CN112223296A - Robot end effector suitable for large-scale thin wall spare is polished and system of polishing - Google Patents

Robot end effector suitable for large-scale thin wall spare is polished and system of polishing Download PDF

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Publication number
CN112223296A
CN112223296A CN202011215612.4A CN202011215612A CN112223296A CN 112223296 A CN112223296 A CN 112223296A CN 202011215612 A CN202011215612 A CN 202011215612A CN 112223296 A CN112223296 A CN 112223296A
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China
Prior art keywords
polishing
robot
thin
connecting rod
end effector
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CN202011215612.4A
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CN112223296B (en
Inventor
王琦珑
王伟
张子童
闫守鑫
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Beihang University
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Beihang University
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

Abstract

The invention provides a robot end effector and a polishing system suitable for polishing a large thin-walled part in the technical field of machining, wherein the effector comprises a base connected to a robot, a driver is connected to the base, one end, far away from the base, of the driver is connected with a movable seat, a connecting rod with adjustable length is arranged above the base, and one end, extending upwards, of the connecting rod is connected with the movable seat; the polishing system comprises a carrying robot and a polishing robot which are respectively arranged at the left end and the right end of the thin-walled workpiece, the output end of the carrying robot is connected with an end effector with a force control function, the polishing robot is connected with the end effector with a vibration damping function, the upper end and the lower end of the thin-walled workpiece are fixed, and the left end and the right end are free; the invention can realize the grinding of large thin-wall parts and reduce the vibration during grinding.

