CN110103115A - A kind of Three Degree Of Freedom telecentricity that curved surface is complied with fixed point flexible force control grinding and polishing actuator - Google Patents
A kind of Three Degree Of Freedom telecentricity that curved surface is complied with fixed point flexible force control grinding and polishing actuator Download PDFInfo
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- CN110103115A CN110103115A CN201910435302.4A CN201910435302A CN110103115A CN 110103115 A CN110103115 A CN 110103115A CN 201910435302 A CN201910435302 A CN 201910435302A CN 110103115 A CN110103115 A CN 110103115A
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- polishing
- module
- force control
- grinding
- motor
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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
- B24B19/14—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
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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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
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
-
- 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
- B24B49/16—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 taking regard of the load
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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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention belongs to complex surface machining technical fields, disclose a kind of Three Degree Of Freedom telecentricity that curved surface is complied with fixed point flexible force control grinding and polishing actuator, including controller and the straight line lifting force control module being sequentially connected, two-dimensional attitude angle adjustment module, sensor measurement module and polishing execution module, straight line lifting force control module is for driving other modules to move along a straight line up and down；Two-dimensional attitude angle adjustment module includes the first and second angular adjustment components being connected with each other, and two rotary shafts for adjusting component are in default angle, and meet at a bit of mill lower surface；Controller is connected with straight line lifting force control module, two-dimensional attitude angle adjustment module and sensor measurement module respectively, contact force and torque signals for being acquired according to sensor measurement module control straight line lifting force control module and the movement of two-dimensional attitude angle adjustment module to adjust the grinding and polishing power and posture of mill in real time.Processing uniformity of the present invention, consistency are good, are suitble to large complicated carved surface polishing processing.
Description
Technical field
The invention belongs to complex surface machining technical fields, remote more particularly, to a kind of Three Degree Of Freedom that curved surface is complied with
The heart pinpoints flexible force control grinding and polishing actuator.
Background technique
Wind electricity blade is the critical component of wind power generating set, have size big (>=50 meters), free form surface type face, it is weak just
Property, easily-deformable feature, be typical large complicated carved part, the type face accuracy of form and position and surface roughness directly affect
Wind power generation efficiency and service life.Wind turbine blade formed after injection molding needs to carry out overall time skin processing, current
The polishing processing of the free form surfaces such as wind turbine blade mainly includes manual grinding and polishing and Longmen machine tool polishing processing, wherein by hand
Polishing processing there are inefficient, grinding and polishing surpluses uneven, surface quality of workpieces is influenced and tight by worker's skills involved in the labour
Ghost image rings the problem of worker's physical and mental health, and that there are flexibilities is poor, complicated for operation and tail portion is weak in being difficult to solve for Longmen machine tool grinding and polishing
The problem of high-efficiency and precision processing of rigid region.
In order to solve the problems, such as above-mentioned polishing processing, there is robot grinding and polishing technology, robot grinding and polishing technology has effect
The advantages such as rate is high, and processing consistency is good, and flexibility is high, and working range is big, and cost is controllable, have wide answer in wind electricity blade
Use prospect.However, robot grinding and polishing technology still has some problems: firstly, robot is in the unstructured ring such as complex-curved
When carrying out such as polishing, polishing constraint manipulation in border, the geometrical morphology of workpiece is difficult to Accurate Model, and wind turbine blade class
The characteristics such as the arm length of workpiece, easily-deformable often require that grinding and polishing tool has certain flexibility, processing object accurate model
Shortage causes robot motion's trajectory planning difficult or inaccuracy；Secondly, robot is in polishing wind electricity blade etc. complex-curved zero
During part, robot end is generally installed on using single-freedom and flexible grinding and polishing flange at present and is polished, in polishing
In the process, the axis of single-freedom and flexible grinding and polishing flange and the normal direction theory of curved surface part for being installed on robot end are answered
The coincidence, but due to processing environment complexity, robot self structure is that cantilever beam etc. causes robot end's precision lower, single
When freedom degree bistrique and curved surface part contact, axis is not overlapped with normal to a surface direction, so that curved surface part appearance is overground
Or the region ground less, consistency are poor.
