CN111496643A - Robot polishing end effector and polishing method - Google Patents
Robot polishing end effector and polishing method Download PDFInfo
- Publication number
- CN111496643A CN111496643A CN202010369845.3A CN202010369845A CN111496643A CN 111496643 A CN111496643 A CN 111496643A CN 202010369845 A CN202010369845 A CN 202010369845A CN 111496643 A CN111496643 A CN 111496643A
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- end effector
- robot
- constant force
- force control
- control device
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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
- 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
-
- 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
- B24B49/003—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving acoustic means
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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
-
- 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
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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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
Abstract
The invention relates to a robot polishing end effector and a polishing method, wherein one side of a flange 1 is connected with a robot arm, the other side of the flange 1 is connected with one side of a mounting plate 2, the other side of the mounting plate 2 is provided with a constant force control device 3, an electric main shaft holding seat 4 connects the constant force control device 3 with a grinding electric main shaft 5, a tool shank 7 is arranged on the electric main shaft 5, a normal deviation precision compensation mechanism 8 is connected with the tool shank 7, a polishing disc 10 is fixed at the shaft end of the normal deviation precision compensation mechanism 8 by a locking nut 9, a follow-up dust hood 6 is arranged at one end of a connecting sleeve 11, the other end of the connecting sleeve 11 is connected with the electric main shaft holding seat 4, the follow-up dust hood 6 forms a closed cavity between the polishing disc 10 and the normal deviation precision compensation mechanism 8, and dust generated in the grinding process can be discharged; the shell 12 is connected with the mounting plate 2 to prevent grinding dust from entering the electric spindle 5 and the constant force control device 3; the pre-crash sensor 14 is mounted to the housing 12 by a bracket 13.
Description
Technical Field
The invention relates to the technical field of machining automation, in particular to a robot polishing end effector and a polishing method.
Background
A large number of curved surface workpieces are applied in the aerospace field, at present, a factory uses a manual grinding machine to grind the curved surface workpieces in a large number, the grinding mode has high requirements on the technology and experience of workers, and meanwhile, splashed dust harms the health of people and is not beneficial to environmental protection. Therefore, the use of robot grinding is a necessary trend. In the robot polishing process, a polishing tool is rigidly connected with an electric spindle in a traditional mode, the connection mode has the defect that the connection mode is influenced by the curve profile of a curved workpiece, if the workpiece has installation errors on a tool, when a polishing disc is in contact with the workpiece, the profile of the workpiece is damaged by the polishing disc, and the grinding amount is over-poor.
Disclosure of Invention
The invention provides a robot polishing end effector and a polishing method aiming at the problems that the removal amount is difficult to control and the like in the traditional manual polishing, and aims to realize the functions of mechanical deflection angle precision compensation, dust collection in a follow-up manner and constant-force polishing, and greatly improve the polishing quality and precision.
The invention is realized by the following technical scheme:
in a first aspect, the application provides a robot polishing end effector, which comprises a flange 1, a mounting plate 2, a constant force control device 3, an electric spindle holding seat 4, a grinding electric spindle 5, a follow-up dust hood 6, a tool shank 7, a normal deviation precision compensation mechanism 8, a lock nut 9, a polishing disc 10, a connecting sleeve 11, a shell 12, a bracket 13 and an anti-collision sensor 14,
one side of a flange 1 is connected with a robot arm, the other side of the flange 1 is connected with one side of a mounting plate 2, the other side of the mounting plate 2 is provided with a constant force control device 3, an electric main shaft holding seat 4 connects the constant force control device 3 with a grinding electric main shaft 5, a tool shank 7 is mounted on the electric main shaft 5, a normal deviation precision compensation mechanism 8 is connected with the tool shank 7, a polishing disc 10 is fixed at the shaft end of the normal deviation precision compensation mechanism 8 by a locking nut 9, a servo dust hood 6 is mounted at one end of a connecting sleeve 11, the other end of the connecting sleeve 11 is connected with the electric main shaft holding seat 4, the servo dust hood 6 forms a closed cavity between the polishing disc 10 and the normal deviation precision compensation mechanism 8, dust generated in the grinding process can pass
Discharging by a follow-up dust collection interface; the shell 12 is connected with the mounting plate 2 to prevent grinding dust from entering the electric spindle 5 and the constant force control device 3; the pre-crash sensor 14 is mounted to the housing 12 via a bracket 13 to prevent the end-effector from colliding.
