plate 58-six-dimensional force sensor
6-grinding and polishing assembly 61-grinding head connecting plate 62-grinding head flange
63-grinding head drive motor 64-grinding disc
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 3, the three-degree-of-freedom curved surface adaptive intelligent force-controlled flexible grinding and polishing end executing device according to the preferred embodiment of the present invention includes: the device comprises an end cover 1, a pedestal 2, a protective cover 3, a two-dimensional attitude adjusting component 4, a linear servo force control component 5, a grinding and polishing component 6 and a controller (not shown). The end cover 1 is fixed at the upper end of the base frame 2 through bolts, and a flange used for being in butt joint with the tail end of an industrial grinding and polishing robot or a machine tool is arranged on the end cover 1. The base frame 2 has a cylindrical tubular structure, and the protective cover 3 has a stepped tubular structure and is fixed to the lower end of the base frame 2. The two-dimensional attitude adjusting component 4 is arranged in the base frame 2, and the lower end of the two-dimensional attitude adjusting component is connected with the linear servo force control component 5; the lower end of the linear servo force control assembly 5 is connected with a grinding and polishing assembly 6.
Referring to fig. 4 and 5, the two-dimensional attitude adjusting assembly 4 directly drives the linear servo force control assembly 5 and the polishing assembly 6 to move together through the resultant motion of the rotation adjusting mechanism 41 and the tilt adjusting mechanism 42, so as to adjust the attitude. In the present embodiment, the rotation adjustment mechanism 41 includes a circular ring rail 411, a ring gear 412, a first slider 413, a rotation driving motor 414, a rotation driving gear 415, and a first mounting bracket 416. The circular ring track 411 is provided with a countersunk hole and fixed on an annular mounting table inside the base frame 2 through a countersunk bolt, the lower surface of the inner gear ring 412 is fixedly connected with four first sliding blocks 413 through countersunk bolts, and the four first sliding blocks 413 are uniformly distributed on the circular ring track 411 and slide on the circular ring track 411. A rotation drive gear 415 is mounted on an output shaft of the rotation drive motor 414, and the rotation drive gear 415 is meshed with the ring gear 412. The rotary driving motor 414 is fixedly installed inside the base frame 2 through a first mounting bracket 416.
The tilt adjusting mechanism 42 includes a circular arc rack 421, a second mounting bracket 422, a tilt driving motor 423, a roller 424, and a tilt driving gear 425. Both ends of the circular arc rack 421 are fixedly connected to the upper surface of the ring gear 412 by bolts to rotate with the ring gear 412. The circle center of the circular arc rack 421 is located on the axis of the ring gear 412, and the circular arc rack 421 is coplanar with the axis of the ring gear 412. One side of the circular arc rack 421 facing the center of the circle is a tooth surface, and one side of the circular arc rack 421 facing away from the center of the circle is a guide surface. The tilt driving motor 423 is fixed to the second mount 422, and the tilt driving gear 425 is mounted on an output shaft of the tilt driving motor 423 and engaged with a tooth surface of the circular arc rack 421. As shown in fig. 6(a) and 6(b), the guide member of this embodiment is two rollers 424, the guide surface of the arc rack is an arc groove slidably engaged with the two rollers 424, the center of the arc groove coincides with the center of the arc rack, and during assembly, one end of the arc rack 421 directly passes through the gap between the roller 424 and the inclined driving gear 425.
The two rollers 424 and the inclined driving gear 425 form a stable isosceles triangle structure, so that when the inclined driving gear 425 rotates, the linear servo force control assembly 5 and the polishing assembly 6 are driven to do centering motion. Of course, in other embodiments (not shown), the guide may be replaced by a slider having a curvature corresponding to the arc rack 421, and the slider may be assembled with the second mounting frame 422 separately, or may be formed integrally or by welding; the arc groove is not needed, and the width of the roller is widened to be directly matched with the guide surface of the arc rack 421; or a single roller 424 may be engaged with the bevel drive gear 425 to achieve centering, but the strength requirements of the bevel drive gear 425 are extremely high and the forces on the gear teeth are greater. In general, the preferred embodiment provides the most stable configuration of the two rollers 424 in cooperation with the arcuate recesses and the bevel drive gear 425, the gear teeth of the bevel drive gear 425 are less burdened, the manufacture and assembly are simple, and the maneuverability is maximized and the overall performance is improved due to the minimal friction of the rolling friction.