Therefore, need researching and designing one kind can adaptive curved surface flexible grinding and polishing actuator, make it during executing grinding and polishing
With certain flexibility, and adaptively posture can be adjusted so that the axis of bistrique is overlapped with normal to a surface, guarantee grinding and polishing is smart
Degree,
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 Freedom that curved surface is complied with is remote
The heart pinpoints flexible force control grinding and polishing actuator, by adjusting to key component such as straight line lifting force control module, two-dimensional attitude angle
The research and design of the specific arrangement method of module, sensor measurement module and execution module of polishing are connect with real-time adjustment processing
The posture and contact force of contact, and the position of contact point does not change when two-dimensional attitude is adjusted, improve grinding accuracy,
While realizing submissive grinding and polishing, prevents from repeating grinding and polishing and grinding and polishing is uneven, have many advantages, such as that processing uniformity, consistency are good, it is special
It is not suitable for the surface polishing processing of large complicated carved part.
To achieve the above object, the invention proposes a kind of Three Degree Of Freedom telecentricities that curved surface is complied with to pinpoint flexible force control grinding and polishing
Actuator comprising controller and the straight line lifting force control module, the two-dimensional attitude angle adjustment module, sensor that are sequentially connected
Measurement module and polishing execution module, in which:
The straight line lifting force control module is for driving two-dimensional attitude angle adjustment module, sensor measurement module and polishing
The entirety that execution module is constituted does linear motion up and down；The two-dimensional attitude angle adjustment module includes first jiao to be connected with each other
Degree adjusts component and second angle and adjusts component, the first angle adjust component for drive the second angle adjust component,
Sensor measurement module and polishing execution module constitute entirety do the first rotary motion, the rotary shaft of first rotary motion with
The direction of linear motion is parallel, and the second angle adjusts component for driving the sensor measurement module and polishing to execute mould
The entirety that block is constituted does the second rotary motion, and the rotary shaft of the rotary shaft of second rotary motion and the first rotary motion is in default
Angle, and two rotary shafts are met at a bit, and which is located on the lower surface of the mill in polishing execution module；
The controller respectively with the straight line lifting force control module, two-dimensional attitude angle adjustment module and sensor measurement
Module is connected, mill for acquire according to the sensor measurement module and to the contact force and torque letter between grinding and polishing curved surface
Number, the straight line lifting force control module and the movement of two-dimensional attitude angle adjustment module are controlled, to adjust the grinding and polishing power of mill in real time
And posture, realize that the Three Degree Of Freedom telecentricity that curved surface is complied with pinpoints flexible force control grinding and polishing with this.
As it is further preferred that the straight line lifting force control module include spindle motor, optical axis and from top to bottom according to
Upper mounting plate, fixed plate, optical axis fixed plate and the lower installation board of secondary setting, the spindle motor are mounted in the fixed plate,
The lead screw being threadedly engaged with spindle motor is coated in the spindle motor, the upper end of the lead screw is fixed on the upper mounting plate,
Lower end is fixed in the optical axis fixed plate, and the optical axis and the lead screw are arranged in parallel, and passes through the fixed plate, and its two
End is separately mounted on the upper mounting plate and optical axis fixed plate, is provided with copper post between the fixed plate and lower installation board, should
Lower installation board is for connecting two-dimensional attitude angle adjustment module.
As it is further preferred that the optical axis is provided with four, it is divided into the surrounding of lead screw.
As it is further preferred that the first angle adjust component include first motor, driving gear, driven gear,
First crossed roller bearing and the first connecting plate, the first motor are arranged vertically, and are mounted on the lower installation board, defeated
Shaft is connected with the driving gear, which engages with the driven gear, and the driven gear and described first is handed over
The upper end for pitching roller bearing inner ring is connected, and the lower end of the first crossed roller bearing inner ring is connected with first connecting plate, should
The outer ring of first crossed roller bearing is connected with the lower installation board.
As it is further preferred that the driven gear is arranged in the centre below lower installation board, the driving gear and
First motor is arranged in the position deviateed among lower installation board.
As it is further preferred that the second angle adjust component include the second motor and the second crossed roller bearing,
Second motor is in tilted layout, and is mounted on motor fixing plate, which passes through connector and described first jiao
Degree adjusts component and is connected；The output shaft of second motor is connected with the inner ring of second crossed roller bearing, second friendship
The inner ring of fork roller bearing is also connected with inner ring fixed plate, which, should for connecting the sensor measurement module
The outer ring of second crossed roller bearing is connected with the motor fixing plate.
