CN110695809B - Unstructured free-form surface grinding device - Google Patents
Unstructured free-form surface grinding device Download PDFInfo
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- CN110695809B CN110695809B CN201910882009.2A CN201910882009A CN110695809B CN 110695809 B CN110695809 B CN 110695809B CN 201910882009 A CN201910882009 A CN 201910882009A CN 110695809 B CN110695809 B CN 110695809B
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- grinding
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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
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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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
- B24B45/00—Means for securing grinding wheels on rotary arbors
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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
- B24B49/16—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
- B24B49/165—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 for grinding tyres
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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
Abstract
The invention discloses an unstructured free-form surface polishing device, which is characterized in that a compression floating mechanism, a six-dimensional force sensor, an active control mechanism and a six-degree-of-freedom manipulator are arranged, so that the stress conditions of multiple dimensions of a polishing head can be measured in real time through the six-dimensional force sensor; the controller can adopt different active and passive compliance control modes according to the change of the stress condition in the grinding process, improve the response speed to the change of the grinding force in the grinding process, ensure that the contact force between the grinding head and the ground surface is always kept in a certain reasonable range in the grinding process, and ensure that the direction of the grinding force is always in the vertical direction of the ground curved surface; the grinding track of the grinding head is adjusted by controlling the running track of the six-degree-of-freedom manipulator, the non-structural free-form surface of the part to be processed is ground, and the grinding force is controlled, so that the grinding efficiency and the surface smoothness are effectively improved, the labor intensity is reduced, and the grinding quality of the part is improved.
Description
Technical Field
The invention relates to the technical field of curved surface polishing, in particular to a non-structural free-form curved surface polishing device.
Background
With the development of robot technology, the application field of robots is continuously expanding, and the robots are widely applied to automatic production and manufacturing processes at present. The polishing by adopting the robot with flexible posture adjustment capability is an important mode for improving the polishing quality and the automation degree of the non-structural complex free-form curved surface. In the literature, "design and test of wrist joint simulation flexible parallel grinding robots" (Zhuwei, et al, journal of agricultural machinery, 2016, 47 (02): 402-; in the literature, "design of a robot abrasive belt grinding device based on complex curved surface machining and test analysis thereof" (treyihui et al, china mechanical engineering, 2009, 20 (10): 1144-; the patent "a free-form surface robot grinding system" (patent No. CN10388666A) and the patent "large-scale curved surface robot grinding system" (patent No. CN108331695A) adopt a concave grinding wheel, a butterfly grinding wheel, a flap grinding wheel or a resin grinding wheel, and the robot grinding system is designed aiming at the free-form surface.
However, in the above documents, the designed robot polishing devices are all designed for free-form curved surfaces with small curvature and smooth change, and cannot be used for polishing non-structural complex curved surfaces with large curvature and sharp change and narrow structures (for example, pit structures on parts or grinding tools); the response to the change of the grinding force is slow, and when the structural rigidity factor of the grinding device causes the track of the tail end grinding tool to deviate from the instruction running track, the grinding quality problem can be caused.
Disclosure of Invention
In view of the above, the present invention is directed to an unstructured freeform surface grinding apparatus, which solves all or one of the above-mentioned problems.
Based on the above purpose, the present invention provides a grinding device for an unstructured free-form surface, comprising:
the operating platform is used for fixing a workpiece to be polished with the non-structural free-form surface characteristic;
the six-degree-of-freedom manipulator is arranged on one side of the operating platform;
the polishing device is fixed at the end part of the six-degree-of-freedom manipulator;
the compression floating mechanism is connected to the end part of the polishing device, the other end of the compression floating mechanism clamps the polishing head, and the compression floating mechanism is used for passively adjusting the polishing force of the polishing head;
the active control mechanism is arranged on the polishing device, is connected with the polishing head and can drive the polishing head to move;
the six-dimensional force sensor is arranged in the polishing device and used for detecting the polishing force conditions of the polishing head in six dimensions, and one dimension direction of the six dimensions is superposed with the central line of the polishing head;
the controller is used for reading six-dimensional grinding force measurement results detected by the six-dimensional force sensor, when the grinding head is only subjected to normal force or the normal force is more than 5 times larger than the force acting in other directions, and the normal force exceeds a first set threshold value, the active control mechanism is controlled to drive the grinding head to move along the normal direction of the non-structural free-form surface of the workpiece to be ground, and the controller is also used for controlling the six-degree-of-freedom manipulator to finely adjust the running track of the grinding head when the force in at least one direction of the grinding head exceeds a second set threshold value.
