Self-adaptive robot grinding and polishing machining system and method for difficult-to-grind complex component

Abstract

The invention provides a self-adaptive robot grinding and polishing machining system and method for a difficult-to-grind complex component, and the machining system comprises a 3D laser scanner which is used for carrying out modeling according to the shape and size of a workpiece, and automatically dividing a grinding region and carrying out self-adaptive path planning according to geometrical characteristics; the mechanical arm is used for clamping a workpiece to move according to a planned path; an abrasive belt floating polishing device; and the grinding device is provided with a self-adaptive grinding and polishing mechanism capable of moving up and down in the axial direction, and the self-adaptive grinding and polishing mechanism is used for conducting constant-force grinding on the workpiece, compensating tool abrasion in real time, conducting radial vibration auxiliary grinding and replacing a grinding head according to requirements. The multi-process combined robot grinding and polishing system can be used for grinding the round corner transition position of a narrow inner concave surface and a stepped right-angle concave surface of a workpiece, self-adaptive process division is carried out on the workpiece according to geometrical characteristics according to the precise grinding requirements of various complex components difficult to grind, and a plurality of devices are integrated together to form the multi-process combined robot grinding and polishing system; and all-dimensional grinding operation on the difficult-to-grind complex component is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding and polishing, and particularly to an adaptive robot grinding and polishing processing system and method for difficult-to-grind complex components. Background Art

[0002] Mechanical grinding is a process method for machining the surface of a workpiece through mechanical equipment and tools, aiming to remove surface defects of materials, improve surface quality, adjust dimensional accuracy, or meet specific surface roughness requirements. Mechanical grinding is a widely used surface treatment technology in the manufacturing industry, commonly seen in fields such as aerospace, military, and new energy.

[0003] In the fields of aerospace, military, and new energy, strict requirements are imposed on the surface quality, geometric accuracy, and consistency of components with complex profiles made of difficult-to-machine materials. Under the conditions of a large variety of products and limited complex structures, the tool may not be able to fully contact the grinding area or over-grind. Especially for components with complex intersecting profiles, the transition surface edges are prone to over-grinding, the grinding and polishing tools for narrow concave surfaces wear too fast, and the grinding system is limited, and even problems such as being unable to machine seriously restrict the high-efficiency automatic processing of products. Currently, in most cases, different grinding tools are required to manually grind the grinding area.

[0004] In the process of implementing the present invention, the inventor found that there are at least the following problems in the prior art: The requirements for the surface quality, geometric accuracy, and consistency of components with complex profiles made of difficult-to-machine materials restrict the high-efficiency automatic processing of products, resulting in a series of problems such as great difficulty in grinding and polishing, strong dependence on manual experience, poor quality consistency, and weak process adaptability. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems in the related art to some extent.

[0006] To this end, an object of the present invention is to provide an adaptive robot grinding and polishing processing system and method for difficult-to-grind complex components, so as to achieve all-round grinding operations on difficult-to-grind complex components.

[0007] To achieve the above object, a first aspect of the present invention provides an adaptive robot grinding and polishing processing system for difficult-to-grind complex components, including: A 3D laser scanner for modeling according to the shape and size of the workpiece, and automatically dividing the grinding area and planning an adaptive path for the workpiece; A robotic arm for moving along the planned path, and a replaceable fixture tooling is provided at the end of the robotic arm, and the fixture tooling is used to clamp the workpiece; A belt floating polishing device for grinding and polishing the continuously variable curvature surface of the workpiece; A grinding device, having an adaptive grinding and polishing mechanism capable of moving up and down along the axial direction, wherein the adaptive grinding and polishing mechanism is used for grinding the workpiece with a constant force, compensating for tool wear in real time, assisting in grinding with radial vibration, and replacing the grinding head according to requirements.

[0008] The adaptive robotic grinding and polishing processing system for difficult-to-grind complex components according to the present invention can grind the narrow concave surface and the fillet transition at the right-angle concave surface of the step of the workpiece. Aiming at the precise grinding requirements of multi-variety difficult-to-grind complex components, multiple devices are integrated into the same processing system to form a robotic grinding and polishing processing system with multi-process combination, realizing the all-round grinding operation of difficult-to-grind complex components; the adaptive grinding and polishing mechanism in the grinding and polishing processing system of the present invention grinds the workpiece according to a preset pressure value, which is a compensation mechanism of dynamic contact force closed-loop feedback, capable of adapting to tool wear and compensating in real time, realizing the adaptive dynamic balance of the grinding process; the present invention uses a laser scanner to model the shape and size of complex components, automatically identifies geometric features such as sudden curvature change areas, narrow concave surfaces, cross-shaped surfaces, and transition surfaces through point cloud analysis, intelligently divides the area to be ground into rough grinding and fine polishing processes according to process requirements, generates an adaptive grinding strategy. This processing system is innovatively integrated, covering flexible abrasive belts and grinding devices, can adapt to the refined removal requirements of complex surfaces such as narrow concave surfaces, sudden curvature change surfaces, and cross-shaped surfaces, and realizes the autonomous response and optimization of complex working conditions through the deep integration of intelligent technology and modular design.

[0009] According to an embodiment of the present invention, it further includes: A conical grinding wheel grinding device for grinding the threaded area of the workpiece and / or the inner side of the L-shaped bent part; A double grinding wheel grinding device, having two grinding wheels with different grit sizes, for rough grinding the surface of the workpiece, chamfering, removing burrs, and removing the allowance.

[0010] According to an embodiment of the present invention, it further includes a storage table for storing the workpiece, and a tool magazine is provided at the bottom of the grinding device.

