CN110039426A - A kind of Three Degree Of Freedom actively complies with robot grinding device - Google Patents
A kind of Three Degree Of Freedom actively complies with robot grinding device Download PDFInfo
- Publication number
- CN110039426A CN110039426A CN201910306865.3A CN201910306865A CN110039426A CN 110039426 A CN110039426 A CN 110039426A CN 201910306865 A CN201910306865 A CN 201910306865A CN 110039426 A CN110039426 A CN 110039426A
- Authority
- CN
- China
- Prior art keywords
- unit
- sanding unit
- connecting rod
- horizontal plane
- grinding device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
-
- 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
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- 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
- 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
- B25J11/0065—Polishing or grinding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention belongs to robot polishing processing technical fields, and disclose a kind of Three Degree Of Freedom and actively comply with robot grinding device.Including connecting plate, horizontal plane motion unit, vertical plane moving cell, sanding unit.Wherein, grinding device is connect by connecting plate with robot end, and vertical plane moving cell one end is connect with connecting plate, and the other end is connect by horizontal plane motion unit with sanding unit, for realizing the pitching movement of sanding unit in perpendicular；Horizontal plane motion unit be arranged on vertical plane moving cell, for realizing sanding unit in the horizontal direction in back-and-forth motion and rotation；Sanding unit is polished for treating polishing object, and is provided with range sensor.It is inputted by the movement of control vertical plane moving cell and horizontal plane motion unit, to adjust sanding unit in the movement of perpendicular and horizontal plane, and then realizes that complex-curved Three Degree Of Freedom is actively complied with.The present invention can effectively improve grinding accuracy and efficiency, and applied widely.
Description
Technical field
The invention belongs to robot polishing processing technical fields, actively comply with machine more particularly, to a kind of Three Degree Of Freedom
Device people's grinding device.
Background technique
When carrying out mobile polishing processing to large complicated carved workpiece, since the Curvature varying range of workpiece is big,
Fixed milling tools cannot polish to all positions, therefore milling tools is required to comply with the shape of curved surface, with
Guarantee the quality of polishing processing.Therefore, the workpiece with curve form is especially become with the polishing end actively complied with
The processing of the workpiece of curvature has great importance.
Patent 201810035845.2 proposes a kind of telescopic grinding device, possesses a translational degree of freedom, by can
The grinding head that stretches realizes the snubber contact with workpiece, to have compliant function to a certain extent, but its structure is complex, and list is certainly
Larger by the limitation spent, the processing for complex-curved workpiece needs back and forth in the grinding device bruting process of single-degree-of-freedom
Planning polishing track, the polishing time is long, and grinding efficiency is low, and therefore, the processing for complex curved surface part, being badly in need of one kind can be suitable
Workpiece surface is answered to have multivariant grinding device.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of Three Degree Of Freedoms actively to comply with machine
People's grinding device, by the design to its critical component horizontal plane motion unit and vertical plane moving cell, so that sanding unit
Three Degree Of Freedom with back-and-forth motion, rotation and vertical plane pitching in horizontal plane, so that when polishing complex-curved, polishing
Unit can actively comply with the curved surface of object to be polished, and reduce polishing dead angle, improve grinding accuracy and efficiency.
To achieve the above object, it is proposed, according to the invention, it provides a kind of Three Degree Of Freedom and actively complies with robot grinding device, it should
Grinding device includes connecting plate, vertical plane moving cell, horizontal plane motion unit and sanding unit, wherein
The connecting plate for the grinding device to be connect with robot end, vertical plane moving cell one end and
The connecting plate connection, the other end is connect by the horizontal plane motion unit with the sanding unit, for so that described beat
It grinds unit and carries out pitching movement in perpendicular；The horizontal plane motion unit is arranged on the vertical plane moving cell, uses
Back-and-forth motion and rotation in realizing the sanding unit in the horizontal direction, the sanding unit for treat polishing object into
Row polishing is inputted by the movement of control vertical plane moving cell and horizontal plane motion unit, to adjust sanding unit perpendicular
The movement of straight plane and horizontal plane, and then the grinding device is made to realize that Three Degree Of Freedom actively complies with polishing.
The vertical plane moving cell includes swivel plate and drives the swivel plate in the first driving machine of perpendicular pitching
Structure, the horizontal plane motion unit include sliding equipment and two link mechanisms, and the sliding equipment setting is single in the polishing
On the perpendicular bisector of member, one end is connect with the swivel plate, and the other end is connect with the sanding unit, and two link mechanisms are about institute
State the both ends that sliding equipment is symmetrically distributed in the sanding unit, the symmetric motion and not in the horizontal plane of described two link mechanisms
The sanding unit is driven to be moved back and forth within the horizontal plane and rotate respectively when symmetric motion, the sanding unit drives when moving
The sliding equipment movement.
