End effector for grinding polyurethane heat-insulating layer on surface of temperature storage box of rocket

Abstract

The invention provides an end effector for grinding a polyurethane heat-insulating layer on the surface of a temperature storage box of a rocket. The end effector comprises a tool quick-changing device, an active self-adaptive flange, a mounting plate, a first pneumatic grinding device, a second pneumatic grinding device, a third pneumatic grinding device, a linear laser sensor and an eddy currentsensor; the tool quick-changing device is connected with the end of an industrial robot through a standard flange; the upper end of the active self-adaptive flange is coaxially and fixedly connectedwith the tool quick-changing device; the lower end of the active self-adaptive flange is fixedly connected with the mounting plate; the first pneumatic grinding device and the third pneumatic grindingdevice are in shaft connection with the mounting plate through tool mounting shafts; the second pneumatic grinding device is fixedly connected with the mounting plate; and the linear laser sensor andthe eddy current sensor are fixedly connected with the mounting plate. According to the end effector, the heat-insulating layer surface of the temperature storage box of the rocket can be ground by three tools simultaneously, and meanwhile, the positions and the angles of the grinding tools are adjusted by the aid of the end effector.

Description

technical field [0001] The invention relates to an end effector for grinding, in particular to an end effector for polishing the polyurethane heat insulation layer on the surface of a rocket temperature storage box. Background technique [0002] With the continuous development of industrial robot technology, robot technology is more and more widely used in the field of aviation manufacturing industry. However, compared with traditional machining manufacturing industry, the size and weight of aviation products are larger, and their structural characteristics Complex, the material also has certain special requirements, and higher requirements are put forward for the precision of processing. Due to the low utilization efficiency of general-purpose robots, the degree of automation is not enough to meet daily production needs. Therefore, the demand for highly intelligent and specialized robots in the field of aerospace manufacturing will increase. Grinding is an important proces...

AI Technical Summary

Problems solved by technology

At present, these grinding processes are mainly completed by manual hand-held grinding equipment, and this semi-automatic method has the disadvantages of great harm, low efficiency, excessive labor intensity and extremely unstable quality.

The use of industrial robots to grind the thermal insulation layer of storage tanks is another processing method currently used by enterprises. The application of industrial robots solves certain grinding quality and efficiency problems. However, for storage tanks with frequent changes in structural shape and materials, due to industrial The end effector of the robot has no reconfiguration flexibility, so it cannot achieve high quality and high efficiency. Therefore, it is necessary to develop a flexible and intelligent grinding end effector for different working conditions to overcome the limitations of general industrial robots in the application. disadvantages

[0004] During the grinding process of the thermal insulation layer of the rocket storage tank, there are generally the following problems: a. High labor costs, China's demographic dividend is gradually disappearing, prices are rising, and the labor cost per person is rising sharply. Under the premise of the same number of labor, The grinding process needs to invest more and more labor costs; b. The processing efficiency is low, and the low efficiency is not only reflected in the total time consumed by manual grinding, but also in the shortened construction period brought about by rapid technological upgrading; c. The quality is unstable. The accuracy of manual grinding mainly depends on the experience of the employees, which cannot be quantified and has great uncertainty; d. The human body is harmful, and a large amount of gas will be generated during the grinding process of the thermal insulation layer Dust, inhaling a large amount of composite material dust has great potential harm to the function of the human body; e, the low specificity of general robots leads to a small application range and low utilization rate of each industrial robot; general robots are grinding complex surfaces The grinding efficiency is low during processing, and its end effector lacks structural flexibility in reconstruction, so that each industrial robot can only be applied to a specific incubator

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