Preferably, the polishing device comprises a polishing main shaft motor and a transmission mechanism, the transmission mechanism comprises a coupler, one end of the coupler is connected with the polishing main shaft motor, the other end of the coupler is connected with a spline shaft, the spline shaft is connected with a taper sleeve, and the taper sleeve is connected with the polishing head.
Preferably, a quick change mechanism is further installed between the polishing device and the polishing head, the quick change mechanism comprises a rotary sleeve and an integral tool shank, the rotary sleeve is connected to the end portion of the polishing device in a rotary mode, a pull claw capable of being pulled out is installed in the rotary sleeve, the end portion of the integral tool shank is connected with a blind rivet, the blind rivet can be clamped into the pull claw, the polishing head is installed in the integral tool shank in an embedded mode, a small round nut is installed at the end portion of the rotary sleeve, and the blind rivet can be fastened in the rotary sleeve.
Preferably, the compression floating mechanism comprises an elastic element and a guide rod, the elastic element is sleeved on the guide rod, the guide rod is connected with a floating base, the floating base is installed on the guide rod through a mounting hole, preliminary pre-tightening of a spring is achieved through a pre-tightening nut, and the polishing head is connected to the floating base.
Preferably, the elastic element is three springs, the guide rods are three, and the three springs are respectively sleeved on the three guide rods.
Preferably, the three springs are arranged in an equilateral triangle.
Preferably, the active control mechanism is a servo motor, and an output shaft of the servo motor is connected with the polishing head.
Preferably, the sanding head is a finger sanding head.
Preferably, the robot further comprises a workstation, wherein the workstation is used for setting the running path of the six-degree-of-freedom robot and transmitting the running path to the six-degree-of-freedom robot through a communication bus.
According to the non-structural free-form surface grinding device, the compression floating mechanism, the six-dimensional force sensor, the active control mechanism and the six-degree-of-freedom manipulator are arranged, so that the stress conditions of multiple dimensions of the grinding head can be measured in real time through the six-dimensional force sensor; the controller can adopt different active and passive compliance control modes according to the change of the stress condition in the grinding process, improve the response speed to the change of the grinding force in the grinding process, ensure that the contact force between the grinding head and the ground surface is always kept in a certain reasonable range in the grinding process, and ensure that the direction of the grinding force is always in the vertical direction of the ground curved surface; the grinding track of the grinding head is adjusted by controlling the running track of the six-degree-of-freedom manipulator, the non-structural free-form surface of the part to be processed is ground, and the grinding force is controlled, so that the grinding efficiency and the surface smoothness are effectively improved, the labor intensity is reduced, and the grinding quality of the part is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic three-dimensional structure diagram of a polishing apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a polishing apparatus according to an embodiment of the present invention without the compression float mechanism and the active control mechanism;
FIG. 4 is a schematic structural diagram of a compression floating mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a six-dimensional force sensor according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an active control mechanism according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a quick-change mechanism according to an embodiment of the present invention;
fig. 8 is a schematic control flow diagram of a polishing apparatus according to an embodiment of the present invention.
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 specific embodiments and the accompanying drawings.
It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.