It is further preferred that the link mechanism include the second driving mechanism, first connecting rod and second connecting rod, described second
Driving mechanism is arranged on the swivel plate, and for driving the first connecting rod to rotate, the second connecting rod setting is described the
Between one connecting rod and sanding unit, the first connecting rod rotation drives the sanding unit to move by the second connecting rod, when
When first connecting rod rotation angle is identical in two link mechanisms, the sanding unit is driven to move back and forth within a horizontal plane,
When first connecting rod rotation angle is not identical in two link mechanisms, drive the sanding unit in the horizontal plane around wherein
Vertical line rotation.
It is further preferred that the sliding equipment includes sliding rail and the slide bar that moves back and forth on the sliding rail, the sliding rail
It is connect with shown swivel plate, the slide bar is connect with the sanding unit.
It is further preferred that the sanding unit on be provided with range sensor, for measure sanding unit with wait beat
The distance between object is ground, and by measurement feedback to control unit, the horizontal plane motion list is adjusted by control unit
Member and the movement of vertical plane moving cell are to change the sanding unit and wait the relative position between object of polishing, to realize to institute
State the closed-loop control of sanding unit.
It is further preferred that the sanding unit includes third driving mechanism, grinding clamp and grinding head, the polishing folder
Tool is polished for clamping the grinding head, the third driving mechanism for driving the grinding head to treat polishing object.
It is further preferred that second driving mechanism and first connecting rod, first connecting rod and second connecting rod, sliding equipment with
Rotatable connection is all made of between sanding unit and between second connecting rod and sanding unit.
It is further preferred that first driving mechanism, the second driving mechanism and third driving mechanism preferably use motor.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect.
1, grinding device provided by the invention possesses three degree of freedom, can comply with object to be polished automatically during the grinding process
Curved surface so that, without planning polishing track back and forth, reduce polishing dead angle when polishing complex-curved polishing object,
Improve the uniformity and precision of polishing；
2, the present invention in horizontal plane motion unit by being arranged two link mechanisms and sliding equipment, wherein two companies
Linkage by controlling respective first connecting rod and second connecting rod respectively, the first connecting rod symmetric motion in two link mechanisms
When, sanding unit is moved back and forth within the horizontal plane, and when assymmetric motion, sanding unit angle deflects and rotates, sliding
Mechanism defines to move along a straight line when sanding unit level is moved forward and backward, while further defining in rotation when sanding unit rotation
The heart realizes movement and rotation in sanding unit horizontal plane by the cooperation of link mechanism and sliding equipment；
3, the present invention is connect by horizontal plane motion unit with sanding unit by using vertical plane moving cell, letter
Change structure, while having made being superimposed for the freedom degree of horizontal plane and perpendicular freedom degree, and non-interference, improves sanding unit
Flexibility ratio, widen its use scope；
4, the present invention in sanding unit by being provided with multiple range sensors, and passes through range sensor and controller
Be connected the closed-loop control realized to polishing cell position, improves the control precision to polishing cell position, applied widely, structure
Simply, easily fabricated and control.
Detailed description of the invention
Fig. 1 is the knot that Three Degree Of Freedom constructed by preferred embodiment according to the invention actively complies with robot grinding device
Structure schematic diagram；
Fig. 2 is the schematic diagram that grinding device constructed by preferred embodiment according to the invention is connect with robot；
Fig. 3 is that Three Degree Of Freedom constructed by preferred embodiment according to the invention actively complies with bowing for robot grinding device
View.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1- robot 2- connecting plate 3- swivel plate 4- the first driving mechanism 5- the second driving mechanism 6- first connecting rod
7- second connecting rod 8- sliding rail 9- slide bar 10- backboard 11- grinding clamp 12- grinding head 13- third driving mechanism 14- is infrared
Inductor
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
A kind of Three Degree Of Freedom actively complies with robot grinding device, and Fig. 1 is constructed by preferred embodiment according to the invention
Three Degree Of Freedom actively comply with the structural schematic diagram of robot grinding device, as shown in Figure 1, the grinding device is connected to robot
1 end, as shown in Fig. 2, the grinding device includes connecting plate 2, horizontal plane motion unit, vertical plane moving cell, sanding unit
With range sensor 14, vertical plane moving cell includes swivel plate 3 and the first driving mechanism 4；Horizontal plane motion unit includes two
A link mechanism and sliding equipment, two link mechanisms pile distribution about sliding equipment, and link mechanism includes the second driving machine
Structure 5, first connecting rod 6 and second connecting rod 7, sliding equipment include sliding rail 8 and slide bar 9；Sanding unit include third driving mechanism 13,
Backboard 10, polishing fixture head 11 and grinding head 12.
