CN112108998A - Robot power control polishing and grinding end effector with active damping - Google Patents
Robot power control polishing and grinding end effector with active damping Download PDFInfo
- Publication number
- CN112108998A CN112108998A CN202011103031.1A CN202011103031A CN112108998A CN 112108998 A CN112108998 A CN 112108998A CN 202011103031 A CN202011103031 A CN 202011103031A CN 112108998 A CN112108998 A CN 112108998A
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- polishing
- bearing
- spline
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005498 polishing Methods 0.000 title claims abstract description 79
- 238000013016 damping Methods 0.000 title claims abstract description 34
- 239000012636 effector Substances 0.000 title claims abstract description 33
- 230000033001 locomotion Effects 0.000 claims abstract description 49
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 11
- 230000004044 response Effects 0.000 abstract description 5
- 238000007517 polishing process Methods 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 230000002093 peripheral effect Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
-
- 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
- B24B49/006—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 speed
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The application discloses a robot-powered controlled polishing and grinding end effector with active damping, which comprises a rotary motion assembly, a constant force adjusting assembly, a motion decoupling assembly and a polishing and grinding disc assembly; the rotary motion assembly transmits rotary power to the ball spline through the spline shaft; the constant force adjusting assembly transmits an axial force to the ball spline, so that the spline shaft can axially move and synchronously rotate with the motor, the decoupling of the rotary motion and the axial movement is realized, and the stress condition of the polishing disc assembly is monitored in real time; in addition, the constant force adjusting assembly provides damping through the air cylinder, so that the vibration of the polishing disc caused by the fact that the polishing position is changed by the end effector in the polishing process or other external conditions is effectively limited; the polishing and grinding disc assembly is connected with the ball spline, and synchronous rotation and synchronous telescopic motion of the polishing and grinding disc assembly and the ball spline are achieved. The application can realize the accurate control of axial force and rotational speed, and the vibration of grinding in-process is thrown in initiative damping simultaneously, and overall structure is succinct compact, control is convenient, the power control precision is high and the response bandwidth is high.
Description
Technical Field
The application relates to the technical field of robot automation, in particular to a robot power-controlled polishing and grinding end effector with active damping.
Background
With the rapid development of modern industry, industrial robots are increasingly commonly used in various fields, especially in some fields with severe working environment and repeated heavy work. In some working environments requiring contact, an industrial robot is often required to have certain contact sensing and adjusting capabilities so as to meet the working requirements of completing operations such as clamping, polishing, assembling and the like. In the polishing and grinding process of the robot, constant-force polishing and grinding is a key factor influencing the surface quality of a machined part, and the polishing and grinding tool and the machined part vibrate due to relative movement or other interaction, so that the force control precision of the tool is influenced. Therefore, it is necessary to realize constant force control of the contact force of the polishing tool and the workpiece, and realization of constant force control with active damping is of great significance for accomplishing high-precision work.
The industrial robot force control method is mainly divided into a direct force control method and an indirect force control method, wherein the direct force control is realized by controlling the moment of a driving joint of a mechanical arm, and the indirect force control is realized by an additional force control end effector. Both methods have advantages and disadvantages: the former needs to establish an accurate robot dynamics model and develop a real-time and robust force control algorithm, and is generally suitable for the force control of a new generation of lightweight robots; the decoupling of force position hybrid control is realized through an additional force control end effector, although the system cost is slightly improved, the dynamic characteristic and the universality of force control are better, and the decoupling device is generally suitable for high-speed heavy-load robots and has wide application prospect. Generally speaking, the direct force control response speed is low, the algorithm stability is poor, and industrial production is difficult to realize, so that the force control of the force control end effector is reasonable selection, and the development of the force control polishing end effector with active damping is a reasonable way for realizing the constant force polishing of the robot, and in this respect, the existing force control polishing end effector has some defects and needs to be further improved and perfected.
Disclosure of Invention
In view of this, an object of the present application is to provide a robot-powered controlled polishing end effector with active damping, which can improve the stability of constant-force control of the force-controlled polishing end effector.
In order to achieve the technical purpose, the application provides a robot-powered controlled polishing and grinding end effector with active damping, which comprises a constant force adjusting assembly, a rotary motion assembly, a motion decoupling assembly and a polishing and grinding disc assembly;
the constant force adjusting assembly comprises an air cylinder, a voice coil motor stator, a voice coil motor rotor, a linear guide shaft, a linear bearing, a lower connecting plate, a multi-dimensional force sensor and a T-shaped connecting plate;
the lower connecting plate and the T-shaped connecting plate are arranged at intervals along the axial direction of the spline shaft far away from the motor;
the air cylinder comprises a cylinder body and a cylinder rod;
the first end of the cylinder body is fixedly connected with a ribbed plate of the T-shaped connecting plate, and the second end of the cylinder body is connected with the first end of the cylinder rod in a matching manner;
the second end of the cylinder rod is fixedly connected with the lower connecting plate;
the voice coil motor stator and the voice coil motor rotor form a voice coil motor which is arranged between the lower connecting plate and the T-shaped connecting plate, the end part of the voice coil motor stator is fixedly connected with a rib plate of the T-shaped connecting plate, and the end part of the voice coil motor rotor is fixedly connected with the lower connecting plate;
the first end of the linear guide shaft is connected with the ribbed plate of the T-shaped connecting plate, and the second end of the linear guide shaft is connected with the lower connecting plate;
the linear bearing is sleeved on the periphery of the linear guide shaft and used for limiting the radial movement of the linear guide shaft;
the multi-dimensional force sensor is arranged on a wing plate of the T-shaped connecting plate;
the rotary motion assembly comprises a motor, a motor bracket, a spline shaft bearing and a first coupler;
the motor is arranged on the motor bracket;
the motor bracket is arranged on a rib plate of the T-shaped connecting plate;
the spline shaft is connected with an output shaft of the motor through the first coupler and is connected with a ribbed plate of the T-shaped connecting plate through the spline shaft bearing;
the motion decoupling assembly comprises a ball spline and a rotary bearing;
the spline shaft sequentially penetrates through a rib plate of the T-shaped connecting plate, the voice coil motor stator, the voice coil motor rotor and the lower connecting plate and then is synchronously and rotatably connected with the ball spline;
the rotary bearing is axially and fixedly connected with the lower connecting plate and the ball spline and is used for transmitting the axial power of the lower connecting plate to the ball spline;
the polishing disc component comprises a polishing disc mounting piece and a polishing disc;
and one end of the polishing grinding disc mounting piece is fixedly connected with the ball spline, and the other end of the polishing grinding disc mounting piece is connected with the polishing grinding disc.
