A robotic force-controlled polishing end effector with active suppression

Abstract

The present application discloses a robotic force-controlled polishing end effector with active suppression, comprising a rotary motion component, a constant force adjustment component, a motion decoupling component, and a polishing disc component; the rotary motion component transmits rotary power to a ball spline via a spline shaft; the constant force adjustment component transmits axial force to the ball spline, which can move axially while rotating synchronously with the motor, thereby achieving decoupling of rotation and axial movement, while simultaneously monitoring the force applied to the polishing disc component in real time; the polishing disc component is connected to the ball spline to achieve synchronous rotation and synchronous telescopic movement with the ball spline. The present application can achieve precise control of axial force and rotational speed, while actively suppressing vibration during the polishing process. The overall structure is simple and compact, easy to control, with high force control accuracy and a high response bandwidth.

Description

Technical Field

[0001] The present application relates to the field of robotic automation technology, and in particular to a robotic force-controlled polishing end effector with active suppression. Background Art

[0002] With the rapid development of modern industry, industrial robots are increasingly being used in various fields, especially in areas with harsh working environments and requiring repetitive and heavy work. In some working environments that require contact, industrial robots are often required to have certain contact perception and adjustment capabilities in order to complete work requirements such as clamping, grinding, polishing, assembly, and other operations. Among them, in the robot polishing process, constant force polishing is a key factor affecting the surface quality of the workpiece, and the relative movement or other interactions between the polishing tool and the workpiece will cause the polishing tool to vibrate, thereby affecting the force control accuracy of the tool. Therefore, it is necessary to achieve constant force control of the contact force between the polishing tool and the workpiece, and achieving constant force control with active vibration suppression is of great significance for completing high-precision operations.

[0003] Industrial robot force control methods are primarily categorized into direct force control and indirect force control. Direct force control is achieved by controlling the torque of the manipulator's drive joints, while indirect force control is achieved by attaching a force-controlled end-effector. Each approach has its own advantages and disadvantages. The former requires the establishment of an accurate robot dynamics model and the development of a real-time, robust force control algorithm. It is generally suitable for force control in the new generation of lightweight robots. The latter, which decouples force-position hybrid control through an attached force-controlled end-effector, offers improved dynamic characteristics and versatility, though with a slightly higher system cost. It is generally suitable for high-speed, heavy-load robots and has broad application prospects. Overall, direct force control suffers from slow response speed and poor algorithm stability, making it difficult to implement in industrial production. Therefore, force-controlled end-effectors are a reasonable choice for force control. However, the development of force-controlled polishing end-effectors with active suppression still has some shortcomings and requires further improvement and refinement. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a robot force-controlled polishing end effector with active suppression, which can improve the stability of constant force control of the force-controlled polishing end effector.

[0005] To achieve the above technical objectives, the present application provides a robot force-controlled polishing end effector with active suppression, comprising a constant force adjustment component, a rotary motion component, a motion decoupling component, and a polishing disc component;

[0006] The constant force adjustment assembly includes a main voice coil motor stator, a main voice coil motor mover, an auxiliary voice coil motor stator, an auxiliary voice coil motor mover, a linear guide shaft, a linear bearing, a multi-dimensional force sensor, a T-shaped connecting plate and a lower connecting plate;

[0007] The lower connecting plate is spaced apart from the T-shaped connecting plate along the axial direction of the spline shaft away from the motor;

[0008] The main voice coil motor stator and the auxiliary voice coil motor stator are arranged between the lower connecting plate and the T-shaped connecting plate, and the ends of the stators are fixedly connected to the ribs of the T-shaped connecting plate;

[0009] The main voice coil motor mover and the auxiliary voice coil motor mover are arranged between the lower connecting plate and the T-shaped connecting plate, and are both fixedly connected to the lower connecting plate;

[0010] The linear guide shaft is provided between the lower connecting plate and the T-shaped connecting plate, with a first end connected to the rib of the T-shaped connecting plate and a second end connected to the lower connecting plate;

[0011] The linear bearing is sleeved on the outer periphery of the linear guide shaft to limit the radial movement of the linear guide shaft;

[0012] The multi-dimensional force sensor is mounted on the wing plate of the T-shaped connecting plate;

