CN113172511A - Robot polishing actuator based on constant force mechanism - Google Patents
Robot polishing actuator based on constant force mechanism Download PDFInfo
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- CN113172511A CN113172511A CN202110399133.0A CN202110399133A CN113172511A CN 113172511 A CN113172511 A CN 113172511A CN 202110399133 A CN202110399133 A CN 202110399133A CN 113172511 A CN113172511 A CN 113172511A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 178
- 238000005498 polishing Methods 0.000 title claims abstract description 39
- 238000007517 polishing process Methods 0.000 claims abstract description 14
- 230000009471 action Effects 0.000 claims abstract description 4
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000003754 machining Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 229910001008 7075 aluminium alloy Inorganic materials 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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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
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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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
- B24B49/10—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 electrical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a constant force mechanism-based robot polishing actuator, which comprises a robot connecting flange, a driving mechanism, a constant force mechanism and a grinding tool, wherein the robot connecting flange is fixedly connected with the driving mechanism; the upper end of the robot connecting flange is fixed at the tail end of the industrial robot, and the lower end of the robot connecting flange is coaxially provided with a driving mechanism which is used for providing power for a constant force mechanism coaxially arranged at the lower end of the robot connecting flange; a grinding tool is arranged at the lower end of the constant force mechanism; the constant force mechanism is internally provided with an integrally formed flexible constant force mechanism, and the flexible constant force mechanism can keep the output force constant under the action of the driving mechanism to polish workpieces at constant force. The flexible constant force mechanism has the characteristics of large output constant force value and wide constant force area, can adapt to the complex condition in the polishing process, has simple structure and high force control precision compared with an air cylinder, and is suitable for various precision machining fields.
Description
Technical Field
The invention belongs to the technical field of precision machining, relates to a robot polishing actuator, and particularly relates to a robot polishing actuator based on a constant force mechanism.
Background
In recent years, with the development of manufacturing technology, higher demands have been made on the precision of machining procedures such as grinding and polishing of the surface of a product. The industrial robot starts to gradually replace traditional manual grinding by virtue of high flexibility and high adaptability of the industrial robot, the traditional manual grinding is low in efficiency, the quality of workpieces ground is different, the high requirements of modern manufacturing industry on products are difficult to meet, the working procedures of grinding and polishing by means of the robot can not only improve the quality of the products, but also do not need to utilize manpower to carry out a large amount of operations, and the development of the manufacturing industry is promoted.
Generally, end effectors currently used for polishing rely primarily on active and passive compliance systems to control the polishing process.
The passive compliant system mainly uses mechanical structures such as springs and the like to control the grinding process; and a cylinder is also used, and the pressure of the cylinder is output by controlling a pneumatic proportional valve, so that a constant force is kept in the polishing process. Compare with the spring, the scheme simple structure that controls through the cylinder, and comparatively accurate. However, the passive compliance system has a problem in that it cannot adjust the polishing force in real time according to the polishing conditions, resulting in that it can be used only in some low-precision applications.
The active compliance system controls the grinding process through the force sensor and the constant force controller, benefits from the force sensor and the constant force controller, can accurately control the grinding force by adopting the industrial robot of the active compliance system, and has the advantages of simple integral structure and strong reliability. It is applicable in many situations. However, the price of the force sensor and the constant force controller is very expensive, and the control algorithm is complex, which results in low cost performance.