Preferably, the device further comprises a gas supply assembly; the air supply assembly comprises two barometers, two four-way valves, two proportional valves, an air supply tank and an air compressor;
the two barometers are connected with the air cylinder and are respectively used for measuring the air pressure of a rodless cavity and a rod cavity in the air cylinder;
first ports of the two four-way valves are respectively connected with a rodless cavity and a rod cavity of the cylinder;
the two proportional valves are respectively connected with second ports of the two four-way valves;
the aerostatic press is connected with the gas supply tank;
the gas supply tank is connected with the two proportional valves and is used for controlling the gas supplied by the gas compressor to a preset gas pressure value and then conveying the gas to the cylinder;
and third ports of the two four-way valves are connected with the outside, and the fourth ports are in a closed state.
Preferably, the cylinder is embodied as a single-rod double-acting cylinder.
Preferably, the first end of the linear guide shaft is movably connected with the rib plate of the T-shaped connecting plate in the axial direction, and the second end of the linear guide shaft is fixedly connected with the lower connecting plate;
the linear bearing is arranged between the T-shaped connecting plate and the lower connecting plate, and one end of the linear bearing is fixedly connected with a ribbed plate of the T-shaped connecting plate.
Preferably, the constant force adjustment assembly further comprises a shaft end baffle;
the shaft end baffle is connected with the first end of the linear guide shaft penetrating through the T-shaped connecting plate and used for limiting the axial movement distance of the linear guide shaft.
Preferably, the motion decoupling assembly further comprises a spline housing; the motion decoupling assembly further comprises a second coupling;
the inner peripheral wall of the spline housing is fixedly sleeved with the ball spline, and the outer peripheral wall of the spline housing is axially fixed and rotatably sleeved in the rotary bearing;
the polishing and grinding disc mounting piece is fixedly connected with the ball spline through the spline sleeve;
and the polishing disc mounting part is fixedly connected with the polishing disc through a second coupler.
Preferably, the motion decoupling assembly further comprises a bearing housing and a clamp spring;
the bearing shell is sleeved on the outer peripheral wall of the rotary bearing and is in interference connection with the rotary bearing;
the rotary bearing is axially and fixedly connected with the lower connecting plate through the bearing shell;
the clamp spring is mounted on the bearing shell and used for limiting the rotary bearing to move axially relative to the bearing shell.
Preferably, the multi-dimensional force sensor is embodied as a six-dimensional force sensor.
Preferably, the number of the cylinders is two;
the number of the linear guide shafts is two;
the two air cylinders and the two linear guide shafts are uniformly and symmetrically distributed on the circumference of the central shaft of the voice coil motor stator.
According to the technical scheme, the constant force adjusting assembly, the rotary motion assembly, the motion decoupling assembly and the polishing disc assembly are arranged, and the polishing disc assembly has the following advantages:
(1) the constant force adjusting assembly adopts a voice coil motor to provide axial force, and the voice coil motor is a motor which is converted into magnetic force by depending on electric power, and the magnitude of the axial force is only related to the magnitude of supplied current and current parameters of the voice coil motor, so that the magnitude of the axial force can be directly controlled by the supplied current; the constant force adjusting assembly also provides damping through the air cylinder, so that the vibration of a polishing disc of the voice coil motor caused by the fact that an end effector changes the polishing position or other external conditions in the polishing process can be effectively limited, and the constant axial contact force is realized; meanwhile, the constant force adjusting assembly adopts a multi-dimensional force sensor to feed the measured actual contact force of the polishing disc assembly as the adjusting data of the axial output force of the constant force adjusting assembly back to the system in real time, so as to realize accurate force control on the polishing disc assembly; the multi-dimensional force sensor is arranged on a wing plate of the T-shaped connecting plate, the multi-dimensional force sensor is more accurately stressed due to the bilateral symmetry design of the T-shaped connecting plate, and meanwhile, the upper end and the lower end of a rib plate of the T-shaped connecting plate are respectively connected with the rotary motion assembly and the constant force adjusting assembly, so that the number of middle connecting parts is reduced, and the structural strength of the connecting plate is improved;
(2) the rotary motion assembly uses a motor as a cutting power source, and has the advantages of stable rotating speed and easy control under the condition of ensuring that the rotating speed range, the cutting force requirement and the weight are met;
(3) the motion decoupling assembly adopts a spline structure, the inner peripheral wall of the rotary bearing is matched with the ball spline to rotate, and meanwhile, the axial force of the lower connecting plate can be transmitted to the polishing disc, so that corresponding rotating parts are reduced, and the rotational inertia is reduced; meanwhile, the peripheral wall of the rotary bearing can be arranged in a non-rotating mode, so that the safety problem caused by the integral rotation of the decoupling assembly is reduced;