[0013] The rotary motion assembly includes a motor, a motor bracket, a spline shaft, a spline shaft bearing and a first coupling;

[0014] The motor is mounted on the motor bracket;

[0015] The motor bracket is mounted on the rib plate of the T-shaped connecting plate;

[0016] The spline shaft is connected to the output shaft of the motor through the first coupling;

[0017] The motion decoupling assembly includes a ball spline and a rotary bearing; the spline shaft passes through the rib of the T-shaped connecting plate, the main voice coil motor stator, the main voice coil motor mover, and the lower connecting plate in sequence, and is then synchronously rotated with the ball spline;

[0018] The rotary bearing is axially fixedly connected to the lower connecting plate and axially fixedly connected to the ball spline, and is used to transmit the axial power of the lower connecting plate to the ball spline;

[0019] The polishing disc assembly includes a polishing disc mounting piece and a polishing disc; one end of the polishing disc mounting piece is fixedly connected to the ball spline, and the other end is connected to the polishing disc.

[0020] Preferably, the first end of the linear guide shaft is axially movably connected to the rib of the T-shaped connecting plate, and the second end is fixedly connected to the lower connecting plate;

[0021] The linear bearing is arranged between the rib plate of the T-shaped connecting plate and the lower connecting plate, and one end of the linear bearing is fixedly connected to the rib plate of the T-shaped connecting plate.

[0022] Preferably, the constant force adjustment assembly further includes a shaft end stopper;

[0023] The shaft end stopper is connected to the first end of the linear guide shaft passing through the T-shaped connecting plate, and is used to limit the axial movement distance of the linear guide shaft;

[0024] Preferably, the motion decoupling assembly further comprises a spline sleeve;

[0025] The inner peripheral wall of the spline sleeve is fixedly sleeved with the ball spline, and the outer peripheral wall of the spline sleeve is axially fixed and rotatably sleeved in the rotary bearing.

[0026] Preferably, the polishing disc mounting piece is fixedly connected to the ball spline via the spline sleeve.

[0027] Preferably, the motion decoupling assembly further comprises a bearing housing and a retaining spring;

[0028] The bearing housing is sleeved on the outer peripheral wall of the rotary bearing and is interference-connected with the rotary bearing;

[0029] The rotary bearing is axially fixedly connected to the lower connecting plate through the bearing housing;

[0030] The retaining spring is mounted on the bearing housing and is used to limit the axial movement of the rotary bearing relative to the bearing housing.

[0031] Preferably, the multi-dimensional force sensor is a six-dimensional force sensor.

[0032] Preferably, there are two stators and two movers of the voice coil motor.

[0033] Preferably, there are two linear guide shafts;

[0034] A stator of the voice coil motor and a mover of the voice coil motor form a voice coil motor;

[0035] The two auxiliary voice coil motors and the two linear guide shafts are evenly and symmetrically distributed around the central axis of the stator of the main voice coil motor.

[0036] Preferably, the polishing disc mounting member is fixedly connected to the polishing disc via a second coupling.

[0037] From the above technical solution, it can be seen that the present application is provided with a constant force adjustment component, a rotary motion component, a motion decoupling component and a polishing disc component, which has the following advantages:

[0038] (1) The constant force adjustment component uses a combination of a main voice coil motor and an auxiliary voice coil motor to provide axial force. Since the voice coil motor is a motor that relies on electricity to convert into magnetic force, the magnitude of the axial force is only related to the supplied current and the current parameter of the voice coil motor. Therefore, the magnitude of the axial force can be directly controlled by the supplied current. The main voice coil motor and the auxiliary voice coil motor together constitute a set of macro-micro mechanisms. While the main voice coil motor provides the desired force, the auxiliary voice coil motor can play a feedback adjustment role, thereby achieving a rapid response to changes in the axial contact force and thus achieving constant axial contact force. At the same time, the constant force adjustment component uses a multi-dimensional force sensor to feed back the measured actual contact force of the polishing disc assembly as the adjustment data of the axial output force of the constant force adjustment component to the system in real time, thereby achieving precise force control of the polishing disc assembly. The multi-dimensional force sensor is installed on the wing plate of the T-type connecting plate. The left-right symmetrical design of the T-type connecting plate makes the force of the multi-dimensional force sensor more accurate. At the same time, the upper and lower ends of the rib plate of the T-type connecting plate are respectively connected to the rotary motion component and the constant force adjustment component, which not only reduces the number of intermediate connecting components but also improves the structural strength of the connecting plate.