Preferably, the normal deviation accuracy compensation mechanism 8 comprises a ball gear shaft 15, a ball gear sleeve 16, a tool mounting shaft 17, a flow control valve 18, an oil line pipe 19, an oil cylinder 20, a mounting plate 21, a universal ball joint 22, a swinging disc 23, a bearing 24, a connecting screw 25 and a bearing cover 26, wherein:
one end of a spherical gear shaft 15 is connected with the cutter handle 7, the other end of the spherical gear shaft 15 is connected with one end of a spherical gear sleeve 16, the spherical gear sleeve 16 is connected with a swing disc 23 through a bearing 24, a bearing cover 26 is connected with the swing disc 23 through a connecting screw 25, the bearing 24 is axially positioned, the other end of the spherical gear sleeve 16 is connected with a tool mounting shaft 17, the polishing disc 10 is sleeved on the tool mounting shaft 17, and the locking nut 9 fixes the polishing disc. Four universal ball joints 22 are uniformly distributed on the swing disc 23, the rod ends of the four universal ball joints 22 are respectively in threaded connection with telescopic rods of the four oil cylinders 20, the four telescopic oil cylinders 20 are uniformly distributed on the mounting plate 21, and the telescopic oil cylinders 20 which are diagonally arranged are communicated through the oil path pipe 19, so that two communicated loops are formed.
Preferably, the robot grinding end effector further comprises a flow control valve 18, and the flow control valve 18 is arranged on the oil path 19 and used for adjusting the flow of the oil path 19.
Preferably, the constant force control means 3 comprises a pneumatic constant force control means.
Preferably, the constant force control device 3 is internally provided with a force sensor.
Preferably, the following suction hood 6 is connected to the vacuum cleaning device.
Preferably, the pre-crash sensors 14 comprise ultrasonic pre-crash sensors.
Preferably, three sets of ultrasonic collision avoidance sensors 14 are mounted to the housing 12 via brackets 13, respectively.
In a second aspect, the present application provides a grinding method applied to the above robot grinding end effector, the method including:
setting processing parameters through a robot offline processing program;
the robot drives the robot to polish the end effector to reach a processing position;
the constant force control device 3 is pre-compressed to a set force, and the tool is contacted with the workpiece;
the normal deviation precision compensation mechanism 8 enables the cutter to be automatically attached to the surface of the workpiece;
the servo dust removal function is automatically started, the electric spindle 5 is automatically started, and the robot drives the robot to polish the end effector to automatically execute a processing track according to an off-line program;
after the machining is finished, the robot polishes the end effector and automatically closes the electric main shaft 5, the follow-up dust removal function is automatically closed, and the robot drives the end effector to exit from the machining program;
the constant force control device 3 is reset;
the anti-collision system is started in the whole process in the machining process, if a collision signal is detected, the signal is sent to the control system, the robot automatically stops moving, the electric spindle 5 automatically stops rotating, and the constant force control device 3 automatically returns to a safe position.
In conclusion, aiming at the problems that the removal precision is not easy to control and the like in the traditional manual polishing, the end effector which can realize the precision compensation of the normal self-adaption of the curved surface, the constant output of the polishing force and the follow-up dust removal function is provided. The curved surface polishing removal amount is uniform, the polishing precision is improved, and the personal damage of dust to workers can be reduced.
Drawings
FIG. 1 is a front view of a robot buffing end effector configuration in accordance with the present invention;
FIG. 2 is a cross-sectional view of a robot abrading end effector configuration in accordance with the present invention;
FIG. 3 is a cross-sectional view of a normal deviation accuracy compensation mechanism according to the present invention;
FIG. 4 is a flowchart of the end effector operation proposed by the present invention;
wherein: the device comprises a flange 1, a mounting plate 2, a constant force control device 3, an electric spindle holding seat 4, a grinding electric spindle 5, a follow-up dust hood 6, a knife handle 7, a normal deviation precision compensation mechanism 8, a locking nut 9, a polishing disc 10, a connecting sleeve 11, a shell 12, a support 13, an anti-collision sensor 14, a gear shaft 15, a gear sleeve 16, a spherical gear sleeve 17, a tool mounting shaft 18, a flow control valve 18, an oil circuit pipe 19, an oil cylinder 20, a mounting plate 21, a universal ball hinge 22, a swinging disc 23, a bearing 24, a connecting screw 25 and a bearing cover 26.