[0011] According to an embodiment of the present invention, the grinding device further includes a base, a support frame, a slider, a lead screw, and a motor. The lead screw is vertically arranged and connected to the base. The slider is connected to the adaptive grinding and polishing mechanism through the support frame, and the output shaft of the motor is connected to the lead screw.

[0012] According to an embodiment of the present invention, the adaptive grinding and polishing mechanism includes a tool changing assembly, a housing, a floating electric spindle, and an electromagnetic vibration assembly. The tool changing assembly is used for changing the grinding head; the floating electric spindle is movably arranged along the axial direction in the housing, the tool changing assembly is connected to the output shaft of the floating electric spindle, and the electromagnetic vibration assembly is arranged around the tool changing assembly for generating radial high-frequency vibration for the tool changing assembly.

[0013] According to an embodiment of the present invention, the electromagnetic vibration assembly includes an electromagnet, a permanent magnet, at least one angular contact ball bearing and a bearing seat. An installation groove is provided on the inner wall of the housing. A protruding installation plate is provided on the periphery of the bearing seat, and the installation plate is inserted into the installation groove. The angular contact ball bearing is arranged between the bearing seat and the tool changing assembly. The electromagnets are symmetrically arranged on the inner wall of the housing along the axis, and the permanent magnet is arranged on the bearing seat and is arranged opposite to the electromagnet.

[0014] According to an embodiment of the present invention, the adaptive grinding and polishing mechanism further includes a cylinder, a guide block, a pressure sensor and a travel switch. The cylinder has a push rod that can extend downward. The pressure sensor is arranged between the push rod and the floating electric spindle and is used to measure the pressure of the grinding head on the workpiece. The guide block is arranged on the outer wall of the floating electric spindle. A groove for the axial movement of the guide block is provided on the inner wall of the housing, and the travel switch is arranged on the lower side of the groove. After the pressure measured by the pressure sensor is less than the preset value, the push rod extends downward to maintain the pressure at the preset value. When the guide block triggers the travel switch, the tool is replaced.

[0015] According to an embodiment of the present invention, the tool changing assembly includes: A fixture connecting rod, the top of which is used to connect to a rotation source; A cylindrical cam, sleeved on the periphery of the fixture connecting rod. The cylindrical cam is coaxially arranged with the fixture connecting rod, and a through first chute is provided on the side wall of the cylindrical cam; A plurality of jaws, arranged around the bottom end of the fixture connecting rod. A circumferentially arranged second chute is provided on the outer wall of the jaw; A roller follower, sleeved on the periphery of the jaw and located inside the cylindrical cam. A plurality of flanges adapted to the second chute are provided on the inner wall of the roller follower. A cylindrical roller is provided on the outer wall of the roller follower, and the cylindrical roller is used to move along the guiding path of the first chute; A plurality of first elastic members, radially connecting the jaw and the fixture connecting rod; A second elastic member, sleeved on the fixture connecting rod and used to provide an upward elastic force after the fixture connecting rod is pressed down; A plurality of the jaws are closed in the initial state. After the cylindrical cam is locked, the fixture connecting rod is pressed down, and the jaws will open to replace the tool.

[0016] According to an embodiment of the present invention, the fixture link includes a rod portion, an upper disc, and a lower disc connected together. The upper disc is located on the upper side of the rod portion, and the lower disc is located at the bottom end of the rod portion. A plurality of guiding grooves are provided on the bottom surface of the lower disc, and the first elastic member is radially arranged in the guiding grooves.

[0017] A second aspect of the present invention provides an adaptive robot grinding and polishing method for difficult-to-grind complex components, which is completed based on the adaptive robot grinding and polishing system for difficult-to-grind complex components described in the first aspect, including: The robotic arm clamps the workpiece and moves it to the working area of the 3D laser scanner for scanning. Based on the shape and size of the workpiece, a model is built, and the workpiece is automatically divided into different regions according to geometric features, and the path is automatically planned. Plan the process plan; The robotic arm clamps the workpiece and moves it to the belt floating grinding and polishing module to perform rapid rough grinding on the plane and large curved surfaces according to the pre-planned path, and deburr the edges of the transition surface, and then replace the belt with a smaller grain size for fine polishing. The robotic arm clamps the workpiece and moves it to the working area of the double grinding wheel device to grind the edges of the fillet transition area. The robotic arm clamps the workpiece and moves it to the conical grinding wheel device for grinding. The robotic arm clamps the workpiece and moves it to the working area of the double grinding wheel device. First, use a coarse-grained grinding wheel to rough grind the cross-shaped surface, and then use a fine-grained grinding wheel to fine grind the cross-shaped surface. The robotic arm clamps the workpiece and moves it to the working area of the belt floating grinding and polishing device to grind the transition part between the cross surfaces. The robotic arm clamps the workpiece and moves it to the working area of the grinding device. Put the oilstone tool into the concave surface of the workpiece, and the robotic arm drags the workpiece to reciprocate to perform grinding operations on the concave surface. After grinding is completed, the robotic arm clamps the workpiece and exits the working area of the grinding device. The adaptive grinding and polishing mechanism moves downward, goes to the tool library to replace the sandpaper ring grinding head and then returns to the original position. The robotic arm clamps the workpiece and moves it to the working area of the grinding device again, and continuously adjusts the angle to grind the stepped right-angle concave surface fillet transition area. Put the ground workpiece into the finished product area, and the robotic arm goes to the storage table to clamp a new workpiece and repeat the above steps.