At present, polishing actuators can be classified into mechanical, pneumatic, electric and gas-electric hybrid types according to a constant force control method. Most of the existing polishing actuators adopt an air-electric hybrid structure, namely, a linear motor provides power and an air bag or an air cylinder outputs constant force, compared with the traditional structure, the air-electric hybrid structure greatly improves polishing efficiency and precision, but has larger defects such as hysteresis of the air cylinder, low integral force control precision, slow response speed, high noise, large energy consumption, relatively troublesome use and maintenance and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a constant force mechanism-based robot polishing actuator which is high in control precision, high in response speed, low in noise, low in energy consumption and convenient to use and maintain.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a robot polishing actuator based on a constant force mechanism comprises a robot connecting flange, a driving mechanism, a constant force mechanism and a grinding tool; the upper end of the robot connecting flange is fixed at the tail end of the industrial robot, and the lower end of the robot connecting flange is coaxially provided with a driving mechanism which is used for providing power for a constant force mechanism coaxially arranged at the lower end of the robot connecting flange; a grinding tool is arranged at the lower end of the constant force mechanism; the constant force mechanism is internally provided with an integrally formed flexible constant force mechanism, and the flexible constant force mechanism can keep the output force constant under the action of the driving mechanism to polish workpieces at constant force.
Moreover, the compliant constant force mechanism includes: the device comprises a middle column and three deformation mechanisms radially and uniformly distributed on the periphery of the middle column, wherein an included angle between every two deformation mechanisms is 120 degrees; the center of the top end of the middle column is provided with a connecting hole, and the bottom end of the middle column is provided with a connecting platform for connecting a polishing head; the deformation mechanism includes: the folding mechanism comprises an upper stable beam, a folding mechanism, a lower stable beam and side columns; the upper stable beam, the folding mechanism and the lower stable beam are sequentially connected between the middle column and the side column from top to bottom, and the upper stable beam, the lower stable beam and the middle column form an angle of 85 degrees; the folding mechanism is of a 2-shaped structure and comprises a flexible cross rod, a vertical rod, a cross rod, a vertical rod and a cross rod which are sequentially connected end to end.
Moreover, a force sensor is arranged on the compliant constant force mechanism, and the force sensor is arranged on a lower stable-state cross beam of any deformation mechanism of the compliant constant force mechanism and close to the side of the middle column; the force sensor is a resistance strain type sensor and is used for monitoring the pressure in the polishing process in real time, feeding back a force signal in the polishing process to a controller installed at the tail end of the voice coil motor, and controlling the driving mechanism by the controller to realize the adjustment of output force.
And the robot connecting flange adopts a rigid flange, and the lower end of the robot connecting flange is connected with the driving mechanism through a fixing screw.
And the driving mechanism comprises a voice coil motor, the voice coil motor is arranged on a top plate of the driving mechanism, the tail end of the voice coil motor is fixedly connected with a flexible thin rod, and the voice coil motor can drive the flexible thin rod to move downwards together when being driven, so that the tail end of the flexible thin rod is inserted into a connecting hole at the top of the middle column of the constant force mechanism, and the middle column is enabled to generate downward displacement.
Moreover, the constant force mechanism comprises an upper bottom plate, a lower bottom plate, a shell and a flexible constant force mechanism fixedly arranged in the shell; the upper bottom plate and the lower bottom plate are fixed on the shell through screws; the side end faces of the side columns of the flexible constant force mechanisms are fixed on the inner wall of the shell through screws respectively.
The invention has the advantages and positive effects that:
1. the invention combines the scheme of active compliance control and passive compliance structure, uses the force sensor and the controller to accurately control the output of force, and simultaneously adds the constant force mechanism between the polishing head and the driving mechanism to control the constancy of the output force. The polishing actuator can be connected with the tail end of an industrial robot through a robot connecting flange, the robot plans a path autonomously, and the constant-force mechanism ensures the contact force with a polishing piece so as to realize constant-force polishing. The novel flexible constant force mechanism is arranged in the constant force mechanism, a traditional air cylinder is not selected, the novel flexible constant force mechanism is a deformation mechanism which is integrally formed by three parts uniformly distributed on the periphery of a middle column, the deformation mechanism comprises an upper stable-state beam, a folding mechanism and a lower stable-state beam, the deformation mechanism is made of aluminum alloy 7075-T6 flexible materials, when the tail end of the constant force mechanism is stressed, the middle column moves forwards, the side columns are kept fixed, the upper stable-state beam and the lower stable-state beam form a wave-shaped beam, the vertical part of the folding mechanism is folded, and the horizontal part of the folding mechanism is bent.
