Flexible polishing constant-force control device driven by double actuators

Abstract

A flexible polishing constant-force control device driven by double actuators comprises a base plate. A main adjusting mechanism and a fine adjusting mechanism are installed in the middle of the base plate. Linear guide rails are arranged on the two sides of the main adjusting mechanism and the fine adjusting mechanism. The linear guide rails are provided with sliding blocks. The front ends of piston rods of the main adjusting mechanism and the fine adjusting mechanism are both connected with joint bearings. Force sensors are arranged between the piston rods and the joint bearings. The joint bearings are connected with connecting racks. The flexible polishing constant-force control device driven by the double actuators is installed at the tail end of an industrial robot, and an automatic-cutter-change electric spindle on the industrial robot is connected with the flexible polishing constant-force control device driven by the double actuators through a clamping device. The automatic-cutter-change electric spindle clamps a polishing head to polish a workpiece. The main adjusting mechanism and the fine adjusting mechanism rapidly respond. The force sensors monitor the polishing force in real time, control over the polishing force is accurately guaranteed through a closed-loop system, and constant-force control is achieved. According to the flexible polishing constant-force control device driven by the double actuators, a wide force adjusting range can be obtained through the main adjusting mechanism, fine adjustment is conducted through the fine adjusting mechanism, the control precision is high, response is rapid, smooth polishing is achieved, and the polishing quality is improved.

Description

technical field [0001] The invention relates to a flexible grinding control device driven by double actuators for industrial robots, belonging to the technical field of grinding tools. Background technique [0002] With the continuous development of manufacturing technology, industrial robots, with their high flexibility and adaptability, gradually replace traditional machine tools for machining, such as grinding. Due to the accumulation of errors in the previous process, the size of the parts to be polished is often unstable, and burrs are randomly generated on the edges, making the actual contour of the part inconsistent with the digital model; there may also be gaps between the contours of the same batch of parts. big difference. In addition, the clamping error during the grinding process and the precision of the industrial robot itself cannot be ignored. To sum up, there are many uncertain factors in the grinding process of parts, resulting in the inconsistency between...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims at the problems of poor force control ability, slow response and insufficient adjustment precision existing in the existing flexible grinding technology, and provides a flexible grinding constant force control driven by double actuators that can achieve high precision, high reliability and fast response device

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