A constant force flexible grinding device for an industrial mechanical arm

Abstract

The invention relates to a constant-force flexible grinding device of an industrial mechanical arm, which includes a grinding head for grinding workpieces, a rotary motion component for driving the grinding head to rotate, an axial motion component for driving the grinding head to move axially, internal components of the protection device and The outer casing that bears the torque and the flexible sleeve used for axial and radial shock absorption during grinding; the constant force flexible grinding device and the mechanical arm are connected by a flange; the invention designs a flexible sleeve shock absorber, It includes a spring damping bushing, which plays the role of radial and axial shock absorption. The invention improves the axial moving parts and the rotating moving parts, and can decouple the rotating motion and the axial linear motion, and separately control the two Movement to realize the control of grinding force and grinding cutting speed. The decoupling achieved by this method in terms of mechanical structure is more suitable for complex polishing tasks than the decoupling achieved in algorithm.

Description

technical field [0001] The invention belongs to the technical field of industrial robot arm grinding, and relates to a constant-force flexible grinding device for an industrial robot arm. Background technique [0002] With the development of science and technology, the accuracy and efficiency of traditional manual grinding cannot be guaranteed. Not only is the labor cost increasing day by day, but also the grinding process is noisy and dusty, and the environment is harsh, which may seriously affect the physical and mental health of workers. Therefore, the robot automatic grinding technology has been widely used in the processing process. It gets rid of the shortcomings of traditional manual grinding, such as high labor intensity, poor quality, and low efficiency, and can effectively improve the grinding efficiency and grinding quality. The quality of robot automatic grinding largely depends on two factors: the size of the grinding force and whether the grinding force is stab...

AI Technical Summary

Problems solved by technology

Because this method needs to realize the control of force and position at the same time, there is force / position coupling, so the realization is more complicated; second, the active force control based on the end tool

Generally speaking, using algorithms to enable the robot controller to achieve impedance control and force / position hybrid control, this method has a slow response speed, poor algorithm stability, and is difficult to achieve industrial production.

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