(4) the polishing disc assembly is fixedly connected with the ball spline, synchronous rotation and axial force transmission with the ball spline are achieved, the purpose of constant force control is achieved, the whole transmission distance is short, meanwhile, the response speed is improved, and the service life of the spline shaft is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic diagram of the overall structure of a robot-powered controlled polishing end effector with active damping provided in the present application;
FIG. 2 is a half cross-sectional view of the centerline of a robot-powered controlled burnishing end effector motor provided herein with active damping along the centerline of a linear guide shaft;
FIG. 3 is a half cross-sectional view of the centerline of a robot power-controlled buffing end effector motor with active damping provided herein taken along the cylinder centerline;
FIG. 4 is a gas path diagram of a gas supply assembly for a robotic force-controlled buffing end effector with active damping provided herein;
in the figure: 1. a motor; 2. a motor bracket; 3. a first coupling; 4. a spline shaft; 5. a spline shaft bearing; (6/23), shaft end flaps; 7. a T-shaped connecting plate; (8/21) a linear guide shaft; (9/22), a linear bearing; 10. a voice coil motor stator; 11. a voice coil motor mover; 12. a lower connecting plate; 13. a bearing housing; 14. a rotating bearing; 15. polishing the grinding disc; 16. a second coupling; 17. a polishing disc mounting member; 18. a spline housing; 19. a clamp spring; 20. a ball spline; 24. a multi-dimensional force sensor; (25/26), a cylinder; (27/28), a barometer; (29/30), a four-way valve; (31/32), a proportional valve; 33. an air supply tank; 33. an air compressor.
Detailed Description
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
The embodiment of the application discloses a robot-powered controlled polishing and grinding end effector with active damping.
Referring to fig. 1-4, one embodiment of a robotic controlled polishing end effector with active damping provided in embodiments of the present application includes: the constant force adjusting assembly, the rotary motion assembly, the motion decoupling assembly and the polishing disc assembly are arranged on the polishing disc; the constant force adjusting assembly comprises a voice coil motor stator 10, a voice coil motor rotor 11, a cylinder 25, a lower connecting plate 12 of a linear guide shaft 8, a linear bearing 9, a multi-dimensional force sensor 24 and a T-shaped connecting plate 7; the multidimensional force sensor 24 is arranged on a wing plate of the T-shaped connecting plate 7; the lower connecting plate 13 is arranged at intervals with the T-shaped connecting plate 7 along the axial direction of the spline shaft 4 away from the motor 1; the end part of the voice coil motor stator 10 is fixedly connected with a ribbed plate of the T-shaped connecting plate 7; the voice coil motor rotor 11 is fixedly connected with the lower connecting plate 12; the first end of the linear guide shaft 8 is connected with a ribbed plate of the T-shaped connecting plate 7, and the second end of the linear guide shaft is connected with the lower connecting plate 12; the linear bearing 9 is sleeved on the periphery of the linear guide shaft 8 and used for limiting the radial movement of the linear guide shaft 8; the air cylinder 25 comprises a cylinder body and a cylinder rod; the first end of the cylinder body is fixedly connected with a ribbed plate of the T-shaped connecting plate, and the second end of the cylinder body is connected with the first end of the cylinder rod in a matching manner; the second end of the cylinder rod is fixedly connected with a lower connecting plate 12; the rotary motion assembly comprises a motor 1, a motor bracket 2, a spline shaft 4 and a first coupler 3; the motor 1 is arranged on the motor bracket 2; the motor bracket 2 is arranged on a ribbed plate of the T-shaped connecting plate 7; the spline shaft 4 is connected with an output shaft of the motor 1 through a first coupler 3; and is rotatably connected with a T-shaped connecting plate 7 through a spline shaft bearing 5; the motion decoupling assembly includes a ball spline 20 and a rotational bearing 14; the spline shaft 4 sequentially penetrates through a rib plate of the T-shaped connecting plate 7, a main voice coil motor stator 10, a main voice coil motor rotor 11 and a lower connecting plate 12 and then is synchronously and rotatably connected with the ball spline 20; the rotary bearing 14 is axially fixedly connected with the lower connecting plate 12 and is axially fixedly connected with the ball spline 20, and is used for transmitting the axial power of the lower connecting plate 12 to the ball spline 20; the polishing disc component comprises a polishing disc mounting part 17 and a polishing disc 15; one end of the polishing disc mounting part 17 is fixedly connected with the ball spline 20, and the other end is connected with the polishing disc 15.
Specifically, the lower connecting plate 12 may transmit the output force of the voice coil motor to the ball spline 20 through the rotary bearing 14, in which the outer peripheral wall of the rotary bearing 14 is connected to the connecting plate 12, and the inner peripheral wall of the rotary bearing 14 is fitted to the ball spline 20, so that the outer peripheral wall of the rotary bearing 14 is not rotatable, and the inner peripheral wall is rotatable in accordance with the ball spline 20 and transmits the axial force to the ball spline.