Referring to fig. 7 and 8, the linear servo force control assembly 5 includes a connection plate 51, a slide 52, a linear slide 53, a lead screw driving motor 54, a lead screw 55, a linear slider 56, a sensor mounting plate 57, and a six-dimensional force sensor 58. The connecting plate 51 is fixed at the lower part of the second mounting frame 422, the sliding seat 52 is fixed on the connecting plate 51, and the sliding seat 52 is provided with a linear sliding rail 53 parallel to the axis of the inner gear ring 412. The screw driving motor 54 is fixed relative to the connecting plate 51, and the output shaft thereof is butted against the screw 55, in this embodiment, the screw driving motor 54 is fixed on the slide 52. The screw 55 and the linear slide block 56 form a ball screw mechanism, the screw 55 is parallel to the linear slide rail 53, and the linear slide block 56 is in sliding fit with the linear slide rail 53. A six-dimensional force sensor 58 is secured to the linear slide 56 by a sensor mounting plate 57. In this embodiment, the six-dimensional force sensor is an ATI sensor. The screw rod driving motor 54 adopts a servo motor with a band-type brake, adopts a photoelectric encoder as a position sensor to realize precise position feedback, ensures the motion control precision, can automatically band-type brake when stopping at different postures, cannot slide due to the action of gravity, is precise in positioning, and is more favorable for pose adjustment.
As shown in fig. 7 to 9, the polishing assembly 6 includes a grinding head connecting plate 61, a grinding head flange 62, a grinding head drive motor 63, and a grinding disc 64. The upper end of the grinding head connecting plate 61 is fixed on the six-dimensional force sensor 58; a grinding disc grinding head flange 62 is arranged at the lower end of the grinding head connecting plate 61; the grinding head driving motor 63 is fixed on the grinding head flange 62, and the output shaft of the grinding head driving motor is positioned on the central connecting line of the grinding disc 64 and the inclined driving gear 425; the grinding disc 64 is mounted on the output shaft of the grinding head driving motor 63, and the center of the grinding disc 64 coincides with the center of the circular arc rack 421. The six-dimensional force sensor 58, the rotation drive motor 414, the tilt drive motor 423, and the lead screw drive motor 54 are connected to a controller (not shown), respectively. The rotation driving motor 414, the tilt driving motor 423 and the lead screw driving motor 54 of the present embodiment all employ servo motors, and the grinding head driving motor 63 employs a low-speed flat motor. The rotation of the low-speed flat motor directly drives the grinding disc 64 to rotate for surface grinding and polishing, the rotating speed of the low-speed flat motor is controllable, the surface burn of the large-scale wind power blade caused by overhigh rotating speed can be effectively prevented, the grinding disc 64 can be directly replaced, and the operation is simple and reliable.
As shown in fig. 2, 4, 6(b) and 10, the operation principle of the centering motion of the grinding disc 64 in the posture adjustment process of the present invention is as follows:
the movement of the two-dimensional attitude adjusting unit 4 is constituted by two mutually orthogonal rotational movements, which are respectively realized by the rotation adjusting mechanism 41 and the tilt adjusting mechanism 42. Because the center of the grinding disc 64 coincides with the center of the circular arc rack 421 and is located on the axis of the inner gear ring 412, the center position of the grinding disc 64 remains unchanged during the movement of the rotation adjusting mechanism 41 and the tilt adjusting mechanism 42, that is, the two-dimensional attitude adjusting assembly 4 only changes the attitude of the grinding disc 64 when performing precise adjustment on the attitude of the grinding disc 64, and does not cause the center of the grinding disc 64 to generate extra displacement, thereby ensuring that the position of the contact point between the grinding disc 64 and the curved surface of the workpiece is not changed during the attitude adjustment. The combined movement of the rotation adjusting mechanism 41 and the rotation of the tilt adjusting mechanism 42 in two orthogonal directions realizes the adjustment of the posture of the grinding disc 64, thereby adapting to the change of the curved surface to realize the coincidence of the grinding surface and the curved surface tangent plane.
