A surface-compliant three-degree-of-freedom telecentric fixed-point flexible force-controlled grinding and polishing actuator
A technology with a degree of freedom and flexible force, which is applied in the direction of grinding/polishing equipment, control of workpiece feed movement, grinding/polishing safety devices, etc., and can solve the problems of lack of accurate models of processing objects, non-coincidence of normal directions, and poor consistency To avoid over-grinding and uneven grinding, to ensure the precision of grinding and polishing, and to increase the control precision
Active Publication Date: 2020-07-10
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology
However, there are still some problems in robot grinding and polishing technology: First, when robots perform constrained operations such as grinding and polishing in unstructured environments such as complex surfaces, it is difficult to accurately model the geometry of workpieces, and large wind power blades The long cantilever, easy deformation and other characteristics often require the grinding and polishing tools to have a certain degree of flexibility, and the lack of accurate models of the processing objects makes it difficult or inaccurate to plan the trajectory of the robot; secondly, when the robot is grinding complex curved parts such as wind power blades, At present, the single-degree-of-freedom flexible grinding-polishing flange is generally installed at the end of the robot for grinding. During the grinding process, the axis of the single-degree-of-freedom flexible grinding-polishing flange installed at the end of the robot should theoretically coincide with the normal direction of the curved surface part. However, due to the complex processing environment, the structure of the robot itself is a cantilever beam, etc., resulting in low precision at the end of the robot. When the single-degree-of-freedom grinding head contacts the curved surface part, its axis does not coincide with the normal direction of the curved surface, resulting in over-grinding or insufficient grinding of the curved surface part. Areas of grinding, less consistency
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[0030] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0031] like figure 1 As shown, the embodiment of the present invention provides a three-degree-of-freedom telecentric fixed-point flexible force-controlled grinding and polishing actuator that conforms to the curved surface, which includes a controller and a linear lifting force control module 1 connected in sequence, a two-dimensional attitude angle adjustment module, The sensor measurement modu...
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The invention belongs to the technical field of complex curved surface processing, and discloses a curved-surface-adaptive three-freedom telecentric fixed-point flexible magnetic-control grinding andpolishing performer. The curved-surface-adaptive three-freedom telecentric fixed-point flexible magnetic-control grinding and polishing performer comprises a controller as well as a linear lifting force control module, a two-dimensional attitude angle regulating module, a sensor measuring module and a grinding performing module which are sequentially connected, wherein the linear lifting force control module is used for driving other modules to linearly move up and down; the two-dimensional attitude angle regulating module comprises a first angle regulating assembly and a second angle regulating assembly which are connected to each other; rotary shafts of the two regulating assemblies define a preset included angle, and are crossed on one point of the lower surface of an abrasive disc; andthe controller is separately connected to the linear lifting force control module, the two-dimensional attitude angle regulating module and the sensor measuring module, and is used for controlling the linear lifting force control module and the two-dimensional attitude angle regulating module to move to regulate grinding and polishing force and the attitude of the abrasive disc in real time according to contact force and a force torque signal acquired by the sensor measuring module. The curved-surface-adaptive three-freedom telecentric fixed-point flexible magnetic-control grinding and polishing performer is good in processing uniformity and consistency, and is suitable for surface grinding and polishing processing of a large complex curved surface.
Description
technical field [0001] The invention belongs to the technical field of complex curved surface processing, and more specifically relates to a three-degree-of-freedom telecentric fixed-point flexible force-controlled grinding and polishing actuator conforming to curved surfaces. Background technique [0002] Wind power blades are the key components of wind turbines. They have the characteristics of large size (≥50 meters), free-form surface, weak rigidity, and easy deformation. They are typical large-scale and complex curved parts. It directly affects the efficiency and life of wind power generation. Large-scale wind power blades after injection molding need to be finished at one time. The current grinding and polishing of free-form surfaces such as large wind power blades mainly includes manual grinding and polishing and gantry machine tool grinding and polishing. Among them, manual grinding and polishing is not efficient. , Uneven grinding and polishing allowance, the surfa...
Claims
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IPC IPC(8): B24B27/00B24B55/00B24B19/14B24B47/12B24B49/16B25J11/00
CPCB24B19/14B24B27/0084B24B47/12B24B49/16B24B55/00B25J11/0065
Inventor赵欢周子良闫鑫刘东丁汉
OwnerHUAZHONG UNIV OF SCI & TECH