Specifically, the voice coil motor mover 11 and the voice coil motor stator 10 constitute a voice coil motor. The voice coil motor is arranged between the ribbed plate of the T-shaped connecting plate and the lower connecting plate 12; the voice coil motor is a lower connecting plate, the lower connecting plate 12 transmits the axial force provided by the voice coil motor to parts fixedly connected with the voice coil motor through the axial force, and the relative position of the T-shaped connecting piece and the lower connecting plate cannot be changed in the process of transmitting the axial force through the linear guide shaft 8; wherein, the air cylinder 25 and the linear guide shaft 8 can be symmetrically arranged around the circumference of the voice coil motor to better keep balance.
Specifically, the air cylinder 25 is used for damping the motion of the voice coil motor, and the cylinder rod may be arranged between the lower connecting plate 12 and the T-shaped connecting plate 7; the cylinder body is arranged above the ribbed plate of the T-shaped connecting plate 7 and penetrates through the ribbed plate of the T-shaped connecting plate 7 to be connected with the cylinder rod in a matching mode. Or the cylinder body and the cylinder rod can be arranged between the lower connecting plate 12 and the T-shaped connecting plate 7, and specifically, the cylinder can play a role in damping the movement of the piston in the movement process of the voice coil motor.
It should be noted that, there are various ways for the lower connecting plate 12 to cooperate with the linear guide shaft 8, for example, the lower connecting plate 12 may be in a form that the linear guide shaft 8 is fixedly connected with a rib plate of the T-shaped connecting plate 7, and the lower connecting plate 12 is movably connected with the linear guide shaft in the axial direction; the linear guide shaft 8 may be fixedly connected to the lower connecting plate 12 and movably connected to the T-shaped connecting plate 7 in the axial direction, without limitation.
The above is the first embodiment provided in the present application, and the following is the second embodiment provided in the present application, please refer to fig. 1 to 4 specifically.
A robot-powered controlled polishing end effector with active damping, comprising: the constant force adjusting assembly, the rotary motion assembly, the motion decoupling assembly and the polishing disc assembly are arranged on the polishing disc; the constant force adjusting assembly comprises a voice coil motor stator 10, a linear bearing 9, a voice coil motor rotor 11, an air cylinder 25, a linear guide shaft 8, a lower connecting plate 12, a multidimensional force sensor 24 and a T-shaped connecting plate 7; the multidimensional force sensor 24 is arranged on a wing plate of the T-shaped connecting plate 7; the lower connecting plate 13 is arranged at intervals with the T-shaped connecting plate 7 along the axial direction of the spline shaft 4 away from the motor 1; the end part of the voice coil motor stator 10 is fixedly connected with a ribbed plate of the T-shaped connecting plate 7; the voice coil motor rotor 11 is fixedly connected with the lower connecting plate 12; the first end of the linear guide shaft 8 is connected with a ribbed plate of the T-shaped connecting plate 7, and the second end of the linear guide shaft is connected with the lower connecting plate 12; the linear bearing 9 is sleeved on the periphery of the linear guide shaft 8 and used for limiting the radial movement of the linear guide shaft 8; the air cylinder 25 comprises a cylinder body and a cylinder rod; the first end of the cylinder body is fixedly connected with a ribbed plate of the T-shaped connecting plate, and the second end of the cylinder body is connected with the first end of the cylinder rod in a matching manner; the second end of the cylinder rod is fixedly connected with a lower connecting plate 12; the rotary motion assembly comprises a motor 1, a motor bracket 2, a spline shaft 4 and a first coupler 3; the motor 1 is arranged on the motor bracket 2; the motor bracket 2 is arranged on a ribbed plate of the T-shaped connecting plate 7; the spline shaft 4 is connected with an output shaft of the motor 1 through a first coupler 3; and is rotatably connected with a T-shaped connecting plate 7 through a spline shaft bearing 5; the motion decoupling assembly includes a ball spline 20 and a rotational bearing 14; the spline shaft 4 sequentially penetrates through a rib plate of the T-shaped connecting plate 7, a main voice coil motor stator 10, a main voice coil motor rotor 11 and a lower connecting plate 12 and then is synchronously and rotatably connected with the ball spline 20; the rotary bearing 14 is axially fixedly connected with the lower connecting plate 12 and is axially fixedly connected with the ball spline 20, and is used for transmitting the axial power of the lower connecting plate 12 to the ball spline 20; the polishing disc component comprises a polishing disc mounting part 17 and a polishing disc 15; one end of the polishing disc mounting part 17 is fixedly connected with the ball spline 20, and the other end is connected with the polishing disc 15.
Further, the device also comprises an air supply assembly; the air supply assembly comprises a barometer 27 and a barometer 28, a four-way valve 29 and a four-way valve 30, a proportional valve 31 and a proportional valve 32, an air supply tank 33 and an air compressor 34; the barometer 27 is connected with a rodless cavity of the cylinder, and the barometer 28 is connected with a rod cavity of the cylinder and is respectively used for measuring the air pressure of the rodless cavity and the rod cavity in the cylinder; a first port of the four-way valve 29 is connected with a rodless cavity of the cylinder, and a second port is connected with a proportional valve 31; a first port of the four-way valve 30 is connected with a rod cavity of the cylinder, and a second port is connected with the proportional valve 32; the four-way valve 29 and the four-way valve 30 are communicated with air at the third ports, and the fourth ports are in a closed state; the air compressor 34 is connected with the air supply tank 33; the gas supply tank 33 is connected with two proportional valves 29, and is used for conveying the gas supplied by the gas compressor 34 to the two proportional valves, and the gas is conveyed to the gas cylinder after being controlled to a preset gas pressure value through the proportional valves.