[0039] (2) The rotary motion component uses a motor as the cutting power source, which has the advantages of stable and easy control of speed while ensuring that the speed range, cutting force requirements and weight are met;

[0040] (3) The motion decoupling assembly adopts a spline structure. The inner peripheral wall of the rotary bearing rotates with the ball spline while transmitting the output force of the lower connecting plate to the polishing disc, reducing the rotation of the corresponding parts and thus reducing the moment of inertia. At the same time, since the outer peripheral wall of the rotary bearing can be set to a non-rotating form, the safety problem caused by the overall rotation of the decoupling assembly is reduced;

[0041] (4) The polishing disc assembly is fixedly connected to the ball spline to achieve synchronous rotation and axial force transmission with the ball spline, thereby achieving the purpose of constant force control. The overall transmission distance is short and the response speed is improved, which increases the service life of the spline shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1This is a schematic diagram of the overall structure of a robot force-controlled polishing end effector with active suppression provided in this application;

[0044] Figure 2 A half-section view of the center line of a motor of a robot force-controlled polishing end effector with active suppression provided in this application along the center line of a linear guide shaft;

[0045] Figure 3 A half-section view of the center line of the motor of the end effector of a force-controlled polishing robot with active suppression provided in this application along the center line of the voice coil motor;

[0046] In the figure: 1. Motor; 2. Motor bracket; 3. First coupling; 4. Spline shaft; 5. Spline shaft bearing; (6 / 23) Shaft end baffle; 7. T-type connecting plate; (8 / 21) Linear guide shaft; (9 / 22) Linear bearing; 10. Main voice coil motor stator; 11. Main voice coil motor mover; 12. Lower connecting plate; 13. Bearing housing; 14. Rotary bearing; 15. Polishing disc; 16. Second coupling; 17. Polishing disc mounting part; 18. Spline sleeve; 19. Circlip; 20. Ball spline; 24. Multi-dimensional force sensor; (25 / 28) Voice coil motor stator; (26 / 27) Voice coil motor mover. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions of the embodiments of the present application in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present application, not all of them. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the embodiments of the present application.

[0048] In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0049] In the description of the embodiments of the present application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, replaceable connections, or integral connections. They can also refer to mechanical connections or electrical connections. They can also refer to direct connections or indirect connections through an intermediate medium. They can also refer to internal connections between two components. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0050] See also Figures 1 to 3 , an embodiment of a robot force-controlled polishing end effector with active suppression provided in an embodiment of the present application includes: a constant force adjustment component, a rotary motion component, a motion decoupling component and a polishing disc component; the constant force adjustment component includes a main voice coil motor stator 10, a main voice coil motor mover 11, an auxiliary voice coil motor stator 25, an auxiliary voice coil motor mover 26, a linear guide shaft 8, a linear bearing 9, a multi-dimensional force sensor 24, a T-shaped connecting plate 7 and a lower connecting plate 12; the multi-dimensional force sensor 24 is installed on the wing plate of the T-shaped connecting plate 7; the lower connecting plate 12 is spaced apart from the T-shaped connecting plate 7 along the axial direction of the spline shaft 4 away from the motor 1; the ends of the main voice coil motor stator 10 and the auxiliary voice coil motor stator 25 are fixedly connected to the rib of the T-shaped connecting plate 7; the main voice coil motor mover 11 and the auxiliary voice coil motor mover 26 are fixedly connected to the lower connecting plate 12; the first end of the linear guide shaft 8 is connected to the rib of the T-shaped connecting plate 7, and the second end is connected to the lower connecting plate 12; the linear bearing 9 is sleeved on the linear guide shaft 8 The outer periphery is used to limit the radial movement of the linear guide shaft 8; the rotary motion component includes a motor 1, a motor bracket 2, a spline shaft 4 and a first coupling 3; the motor 1 is mounted on the motor bracket 2; the motor bracket 2 is mounted on the rib plate of the T-shaped connecting plate 7; the spline shaft 4 is connected to the output shaft of the motor 1 through the first coupling 3; and is rotatably connected to the T-shaped connecting plate 7 through the spline shaft bearing 5. The motion decoupling component includes a ball spline 20 and a rotary bearing 14; the spline shaft 4 passes through the T-shaped connecting plate 7 in sequence After the ribs, main voice coil motor stator 10, main voice coil motor mover 11, and lower connecting plate 12, they are connected to the ball spline 20 for synchronous rotation; the rotary bearing 14 is axially fixedly connected to the lower connecting plate 12 and axially fixedly connected to the ball spline 20, for transmitting the axial power of the lower connecting plate 12 to the ball spline 20; the polishing disc assembly includes a polishing disc mounting member 17 and a polishing disc 15; one end of the polishing disc mounting member 17 is fixedly connected to the ball spline 20, and the other end is connected to the polishing disc 15.

