Robot grinding actuator based on constant-force mechanism

Abstract

The invention relates to a robot grinding actuator based on a constant-force mechanism. The robot grinding actuator comprises a robot connecting flange, a driving mechanism, the constant-force mechanism and a grinding tool, wherein the upper end of the robot connecting flange is fixed to the tail end of an industrial robot, and the driving mechanism is coaxially mounted at the lower end of the robot connecting flange and is used for providing power for the constant-force mechanism coaxially mounted at the lower end of the driving mechanism; the grinding tool is mounted at the lower end of the constant-force mechanism; and an integrally-formed flexible constant-force mechanism body is mounted in the constant-force mechanism, and the flexible constant-force mechanism body can keep output force constant under the action of the driving mechanism for constant-force grinding on a workpiece. The robot grinding actuator has the advantages of being large in output constant force value and wide in constant force area and can adapt to complex conditions in the grinding process; and compared with an air cylinder, the flexible constant-force mechanism body is simple in structure, high in force control precision and suitable for various precision machining fields.

Description

technical field [0001] The invention belongs to the technical field of precision machining, and relates to a robot grinding actuator, in particular to a robot grinding actuator based on a constant force mechanism. Background technique [0002] In recent years, with the continuous development of manufacturing technology, people have put forward higher requirements for the precision of product surface grinding, polishing and other processing procedures. With its high flexibility and high adaptability, industrial robots have gradually replaced traditional manual grinding. Traditional manual grinding is not only inefficient but also produces different quality workpieces. It is difficult to meet the high requirements of modern manufacturing for products. Relying on robots for grinding and polishing processes can not only improve the quality of products, but also eliminate the need for a large number of manual operations, which promotes the development of the manufacturing industr...

AI Technical Summary

Problems solved by technology

However, most of the existing grinding actuators adopt a gas-electric hybrid structure, that is, a solution in which a linear motor is powered and an airbag or cylinder outputs a constant force. Compared with the traditional structure, the gas-electric hybrid mechanism is greatly improved. It improves the efficiency and precision of grinding, but it also has major defects such as hysteresis in the cylinder, low accuracy of overall force control, slow response speed, high noise, high energy consumption, and relatively troublesome use and maintenance, etc.

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