CN113172547A - Flexible grinding device of industry arm constant force - Google Patents
Flexible grinding device of industry arm constant force Download PDFInfo
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- CN113172547A CN113172547A CN202110345516.XA CN202110345516A CN113172547A CN 113172547 A CN113172547 A CN 113172547A CN 202110345516 A CN202110345516 A CN 202110345516A CN 113172547 A CN113172547 A CN 113172547A
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- sleeve
- plate
- shaft sleeve
- spring
- spline
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
- B24B41/042—Balancing mechanisms
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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
- B24B47/14—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by liquid or gas pressure
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention relates to a constant-force flexible polishing device for an industrial mechanical arm, which comprises a polishing head for polishing a workpiece, a rotary motion part for driving the polishing head to rotate, an axial motion part for driving the polishing head to axially move, a protection device for protecting internal devices of the device, an outer shell for bearing torque and a flexible sleeve for axially and radially damping during polishing, wherein the flexible sleeve is arranged between the polishing head and the outer shell; the constant-force flexible polishing device is connected with the mechanical arm through a flange; the invention designs a flexible sleeve damping part which comprises a spring damping shaft sleeve and plays a role in radial and axial damping, improves an axial motion part and a rotary motion part, can decouple the rotary motion and the axial linear motion, respectively and independently controls the two motions, and realizes the control of grinding force and the control of grinding cutting speed.
Description
Technical Field
The invention belongs to the technical field of polishing of industrial mechanical arms, and relates to a constant-force flexible polishing device for an industrial mechanical arm.
Background
Along with the development of science and technology, the precision and the efficiency of traditional manual polishing can't obtain the guarantee, and not only the human cost increases with each day, and the process of polishing is big in noise and the dust is many moreover, and the environment is abominable, easily causes serious influence to workman's physical and mental health. Therefore, the automatic grinding technology of the robot is widely applied in the machining process, the defects of high labor intensity, poor quality, low efficiency and the like of the traditional manual grinding are overcome, and the grinding efficiency and the grinding quality can be effectively improved. The quality of the automatic grinding quality of the robot depends on two factors, namely the grinding force and whether the grinding force is stable. The industrial robot directly polishes the surface of a workpiece, the polishing process is rigid contact, the workpiece surface is easily damaged, the control precision of the robot is more rigorous, and the programming complexity is greatly increased. Therefore, researchers at home and abroad have developed various flexible polishing devices, and the grinding depth is indirectly ensured by controlling the normal pressure of a polishing tool. The problem of rigid contact can effectively be solved in appearance of the flexible grinding device of constant force, realizes that the flexibility of the in-process of polishing is floated, and the roughness on work piece surface is effectively promoted to the invariable power of polishing of output.
Sanding is a typical example of a contact operation, requiring compliance control of the sanding system. The robot can generate natural compliance to external acting force when contacting with the environment by virtue of auxiliary compliance mechanisms, and the compliance is called as passive compliance; the robot system uses the feedback information of the force to adopt a certain control strategy to omit the active control acting force, which is called as active flexibility. At present, passive compliance is realized mainly in two ways: firstly, a robot clamps a workpiece, and the grinding force is adjusted through the tensioning degree of an abrasive belt; and secondly, the robot clamps the tool, and realizes passive compliance by adopting a mechanical spring. The large aspect of active compliance is divided into two ways, one of which is implemented by the controller of the robot and represents a method of force/bit hybrid control. The method needs to realize the control of force and position at the same time, and force/position coupling exists, so the realization is more complex; second, control is based on the active force of the end tool. In general, the controller of the robot realizes impedance control and force/bit hybrid control by using an algorithm, and the method has the disadvantages of slow response speed, poor algorithm stability and difficulty in realizing industrial production.
Therefore, the research on the grinding device which can realize real-time and accurate force control in the flexible grinding process and weaken the vibration of the grinding head so as to improve the overall stability and the grinding effect of the grinding device has very important significance.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a constant-force flexible polishing device for an industrial mechanical arm.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a constant-force flexible polishing device for an industrial mechanical arm comprises a polishing head for polishing a workpiece, a rotary motion component for driving the polishing head to rotate, an axial motion component for driving the polishing head to axially move, an outer shell for protecting internal devices of the device and bearing torque, and a flexible sleeve for axially and radially damping during polishing;
the flexible sleeve comprises an outer sleeve, an inner sleeve, a spring damping shaft sleeve, an axial spring, a spring fixing circular plate I and a spring fixing circular plate II; the outer sleeve is connected with the pull pressure sensor through a connecting plate, a sleeve sliding groove is formed in the inner wall of the outer sleeve, a sleeve boss is arranged on the outer wall of the inner sleeve, the sleeve sliding groove is matched with the sleeve boss, and the sleeve sliding groove and the sleeve boss can move up and down relatively; the spring damping shaft sleeve is fixedly clamped with the inner sleeve; the spring fixing circular plate I and the spring fixing circular plate II are coaxially arranged, and an axial spring is arranged between the spring fixing circular plate I and the spring fixing circular plate II;
