An active and passive compliant grinding and polishing device and grinding and polishing robot with self-adaptive attitude

Abstract

The invention discloses a posture adaptive active and passive compliance grinding and polishing device and a grinding and polishing robot and belongs to the field of intelligent machining equipment. The posture adaptive active and passive compliance grinding and polishing device comprises a controller and further comprises a one-dimensional linear module, a two-degree-of-freedom angle control module and an active and passive compliance grinding and polishing module which are arranged from top to bottom in sequence. The one-dimensional linear module is used for driving the other two modules todo vertical linear motion. The two-degree-of-freedom angle control module is used for driving the polishing and grinding module to do two-degree-of-freedom rotational motion. Rotary shafts doing two-degree-of-freedom rotational motion are orthogonal and coincide with the center of the lower surface of a grinding disk. The active and passive compliance grinding and polishing module is arranged below the two-degree-of-freedom angle control module. Springs used for realizing passive compliance are arranged on the two-degree-of-freedom angle control module. The controller is connected with the one-dimensional linear module, the two-degree-of-freedom angle control module and a six-dimensional force sensor. The one-dimensional linear module and the two-degree-of-freedom angle control module arecontrolled to move to adjust the polishing and grinding force and posture of the grinding disk according to the measurement result of the six-dimensional force sensor. The posture adaptive active andpassive compliance grinding and polishing device has the advantages of being high in grinding and polishing precision, stable and reliable in grinding and polishing and the like.

Description

technical field [0001] The invention belongs to the field of intelligent processing equipment, and more specifically relates to an active and passive compliant grinding and polishing device and a grinding and polishing robot with self-adaptive attitude. Background technique [0002] A wind turbine is a power device that converts wind energy into mechanical work, which drives the rotor to rotate, and finally outputs alternating current. As a key component for converting wind energy into mechanical power, large-scale wind turbine blades have a direct impact on the accuracy and surface roughness of wind power generation efficiency and life, which puts forward higher requirements for the surface grinding and polishing process of large wind turbine blades. At present, manual grinding and polishing and gantry machine tool grinding and polishing are mainly used. Among them, manual grinding and polishing has high technical requirements for workers, high labor intensity, low efficien...

AI Technical Summary

Problems solved by technology

However, due to the manufacturing error and installation deformation of large wind power blades and the influence of the calibration error of the coordinate system, there may be a large error between the actual contour of the blade and the off-line programming trajectory of the robot, so the attitude of the grinding and polishing device is required to be able to automatically Adapts to coincide with the surface normal and has some compliance

Compliance is generally divided into passive compliance and active compliance. Among them, passive compliance is to add a flexible joint at the end of the robot to control the contact force through the flexible joint at the end, but it cannot eradicate the contradiction between the high stiffness and high compliance of the robot; Compliant is the perception and control of contact force by industrial robots, and then realizes the force / position hybrid control. For example, CN108581745A discloses 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 in practical application, the device has the following problems: First, the two-dimensional attitude adjustment component of the device is located at the upper end of the entire device, and the linear servo force control component is located at the lower end of the entire device. Since the linear servo force control component is located at the entire The lower end of the device is connected with the grinding disc, so that when the linear servo force control component is used to drive the grinding disc to perform linear motion, the position of the center of the grinding disc relative to the two-dimensional attitude adjustment component will be changed, which will result in the center circle of the two-dimensional attitude adjustment component The center of the arc rack does not necessarily coincide with the center of the grinding disc, which affects the grinding and polishing accuracy; secondly, the rotation adjustment mechanism in the two-dimensional attitude adjustment component is mainly realized by the inner gear ring, and the tilt adjustment mechanism is mainly realized by the arc rack. In the process of application, it is found that the adjustment reliability and stability of this structure are poor; again, 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 more Large torque, after practical application, it is found that its service life is short, and the rack is often scrapped. In addition, the arc rack is erected on the inner gear ring. In order to ensure the adjustment angle of the tilt adjustment mechanism, there are also many aspects such as the size of the inner gear ring. requirements

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