21740results about "Grinding machines" patented technology

The invention relates to the technical field of grinding, in particular to a self-adaptive force control grinding system and method for a complex curved surface machining robot. Three-dimensional point cloud data of a workpiece are obtained through machine vision, gridding processing is carried out, and normal vector and curvature characteristic parameters are calculated; performing operation area division and operation path planning based on curvature characteristics; calculating operation parameters according to the normal vector and curvature characteristics; a self-adaptive impedance control algorithm is adopted, the polishing force is monitored in real time through a force sensor, and the rigidity and damping parameters of the robot are dynamically adjusted; and performing defect identification on the surface image of the processed workpiece by using the deep learning model, and when defects are identified, re-planning the operation path. According to the method, self-adaptive grinding of the complex curved surface workpiece is achieved, and the grinding efficiency and quality of the complex curved surface can be improved.

The invention relates to the technical field of machining precision control, and discloses an injection mold core machining precision control method and system.The method comprises the steps that a multi-point trigger type sensor is adopted for conducting data collection on the surface of a core of an injection mold, and core surface contour data, geometric dimension data and surface roughness data are obtained; inputting a feature extraction model, extracting fusion features of the surface of the mold core, and performing regional processing on the surface of the mold core to obtain regional polishing parameters; normalized error coefficient calculation is carried out, and a core surface quality distribution diagram is generated; calculating the compensation coefficient of each region to obtain a compensation optimization parameter matrix; and multi-axis linkage path planning is conducted, the surface of the mold core is divided into a plurality of grid units, the curvature value and the polishing track compensation value of each grid unit are calculated, a thermal deformation compensation polishing path is generated, and the automation level and the intelligent degree of mold core machining are improved.

Disclosed in the present invention is a ceramic green body machining device, comprising a sedimentation tank, a supporting platform, a height-adjustment platform and a cleaning platform. According to the present invention, during use, when a counterweight plate is close to a distal end of a sweeping frame and a liquid dispensing chamber is fully loaded, the weight of a press block area exceeds the torsion of a torsion spring, and the liquid dispensing chamber and the press block would fall down from an accommodation groove until the liquid dispensing chamber and the press block are perpendicular to the accommodation groove; in this case, a cleaning liquid is sprayed from one side of the liquid dispensing chamber by means of a second spray head, thereby effectively rinsing an area to which a first spray head cannot spray; a polishing sand layer on an arc-shaped plate would be attached to a rough area on the surface of a ceramic green body and rotates along with the rotation of a mounting arm to rotationally grind the rough area, thereby improving ceramic green body manufacturing effects; and when a cooling liquid flows down from a contact area between the polishing sand layer and the surface of the ceramic green body, the cooling liquid cools the surface of the ceramic green body. The present invention is conducive to the discharging of dust generated in the grinding process and avoids cracking caused by excessive local drying of the surface of the ceramic green body.

The invention provides an industrial robot automatic control method and device and a computer readable storage medium, and the method comprises the steps: extracting the surface features of a to-be-polished workpiece through an image recognition technology, and controlling the initial force and torque of an end effector of an industrial robot based on the surface features of the to-be-polished workpiece; the surface temperature fluctuation of the workpiece in the to-be-polished process is monitored through a temperature sensor of the end effector of the industrial robot, and then the force and torque of the end effector of the industrial robot are adjusted; and power and state data in the polishing operation process are collected in real time, whether abnormal conditions exist or not is pre-judged through the deep learning technology, and the polishing operation is stopped immediately once the abnormal conditions are found. By means of the method and the corresponding device, the industrial robot can achieve intelligent automatic adjustment in the grinding and polishing process, and high performance and high reliability are kept under the complex working condition.