Description

Robot end effector suitable for large-scale thin wall spare is polished and system of polishing
Technical Field
The invention relates to the technical field of machining, in particular to a robot end effector suitable for polishing a large thin-wall part and a polishing system.
Background
The grinding technology is to remove redundant materials or burrs on a workpiece by using a grinding tool so as to obtain a part which has smooth shape, dimensional precision and surface quality and meets the design requirements, and is an important processing mode which is indispensable in modern manufacturing industry.
In the prior art, the utility model discloses a utility model with the name of "ultrasonic vibration grinding machine", publication number CN 108500744B, publication date 2019.06.18, which comprises a base, a workbench arranged on the base, a workpiece clamping mechanism arranged on the workbench and an ultrasonic vibration grinding mechanism arranged on one side of the workbench and matched with the workpiece clamping mechanism, wherein the ultrasonic vibration grinding mechanism comprises a resonance type grinding component movably arranged on a guide rail, the workpiece clamping mechanism comprises a supporting plate arranged on the workbench, a workpiece clamp used for clamping the workpiece is movably arranged on the supporting plate, when in work, the workpiece is arranged in the workpiece clamp, the workpiece clamp is moved to the lower part of the grinding wheel, the position of the grinding wheel is adjusted to the position suitable for grinding the workpiece, a power box and an ultrasonic motor work, the grinding wheel carries out ultrasonic vibration grinding on the workpiece, and the workpiece is always fixed during the grinding process, force control can not be realized according to the polishing requirement, vibration is strong, and the polishing effect is influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of poor vibration reduction effect in the prior art, and provides a robot end effector and a polishing system suitable for polishing a large thin-wall part, wherein the robot end effector and the polishing system reduce vibration during polishing of the thin-wall part.
The purpose of the invention is realized as follows: the utility model provides an end effector of robot suitable for large-scale thin wall spare is polished, is including connecting the base on the robot, be connected with the driver on the base, the one end that the base was kept away from to the driver is connected with the sliding seat, and the base top is equipped with length-adjustable's connecting rod, the one end that the connecting rod upwards stretches out is connected with the sliding seat.
In order to further realize the length adjustment of the connecting rod, the upper side of the base is connected with two guide fixing columns, a guide shaft is connected to the guide fixing columns in a sliding manner, one end, extending upwards, of the guide shaft is connected to the lower end of the movable seat, a fixing plate is connected to the guide fixing columns, a connecting rod is connected between the two fixing plates in a rotating manner, a spring is connected to the fixing plate, one end, extending downwards and extending, of the spring is connected with the connecting rod, the lower end of the connecting rod is connected with a short pull rod I, the upper portion of the connecting rod is connected with a short pull rod II, the short pull rod I is connected to the short pull rod II in a sliding manner, a screw rod is connected to the short pull rod I; in this design, the lead screw rotates when the length that the connecting rod upwards stretched out needs to be adjusted, and short pull rod two is connected with the connecting rod, and the connecting rod can't remove, and short pull rod one slides along short pull rod two, and the removal of short pull rod drive connecting rod realizes the length adjustment that the connecting rod upwards stretched out.
In order to further realize the rotation of the screw rod, a motor plate is arranged on the short pull rod II, a driving motor is fixedly connected to one downward end of the motor plate, and the screw rod is connected to the driving motor.
As a further improvement of the invention, the driver is a pneumatic artificial muscle; in the design, the damping of an actuator on the transfer robot is adjusted through air pressure, so that the function that damping parameters dynamically change along with target damping is realized, and meanwhile, the force control function of the actuator is realized by adopting a parallel antagonistic layout of a connecting rod and a driver.
The system for polishing the large thin-walled workpiece by using the end effector comprises a carrying robot and a polishing robot which are respectively arranged at the left end and the right end of the thin-walled workpiece, the output ends of the carrying robot and the polishing robot are respectively connected with the end effector, the upper end and the lower end of the thin-walled workpiece are fixed, and the system comprises the following steps during polishing,
(1) determining force control parameters of the end effector according to the requirements of the grinding removal amount; determining the motion track of the polishing robot, and obtaining the rigidity and damping parameters of different grinding areas of the large thin-wall part by a calculation, simulation or experiment method;
