A three-degree-of-freedom surface adaptive intelligent force-controlled flexible grinding and polishing end effector

Abstract

The invention discloses a three-degree-of-freedom curved surface self-adaption intelligent force-controlled flexible grinding and polishing end executive device. The three-degree-of-freedom curved surface self-adaption intelligent force-controlled flexible grinding and polishing end executive device comprises a two-dimensional attitude adjusting assembly, a linear servo force-controlled assembly,a grinding and polishing assembly and a controller. The linear servo force-controlled assembly realizes real-time control and feedback of grinding contact force by closed-loop control of contact forceto ensure constant contact force machining. The two-dimensional attitude adjusting assembly realizes the real-time adjustment of the grinding disc attitude by closed-loop control, so that the grinding surface always coincides with the local tangent plane of the curved surface to realize the curved surface self-adaption, the problems of uneven grinding, over-grinding and the like are effectively prevented, and the robot self-adaption flexible grinding and polishing machining is achieved. According to the three-degree-of-freedom curved surface self-adaption intelligent force-controlled flexiblegrinding and polishing end executive device, the grinding disc always do centering movement when the attitude is adjusted, so that unnecessary displacement can not be produced when the grinding discadapts to the change of the curved surface, repeated grinding and polishing on the polished area is effectively prevented, the uniformity and consistency required by the grinding and polishing processare ensured, and the three-degree-of-freedom curved surface self-adaption intelligent force-controlled flexible grinding and polishing end executive device is suitable for the self-adaption high-precision grinding and polishing of large free curved surface parts, especially large wind turbine blades.

Description

technical field [0001] The invention belongs to the field of intelligent processing and manufacturing of curved surface workpieces, in particular to the field of large curved surface adaptive force control grinding and polishing in industrial robot applications, and more specifically relates to a three-degree-of-freedom curved surface adaptive intelligent force control flexible grinding and polishing end effector . Background technique [0002] As a kind of clean renewable energy, wind energy is inexhaustible and inexhaustible. Therefore, the demand for wind energy is increasing day by day. Countries all over the world are scrambling to develop wind power generation technology. Large-scale wind power blades are the key components for wind turbines to convert wind energy. As the global wind power market shifts to low wind speeds and wind energy development in offshore wind farms, the demand for large wind power blades is increasing year by year. The surface of large-scale wi...

AI Technical Summary

Problems solved by technology

Passive compliance mainly obtains the required compliance by adjusting the stiffness of the spring, such as the remote center compliance passive mechanical device designed by the MIT Draper Experimental Center in the United States, but due to the slow response speed of the spring, the device has uncontrollable precision and is prone to overgrinding uneven throw problem

Active compliance The pneumatic variable force device ACF produced by a company in Austria can better achieve the contact force between the tool end and the workpiece. However, the gas variable force device will cause nonlinear problems due to the characteristics of gas compression, which is also easy to cause grinding and polishing. uneven

The patent application number is 201610580987, "a series-parallel robot process platform for curved surface-like space-compliant grinding", which can adjust the grinding contact force and adjust the end posture, but the position of the grinding head will change during the grinding process, which will easily lead to repeated grinding and polishing

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