The invention discloses a double-force-control automatic compensation method and double-force-control grinding and polishing integrated device.According to the technical scheme, the double-force-control automatic compensation method comprises the steps that workpiece surface crystal orientation data are obtained through a diffraction pattern, and a crystal orientation distribution matrix is generated through denoising and clustering analysis; dividing a crystal orientation region and associating the friction coefficient, hardness and other mechanical properties; based on the material removal rate distribution matrix, a gradient algorithm is adopted to correct grinding tracks and cutting parameters of all areas, and a compensation track matrix is generated; and double-force-control feedback of normal force and tangential force is combined, the abrasive particle contact force and the feeding rate are dynamically adjusted, and a closed-loop compensation strategy is formed. Through crystal orientation partition optimization and double-force-control dynamic compensation, the problem that compensation is insufficient in the grinding process of the glass crystal is solved, and high-precision and self-adaptive surface machining is achieved.

A work apparatus includes: a housing; a motor support unit designed separately from the housing, the housing being fixed to the motor support unit. A drive motor is designed as an electric motor for driving a tool and is attached to the motor support unit. A receptacle housing designed separately from the motor support unit for receiving at least one battery pack for supplying the drive motor with electrical power is fixed to the housing. The receptacle housing and the motor support unit are designed and arranged relative to each other in such a way that the receptacle housing is able to move relative to the motor support unit in order to reduce, in particular to prevent, direct transmission of inertial forces emanating from the receptacle housing to the motor support unit in the event of an impact load on the work apparatus.

The invention discloses grinding equipment with a surface self-adaption function for civil aircraft maintenance, and relates to the technical field of grinding equipment, the grinding equipment comprises a grinding mechanism, a self-adaption mechanism and a positioning mechanism, the grinding mechanism is fixedly connected with the self-adaption mechanism, and the self-adaption mechanism is fixedly connected with the positioning mechanism. The grinding mechanism is used for driving a grinding disc to work, and flexible grinding of the surfaces of different areas can be achieved. The self-adaptive mechanism is composed of a self-adaptive assembly, an expanding and contracting assembly and a rotating assembly, the grinding disc has the flexible adjusting capacity when making contact with the surface of a workpiece, the expanding and contracting assembly achieves expanding and contracting, the rotating assembly drives an expanding and contracting block to revolve, and therefore the adaptability of the grinding disc on the complex curved surface is guaranteed. And the positioning mechanism is used for positioning parts needing to be maintained, so that the purposes of adapting to complex curved surfaces, improving the polishing precision and efficiency, avoiding the problem of difficult attachment and ensuring the maintenance quality and the operation safety are achieved.

The invention discloses a method and a system for controlling test lapping of a stamping die. The method comprises the following steps: scanning an actual molded surface of the stamping die to generate actual three-dimensional point cloud data; determining a difference value according to the actual three-dimensional point cloud data and the virtual three-dimensional point cloud data; determining a first to-be-repaired area according to the difference value and a preset tolerance range; simulating deformation conditions of the stamping part under different pressures based on a preset virtual combined simulation model, and predicting a contact area and pressure distribution of the stamping die and the stamping part in an actual stamping process; determining a second to-be-repaired area according to the contact area and the pressure distribution; determining a to-be-polished area according to the first to-be-repaired area and the second to-be-repaired area; a polishing path is generated according to the to-be-polished area through a path planning algorithm; and grinding equipment is controlled to grind the stamping die according to the grinding path. Therefore, the efficiency of the whole test lapping process is improved.

The present invention belongs to the technical field of triangular needle processing, and discloses a triangular needle electric discharge processing device, including a fixed seat, a rotary table, a rotary motor, a needle-up mechanism, three groups of grinding and punching mechanisms and a needle-down mechanism, the rotary table is rotatably connected to the top of the fixed seat and connected to the rotary motor, the needle-up mechanism, three groups of grinding and punching mechanisms, and the needle-down mechanism are sequentially distributed in a circular array outside the rotary table, and eight groups of needle clamping mechanism groups distributed in a circular array are provided on the rotary table, each group of needle clamping mechanism groups includes at least one needle clamping mechanism, and each needle clamping mechanism includes a clamping seat and a needle clamping device. The present invention distributes the needle-up mechanism, three groups of grinding and punching mechanisms and the needle-down mechanism in a circular array outside the rotary table, and integrates the functions of needle-up, three-faceted punching and grinding, and needle-down, without the need for frequent transfer between multiple sets of equipment, simplifies the operation process, shortens the processing cycle, and improves production efficiency.