[0018] According to the adaptive robot grinding and polishing method for difficult-to-grind complex components of the present invention, a laser scanner is used to build a model of the shape and size of the complex component. Through point cloud analysis, geometric features such as curvature mutation areas, narrow concave surfaces, cross-shaped surfaces, and transition surfaces are automatically identified. The area to be ground is intelligently divided into rough grinding and fine polishing processes according to process requirements, and an adaptive grinding strategy is generated. The processing system is innovatively integrated and covers flexible sand belts and grinding devices, which can meet the refined removal requirements of complex surfaces such as narrow concave surfaces, curvature mutation surfaces, and cross-shaped surfaces. Through the deep integration of intelligent technology and modular design, autonomous response and optimization to complex working conditions are realized.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. Among them: Figure 1 is a schematic structural diagram of an adaptive robotic grinding and polishing processing system for difficult-to-grind complex components proposed in an embodiment of the present invention.

[0021] Figure 2 is a schematic structural diagram of a grinding device involved in an embodiment of the present invention.

[0022] Figure 3 is Figure 2 a schematic cross-sectional structure diagram of the adaptive grinding and polishing mechanism involved in

[0023] Figure 4 is a top view of the electromagnetic vibration assembly.

[0024] Figure 5 is a cross-sectional view of the tool changing assembly.

[0025] Figure 6 is a sectional view of the tool changing assembly.

[0026] Figure 7 is an exploded structural diagram of the tool changing assembly.

[0027] Description of the reference numerals: 100 - Adaptive grinding and polishing mechanism, 107 - Housing, 108 - Travel switch, 109 - Guide block, 111 - Floating electric spindle, 112 - Pressure sensor, 113 - Cylinder, 114 - Push rod, 115 - Groove, 116 - Angular contact ball bearing, 117 - Bearing block, 118 - Oil-free bushing, 119 - Elastic bushing, 120 - Cylindrical cam, 121 - First elastic member, 122 - Second elastic member, 123 - Fixture link, 124 - Roller follower, 125 - Jaw, 126 - Second chute, 127 - Cylindrical roller, 128 - First chute, 129 - Mounting groove, 130 - Electromagnet, 131 - Permanent magnet, 200 - Support frame, 300 - Slide block, 400 - Motor, 500 - Lead screw, 600 - Base, 700 - Tool magazine, 1000 - Grinding device, 1231 - Guide groove, 1241 - Flange, 1251 - Protrusion, 2000 - First belt floating grinding and polishing device, 3000 - Robot arm, 4000 - Fixture tooling, 5000 - Second belt floating grinding and polishing device, 6000 - Tapered wheel grinding device, 7000 - Double wheel grinding device, 8000 - 3D laser scanner, 9000 - Storage table. Detailed implementation manners

[0028] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention. On the contrary, the embodiments of the present invention include all changes, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0029] The following will be combined with Figures 1 to 7 , to describe an adaptive robotic grinding and polishing processing system and method for difficult-to-grind complex components according to an embodiment of the present invention.

[0030] An adaptive robotic grinding and polishing processing system for difficult-to-grind complex components according to an embodiment of the present invention includes a 3D laser scanner 8000, a robot arm 3000, a belt floating polishing device, and a grinding device 1000.

[0031] The relative positions of the 3D laser scanner 8000, the robotic arm 3000, the belt floating polishing device, and the grinding device 1000 are set according to actual needs, and there is no limitation on this. By way of example, the robotic arm 3000 is set in the middle. The 3D laser scanner 8000 is used to model according to the shape and size of the workpiece, and automatically divide the grinding area and perform adaptive path planning on the workpiece according to geometric features. The robotic arm 3000 is used to move along the planned path, and a replaceable fixture tooling 4000 is provided at the end of the robotic arm 3000. The fixture tooling 4000 is used to clamp the workpiece. The belt floating polishing device is used to grind and polish the continuously variable curvature surface of the workpiece. The grinding device 1000 has an adaptive grinding and polishing mechanism 100 that can move up and down along the axis. The adaptive grinding and polishing mechanism 100 is used to perform constant force grinding on the workpiece, compensate for tool wear in real time, assist grinding with radial vibration, and replace the grinding head according to requirements.

[0032] The 3D laser scanner 8000 models the shape and size of complex components, and automatically identifies geometric features such as sudden curvature change areas, narrow concave surfaces, cross-shaped surfaces, and transition surfaces through point cloud analysis. Based on the machine learning classification model, the area to be ground is intelligently divided into rough grinding and fine polishing processes according to process requirements, and an adaptive grinding strategy is generated. The specific type of the robotic arm 3000 is set according to actual needs, and there is no limitation on this. By way of example, the robotic arm 3000 is a six-axis robotic arm with high flexibility. The number of belt floating polishing devices is set according to actual needs, and there is no limitation on this. By way of example, the number of belt floating polishing devices is 2, namely the first belt floating grinding and polishing device 2000 and the second belt floating grinding and polishing device 5000. The adaptive force control system it contains can adjust the contact angle in real time, maintain a constant pressure, and grind the continuously variable curvature surface of the workpiece. In addition, this flexible grinding tool such as the belt can better adapt to irregular transition surfaces, preventing unevenness or uneven wear in the transition area. The grinding device 1000 integrates a high-precision pressure sensor and a control unit inside, and constructs an intelligent compensation mechanism based on dynamic contact force closed-loop feedback. The dynamic contact force signal between the grinding head and the workpiece is collected in real time. When it is monitored that the actual grinding force is lower than the preset process threshold, the output pressure of the cylinder is dynamically adjusted through the electromagnetic proportional valve based on the PID algorithm, realizing a millisecond-level compensation response of the cylinder driving the tool stroke, being able to adapt to tool wear and compensate in real time, and realizing the adaptive dynamic balance of the grinding process.