the spring damping shaft sleeve comprises a circular shaft sleeve, a cross-shaped shaft sleeve, a screw hole sleeve, a clamping key, a cover plate, balls, a ball limiting plate, a radial spring and a spring clamping seat; the cross shaft sleeve is cross-shaped and consists of a cross shaft arm and a middle rectangular part, and the cross shaft arm is a hollow flat frame body; the circular shaft sleeve is circular, a U-shaped plate which is arranged on the inner wall of the circular shaft sleeve and extends out perpendicularly to the inner wall and provided with an upward opening is matched with the cross-shaped shaft arm, and the cover plate is clamped and fixed with the U-shaped plate to form a frame structure of the circular shaft sleeve; corresponding spring clamping seats are respectively arranged in the cross shaft sleeve and the circular shaft sleeve and used for mounting a radial spring; rectangular grooves are formed in the upper surface and the lower surface of the front end of the cross-shaped shaft arm and used for placing ball limiting plates; two rows of ten balls are arranged on the upper surface of the front end of the cross-shaped shaft arm and the lower surface of the cover plate through ball limiting plates, and two rows of ten balls are also arranged on the lower surface of the front end of the cross-shaped shaft arm and the bottom surface of the inner side of the circular shaft sleeve frame body through ball limiting plates; two sides of a cross-shaped shaft arm frame body of the cross-shaped shaft sleeve are spaced from two sides inside the circular shaft sleeve frame body, so that the cross-shaped shaft sleeve can move front and back and left and right inside the circular shaft sleeve in the polishing process, and a good damping effect is achieved;
screw hole sleeves are arranged at the four corners of the upper surface and the lower surface of the rectangular piece in the middle of the cross-shaped shaft sleeve; four clamping keys are arranged on the outer side of the circular shaft sleeve, and each clamping key is positioned on the back side of the spring clamping seat in the circular shaft sleeve;
the axial motion component comprises a cylinder, an upper end plate, a lower end plate, a thrust plate, a linear bearing, a floating joint, a support rod and a tension and pressure sensor; the rear end of the cylinder is fixed on the upper end plate through a bolt, and the front end of the cylinder is fixed on the supporting rod through an L-shaped connecting piece and a U-shaped clamping piece; a piston rod of the cylinder is connected with a floating interface fixed on the thrust plate through a linear bearing; the linear bearing and the piston rod are coaxially fixed on the lower end plate; one end of the tension and pressure sensor is arranged below the thrust plate through a bolt, and the other end of the tension and pressure sensor is connected with the flexible sleeve through a connecting plate;
the air cylinder is a double-acting air cylinder, an air inlet A and an air inlet B of the air cylinder are respectively connected with an external electric proportional valve, and the air pressure of the air inlet A and the air pressure of the air inlet B can be accurately controlled by controlling the electric proportional valves. The air pressure of the air inlet A of the air cylinder is used for gravity compensation of a grinding device (mainly comprising a rotary motion part, a flexible sleeve and a grinding head), and the air pressure of the air inlet B is used for providing a grinding normal force;
the L-shaped connecting piece is provided with a cylinder front end fixing hole and a U-shaped clamping key fixing hole;
the constant-force flexible grinding device is connected with the mechanical arm through a flange.
As a preferred technical scheme:
according to the industrial mechanical arm constant-force flexible grinding device, the rotary motion part comprises a pneumatic motor, a motor installation seat plate, a coupler, a ball spline, a key and a rotary bearing; the pneumatic motor is arranged on the motor mounting seat plate; the motor mounting seat plate is a square plate; one end of the ball spline is connected with the coupler, and the other end of the ball spline is connected with the polishing head; the rotary bearing is arranged in a rectangular piece in the middle of the cross shaft sleeve;
the axial movement part also comprises guide sleeves, the guide sleeves are distributed at four corners of the motor installation seat plate, and meanwhile the guide sleeves are sleeved on the supporting rods to enable the motor installation seat plate to slide up and down in the axial direction.
According to the industrial mechanical arm constant-force flexible grinding device, the number of the air cylinders is 2, and the air cylinders are symmetrically distributed around the pneumatic motor;
according to the constant-force flexible polishing device for the industrial mechanical arm, the spring damping shaft sleeve is fixedly clamped with the inner sleeve through the clamping key on the circular shaft sleeve;
the spring fixing circular plate I is connected with the connecting plate, and the spring fixing circular plate II is fixed on the rectangular piece in the middle of the cross shaft sleeve through a bolt.
According to the constant-force flexible polishing device for the industrial mechanical arm, the ball spline is a flange type ball spline and comprises a spline shaft and a spline sleeve, the spline sleeve is installed on the thrust plate, and the spline sleeve and the spline shaft are in clearance fit;
the rotary bearing is provided with a key groove, the spline shaft is provided with a key, and the key is clamped in the key groove and connected with the rotary bearing.
According to the constant-force flexible polishing device for the industrial mechanical arm, the pulling pressure sensor is of a central opening type, and the diameter of an opening is larger than that of the spline shaft.
According to the industrial mechanical arm constant-force flexible grinding device, the upper end plate, the lower end plate and the thrust plate are all circular; in order to ensure the stability of the polishing device, the support rods are fixed between the upper end plate and the lower end plate in a square distribution by taking the circle center of the upper end plate as the center, and the height difference between the upper end plate and the lower end plate can be flexibly adjusted; the upper end plate and the lower end plate are provided with corresponding support rod mounting holes for mounting support rods; and the upper end plate is also simultaneously provided with an air cylinder mounting hole and a flange mounting hole.
According to the constant-force flexible polishing device for the industrial mechanical arm, the thrust plate is provided with a tension pressure sensor mounting hole, a floating joint mounting hole, a roller mounting hole and a spline shaft through hole; the spline shaft through hole is positioned in the center of the thrust plate, and spline sleeve mounting holes are formed in the periphery of the spline shaft through hole; the roller mounting holes are positioned at the edge of the thrust plate, the roller mounting holes are uniformly distributed at intervals of 90 degrees along the circumference by taking the circle center of the thrust plate as a symmetric center, and rollers are mounted at the four roller mounting holes; the gyro wheel is laminated with the shell body inside wall, can roll from top to bottom.