In addition, since the change of the contact force is only generated when the grinding disc 64 is in contact with the curved surface to be processed of the workpiece, the displacement of the linear slider 56 regulated by the lead screw driving motor 54 in the contact state of the grinding disc 64 with the curved surface to be processed of the workpiece is very small in practice, and the influence on the position of the polishing contact point is negligible.
As shown in fig. 11, the three-degree-of-freedom force-control flexible grinding and polishing flange of the present invention is connected with the end flange of the robot through the end cover 1, and the motion of the robot is utilized to provide a wide range of position and posture adjustment, so that the end execution device of the present invention can quickly reach a designated position. The tail end execution device has the characteristics of constant force and accurate posture adjustment, can realize constant force grinding and polishing processing at a given position, and can be self-adaptive to the curved surface at the given position to adjust the posture, realize normal contact, prevent repeated grinding and polishing and ensure the uniformity of grinding and polishing.
The operation of the present invention will be described with reference to fig. 13(a) to 13(c) by taking the large-sized wind turbine blade of fig. 12 as an example, and the reference numerals of the respective elements will be described with reference to fig. 4 to 9 and the accompanying drawings.
As shown in fig. 13(a), a certain point of the large wind turbine blade is currently being polished, and after the polishing of the certain point is finished, the next position, that is, the position shown in fig. 13(b), needs to be operated for continuous polishing. Since the grinding and polishing position is changed at this time, the curvature and the normal direction of the curved surface are also changed, the rotating shaft of the grinding disc 64 is no longer coincident with the normal of the current grinding point, and if the grinding and polishing are directly carried out, the grinding and polishing precision and the grinding and polishing degree are difficult to guarantee. At this time, the six-dimensional force sensor 58 of the linear servo force control assembly 5 collects the contact force and the moment signal between the grinding disc 64 and the workpiece in real time, and feeds the contact force and the moment signal back to the controller, the controller calculates the motion amounts of the rotary driving motor 414, the inclined driving motor 423 and the screw rod driving motor 54 according to the received contact force and the moment signal, and outputs corresponding control signals, so that the posture of the grinding disc 64 is adjusted, the rotating shaft of the grinding disc 64 is overlapped with the normal of the grinding curve contact point again, and meanwhile, the contact force between the grinding disc 64 and the workpiece is adjusted to a preset value, thereby realizing constant force grinding and polishing, and ensuring the uniformity of grinding and polishing. The screw rod driving motor 54 adopts a servo motor with a band-type brake, realizes motor braking through the band-type brake, adopts a photoelectric encoder as a position sensor to realize precise position feedback, ensures the motion control precision, can be freely stopped when in posture adjustment and switching, cannot slide under the action of gravity, and can be used for band-type brake braking.
In a word, in order to improve the problem that the attitude of the single-degree-of-freedom force control grinding and polishing mechanism cannot adapt to the change of the curved surface, the two-dimensional attitude adjusting assembly 4 is added on the basis of the one-dimensional force control assembly to control the normal contact force of the grinding head and adjust the attitude of a local tangent plane in the curved surface grinding process, so that the grinding head and the free surface of a workpiece can achieve constant force and normal contact. During grinding and polishing, the contact force and the moment of the grinding disc and the curved surface to be processed of the workpiece are transmitted to a six-dimensional force sensor through a grinding head connecting plate, and the six-dimensional force sensor is used for acquiring the contact force and the moment signals of the grinding disc and the workpiece to be processed and uploading the signals to a controller; the controller is used for controlling the operation of the rotary driving motor and the inclined driving motor according to the received contact force and moment signals, so that the posture of the grinding disc is adjusted in real time, the grinding surface of the grinding disc is always overlapped with the local tangent plane of the contact point of the curved surface to be processed of the workpiece, and the self-adaption of the curved surface to be processed is realized; the controller is also used for controlling the operation of the screw rod driving motor according to the received contact force and moment signals, adjusting the grinding force in real time and realizing flexible grinding and polishing
The negative feedback active compliance system formed by the servo motion platform with precise and high-bandwidth control characteristics and the force sensor can well control the contact force and the contact attitude of the grinding disc and the workpiece, so that the grinding contact force and the grinding attitude are actively and adaptively controlled. The invention integrates the linear servo force control assembly 5 and the two-dimensional attitude adjusting assembly 4 taking the spherical track center invariant principle as the core, realizes the force-position decoupling in the robot power-controlled grinding and polishing processing, meets the requirements of high precision and good surface consistency when processing the free curved surface of a large-scale wind power blade, can effectively avoid the problems of unsatisfactory contact attitude of a grinding head and the free curved surface, uneven grinding and polishing and the like caused by low positioning precision of the robot, and can be widely applied to the robot grinding and polishing of the large curved surface, especially the complex free curved surface of the wind power blade.