[0051] Specifically, the lower connecting plate 12 transmits the output force of the voice coil motor to the ball spline 20 through the rotating bearing 14. For example, the outer peripheral wall of the rotating bearing 14 can be connected to the connecting plate 12, while the inner peripheral wall of the rotating bearing 14 is sleeved with the ball spline 20 but not fixedly connected to the lower connecting plate 12. The outer peripheral wall of the rotating bearing 14 cannot rotate, and the inner peripheral wall can rotate with the ball spline 20 while transmitting the axial force to the ball spline.

[0052] Specifically, the main voice coil motor rotor 11 and the main voice coil motor stator 10 constitute the main voice coil motor. The auxiliary voice coil motor rotor 26 and the auxiliary voice coil motor stator 25 constitute the auxiliary voice coil motor. The main voice coil motor and the auxiliary voice coil motor are both arranged between the ribs of the T-shaped connecting plate and the lower connecting plate 12; the main voice coil motor and the auxiliary voice coil motor jointly provide axial force for the lower connecting plate 12, wherein the main voice coil motor provides the desired axial force; the auxiliary coil provides an axial compensation force for making feedback adjustments based on the monitoring results of the multi-dimensional force sensor 24. The lower connecting plate 12 transmits the axial force provided by the main voice coil motor and the auxiliary voice coil motor to the components fixedly connected to it, and ensures through the linear guide shaft 8 that the relative position of the T-shaped connector and the lower connecting plate does not change during the axial force transmission process; wherein the auxiliary voice coil motor and the linear guide shaft 8 can be symmetrically arranged with respect to the main voice coil motor to better maintain balance.

[0053] It should be noted that there are many ways to cooperate with the lower connecting plate 12 and the linear guide shaft 8. For example, the linear guide shaft 8 can be fixedly connected to the ribs of the T-shaped connecting plate 7, and the lower connecting plate 12 can be axially movably connected to the linear guide shaft; or the linear guide shaft 8 can be fixedly connected to the lower connecting plate 12 and axially movably connected to the T-shaped connecting plate 7, without limitation; the linear bearing 9 is fixedly connected to the ribs of the T-shaped connecting plate 7 and is sleeved on the outer periphery of the linear guide shaft 8 to limit the radial movement of the linear guide shaft 8 and better play a guiding role.

[0054] The above is the first embodiment provided by the present application, and the following is the second embodiment provided by the present application. Figures 1 to 3 .