Specifically, referring to fig. 4, the interior of the cylinder is divided into a rod chamber and a rodless chamber by a cylinder rod, wherein the chamber where the rib rod of the cylinder rod is located is the rod chamber; after the air pressure for balancing the rodless cavity and the rod cavity is introduced into the air cylinder through the air supply tank 33, the air cylinder is sealed, and in the process that the lower connecting plate 12 moves along the axial direction of the linear guide shaft, the air pressure in the rod cavity and the rodless cavity is unbalanced, so that damping is generated.
Specifically, because the areas of the rod cavity and the rodless cavity in the cylinder are different, and the balance in the cavities is related to the air pressure and the area, when the air pressure in the two cavities is in a balanced state, the air pressure is different, so that two proportional valves 29 and two four-way valves are used for respectively ventilating the two cavities, and two four-way valves and two barometers are correspondingly configured; when the cylinders use different numbers as required, the numbers of the barometers, the proportional valves and the four-way valves can be correspondingly changed or the mode that the rodless cavities of all the cylinders are connected with the same barometer and the same proportional valve and the rod cavities of all the cylinders are connected with the other barometer and the other proportional valve is adopted without limitation.
In this embodiment, the four-way valve may be a three-position four-way solenoid valve having three control positions, which are distributed as a left position, a middle position and a right position. With reference to FIG. 4, the four-way valve 29 and the four-way valve 30 include four ports, depicted in the orientation of FIG. 4, with the upper left port communicating with the cylinder 25 for the first port; the lower left port is a second port and is communicated with the proportional valve 31; the lower right port is a third port and is communicated with external air; the upper right port is a fourth port and is in a closed state.
When the four-way valve is opened at the left side position, the first port is communicated with the second port, the third port is communicated with the fourth port, and at the moment, the proportional valve can lead gas into the cylinder through the four-way valve.
When the four-way valve is opened to the middle position, the four through holes are not communicated with each other, and the main air path is in an open circuit closed state.
When the four-way valve is opened at the right position, the first port is communicated with the third port, and at the moment, the gas in the cylinder can be discharged outside through the four-way valve 28 and the four-way valve 29 without providing damping; the second port is communicated with the fourth port, and the proportional valve is in an open-circuit state.
Further, the number of the cylinders is two, i.e., the cylinder 25 and the cylinder 26.
In the polishing process of the robot, when the end effector reaches a specified position, the polishing disc 15 is in contact with a workpiece, and ideal axial force is applied, the two four-way valves are opened at the left side position, the air passage is in a communicated state, the air compressor 34 compresses air and supplies the compressed air to the air supply tank 33, the air supply tank controls the air pressure of the air passage to a preset air pressure value through the proportional valve 31 and the proportional valve 32, and then the air is respectively conveyed into the air cylinder 25 and the air cylinder 26 through the two four-way valves. After the gas delivery is finished, the air pressure in the rod cavity and the air pressure in the rodless cavity of the air cylinder reach a balance value, the two four-way valves are controlled to open the middle position, at the moment, the two air cylinders are in a closed state, and the cylinder rods do telescopic motion to generate damping, so that the vibration of a polishing disc of the voice coil motor caused by the fact that the polishing position is changed by an end effector in the polishing process or other external conditions is limited, and the change of the axial force is reduced. When the ideal axial force needs to be adjusted greatly or the process needs to be replaced, the four-way valve 28 is controlled to open the right position, after the exhaust is completed, the ventilation process is repeated when the damping is needed to be generated, and the ventilation is returned to the balance state.
Further, in the present embodiment, the air cylinder 25 and the air cylinder 26 are embodied as a single-rod double-acting air cylinder.
Further, in the present embodiment, a first end of the linear guide shaft 8 is movably connected with the rib plate of the T-shaped connecting plate 7 in the axial direction, and a second end is fixedly connected with the lower connecting plate 12; the linear bearing 9 is arranged between the T-shaped connecting plate 7 and the lower connecting plate 12, one end of the rib plate is fixedly connected with the T-shaped connecting plate 7, and the periphery of the linear guide shaft 8 is sleeved with the rib plate for limiting the radial movement of the linear guide shaft 8 and better playing a role in guiding.
Specifically, the linear guide shaft 8 is fixedly connected with the lower connecting plate 12, and moves along the axial direction of the lower connecting plate 12 along the linear guide shaft.
Further, the constant force adjusting assembly also comprises a shaft end baffle 6; the shaft end baffle 6 is connected with the first end of the linear guide shaft 8 penetrating through the T-shaped connecting plate 7 and used for limiting the axial movement distance of the linear guide shaft 8, and when the lower connecting plate 12 drives the linear guide shaft 8 to move downwards, the shaft end baffle 6 is used for limiting, so that the whole linear guide shaft 8 is prevented from completely sliding away from the T-shaped connecting plate.
Further, the motion decoupling assembly also includes a spline housing 18; the inner peripheral wall of the spline housing 18 is fixedly sleeved with the ball spline 20, and the outer peripheral wall of the spline housing 18 is axially fixed and rotatably sleeved in the rotary bearing 14.