[0033] The adaptive robot grinding and polishing processing system for difficult-to-grind complex components according to the present invention can grind the narrow concave surface and the rounded corner transition of the stepped right-angled concave surface of the workpiece. Aiming at the precision grinding requirements of multi-variety difficult-to-grind complex components, multiple devices are integrated in the same processing system to form a robot grinding and polishing processing system with multiple process combinations, realizing the all-round grinding operation of difficult-to-grind complex components; the adaptive grinding and polishing mechanism in the grinding and polishing processing system of the present invention grinds the workpiece according to a preset pressure value, which is a compensation mechanism of dynamic contact force closed-loop feedback, can adapt to tool wear and compensate in real time, and realizes the adaptive dynamic balance of the grinding process; the present invention uses a laser scanner to model the shape and size of complex components, automatically identifies geometric features such as curvature mutation areas, narrow concave surfaces, cross-shaped surfaces, and transition surfaces through point cloud analysis, intelligently divides the area to be ground into rough grinding and fine polishing processes according to process requirements, generates an adaptive grinding strategy, and the processing system is innovatively integrated, covering flexible abrasive belts and grinding devices, which can adapt to the refined removal requirements of complex surfaces such as narrow concave surfaces, curvature mutation surfaces, and cross-shaped surfaces, and realizes the autonomous response and optimization of complex working conditions through the deep integration of intelligent technology and modular design.

[0034] In some embodiments, as Figure 1 shown, the adaptive robot grinding and polishing processing system for difficult-to-grind complex components further includes a conical grinding wheel grinding device 6000 and a double grinding wheel grinding device 7000. The conical grinding wheel grinding device 6000 is used to grind the threaded area of the workpiece and / or the inner side of the L-shaped bent part. The double grinding wheel grinding device 7000 has two grinding wheels with different grit sizes, rough grinds the workpiece surface, chamfers, removes burrs and removes the surplus. For the outer arc surface, the conical grinding wheel grinding device 6000 can also well adapt to its shape and perform uniform grinding.

[0035] The adaptive robot grinding and polishing processing system further includes a storage table 9000 for storing workpieces. A tool magazine 700 is provided at the bottom of the grinding device 1000. The tool magazine 700 has various types of grinding heads. Different grinding heads are selected for operation according to different working conditions.

[0036] As Figure 2 shown, an embodiment of the present invention also proposes a grinding device 1000, which includes the adaptive grinding and polishing mechanism 100, a base 600, a support frame 200, a slider 300, a lead screw 500 and a motor 400 in the above embodiments. The lead screw 500 is vertically arranged and connected to the base 600. The slider 300 is connected to the grinding device through the support frame 200. The output shaft of the motor 400 is connected to the lead screw 500.

[0037] The motor 400 drives the lead screw 500 to rotate, so that the slider 300 drives the entire grinding device to move up and down to complete the tool change operation in the tool magazine, and can also realize the processing of the workpiece at different heights.

[0038] The grinding device mainly focuses on solving bottleneck problems such as complex cross-sectional surfaces of components, rapid wear of grinding and polishing tools for narrow concave surfaces, and limitations or even inability to process at the rounded corners of stepped right-angled concave surfaces.

[0039] As Figure 3 shown, in some embodiments, the adaptive grinding and polishing mechanism 100 includes a tool-changing component, a housing 107, a floating motorized spindle 111, and an electromagnetic vibration component. The floating motorized spindle 111 is axially movably arranged in the housing 107. The tool-changing component is connected to the output shaft of the floating motorized spindle 111. The electromagnetic vibration component is arranged around the tool-changing component and is used to generate radial high-frequency vibration for the tool-changing component.

[0040] The housing 107 supports and protects the internal tool-changing component, floating motorized spindle 111, and electromagnetic vibration component. The floating motorized spindle 111 can freely float in the axial direction and can adjust the contact pressure according to the surface appearance of the workpiece during grinding to avoid damaging the workpiece. The specific frequency of the high-frequency vibration is set according to actual needs and is not limited in this regard. By way of example, the vibration frequency is several hundred Hz, which helps to improve the surface treatment quality.

[0041] By arranging the electromagnetic vibration component around the tool-changing component, the adaptive grinding and polishing mechanism enables the tool to generate radial high-frequency vibration. The combination of high-frequency vibration and rotational motion can achieve higher grinding efficiency for the workpiece, adapt to narrow spaces, improve the grinding quality, and realize fine grinding of difficult-to-grind areas of complex components.

[0042] The electromagnetic vibration component includes an electromagnet 130, a permanent magnet 131, at least one angular contact ball bearing 116, and a bearing seat 117. An installation groove 129 is provided on the inner wall of the housing 107. A protruding mounting plate is provided on the periphery of the bearing seat 117, and the mounting plate is inserted into the installation groove 129. The angular contact ball bearing 116 is arranged between the bearing seat 117 and the tool-changing component. The electromagnet 130 is symmetrically arranged along the axis on the inner wall of the housing 107, and the permanent magnet 131 is arranged on the bearing seat 117 and is disposed opposite to the electromagnet 130. The bottom surface of the electromagnet 130 is spaced from the upper step surface, so that the electromagnetic vibration component has sufficient vibration space. By energizing the electromagnet 130 through a pulse power supply, high-frequency radial vibration of the grinding tool in a narrow space is realized. The number of angular contact ball bearings 116 is set according to actual needs and is not limited in this regard. By way of example, the number of angular contact ball bearings 116 is 2 and they are arranged along the axis. The permanent magnet 131 adopts a Halbach array with a uniform magnetic field distribution.