The invention adopts a linear servo force control platform and a two-dimensional attitude adjusting assembly with ingenious design, and realizes contact force controllable grinding and polishing processing of full-electric digital attitude self-adaptive adjustment with a six-dimensional force sensor, compared with the prior art, the linear servo force control assembly adopts mechanical servo control, and the nonlinear problem of a gas variable force device caused by gas compression is compensated by a high-rigidity structure and precise motion control of the linear servo force control assembly; the two-dimensional attitude adjusting assembly skillfully designed in the invention can ensure that the attitude adjustment does not change the position of a grinding point, and effectively avoids repeated grinding; the invention adopts force control closed-loop control and operation control closed-loop control, has the advantages of good precision controllability, high control precision and the like, and has obvious advantages in the aspects of ensuring even grinding and polishing, preventing excessive grinding and the like.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A three-degree-of-freedom curved surface self-adaptive intelligent force-control flexible grinding and polishing tail end executing device is used for being mounted to the tail end of a grinding and polishing robot to execute flexible grinding and polishing and is characterized by comprising a base frame, an end cover, a two-dimensional attitude adjusting assembly, a linear servo force control assembly, a grinding and polishing assembly and a controller;
the base frame is of a cylindrical structure with an opening at the lower end, the end cover is arranged at the upper end of the base frame and is used for being fixedly butted with the tail end of the grinding and polishing robot;
the two-dimensional attitude adjusting assembly is arranged in the base frame and comprises an inclination adjusting mechanism and a rotation adjusting mechanism;
the adjusting track of the inclination adjusting mechanism is an arc rack, the inclination adjusting mechanism is driven to rotate by an inclination driving gear meshed with the arc rack by taking the circle center of the arc rack as the center, and the circle center of the arc rack is positioned on the rotating axis of the rotation adjusting mechanism;
the linear servo force control assembly is arranged on the inclination adjusting mechanism and comprises a screw rod, a linear sliding block, a screw rod driving motor and a six-dimensional force sensor; the ball screw mechanism is formed by the screw rod and the linear sliding block, the output shaft of the screw rod driving motor is in butt joint with the screw rod, and the six-dimensional force sensor is fixed on the linear sliding block;
the grinding and polishing assembly comprises a grinding head connecting plate, a grinding head driving motor and a grinding disc; the upper end of the grinding head connecting plate is fixed on the six-dimensional force sensor; the grinding disc is arranged on an output shaft of the grinding head driving motor, and the center of the grinding disc is superposed with the circle center of the arc rack; the grinding head driving motor is fixed at the lower end of the grinding head connecting plate, and an output shaft of the grinding head driving motor is positioned on a central connecting line of the center of the grinding disc and the inclined driving gear;
the controller is respectively connected with the six-dimensional force sensor, the screw rod driving motor and the driving parts of the inclination adjusting mechanism and the rotation adjusting mechanism.
