Aircraft repairing composite flexible automatic grinding device and grinding method

Abstract

The invention discloses an aircraft repairing composite flexible automatic grinding device and a grinding method, and relates to the technical field of composite grinding. The aircraft repairing composite flexible automatic grinding device comprises a movable platform, a collaborative robot, a floating force sensitive grinding head mechanism, a dust suction device and a control assembly. The collaborative robot comprises a six-axis light mechanical arm, a six-dimensional force sensor, a robot controller and a demonstrator. The floating force sensitive grinding head mechanism comprises a floating constant-force device, an air control main shaft, an automatic changing tool installing interface, and a tool handle with a grinding wheel and abrasive paper. The dust suction device comprises a dust suction host and a dust suction cover installed at the tail end of the six-axis light mechanical arm. The dust suction cover is of an umbrella-shaped transparent plastic thin film elastic structure. One-way air guide holes from outside to inside are evenly distributed in the outer surface of the dust suction cover. A rubber suction strip is arranged on the edge of the cover mouth of the dust suction cover. By means of the aircraft repairing composite flexible automatic grinding device, the semi-automatic or automatic grinding, excavating, polishing and other operation processes related to the composite repairing are realized, the manual operation intensity is reduced, the occupational health hazards are relieved, and the repairing quality is improved.

Description

technical field [0001] The invention belongs to the technical field of composite material grinding, and in particular relates to a flexible automatic grinding device for composite materials for aircraft repair and a grinding method for the flexible automatic grinding device for composite materials for aircraft repair. Background technique [0002] Because composite materials have many advantages such as good thermal stability, high specific strength, and high specific stiffness, the utilization rate in aviation, aerospace and other fields has gradually increased. There are corresponding maintenance issues. [0003] During the service of the aircraft, the wings, fuselage, radomes and other components made of composite materials are often damaged, which affects the structural strength and flight performance of the aircraft, so it must be repaired. When repairing these parts, firstly, the damaged parts are ground and excavated to form grooves to be repaired, and at the same ti...

AI Technical Summary

Problems solved by technology

The automatic grinding system works stably, overcoming the shortcomings of traditional grinding systems such as unstable quality and poor grinding environment

The disadvantage of this system is that industrial robots are used, and additional safety protection measures need to be added, and the flexibility and collaboration of the system are not high; the second is the lack of description of supporting facilities such as dust removal and vacuuming

The disadvantage of this system is that it is mainly aimed at the deburring field of metal parts such as die castings, and is not suitable for the digging and grinding process of composite materials; the second is that it only introduces the robot grinding control system, and does not fully describe the overall structure and implementation details of the automatic grinding device

The disadvantage of this system is that it only uses dragging and teaching for path planning, and the accuracy of the path is insufficient; the second is that the polishing device is not elaborated, and the operation is complicated under the condition of large curvature

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