The industrial mechanical arm constant-force flexible polishing device comprises a polishing head, a polishing head and a clamping device, wherein the polishing head comprises a polishing tool mounting seat, a polishing tool and a locking nut; the grinding tool mounting base is fixedly connected with four screw hole sleeves below the spring damping shaft sleeve through bolts; the grinding tool is installed on the grinding tool installation seat and can rotate relative to the grinding tool installation seat, and the grinding tool is connected with the ball spline shaft through the locking nut.
According to the industrial mechanical arm constant-force flexible grinding device, the outer shell, the upper end plate and the lower end plate are fixed and have certain rigidity.
The working process and principle of the invention are as follows: the cutting rotating speed is provided by the pneumatic motor, so that a motor is avoided, and partial mass of the device is greatly reduced. The grinding and polishing force during grinding is provided by controlling the air pressure of the air cylinder through the electric proportional valve, so that the condition that the parameters in the grinding and polishing operation are adjusted through a robot controller is avoided, and the responsiveness of the grinding and polishing system is improved. The pulling and pressing sensor detects the grinding and polishing force in real time and feeds the grinding and polishing force back to the controller, and the controller makes corresponding response according to a set value. The mechanical arm moves under the planned path to realize the control of the feeding speed in the polishing and grinding operation process. The polishing head is matched with the flexible sleeve to ensure good damping action in the axial direction and the radial direction in the polishing process, and the overall stability and the polishing effect of the polishing device are improved.
Specifically, the invention has the real-time and accurate force control problem, the mounting structure adopts the symmetrical distribution of double-acting cylinders, the air inlets A and B of the cylinders are respectively connected with an external electric proportional valve, and the air pressure of the air inlets A and B can be accurately controlled by controlling the electric proportional valve. The air pressure of the air inlet A of the air cylinder is used for gravity compensation of the grinding device (mainly a rotary motion part, a flexible sleeve and a grinding head), and the air pressure of the air inlet B is used for providing a grinding normal force.
The invention also adopts a flexible sleeve damping part which comprises a spring damping shaft sleeve and mainly plays a role in radial and axial damping.
The upper end plate and the lower end plate are designed in the industrial mechanical arm constant-force flexible grinding device, the height difference between the upper end plate and the lower end plate can be adjusted through the four supporting rods, the flexibility of installing the air cylinder and the pneumatic motor between the upper end plate and the lower end plate can be guaranteed, parts can be replaced conveniently in the later period, and the structure is firm.
The constant-force flexible polishing device for the industrial mechanical arm adopts the combination of the thrust plate and the roller, and the thrust plate and the roller can bear torque simultaneously during axial movement.
Has the advantages that:
(1) the rotary power of the invention adopts the pneumatic motor to connect the ball spline through the coupler to drive the polishing head to rotate, has the characteristics of light weight, high rotating speed, large torque and the like, and can obviously improve the flexibility and stability of mechanical arm polishing. Meanwhile, the power source of the pneumatic motor is an air compressor, the pneumatic motor is only a motion execution component, the air compressor is externally arranged on the ground and does not move along with the grinding device, and meanwhile, the mass of the pneumatic motor is much lighter than that of a motor under the same power, and the pneumatic motor can be fully loaded until the pneumatic motor stops.
(2) According to the invention, the gravity component of the gravity of the polishing device on the central axis of the spline shaft in the polishing process is calculated through the pressure value fed back by the tension pressure sensor, meanwhile, the gravity component can be compensated in real time under different polishing poses, and the polishing pressure on the workpiece is constant by controlling the electric proportional valve to adjust the real-time output pressure of the air cylinder, so that the polishing uniformity is ensured, the polishing quality is improved, the polishing pressure is a positive pressure vertical to the polishing surface of the workpiece, and the polishing pressure and the central axis of the spline shaft are positioned on the same straight line.
(3) The air cylinder is connected with the electric proportional valve, the actually output normal grinding force can be monitored in real time through the tension and pressure force sensor, when the monitored value does not meet the requirement, the monitored value can be fed back to the controller in real time, and the air pressure of the air cylinder is adjusted through the electric proportional valve to meet the requirement of the normal grinding force. The gravity compensation of the air cylinder to the grinding device under different position postures (the gravity compensation is different under different position postures) can be fully considered, the feedback detection and adjustment can be carried out on the actually output force, and the constant-force flexible grinding can be realized by adopting the matching of the tension pressure sensor and the air cylinder.
(4) In an actual polishing task, different polishing tools and different polishing tool mounting seats can be replaced to meet different curved surface polishing requirements, the applicability is stronger, and meanwhile, the polishing head is connected with the flexible sleeve, so that the vibration of the polishing head under high-speed rotation can be reduced to a great extent in the polishing process, and the overall stability and polishing effect of the polishing device are improved.
(5) The grinding device provided by the invention can decouple the rotary motion and the axial linear motion, and respectively and independently control the two motions, thereby realizing the control of grinding force and the control of grinding cutting speed. The decoupling realized by the method on the mechanical structure is more suitable for polishing operation with complex tasks than the decoupling realized by the algorithm.