Detailed Description
The technical scheme of the invention is further detailed in the following by combining the drawings and the embodiment:
the invention provides a robot polishing end effector which is connected with a robot arm through a flange 1, the flange 1 is connected with a mounting plate 2, an electric main shaft holding seat 4 connects a constant force control device 3 with a grinding electric main shaft 5, a tool shank 7 is mounted on the grinding electric main shaft 5, a normal deviation precision compensation mechanism 8 is connected with the tool shank 7, a polishing disc 10 is fixed at the shaft end of the normal deviation precision compensation mechanism 8 through a locking nut 9, a follow-up dust hood 6 is mounted on a connecting sleeve 11, the other end of the connecting sleeve 11 is connected with the electric main shaft holding seat 4, the follow-up dust hood 6 forms a closed cavity between the polishing disc 10 and the normal deviation precision compensation mechanism 8, and dust generated in the grinding process can be discharged through a follow-up dust collection interface. The housing 12 is connected to the mounting plate 2 to prevent grinding dust from entering the motorized spindle 5 and the constant force control device 3. The pre-crash sensors 14 are mounted to the housing by brackets 13 to prevent the end-effector from colliding.
In practical application, the robot polishing end effector is arranged on an industrial robot arm and used for grinding the surface of a complex curved surface. Automatic processing is realized by cooperating with an industrial robot.
Further, the pneumatic constant force control device 3 is adopted and installed between the flange and the electric spindle, grinding force can be fed back, the grinding force is kept constant in the robot grinding process, and grinding amount is uniform. In order to ensure the stability and controllability of the grinding force during grinding and machining, the precise force sensor is arranged in the pneumatic constant force control device, the machining pose of the grinding head can be monitored in real time, the influence of the self weight of the grinding head on the pressing force is automatically compensated through a software algorithm, and the constant force during grinding and machining is ensured to be stable. The constant force pneumatic device is arranged between the flange and the electric spindle, and the output force can be controlled through the air inflow, so that the force exerted on the workpiece by the grinding tool is kept constant in a certain range.
Further, the end effector adopts a normal deviation precision compensation mechanism 8, and can compensate workpiece installation errors. The precision compensation mechanism is connected with the tool handle 7 through a spherical gear shaft 15, the other end of the spherical gear shaft 15 is connected with a spherical gear sleeve 16, the spherical gear sleeve 16 is connected with a swing disc 23 through a bearing 24, a bearing cover 26 is connected with the swing disc 23 through a connecting screw 25, the bearing 24 is axially positioned, the other end of the spherical gear sleeve 16 is connected with a tool mounting shaft 17, a polishing disc 10 is sleeved on the tool mounting shaft 17, and the locking nut 9 fixes the polishing disc. Four universal ball joints 22 are uniformly distributed on a swing disc 23, the rod ends of the universal ball joints 22 are in threaded connection with telescopic rods of oil cylinders 20, the four telescopic oil cylinders 20 are uniformly distributed on a mounting plate 21, the oil cylinders which are diagonally arranged are communicated through oil passage pipes 19 to form a communication loop with the oil cylinders 20, and the flow of the oil passages 19 is adjusted by a flow control valve 18. When the polishing disc 10 is attached to the curved surface, if normal deviation exists, the polishing disc 10 receives the reaction force of the curved surface workpiece, the swinging disc is driven to rotate around the spherical center of the spherical gear, the universal spherical hinge 22 pushes the telescopic rod of the oil cylinder to shorten, and due to the oil circuit communication principle, the telescopic rod of the other oil cylinder 20 is extended, so that the shaking of the polishing disc 10 in the polishing process can be reduced under the action of the damping force of the oil cylinder and the oil circuit.
Furthermore, a follow-up dust removal device cover is designed on the end execution, a closed cavity is formed in a small range around the polishing tool, and dust can be collected at any time by the vacuum dust collection equipment in the polishing process.
Furthermore, the robot polishes and designs closed shell on the end effector, prevents that inside components and parts from invading the dust.
Optionally, three groups of ultrasonic anti-collision sensors are arranged on the shell, so that the end effector is prevented from colliding with peripheral equipment in the moving process of the robot.
Referring to the attached drawings 1-3, the actuator is connected with a robot arm through a flange 1, the other side of the flange 1 is connected with a mounting plate 2, a constant force control device 3 is connected with an electric spindle 5 through an electric spindle embracing seat 4, a tool shank 7 is mounted on the electric spindle 5, a normal deviation precision compensation mechanism 8 is connected with the tool shank 7, a polishing disc 10 is fixed at the shaft end of the normal deviation precision compensation mechanism 8 through a locking nut 9, a follow-up dust hood 6 is mounted on a connecting sleeve 11, the other end of the connecting sleeve 11 is connected with the electric spindle embracing seat 4, the follow-up dust hood 6 forms a closed cavity between the polishing disc 10 and the normal deviation precision compensation mechanism 8, and dust generated in the grinding process can be discharged through a follow-up dust collection interface. The housing 12 is connected to the mounting plate 2 to prevent grinding dust from entering the motorized spindle 5 and the constant force control device 3. The pre-crash sensors 14 are mounted to the housing by brackets 13 to prevent the end-effector from colliding.