[0043] In some embodiments, such as Figure 3As shown, the adaptive grinding and polishing mechanism 100 further includes a cylinder 113, a guide block 109, a pressure sensor 112, and a travel switch 108. The cylinder 113 has a push rod 114 that can extend downward. The pressure sensor 112 is arranged between the push rod 114 and the floating electric spindle 111 for measuring the pressure of the grinding head on the workpiece. The guide block 109 is arranged on the outer wall of the floating electric spindle 111. A groove 115 for the axial movement of the guide block 109 is provided on the inner wall of the outer shell 107. The travel switch 108 is arranged on the lower side of the groove.

[0044] When the pressure measured by the pressure sensor 112 is less than the preset value, the push rod 114 extends downward to maintain the pressure at the preset value. When the guide block 109 triggers the travel switch 108, the tool is replaced. Considering that the oilstone grinding head used for grinding wears quickly, tool wear compensation is introduced here. The control system of tool wear compensation is a constant force control system.

[0045] It can be understood that the pressure sensor 112 can monitor the grinding force between the grinding head and the workpiece in real time. When the grinding force is insufficient, the pressure sensor 112 will feedback to the processor set inside or outside. The processor controls the cylinder 113 to extend the push rod 114 downward to compensate for tool wear in real time. Conversely, when the grinding force is too large. The guide block 109 cooperates with the groove 115 on the inner wall of the outer shell, enabling it to allow the push rod 114 to drive the floating electric spindle 111 to move up and down smoothly, so as to achieve real-time compensation for the tool. The travel switch 108 is installed in the reserved slot of the outer shell 107, located at the bottom of the groove 115. When the floating electric spindle 111 moves to this position, the electromagnetic vibration component and the electric spindle motor are controlled to stop working, and the tool change command is started to be executed.

[0046] The adaptive grinding and polishing mechanism 100 uses an electromagnetic proportional valve to control the lifting of the push rod 114. Based on constant force closed-loop control, an intelligent compensation mechanism based on dynamic contact force closed-loop feedback is constructed to achieve adaptive compensation for tool wear, realize self-correction of wear amount at the millimeter level, and solve the problem of poor automation feasibility caused by excessive tool wear.

[0047] In some embodiments, in combination with Figures 5 to 7 As shown, the tool change assembly includes a fixture link 123, a cylindrical cam 120, a plurality of jaws 125, a roller follower 124, a plurality of first elastic members 121, and a second elastic member 122.

[0048] The top of the fixture link 123 is used to connect to the rotation source. The driving method of the rotation source can be electric or pneumatic.

[0049] The cylindrical cam 120 is sleeved on the periphery of the fixture connecting rod 123. The cylindrical cam 120 is coaxially arranged with the fixture connecting rod 123. A through first sliding groove 128 is provided on the side wall of the cylindrical cam 120. The orientation and length of the first sliding groove 128 are set according to actual needs, and there is no restriction on this. A plurality of jaws 125 are arranged around the bottom end of the fixture connecting rod 123. A circumferentially arranged second sliding groove 126 is provided on the outer wall of the jaw 125. The number of jaws 125 is set according to actual needs. By way of example, the number of jaws 125 is three. The cross-sections of the three jaws 125 are fan-shaped. In the clamping state, the inner walls of the jaws 125 can clamp the tool. The specific type of the tool is set according to actual needs. By way of example, the tool is a grinding head.

[0050] The roller follower 124 is sleeved on the periphery of the jaw 125 and is located inside the cylindrical cam 120. A plurality of flanges 1241 adapted to the second sliding groove 126 are provided on the inner wall of the roller follower 124. A cylindrical roller 127 is provided on the outer wall of the roller follower 124. The cylindrical roller 127 is used to move along the guiding path of the first sliding groove 128. The movement of the cylindrical roller 127 drives the roller follower 124 to rotate, driving the jaw 125 to move radially. When viewed axially, the radial thickness of the flange 1241 gradually increases or decreases. When the roller follower 124 rotates relative to the jaw 125, when the flange 1241 rotates relative to the second sliding groove 126, the jaw 125 is pushed radially outwards.

[0051] A plurality of first elastic members 121 radially connect the jaw 125 and the fixture connecting rod 123. The first elastic member 121 provides the force required for the jaw 125 to reset, and keeps the jaw 125 in a closed state when the roller follower 124 is not driven by an external force. The second elastic member 122 is sleeved on the fixture connecting rod 123 and is used to provide an upward elastic force after the fixture connecting rod 123 is pressed down, and can make the fixture connecting rod 123 rebound to the initial position. The specific types of the first elastic member 121 and the second elastic member 122 are selected according to actual needs. By way of example, both are springs.

[0052] A plurality of jaws 125 are closed in the initial state. After the cylindrical cam 120 is locked, the fixture connecting rod 123 is pressed down, and the jaws 125 will open to replace the tool. After the tool replacement is completed, the cylindrical cam 120 is released, and the jaws 125 are closed to clamp the replaced tool. The above completes a process of tool replacement.

[0053] The tool changing assembly forms a linkage structure through the cooperation of the fixture connecting rod, the cylindrical cam, the roller follower, the jaw and the elastic member, realizes the control of the opening and closing of the jaw, thereby realizes automatic tool replacement, and improves the tool replacement and processing efficiency. The tool changing assembly accurately converts the rotational motion of the cylindrical cam into the linear opening and closing action of the jaw, and realizes low-cost maintenance while avoiding the influence of electromagnetic interference on reliability.

[0054] As shown Figure 6 In the figure, the fixture connecting rod includes a rod portion, an upper disc and a lower disc connected together. The upper disc is located on the upper side of the rod portion, and the lower disc is located at the bottom end of the rod portion. A plurality of guide grooves 1231 are provided on the bottom surface of the lower disc, and the first elastic member 121 is radially arranged in the guide grooves 1231. A convex block 1251 is provided on the top of the jaw 125, and the convex block 1251 is placed in the guide groove 1231. The first elastic member 121 is installed in the guide groove 1231 and is connected to the convex block 1251. The width of the convex block 1251 is adapted to the width of the guide groove 1231, which can enable the jaw 125 to move radially without deviation.