As it is further preferred that the sensor measurement module includes sensor, the upper end of the sensor passes through connection
Corner fittings adjusts component with second angle and is connected, and the lower end of the sensor is connected by connecting plate with the polishing execution module.
As it is further preferred that the polishing execution module include polishing motor and with the output shaft phase of the polishing motor
Mill even, the polishing motor are mounted on connecting plate, which is connected with the sensor measurement module.
As it is further preferred that the point of two rotary shafts intersection is located at the center of mill lower surface or deviates mill lower surface
Center.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, mainly have below
Technological merit:
1. the cooperation that grinding and polishing actuator of the invention passes through straight line lifting force control module and two-dimensional attitude angle adjustment module
The adaptive submissive adjustment of mill grinding and polishing power and posture, and the rotation of two rotary motion of two-dimensional attitude angle adjustment module can be achieved
Shaft at an angle, and two rotary shafts meet on mill lower surface a bit (i.e. grinding points) so that in pose adjustment process
Middle grinding points position does not change, and guarantees that mill axis is overlapped with normal to a surface, to guarantee grinding and polishing precision.
2. straight line lifting force control module of the invention is driven using motor and lead screw, the control of contact force size can be accurately realized
System, two-dimensional attitude angle adjustment module are used the posture of two motor control mills, are designed in structure based on telecentricity fixed point, controllably
Fixed position processed does not change when motor rotates, and avoids overground and uneven polishing, passes through crossed roller axis between each component
It holds and is attached unloading, may make that structure is more compact, volume is used into maximization, can avoid directly applying motor shaft drawing
Pressure and moment of flexure.
3. straight line lifting force control module of the invention uses lead screw transmission, so that control precision increases, and straight line lifting force
It controls and is supported around module by four optical axises, lead screw is arranged in four optical axis centers, so that surrounding stress is visibly homogeneous, lead screw is only held
By pressure, not bending moment, so that lifting force control performance is more preferably.
It had both been straight line liter 4. the first motor in two-dimensional attitude angle adjustment module of the invention deviates center certain distance
Drop power control module provides space, reduces whole height, also realizes counterbalancing effect to a certain extent, by actuator entirety
Mass center it is close to central axis.
5. the present invention can adjust component by adjusting first angle and second angle adjusts the relative position of component, so that two
At the intersection point deviation lower center of polishing processing linear velocity of person's rotary shaft (i.e. at the center of mill lower surface), added with improving grinding and polishing
Work efficiency fruit.
Detailed description of the invention
Fig. 1 is that a kind of Three Degree Of Freedom telecentricity that curved surface is complied with provided in an embodiment of the present invention pinpoints flexible force control grinding and polishing execution
The overall structure diagram of device；
Fig. 2 is the structural schematic diagram of straight line lifting force control module provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of two-dimensional attitude angle adjustment module provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of sensor measurement module provided in an embodiment of the present invention and execution module of polishing；
Fig. 5 is that two rotary shaft provided in an embodiment of the present invention meets at any schematic diagram of disc surface.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1- straight line lifting force control module, 2- first angle adjust component, and 3- second angle adjusts component, 4- sensor measurement
Module, 5- polishing execution module, 101- upper mounting plate, 102- spindle motor, 103- linear bearing, 104- fixed plate, 105- light
Axis, 106- copper post, 107- optical axis hold-down support, 108- optical axis fixed plate, 109 lower installation boards, 201- first motor, 203- is actively
Gear, the first crossed roller bearing of 204-, 205- driven gear, 206- nylon pad post, the first connecting plate of 207-, the second electricity of 301-
Machine, 302-45 ° of connecting angle pieces, the first fixing piece of 303-, the second crossed roller bearing of 304-, 305- motor fixing plate, in 306-
Enclose fixed plate, 401- sensor, 402- sensor fixation plate, the second fixing piece of 403-, 404-135 ° of connecting angle pieces, 405- second
Connecting plate, 501- polishing motor, 502- third connecting plate, 503- mill.
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.