Drawings
FIG. 1 is a schematic front view of the overall structure of the present invention;
FIG. 2 is an enlarged view of the spring damper bushing of FIG. 1 in accordance with the present invention;
FIG. 3 is a perspective sectional view of a flexible sleeve according to the present invention;
FIG. 4 is a schematic perspective view of the spring damper bushing of the present invention;
FIG. 5 is a schematic view of the internal structure of FIG. 4 taken along line A-A;
FIG. 6 is a schematic cross-sectional view taken along line A-A of FIG. 4 in accordance with the present invention;
FIG. 7 is a schematic view of the opening of the upper end plate of the present invention;
FIG. 8 is a schematic view of the U-shaped fastener of the present invention;
FIG. 9 is a schematic view of the L-shaped connector of the present invention;
FIG. 10 is a schematic view of the thrust plate configuration of the present invention;
FIG. 11 is a schematic diagram of a control system of the apparatus of the present invention;
wherein: 1. a flange; 2. an upper end plate; 3. a cylinder; 4. a limiting block; 5. a piston rod; an L-shaped connector; 7. a lower end plate; 8. a floating joint; 9. a pull pressure sensor; 10. a flexible sleeve; 11. a spring damping shaft sleeve; 12. an abrasive article; 13. a key; 14. a spline shaft; 15. locking the nut; 16. a grinding tool mounting base; 17. a connecting plate; 18. a thrust plate; 19. a roller; 20. a spline housing; 21 a linear bearing; 22. an air inlet A; a U-shaped clamp key; 24. a coupling; 25. a pneumatic motor; 26. a support bar; 27. an air inlet B; 28. an outer housing; 29. a guide sleeve; 30. a motor mounting base plate; 31. a spring fixing circular plate I; 32. an outer sleeve; 33. an inner sleeve; 34. a sleeve boss; 35. a spring fixing circular plate II; 36. an axial spring; 37. a sleeve chute; 38. a spring clamp seat; 39. a screw hole sleeve; 40. a keyway; 41. a circular shaft sleeve; 42. a card key; 43. a cross-shaped shaft sleeve; 44. a rotating bearing; 45. a radial spring; 46. a ball limiting plate; 47. a ball bearing; 48. a support rod mounting hole; 49. a cylinder mounting hole; 50. a flange mounting hole; u-shaped clamp key fixing holes; 52. a front end fixing hole of the cylinder; 53. mounting holes for the rollers; 54. a spline housing mounting hole; 55. a floating joint mounting hole; 56. pulling the pressure sensor mounting hole; 57. a spline shaft through hole; 58. and (7) a cover plate.
Detailed Description
The invention will be further illustrated with reference to specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims. In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described below with reference to the accompanying drawings and examples. It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture, and if the specific posture is changed, the directional indicator is changed accordingly.
Example 1
As shown in fig. 1 to 11, an industrial robot arm constant-force flexible polishing device comprises a polishing head for polishing a workpiece, a rotary motion part for driving the polishing head to rotate, an axial motion part for driving the polishing head to axially move, a flexible sleeve 10 for axially and radially damping vibration during polishing, and an outer shell 28 for protecting internal devices of the device and bearing torque; the grinding device is connected with the mechanical arm through a flange 1.
The axial moving part comprises a cylinder 3, an upper end plate 2, a lower end plate 7, a thrust plate 18, a linear bearing 21, a floating joint 8, a support rod 26, a guide sleeve 29 and a tension and pressure sensor 9;
the rotary motion parts include the pneumatic motor 25, the motor mount plate 30, the coupling 24, the ball spline, the key 13, and the rotary bearing 44; the pneumatic motor 25 is mounted on the motor mounting base plate 30; the motor mounting seat plate 30 is a square plate, and guide sleeves 29 are distributed at four corners of the motor mounting seat plate; the guide sleeve 29 is sleeved on the support rod 26 to enable the motor mounting seat plate 30 to slide up and down in the axial direction; one end of the ball spline is connected with the coupler 24, and the other end of the ball spline is connected with the polishing head. The ball spline is a flange type ball spline and comprises a spline shaft 14 and a spline housing 20, and the spline housing 20 is in clearance fit with the spline shaft 14; the spline shaft 14 is provided with a key 13 which is clamped in the keyway 40 and connected with the rotating bearing 44.
In order to ensure the stability of the polishing device, the support rods 26 are distributed in a square shape with the circle center of the upper end plate 2 as the center and are fixed between the upper end plate 2 and the lower end plate 7, the height difference between the upper end plate 2 and the lower end plate 7 can be flexibly adjusted, and the limit blocks 4 are arranged on the four support rods 26 on the same horizontal plane to limit the displacement of the pneumatic motor 25 in the axial sliding direction under the action of gravity in the non-working state; the upper end plate 2 and the lower end plate 7 are provided with corresponding support rod mounting holes 48 for mounting the support rods 26; the upper end plate 2 is also provided with a cylinder mounting hole 49 and a flange mounting hole 50.
The thrust plate 18 is provided with a tension pressure sensor mounting hole 56, a floating joint mounting hole 55, a roller mounting hole 53 and a spline shaft through hole 57; the spline shaft through hole 57 is positioned in the center of the thrust plate 18, spline sleeve mounting holes 54 are formed around the spline shaft through hole 57, and four rollers 19 are mounted at the roller mounting holes 53 at the edge of the thrust plate 18; the roller mounting holes 53 are uniformly distributed along the circumference at intervals of 90 degrees by taking the circle center of the thrust plate 18 as a symmetric center, and rollers 19 are mounted at the four roller mounting holes 53; the roller 19 is attached to the inner side wall of the outer shell 28 and can roll up and down; the outer case 28 is fixed to the upper end plate 2 and the lower end plate 7 and has a certain rigidity.