Fig. 2 is the schematic diagram that grinding device constructed by preferred embodiment according to the invention is connect with robot, such as
Shown in Fig. 2, connecting plate 2 is connect with 1 end flange of industrial robot, in horizontal plane motion unit, the installation of the second driving mechanism 5
On swivel plate 3, the upper end of first connecting rod 6 and 5 output shaft fixed connection of the second driving mechanism, the lower end of first connecting rod 6 connect with second
The upper end of bar 7 is connected by turning joint, and the lower end of second connecting rod 7 is connected with 10 one end of backboard by turning joint；Slide bar 9
Upper end is connected with swivel plate 3 by sliding rail 8, and the lower end of slide bar 9 is connected with the bottom of backboard 10 by turning joint；
In vertical plane moving cell, the first driving mechanism 4 is mounted on swivel plate 3, for driving swivel plate putting down vertically
Face carries out pitching movement, while driving sanding unit to carry out pitching movement by the link mechanism in horizontal plane motion unit；
In sanding unit, the end of link mechanism and the end of sliding equipment are connect with backboard 10 respectively, backboard 10 is arranged
At the back side of grinding clamp 11, third driving mechanism 13 13 output shaft of third driving mechanism and is beaten on polishing fixture head 11
Bistrique 12 is connected；
Range sensor 14 is mounted on grinding head clamp top.
Preferably, Fig. 3 is that Three Degree Of Freedom constructed by preferred embodiment according to the invention actively complies with robot polishing
The top view of device, as shown in figure 3, between the driving of the second driving mechanism 5 and first connecting rod 6, first connecting rod 6 and second connecting rod 7
Between, between second connecting rod 7 and backboard 10, it is connected between slide bar 9 and backboard 10 by turning joint, so that horizontal plane is transported
Moving cell can control polishing platform and move and rotate in horizontal plane, have what is centainly changed to add so as to actively comply with curvature
Work surface.
Preferably, connecting plate 2 is mounted on 1 end flange of industrial robot, so that its position and posture can pass through industry
Joint of robot movement is adjusted.
Preferably, swivel plate 3 is directly driven by the first driving mechanism 4, turned in perpendicular to can control swivel plate
It is dynamic, and then the pitch angle of adjustable milling tools, there is the finished surface centainly changed so as to actively comply with curvature.
Preferably, two or more range sensors are installed on polishing fixture head, obtain workpiece surface and polishing
The distance between tool, and then by position-force control, guarantee that milling tools and workpiece keep horizontal.
Preferably, grinding head 12 is directly driven by third driving mechanism 13, can be installed on fixture head 11 of polishing different
Milling tools, to adapt to different polishing requirements.
Motor, hydraulic-driven or others can be used in first driving mechanism, the second driving mechanism and third driving mechanism
Driving device.
It is inputted by the movement of control vertical plane moving cell and horizontal plane motion unit, to adjust sanding unit perpendicular
The movement of straight plane and horizontal plane, and then the grinding device is made to realize that Three Degree Of Freedom actively complies with polishing, wherein movement is defeated
Enter to refer to driving mechanism output power, actively comply with the position for referring to grinding device active accommodation oneself and posture be bonded to
The surface of polishing object.
Grinding device of the present invention contains three freedom of motion altogether, and specific calculating process is as follows: vertical plane movement is single
Member contains only a movable part and a revolute pair, number of degrees of freedom, one；Horizontal plane motion unit contain six movable parts, seven
A revolute pair and a prismatic pair, number of degrees of freedom, two.To sum up, this grinding device number of degrees of freedom, is three.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (7)
1. a kind of Three Degree Of Freedom actively complies with robot grinding device, which is characterized in that the grinding device include connecting plate (2),
Vertical plane moving cell, horizontal plane motion unit and sanding unit, wherein
The connecting plate (2) for the grinding device to be connect with robot end, vertical plane moving cell one end and
Connecting plate (2) connection, the other end is connect by the horizontal plane motion unit with the sanding unit, for so that described
Sanding unit carries out pitching movement in perpendicular；The horizontal plane motion unit is arranged on the vertical plane moving cell,
For realizing the sanding unit in the horizontal direction in back-and-forth motion and rotation, the sanding unit is for treating polishing object
It polishes；It is inputted by the movement of control vertical plane moving cell and horizontal plane motion unit, is existed to adjust sanding unit
The movement of perpendicular and horizontal plane, and then the grinding device is made to realize that Three Degree Of Freedom actively complies with polishing；
The vertical plane moving cell includes swivel plate (3) and drives the swivel plate in the first driving mechanism of perpendicular pitching
(4), the horizontal plane motion unit includes sliding equipment and two link mechanisms, and the sliding equipment setting is single in the polishing
On the perpendicular bisector of member, one end is connect with the swivel plate (3), and the other end is connect with the sanding unit, and two link mechanisms close
The both ends of the sanding unit, the symmetric motion in the horizontal plane of described two link mechanisms are symmetrically distributed in the sliding equipment
The sanding unit is driven to be moved back and forth within the horizontal plane and rotate respectively with when assymmetric motion, when the sanding unit moves
The sliding equipment is driven to move.
