CN205835000U - Complex-curved burnishing device based on six-DOF robot - Google Patents
Complex-curved burnishing device based on six-DOF robot Download PDFInfo
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- CN205835000U CN205835000U CN201620549645.5U CN201620549645U CN205835000U CN 205835000 U CN205835000 U CN 205835000U CN 201620549645 U CN201620549645 U CN 201620549645U CN 205835000 U CN205835000 U CN 205835000U
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Abstract
This utility model relates to a kind of complex-curved burnishing device based on six-DOF robot, including six-DOF robot, end-effector and polishing control system, end-effector includes master-side interface plate, three-dimensional pressure sensor, tool side keyset, tool side interface board, electro spindle and the cutter being sequentially connected with, wherein, tool side keyset is arranged on the work surface of three-dimensional pressure sensor, master-side interface plate is arranged on six-DOF robot driven end, six-DOF robot and three-dimensional pressure sensor and is connected with polishing control system respectively.The action that this device is arbitrarily complicated in using six-DOF robot that end-effector can be driven to complete working place, end-effector uses electro spindle to provide power for cutter, not only rotating speed is high but also simple in construction, size are little, improves the problem that six-DOF robot rigidity is low, bearing capacity is low.
Description
Technical field
This utility model relates to a kind of curved surface polishing device, is specifically related to a kind of based on six-DOF robot complicated bent
Mirror polish device.
Background technology
At present, to complex-curved grinding, polishing Precision Machining, it is essentially all employing manual polishing, manual polishing work
Making inefficiency, cost is the highest, and polishing can produce a large amount of solid dust, and the work bad border of workman is severe, seriously compromises workman
Healthy, manual polishing requires height to artificial technology's experience level, carries out piece surface local repeatedly by perusal
Polishing, surface quality of workpieces cannot be precisely controlled, necessarily causes workpiece qualification rate the highest, and production efficiency is low, to sum up institute
Stating, manual polishing cannot meet current requirement.
At present, the U.S. and Japan have been developed that automatization's polissoir, e.g., based on a Three Degree Of Freedom machining center and
Platform two-freedom industrial robot builds the five degree of freedom polissoir being applicable to free form surface polishing, and designs corresponding
Polishing control system, polishing control system mainly by Geometric Modeling, cad data exchange, polishing data automatically generate with track with
Track emulates four module compositions, and polishing control system can be by the auto-building model cutter location data of input, by cutter location data
Be converted into robot target pose, complete the anti-solution of robot kinematics after translate into robot Polishing Motion control command, also may be used
To formulate constant force polishing control strategy (power/position mixing can be realized in conjunction with sensor to control), and should by test simulation checking
The feasibility of system.But above-mentioned automatization polissoir needs workpiece and robot manipulation's end co-operating just can complete the most certainly
By the processing spent, but if workpiece is motionless, too much, robot manipulation's end often exists just robot manipulation's end degree of freedom
Spend little, the problem that bearing capacity is low.
Utility model content
The purpose of this utility model is to provide a kind of complex-curved burnishing device based on six-DOF robot, this device
Action arbitrarily complicated in using six-DOF robot that end-effector can be driven to complete working place, end-effector is adopted
Thering is provided power with electro spindle for cutter, not only rotating speed is high but also simple in construction, size are little, improves six-DOF robot rigidity
The problem that low, bearing capacity is low.
This utility model be the technical scheme is that
A kind of complex-curved burnishing device based on six-DOF robot, including six-DOF robot, end effector
Device and polishing control system, end-effector includes that the master-side interface plate being sequentially connected with, three-dimensional pressure sensor, tool side are transferred
Plate, tool side interface board, electro spindle and cutter, wherein, tool side keyset is arranged on the work surface of three-dimensional pressure sensor,
Master-side interface plate be arranged on six-DOF robot driven end, six-DOF robot and three-dimensional pressure sensor respectively with throwing
Optimizing Control System connects.
Further, master-side interface plate is connected by screw and alignment pin with the ring flange of six-DOF robot driven end
Connect fixing.
Further, electro spindle front end is provided with mechanical type dop, and cutter is sandwiched on mechanical type dop.
Further, master-side interface plate, tool side keyset and tool side interface board material are aluminium alloy.
