A non-structural free-form surface grinding device

Abstract

The invention discloses a non-structure freeform curved surface grinding device. Due to the arrangement of a pressing floating mechanism, a six-dimensional force sensor, an active control mechanism and a six-degree-of-freedom manipulator, stress conditions of a plurality of dimensions of a grinding head can be measured in real time through the six-dimensional force sensor. Different active and passive compliance control modes can be adopted by a controller according to the change of the stress conditions in the grinding process, the speed of responding to polishing force changes in the grinding process is improved, the contact force between a grinding head and the ground surface in the grinding process can be kept within a certain reasonable range all the time, and meanwhile, the directionof the grinding force is always in the vertical direction of the ground curved surface. By controlling the running track of the six-degree-of-freedom manipulator, the grinding track of the grinding head is adjusted, the non-structure freeform curved surface of a part to be machined is ground, grinding force control is carried out, the grinding efficiency and the surface finish are effectively improved, the labor intensity is reduced, and meanwhile, the part grinding quality is improved.

Description

technical field [0001] The invention relates to the technical field of curved surface grinding, in particular to a non-structural free curved surface grinding device. Background technique [0002] With the development of robot technology, the field of robot application is expanding, and it has been widely used in automated production and manufacturing processes. Using a robot with flexible attitude adjustment capability for grinding is an important way to improve the grinding quality and automation of non-structured complex free-form surfaces. The document "Design and Experiment of Imitation Wrist Joint Compliant Parallel Grinding Robot" (Zhu Wei et al., Journal of Agricultural Machinery, 2016, 47(02): 402-407+348) For large surfaces with gentle curvature changes, a disc-shaped grinding wheel grinding tool is used to design A parallel grinding robot; the document "Design and experimental analysis of a robotic abrasive belt grinding device based on complex surface processing...

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Problems solved by technology

[0003] However, in the above documents, the designed robot grinding devices are all aimed at free-form surfaces with small curvature and smooth changes, and cannot be used for grinding non-structural complex surfaces with large curvature, severe changes, and narrow structures (for example, parts Or the pit structure on the grinding tool); the response to the change of the grinding force is slow, when the structural stiffness factor of the grinding device causes the trajectory of the end grinding tool to deviate from the command running trajectory, it will cause grinding quality problems

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