The upper end plate 2, the lower end plate 7 and the thrust plate 18 are all circular; the rear end of the cylinder 3 is fixed on the upper end plate 2 through a bolt, and the front end is fixed on a support rod 26 through an L-shaped connecting piece 6 and a U-shaped clamping piece 23; the L-shaped connecting piece 6 is provided with a cylinder front end fixing hole 52 and a U-shaped clamp key fixing hole 51; a piston rod 5 of the cylinder 3 is connected with a floating interface 8 fixed on a thrust plate 18 through a linear bearing 21; the linear bearing 21 and the piston rod 5 are coaxially fixed on the lower end plate 7; one end of the tension and pressure sensor 9 is installed below the thrust plate 18 through a bolt, the other end of the tension and pressure sensor is connected with the flexible sleeve 10 through a connecting plate 17, the tension and pressure sensor 9 is of a central opening type, and the ball spline shaft 14 penetrates through the opening position of the tension and pressure sensor 9. Wherein, the cylinder 3 is a double-acting cylinder, and an air inlet A22 and an air inlet B27 are connected with an electric proportional valve; the cylinder 3 is double-acting cylinder, compares with single-acting cylinder, does not have reset spring in the 3 structures of double-acting cylinder for the output power control of double-acting cylinder 3 is more accurate, and life is more permanent. In addition, a spline housing 20 is mounted on the thrust plate 18.
The flexible sleeve 10 comprises an outer sleeve 32, an inner sleeve 33, a spring damping shaft sleeve 11, an axial spring 36, a spring fixing circular plate I31 and a spring fixing circular plate II 35; the outer sleeve 32 is connected with the pulling pressure sensor 9 through the connecting plate 17, the inner wall of the outer sleeve 32 is provided with a sleeve sliding groove 37, the outer wall of the inner sleeve 33 is provided with a sleeve boss 34, the sleeve sliding groove 37 is matched with the sleeve boss 34, and the two can move up and down relatively; the spring damping sleeve 11 is clamped and fixed with the inner sleeve 33 through a clamping key 42 on the circular sleeve 41.
The spring damping shaft sleeve 11 comprises a circular shaft sleeve 41, a cross shaft sleeve 43, a screw hole sleeve 39, a clamping key 42, a cover plate 58, balls 47, a ball limiting plate 46, a radial spring 45 and a spring clamping seat 38; the cross shaft sleeve 43 is cross-shaped and consists of a cross shaft arm and a middle rectangular part, and the cross shaft arm is a hollow flat frame; the circular shaft sleeve 41 is circular, a U-shaped plate with an upward opening and perpendicular to the inner wall of the circular shaft sleeve is matched with the cross-shaped shaft arm, and the cover plate 58 is clamped and fixed with the U-shaped plate to form a frame structure of the circular shaft sleeve. The cross shaft sleeve 43 and the circular shaft sleeve 41 are respectively provided with corresponding spring clamping seats 38 for mounting the radial springs 45. As seen from the line of fig. 4A-a, and with reference to fig. 5 and 6, rectangular grooves are formed above and below the front end of the cross-shaped shaft arm for placing the ball bearing limit plate 46; two rows of ten balls 47 are arranged on the upper surface of the front end of the cross-shaped shaft arm and the lower surface of the cover plate 58 through the ball limiting plates 46, and two rows of ten balls 47 are also arranged on the lower surface of the front end of the cross-shaped shaft arm and the bottom surface of the inner side of the circular shaft sleeve 41 frame body through the ball limiting plates 46; the diameter of the ball 47 is slightly larger than the height of the rectangular groove, and the ball is contacted with the lower surface of the cover plate 58 after the cover plate 58 is clamped and fixed with the U-shaped plate; two sides of the cross-shaped shaft arm frame body of the cross-shaped shaft sleeve 43 and two sides of the interior of the frame body of the circular shaft sleeve 41 have a certain distance. The cross shaft sleeve 43 can move back and forth, left and right in the circular shaft sleeve 41 in the polishing process, and a good damping effect is achieved; the rotary bearing 44 is installed on the middle rectangular piece of the cross shaft sleeve 43, and the four corners of the upper surface and the lower surface of the middle rectangular piece are respectively provided with a screw hole sleeve 39.
The spring fixing circular plate II 35 is fixed on a middle rectangular piece of the cross shaft sleeve 43 through a bolt, the spring fixing circular plate I31 is connected with the connecting plate 17, the two spring fixing circular plates are coaxially installed, and the middle is provided with an axial spring 36.
The polishing head comprises a grinding tool mounting seat 16, a grinding tool 12 and a locking nut 15; the grinding tool mounting base 16 is fixedly connected with four screw hole sleeves 39 below the spring damping shaft sleeve 11 through bolts; the grinder 12 is mounted on a grinder mounting base 16 and is rotatable relative to the grinder mounting base 16, and the grinder 12 is connected to the ball spline shaft 14 by a lock nut 15.