The beneficial effects of the utility model are:
1. action arbitrarily complicated in using six-DOF robot that end-effector can be driven to complete working place,
According to the orbiting motion planned in advance under the control of control system after polishing, high speed rotating made by the cutter of electro spindle front end simultaneously
Motion carries out trace processing to workpiece, instead of artificial polishing completely, is effectively improved polished surface quality and polishing efficiency；Install
The pressure signal recorded can be real-time transmitted to polish control system and realize constant force polishing operation, further by three-dimensional pressure sensor
Improve quality of finish；End-effector uses electro spindle to provide power for cutter, not only rotating speed high (rotary speed up to
40000r/min), and simple in construction, size are little, improve the problem that six-DOF robot rigidity is low, bearing capacity is low.
2. positioned by alignment pin, screw is fixed, and accurate positioning, is connected firmly.
3. mechanical type dop is with pneumatic and dop phase specific volume of surging is little, lightweight, reduces the burden of end-effector.
4. use aluminium alloy to alleviate the weight of end-effector, solve six-DOF robot poor rigidity, carrying energy
The problem of power difference.
Accompanying drawing explanation
The schematic three dimensional views of Fig. 1 this utility model embodiment.
The schematic three dimensional views of end-effector in Fig. 2 this utility model embodiment.
In figure: 1-six-DOF robot；2-end-effector；3-master-side interface plate；4-three-dimensional pressure sensor；5-work
Tool side keyset；6-tool side interface board；7-electro spindle；8-mechanical type dop；9-cutter.
Detailed description of the invention
With embodiment, this utility model is further described below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of complex-curved burnishing device based on six-DOF robot, including six degree of freedom
Robot 1, end-effector 2 and polishing control system, end-effector 2 includes the master-side interface plate 3 being sequentially connected with, three-dimensional pressure
In the present embodiment, cutter 9 is mill for force transducer 4, tool side keyset 5, tool side interface board 6, electro spindle 7 and cutter 9(
Cutter), wherein, tool side keyset 5 is arranged on the work surface of three-dimensional pressure sensor 4, and master-side interface plate 3 is arranged on six freely
Degree robot 1 driven end, six-DOF robot 1 and three-dimensional pressure sensor 4 are connected with polishing control system respectively.
Action arbitrarily complicated in using six-DOF robot 1 that end-effector 2 can be driven to complete working place,
According to the orbiting motion planned in advance under the control of control system after polishing, high-speed rotary made by the cutter 9 of electro spindle 7 front end simultaneously
Transhipment is dynamic carries out trace processing to workpiece, instead of artificial polishing completely, is effectively improved polished surface quality and polishing efficiency；Peace
The pressure signal recorded can be real-time transmitted to polish control system and realize constant force polishing operation by dress three-dimensional pressure sensor 4, enters
One step improves quality of finish；End-effector 2 uses electro spindle 7 to provide power for cutter, and not only (rotary speed can for rotating speed height
Reach 40000r/min), and simple in construction, size are little, improve that six-DOF robot 6 rigidity is low, low the asking of bearing capacity
Topic.
In the present embodiment, master-side interface plate 3 and is determined by screw with the ring flange of six-DOF robot 1 driven end
Position pin connects fixing.Positioned by alignment pin, screw is fixed, and accurate positioning, is connected firmly.
As in figure 2 it is shown, in the present embodiment, electro spindle 7 front end is provided with mechanical type dop 8, and cutter 9 is sandwiched in mechanical type card
On 8.Mechanical type dop 8, with pneumatic and dop phase specific volume of surging is little, lightweight, reduces the burden of end-effector 2.
In the present embodiment, master-side interface plate 3, tool side keyset 5 and tool side interface board 6 material are aluminium alloy.
Use aluminium alloy to alleviate the weight of end-effector 2, solve six-DOF robot 1 poor rigidity, poor the asking of bearing capacity
Topic.
Specific works flow process of the present utility model is:
1) end-effector 2 is joined directly together with six-DOF robot 1, regulates electro spindle 7 rotating speed by converter, make
Obtain electro spindle 7 and obtain higher rotation speed.
2) the automatic off-line of polishing data that part model imports to polish control system generates software (based on VC++6.0
UG is carried out secondary development) in, automatic for the surface of the part model of importing discretization, generation can be met multiaxis cutter by this software
The multiaxis cutter location data of site distribution precision, and complete Polishing Motion trajectory planning；This software can take into full account curvature of curved surface
With the impact on multiaxis cutter location sampling policy of the local patch size factor, it is to avoid due to multiaxis cutter location irrational distribution
And the quality of finish that causes is undesirable, even move the drawback of interference.
