A constant force self-adjusting robot automatic processing tool carrier equipment
A processing tool and robot technology, applied in the field of constant force self-adjusting robot automatic processing tool carrier equipment, can solve the problems of constant grinding and polishing pressure, difficult to ensure processing quality, etc., to avoid damage, achieve smooth grinding and polishing processing, The effect of improving processing efficiency
Active Publication Date: 2022-03-29
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology
[0003] At present, there is no constant force floating grinding tool based on robot automation in my country. Traditional manual grinding and polishing is difficult to ensure constant grinding and polishing pressure. A small number of processed workpieces are processed only by passive compliance, and the force adjustment response is delayed, so it cannot be used. Control algorithm real-time flexible constant force grinding, it is difficult to guarantee the processing quality
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Embodiment Construction
[0031] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0032] The invention provides a constant force self-adjusting robot automatic processing tool carrier equipment, such as figure 1 , figure 2 , Figure 7 As shown, the equipment includes a tool connection flange device 1, a six-dimensional force sensor 2, an actuator device 3, a displacement sensor device 4, a pneumatic device 5 and a mounting base plate 6, wherein the mounting base plate 6 is used to be installed on the flange at the end of the mechanical arm Above, the mounting substrate 6 simultaneously serves as a carrier for the displacement sensor device 4 , the actuator device 3 and the pneumatic device 5 . The actuator device 3 is fixed on the installation base plate 6 through the rotation shaft 21; and the actuator device 3 can rotate freely around the rotation shaft 21; On the upper plate 11 of the base plate 6, the pneumatic device 5 is connecte...
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The invention discloses a constant force self-adjusting robot automatic processing tool carrier device, which belongs to the technical field of grinding and polishing processing. The equipment includes a tool connecting flange device, a six-dimensional force sensor, an actuator device, a displacement sensor device, a pneumatic device, and a mounting substrate; the mounting substrate is connected to the end of the robot arm, and the tool connecting flange device is used to fix the Polishing processing tools, the actuator device and the displacement sensor device are installed on the installation substrate, and the actuator device is connected to the pneumatic device; the six-dimensional force sensor is fixed at the end of the actuator device; the The pneumatic device drives the six-dimensional force sensor to float through the actuator device, and the six-dimensional force sensor drives the grinding and polishing processing tool through the connecting flange device to realize floating processing. The equipment of the present invention can be loaded with various grinding and polishing tools according to different processing requirements, and is suitable for various grinding tools and multi-occasion grinding and polishing processing.
Description
technical field [0001] The invention relates to the technical field of grinding and polishing, in particular to a constant force self-adjusting robot automatic processing tool carrier device. Background technique [0002] At present, most of the grinding and polishing processes are still done manually. The grinding and polishing process itself has high work intensity, the working environment is extremely poor, the cost is getting higher and higher, and the processing quality is difficult to control. Robots replace manual grinding and polishing processing is the future trend. The removal amount of the workpiece during processing is closely related to the grinding and polishing pressure, and it is also one of the important factors affecting the surface processing quality of the workpiece. During the grinding and polishing process, due to the shape change of the workpiece or the error of the generated trajectory, the grinding and polishing pressure will suddenly change, resulti...
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IPC IPC(8): B24B55/00B24B49/16B24B45/00B25J13/08B25J11/00
CPCB24B55/00B24B49/16B24B45/003B25J13/088B25J13/082B25J11/0065
Inventor 赵吉宾张洪瑶潘明旭李论徐家攀秦镇江田同同吴嘉俊
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI