Force and position mixed type grinding tool with automatic protection function

Abstract

The invention provides a force and position mixed type grinding tool with an automatic protection function. The force and position mixed type grinding tool with the automatic protection function belongs to the field of end effectors of industrial robots, serves as an end effector of a robot, and is used for flexibly grinding a workpiece. The force and position mixed type grinding tool with the automatic protection function is characterized by comprising a manipulator, a fixed platform base, a force and position control device, a grinding device and a pneumatic device; the fixed platform base is fixed on the manipulator; the force and position control device is provided with a telescopic damping assembly arranged on the fixed platform base, a force sensor used for outputting a polishing force signal in real time and a displacement sensor used for measuring the elongation of the telescopic damping assembly in real time; the polishing device is used for polishing the workpiece, and the manipulator controls the polishing force of the polishing device and the pose of the manipulator on the basis of detection results of the force sensor and the displacement sensor; and the pneumatic device is arranged on the force and position control device and used for driving the polishing device to move. Meanwhile, the force and position mixed type grinding tool with the automatic protection function further comprises a protection device which is provided with a self-adaptive disc, a magnetic cylinder, a conductor and a brush and is used for sealing and dust prevention.

Description

technical field [0001] The invention belongs to the field of end effectors of industrial robots, and relates to a force-position hybrid grinding tool with automatic protection for robots. Background technique [0002] With the rapid development and reform of China's intelligent manufacturing industry and national economy, my country's manufacturing industry is gradually shining on the world stage, and the competition of various products in the market is becoming more and more fierce. The high precision and high quality of the products And high efficiency has increasingly become the goal pursued by people. In order to improve the surface quality and precision of products, subsequent grinding of welding, casting and other products in the manufacturing field is an indispensable step. Traditional grinding currently has the following disadvantages: first, high efficiency but single grinding type, not flexible; second, high scrap rate, heavily dependent on workers’ grinding experi...

AI Technical Summary

Problems solved by technology

Traditional grinding currently has the following disadvantages: first, high efficiency but single grinding type, not flexible; second, high scrap rate, heavily dependent on workers’ grinding experience; third, high labor cost, and does not meet the requirements of green production, grinding Noise and dust are harmful to the environment and human body

Among them, the mechanical type generally installs a spring or damper on the end effector to achieve force control. This method is a passive control. The advantage is that the structure is simple, and the disadvantage is that the force control accuracy is low.

Pneumatic type can be divided into airbag type, cylinder type and artificial muscle type according to the specific realization form. The three methods use gas pressure as the power source, and the output force of the end effector is realized by adjusting the gas pressure. The advantage is that it has Good flexibility, large force-to-weight ratio, and simple control. The disadvantages are that the pneumatic system has slow response, low precision, and long hysteresis time, which cannot well meet the real-time and rapid force control requirements in the polishing process.

The electric drive type realizes the force output of the end effector through the telescopic movement of the linear motor. The advantages are high force control precision and fast response speed, but this method has disadvantages such as poor flexibility and large quality, and it is easy to generate vibration during the polishing process.

The existing gas-electric hybrid makes up for the shortcomings of poor flexibility of the electric drive, but the mass is still relatively large, and the output force is too large, and the force adjustment range is small, which cannot meet the needs of actual working conditions.

[0006] The dust-proof and dust-removal methods of the existing grinding devices all adopt the method of adding a protective box outside the grinding tool to surround the whole grinding tool, and then opening a dust suction outlet on the box body. This method cannot prevent the grinding dust from damaging the equipment. damage, and this way the protective cover is bulky and inconvenient to move, there are certain requirements for the grinding space and the size of the grinding workpiece

[0007] To sum up, the current background technology has the following problems and shortcomings: first, the robot itself does not have the ability of compliant control, and can only be realized by compliant devices, with low flexibility and low precision of force control, and cannot adapt to the processing of various types of workpieces; second, The existing device responds slowly and has a long hysteresis time, which cannot meet the requirements of rapid force control; thirdly, the existing device responds too fast, and due to the large mass and large inertia, shock and vibration are generated, and the flexibility is poor; fourthly, The existing devices have relatively large force, large output force, and a small adjustable range of force control, which cannot meet the actual processing needs; fifth, the existing devices all use the grinding head to protect the box, which cannot avoid the splashing of grinding dust, which is harmful to the equipment. Hazardous to the working environment

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