As shown in Figure 1, the Three Degree Of Freedom telecentricity fixed point flexible force control mill that a kind of curved surface provided in an embodiment of the present invention is complied with
Throw actuator comprising controller and the straight line lifting force control module 1 being sequentially connected, pass two-dimensional attitude angle adjustment module
Sensor measurement module 4 and polishing execution module 5, wherein straight line lifting force control module 1 is for driving two-dimensional attitude angle to adjust mould
The entirety that block, sensor measurement module 4 and polishing execution module 5 are constituted does linear motion up and down, and then passes through upper and lower straight line
Motion control polish execution module 5 in mill and to the contact force size between grinding and polishing curved surface；Two-dimensional attitude angle adjustment module
First angle including being connected with each other adjusts component 2 and second angle adjusts component 3, which adjusts component 2 and be used for band
Dynamic second angle adjusts the entirety that component 3, sensor measurement module 4 and polishing execution module 5 are constituted and does the first rotary motion, should
The rotary shaft of first rotary motion and the direction of linear motion are parallel, and second angle adjusts component 3 for driving sensor measurement
The entirety that module 4 and polishing execution module 5 are constituted does the second rotary motion, the rotary shaft of second rotary motion and the first rotation
The rotary shaft of movement is in predetermined angle (generally acute angle, such as 30 °, 45 °, 60 ° etc.), and two rotary shafts are met at a bit, should
Point (grinding points) is located on the lower surface of the mill 503 in polishing execution module 5, so that when carrying out angle adjustment, grinding
Point position remains unchanged, and realizes centering adjustment；Controller adjusts mould with straight line lifting force control module 1, two-dimensional attitude angle respectively
Block (i.e. first angle adjusts component 2 and adjusts component 3 with second angle) is connected with sensor measurement module 4, for according to sensing
Mill 503 that device measurement module 4 acquires and to the contact force and torque signals between grinding and polishing curved surface, controls straight line lifting force control module
1, first angle adjusts component 2 and second angle adjusts component 3 and moves, to adjust the grinding and polishing power and posture of mill 503 in real time, with
This realizes the Three Degree Of Freedom telecentricity fixed point flexible force control grinding and polishing that curved surface is complied with.
As shown in Fig. 2, straight line lifting force control module 1 include upper mounting plate 101, fixed plate 104, optical axis fixed plate 108, under
Mounting plate 109, spindle motor 102 and optical axis 105, upper mounting plate 101, fixed plate 104, optical axis fixed plate 108, lower installation board
109 set gradually from top to bottom, and copper post 106 is provided between fixed plate 104 and lower installation board 109, to provide the straight of optical axis
Line mobile space, the lower installation board 109 is for connecting two-dimensional attitude angle adjustment module.Spindle motor 102 is mounted on fixed plate
On 104, the lead screw being threadedly engaged with spindle motor 102 is coated in the spindle motor 102, lead screw upper end is fixed on upper mounting plate
On 101, lower end is fixed in optical axis fixed plate 108, and when movement, lead screw is not rotated, and motor is moved up and down with respect to lead screw, into
And lower part-structure is driven to move together, optical axis 105 and lead screw are arranged in parallel, and pass through fixed plate 104, and its both ends is distinguished
It is mounted on upper mounting plate 101 and optical axis fixed plate 108.Specifically, 105 both ends of optical axis are installed by optical axis hold-down support 107
On upper mounting plate 101 and optical axis fixed plate 108, and fixed plate 104 is equipped with the linear axis to move along a straight line for optical axis 105
Hold 103.Further, spindle motor 102 is through spindle motor 102, and lead screw length can be adjusted in through lead screw,
The linear motion in larger range is realized using the length advantage of lead screw.Further, lead screw and spindle motor 102 are with interior spiral shell
The rotor threads of line cooperate, and since lead screw upper and lower ends are fixed, when the rotor rotates, rotor can move up and down, and rotor and silk
Stator cooperation in thick stick motor 102, when rotor moves up and down, spindle motor 102 drives therewith also with up and down motion
Connected first angle adjusts component 2, second angle adjusts component 3, sensor measurement module 4 and polishing execution module 5 are constituted
Move up and down in overall.
1 course of work of straight line lifting force control module are as follows: in processing, force snesor receives force information, passes through impedance
Actuator can be calculated along the displacement in power direction in control, and then controls spindle motor 102 and move, and when movement, lead screw is fixed, electricity
Machine itself moves up and down with all structures in its underpart to adjust displacement, the size of control force.