2. a kind of Three Degree Of Freedom as described in claim 1 actively complies with robot grinding device, which is characterized in that the connecting rod
Mechanism includes the second driving mechanism (5), first connecting rod (6) and second connecting rod (7), and second driving mechanism (5) is arranged in institute
It states on swivel plate (3), for driving the first connecting rod (6) to rotate, the second connecting rod (7) is arranged in the first connecting rod
(6) between sanding unit, first connecting rod (6) rotation simultaneously drives the sanding unit to transport by the second connecting rod (7)
It is dynamic, when first connecting rod (6) symmetric motion in two link mechanisms, drive sanding unit front and back fortune in the horizontal plane
It is dynamic, when first connecting rod (6) assymmetric motion in two link mechanisms, drive the sanding unit in the horizontal plane around it
Perpendicular bisector rotation.
3. a kind of Three Degree Of Freedom as claimed in claim 2 actively complies with robot grinding device, which is characterized in that the sliding
Mechanism includes sliding rail (8) and the slide bar (9) moved back and forth on the sliding rail, and the sliding rail (8) connect with the swivel plate (3),
The slide bar (9) connect with the sanding unit.
4. a kind of Three Degree Of Freedom as described in any one of claims 1-3 actively complies with robot grinding device, which is characterized in that
Range sensor (14) are provided in the sanding unit, for measuring the distance between sanding unit and object to be polished, and
By measurement feedback to control unit, the horizontal plane motion unit is adjusted by control unit and vertical plane moving cell is transported
It moves to change the sanding unit and wait the relative position between object of polishing, to realize the closed loop control to the sanding unit
System.
5. a kind of Three Degree Of Freedom according to any one of claims 1-4 actively complies with robot grinding device, which is characterized in that
The sanding unit includes third driving mechanism (13), grinding clamp (11) and grinding head (12), and the grinding clamp (11) is used
In clamping the grinding head, the third driving mechanism (13) is polished for driving the grinding head to treat polishing object.
6. a kind of Three Degree Of Freedom as described in any one in claim 1-5 actively complies with robot grinding device, which is characterized in that
Second driving mechanism (5) and first connecting rod (6), first connecting rod (6) and second connecting rod (7), sliding equipment and sanding unit
Between and second connecting rod 7 and sanding unit between be all made of rotatable connection.
7. a kind of Three Degree Of Freedom as claimed in any one of claims 1 to 6 actively complies with robot grinding device, which is characterized in that
First driving mechanism (4), the second driving mechanism (5) and third driving mechanism (13) preferably use motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910306865.3A CN110039426A (en) | 2019-04-17 | 2019-04-17 | A kind of Three Degree Of Freedom actively complies with robot grinding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910306865.3A CN110039426A (en) | 2019-04-17 | 2019-04-17 | A kind of Three Degree Of Freedom actively complies with robot grinding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110039426A true CN110039426A (en) | 2019-07-23 |
Family
ID=67277490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910306865.3A Pending CN110039426A (en) | 2019-04-17 | 2019-04-17 | A kind of Three Degree Of Freedom actively complies with robot grinding device |
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| Country | Link |
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| CN (1) | CN110039426A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587437A (en) * | 2019-09-10 | 2019-12-20 | 深圳先进技术研究院 | Curved surface polishing and grinding device |
| CN114102393A (en) * | 2021-11-23 | 2022-03-01 | 重庆凯宝机器人股份有限公司 | Polishing robot |
| CN115609386A (en) * | 2022-09-09 | 2023-01-17 | 肇庆高峰机械科技有限公司 | Reciprocating feeding mechanism of numerical control verticality grinding machine |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101125413A (en) * | 2007-09-30 | 2008-02-20 | 东北大学 | Abrasive band curve surface grinder |
| CN105500349A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Parallel robot with twice translation and once rotation |
-
2019
- 2019-04-17 CN CN201910306865.3A patent/CN110039426A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101125413A (en) * | 2007-09-30 | 2008-02-20 | 东北大学 | Abrasive band curve surface grinder |
| CN105500349A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Parallel robot with twice translation and once rotation |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587437A (en) * | 2019-09-10 | 2019-12-20 | 深圳先进技术研究院 | Curved surface polishing and grinding device |
| CN114102393A (en) * | 2021-11-23 | 2022-03-01 | 重庆凯宝机器人股份有限公司 | Polishing robot |
| CN115609386A (en) * | 2022-09-09 | 2023-01-17 | 肇庆高峰机械科技有限公司 | Reciprocating feeding mechanism of numerical control verticality grinding machine |
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Application publication date: 20190723 |
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