[0055] A robot force-controlled polishing end effector with active suppression comprises: a constant force adjustment component, a rotary motion component, a motion decoupling component and a polishing disc component; the rotary motion component comprises a motor 1, a motor bracket 2, a spline shaft 4 and a first coupling 3; the constant force adjustment component comprises a main voice coil motor stator 10, a main voice coil motor mover 11, an auxiliary voice coil motor stator 25, an auxiliary voice coil motor mover 26, a linear guide shaft 8, a linear bearing 9, a multi-dimensional force sensor 24, a T-type connecting plate 7 and a lower connecting plate 12; the motor 1 is mounted on the motor bracket 2; the motor bracket 2 is mounted on the rib plate of the T-type connecting plate 7; the spline shaft 4 is connected to the output shaft of the motor 1 through the first coupling 3; and is rotatably connected to the T-type connecting plate 7 through the spline shaft bearing 5; the multi-dimensional force sensor 24 is mounted on the wing plate of the T-type connecting plate 7; the lower connecting plate 12 is spaced apart from the T-type connecting plate 7 along the axial direction of the spline shaft 4 away from the motor 1; the main voice coil motor stator 10 and the auxiliary voice coil motor The ends of the stator 25 are fixedly connected to the ribs of the T-shaped connecting plate 7; the main voice coil motor mover 11 and the auxiliary voice coil motor mover 26 are fixedly connected to the lower connecting plate 12; the first end of the linear guide shaft 8 is connected to the ribs of the T-shaped connecting plate 7, and the second end is connected to the lower connecting plate 12; the linear bearing 9 is sleeved on the outer periphery of the linear guide shaft 8 to limit the radial movement of the linear guide shaft 8; the motion decoupling component includes a ball spline 20 and a rotary bearing 14; the spline shaft 4 passes through the ribs, The main voice coil motor stator 10, the main voice coil motor mover 11, and the lower connecting plate 12 are connected to the ball spline 20 for synchronous rotation; the rotary bearing 14 is axially fixedly connected to the lower connecting plate 12 and axially fixedly connected to the ball spline 20, and is used to transmit the axial power of the lower connecting plate 12 to the ball spline 20; the polishing disc assembly includes a polishing disc mounting member 17 and a polishing disc 15; one end of the polishing disc mounting member 17 is fixedly connected to the ball spline 20, and the other end is connected to the polishing disc 15.

[0056] Furthermore, in this embodiment, the first end of the linear guide shaft 8 is axially movably connected to the rib of the T-shaped connecting plate 7 , and the second end is fixedly connected to the lower connecting plate 12 .

[0057] Specifically, the linear guide shaft 8 is fixedly connected to the lower connecting plate 12 and follows the lower connecting plate 12 to move along its own axial direction; the linear bearing 9 is arranged between the T-shaped connecting plate 7 and the lower connecting plate 12, and one end is fixedly connected to the rib of the T-shaped connecting plate 7, and is sleeved on the outer periphery of the linear guide shaft 8, which is used to limit the radial movement of the linear guide shaft 8 and better play a guiding role.

[0058] Furthermore, the constant force adjustment assembly also includes an axis end baffle 6; the axis end baffle 6 is connected to the first end of the linear guide shaft 8 passing through the T-shaped connecting plate 7, and is used to limit the axial movement distance of the linear guide shaft 8. When the lower connecting plate 12 drives the linear guide shaft 8 to move downward, the axis end baffle 6 is used to limit the position to prevent the entire linear guide shaft 8 from completely sliding off the T-shaped connecting plate.

[0059] Furthermore, the motion decoupling assembly further includes a spline sleeve 18 ; the inner peripheral wall of the spline sleeve 18 is fixedly sleeved with the ball spline 20 , and the outer peripheral wall of the spline sleeve 18 is axially fixed and rotatably sleeved in the rotary bearing 14 .

[0060] Specifically, the first embodiment of the present application provides a possible structural arrangement for a mechanical device that allows the ball spline 20 to both rotate and transmit axial force from the lower connecting plate 12. In practical applications, to allow the ball spline 20 to better adapt to the size of the rotary bearing and better transmit motion and force to the polishing disc connector, the spline shaft 4 and the ball spline 20 are further configured with a spline sleeve 18. The ball spline 20 is fixedly connected to the spline sleeve 18 via screws, and the outer circumference of the ball spline 20 is clearance-matched with the inner surface of the spline sleeve 18, thereby transmitting rotational power from the ball spline 20 to the spline sleeve 18. This reduces the number of overall rotational response parts, lowering the moment of inertia and improving the response speed and service life of the spline shaft 4. The outer circumference of the spline sleeve 18 is mated with the rotary bearing 14. The lower connecting plate 12 transmits the output force of the voice coil motor to the spline sleeve 18 via the rotary bearing 14.

[0061] Furthermore, the polishing disc mounting member 17 is fixedly connected to the ball spline 20 via a spline sleeve 18 .