[0055] Combined with Figures 5 to 7 In the figure, in some embodiments, when the cylindrical roller 127 contacts the top end of the first chute 128, the bottom surfaces of the cylindrical cam 120, the roller follower 124 and the jaw 125 are in the same plane, making the appearance more beautiful. After the cylindrical cam 120 is locked, the fixture connecting rod 123 is pressed down, and the roller follower 124 and the jaw 125 extend from the bottom of the cylindrical cam 120. When the downward pressure on the fixture connecting rod 123 is removed, the roller follower 124 and the jaw 125 retract into the roller follower.

[0056] As shown Figure 3 In the figure, a stepped hole is provided on the inner wall of the lower side of the housing 107. The stepped hole sequentially has an upper stepped surface, a middle stepped surface and a lower stepped surface from top to bottom. The inner diameter of the middle stepped surface is larger than the outer diameter of the roller follower 124 of the tool change assembly and smaller than the outer diameter of the cylindrical cam 120 of the tool change assembly. In other words, the middle stepped surface can lock the cylindrical cam 120. Below the lower stepped surface, an elastic bushing 119 and an oil-free bushing 118 are installed on the inner wall of the housing 107, and the oil-free bushing 118 is sleeved inside the elastic bushing 119. The oil-free bushing 118 can both guide the tool and support the tool. The elastic bushing 119 can buffer and absorb vibration, avoiding the tool from breaking due to high-frequency vibration.

[0057] Combined with Figure 3 and Figure 4As shown in the figure, the electromagnetic vibration assembly includes an electromagnet 130, a permanent magnet 131, at least one angular contact ball bearing 116 and a bearing housing 117. An installation groove 129 is provided on the inner wall of the housing 107. The outer periphery of the bearing housing 117 is provided with a protruding mounting plate, and the mounting plate is inserted into the installation groove 129. The angular contact ball bearing 116 is arranged between the bearing housing 117 and the tool changing assembly. The electromagnet 130 is symmetrically arranged on the inner wall of the housing 107 along the axis, and the permanent magnet 131 is arranged on the bearing housing 117 and is arranged opposite to the electromagnet 130. The bottom surface of the electromagnet 130 is separated from the upper step surface, so that the electromagnetic vibration assembly has sufficient vibration space. The electromagnet 130 is energized by a pulse power supply to realize the high-frequency radial vibration of the grinding tool in a narrow space. The number of angular contact ball bearings 116 is set according to actual needs, and there is no limit to this. For example, the number of angular contact ball bearings 116 is 2, and they are arranged along the axis. The permanent magnet 131 adopts a Halbach array, and the magnetic field distribution is uniform.

[0058] An embodiment of the present invention also provides an adaptive robot grinding and polishing processing method for difficult-to-grind complex components, which is completed based on the adaptive robot grinding and polishing processing system for difficult-to-grind complex components in the embodiment, and includes the following steps: Step S1, the robotic arm clamps the workpiece to the working area of the 3D laser scanner for scanning, models according to the shape and size of the workpiece, automatically divides the workpiece into different regions according to geometric features, and automatically plans the path.

[0059] In this embodiment, the robotic arm clamps the workpiece from the storage table to the working area of the 3D laser scanner for scanning, and models the shape and size of the workpiece. The complex workpiece is divided into regions such as planes, curved surfaces, transitional surface edges, cross-shaped surfaces, narrow concave surfaces, and fillet transitions according to geometric features, and then the grinding route is automatically planned and the process plan is formulated.

[0060] Step S2, plan the process plan.

[0061] In this embodiment, planes, large curved surfaces, outer arc surfaces, and irregular transitional surfaces are quickly rough-ground and fine-ground by abrasive belts with different grit sizes. For the fillet transition region with continuously variable curvature, grinding wheels with different diameters and grit sizes are selected as grinding tools in stages. For the inner and outer sides of the L-shaped bending part, conical grinding wheels can be selected to better adapt to its shape. Different grades of grinding wheels and abrasive belts are used to grind the complex cross-shaped surface, and it is processed in stages with roughing first and then finishing. The narrow concave surface and the over-fillet are ground with a specially designed electromagnetic high-frequency vibration adaptive tool compensation multi-type grinding device and a special tool. For the stepped right-angled concave surface fillet transition, sandpaper circles with different grit sizes and radii are used as grinding heads for grinding.

[0062] Step S3, the robotic arm grips the workpiece and moves it to the belt floating grinding and polishing module to perform rapid rough grinding on the plane and large curved surfaces according to the pre-planned path, and deburr the edges of the transition surface, and then replace the belt with a smaller grit size for fine polishing.

[0063] Step S4, the robotic arm grips the workpiece and moves it to the working area of the double grinding wheel device to grind the edges of the rounded corner transition area.

[0064] In this embodiment, first, the edges with a smaller rounded corner radius in the rounded corner transition area with continuously variable curvature are ground. The robotic arm grips the workpiece and rotates the area to be ground on the grinding wheel according to the rounded corner radius. After grinding, the robotic arm grips the workpiece and repeats the above steps for the transition rounded corner area with a larger curvature. Subsequently, replace the grinding wheel with a smaller grit size for fine grinding and polishing.

[0065] Step S5, the robotic arm grips the workpiece and moves it to the conical grinding wheel device for grinding.