Specifically, in the first embodiment of the present application, it is possible to provide a mechanical device that can rotate the ball spline 20 and transmit axial force from the lower connecting plate 12. In practical application, in order to make the ball spline 20 better adapt to the size of the rotary bearing and better transmit the motion and force to the throwing disc connector, the spline shaft 4 and the ball spline 20 are also provided with a spline housing 18; the ball spline 20 is fixedly connected with the spline housing 18 through a screw, and meanwhile, the outer circumferential surface of the ball spline 20 is in clearance fit with the inner surface of the spline housing 18, so that the rotary power can be transmitted from the ball spline 20 to the spline housing 18; the integral rotation response parts are reduced, the rotational inertia is reduced, the response speed is increased, and the service life of the spline shaft 4 is prolonged; the spline housing 18 is fitted with the rotary bearing 14 at the outer circumference; the lower connecting plate 12 transmits the output force of the voice coil motor to the spline housing 18 through the rotary bearing 14.
Further, the polishing disc mounting member 17 is fixedly connected with the ball spline 20 through the spline housing 18.
Specifically, the polishing disc mounting member 17 is screwed to the lower end surface of the spline housing 18, and receives rotational power and linear power through the spline housing 18.
Further, the motion decoupling assembly further comprises a bearing shell 13 and a clamp spring 19; the bearing shell 13 is sleeved on the peripheral wall of the rotary bearing 14 and is in interference connection with the rotary bearing 14; the rotary bearing 14 is axially and fixedly connected with the lower connecting plate 12 through a bearing shell 13; a circlip 19 is mounted to the bearing housing 13 for limiting axial movement of the slew bearing 14 relative to the bearing housing.
Specifically, in order to eliminate the need for rotating the outer periphery of the motion decoupling assembly, thereby reducing the safety problem caused by the overall rotation of the decoupling assembly, in this embodiment, the outer circumferential wall of the rotary bearing 14 is fixed to the bearing housing 13 in an interference manner, and the inner circumferential wall is rotatable in cooperation with the spline housing 18; meanwhile, the axial movement of the rotary bearing 14 is more firmly limited by the clamp spring 19; the whole structure is safer and firmer.
Specifically, the rotary bearing 14 may be a double-row angular contact ball bearing, and the like, and may be selected according to actual needs without limitation.
Further, the multi-dimensional force sensor 24 is embodied as a six-dimensional force sensor.
Particularly, the most complete form of the multi-dimensional force is a six-dimensional force sensor, namely a sensor capable of measuring three force components and three moment components simultaneously, and accurate force control on the polishing and grinding disc can be realized more accurately.
Further, the number of the linear guide shafts is two, and the two linear guide shafts are respectively a linear guide shaft 8 and a linear guide shaft 21; correspondingly, the linear bearings and the shaft end blocking pieces are respectively provided with two linear bearings, wherein the linear bearing 9 and the shaft end blocking piece 6 are in fit connection with the linear guide shaft 8, and the linear bearing 22 and the shaft end blocking piece 23 are in fit connection with the linear guide shaft 21.
In order to make the stress of the lower connecting plate 12 more uniform and the feedback adjustment more accurate, the two cylinders and the two linear guide shafts are uniformly distributed about the circumference of the central shaft of the voice coil motor stator 10, that is, the cylinders 25, the cylinders 26, the linear guide shafts 8 and the linear guide shafts 21 are distributed in a circumferential array about the central shaft of the voice coil motor stator 10, and the included angle between every two cylinders and the central shaft connecting line of the voice coil motor stator 10 is 90 °.
Further, the polishing disc mounting part 17 is fixedly connected with the polishing disc 15 through the second coupling 16, so that the polishing discs with different sizes and mesh numbers can be rapidly switched as required.
Further, the first coupling 3 may be a diaphragm coupling or the like; the second coupling 16 may be a rigid coupling or the like, without limitation.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present application, and not intended to limit the present invention, and although the present application has been described in detail with reference to the examples, it will be apparent to those skilled in the art that modifications can be made to the technical solutions described in the foregoing examples, or equivalent substitutions of some technical features can be made, any modifications, equivalents, improvements, etc. within the spirit and principle of the present application shall be included in the scope of the present application.
Claims (10)
1. A robot-powered controlled polishing and grinding end effector with active damping is characterized by comprising a constant force adjusting assembly, a rotary motion assembly, a motion decoupling assembly and a polishing and grinding disc assembly;
the constant force adjusting assembly comprises an air cylinder, a voice coil motor stator, a voice coil motor rotor, a linear guide shaft, a linear bearing, a lower connecting plate, a multi-dimensional force sensor and a T-shaped connecting plate;
the multi-dimensional force sensor is arranged on a wing plate of the T-shaped connecting plate;
the rotary motion assembly comprises a motor, a motor bracket, a spline shaft bearing and a first coupler;
the motor is arranged on the motor bracket;
the motor bracket is arranged on a rib plate of the T-shaped connecting plate;
the spline shaft is connected with an output shaft of the motor through the first coupler and is connected with a ribbed plate of the T-shaped connecting plate through the spline shaft bearing;
the lower connecting plate and the T-shaped connecting plate are arranged at intervals along the axial direction of the spline shaft far away from the motor;
the air cylinder comprises a cylinder body and a cylinder rod;
the first end of the cylinder body is fixedly connected with a ribbed plate of the T-shaped connecting plate, and the second end of the cylinder body is connected with the first end of the cylinder rod in a matching manner;
the second end of the cylinder rod is fixedly connected with the lower connecting plate;
the voice coil motor stator and the voice coil motor rotor form a voice coil motor which is arranged between the lower connecting plate and the T-shaped connecting plate, the end part of the voice coil motor stator is fixedly connected with a rib plate of the T-shaped connecting plate, and the end part of the voice coil motor rotor is fixedly connected with the lower connecting plate;
the first end of the linear guide shaft is connected with the ribbed plate of the T-shaped connecting plate, and the second end of the linear guide shaft is connected with the lower connecting plate;
the linear bearing is sleeved on the periphery of the linear guide shaft and used for limiting the radial movement of the linear guide shaft;
the motion decoupling assembly comprises a ball spline and a rotary bearing;
the spline shaft sequentially penetrates through a rib plate of the T-shaped connecting plate, the voice coil motor stator, the voice coil motor rotor and the lower connecting plate and then is synchronously and rotatably connected with the ball spline;
the rotary bearing is axially and fixedly connected with the lower connecting plate and the ball spline and is used for transmitting the axial power of the lower connecting plate to the ball spline;
the polishing disc component comprises a polishing disc mounting piece and a polishing disc;
and one end of the polishing grinding disc mounting piece is fixedly connected with the ball spline, and the other end of the polishing grinding disc mounting piece is connected with the polishing grinding disc.