As shown in figure 3, it includes first motor 201, driving gear 203, driven gear 205, that first angle, which adjusts component 2,
One crossed roller bearing 204 and the first connecting plate 207, first motor 201 is arranged vertically, and is mounted on straight line lifting force control module
On 1, specifically it is mounted on the lower installation board 109 of straight line lifting force control module 1.The output shaft and driving gear of first motor 201
203 are connected, which is located at below lower installation board 109, and engages with driven gear 205, driven gear 205 and the
The upper end of one crossed roller bearing, 204 inner ring is connected, the lower end of 204 inner ring of the first crossed roller bearing and the first connecting plate
207 are connected, and the outer ring of first crossed roller bearing 204 is connected with lower installation board 109.Specifically, the first crossed roller bearing
204 outer ring is connected by nylon pad post 206 with lower installation board 109, and nylon pad post is for adjusting the first crossed roller bearing 204
Outer ring is at a distance from lower installation board 109, convenient for reserving the installation space of gear and bolt therebetween.Preferably, passive tooth
Wheel 205 is arranged in the middle position of 109 lower section of lower installation board, and first motor 201 and driving gear 203 are arranged in the lower installation of deviation
The space of lower installation board middle section is available by the position among plate with this, is used to and upper partial straight lines lifting force control module
It is connected, reduces the distance of overall structure in the vertical direction.
As shown in figure 3, second angle adjust component 3 include the second motor 301 and the second crossed roller bearing 304, second
Motor 301 is in tilted layout, and is mounted on motor fixing plate 305, and motor fixing plate 305 is adjusted by connector and first angle
Component 2 is connected, and specifically adjusts the first connecting plate 207 in component 2 with first angle and is connected.Specifically, the connector is 45 ° of companies
Corner fittings 302 is connect, which is connected with motor fixing plate 305, the lower end of the other end and the first connecting plate 207
It is connected, so that the second motor 301 is additionally provided with first motor 201 in 45 degree of arrangements in order to guarantee the reliability of connection
One end of first fixing piece 303, first fixing piece 303 is connected with motor fixing plate 305, the other end and the first connecting plate 207
Lower end be connected so that second angle adjusts component 3 and first angle and adjusts the reliable and stable connection of component 2.Second motor 301
Output shaft is connected with the inner ring of the second crossed roller bearing 304, and the inner ring of second crossed roller bearing 304 is also fixed with inner ring
Plate 306 is connected, and also may make the output shaft of the second motor 301 to pass through inner ring, is connected by keyway with inner ring fixed plate 306.It should
Inner ring fixed plate 306 is for connecting sensor measurement module 4, the outer ring of second crossed roller bearing 304 and motor fixing plate
305 are connected.Specifically, motor fixing plate 305 is connected by pad post with 304 outer ring of the second crossed roller bearing.
The first angle adjusts component 2 and second angle adjusts the course of work of component 3 are as follows: in process, by power
Sensor detects to obtain moment information, calculates separately to obtain the rotation angle of two rotary joints by impedance control, according to two
Rotation angle controls first motor 201 and the movement of the second motor 301 respectively, drives rest part to adjust posture with this, to contact force
Control is complied in realization.
As shown in figure 5, the rotary shaft of the driven gear 205 in two-dimensional attitude angle adjustment module is the first rotary motion
Rotary shaft (X1 in Fig. 5), i.e. vertical distribution identical as the direction to move along a straight line up and down, the rotary shaft of the second motor 301
The rotary shaft (X2 in Fig. 5) of as the second rotary motion, at an angle with the rotary shaft of the first rotary motion, preferably
45 degree, two rotary shafts intersect at a point (the point A in Fig. 5), which is located at the lower surface of the mill 503 in polishing execution module 5
On, i.e., the intersection point of two rotary motion rotary shafts be mill and curved surface to be polished contact point (i.e. grinding points), the two-dimensional attitude angle
The rotary shaft that the first angle of degree adjustment module adjusts the rotary shaft of component and second angle adjusts component meets at point A, forms
Triangle telecentricity positioning mechanism, point A is apocenter.By meeting at two rotary motion rotary shafts on mill lower surface
A bit, so that can only change the posture of mill when carrying out pose adjustment to mill, the grinding points that not will lead to mill generate volume
Outer displacement (when carrying out two rotary motions, is rotated around contact point, namely carry out centering adjustment) always, to guarantee posture tune
The position for not changing mill Yu curved face contact point during whole, so that grinding surface is overlapped always with curved surface tangent plane.Base of the present invention
Serial mechanism principle is pinpointed in telecentricity, two motors are connected in series, intersects its axis and angled, is controlled in structure
It formulates point to be located at processing contact point, so that the point does not change in pose adjustment, avoids generation polishing uneven, overground
The problems such as, keep the uniformity of processing, consistency more preferable.
