Three-degree-of-freedom adaptive flexible grinding and polishing device and robot for large complex curved surfaces

Abstract

The invention discloses a three-degree-of-freedom self-adaptive flexible grinding and polishing device for a large complex curved surface and a robot thereof, and belongs to the field of intelligent processing equipment for curved surface workpieces. The device comprises a controller, a linear motion mechanism, a rotary adjusting mechanism and a pitching adjusting mechanism, wherein the linear motion mechanism, the rotary adjusting mechanism and the pitching adjusting mechanism are sequentially arranged from top to bottom; the linear motion mechanism is used for driving other mechanisms to doup-and-down linear motion; the rotary adjusting mechanism is used for driving other mechanisms to do rotary motion; a rotary shaft of the rotary adjusting mechanism is parallel to the linear motion direction and coincides with the center of the lower surface of a grinding disc; the pitching adjusting mechanism is used for driving a grinding and polishing mechanism to rotate; a rotating shaft of the pitching adjusting mechanism is perpendicular to the linear motion direction and coincides with the center of the lower surface of the grinding disc; and the controller is respectively connected with the four mechanisms and is used for controlling the other mechanisms to move according to the measurement result of a six-dimensional force sensor so as to adjust the polishing force and the postureof the grinding and polishing mechanism in real time. The polishing robot is available by mounting equipment at the tail end of a robot. The equipment has the advantages of high grinding and polishing precision, long service life and the like.

Description

technical field [0001] The invention belongs to the field of intelligent processing equipment for curved surface workpieces, and more specifically relates to a three-degree-of-freedom self-adaptive flexible grinding and polishing device and a robot for large complex curved surfaces. Background technique [0002] Large complex surface components such as wind turbine blades and propellers have the characteristics of large size, free-form surface, and weak rigidity. The shape and position accuracy and surface roughness of the surface directly affect the working efficiency and life of the components. Grinding and polishing treatment. At present, there are mainly manual grinding and polishing, machine tool grinding and polishing, and robot grinding and polishing. Among them, manual grinding and polishing has high technical requirements for workers, low efficiency, and cannot guarantee product quality and consistency, and seriously affects people's physical and mental health; mach...

AI Technical Summary

Problems solved by technology

At present, there are some existing technologies, such as CN108581745A disclosed a three-degree-of-freedom curved surface adaptive intelligent force-controlled flexible grinding and polishing end effector, which can realize flexible grinding and polishing, but the device has the following problems in practical applications: first , the two-dimensional attitude adjustment component of the device is set at the upper end of the whole device, and the linear servo force control component is set at the lower end of the whole device. When the servo force control component drives the grinding disc to move linearly, it will change the position of the center of the grinding disc relative to the two-dimensional attitude adjustment component, which will cause the center of the arc rack in the two-dimensional attitude adjustment component to not necessarily coincide with the center of the grinding disc, and then It affects the grinding and polishing accuracy; secondly, the rotation adjustment mechanism in the two-dimensional attitude adjustment assembly is mainly realized by the inner ring gear, and the tilt adjustment mechanism is mainly realized by the arc rack. In the actual application process, it is found that the adjustment reliability and stability of this structure Thirdly, the executive parts and linear servo force control components in the tilt adjustment mechanism are suspended on the arc rack, so that the arc rack will bear a large moment. After practical application, it is found that its service life is short and the gear The rack is often scrapped, and the arc rack is erected on the inner ring gear. In order to ensure the adjustment angle of the tilt adjustment mechanism, there are more requirements on the size of the inner ring gear.

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