[0062] Specifically, the polishing disc mounting piece 17 is connected to the lower end surface of the spline sleeve 18 by screws, and receives the rotational power and axial force through the spline sleeve 18.

[0063] Furthermore, the motion decoupling assembly also includes a bearing housing 13 and a retaining spring 19; the bearing housing 13 is sleeved on the outer peripheral wall of the rotating bearing 14 and is interference-connected with the rotating bearing 14; the rotating bearing 14 is axially fixedly connected to the lower connecting plate 12 through the bearing housing 13; the retaining spring 19 is installed on the bearing housing 13 to limit the axial movement of the rotating bearing 14 relative to the bearing housing.

[0064] Specifically, in order to prevent the outer periphery of the motion decoupling assembly from rotating and thus reduce the safety issues caused by the overall rotation of the decoupling assembly, in this embodiment, the outer circumferential wall of the rotating bearing 14 is fixed to the bearing housing 13 by interference connection, and the inner circumferential wall and the spline sleeve 18 are rotatable; at the same time, the axial movement of the rotating bearing 14 is more firmly restricted by the retaining spring 19; the overall structure is safer and more solid.

[0065] Specifically, the rotary bearing 14 can be a double-row angular contact ball bearing, etc., which can be selected according to actual needs without limitation.

[0066] Furthermore, the multi-dimensional force sensor 24 is specifically a six-dimensional force sensor.

[0067] Specifically, the most complete form of multi-dimensional force is the six-dimensional force sensor, that is, a sensor that can simultaneously measure three force components and three torque components, which can more accurately achieve precise force control of the polishing disc.

[0068] Furthermore, the consonant coil motor stators are specifically two, namely the consonant coil motor stator 25 and the consonant coil motor stator 18; the consonant coil motor movers are specifically two, namely the consonant coil motor mover 26 and the consonant coil motor mover 27; the consonant coil motor stator 25 and the consonant coil motor mover 26 form a set of consonant coil motors; the consonant coil motor stator 28 and the consonant coil motor mover 27 form a set of consonant coil motors;

[0069] Furthermore, there are two linear guide shafts, namely linear guide shaft 8 and linear guide shaft 21; accordingly, there are also two linear bearings and shaft end baffles, among which the linear bearing 9 and the shaft end baffle 6 are cooperated and connected with the linear guide shaft 8, and the linear bearing 22 and the shaft end baffle 23 are cooperated and connected with the linear guide shaft 21.

[0070] In order to make the force on the lower connecting plate 12 more uniform and the feedback adjustment more accurate, the two sets of auxiliary voice coil motors and the two linear guide shafts are evenly and symmetrically distributed around the central axis of the main voice coil motor stator 10. That is, the two sets of auxiliary voice coil motors and the two linear guide shafts are distributed in a circular array around the central axis of the main voice coil motor stator 10, and the angle between the lines connecting any two of them and the central axis of the main voice coil motor stator 10 is 90°.

[0071] Furthermore, the polishing disc mounting member 17 is fixedly connected to the polishing disc 15 via a second coupling 16, so that polishing discs of different sizes and mesh sizes can be quickly switched as needed.

[0072] Furthermore, the first coupling 3 may be a diaphragm coupling or the like; the second coupling 16 may be a rigid coupling or the like, without limitation.