Specifically, the point (i.e. grinding points) of two rotary shafts of driven gear 205 and the second motor 301 intersection is located at mill
The center of 503 lower surfaces or the center for deviateing 503 lower surface of mill.If being located at the center of 503 lower surface of mill, driven gear
205 rotary shaft and the rotation overlapping of axles of polishing motor, if deviateing the center of 503 lower surface of mill, the rotation of driven gear 205
Shaft is parallel with the polishing rotary shaft of motor, and the two is overlapped, by making grinding points deviate 503 center of mill, when due to grinding,
One timing of mill angular velocity of rotation, contact point is remoter apart from rotation center, and the linear velocity of grinding is bigger, thus deviates grinding points
Center can make grinding more efficient.
As shown in figure 4, sensor measurement module 4 includes sensor 401, the upper end of the sensor 401 passes through connecting angle pieces
It adjusts component 3 with second angle to be connected, the inner ring fixed plate 306 for specifically adjusting component 3 with second angle is connected, the sensor
401 lower end is connected by the second connecting plate 405 with polishing execution module 5.Specifically, the upper end of sensor 401 is mounted on biography
In sensor fixed plate 402, which is connected in inner ring fixed plate 306 by 135 ° of connecting angle pieces 404.For
The reliability for guaranteeing connection, is also connected with the second fixing piece 403 between sensor fixation plate 402 and inner ring fixed plate 306.Tool
Body, sensor 401 can be individual multiple degrees of freedom power and torque sensor, or multiple single-degree-of-freedom moment sensings
The power of Three Degree Of Freedom and the above freedom degree and the measurement feedback of torque, such as six-dimension force sensor are realized in the combination of device.
As shown in figure 4, polishing execution module 5 includes polishing motor 501 and is connected with the output shaft of the polishing motor 501
Mill 503, polishing motor 501 is mounted on third connecting plate 502, in the third connecting plate 502 and sensor measurement module 4
Second connecting plate 405 is connected, and the execution module 5 that will polish is fixed on the lower section of sensor measurement module 4, and polishing motor 501 is used
It is rotated in band movable grinding disc 503, realizes grinding and polishing movement, which arranges vertically.
In use, grinding and polishing actuator of the invention can be mounted on to the end of industrial grinding and polishing robot, especially by upper peace
Loading board 101 in the end of robot, provides the integral installation of grinding and polishing actuator to the big model of grinding and polishing actuator using the movement of robot
The position enclosed and attitude regulation enable grinding and polishing actuator of the invention quickly to reach designated position.Grinding and polishing of the invention executes
Device has the characteristics that constant force, the adjustment of posture precision, can be realized the constant force polishing processing of given position, while adaptive given
The curved surface of position carries out pose adjustment, realizes normal direction contact, prevents from repeating grinding and polishing, guarantees grinding and polishing uniformity consistency.When grinding and polishing, beat
Electric mill machine band movable grinding disc is rotated into row grinding and polishing movement, and sensor acquires contact force and torque signals between mill and curved surface in real time,
Controller controls the movement of spindle motor, first motor and the second motor according to the contact force size and torque signals received,
To adjust the posture of mill, its grinding surface is made to be overlapped (the i.e. method of mill with the local tangential plane of bending grinding-polishing point to be processed always
Line is overlapped with the normal of grinding and polishing point), and reach default grinding force.Specifically, controller is according to the contact force and torque received
Signal controls the operation of first motor and the second motor, to adjust mill posture in real time, make the grinding surface of mill always with work
The local tangential plane of part curved face contact point to be processed is overlapped, and realizes curved surface adaptive to be processed；Controller is also according to receiving
Contact force and torque signals control spindle motor operation, adjust grinding force (i.e. grinding and polishing power) in real time, realize flexible grinding and polishing.