Example 2
The utility model provides an industrial robot arm constant force flexibility grinding device, the same with embodiment 1 basically, the difference lies in, adopts two cylinders 3 of the same model to provide the normal force when polishing, and two cylinders 3 are connected with thrust plate 18 through floating joint 8 with pneumatic motor 25 symmetric distribution, cylinder 3's piston rod 5, and floating joint 8 can eliminate the vertical error that thrust plate 18 and piston rod 5 are connected, makes cylinder 3 act on thrust plate 18 and allow also can normally work in certain eccentric range. The air inlet A22 and the air inlet B27 of the cylinder 3 are respectively connected with an external electric proportional valve, and the air pressure of the air inlet A22 and the air inlet B27 can be accurately controlled by controlling the electric proportional valves. The air pressure of the air inlet a22 of the air cylinder 3 is used for gravity compensation of the sanding device (mainly the rotary motion part, the flexible sleeve and the sanding head), and the air pressure of the air inlet B27 is used for providing a normal force for sanding.
When the normal grinding force is smaller than the gravity component, the pulling pressure sensor 9 is in a pulling state, the feedback value is a positive value, and the value of the pulling pressure sensor 9 is the gravity component minus the normal grinding force; when the normal grinding force is larger than the gravity component, the pulling pressure sensor 9 is in a pressing state, the feedback value is a negative value, and the value of the pulling pressure sensor 9 is still the gravity component minus the normal grinding force. In the actual polishing process, the polishing surface is not smooth, unevenness often exists, and the actual output normal polishing force often floats. Because the sum of the value of the tension and pressure sensor 9 and the normal grinding force is a gravity component, the gravity component changes according to the change of the horizontal plane real-time included angle theta at the tail end of the robot arm under different position postures, the floating of the normal grinding force can make the value of the tension sensor 9 deviate from an ideal value, and at the moment, the air inlet pressure of the air cylinder can be controlled through the feedback control of the control system to further adjust the normal grinding force, so that the normal grinding force can quickly reach a steady-state value or reduce the amplitude.
The grinding process of the industrial mechanical arm constant-force flexible grinding device in the embodiment 1 and the embodiment 2 specifically comprises the following steps:
(1) setting the gravity of the polishing device as G and the display value of the pulling pressure sensor 9 as F;
(2) the mechanical arm moves along a planned path in the grinding process, changes of real-time included angles theta of the tail end of the mechanical arm based on a horizontal plane under different position postures are obtained, at the moment, the gravity component of the grinding device on the central axis of the spline shaft 14 is Gsin theta, and gravity compensation is carried out by controlling an air inlet A22 of the air cylinder;
(3) according to the grinding requirement, the real-time output pressure F of the air cylinder 3 is calculated in the grinding process as Gsin theta-F, and the control system adjusts the air supply pressure of the air inlet B of the air cylinder 3 according to the real-time display value F of the tension pressure sensor 9, so that the grinding pressure on the workpiece in the grinding process is always F.
The industrial robot arm constant force flexible grinding device in the embodiment 1 and the embodiment 2 is applied to a grinding system, and the grinding system generally has 3 important parameters, namely a feeding speed, a grinding force and a cutting speed, wherein the feeding speed is provided by a robot, the grinding force is provided by an axial moving part described in the invention, and the rotating cutting speed is provided by a rotating moving part described in the invention. The method specifically comprises the following steps: the cylinder 3 in the axial motion part drives the thrust plate 18 to move in the axial direction, and the pulling pressure sensor 9, the flexible core sleeve 10 and the polishing head below the thrust plate 18 move along with the thrust plate. The grinding tool 12 in the grinding head is connected with the spline shaft 14 through a locking nut 15, and the grinding tool mounting seat 16 is fixed with a screw hole sleeve 39 below the spring damping shaft sleeve 11 through four bolts. A rotary bearing 44 is installed in a rectangular piece in the middle of a cross shaft sleeve 43 in the spring damping shaft sleeve 11, the rotary bearing 44 is provided with a key groove 40, and the ball spline shaft 14 is connected with the rotary bearing 44 through a key 13. The spline housing 20 is fixed on the thrust plate 18, the spline housing 20 and the spline shaft 14 are in clearance fit, so that the ball spline shaft 14 can axially move relative to the thrust plate 18 and can also rotate, the edge of the thrust plate 18 is provided with the roller 19 to be in contact with the outer shell 28, the thrust plate 18 can only axially move at the moment, the spline housing 20 fixed on the thrust plate 18 can bear the larger torque of the spline shaft 14 in the polishing process, and the cylinder piston rod 5 on the thrust plate 18 is protected.
When polishing the beginning, the head of polishing just contacts when treating the processing work piece, axial spring 36 can be compressed in the flexible sleeve 10, the contact is the flexonics, reduce the impact force to the device, flexible sleeve 10's inner skleeve 33 has axial displacement for outer skleeve 32, the in-process of polishing is because the effect of pressure, axial spring 36 is in the dynamic compression state always, choose the axial spring 36 of suitable stiffness coefficient to ensure that the compressive capacity of the in-process axial spring 36 of polishing is twenty percent of the original length of spring, can guarantee the axial cushioning effect to whole device, the interior part of protection device. In the dynamic compression process of the axial spring 3, the inner sleeve 33 and the ball spline shaft 14 synchronously move up and down, so that the pneumatic motor 25 is driven to move up and down, the pneumatic motor 25 is installed on the motor installation seat plate 30, the guide sleeves 29 are distributed on the motor installation seat plate 30 for square plates and four corners, and the guide sleeves 29 are sleeved on the support rod 26, so that the motor installation seat plate 30 can slide up and down in the axial direction, and the rotary motion component can move axially while providing rotary cutting speed.
