A Variable Stiffness Compliant Grinding and Polishing Actuator

Abstract

The invention discloses a flexible grinding and polishing actuator with variable stiffness, which belongs to the technical field of solid wood plate processing. It includes a box body, an active compliance mechanism and a passive compliance mechanism arranged in the box from top to bottom, and a grinding and polishing head mechanism arranged outside the box; an arrangement between the active compliance mechanism and the passive compliance mechanism There is a pressure sensor, and the grinding and polishing head mechanism is connected with the passive compliance mechanism. The invention helps to solve the problems of active and passive separation of common grinding and polishing machines and many disadvantages.

Description

technical field [0001] The invention belongs to the technical field of solid wood plate processing, and in particular relates to a flexible grinding and polishing actuator with variable stiffness. Background technique [0002] Solid wood board is a kind of high-quality board with natural texture, strong and durable for making high-end furniture and decorating houses. During its processing, the grinding and polishing machine can liberate workers working in harsh environments, broaden the processing field of wood grinding and polishing, and greatly improve Enterprise productivity. [0003] Grinding and polishing machines on the existing market can be roughly divided into two types, namely active compliant grinding and polishing machines and passive compliant grinding and polishing machines. Although the active compliant grinding and polishing machine can maintain a constant grinding and polishing pressure, the surface precision of the finished product is low, and it is easy t...

AI Technical Summary

Problems solved by technology

Although the active compliant grinding and polishing machine can maintain a constant grinding and polishing pressure, the surface precision of the finished product is low, and it is easy to accumulate dynamic errors, and the algorithm is complicated; although the passive compliant grinding and polishing machine has a stable structure and high precision, it can only process workpieces with simple surface shapes. For grinding and polishing, it is rare to see wood grinding and polishing machines that combine active and passive softness

[0004] A series-parallel robot technology platform for compliant grinding, in which a compliant grinding adjustment assembly is proposed, which consists of three sets of linear drive systems evenly distributed along the circumference to form a parallel compliant device, and a one-dimensional pressure is arranged in the compliant grinding adjustment assembly and the grinding head assembly The sensor can collect the pressure value in real time, and realize the active compliance control through the closed-loop control algorithm. This series-parallel robot process platform for compliance grinding is flexible in movement and can maintain a constant grinding and polishing force, but it is difficult to solve the kinematics and the algorithm is complicated.

[0005] A wood grinding device in the field of furniture production. The conveyor belt transports the boards. The first electric telescopic rod pushes the abrasive disc placed above the worktable to move downward, and the second electric telescopic rods on both sides push the side grinding rods to the workbench. The center moves towards each other until it is polished with the plate to be processed. Although this device has a simple structure and low manufacturing cost, it cannot meet the processing of more complex profiles.

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