The invention relates to the technical field of flange machining and discloses flange machining welding equipment which comprises a base, the outer side wall of the base is rotationally sleeved with a ring body, a support is arranged on one side of the ring body, a mechanical arm is installed on the upper portion of the support, a welding mechanism is arranged at one end of the mechanical arm, and a longitudinal positioning mechanism is arranged on the upper portion of the base. A transverse positioning mechanism is arranged in the base, the longitudinal positioning mechanism comprises a limiting cylinder arranged in the center of the upper portion of the base, a rotary knob is inserted into the upper end of the limiting cylinder in a longitudinally rotating and sliding mode, and the lower end of the rotary knob is located in the limiting cylinder and connected with a first screw rod; and the lower end of the first screw rod longitudinally rotates, slidably penetrates through the upper part of the base and is internally connected with a clamping gear. The flange machining and welding equipment can replace manual work to achieve automatic welding work, and before welding, steel pipes and flange plates of different sizes can be positioned by arranging the longitudinal positioning mechanism and the transverse positioning mechanism, so that the welding stability is guaranteed.

The invention discloses a polishing device and polishing equipment, the polishing device comprises a polishing mechanism and an angle adjusting mechanism, a driver of the polishing mechanism is mounted on a mounting part, and a transmission shaft is connected with the driver and can be driven by the driver to rotate around the axis of the transmission shaft; the angle adjusting mechanism comprises a universal joint and an elastic reset assembly, the universal joint is connected between the polishing component and the transmission shaft, and the polishing component is provided with a first position where the included angle between the polishing component and the transmission shaft is larger than zero degree and a second position where the included angle between the polishing component and the transmission shaft is equal to zero degree. The polishing component drives the elastic reset assembly to deform from the first state to the second state in the process of rotating from the second position to the first position, and the elastic reset assembly drives the polishing component to return to the second position in the process of recovering from the second state to the first state. The problems that the swing angle of the polishing head of the polishing machine is complex to adjust, and the workload of programmers is large are solved.

The invention discloses a polishing device for automobile part machining, and relates to the technical field of automobile part machining equipment, the polishing device comprises a workbench mechanism and a mechanical control mechanism, and the mechanical control mechanism comprises a base, a controller and a mechanical arm. According to the grinding device, when the grinding head needs to be replaced, a connecting rod of the replaced grinding head is fixedly connected with a power shaft in an inserted mode, after a plurality of inserting holes of a rotating ring are aligned with a plurality of inserting rods, a micro motor drives a driving gear to rotate, the inserting rods are inserted into the inserting holes, the rotating ring is connected, and replacement and installation of the grinding head are completed; a proper polishing head can be conveniently and rapidly replaced when different parts or different parts are polished, the overall polishing efficiency of the device is improved, pressure and distance information between the polishing head and the surfaces of the parts is detected in real time through a pressure sensor and a distance sensor, and a control system of a controller controls the polishing head according to the information. And the posture of the mechanical arm and the position of the grinding head are accurately adjusted, and self-adaptive high-precision grinding is achieved.

The invention discloses a steel strand wiredrawing and derusting device, and relates to the technical field of derusting, the derusting device comprises a rack, a guide mechanism, a control system, a detection mechanism and a polishing mechanism, the guide mechanism is rotatably connected with the rack, the guide mechanism is used for guiding a workpiece, the control system is fixedly connected with the rack, and the detection mechanism is used for detecting the workpiece. The control system is used for controlling actions of the detecting mechanism and the polishing mechanism, the detecting mechanism and the polishing mechanism are sequentially arranged in the conveying direction of workpieces, the detecting mechanism is fixedly connected with the rack, the polishing mechanism is fixedly connected with the rack, and the polishing mechanism is used for removing rust on the surfaces of the workpieces. The workpiece sequentially passes through the detection mechanism and the polishing mechanism, the detection mechanism can detect the position of rust on the surface of the workpiece, then the control system controls the polishing mechanism to conduct accurate polishing treatment on the rust, and therefore the rust treatment efficiency is improved.