(2) starting polishing according to the polishing track, setting an initial value of i, i =1, inputting the position of the polishing end, judging whether the position of the polishing end is the end point of the polishing track, and if so, finishing polishing; if not, turning to the step (3);
(3) controlling the movement of the transfer robot to move the actuator to the set position { x }i, yiRespectively calculating to obtain expected damping coefficients and rigidity, changing the input pressure of a driver to enable the damping coefficients to meet the expected values, adjusting the length of a connecting rod to enable the rigidity to meet the expected values, and adsorbing a movable seat on a thin-wall part by virtue of a vacuum chuck;
(4) inputting the position of the next polishing end, judging whether the next polishing position is the end point of the polishing track, if not, extracting the next carrying position, and recording the next carrying position as { xi+1, yi+1If { x }i, yiAnd { x }i+1, yi+1If the x is the same, the transfer robot is not moved, if the x isi, yiAnd { x }i+1, yi+1If the distance is different, a carrying task is established, the carrying robot acts, and the end point of the carrying track is a curved openingx i+1, y i+1}；
(5) i + +, and returning to the step (3).
In the invention, the carrying robot and the polishing robot are the prior art, the position adjustment of the end effector is respectively realized, and the carrying robot and the polishing robot can respectively move in the front, back, left, right and up and down directions (the structure for realizing the movement is not described in detail and is not disclosed); the upper end and the lower end of the large thin-wall part are fixed, and the left end and the right end are free; compared with the prior art, the grinding robot carries out force control grinding of a continuous track on the front side of a large thin-wall part, external energy is controlled to enter a self-excited vibration process, and an end effector of the grinding robot executes a force control function; on the reverse side of the large thin-wall part, the actuator is dynamically adjusted according to the change of the grinding position by the carrying robot, the dynamic stiffness of the large thin-wall part is improved, the vibration response is reduced, the end actuator connected to the carrying robot has a vibration damping function, meanwhile, the stiffness and the damping coefficient of the actuator are respectively adjusted by adjusting the length of the connecting rod and the input pressure of the driver according to the expected value of the stiffness and the damping coefficient obtained by calculating the modal parameters of the grinding area, and the vibration response of the thin-wall part is further reduced; the grinding tool can be applied to the grinding process of workpieces, and is particularly suitable for the grinding work of large thin-walled workpieces.
Drawings
Fig. 1 is a schematic diagram of a sanding system according to the present invention.
Fig. 2 is a schematic structural diagram of the transfer robot when the actuator is transferred to a new target mode maximum amplitude position.
Fig. 3 is a schematic diagram of an actuator according to the present invention.
Fig. 4 is a first perspective view of the actuator of the present invention.
Fig. 5 is a partial enlarged view of a portion a in fig. 4.
Fig. 6 is a perspective view of the actuator of the present invention.
Fig. 7 is a three-dimensional structural view of the actuator of the present invention.
Fig. 8 is a partial enlarged view at B in fig. 7.
Fig. 9 is a perspective view of the first short pull rod in the present invention.
Fig. 10 is a perspective view of the second short draw bar of the present invention.
Fig. 11 is a first three-dimensional structure diagram of the first short pull rod and the second short pull rod which are connected together.
Fig. 12 is a second perspective view of the first short rod and the second short rod connected together according to the present invention.
The polishing robot comprises a carrying robot 1, an actuator 2, a connecting rod 201, a movable seat 202, a driver 203, a vacuum chuck 204, a guide fixing column 205, a fixing plate 206, a guide shaft 207, a displacement sensor 208, a motor plate 209, a screw rod 210, a transmission plate 211, a spring 212, a connecting rod 213, a short pull rod II 214, a short pull rod I215, a driving motor 216, a base 217, a connecting shaft 218, a thin-wall part 3 and a polishing robot 4.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The robot end effector suitable for polishing the large thin-walled workpiece comprises a base connected to a robot, wherein the base is connected with a driver, the driver is pneumatic artificial muscle, one end, far away from the base, of the driver is connected with a movable seat, a connecting rod with adjustable length is arranged above the base, and one end, extending upwards, of the connecting rod is connected with the movable seat.