In general, the axial displacement of the pneumatic motor 25 is equal to the absolute value of the difference between the axial displacement of the cylinder piston rod 5 and the compression amount of the axial spring 36, and the rotation speed change of the pneumatic motor 25 is realized by controlling the electromagnetic valve through the controller.
In the actual polishing process, the polishing surface is not smooth and is often uneven, the polishing head can generate vibration, the grinding tool mounting seat 16 is fixed with the screw hole sleeve 39 below the spring damping shaft sleeve 11 through four bolts, the polishing head is connected with the rotary bearing 44 in the spring damping shaft sleeve 11 through the spline shaft 14 and the matching key 13, the polishing head vibrates in the axial direction and the radial direction during polishing, the inner sleeve 33 moves upwards relative to the outer sleeve 32, and the axial spring 36 is pressed; a pair of radial springs 45 are arranged inside the cross shaft sleeve 43 and the circular shaft sleeve 41 and used for weakening the radial vibration of the polishing head; two rows of ten balls 47 are arranged on the upper surface of the front end of the cross-shaped shaft arm and the lower surface of the cover plate 58 through the ball limiting plates 46, and two rows of ten balls 47 are also arranged on the lower surface of the front end of the cross-shaped shaft arm and the bottom surface of the circular shaft sleeve 41 frame body through the ball limiting plates 46; the two sides of the cross-shaped shaft arm frame body of the cross-shaped shaft sleeve 43 are spaced from the two sides inside the frame body of the circular shaft sleeve 41 by a certain distance, so that the cross-shaped shaft sleeve 43 can move forwards, backwards, leftwards and rightwards (on the same plane) inside the circular shaft sleeve 41 due to the compression or elongation of the radial spring 45 and the distance between the cross-shaped shaft arm frame body of the cross-shaped shaft sleeve 43 and the circular shaft sleeve 41 in the polishing process, and the cross-shaped shaft sleeve 43 and the circular shaft sleeve 41 can bear larger pressure in the axial direction.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications, which are equivalent in performance or use, without departing from the inventive concept, should be considered to fall within the scope of protection determined by the claims as filed.
Claims (10)
1. The utility model provides an industrial mechanical arm constant force flexibility grinding device, includes the grinding head that is used for polishing the work piece, the rotary motion part of drive grinding head rotary motion, the axial motion part and the protection device internal part of drive grinding head axial motion and the shell body (28) that bears the moment of torsion, its characterized in that: the flexible grinding machine also comprises a flexible sleeve (10) used for axial and radial shock absorption during grinding;
the flexible sleeve (10) comprises an outer sleeve (32), an inner sleeve (33), a spring damping shaft sleeve (11), an axial spring (36), a spring fixing circular plate I (31) and a spring fixing circular plate II (35); the outer sleeve (32) is connected with the pulling pressure sensor (9) through a connecting plate (17), a sleeve sliding groove (37) is formed in the inner wall of the outer sleeve (32), a sleeve boss (34) is formed in the outer wall of the inner sleeve (33), the sleeve sliding groove (37) is matched with the sleeve boss (34), and the sleeve sliding groove (37) and the sleeve boss (34) can move up and down relatively; the spring damping shaft sleeve (11) is clamped and fixed with the inner sleeve (33); the spring fixing circular plate I (31) and the spring fixing circular plate II (35) are coaxially arranged, and an axial spring (36) is arranged between the spring fixing circular plate I and the spring fixing circular plate II;
the spring damping shaft sleeve (11) comprises a circular shaft sleeve (41), a cross shaft sleeve (43), a screw hole sleeve (39), a clamping key (42), a cover plate (58), balls (47), a ball limiting plate (46), a radial spring (45) and a spring clamping seat (38); the cross shaft sleeve (43) is cross-shaped and consists of a cross shaft arm and a middle rectangular part, and the cross shaft arm is a hollow flat frame body; the circular shaft sleeve (41) is circular, a U-shaped plate which is arranged on the inner wall of the circular shaft sleeve and extends out perpendicularly to the inner wall and is provided with an upward opening is matched with the cross-shaped shaft arm, and the cover plate (58) is clamped and fixed with the U-shaped plate to form a frame structure of the circular shaft sleeve; the cross shaft sleeve (43) and the circular shaft sleeve (41) are internally provided with corresponding spring clamping seats (38) respectively for mounting a radial spring (45); rectangular grooves are arranged above and below the front end of the cross-shaped shaft arm and used for placing ball limiting plates (46); two rows of balls (47) are arranged on the upper surface of the front end of the cross-shaped shaft arm and the lower surface of the cover plate (58) through ball limiting plates (46), and two rows of balls (47) are arranged on the lower surface of the front end of the cross-shaped shaft arm and the bottom surface of the inner side of the frame body of the circular shaft sleeve (41) through the ball limiting plates (46); two sides of a cross shaft arm frame body of the cross shaft sleeve (43) and two sides of the interior of a circular shaft sleeve (41) frame body have a certain distance;
screw hole sleeves (39) are arranged at the four corners of the upper surface and the lower surface of the rectangular piece in the middle of the cross shaft sleeve (43); four clamping keys (42) are arranged on the outer side of the circular shaft sleeve (41), and each clamping key (42) is positioned on the back side of the spring clamping seat (38) in the circular shaft sleeve (41);
the axial motion component comprises a cylinder (3), an upper end plate (2), a lower end plate (7), a thrust plate (18), a linear bearing (21), a floating joint (8), a support rod (26) and a tension and pressure sensor (9); the rear end of the cylinder (3) is fixed on the upper end plate (2) through a bolt, and the front end of the cylinder is fixed on the supporting rod (26) through an L-shaped connecting piece (6) and a U-shaped clamping piece (23); a piston rod (5) of the cylinder (3) is connected with a floating interface (8) fixed on the thrust plate (18) through a linear bearing (21); the linear bearing (21) and the piston rod (5) are coaxially fixed on the lower end plate (7); one end of the tension and pressure sensor (9) is arranged below the thrust plate (18) through a bolt, and the other end of the tension and pressure sensor is connected with the flexible sleeve (10) through a connecting plate (17);
the air cylinder (3) is a double-acting air cylinder, and an air inlet A (22) and an air inlet B (27) of the air cylinder (3) are respectively connected with an external electric proportional valve;
the L-shaped connecting piece (6) is provided with a cylinder front end fixing hole (52) and a U-shaped clamping key fixing hole (51);
the constant-force flexible grinding device is connected with the mechanical arm through a flange (1).