The design of grinding and polishing actuator of the present invention is based on telecentricity fixed point mechanism (the i.e. rotation of two-dimensional attitude angle adjustment module two fortune
Dynamic rotary shaft at an angle, and two rotary shafts meet on mill lower surface a bit), can control fixed position motor revolve
It does not change when turning, avoids overground and uneven polishing, and the position of the point can be designed by mechanism and is adjusted, and avoid
Fixed position is located at the lower nearly center of polishing processing linear velocity, improves polishing processing effect.Overall construction design of the present invention
Relatively simple reliable, for space utilization maximization, the part used is smaller and number is few, and overall volume is smaller, height
Scheme will be smaller compared with the prior art, and scheme will greatly very compared with the prior art for the range of two dimension angular adjustment
More, processing efficiency is higher.
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 (9)
1. a kind of Three Degree Of Freedom telecentricity that curved surface is complied with pinpoints flexible force control grinding and polishing actuator, which is characterized in that including controller
And be sequentially connected straight line lifting force control module (1), two-dimensional attitude angle adjustment module, sensor measurement module (4) and beat
It grinds execution module (5), in which:
The straight line lifting force control module (1) is for driving two-dimensional attitude angle adjustment module, sensor measurement module (4) and beating
The entirety that mill execution module (5) is constituted does linear motion up and down；The two-dimensional attitude angle adjustment module includes being connected with each other
First angle adjusts component (2) and second angle and adjusts component (3), which adjusts component (2) and be used to driving described the
The entirety that two angular adjustment components (3), sensor measurement module (4) and polishing execution module (5) are constituted does the first rotary motion,
The rotary shaft of first rotary motion and the direction of linear motion are parallel, and the second angle adjusts component (3) for driving institute
It states sensor measurement module (4) and the entirety that execution module (5) are constituted of polishing does the second rotary motion, second rotary motion
Rotary shaft and the rotary shaft of the first rotary motion are in default angle, and two rotary shafts are met at a bit, which is located at polishing and executes
On the lower surface of mill (503) in module (5)；
The controller respectively with the straight line lifting force control module (1), two-dimensional attitude angle adjustment module and sensor measurement
Module (4) is connected, for the mill (503) that is acquired according to the sensor measurement module (4) with to the contact between grinding and polishing curved surface
Power and torque signals control the straight line lifting force control module (1) and the movement of two-dimensional attitude angle adjustment module, to adjust in real time
The grinding and polishing power and posture of mill (503) realize that the Three Degree Of Freedom telecentricity that curved surface is complied with pinpoints flexible force control grinding and polishing with this.
2. the Three Degree Of Freedom telecentricity that curved surface as described in claim 1 is complied with pinpoints flexible force control grinding and polishing actuator, feature exists
In the straight line lifting force control module (1) includes spindle motor (102), optical axis (105) and sets gradually from top to bottom upper
Mounting plate (101), fixed plate (104), optical axis fixed plate (108) and lower installation board (109), spindle motor (102) installation
On the fixed plate (104), the lead screw being threadedly engaged with spindle motor (102), the silk are coated in the spindle motor (102)
The upper end of thick stick is fixed on the upper mounting plate (101), and lower end is fixed on the optical axis fixed plate (108), the optical axis
(105) it is arranged in parallel, passes through the fixed plate (104), and its both ends is separately mounted to the upper mounting plate with the lead screw
(101) and in optical axis fixed plate (108), copper post (106) are provided between the fixed plate (104) and lower installation board (109), it should
Lower installation board (109) is for connecting two-dimensional attitude angle adjustment module.
3. the Three Degree Of Freedom telecentricity that curved surface as claimed in claim 2 is complied with pinpoints flexible force control grinding and polishing actuator, feature exists
In the optical axis (105) is provided with four, is divided into the surrounding of lead screw.
4. the Three Degree Of Freedom telecentricity that curved surface as claimed in claim 2 is complied with pinpoints flexible force control grinding and polishing actuator, feature exists
In it includes first motor (201), driving gear (203), driven gear (205), first that the first angle, which adjusts component (2),
Crossed roller bearing (204) and the first connecting plate (207), the first motor (201) is arranged vertically, and is mounted on the lower peace
In loading board (109), output shaft is connected with the driving gear (203), the driving gear (203) and the driven gear
(205) it engages, the driven gear (205) is connected with the upper end of the first crossed roller bearing (204) inner ring, first friendship
The lower end of fork roller bearing (204) inner ring is connected with first connecting plate (207), first crossed roller bearing (204)
Outer ring is connected with the lower installation board (109).
5. the Three Degree Of Freedom telecentricity that curved surface as claimed in claim 4 is complied with pinpoints flexible force control grinding and polishing actuator, feature exists
In the driven gear (205) is arranged in the centre below lower installation board (109), the driving gear (203) and first motor
(201) it is arranged in and deviates lower installation board (109) intermediate position.
6. the Three Degree Of Freedom telecentricity that curved surface as described in any one in claim 1-5 is complied with pinpoints flexible force control grinding and polishing actuator,
It is characterized in that, it includes the second motor (301) and the second crossed roller bearing (304), institute that the second angle, which adjusts component (3),
The second motor (301) inclination arrangement is stated, is mounted on motor fixing plate (305), which passes through connector
Component (2) are adjusted with the first angle to be connected；The output shaft and second crossed roller bearing of second motor (301)
(304) inner ring is connected, and the inner ring of second crossed roller bearing (304) is also connected with inner ring fixed plate (306), and the inner ring is solid
Fixed board (306) is for connecting the sensor measurement module (4), the outer ring of second crossed roller bearing (304) and the electricity
Machine fixed plate (305) is connected.
7. the Three Degree Of Freedom telecentricity that curved surface as claimed in any one of claims 1 to 6 is complied with pinpoints flexible force control grinding and polishing actuator,
It is characterized in that, the sensor measurement module (4) includes sensor (401), the upper end of the sensor (401) passes through joint angle
Part adjusts component (3) with second angle and is connected, and the lower end of the sensor (401) passes through connecting plate and the polishing execution module
(5) it is connected.
8. such as the Three Degree Of Freedom telecentricity fixed point flexible force control grinding and polishing actuator that the described in any item curved surfaces of claim 1-7 are complied with,
It is characterized in that, polishing execution module (5) includes polishing motor (501) and the output shaft phase with the polishing motor (501)
Mill (503) even, the polishing motor (501) are mounted on connecting plate, the connecting plate and the sensor measurement module (4)
It is connected.
9. such as the Three Degree Of Freedom telecentricity fixed point flexible force control grinding and polishing actuator that the described in any item curved surfaces of claim 1-8 are complied with,
It is characterized in that, the point of two rotary shafts intersection is located at the center of mill (503) lower surface or deviates in mill (503) lower surface
The heart.
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| CN201910435302.4A CN110103115B (en) | 2019-05-23 | 2019-05-23 | Three-degree-of-freedom telecentric fixed-point flexible force-controlled grinding and polishing actuator with compliant curved surface |
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| CN201910435302.4A CN110103115B (en) | 2019-05-23 | 2019-05-23 | Three-degree-of-freedom telecentric fixed-point flexible force-controlled grinding and polishing actuator with compliant curved surface |
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| CN113084700A (en) * | 2021-03-25 | 2021-07-09 | 上海智能制造功能平台有限公司 | Grinding device of machine arm and machine arm |
| CN113263398A (en) * | 2021-06-30 | 2021-08-17 | 华中科技大学无锡研究院 | Active force control servo grinding device |
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| CN114454060A (en) * | 2022-02-23 | 2022-05-10 | 无锡中车时代智能装备有限公司 | Robot self-adaptive curved surface tracking constant-force grinding and polishing method and system |
| CN114770289A (en) * | 2022-03-23 | 2022-07-22 | 深圳市智能机器人研究院 | Grinding and polishing device and calibration method |
| CN114800551A (en) * | 2022-04-20 | 2022-07-29 | 中南大学 | Robot force-controlled grinding and polishing device for complex curved surface and control method |
| CN115741733A (en) * | 2022-11-16 | 2023-03-07 | 上海快点机器人科技有限公司 | Tail end flexible force control actuating device |
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| CN115741733A (en) * | 2022-11-16 | 2023-03-07 | 上海快点机器人科技有限公司 | Tail end flexible force control actuating device |
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