2. The three-degree-of-freedom curved surface adaptive intelligent force-control flexible grinding and polishing tail end executing device as recited in claim 1, wherein the rotation adjusting mechanism comprises a circular ring track, a rotation driving motor, an inner gear ring and a rotation driving gear; wherein,
the circular track and the rotary driving motor are fixed relative to the base frame; the inner gear ring is arranged on the circular ring track and is coaxially arranged with the circular ring track; the rotary driving gear is arranged on an output shaft of the rotary driving motor and is meshed with the inner gear ring; the controller is connected with the rotary driving motor, and when the rotary driving motor works, the inner gear ring is driven to rotate on the circular track by the rotary driving gear with the axis of the inner gear ring as the center.
3. The three-degree-of-freedom curved surface adaptive intelligent force-control flexible grinding and polishing tail end executing device as recited in claim 2, wherein the inclination adjusting mechanism comprises an arc rack, an inclination driving gear, a guide member, a second mounting frame and an inclination driving motor; wherein,
the circle center of the arc rack is positioned on the axis of the inner gear ring, one side of the arc rack, which faces the circle center, is a tooth surface, and the side, which is back to the circle center, is a guide surface; the inclined driving gear is connected with the guide piece through a second mounting frame and meshed with the tooth surface of the circular arc rack; the inclination driving gear is arranged on an output shaft of the inclination driving motor, the inclination driving motor is fixed relative to the second mounting frame, and the controller is connected with the inclination driving motor; the guide piece is matched with the guide surface of the arc rack so as to guide the inclination adjusting mechanism in the rotation process of the inclination driving gear.
4. The three-degree-of-freedom curved surface adaptive intelligent force-control flexible grinding and polishing tail end execution device as recited in claim 3, wherein the linear servo force control assembly comprises a connecting plate, a linear slide rail, a lead screw, a linear slide block, a lead screw driving motor and a six-dimensional force sensor; wherein,
the connecting plate is fixed at the lower part of the second mounting frame, and a sliding rail parallel to the axis of the inner gear ring is arranged on the connecting plate; the screw rod and the linear sliding block form a ball screw mechanism, the screw rod is parallel to the linear sliding rail, and the linear sliding block is in sliding fit with the linear sliding rail; the screw rod driving motor is fixed relative to the connecting plate, and an output shaft of the screw rod driving motor is in butt joint with the screw rod; the six-dimensional force sensor is fixed on the linear sliding block.
5. The three-degree-of-freedom curved surface adaptive intelligent force-controlled flexible grinding and polishing tail end executing device is characterized in that an arc-shaped groove extending in the circumferential direction is formed in the guide surface of the arc-shaped rack, and the circle center of the arc-shaped groove is overlapped with that of the arc-shaped rack; the guide piece is two rollers, the two rollers and the inclined driving gear are distributed in an isosceles triangle shape, the axes of the two rollers and the inclined driving gear are parallel to each other, and the central connecting line of the two rollers is the bottom edge of the isosceles triangle; two rollers are matched with the arc-shaped groove.
6. The three-degree-of-freedom curved surface adaptive intelligent force-control flexible grinding and polishing tail end executing device is characterized in that the guide block is an arc-shaped sliding block, and the circle center of the arc-shaped sliding block is overlapped with that of the arc-shaped rack.
7. The three-degree-of-freedom curved surface adaptive intelligent force-controlled flexible grinding and polishing tail end execution device as claimed in any one of claims 2 to 4, wherein a plurality of first sliding blocks are uniformly distributed along the circumferential direction on the lower surface of the inner gear ring, sliding grooves with the width equal to that of the circular ring track are formed in the lower surfaces of the first sliding blocks, and the upper end surfaces of the circular ring track are located in the sliding grooves.
8. The three-degree-of-freedom curved surface adaptive intelligent force-control flexible grinding and polishing end execution device is characterized by further comprising a protective cover, wherein grinding head connecting plates of the linear servo force control assembly and the grinding and polishing assembly are located inside the protective cover, a grinding head driving motor and a grinding disc of the grinding and polishing assembly are located outside the protective cover, and the upper end of the protective cover is fixedly butted with the lower end of the base frame.
9. The three-degree-of-freedom curved surface adaptive intelligent force-control flexible grinding and polishing tail end execution device as claimed in any one of claims 1 to 4, wherein an annular installation table is arranged in the base frame, and the annular rail is fixed on the annular installation table.
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