The invention discloses a polishing device for bearing ring machining, and relates to the technical field of bearing machining, the polishing device comprises a supporting rack, the supporting rack comprises a base, supporting columns and a circular table plate, and the upper side edge of the base is connected with the lower side edge of the circular table plate through a plurality of supporting columns arranged in an annular array; the planetary moving mechanism comprises a vertical cylinder, a planetary rotating cylinder and a planetary power assembly, an inner gear ring is arranged above the circular table plate, and the left side and the right side of the inner gear ring are connected with the left side and the right side of the circular table plate through two supporting bent frames correspondingly; according to the grinding device for bearing ring machining, the grinding efficiency of an annular groove of a bearing outer ring is high, the grinding accuracy of the annular groove of the bearing outer ring is high, air can be continuously blown towards a grinding wheel in the grinding process, cooling of the grinding wheel is facilitated, and chippings attached to the grinding wheel can be blown away in time.

The invention belongs to the field of automobile hubs, and particularly relates to an automatic automobile hub grinding system which comprises a grinding platform, a telescopic column is arranged above the grinding platform, a supporting block is arranged at the output end of the telescopic column, a first motor is arranged on the supporting block, and a rotating disc is arranged at the output end of the first motor; a fixing mechanism is arranged on the rotating disc, and the fixing mechanism is used for clamping and positioning a hub; a shaking mechanism is arranged on the grinding platform and used for shaking off chippings on the hub. By arranging the fixing mechanism, automatic grinding treatment on the peripheral side wall of the hub is achieved, the working efficiency is higher, meanwhile, the fixing effect on the hub is better, the hub is not prone to shaking in the grinding process, and the grinding quality of the hub is improved; and through the arrangement of the shaking mechanism, chippings attached to the hub are shaken off in time, the chippings are prevented from adhering to the hub, and salient points are prevented from appearing in the subsequent paint spraying process.

The utility model provides quartz boat surface grinding and polishing equipment, which relates to the technical field of grinding and polishing and comprises a grinding and polishing component, a mounting component is arranged at the top of the grinding and polishing component, a dust collection component is arranged at one end of the grinding and polishing component, and the grinding and polishing component comprises a grinding and polishing box. The mounting assembly comprises a grinding motor, and a hydraulic lifting column is mounted at the top of the grinding motor. The pull rod is pulled outwards, so that the spring is stressed and compressed, then the mounting sleeve is arranged on the outer side of the rotating shaft in a sleeving mode, the mounting strip is promoted to be installed in the limiting groove in a sliding mode, the grinding and polishing head is conveniently installed, then the pull rod is loosened, and the spring drives one end of the pull rod to be installed in the rotating shaft through the elasticity of the spring; and limiting is facilitated, operation is convenient and rapid, the grinding and polishing head can be conveniently maintained and replaced at any time, operation convenience is improved, the equipment downtime is shortened, and working efficiency is improved.

The invention relates to the technical field of stone cutting, and provides a diamond wire detection-based wire cutting system and a cutting method.The image acquisition module and the wire diameter detection module are arranged to obtain image information and the wire diameter of a diamond wire respectively, so that the actual abrasion loss of the diamond wire is obtained; the expected value of abrasion consumption in a cutting period is obtained in advance according to the take-up and pay-off length and the lifting speed of the workbench, and the abrasion loss condition of the diamond wire can be judged in time by comparing the actual abrasion value with the expected value, so that the take-up length and the speed of the workbench are adjusted in time to meet the cutting requirement; therefore, the abrasion rate of the diamond wire can be effectively controlled, wire breakage is prevented, and meanwhile the purposes of saving cost and improving stone cutting efficiency can be achieved.