See fig. 4 for end effector workflow:
the processing parameters are set through a robot offline processing program, the robot drives the end effector to reach a processing position, the constant force control device is pre-pressed to a set force, a tool is contacted with a workpiece, the precision compensation mechanism enables a cutter to be automatically attached to the surface of the workpiece, the follow-up dust removal function is automatically started, the electric spindle is automatically started, the robot drives the end effector to automatically execute a processing track according to the offline program, after the processing is finished, the electric spindle is automatically closed by the end effector, the follow-up dust removal function is automatically closed, the robot drives the end effector to withdraw from the processing program, and the constant force control device resets. The anti-collision system is started in the whole process in the machining process, if a collision signal is detected, the signal is sent to the control system, the robot automatically stops moving, the electric spindle automatically stops rotating, the constant force control device automatically returns to a safe position, the tool is separated from the workpiece, and the workpiece is prevented from being damaged.
In conclusion, the precision compensation mechanism capable of realizing normal self-adaption of the curved surface is designed, can transmit torque and swing around the axial direction, and can solve the problem caused by rigid connection of a polishing tool and an electric spindle.
Claims (9)
1. The robot polishing end effector is characterized by comprising a flange (1), a mounting plate (2), a constant force control device (3), an electric main shaft holding seat (4), a grinding electric main shaft (5), a follow-up dust hood (6), a tool shank (7), a normal deviation precision compensation mechanism (8), a locking nut (9), a polishing disc (10), a connecting sleeve (11), a shell (12), a support (13) and an anti-collision sensor (14), wherein,
one side of a flange (1) is connected with an arm of a robot, the other side of the flange (1) is connected with one surface of a mounting plate (2), the other surface of the mounting plate (2) is provided with a constant force control device (3), an electric main shaft holding seat (4) connects the constant force control device (3) with a grinding electric main shaft (5), a tool shank (7) is installed on the electric main shaft (5), a normal deviation precision compensation mechanism (8) is connected with the tool shank (7), a polishing disc (10) is fixed at the shaft end of the normal deviation precision compensation mechanism (8) through a locking nut (9), a follow-up dust hood (6) is installed at one end of a connecting sleeve (11), the other end of the connecting sleeve (11) is connected with the electric main shaft holding seat (4), a closed cavity is formed between the polishing disc (10) and the normal deviation precision compensation mechanism (8) through the follow-up dust collection interface, and dust generated in the grinding process can be discharged through the follow-up dust; the shell (12) is connected with the mounting plate (2) to prevent grinding dust from entering the motorized spindle (5) and the constant force control device (3); the anti-collision sensor (14) is mounted on the housing (12) through a bracket (13) to prevent the end effector from colliding.
2. The robotic sanding end effector of claim 1, wherein the normal offset precision compensation mechanism (8) comprises a ball gear shaft (15), a ball gear sleeve (16), a tool mounting shaft (17), a flow control valve (18), an oil line tube (19), an oil cylinder (20), a mounting plate (21), a universal ball joint (22), a wobble plate (23), a bearing (24), a connecting screw (25), and a bearing cap (26), wherein:
spherical gear shaft (15) one end is connected with handle of a knife (7), spherical gear shaft (15) other end is connected with spherical gear cover (16) one end, spherical gear cover (16) are connected through bearing (24) with swing dish (23), bearing cap (26) are connected with swing dish (23) through connecting screw (25), with bearing (24) axial positioning, the spherical gear cover (16) other end is connected with instrument installation axle (17), it is epaxial (17) to beat grinding disk (10) cover on instrument installation axle (17), lock nut (9) is fixed with it. Four universal ball joints (22) are uniformly distributed on the swing disc (23), the rod ends of the four universal ball joints (22) are respectively in threaded connection with telescopic rods of four oil cylinders (20), the four telescopic oil cylinders (20) are uniformly distributed on the mounting plate (21), and the telescopic oil cylinders (20) which are diagonally arranged are communicated through oil passage pipes (19) so that two communicated loops are formed.