[0066] In this embodiment, the side of the conical grinding wheel is used to grind along the spiral shape of the thread to remove burrs and uneven parts. Then the robotic arm grips the workpiece and brings the inner side of the L-shaped bending part close to the grinding wheel to grind the hard-to-reach corners. Similarly, for the outer arc surface, the conical grinding wheel can also well adapt to its shape for uniform grinding.

[0067] Step S6, the robotic arm grips the workpiece and moves it to the working area of the double grinding wheel device. First, use a coarse-grained grinding wheel to rough grind the cross-shaped surface, and then use a fine-grained grinding wheel to fine grind the cross-shaped surface.

[0068] In this embodiment, considering the complexity of the complex cross-shaped surface, multiple tools need to be used in cooperation. First, use a grinding wheel with a relatively coarse grit size to rough grind the cross-shaped surface. During this process, pay attention to the angle of contact of the grinding wheel cross-section to ensure that there is no excessive loss of the transition surface. Then use a fine-grained grinding wheel to remove the deep marks left during the rough grinding process and gradually refine each area of the cross-shaped surface.

[0069] Step S7, the robotic arm grips the workpiece and moves it to the working area of the belt floating grinding and polishing device to grind the transition part between the cross surfaces.

[0070] In this embodiment, the flexible belt is further refined and adjusted to ensure a natural and non-abrupt transition and complete the grinding of the complex cross-shaped surface.

[0071] Step S8, the robotic arm grips the workpiece and moves it to the working area of the grinding device. Put the oilstone tool into the concave surface of the workpiece, and the robotic arm drags the workpiece to reciprocate to perform grinding operations on the concave surface. After grinding, the robotic arm grips the workpiece and withdraws from the working area of the grinding device.

[0072] In this embodiment, the oilstone tool is designed according to the concave surface of the workpiece.

[0073] Step S9, the adaptive grinding and polishing mechanism moves downward, returns to the original position after replacing the sandpaper loop grinding head in the tool library, the robotic arm grips the workpiece and goes to the working area of the grinding device again, and continuously adjusts the angle to grind the stepped right-angle concave surface fillet transition area.

[0074] In this embodiment, after grinding is completed, a finer sandpaper loop grinding head can be replaced to perform the fine polishing process.

[0075] Step S10, place the ground workpiece into the finished product area, and the robotic arm goes to the storage table to grip a new workpiece and repeat the above steps.

[0076] According to the adaptive robot grinding and polishing processing method for difficult-to-grind complex components of the embodiments of the present invention, a laser scanner is used to model the shape and dimensions of the complex components, geometric features such as curvature mutation areas, narrow concave surfaces, cross-shaped surfaces, and transition surfaces are automatically identified through point cloud analysis, the areas to be ground are intelligently divided into rough grinding and fine polishing processes according to process requirements, an adaptive grinding strategy is generated, and the processing system is innovatively integrated, covering flexible sand belts and grinding devices, which can meet the refined removal requirements of complex surfaces such as narrow concave surfaces, curvature mutation surfaces, and cross-shaped surfaces. Through the deep integration of intelligent technology and modular design, autonomous response and optimization for complex working conditions are achieved.

[0077] It should be noted that in the description of the present invention, terms such as "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0078] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", and "fixation" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0079] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the first feature is at a higher horizontal height than the second feature. The first feature being "under", "below", and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the first feature is at a lower horizontal height than the second feature.

[0080] In the description of the present invention, the orientation or positional relationship indicated by terms such as "left", "right", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0081] Any process or method description shown in a flowchart or described in other ways herein can be understood to represent a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in the reverse order according to the functions involved, rather than in the order shown or discussed. This should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0082] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0083] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations to the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An adaptive robotic grinding and polishing processing system for difficult-to-grind complex components, characterized in that, Including: A 3D laser scanner (8000) for modeling according to the shape and size of a workpiece, and automatically dividing the grinding area and performing adaptive path planning on the workpiece according to geometric features; A robotic arm (3000) for moving along a planned path, with a replaceable fixture tooling (4000) provided at the end of the robotic arm (3000), and the fixture tooling (4000) for clamping the workpiece; A belt floating polishing device for grinding and polishing the continuously variable curvature surface of the workpiece; A grinding device (1000) having an adaptive grinding and polishing mechanism (100) capable of moving up and down axially, and the adaptive grinding and polishing mechanism (100) for performing constant-force grinding on the workpiece, compensating for tool wear in real time, assisting grinding with radial vibration, and replacing the grinding head according to requirements.

2. The adaptive robot grinding and polishing processing system for difficult-to-grind complex components according to claim 1, wherein Further including: A conical grinding wheel grinding device (6000) for grinding the threaded area of the workpiece and / or the inner side of the L-shaped bent part; A double grinding wheel grinding device (7000) having two grinding wheels with different grit sizes for rough grinding the workpiece surface, chamfering, removing burrs, and removing excess material.

3. The adaptive robot grinding and polishing processing system for difficult-to-grind complex components according to claim 1, characterized in that, Further including a storage table (9000) for storing the workpiece, and a tool magazine (700) provided at the bottom of the grinding device (1000).

4. The adaptive robot grinding and polishing processing system for difficult-to-grind complex components according to claim 1, characterized in that, The grinding device (1000) further includes a base (600), a support frame (200), a slider (300), a lead screw (500), and a motor (400). The lead screw (500) is vertically arranged and connected to the base (600). The slider (300) is connected to the adaptive grinding and polishing mechanism (100) through the support frame (200), and the output shaft of the motor (400) is connected to the lead screw (500).