A polishing device for an unstructured free-form surface comprises an operating platform 5 for fixing a workpiece 1 to be polished with the characteristics of the unstructured free-form surface, a six-degree-of-freedom mechanical arm 3 is installed on one side of the operating platform 5, a polishing device 4 is fixed at the end of the six-degree-of-freedom mechanical arm 3, a compression floating mechanism 7 is connected to the end of the polishing device 4, a polishing head is clamped at the other end of the compression floating mechanism 7, the compression floating mechanism 7 is used for passively adjusting the polishing force of the polishing head, an active control mechanism 8 is further installed on the polishing device 4, the active control mechanism 8 is connected with the polishing head and can drive the polishing head to move, a six-dimensional force sensor 6 is installed in the polishing device 4 and used for detecting the polishing force conditions of the polishing head in six dimensions, one dimension direction of the six dimensions is coincident with the central line of the polishing head, and the polishing device further, the controller 2 is used for reading six-dimensional grinding force measured by the six-dimensional force sensor 6, when the grinding head is only subjected to normal force or the normal force is more than 5 times larger than the force acting on other directions, and the normal force exceeds a first set threshold value, the active control mechanism 8 is controlled to drive the grinding head to move along the normal direction of the non-structural free-form surface of the workpiece 1 to be ground, and the controller 2 is also used for controlling the six-freedom-degree manipulator 3 to finely adjust the running track of the grinding head when the force of at least one direction of the grinding head exceeds a second set threshold value.
According to the invention, by arranging the compression floating mechanism 7, the six-dimensional force sensor 6, the active control mechanism 8 and the six-degree-of-freedom manipulator 3, the stress conditions of multiple dimensions of the polishing head can be measured in real time through the six-dimensional force sensor 6; the controller 2 can adopt different active and passive compliance control modes according to the change of the stress condition in the grinding process, improve the response speed to the change of the grinding force in the grinding process, ensure that the contact force between the grinding head and the ground surface is always kept in a certain reasonable range in the grinding process, and ensure that the direction of the grinding force is always in the vertical direction of the ground curved surface; the grinding track of the grinding head is adjusted by controlling the running track of the six-freedom-degree mechanical arm 3, the non-structural free-form surface of the part to be processed is ground, and the grinding force is controlled, so that the grinding efficiency and the surface smoothness are effectively improved, the labor intensity is reduced, and the grinding quality of the part is improved.
As an embodiment, the polishing device 4 includes a polishing spindle motor 42 and a transmission mechanism, the transmission mechanism includes a coupler 43, one end of the coupler 43 is connected to the polishing spindle motor 42, the other end of the coupler 43 is connected to a spline shaft 44, the spline shaft 44 is connected to a taper sleeve 45, the taper sleeve 45 is connected to the polishing head, and the polishing head obtains a rotation speed and a torque required for polishing by transmitting motion and power to the end polishing head step by step through the transmission mechanism formed by the polishing spindle motor 42 via the coupler 43, the spline shaft 44 and the taper sleeve 45.
As an implementation mode, still install quick change mechanism 9 between grinding device 4 and the head of polishing, quick change mechanism 9 is including rotating cover and integral cutter handle of a knife, and the cover of rotating is connected at 4 tip of grinding device, installs the gripper that can pull out in the cover of rotating, and integral cutter handle of a knife end connection has the blind rivet, and the blind rivet can block in the gripper, and the head of polishing embedding is installed in integral cutter handle of a knife, and the small circle nut is installed to the cover tip of rotating, can fasten the blind rivet in the cover of rotating.
In repeated polishing work, the polishing head inevitably will be changed, in order to save polishing head change time, improve work efficiency, this device possesses polishing head quick change function, the polishing head that can quick replacement wearing and tearing, when installing the polishing head, rotatory cover is revolved, will draw the claw to push to the outside, then go into the blind claw with the blind rivet card of integral cutter handle of a knife tip, rotatory cover is revolved again, promotes the blind claw to the most inboard end, screw up the small circle nut of cover head portion of revolving, accomplish the polishing head and pack into. When the polishing head is disassembled, the small round nut is firstly loosened, then the pull claw is rotated towards the outer side, and when the pull nail is loosened from the taper sleeve 45, the polishing head is taken out.