The invention relates to the field of intelligent manufacturing, and discloses a high-quality grinding and polishing trajectory planning method for a blade remanufacturing robot, which comprises the following steps of: determining a multi-layer grinding and polishing trajectory plane on a grid curved surface of a remanufactured blade; determining a sequential intersection point between each layer of track plane and the grid curved surface triangular patch; fitting the sequential intersection points of each layer into target curve paths, and dispersing each target curve path according to an equal arc length interpolation method to obtain cutter contacts; determining a double-cutter-axis vector of each cutter contact; generating a sampling point and determining a material removal function of the sampling point; a material removal function is combined with a tool path according to convolution operation, and the residence time of each layer of tool contacts in the repair area is determined through a truncated singular value decomposition method; and the grinding and polishing track of the robot is determined according to the space coordinate information of the cutter location point corresponding to the cutter contact point, the double-cutter-axis vector and the residence time. The influence of large deformation of a molded surface and non-uniform allowance distribution of a repair area on the grinding and polishing effect is considered, and layered point-by-point precise grinding and polishing machining of the remanufactured blade is achieved.

The invention relates to the technical field of building template repairing equipment, in particular to a building template surface building repairing device, and provides a building template surface building repairing device aiming at solving the problems that existing building template repairing equipment does not have an automatic discharging function, and materials can only be manually taken and loaded to a designated vehicle. Comprising a first conveying table, a second conveying table and a repairing box, and two polishing rollers capable of rotating are arranged on the inner wall of the repairing box; a material blocking table and a side plate are arranged at the right end of the second conveying table, a driving rod is arranged on the side plate, a four-claw frame is further arranged on the side plate, a U-shaped groove is formed in the side plate, a loading vehicle is arranged at the right end of the material blocking table, and when the driving rod rotates, the structure that the four-claw frame moves along the U-shaped groove to enable the building formworks on the material blocking table to be carried to the loading vehicle can be formed. When the four-claw frame moves along the U-shaped groove, a structure that the four-claw frame vibrates and moves up and down after being turned over can be formed; and after being polished, the building template can be automatically unloaded to a designated position for loading, manual operation is replaced, and the working risk is reduced.

The invention relates to the technical field of grinding machines, in particular to a coreless grinding machine for machining a small cylinder sleeve, which comprises a grinding machine base, a grinding wheel and a guide wheel, the grinding wheel and the guide wheel are both arranged on the grinding machine base, a workpiece supporting plate is arranged between the grinding wheel and the guide wheel, and a return lifting shaft is arranged above the workpiece supporting plate between the grinding wheel and the guide wheel. The return lifting shaft is parallel to the axis of the grinding wheel, and a mounting hidden groove is formed in the return lifting shaft; after the air cylinder sleeve moves to the position of the cylinder sleeve position sensor through grinding machining, the return lifting shaft is used for controlling the air cylinder sleeve to be lifted, the air cylinder sleeve automatically slides and returns to the side where a worker is located, and occupation of the worker for receiving the machined air cylinder sleeve on the other side is reduced.

The invention relates to the technical field of metal casting polishing devices, in particular to progressive metal casting segmented polishing equipment which comprises a polishing table, a clamping assembly used for clamping a metal casting is arranged at the top of the polishing table, and a supporting frame is further arranged at the top of the polishing table. A grinding assembly used for conducting all-dimensional grinding on the metal casting is arranged at the bottom of the supporting frame, a dust suction pump is matched with a dust suction pipe and a suction nozzle to work so that dust and metal dust can be guided into a separation frame, and magnetic metal dust contained in the metal dust can be attracted to a cylindrical magnet; the non-magnetic metal dust and dust fall on the filter screen, then the filter screen is continuously extruded by the extrusion block, and the filter screen is always in a vibration state under the action of the spring telescopic rod, so that the non-magnetic metal dust on the filter screen is screened out; and finally, the water drops into a second collecting frame through filter holes in a filter screen.

The utility model discloses a grinding device for machining a special-shaped brake pad, and relates to the technical field of grinding equipment, in particular to the grinding device for machining the special-shaped brake pad, which comprises a grinding table, a first motor for controlling the grinding device to move, and a first cylinder positioned at the top of the first motor, a connecting piece is fixed to the top of the first air cylinder through a movable rod, a second air cylinder is installed on the left side of the connecting piece, a second motor is fixed to the left side of the second air cylinder through a movable rod, and an output shaft of the second motor is connected with a grinding disc. According to the grinding device for machining the special-shaped brake pad, chippings generated during grinding of the grinding disc are gathered through the splash-proof cover, the chippings are recycled into the recycling groove through the groove of the grinding table, cooling liquid can also gather the chippings, in addition, the reverse suction phenomenon occurs on the surface of the grinding table through rotation of the draught fan, the chippings can be sucked into the recycling groove, and the chippings can be recycled. Through the treatment, the chippings can be better recycled, and use of the grinding machine is not affected.