2. The flexible constant force mechanism can be integrally processed and formed, and errors caused by assembly are avoided.
3. The flexible constant force mechanism of the invention adopts three integrally-made deformation mechanisms which are uniformly distributed on the periphery of a middle column, and comprises an upper stable beam, a folding mechanism and a lower stable beam, wherein the deformation mechanisms are made of aluminum alloy 7075-T6 materials, when the tail end of the constant force mechanism is stressed, the middle column moves forwards, and the side columns are kept fixed, so that the upper stable beam and the lower stable beam form a wave-shaped beam, the vertical part of the folding mechanism is folded, and the horizontal part of the folding mechanism is bent. And the polishing machine has the characteristics of no friction and wear, small vibration and small noise in the motion process, and improves the polishing precision.
4. The voice coil motor in the driving mechanism is combined with the constant force mechanism in the constant force mechanism, the voice coil motor has the characteristics of quick response and high sensitivity, and the constant force mechanism has the characteristics of high movement precision and difficult damage compared with the traditional air cylinder, so that the polishing process is efficient and reliable by combining the voice coil motor with the constant force mechanism.
5. The side end faces of the side columns of the flexible constant force mechanism are respectively fixed on the inner wall of the shell through screws, so that the flexible constant force mechanism can only move towards one direction, and the constant output force and small error of the constant force mechanism are ensured.
6. The robot connecting flange adopts the rigid flange, so that the connection reliability is ensured, and the lower end of the robot connecting flange is connected with the driving mechanism through the fixing screw, so that the robot and the polishing actuator are integrally positioned on the same vertical plane. And the coaxiality of the flange can ensure that the value measured by the force sensor is the positive pressure on the grinding surface, so that the accuracy of the measured force is ensured.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic structural view of a compliant constant force mechanism of the present invention;
FIG. 4 is a block diagram of a compliant normal force mechanism undergoing force deformation;
FIG. 5 is a graph of the force versus displacement output of the compliant constant force mechanism of the present invention.
Description of reference numerals:
in the figure: 1-robot connecting flange; 2-a drive mechanism; 3-a constant force mechanism; 4-grinding tool;
100-a controller; 101-a voice coil motor; 102-a flexible thin rod; 103-set screws; 104-upper top plate; 105-a compliant constant force mechanism; 106-a housing; 107-lower base plate; 108-grinding head;
109-upper stable beam; 110-side columns; 111-a folding mechanism; 112-a force sensor; 113-a connection platform; 114-a middle column; 115-lower stable beam; 116-middle hole.
Detailed Description
The embodiments of the invention will be described in further detail below with reference to the accompanying drawings:
a robot polishing actuator based on a constant force mechanism is shown in figures 1 and 2 and comprises a robot connecting flange, a driving mechanism, a constant force mechanism and a grinding tool; the upper end of the robot connecting flange is fixed at the tail end of an industrial robot, and a polishing path is planned by the robot; the lower end of the constant force mechanism is coaxially provided with a driving mechanism for providing power for the constant force mechanism coaxially arranged at the lower end of the constant force mechanism; a grinding tool is arranged at the lower end of the constant force mechanism; the constant force mechanism is internally provided with an integrally formed flexible constant force mechanism, and the flexible constant force mechanism can keep the output force constant under the action of the driving mechanism to polish workpieces at constant force.
In the present embodiment, as shown in fig. 3 and 4, the compliant constant force mechanism includes: the device comprises a middle column and three deformation mechanisms radially and uniformly distributed on the periphery of the middle column, wherein an included angle between every two deformation mechanisms is 120 degrees; the center of the top end of the middle column is provided with a connecting hole, and the bottom end of the middle column is provided with a connecting platform for connecting a polishing head; the deformation mechanism includes: the folding mechanism comprises an upper stable beam, a folding mechanism, a lower stable beam and side columns; the upper stable beam, the folding mechanism and the lower stable beam are sequentially connected between the middle column and the side column from top to bottom, and the upper stable beam, the lower stable beam and the middle column form an angle of 85 degrees; the folding mechanism is of a 2-shaped structure and comprises a flexible cross rod, a vertical rod, a cross rod, a vertical rod and a cross rod which are sequentially connected end to end.
