Full-digital rigid-flexible coupling precise force controlled grinding and polishing device and control method

Abstract

The invention belongs to the field of grinding and polishing force control, and discloses a full-digital rigid-flexible coupling precise force controlled grinding and polishing device. The grinding and polishing device comprises a speed-variable flexible grinding and polishing mechanism, a one-dimensional linear module force control servo motion platform and a connecting device used for connectingthe speed-variable flexible grinding and polishing mechanism with the one-dimensional linear module force control servo motion platform. The one-dimensional linear module force control servo motion platform comprises a linear servo module motor, a ball screw, a linear module sliding block, a linear module base, and a controller. The invention further discloses a control method of the device. According to the full-digital rigid-flexible coupling precise force controlled grinding and polishing device, a one-dimensional force sensor collects a contact force signal of the speed-variable flexiblegrinding and polishing mechanism and a to-be-ground and polished workpiece and controls the servo motor to accurately move by the controller, so that the contact state between the speed-variable flexible grinding and polishing mechanism and the to-be-ground and polished workpiece is changed in real time, and the speed-variable flexible grinding and polishing mechanism and the to-be-ground and polished workpiece are maintained to be in flexible contact with self-adaptive variable force.

Description

Technical field [0001] The invention belongs to the technical field of grinding and polishing contact force control, and more specifically, relates to an all-digital rigid-flexible coupling precise force control grinding and polishing device and a control method. Background technique [0002] With the continuous development of science and technology, the application of complex free-form surfaces in the aerospace field has become more and more extensive. These complex surfaces cannot be simply composed of elementary analytical surfaces, that is, it is difficult to obtain accurate analytical solutions for free complex surfaces, and due to the characteristics of easy deformation of aviation engine blades, intelligent grinding and polishing mechanisms often require precise force control and a certain degree of flexibility. In addition, due to the limited motion accuracy of the industrial robot, coupled with the clamping error of the workpiece to be processed, the actual surface accur...

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Problems solved by technology

[0005] Aiming at the above defects or improvement needs of the prior art, the present invention provides a fully digital rigid-flexible coupling precision force-controlled grinding and polishing device and control method, the purpose of which is to adjust the grinding and polishing in situ in real time by designing a one-dimensional intelligent grinding and polishing mechanism In order to improve the grinding precision and achieve flexible grinding, prevent over-grinding and uneven grinding and polishing. Through the setting of the self-adaptive abrasive belt grinding and polishing mechanism, different grinding and polishing methods are used for different regions of the blade to improve the grinding and polishing accuracy. At the same time, through the setting of the controller, the closed-loop control of variable force grinding is realized, thereby solving the technical problems of low grinding and polishing precision and difficult control of grinding force

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