The invention discloses multi-axis linkage self-adaptive clamping casting polishing equipment of a numerical control machine tool and a control method, and solves the problem that self-adaptive clamping of a casting according to the shape of the casting is inconvenient, the multi-axis linkage self-adaptive clamping casting polishing equipment comprises a workbench and a polishing machine, a top frame is installed above the workbench, and the polishing machine is installed below the top frame; a casting fixing mechanism is arranged on the upper surface of the workbench and comprises a transverse table, a base is arranged below the transverse table, air cylinders are installed at the top end of the base at equal angles, the output ends of the air cylinders are fixedly connected with the bottom wall of the transverse table, a rotating limiting ring frame is installed on the inner side of the transverse table, and a rotating ball is arranged on the inner side of the rotating limiting ring frame. The rotating ball body is limited on the inner side of the rotating limiting ring frame; according to the casting polishing device, the rotating ball body is installed on the inner side of the rotating limiting ring frame, the rotating ball body can horizontally rotate in the rotating limiting ring frame and can also longitudinally rotate, and the polishing position of a casting can be conveniently adjusted.

The utility model discloses a connecting bolt polishing device, and belongs to the technical field of bolt polishing. The device mainly comprises a workbench; the polishing assembly comprises a supporting frame, the supporting frame is installed on the workbench, and a second hydraulic pump is installed on the supporting frame; the polishing box is mounted at the output end of the second hydraulic pump; the fixing assembly is provided with a telescopic rod used for fixing the connecting bolt and a fixing column used for clamping the connecting bolt; the collecting assembly comprises a collecting box, and the collecting box is placed on the workbench; the sealing cover is mounted on the collecting box; a water tank is mounted on the bracket, and a spray head is mounted on the water tank. According to the connecting bolt polishing device, through the arrangement of the collecting box, the sliding groove, the filter screen, the sealing cover, the perspective window, the sliding plate, the support, the water tank and the spray head, dust attached to the surface of a connecting bolt can be scoured, and the situation that the dust splashes everywhere to affect the environment and harm the body of a worker is avoided.

The invention relates to the technical field of stainless steel pipe machining, in particular to stainless steel pipe inner wall polishing equipment which comprises a base table, a clamping assembly and a polishing assembly. The polishing assembly comprises a supporting plate arranged on the base table in a sliding mode, a first motor fixedly arranged on the supporting plate, a polishing wheel coaxially fixed to an output shaft of the first motor and a power piece driving the supporting plate to slide. The clamping assembly comprises a clamping wheel located above the base table and a third driving piece used for driving the clamping wheel to move up and down. A first supporting wheel and a second supporting wheel which are located below the clamping wheel are arranged on the base table, a support is arranged on the side face of the base table, a feeding sliding way inclining downwards in the direction close to the base table is fixedly arranged on the support, and a first baffle and a second baffle are arranged above the feeding sliding way side by side. A first power source and a second power source for respectively driving the first baffle and the second baffle to move up and down are fixedly arranged on the bracket; and automatic feeding of the stainless steel pipes is achieved, and the polishing equipment meets the large-batch production requirement.

The invention relates to the technical field of welding devices, in particular to an aluminum alloy door and window welding machine which comprises a mounting support, an air cylinder is mounted at the upper end of the mounting support, an output shaft of the air cylinder penetrates through the mounting support, and a welding mechanism is mounted on the output shaft of the air cylinder and comprises a first mounting plate fixedly connected with the output shaft of the air cylinder. An exhaust mechanism is mounted on the other side of the first mounting plate, four sets of first electric telescopic rods are mounted on the inner side of the mounting support, clamping mechanisms are mounted on output shafts of the first electric telescopic rods, and welding seams between arc-shaped window frames can be welded through mutual cooperation of second electric telescopic rods and first welding heads; and welding can be conducted on inner side welding seams of the assembling grooves, welding is more comprehensive, connection between the arc-shaped window frames is more stable, through mutual cooperation of a fourth gear and a third electric telescopic rod, comprehensive cleaning is conducted on the peripheries of the welding seams, cracks and bubbles during welding are avoided, and the welding seams are firmer.