3) multiaxis cutter location data are converted into robot by polishing control software (developing based on MFC) of polishing control system
Object pose, and translate into robot Polishing Motion control command after completing the anti-solution of robot kinematics, send to polishing control
The Robot Motion Controller of system carrys out six-DOF robot 1 and carries end-effector 2, and electro spindle 7 high speed rotating is pressed simultaneously
Predetermined polishing locus completes automatic polishing；
4) pressure signal that the three-dimensional pressure sensor 4 in end-effector 2 records is real-time transmitted to polish control system
Polishing control software and intervene six-DOF robot 1 Polishing Motion as the input signal of constant force polishing control strategy, with
Complete the constant force polishing operation of current cutter location.
5) it is retracted into after step 4 completes at current cutter location, is repeatedly performed step 4 and 5, until all cuttves on polishing curved surface
Site.
It should be appreciated that for those of ordinary skills, can be improved according to the above description or be converted,
And all these modifications and variations all should belong to the protection domain of this utility model claims.
Claims (4)
1. a complex-curved burnishing device based on six-DOF robot, it is characterised in that: include six-DOF robot,
End-effector and polishing control system, master-side interface plate that end-effector includes being sequentially connected with, three-dimensional pressure sensor, work
Tool side keyset, tool side interface board, electro spindle and cutter, wherein, tool side keyset is arranged on three-dimensional pressure sensor
On work surface, master-side interface plate is arranged on six-DOF robot driven end, six-DOF robot and three-dimensional pressure sensing
Device is connected with polishing control system respectively.
2. complex-curved burnishing device based on six-DOF robot as claimed in claim 1, it is characterised in that: master connects
Oralia is connected fixing with the ring flange of six-DOF robot driven end by screw and alignment pin.
3. complex-curved burnishing device based on six-DOF robot as claimed in claim 1, it is characterised in that: electro spindle
Front end is provided with mechanical type dop, and cutter is sandwiched on mechanical type dop.
4. complex-curved burnishing device based on six-DOF robot as claimed in claim 1, it is characterised in that: master connects
Oralia, tool side keyset and tool side interface board material are aluminium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620549645.5U CN205835000U (en) | 2016-06-08 | 2016-06-08 | Complex-curved burnishing device based on six-DOF robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620549645.5U CN205835000U (en) | 2016-06-08 | 2016-06-08 | Complex-curved burnishing device based on six-DOF robot |
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| Publication Number | Publication Date |
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| CN205835000U true CN205835000U (en) | 2016-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620549645.5U Active CN205835000U (en) | 2016-06-08 | 2016-06-08 | Complex-curved burnishing device based on six-DOF robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333320A (en) * | 2018-10-24 | 2019-02-15 | 武汉理工大学 | A kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot and technique |
| CN109333188A (en) * | 2018-10-24 | 2019-02-15 | 武汉理工大学 | A kind of automation polishing system for annular titanium alloy casting |
| CN109434200A (en) * | 2018-10-24 | 2019-03-08 | 武汉理工大学 | A kind of two-dimentional error-compensating apparatus and method for titanium alloy casting circular hole chamber of polishing |
| CN110576346A (en) * | 2019-09-03 | 2019-12-17 | 中科君胜(深圳)智能数据科技发展有限公司 | Flexible actuator capable of automatically polishing by robot and polishing method thereof |
| CN113001570A (en) * | 2021-02-08 | 2021-06-22 | 佛山华数机器人有限公司 | Intelligent robot scientific research and practical training platform |
| CN115175787A (en) * | 2020-02-25 | 2022-10-11 | 3M创新有限公司 | Low viscosity polishing system for robotic repair operations |
-
2016
- 2016-06-08 CN CN201620549645.5U patent/CN205835000U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333320A (en) * | 2018-10-24 | 2019-02-15 | 武汉理工大学 | A kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot and technique |
| CN109333188A (en) * | 2018-10-24 | 2019-02-15 | 武汉理工大学 | A kind of automation polishing system for annular titanium alloy casting |
| CN109434200A (en) * | 2018-10-24 | 2019-03-08 | 武汉理工大学 | A kind of two-dimentional error-compensating apparatus and method for titanium alloy casting circular hole chamber of polishing |
| CN109333188B (en) * | 2018-10-24 | 2020-02-11 | 武汉理工大学 | Automatic grinding and polishing system for titanium alloy annular casting |
| CN110576346A (en) * | 2019-09-03 | 2019-12-17 | 中科君胜(深圳)智能数据科技发展有限公司 | Flexible actuator capable of automatically polishing by robot and polishing method thereof |
| CN115175787A (en) * | 2020-02-25 | 2022-10-11 | 3M创新有限公司 | Low viscosity polishing system for robotic repair operations |
| CN113001570A (en) * | 2021-02-08 | 2021-06-22 | 佛山华数机器人有限公司 | Intelligent robot scientific research and practical training platform |
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