The working principle of the compliant constant force mechanism is as follows:
the whole flexible constant force mechanism is composed of 6 flexible rods, 3 folding mechanisms and three side columns, and the whole flexible constant force mechanism is made of 7075 aluminum alloy. The angle between the two is 120 degrees, and the two are radially distributed around the middle column at equal intervals. Wherein two flexible rods in the same deformation mechanism, namely: the structure formed by the upper stable-state beam and the lower stable-state beam is a bistable beam, and the negative stiffness interval occupies a larger proportion and has better linearity. The included angle between the two flexible rods and the middle column is 85 degrees, generally, the smaller the included angle is, the larger the integral constant force range of the mechanism is, but the linearity of the tensile strength negative stiffness curve of the material is considered, the value range of the angle is 75 degrees to 85 degrees, the angle can well meet the requirement, and the 85 degrees are adopted in the invention, so that the constant force range of the constant force mechanism is ensured to be large enough, and the stability of the integral linearity is also ensured.
The folding mechanism can be regarded as a structure consisting of 3 cross rods and 2 vertical rods, and compared with a traditional positive rigidity structure consisting of the cross rods, the folding mechanism is not only in a positive rigidity structure like a cross rod mechanism, but also has a larger positive rigidity range, so that the folding mechanism can well meet the requirements of mechanism design. When the tail end of the constant force mechanism is stressed in an integral manner, the middle column moves forwards, the bistable beam and the folding structure deform, negative rigidity and positive rigidity characteristics are generated on the whole structure, and the integral mechanism can have the characteristic of zero rigidity according to the rigidity superposition principle. Thereby completing the output of constant force. Compared with an air cylinder, the constant force generated by the constant force mechanism is stable, and no friction and wear exist in the motion process, so that the polishing process can be better completed.
In this embodiment, the bottom of the middle column is provided with a connecting platform, the connecting platform is connected with the polishing head through a fixing screw, and the polishing head is driven to move together when the constant force mechanism moves.
In this embodiment, a force sensor is installed on the compliant constant force mechanism, and the force sensor is installed on a lower stable-state beam of any one deformation mechanism of the compliant constant force mechanism, which is close to the side of the middle column; the force sensor is a resistance strain type sensor, can monitor the pressure in the polishing process in real time, feeds back the pressure as a force signal to a controller installed at the tail end of the voice coil motor according to the force change in the polishing process, and then accurately controls the driving mechanism to realize the adjustment of output force.
In this embodiment, the robot flange adopts the rigid flange, guarantees the reliability of connecting, the robot flange lower extreme is connected with actuating mechanism through set screw for the robot is located same vertical plane with polishing executor is whole. And the coaxiality of the flange can ensure that the value measured by the force sensor is the positive pressure on the grinding surface, so that the accuracy of the measured force is ensured.
In this embodiment, the driving mechanism includes a voice coil motor, the voice coil motor is installed on the top plate of the driving mechanism, and the end of the voice coil motor is fixedly connected with a flexible thin rod, so that when the voice coil motor is driven, the flexible thin rod can be driven to move downwards together, the end of the flexible thin rod is inserted into a connecting hole at the top of the middle column of the normal force mechanism, and the middle column is further displaced downwards.
When the voice coil motor is driven, the flexible thin rod pushes the constant force mechanism forwards to deform, and the constant force mechanism has the characteristic of elastic deformation, so that the input displacement and the output force keep a constant relation under the drive of a certain force, and the constant force mechanism can keep the output force constant in a certain range so as to finish the polishing process.