The invention relates to a real-time compensation method and system for friction force and dynamic force in a force control servo system. The method comprises the steps of obtaining an initial control voltage of the proportional valve; establishing a kinetic model of the pneumatic servo force control device; according to the displacement information of the motion structure unit and the dynamic model, dynamic force is obtained, and compensation force of the dynamic force is obtained based on the dynamic force; establishing a relation model between the non-linear friction force and the polishing contact force, and between the cylinder output acting force and the dynamic force; based on the relation model, the compensation force of the nonlinear friction force is obtained; obtaining a proportional pressure regulating valve compensation voltage, and obtaining a proportional valve control voltage based on the proportional pressure regulating valve compensation voltage and the proportional valve initial control voltage; and a proportional valve voltage conversion air pressure coefficient of the proportional pressure regulating valve is obtained, and the output acting force after air cylinder compensation is obtained based on the proportional pressure regulating valve control voltage, the proportional valve voltage conversion air pressure coefficient and the air cylinder sectional area of the bidirectional air cylinder. The non-linear friction force and the dynamic force can be compensated in real time.

A dual mounted end-effector system mounted on a motive robot arm for preparing an object surface is described. The system includes a first tool configured to contact and prepare the object surface and a second tool configured to contact and prepare the object surface. The system also includes a force control. The force control is configured to align, in a first state, with the first tool in position to contact and prepare the object surface and, in a second state, with the second tool in a position to contact and prepare the object surface.

The invention belongs to the technical field of wind power tower maintenance, and discloses a climbing anti-corrosion spraying robot based on a wind power tower. Comprising an annular plate and spraying equipment arranged on the annular plate, and a plurality of connecting plates are fixedly connected to the annular plate. By arranging the scraping assembly, the steel wire brush makes contact with the to-be-sprayed position, the steel wire brush conducts scraping back and forth at the to-be-sprayed position, the steel wire brush can conduct scraping cleaning on the to-be-sprayed position and scrape dirt away, by arranging the coating assembly, one rotating roller makes contact with the to-be-sprayed position, the rotating rollers roll back and forth at the to-be-sprayed position, and the to-be-sprayed position is coated with the to-be-sprayed position. The rotating roller can coat the to-be-sprayed position with the rust remover, by arranging the washing and wiping assembly, after the rust remover is coated for a certain time, a water pump is started to spray water to the to-be-sprayed position from a spray head, the rust remover and rust are washed away, then the sponge roller makes contact with the washing position, the sponge roller rolls back and forth, and the to-be-sprayed position is wiped dry.

The invention belongs to the technical field of liquid metal coating and infiltration in grinding machining, and particularly relates to a temperature-control ultrasonic composite liquid gallium auxiliary grinding device and method for a micro engine blade, and the device comprises a fluid conveying module, a temperature adjusting module, a machining module, an ultrasonic vibration module and an electromagnetic field generator. Temperature control of liquid gallium is achieved by arranging a microwave cavity and a cooling system, stable supply is guaranteed through inert gas and a liquid gallium conveying pipeline, and uniform coating and ultrasonic vibration infiltration on the surface of the blade of the micro engine are achieved by combining an ultrasonic transduction assembly and a spraying nozzle. The electromagnetic field generator further enhances the adhesion and lubrication effects of the liquid gallium on the grinding wheel and the blades. The defects of insufficient grinding temperature control and lubrication of a traditional grinding wheel are overcome, the grinding temperature rise and the friction coefficient are effectively reduced, thermal damage and surface deformation are avoided, and the machining precision and the surface quality of complex curved surfaces and tenon tooth parts are improved.