In order to further realize the length adjustment of the connecting rod, the upper side of the base is connected with two guide fixing columns, a guide shaft is connected to the guide fixing columns in a sliding manner, one end, extending upwards, of the guide shaft is connected to the lower end of the movable seat, a fixing plate is connected to the guide fixing columns, a connecting rod is connected between the two fixing plates in a rotating manner, a spring is connected to the fixing plate, two sides of the connecting rod below the connecting rod are connected with connecting shafts, one end, extending downwards, of the spring is connected with the connecting shafts, the lower end of the connecting rod is connected with a short pull rod I, the upper portion of the connecting rod is connected with a short pull rod II, the short pull rod I is connected to the short pull rod II in a sliding manner, a screw; the concrete structure for realizing the rotation of the screw rod is that a motor plate is arranged on the short pull rod II, a driving motor is fixedly connected with one downward end of the motor plate, and the screw rod is connected to the driving motor.
The system for polishing the large thin-wall part by using the end effector as shown in fig. 1 and fig. 2 comprises a carrying robot and a polishing robot which are respectively arranged at the left end and the right end of the thin-wall part, the output ends of the carrying robot and the polishing robot are respectively connected with the end effector, the upper end and the lower end of the thin-wall part are fixed, and the polishing comprises the following steps,
(1) determining force control parameters of the end effector according to the requirements of the grinding removal amount; determining the motion track of the polishing robot, and obtaining the rigidity and damping parameters of different grinding areas of the large thin-wall part by a calculation, simulation or experiment method;
(2) carrying out modal testing or finite element simulation on the thin-wall part 3 with two fixed sides and two free sides to obtain target rigidity and a damping value on a grinding track;
(3) setting an initial value of i, i = 1;
(4) inputting the position of the polishing end, judging whether the position of the polishing end is the end point of the polishing track, and if so, finishing polishing; if not, turning to the step (5);
(5) selecting the target rigidity and damping in the area, controlling the movement of the transfer robot 1 to enable the actuator 2 to move to the position { x) where the maximum amplitude is located in the grinding areai, yiRespectively calculating to obtain expected damping coefficients and rigidity, changing the input pressure of a driver to enable the damping coefficients to meet the expected values, adjusting the length of a connecting rod to enable the rigidity to meet the expected values, and adsorbing a movable seat on a thin-wall part by virtue of a vacuum chuck;
(6) inputting the position of the next polishing end, judging whether the next polishing position is the end point of the polishing track, if not, extracting the next carrying device, and recording the next carrying device as { xi+1, yi+1If { x }i, yiAnd { x }i+1, yi+1If the two are the same, the transfer robot 1 is not moved, and if { x }i, yiAnd { x }i+1, yi+1If the distance is different, a carrying task is established, the carrying robot 1 acts, and the end point of the carrying track is a curved openingx i+1, y i+1}；
(7) i + +, and returning to the step (4).
In the invention, the carrying robot 1 and the polishing robot are the prior art, the force control of the position of the end effector and the position control of the effector are respectively realized, and the carrying robot and the polishing robot can respectively move in the front, back, left, right and up and down directions (the structure how to realize the movement is not described in detail and is not disclosed); the upper end and the lower end of the large thin-wall part are fixed, and the left end and the right end are free; compared with the prior art, the grinding robot carries out force control grinding of a continuous track through the end effector on the front side of the large thin-wall part, and controls external energy to enter a self-excited vibration process; on the reverse side of the large thin-wall part, an end effector connected with a carrying robot changes along with the grinding position, the position is dynamically adjusted by the carrying robot, the length of a connecting rod is adjusted, the dynamic rigidity of the large thin-wall part is improved, the vibration response is reduced, the length of the connecting rod and the input pressure of a driver are respectively adjusted according to expected damping and rigidity values obtained by calculation in the grinding process according to the cooperative motion of the grinding robot and the carrying robot, the damping and rigidity adjustment is respectively realized, and the vibration reduction effect of the effector is optimal; the grinding tool can be applied to the grinding process of workpieces, and is particularly suitable for the grinding work of large thin-walled workpieces.
The invention is not limited to the above embodiments, and there are many ways to realize the length adjustment of the connecting rod, and a preferred embodiment is given in the invention; in the step (5), the movable seat can be adsorbed on the thin-wall part in a strong magnetic mode and the like; based on the technical solutions disclosed in the present invention, those skilled in the art can make various alterations and modifications to some technical features without creative efforts based on the disclosed technical contents, and the alterations and modifications are all within the protection scope of the present invention.