3. The robot sanding end effector according to claim 2, characterized in that the robot sanding end effector further comprises a flow control valve (18), the flow control valve (18) being arranged on the oil channel (19) for regulating the flow of the oil channel (19).
4. A robotic sanding end effector as claimed in claim 1, characterized in that the constant force control means (3) comprises a pneumatic constant force control means.
5. A robotic sanding end effector as claimed in claim 1, characterized in that the constant force control device (3) is internally provided with a force sensor.
6. A robotic sanding end effector as claimed in claim 1, characterized in that the following suction hood (6) is connected to a vacuum cleaning device.
7. A robotic sanding end effector as claimed in claim 1, characterized in that the collision avoidance sensor (14) comprises an ultrasonic sensor form.
8. A robotic sanding end effector as claimed in claim 7, characterized in that three sets of ultrasonic collision avoidance sensors (14) are mounted on the housing (12) by means of respective brackets (13).
9. A sanding method for use with the robotic sanding end effector of claim 1, the method comprising:
setting processing parameters through a robot offline processing program;
the robot drives the robot to polish the end effector to reach a processing position;
the constant force control device (3) is pre-compressed to a set force, and the tool is contacted with the workpiece;
the normal deviation precision compensation mechanism (8) enables the cutter to be automatically attached to the surface of the workpiece;
the servo dust removal function is automatically started, the electric spindle (5) is automatically started, and the robot drives the robot to polish the end effector to automatically execute a processing track according to an off-line program;
after the machining is finished, the robot polishes the end effector and automatically closes the electric main shaft (5), the follow-up dust removal function is automatically closed, and the robot drives the end effector to exit from the machining program;
the constant force control device (3) is reset;
the anti-collision system is started in the whole process in the machining process, if a collision signal is detected, the signal is sent to the control system, the robot automatically stops moving, the electric spindle (5) automatically stops rotating, and the constant force control device (3) automatically returns to a safety position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010369845.3A CN111496643B (en) | 2020-04-30 | 2020-04-30 | Robot polishing end effector and polishing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010369845.3A CN111496643B (en) | 2020-04-30 | 2020-04-30 | Robot polishing end effector and polishing method |
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| Publication Number | Publication Date |
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| CN111496643A true CN111496643A (en) | 2020-08-07 |
| CN111496643B CN111496643B (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010369845.3A Active CN111496643B (en) | 2020-04-30 | 2020-04-30 | Robot polishing end effector and polishing method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692675A (en) * | 2020-12-29 | 2021-04-23 | 彭祖喜 | Shell polishing device for intelligent robot manufacturing and intelligent robot manufacturing method |
| CN114770565A (en) * | 2022-02-15 | 2022-07-22 | 中国航空工业集团公司北京长城航空测控技术研究所 | Trimming type intelligent normal regulation and control system for composite material component |
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| CN104625952A (en) * | 2014-12-30 | 2015-05-20 | 中国科学院长春光学精密机械与物理研究所 | Grinding head capable of controlling pressure distribution |
| CN208841452U (en) * | 2018-08-09 | 2019-05-10 | 张欢 | A kind of radially compliant compensation device |
| CN110561443A (en) * | 2019-08-02 | 2019-12-13 | 中国航空工业集团公司北京长城航空测控技术研究所 | Auxiliary machining device for robot drilling end effector |
| CN110919535A (en) * | 2020-02-19 | 2020-03-27 | 中国航空制造技术研究院 | Constant force actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH10337662A (en) * | 1997-06-05 | 1998-12-22 | Meidensha Corp | Tool holder mechanism |
| CN104625952A (en) * | 2014-12-30 | 2015-05-20 | 中国科学院长春光学精密机械与物理研究所 | Grinding head capable of controlling pressure distribution |
| CN208841452U (en) * | 2018-08-09 | 2019-05-10 | 张欢 | A kind of radially compliant compensation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692675A (en) * | 2020-12-29 | 2021-04-23 | 彭祖喜 | Shell polishing device for intelligent robot manufacturing and intelligent robot manufacturing method |
| CN112692675B (en) * | 2020-12-29 | 2022-12-13 | 南方电网调峰调频发电有限公司信息通信分公司 | Shell polishing device for manufacturing intelligent robot and manufacturing method of intelligent robot |
| CN114770565A (en) * | 2022-02-15 | 2022-07-22 | 中国航空工业集团公司北京长城航空测控技术研究所 | Trimming type intelligent normal regulation and control system for composite material component |
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| CN111496643B (en) | 2022-02-11 |
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