A Surface Grinding Robot for Special Steel Bars Based on Parallel Drive Mechanism

Abstract

The invention discloses a special steel bar surface grinding robot based on a parallel drive mechanism, which includes a five-degree-of-freedom grinding mechanical arm, a truss, a mobile platform and a controller, a bar lifting mechanism, and a roller table. The truss is movable and installed There is a mobile platform and a controller, and a five-degree-of-freedom grinding mechanical arm is installed under the mobile platform and the controller. A bar lifting mechanism and a roller table are installed below the truss, and the bar lifting mechanism and the roller table are both There are multiple groups; the five-degree-of-freedom grinding mechanical arm of the present invention has a compact structure, which meets the requirements of the grinding operation and can provide sufficient rigidity to ensure the completion of the task of removing steel surface defects, combined with the measurement results of the six-dimensional force sensor , The dynamic response of the end is good, the grinding process can be precisely controlled, the position and posture of the end grinding piece can be flexibly adjusted, high-precision positioning is achieved, and the grinding process can be flexibly changed according to the type of defect to complete the grinding operation with high quality.

Description

technical field [0001] The invention relates to the technical field of metallurgical material processing, in particular to a special steel bar surface grinding robot based on a parallel drive mechanism. Background technique [0002] The iron and steel industry is one of the process industries with a high degree of automation, among which special steel is the basic material for high-end manufacturing equipment. Alloy steel, stainless heat-resistant steel, high-temperature alloy, powder metallurgy, functional materials, refractory metal, titanium alloy and other special steel varieties are necessary for military industries such as aerospace, aviation, weapons, ships, nuclear energy, electronics, and national defense construction. The rapid development of metallurgical materials for military use is of great significance to the upgrading and upgrading of equipment in the fields of aerospace, aviation, ships, weapons, nuclear technology and other fields, as well as the internatio...

AI Technical Summary

Problems solved by technology

[0004] In view of the above problems, the object of the present invention is to propose a special steel bar surface grinding robot based on a parallel drive mechanism, which is convenient to flexibly change the grinding process according to the type of defect Complete the grinding operation with high quality, to a certain extent, solve the problem that the existing mechanism has a large cumulative error and the quality of the grinding operation is uncontrollable, and at the same time, it can avoid surface burns and bluish phenomena caused by surface grinding, and can Efficiently complete the grinding of steel surface defects

Images