As an embodiment, the compression floating mechanism 7 includes an elastic element and a guide rod 72, the elastic element is sleeved on the guide rod 72, the guide rod 72 is connected with a floating base 73, the floating base 73 is installed on the guide rod 72 through a mounting hole, preliminary pre-tightening is realized through a pre-tightening nut 74, a sanding head is connected on the floating base 73, and the floating base 73 realizes precise guiding movement through an internal second spline shaft 75.
This device realizes passive grinding force control through the elastic element in the compression floating structure, when the polishing head with treat polishing work piece 1 surface contact, when the power of polishing surpassed the elastic element pretightning force, elastic element was compressed, and floating base 73 drives the motion of polishing head, repaiies the orbit of polishing head, realizes passive gentle and agreeable polishing function.
In one embodiment, the elastic element is three springs 71, the number of the guide rods 72 is also three, and the three springs 71 are respectively sleeved on the three guide rods 72.
In one embodiment, the three springs 71 are arranged in an equilateral triangle to improve the stability of the floating base 73 in moving the sanding head.
As an implementation manner, the active control mechanism 8 is a servo motor, an output shaft of the servo motor is connected with the polishing head, and the polishing head can be driven to move along the normal direction of the non-structural free-form surface, so that the active control of the polishing force is realized.
In one embodiment, the sanding head is a finger sanding head. The finger-shaped polishing head is combined with the flexible posture adjustment capability of the six-degree-of-freedom manipulator 3, and the automatic polishing operation of the workpiece with the free-form surface characteristics of large curvature and narrow structure can be realized.
As an implementation mode, the device further comprises a workstation, the workstation can generate a process path track for controlling the operation of the six-degree-of-freedom manipulator 3 according to the non-structural free-form surface characteristics of the workpiece 1 to be polished and the set process parameters in an off-line programming mode, then generates a control code which can be executed by the control unit of the six-degree-of-freedom manipulator 3 through a certain calculation and compilation algorithm, and transmits the control code to the control unit of the six-degree-of-freedom manipulator 3 through a communication bus. In the polishing process, the six-dimensional force sensor 6 detects the stress condition of the six dimensions of the polishing head in real time and feeds the stress condition back to the controller 2, the controller 2 judges the contact pressure according to the stress condition fed back by the six-dimensional force sensor 6 and transmits the contact pressure to the control unit of the six-freedom-degree mechanical arm 3, and the position and the attitude data of the tail end of the running track of the six-freedom-degree mechanical arm 3 are dynamically and finely adjusted, so that the polishing head is in contact with the curved surface of a workpiece to be polished along the normal direction of the curved surface all the time and is always kept in. The device can realize the compliance control of the polishing process through the passive compliance control device and the active compliance control device according to the size and the form of the contact pressure.
As an embodiment, a sensor mounting plate 63 may be provided in the grinding device 4, and the six-dimensional force sensor 6 is coupled to the sensor mounting plate 63 by screws 62 through eight fixing holes 61 uniformly distributed on the circumference of the sensor mounting plate 63.
As an implementation mode, the device is further provided with a workstation for communicating with the controller 2 to realize human-computer interface display, grinding force signal acquisition and calculation, manipulator grinding track planning, grinding manipulator forward and backward kinematics transformation and grinding process three-dimensional simulation.