In this embodiment, the constant force mechanism includes an upper base plate, a lower base plate, a housing, and a compliant constant force mechanism fixedly mounted inside the housing; the upper bottom plate and the lower bottom plate are fixed on the shell through screws; the side end faces of the side columns of the flexible constant force mechanism are respectively fixed on the inner wall of the shell through screws so as to ensure that the flexible constant force mechanism only moves towards one direction, and thus the output force of the constant force mechanism is ensured to be constant and the error is small.
In this embodiment, the controller adopts a commercially available chip with a model number of: TMSF28335 DSP chip manufactured by TI corporation.
The working principle of the invention is as follows:
the robot connecting flange is connected with the tail end of the industrial robot at first, so that the industrial robot can drive the whole actuator to move according to a planned path. The force generated by the grinding head contacting with the workpiece is monitored by the force sensor and then transmitted to the controller, the controller can calculate the grinding force required by grinding different positions and then control the voice coil motor to output, the voice coil motor provides power for the constant force mechanism, and the flexible constant force mechanism outputs a constant force to finish grinding for the grinding head. The center of the top end of the flexible constant force mechanism is provided with a connecting hole, when the voice coil motor is driven, the flexible thin rod fixedly connected with the voice coil motor can move together, the flexible thin rod is made of 7075 aluminum alloy, and the flexible thin rod is inserted into the connecting hole in the moving process to push the constant force mechanism to move together, so that the polishing head can obtain a constant force.
As shown in FIG. 5, the compliant constant force mechanism of the present invention can maintain a constant output force under certain displacement conditions. The folding mechanism is a positive stiffness structure, and the output force and the input displacement are in a linear relation. The bi-stable rod is a negative stiffness structure, and the output force and the input displacement are in a nonlinear relation. According to the principle of stiffness superposition, the combination of positive and negative stiffness can generate a zero stiffness region, namely in the region, the input displacement is increased, and the output force is kept constant.
The robot polishing actuator based on the compliant constant force mechanism has the advantages of wide application range and convenience in operation, the polishing force is controlled through the force sensor and the controller, and meanwhile, the compliant constant force mechanism outputs a constant force to the polishing head, so that the polishing force in the polishing process is kept constant, and the surface polishing quality can be effectively improved. Meanwhile, the constant force device adopts a mechanical structure of a flexible constant force mechanism, and has the advantages of simple structure, accurate output and no friction. Effectively solve the problem that the quality of polishing is poor, the part is damaged because of various uncertain factors in the polishing process. Provides a stable and efficient grinding scheme for practical processing.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (6)
1. The utility model provides a robot executor of polishing based on normal force mechanism which characterized in that: the robot comprises a robot connecting flange, a driving mechanism, a constant force mechanism and a grinding tool; the upper end of the robot connecting flange is fixed at the tail end of the industrial robot, and the lower end of the robot connecting flange is coaxially provided with a driving mechanism which is used for providing power for a constant force mechanism coaxially arranged at the lower end of the robot connecting flange; a grinding tool is arranged at the lower end of the constant force mechanism; the constant force mechanism is internally provided with an integrally formed flexible constant force mechanism, and the flexible constant force mechanism can keep the output force constant under the action of the driving mechanism to polish workpieces at constant force.
2. A constant force mechanism based robotic sanding actuator as claimed in claim 1 wherein: the utility model provides a robot executor of polishing based on normal force mechanism which characterized in that: the compliant constant force mechanism comprises: the device comprises a middle column and three deformation mechanisms radially and uniformly distributed on the periphery of the middle column, wherein an included angle between every two deformation mechanisms is 120 degrees; the center of the top end of the middle column is provided with a connecting hole, and the bottom end of the middle column is provided with a connecting platform for connecting a polishing head; the deformation mechanism includes: the folding mechanism comprises an upper stable beam, a folding mechanism, a lower stable beam and side columns; the upper stable beam, the folding mechanism and the lower stable beam are sequentially connected between the middle column and the side column from top to bottom, and the upper stable beam, the lower stable beam and the middle column form an angle of 85 degrees; the folding mechanism is of a 2-shaped structure and comprises a flexible cross rod, a vertical rod, a cross rod, a vertical rod and a cross rod which are sequentially connected end to end.