Claims (5)

1. The utility model provides an end effector of robot suitable for large-scale thin wall spare is polished which characterized in that, is including connecting the base on the robot, be connected with the driver on the base, the one end that the base was kept away from to the driver is connected with the sliding seat, and the base top is equipped with length-adjustable's connecting rod, the one end that the connecting rod upwards stretches out is connected with the sliding seat.
2. The robot end effector suitable for polishing large thin-walled workpieces according to claim 1, wherein two guide fixing columns are connected to the upper side of the base, a guide shaft is slidably connected to the guide fixing columns, one end of the guide shaft, which extends upwards, is connected to the lower end of the movable seat, a fixing plate is connected to the guide fixing columns, a connecting rod is rotatably connected between the two fixing plates, a spring is connected to the fixing plate, one end of the spring, which extends downwards, is connected to the connecting rod, the lower end of the connecting rod is connected to a first short pull rod, the upper portion of the connecting rod is connected to a second short pull rod, the first short pull rod is slidably connected to the second short pull rod, a lead screw is rotatably connected to the first short pull rod, a lead screw is rotatably connected to the second short pull rod, a transmission.
3. The robot end effector suitable for large-scale thin-walled workpiece polishing of claim 2, wherein a motor plate is arranged on the second short pull rod, a driving motor is fixedly connected to one downward end of the motor plate, and the screw rod is connected to the driving motor.
4. The robot end effector and the polishing system suitable for polishing the large thin-walled workpiece according to any one of claims 1 to 3, wherein the driver is a pneumatic artificial muscle.
5. A system for polishing a large thin-walled workpiece by using the end effector as claimed in any one of claims 1 to 4, which comprises a carrying robot and a polishing robot respectively arranged at the left end and the right end of the thin-walled workpiece, wherein the output end of the carrying robot is connected with the end effector with a force control function, the polishing robot is connected with the end effector with a vibration damping function, the upper end and the lower end of the thin-walled workpiece are fixed, and the polishing comprises the following steps,
(1) determining force control parameters of the end effector according to the requirements of the grinding removal amount; determining the motion track of the polishing robot, and obtaining the rigidity and damping parameters of different grinding areas of the large thin-wall part by a calculation, simulation or experiment method;
(2) starting polishing according to the polishing track, setting an initial value of i, wherein i =1, inputting the position of a polishing end, judging whether the position of the polishing end is the end point of the polishing track, and if so, finishing polishing; if not, turning to the step (3);
(3) controlling the movement of the transfer robot to move the actuator to the set position { x }i, yiRespectively calculating to obtain expected damping coefficients and rigidity, changing the input pressure of a driver to enable the damping coefficients to meet the expected values, adjusting the length of a connecting rod to enable the rigidity to meet the expected values, and adsorbing a movable seat on a thin-wall part by virtue of a vacuum chuck;
(4) inputting the position of the next polishing end, judging whether the next polishing position is the end point of the polishing track or not, and if not, judging whether the next polishing position is the end point of the polishing trackExtract the next transport position, denoted as { xi+1, yi+1If { x }i, yiAnd { x }i+1, yi+1If the x is the same, the transfer robot is not moved, if the x isi, yiAnd { x }i+1, yi+1If the distance is different, a carrying task is established, the carrying robot acts, and the end point of the carrying track is a curved openingx i+1, y i+1}；
(5) i + +, and returning to the step (3).
CN202011215612.4A 2020-11-04 2020-11-04 Robot end effector suitable for large-scale thin wall spare is polished and system of polishing Active CN112223296B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113211460A (en) * 2021-05-01 2021-08-06 吉林大学 Device for improving machining rigidity of two single-arm industrial robots in non-contact mode
CN114102154A (en) * 2021-11-08 2022-03-01 天津新松机器人自动化有限公司 Steel construction postweld surface treatment robot

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CN109940400A (en) * 2019-03-28 2019-06-28 武汉理工大学 A kind of automation polishing system and automation rubbing down technique for thin wall stamping part
CN109986542A (en) * 2019-05-09 2019-07-09 中国科学院宁波材料技术与工程研究所 A kind of hard and soft mixed type power control end effector of pneumoelectric combination drive

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JP2006315108A (en) * 2005-05-11 2006-11-24 Amada Co Ltd Grinding method and grinding machine
CN106041933A (en) * 2016-07-06 2016-10-26 上海交通大学 Robot polishing and grinding system and passive compliance and active compliance mixed control method
CN106964823A (en) * 2017-03-09 2017-07-21 大连理工大学 A kind of method for supporting of large thin-walled component mirror image process support side
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Publication number Priority date Publication date Assignee Title
CN113211460A (en) * 2021-05-01 2021-08-06 吉林大学 Device for improving machining rigidity of two single-arm industrial robots in non-contact mode
CN113211460B (en) * 2021-05-01 2022-03-15 吉林大学 Device for improving machining rigidity of two single-arm industrial robots in non-contact mode
CN114102154A (en) * 2021-11-08 2022-03-01 天津新松机器人自动化有限公司 Steel construction postweld surface treatment robot

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