As an embodiment, the grinding device 4 is mounted on the end flange of the six-degree-of-freedom robot 3 through a mounting flange 41.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
In addition, well known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures for simplicity of illustration and discussion, and so as not to obscure the invention. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the invention, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the present invention is to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the invention, it should be apparent to one skilled in the art that the invention can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. An unstructured free-form surface grinding device, comprising:
the operating platform is used for fixing a workpiece to be polished with the non-structural free-form surface characteristic;
the six-degree-of-freedom manipulator is arranged on one side of the operating platform;
the polishing device is fixed at the end part of the six-degree-of-freedom manipulator;
the compression floating mechanism is connected to the end part of the polishing device, a polishing head is clamped at the other end of the compression floating mechanism, and the compression floating mechanism is used for passively adjusting the polishing force of the polishing head;
the active control mechanism is arranged on the polishing device, is connected with the polishing head and can drive the polishing head to move;
the six-dimensional force sensor is arranged in the polishing device and used for detecting the polishing force conditions of the polishing head in six dimensions, and one dimension direction of the six dimensions is superposed with the central line of the polishing head;
the controller is used for reading the six-dimensional grinding force measurement results detected by the six-dimensional force sensor, when the grinding head is only subjected to normal force or the normal force is more than 5 times larger than the force acting in other directions and the normal force exceeds a first set threshold value, the active control mechanism is controlled to drive the grinding head to move along the normal direction of the non-structural free-form surface of the workpiece to be ground, and the controller is also used for controlling the six-degree-of-freedom manipulator to finely adjust the running track of the grinding head when the force in at least one direction of the grinding head exceeds a second set threshold value.
2. The unstructured free-form surface grinding device of claim 1, wherein the grinding device comprises a grinding spindle motor and a transmission mechanism, the transmission mechanism comprises a coupler, one end of the coupler is connected with the grinding spindle motor, the other end of the coupler is connected with a spline shaft, the spline shaft is connected with a taper sleeve, and the taper sleeve is connected with the grinding head.
3. The device for grinding the unstructured free-form surface according to claim 1, characterized in that a quick-change mechanism is further installed between the grinding device and the grinding head, the quick-change mechanism comprises a rotary sleeve and an integrated cutter handle, the rotary sleeve is screwed at the end of the grinding device, a pull claw capable of being pulled out is installed in the rotary sleeve, a pull nail is connected to the end of the integrated cutter handle, the pull nail can be clamped into the pull claw, the grinding head is embedded in the integrated cutter handle, a small round nut is installed at the end of the rotary sleeve, and the pull nail can be fastened in the rotary sleeve.
4. The unstructured free-form surface grinding device of claim 1, wherein the compression floating mechanism comprises an elastic element and a guide rod, the elastic element is sleeved on the guide rod, the guide rod is connected with a floating base, the floating base is installed on the guide rod through a mounting hole, initial pre-tightening of a spring is achieved through a pre-tightening nut, and the grinding head is connected to the floating base.
5. The device of claim 4, wherein the elastic element comprises three springs, the number of the guide rods is three, and the three springs are respectively sleeved on the three guide rods.
6. The unstructured free form sanding device of claim 5, wherein three of the springs are arranged in an equilateral triangle.
7. The device of claim 1, wherein the active control mechanism is a servo motor, an output shaft of the servo motor being connected to the polishing head.
8. The unstructured free form surface grinding apparatus of claim 1, wherein the grinding head is a finger grinding head.
9. The unstructured free-form surface finishing apparatus of claim 1, further comprising a workstation for setting the travel path of the six degree-of-freedom robot and communicating to the six degree-of-freedom robot through a communication bus.
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| CN111390732B (en) * | 2020-04-02 | 2021-09-24 | 中国民航大学 | Aircraft surface paint removal grinding device based on pressure control |
| CN112518505B (en) * | 2020-11-30 | 2022-04-12 | 华东至正工业自动化(常熟)有限公司 | Floating grinding spindle based on 6SPS parallel mechanism |
| CN113414665B (en) * | 2021-08-23 | 2021-11-09 | 江苏中科云控智能工业装备有限公司 | Die casting deburring device capable of automatically replacing and cleaning workpieces based on data analysis |
| CN114434325B (en) * | 2022-02-21 | 2023-01-06 | 华中科技大学 | Single-degree-of-freedom force-controlled grinding head device based on series elastic actuator |
| CN116551536B (en) * | 2023-07-10 | 2023-09-29 | 张家港市晨艺电子有限公司 | Automatic grinding device before alloy part spraying |
| CN116604425B (en) * | 2023-07-19 | 2023-10-13 | 常州埃森诺精密模具有限公司 | High-strength solar photovoltaic support connecting piece production device and production process |
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