3. A constant force mechanism based robotic sanding actuator as claimed in claim 1 wherein: a force sensor is arranged on the compliant constant force mechanism, and the force sensor is arranged on a lower stable-state cross beam of any deformation mechanism of the compliant constant force mechanism and close to the side of the middle column; the force sensor is a resistance strain type sensor and is used for monitoring the pressure in the polishing process in real time, feeding back a force signal in the polishing process to a controller installed at the tail end of the voice coil motor, and controlling the driving mechanism by the controller to realize the adjustment of output force.
4. A constant force mechanism based robotic sanding actuator as claimed in claim 1 wherein: the robot connecting flange is a rigid flange, and the lower end of the robot connecting flange is connected with the driving mechanism through a fixing screw.
5. A constant force mechanism based robotic sanding actuator as claimed in claim 1 wherein: the driving mechanism comprises a voice coil motor, the voice coil motor is installed on a top plate of the driving mechanism, the tail end of the voice coil motor is fixedly connected with a flexible thin rod, the flexible thin rod can be driven to move downwards together when the voice coil motor is driven, the tail end of the flexible thin rod is inserted into a connecting hole in the top of a middle column of the constant force mechanism, and then the middle column is enabled to generate downward displacement.
6. A constant force mechanism based robotic sanding actuator as claimed in claim 1 wherein: the constant force mechanism comprises an upper bottom plate, a lower bottom plate, a shell and a flexible constant force mechanism fixedly arranged in the shell; the upper bottom plate and the lower bottom plate are fixed on the shell through screws; the side end faces of the side columns of the flexible constant force mechanisms are fixed on the inner wall of the shell through screws respectively.
Applications Claiming Priority (2)
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| CN202022368975 | 2020-10-22 | ||
| CN2020223689753 | 2020-10-22 |
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| CN113172511A true CN113172511A (en) | 2021-07-27 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113759993A (en) * | 2021-09-24 | 2021-12-07 | 成都理工大学 | Adjustable magnetic induction electromagnetic force constant force mechanism |
| CN114029934A (en) * | 2021-12-11 | 2022-02-11 | 浙江工业大学 | Universal active radial compliant constant-force end effector and working method thereof |
| CN114346392A (en) * | 2022-01-18 | 2022-04-15 | 贵州大学 | Constant force pressurization resistance pressure welding mechanism |
| CN117583917A (en) * | 2024-01-18 | 2024-02-23 | 齐鲁工业大学(山东省科学院) | Combined constant force device and method of fast knife servo system |
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| CN113759993A (en) * | 2021-09-24 | 2021-12-07 | 成都理工大学 | Adjustable magnetic induction electromagnetic force constant force mechanism |
| CN113759993B (en) * | 2021-09-24 | 2023-11-10 | 成都理工大学 | Adjustable magnetic induction electromagnetic force constant force mechanism |
| CN114029934A (en) * | 2021-12-11 | 2022-02-11 | 浙江工业大学 | Universal active radial compliant constant-force end effector and working method thereof |
| CN114029934B (en) * | 2021-12-11 | 2023-08-15 | 浙江工业大学 | Universal active radial compliant constant force end effector and working method thereof |
| CN114346392A (en) * | 2022-01-18 | 2022-04-15 | 贵州大学 | Constant force pressurization resistance pressure welding mechanism |
| CN117583917A (en) * | 2024-01-18 | 2024-02-23 | 齐鲁工业大学(山东省科学院) | Combined constant force device and method of fast knife servo system |
| CN117583917B (en) * | 2024-01-18 | 2024-04-09 | 齐鲁工业大学(山东省科学院) | Combined constant force device and method of fast knife servo system |
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