[0073] It should be noted that the above are only preferred embodiments of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to examples, those skilled in the art can still modify the technical solutions described in the aforementioned examples or make equivalent replacements for some of the technical features therein. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A robot force-controlled polishing end effector with active suppression, characterized in that: It includes constant force adjustment component, rotary motion component, motion decoupling component and polishing disc component; The constant force adjustment assembly includes a main voice coil motor stator, a main voice coil motor mover, an auxiliary voice coil motor stator, an auxiliary voice coil motor mover, a linear guide shaft, a linear bearing, a multi-dimensional force sensor, a T-shaped connecting plate and a lower connecting plate; The rotary motion assembly includes a motor, a motor bracket, a spline shaft, a spline shaft bearing and a first coupling; The multi-dimensional force sensor is mounted on the wing plate of the T-shaped connecting plate; The motor is mounted on the motor bracket; The motor bracket is mounted on the rib plate of the T-shaped connecting plate; The spline shaft is connected to the output shaft of the motor through the first coupling, and is connected to the rib of the T-shaped connecting plate through the spline shaft bearing; The lower connecting plate is spaced apart from the T-shaped connecting plate along the axial direction of the spline shaft away from the motor; The main voice coil motor stator and the auxiliary voice coil motor stator are both arranged between the lower connecting plate and the T-shaped connecting plate, and the ends of the stators are fixedly connected to the ribs of the T-shaped connecting plate; The main voice coil motor mover and the auxiliary voice coil motor mover are arranged between the lower connecting plate and the T-shaped connecting plate, and are both fixedly connected to the lower connecting plate; The linear guide shaft is provided between the lower connecting plate and the T-shaped connecting plate, with a first end connected to the rib of the T-shaped connecting plate and a second end connected to the lower connecting plate; The linear bearing is sleeved on the outer periphery of the linear guide shaft to limit the radial movement of the linear guide shaft; The motion decoupling assembly includes a ball spline and a rotary bearing; The spline shaft passes through the ribs of the T-shaped connecting plate, the stator of the main voice coil motor, the mover of the main voice coil motor, and the lower connecting plate in sequence, and is then connected to the ball spline for synchronous rotation; The rotary bearing is axially fixedly connected to the lower connecting plate and axially fixedly connected to the ball spline, and is used to transmit the axial power of the lower connecting plate to the ball spline; The polishing disc assembly includes a polishing disc mounting member and a polishing disc; One end of the polishing disc mounting piece is fixedly connected to the ball spline, and the other end is connected to the polishing disc.

2. The robot force-controlled polishing end effector with active suppression according to claim 1 is characterized in that: The first end of the linear guide shaft is axially movably connected to the rib of the T-shaped connecting plate, and the second end is fixedly connected to the lower connecting plate; The linear bearing is arranged between the T-shaped connecting plate and the lower connecting plate, and one end of the linear bearing is fixedly connected to the rib of the T-shaped connecting plate.

3. The robot force-controlled polishing end effector with active suppression according to claim 2, characterized in that: The constant force adjustment assembly further includes a shaft end stopper; The shaft end baffle is connected to the first end of the linear guide shaft passing through the T-shaped connecting plate, and is used to limit the axial movement distance of the linear guide shaft.

4. The robot force-controlled polishing end effector with active suppression according to claim 1 is characterized in that: The motion decoupling assembly further includes a spline sleeve; The inner peripheral wall of the spline sleeve is fixedly sleeved with the ball spline, and the outer peripheral wall of the spline sleeve is axially fixed and rotatably connected to the inner peripheral wall of the rotary bearing.

5. The robot force-controlled polishing end effector with active suppression according to claim 4 is characterized in that: The polishing disc mounting piece is fixedly connected to the ball spline via the spline sleeve.

6. The robot force-controlled polishing end effector with active suppression according to claim 1, characterized in that: The motion decoupling assembly further includes a bearing housing and a retaining spring; The bearing housing is sleeved on the outside of the rotary bearing and is interference-connected with the rotary bearing; The rotary bearing is axially fixedly connected to the lower connecting plate through the bearing housing; The retaining spring is mounted on the bearing housing and is used to limit the axial movement of the rotary bearing relative to the bearing housing.

7. The robot force-controlled polishing end effector with active suppression according to claim 1 is characterized in that: The multi-dimensional force sensor is specifically a six-dimensional force sensor.

8. The robot force-controlled polishing end effector with active suppression according to claim 1, characterized in that: Specifically, there are two stators of the voice coil motor and two movers of the voice coil motor.

9. The robot force-controlled polishing end effector with active suppression according to claim 8, characterized in that: There are specifically two linear guide shafts; A stator of the voice coil motor and a mover of the voice coil motor form a voice coil motor; The two auxiliary voice coil motors and the two linear guide shafts are evenly and symmetrically distributed around the central axis of the stator of the main voice coil motor.

10. The robot force-controlled polishing end effector with active suppression according to claim 1, characterized in that: The polishing disc mounting piece is fixedly connected to the polishing disc via a second coupling.

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