Robot end effector and robot

Abstract

The invention discloses a robot end effector and a robot, and belongs to the technical field of grinding machining. The robot end effector is used for grinding a workpiece and comprises an execution tool, a rotation unit, a rotating unit, an ultrasonic vibrator and a constant force control assembly, one end of the rotation unit is connected with the execution tool, and the rotation unit is used for driving the execution tool to do rotational motion; the rotating unit is used for driving the rotation unit to do rotary motion, and the rotary motion direction and the rotation motion direction are not in the same direction; the ultrasonic vibrator is connected with the rotating unit and is used for driving the rotation unit and the execution tool to axially vibrate; and the constant force control assembly is used for keeping constant contact pressure between the execution tool and the workpiece. The robot comprises the robot end effector. According to the robot end effector, through structural design and constant contact pressure control, the structure is simplified, the control difficulty is reduced, and the machining quality and the working efficiency are improved.

Description

Technical field [0001] The present invention relates to the field of polishing and processing, and more particularly to a robot-end effector and a robot. Background technique [0002] At present, the full processing of airplane body and most parts is the most important work and the most difficult process in the coating process. The defects generated by the process are directly reflected to the final appearance, painted front. Surface processing quality determines the final painting quality and effect of the aircraft. At present, the hand-held aerodynamic grinding machine is generally used in the aircraft manufacturing process, completely relying on people's experience to control the grinding force, angle, time, process quality and poor stability, low efficiency, etc., especially the processing of composite body reliability is difficult to guarantee, processing A large amount of dust in the process causes huge damage to the health of the operator. [0003] In the existing automati...

AI Technical Summary

Problems solved by technology

At present, hand-held pneumatic grinders are commonly used in the aircraft manufacturing process, which completely rely on human experience to control the grinding force, angle, and time. There are problems such as poor processing quality stability and low efficiency. A large amount of dust in the process will cause great harm to the health of operators

[0003] Among the existing automatic grinding devices, such as the rotary processing end effector without axial vibration, for the processing of hard and brittle materials such as carbon fiber composite materials, since a large cutting force is required for cutting, the workpiece will be relatively heavy during the processing. Large surface roughness, etc., the surface quality of the workpiece is not ideal; for the robot flexible grinding system, by installing a force sensor in front of the grinding tool, the processing pressure is captured, and the end position of the mechanical arm is adjusted according to the pressure to achieve flexible processing. However, the feedback The control system has a certain delay, and the effect of this flexible control strategy to maintain a constant pressure is not ideal; for the ultrasonic grinding device, by installing an ultrasonic vibrator between the motor and the processing tool, the rotational vibration processing of the processing tool is realized. However, the device is large in size and complex in structure, so it is not suitable to be installed on the robot

Images