2. The industrial robot arm constant-force flexible grinding device according to claim 1, wherein the rotary motion component comprises a pneumatic motor (25), a motor mounting plate (30), a coupling (24), a ball spline and a rotary bearing (44); the pneumatic motor (25) is arranged on the motor mounting seat plate (30); the motor mounting seat plate (30) is a square plate; one end of the ball spline is connected with the coupler (24), and the other end of the ball spline is connected with the polishing head; the rotary bearing (44) is arranged in a rectangular piece in the middle of the cross shaft sleeve (43);
the axial movement part also comprises guide sleeves (29), the guide sleeves (29) are distributed at four corners of the motor installation seat plate (30), and meanwhile, the guide sleeves (29) are sleeved on the support rod (26) so that the motor installation seat plate (30) can slide up and down in the axial direction.
3. The industrial robot constant-force flexible grinding device as claimed in claim 2, wherein the number of the cylinders (3) is 2, and the cylinders are symmetrically distributed about the pneumatic motor (25).
4. The industrial mechanical arm constant-force flexible grinding device as claimed in claim 3, wherein the spring damping shaft sleeve (11) is clamped and fixed with the inner sleeve (33) through a clamping key (42) on the circular shaft sleeve (41);
the spring fixing circular plate I (31) is connected with the connecting plate (17), and the spring fixing circular plate II (35) is fixed on a rectangular piece in the middle of the cross shaft sleeve (43) through a bolt.
5. The industrial mechanical arm constant-force flexible grinding device according to claim 4, wherein the ball spline is a flange type ball spline and comprises a spline shaft (14) and a spline sleeve (20), the spline sleeve (20) is mounted on the thrust plate (18), and the spline sleeve (20) is in clearance fit with the spline shaft (14);
the rotary bearing (44) is provided with a key groove (40), the spline shaft (14) is provided with a key (13), and the key (13) is clamped in the key groove (40) and is connected with the rotary bearing (44).
6. The industrial robot constant-force flexible grinding device as claimed in claim 5, wherein the pulling and pressing force sensor (9) is of a central open hole type, and the diameter of the open hole is larger than that of the spline shaft (14).
7. The industrial robot arm constant-force flexible grinding device according to claim 6, characterized in that the upper end plate (2), the lower end plate (7) and the thrust plate (18) are all circular; the supporting rods (26) are fixed between the upper end plate (2) and the lower end plate (7) in a square distribution mode with the center of the circle of the upper end plate (2) as the center, the height difference between the upper end plate (2) and the lower end plate (7) can be adjusted, and the limiting blocks (4) are mounted on the four supporting rods (26) on the same horizontal plane and used for limiting the displacement of the air motor (25) in axial sliding; corresponding support rod mounting holes (48) are formed in the upper end plate (2) and the lower end plate (7) and used for mounting the support rods (26); and the upper end plate (2) is also provided with an air cylinder mounting hole (49) and a flange mounting hole (50).
8. The industrial mechanical arm constant-force flexible grinding device as claimed in claim 7, wherein the thrust plate (18) is provided with a tension and pressure sensor mounting hole (56), a floating joint mounting hole (55), a roller mounting hole (53) and a spline shaft through hole (57); the spline shaft through hole (57) is positioned in the center of the thrust plate (18), and spline sleeve mounting holes (54) are formed in the periphery of the spline shaft through hole (57); the roller mounting holes (53) are positioned at the edge of the thrust plate (18), the roller mounting holes (53) are uniformly distributed at intervals of 90 degrees along the circumference by taking the circle center of the thrust plate (18) as the symmetric center, and rollers (19) are arranged at the four roller mounting holes (53); the roller (19) is attached to the inner side wall of the outer shell (28) and can roll up and down.
9. The industrial robot arm constant-force flexible grinding device according to claim 8, characterized in that the grinding head comprises a grinding tool mounting seat (16), a grinding tool (12) and a locking nut (15); the grinding tool mounting seat (16) is fixedly connected with four screw hole sleeves (39) below the spring damping shaft sleeve (11) through bolts; the grinding tool (12) is mounted on the grinding tool mounting seat (16) and can rotate relative to the grinding tool mounting seat (16), and the grinding tool (12) is connected with the spline shaft (14) through a locking nut (15).
10. The industrial robot arm constant-force flexible grinding device as claimed in claim 1, wherein the outer shell (28) is fixed and rigid with the edges of the upper end plate (2) and the lower end plate (7).
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| WO2024113444A1 (en) * | 2022-11-29 | 2024-06-06 | 上海赛威德机器人有限公司 | Constant-force grinding device |
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