An anti-overload intelligent force-controlled grinding and polishing device and grinding and polishing robot

Abstract

The invention belongs to the field of relevant techniques of control of grinding and polishing contact force and discloses an intelligent grinding and polishing device capable of preventing overload and controlling force and a grinding and polishing robot. The grinding and polishing device comprises a two-freedom-degree servo moving platform, limiting plates, a force position decoupling mechanism,spring pre-tightening mechanisms, force sensors and a grinding head assembly, wherein the force position decoupling mechanism is arranged on the two-freedom-degree servo moving platform and is used for decomposing motion and grinding and polishing force of the grinding head assembly onto an X-axis direction and a Y-axis direction; the limiting plates are arranged on the two-freedom-degree servo moving platform and are used for limiting the spring pre-tightening mechanisms; the grinding head assembly is arranged on the force position decoupling mechanism; the force sensors are arranged on thetwo-freedom-degree servo moving platform and are connected to the spring pre-tightening mechanisms; the spring pre-tightening mechanisms are limited with the limiting plates and are used for achievingoverload prevention of the force sensors. The grinding and polishing device is capable of achieving overload prevention, and is relatively high in flexibility and relatively high in applicability.

Description

technical field [0001] The invention belongs to the related technical field of grinding and polishing contact force control, and more specifically relates to an overload-proof intelligent force-controlled grinding and polishing device and a grinding and polishing robot. Background technique [0002] With the development of science and technology, complex surfaces are widely used in aerospace, automobile, ship and other fields. These surfaces cannot be composed of elementary analytical surfaces, and it is difficult to obtain accurate analytical solutions for free complex surfaces. Therefore, the finishing of complex surfaces is a manufacturing problem that needs to be solved urgently. [0003] At present, the surface finishing of free-form surfaces mainly includes CNC polishing technology and manual grinding. Among them, CNC polishing technology has the disadvantages of expensive CNC machine tools and low processing efficiency, while manual polishing is labor-intensive and l...

AI Technical Summary

Problems solved by technology

Among them, CNC polishing technology has the disadvantages of expensive CNC machine tools and low processing efficiency, while manual polishing is labor-intensive and low processing efficiency. At the same time, the accuracy of workpieces is greatly affected by workers' technical proficiency, experience and emotions, and it is difficult to guarantee product consistency. , the metal dust and noise generated by grinding and polishing endanger the health of workers

In addition, the robot system is also used in grinding and polishing due to its own advantages. The force sensor is usually used as the force measuring component in the end effector, but the force sensor is easily damaged due to overload. At the same time, the metal generated during the grinding and polishing process Powder is easy to affect the performance and service life of parts

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