2. The robotic controlled buffing end effector with active damping according to claim 1 further including a gas supply assembly; the air supply assembly comprises two barometers, two four-way valves, two proportional valves, an air supply tank and an air compressor;
the two barometers are connected with the air cylinder and are respectively used for measuring the air pressure of a rodless cavity and a rod cavity in the air cylinder;
first ports of the two four-way valves are respectively connected with a rodless cavity and a rod cavity of the cylinder;
the two proportional valves are respectively connected with second ports of the two four-way valves;
the aerostatic press is connected with the gas supply tank;
the gas supply tank is connected with the two proportional valves, and the proportional valves are used for controlling the gas supplied by the gas compressor to a preset gas pressure value and then conveying the gas to the cylinder;
and the third ports of the two four-way valves are connected with the outside, and the fourth ports are in a closed state.
3. The robotic controlled buffing end effector with active damping according to claim 2 wherein the cylinder is embodied as a single rod double acting cylinder.
4. The robotic controlled-throw-grind end effector with active damping of claim 1, wherein the linear guide shaft has a first end movably connected to the rib plate of the T-shaped link plate in the axial direction and a second end fixedly connected to the lower link plate;
the linear bearing is arranged between the T-shaped connecting plate and the lower connecting plate, and one end of the linear bearing is fixedly connected with a ribbed plate of the T-shaped connecting plate.
5. The robotic controlled-buffing end effector with active damping of claim 1 wherein the constant force adjustment assembly further includes an end stop;
the shaft end baffle is connected with the first end of the linear guide shaft penetrating through the T-shaped connecting plate and used for limiting the axial movement distance of the linear guide shaft.
6. The robotic controlled-throw-grind end effector with active damping of claim 1, wherein the motion-decoupling assembly further comprises a spline housing;
the internal perisporium of spline housing is fixed cup joints the ball spline, the periphery wall axial fixity and the rotatable coupling of spline housing the internal perisporium of swivel bearing.
7. The robotic controlled buffing end effector with active damping of claim 6 wherein the buffing disc assembly further includes a second coupling;
the polishing and grinding disc mounting piece is fixedly connected with the ball spline through the spline sleeve;
and the polishing disc mounting part is fixedly connected with the polishing disc through a second coupler.
8. The robotic controlled-throw-grind end effector with active damping of claim 1, wherein the motion-decoupling assembly further comprises a bearing housing and a circlip;
the bearing shell is sleeved outside the rotating bearing and is in interference connection with the rotating bearing;
the rotary bearing is axially and fixedly connected with the lower connecting plate through the bearing shell;
the clamp spring is mounted on the bearing shell and used for limiting the rotary bearing to move axially relative to the bearing shell.
9. The robotic controlled burnishing end effector with active damping of claim 1, wherein the multi-dimensional force sensor is specifically a six-dimensional force sensor.
10. The robotic controlled buffing end effector with active damping according to claim 1 wherein there are two of the cylinders;
the number of the linear guide shafts is two;
the two air cylinders and the two linear guide shafts are uniformly and symmetrically distributed on the circumference of the central axis of the voice coil motor stator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011103031.1A CN112108998A (en) | 2020-10-15 | 2020-10-15 | Robot power control polishing and grinding end effector with active damping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011103031.1A CN112108998A (en) | 2020-10-15 | 2020-10-15 | Robot power control polishing and grinding end effector with active damping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112108998A true CN112108998A (en) | 2020-12-22 |
Family
ID=73794590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011103031.1A Pending CN112108998A (en) | 2020-10-15 | 2020-10-15 | Robot power control polishing and grinding end effector with active damping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112108998A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114448320A (en) * | 2021-12-22 | 2022-05-06 | 上海智能制造功能平台有限公司 | Electromagnetic compliance device based on voice coil motor |
| 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 |
| CN115213768A (en) * | 2022-07-12 | 2022-10-21 | 中国科学院西安光学精密机械研究所 | Wheel type processing tool for optical element surface polishing and surface polishing method |
| CN115816174A (en) * | 2023-02-14 | 2023-03-21 | 中北大学 | Robot-controlled ultrasonic polishing and grinding end effector |
| CN114448320B (en) * | 2021-12-22 | 2024-05-24 | 上海智能制造功能平台有限公司 | Electromagnetic compliance device based on voice coil motor |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006056179A1 (en) * | 2006-11-27 | 2008-06-05 | Bernd Luckas | Grinding head for use in industrial robot, in grinding system, comprises grinding unit for processing surface of workpiece, where connection device is provided for connecting grinding unit to holder |