5. The adaptive robot grinding and polishing processing system for difficult-to-grind complex components according to claim 4, wherein The adaptive grinding and polishing mechanism (100) includes a tool changing assembly, a housing (107), a floating electric spindle (111), and an electromagnetic vibration assembly. The tool changing assembly is used for replacing the grinding head. The floating electric spindle (111) is movably arranged axially in the housing (107). The tool changing assembly is connected to the output shaft of the floating electric spindle (111). The electromagnetic vibration assembly is arranged around the tool changing assembly for generating radial high-frequency vibration on the tool changing assembly.

6. The adaptive robot grinding and polishing processing system for difficult-to-grind complex components according to claim 5, characterized in that The electromagnetic vibration assembly includes an electromagnet (130), a permanent magnet (131), at least one angular contact ball bearing (116), and a bearing seat (117). An installation groove (129) is provided on the inner wall of the housing (107). The outer periphery of the bearing seat (117) is provided with a protruding installation plate, and the installation plate is inserted into the installation groove (129). The angular contact ball bearing (116) is arranged between the bearing seat (117) and the tool changing assembly. The electromagnet (130) is symmetrically arranged along the axis on the inner wall of the housing (107). The permanent magnet (131) is arranged on the bearing seat (117), opposite to the electromagnet (130).

7. The adaptive robot grinding and polishing processing system for difficult-to-grind complex components according to claim 6, wherein, The adaptive grinding and polishing mechanism (100) further includes a cylinder (113), a guide block (109), a pressure sensor (112) and a travel switch (108). The cylinder (113) has a push rod (114) that can extend downward. The pressure sensor (112) is arranged between the push rod (114) and the floating electric spindle (111) for measuring the pressure of the grinding head on the workpiece. The guide block (109) is arranged on the outer wall of the floating electric spindle (111). A groove for the axial movement of the guide block (109) is provided on the inner wall of the housing (107). The travel switch (108) is arranged on the lower side of the groove. When the pressure measured by the pressure sensor (112) is less than the preset value, the push rod (114) extends downward to maintain the pressure at the preset value. When the guide block (109) triggers the travel switch (108), the tool is replaced.

8. The adaptive robot grinding and polishing processing system for difficult-to-grind complex components according to claim 7, characterized in that, The tool changing assembly includes: A clamp connecting rod (123), the top of the clamp connecting rod (123) is used to connect to the rotation source. A cylindrical cam (120), sleeved around the clamp connecting rod (123). The cylindrical cam (120) is coaxially arranged with the clamp connecting rod (123). A through first chute (128) is provided on the side wall of the cylindrical cam (120). A plurality of jaws (125), arranged around the bottom end of the clamp connecting rod (123). A circumferentially arranged second chute (126) is provided on the outer wall of the jaw (125). A roller follower (124), sleeved around the jaw (125) and located inside the cylindrical cam (120). A plurality of flanges (1241) adapted to the second chute (126) are provided on the inner wall of the roller follower (124). A cylindrical roller (127) is provided on the outer wall of the roller follower (124). The cylindrical roller (127) is used to move along the guiding path of the first chute (128). A plurality of first elastic members (121), radially connecting the jaws (125) and the clamp connecting rod (123). A second elastic member (122), sleeved on the clamp connecting rod (123) for providing an upward elastic force after the clamp connecting rod (123) is pressed down. In the initial state, the plurality of jaws (125) are closed. After the cylindrical cam (120) is locked, the clamp connecting rod (123) is pressed down, and the jaws (125) will open to replace the tool.

9. The adaptive robot grinding and polishing processing system for difficult-to-grind complex components according to claim 8, characterized in that The clamp connecting rod (123) includes a rod portion, an upper disk and a lower disk connected together. The upper disk is located above the rod portion, and the lower disk is located at the bottom end of the rod portion. A plurality of guide grooves (1231) are provided on the bottom surface of the lower disk. The first elastic members (121) are radially arranged in the guide grooves (1231).

10. An adaptive robot grinding and polishing processing method for difficult-to-grind complex components, characterized in that, Completed based on the adaptive robot grinding and polishing processing system for difficult-to-grind complex components according to any one of claims 1 to 9, including: The robotic arm grips the workpiece and moves it to the working area of the 3D laser scanner for scanning. Based on the shape and size of the workpiece, a model is built, and the workpiece is automatically divided into different regions according to geometric features, and the path is automatically planned; Plan the process plan; The robotic arm grips the workpiece and moves it to the belt floating grinding and polishing module to perform rapid rough grinding on the plane and large curved surfaces according to the pre-planned path, and deburr the edges of the transition surfaces. Then, a sand belt with a smaller grit size is replaced for fine polishing; The robotic arm grips the workpiece and moves it to the working area of the double-wheel grinding device to grind the edges of the rounded corner transition area; The robotic arm grips the workpiece and moves it to the conical wheel grinding device for grinding; The robotic arm grips the workpiece and moves it to the working area of the double-wheel grinding device. First, the cross-shaped surface is rough-ground with a coarse-grained grinding wheel, and then the cross-shaped surface is fine-ground with a fine-grained grinding wheel; The robotic arm grips the workpiece and moves it to the working area of the belt floating grinding and polishing device to grind the transition part between the cross surfaces; The robotic arm grips the workpiece and moves it to the working area of the grinding device. The oilstone tool is placed in the concave surface of the workpiece, and the robotic arm drags the workpiece to move back and forth to perform grinding operations on the concave surface. After grinding is completed, the robotic arm grips the workpiece and exits the working area of the grinding device; The adaptive grinding and polishing mechanism moves downward, replaces the sandpaper ring grinding head in the tool library and returns to its original position. The robotic arm grips the workpiece and moves it to the working area of the grinding device again, and continuously adjusts the angle to grind the stepped right-angle concave surface rounded corner transition area; Put the ground workpiece into the finished product area, and the robotic arm goes to the storage table to clamp a new workpiece and repeat the above steps.

Images