Active compliance end effector for controllable-pitch propeller robot grindingand control method of active compliance end effector

Abstract

The invention discloses an active compliance end effector for controllable-pitch propeller robotgrinding and a control method. The active compliance end effector comprises a grinding tool, a BT30 knife handle, a grinding electric spindle, brackets for fixing the grinding electric spindle, a force sensor for detecting a normal grinding force, a support for mounting the force sensor, a displacement sensor for detecting deviation of an end position, a support for fixing the displacement sensor, a ball screw for providing axial movement degree of freedom and transmitting torque, a bearing block for supporting and fixing the ball screw, a ball screw nut, a ball screw nut support, an alternating-current servo motor, a flange support, a coupler, linear guide tracks, sliders, a bottom supporting plate and a control system, wherein the servo motor is connected with the ball screw through the flange support and the coupler; and the control system is used for driving the servo motor. The active compliance end effector has the advantages of simple structure, convenience in assembly, high control precision and high response speed; and meanwhile, the grinding tool can be changed automatically.

Description

technical field [0001] The invention belongs to the electromechanical field, and more specifically relates to an active compliance end effector and a control method thereof for an adjustable-pitch propeller robot grinding system. Background technique [0002] With the rapid development of microelectronics technology, sensor technology, control technology and mechanical manufacturing process level, the application field of robots has gradually expanded from the field of handling and welding to the field of grinding and polishing. Among various types of robotic arms, the articulated robotic arm that simulates the human arm has the advantages of compact structure, small space occupation, and large movement space, and is one of the most widely used robotic arms. [0003] Adjustable pitch propeller blades are large in size and twisted, and adopt customized production methods. The current processing technology is mainly manual grinding and polishing after finishing machining by CN...

AI Technical Summary

Problems solved by technology

However, due to the limited precision of manual control, the machining quality of the blade curved surface is poor in consistency, and there are problems such as low processing efficiency, high labor intensity, and harsh environment.

[0004] When using multi-degree-of-freedom articulated manipulators instead of operators to grind and polish complex free-form surfaces, due to factors such as the robot's own nonlinearity, strong coupling, end stiffness changes with pose, and repeat positioning accuracy, it is difficult to meet the requirements of high-precision machining. , and external interference factors such as workpiece position error and stiffness error, it is difficult for the robot control system to meet high position accuracy and contact force accuracy at the same time

At the same time, there is an impact process during the contact between the end tool of the robot and the surface of the workpiece. The frequency of the robot body is low, and the response speed of the control system is slow.

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