| CN108818303A (en) * | 2018-07-20 | 2018-11-16 | 广东工业大学 | A kind of robot rubbing down power control end effector |
| CN109590853A (en) * | 2019-01-07 | 2019-04-09 | 河北工业大学 | A kind of large-scale curved Pneumatic flexible grinding device |
| CN110103114A (en) * | 2019-05-23 | 2019-08-09 | 华中科技大学 | Large complicated carved Three Degree Of Freedom self-adapting flexible grinding and polishing apparatus and robot |
| CN110103116A (en) * | 2019-05-23 | 2019-08-09 | 华中科技大学 | A kind of main passive compliance grinding and polishing apparatus and grinding and polishing robot of Adaptive Attitude |
| CN111496643A (en) * | 2020-04-30 | 2020-08-07 | 中国航空工业集团公司北京长城航空测控技术研究所 | Robot polishing end effector and polishing method |
| CN213197092U (en) * | 2020-10-15 | 2021-05-14 | 广东工业大学 | Robot power control polishing and grinding end effector with active damping |
-
2020
- 2020-10-15 CN CN202011103031.1A patent/CN112108998A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006056179A1 (en) * | 2006-11-27 | 2008-06-05 | Bernd Luckas | Grinding head for use in industrial robot, in grinding system, comprises grinding unit for processing surface of workpiece, where connection device is provided for connecting grinding unit to holder |
| CN108818303A (en) * | 2018-07-20 | 2018-11-16 | 广东工业大学 | A kind of robot rubbing down power control end effector |
| CN109590853A (en) * | 2019-01-07 | 2019-04-09 | 河北工业大学 | A kind of large-scale curved Pneumatic flexible grinding device |
| CN110103114A (en) * | 2019-05-23 | 2019-08-09 | 华中科技大学 | Large complicated carved Three Degree Of Freedom self-adapting flexible grinding and polishing apparatus and robot |
| CN110103116A (en) * | 2019-05-23 | 2019-08-09 | 华中科技大学 | A kind of main passive compliance grinding and polishing apparatus and grinding and polishing robot of Adaptive Attitude |
| CN111496643A (en) * | 2020-04-30 | 2020-08-07 | 中国航空工业集团公司北京长城航空测控技术研究所 | Robot polishing end effector and polishing method |
| CN213197092U (en) * | 2020-10-15 | 2021-05-14 | 广东工业大学 | Robot power control polishing and grinding end effector with active damping |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114448320A (en) * | 2021-12-22 | 2022-05-06 | 上海智能制造功能平台有限公司 | Electromagnetic compliance device based on voice coil motor |
| CN114448320B (en) * | 2021-12-22 | 2024-05-24 | 上海智能制造功能平台有限公司 | Electromagnetic compliance device based on voice coil motor |
| 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 |
| CN114800551B (en) * | 2022-04-20 | 2024-04-19 | 中南大学 | Robot-powered grinding and polishing device for complex curved surface and control method |
| CN115213768A (en) * | 2022-07-12 | 2022-10-21 | 中国科学院西安光学精密机械研究所 | Wheel type processing tool for optical element surface polishing and surface polishing method |
| CN115213768B (en) * | 2022-07-12 | 2024-05-10 | 中国科学院西安光学精密机械研究所 | Optical element surface polishing method |
| CN115816174A (en) * | 2023-02-14 | 2023-03-21 | 中北大学 | Robot-controlled ultrasonic polishing and grinding end effector |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112108998A (en) | Robot power control polishing and grinding end effector with active damping | |
| CN108908117B (en) | Constant force actuator for installing polishing head | |
| CN109986542A (en) | A kind of hard and soft mixed type power control end effector of pneumoelectric combination drive | |
| US7150085B2 (en) | Turret for machine tool | |
| CN213197093U (en) | Robot power control polishing and grinding end effector with active inhibition function | |
| CN213197092U (en) | Robot power control polishing and grinding end effector with active damping | |
| CN102091799A (en) | End effector for automatically drilling curved surface | |
| CN108818303A (en) | A kind of robot rubbing down power control end effector | |
| CN101402171A (en) | Tool change device with a direct drive reciprocating and pivoting actuator | |
| CN209868599U (en) | Rigid-flexible hybrid force control end effector driven by gas and electricity | |
| CN114206556A (en) | Active arm module, passive arm module, end module, robot arm and industrial robot | |
| JP2022551052A (en) | Tool edge adjustment head, method of operation thereof and tool edge wear compensation | |
| CN108044646B (en) | Double-drive universal joint | |
| CN112496780A (en) | Direct-drive rotary table of five-axis numerical control machine tool | |
| CN107336088A (en) | A kind of high-precision chuck mechanism | |
| CN112091819A (en) | Robot power control polishing and grinding end effector with active inhibition function | |
| CN110919342B (en) | Automatic screw system and automatic screw robot of beating | |
| CN208880471U (en) | A kind of robot rubbing down power control end effector | |
| CN110509309B (en) | Wrist joint of grinding and polishing robot | |
| CN104690743A (en) | Robot wrist joint structure based on single-stator multi-degree-of-freedom ultrasonic motor | |
| CN218836943U (en) | A axle drive arrangement for digit control machine tool | |
| CN114033832B (en) | Two-dimensional integrated semi-active vibration control device based on impact vibration reduction | |
| CN116175208A (en) | Automatic rotary table rotary dynamic balance adjusting device | |
| CN115972095A (en) | Embedded numerical control machine tool force control grinding and polishing device | |
| CN111890409A (en) | Multi-degree-of-freedom active and passive variable stiffness flexible joint based on controllable viscosity medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |