Rigid-flexible coupling hybrid robot equipment for grinding and polishing thin-walled parts

Abstract

The present invention provides a rigid-flexible coupling hybrid robot device for grinding and polishing thin-walled parts, comprising: an industrial serial robot, a rigid-flexible coupling two-rotation-one-shift parallel mechanism, and a grinding and polishing processing head; the rigid-flexible coupling two-rotation-one-shift parallel mechanism is mounted on the industrial serial robot, the grinding and polishing processing head is mounted on the rigid-flexible coupling two-rotation-one-shift parallel mechanism, and the industrial serial robot drives the grinding and polishing processing head to grind and polish thin-walled parts. By providing a serial industrial robot, a rigid-flexible coupling two-rotation-one-shift parallel mechanism, and a grinding and polishing processing head, the present invention can achieve large-scale spatial positioning and small-scale precision grinding and polishing. This rigid-flexible coupling hybrid grinding and polishing equipment has significant advantages such as strong load capacity, good flexibility, high precision / rigidity, and strong versatility, and is conducive to achieving high-speed and high-precision grinding and polishing of large thin-walled structural parts of different sizes.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot processing, in particular to a rigid-flexible coupling hybrid robot device for grinding and polishing thin-walled parts. Background Art

[0002] Large, thin-walled parts are an important component of core equipment in fields such as defense and aerospace. They have structural characteristics such as high surface processing accuracy requirements and a large range of overall curvature variations. Existing grinding and polishing solutions for large, thin-walled parts can be mainly divided into two categories: one is the robotic grinding and polishing method based on serial industrial robots. By directly adding special grinding and polishing sandpaper or a single-degree-of-freedom actuator as a grinding head at the end, it has been used for surface grinding and polishing of some thin-walled structural parts. However, this method is not very suitable for parts with large curvature variations. The other method uses manual processing to process thin-walled parts, but there are problems such as poor working environment, high labor intensity, low processing efficiency, poor product quality, and difficulty in health protection.

[0003] To achieve efficient grinding and polishing of thin-walled parts with large curvature variations and high precision requirements, researchers at home and abroad have developed a variety of multi-DOF end-effectors based on parallel mechanisms. Compared to single-DOF end-effectors, multi-DOF end-effectors based on parallel mechanisms consist of a fixed platform, an output platform, and multiple motion branches connected in parallel. When used as grinding heads, they offer advantages such as high overall precision / rigidity and strong applicability. For example, researchers at the Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, designed an end-effector device based on a 3-PPS parallel mechanism. By driving the voice coil motor within the device, it achieves three degrees of freedom (DOF) outputs, including two rotations and one translation of the end-effector platform. This device can be used in applications such as grinding and polishing complex curved surfaces on automotive wheels. Although the aforementioned parallel multi-DOF end-effector utilizes a rigid-flexible coupling design, which reduces motion mass, the end-effector exhibits accompanying motion, which increases the complexity of the kinematic inverse solution for the overall grinding and polishing equipment, creating certain difficulties in actual processing control. Patent document CN108523397B provides a robot end effector comprising: a base having multiple channels; and multiple flexible members extending from the base, wherein one of the multiple flexible members has a fluid channel connected to at least one of the multiple channels in the base to allow fluid flowing through the multiple channels to flow out of the fluid channel. While this patent focuses on flexible adaptation to curved surfaces, it fails to address the concomitant motion of the end effector.

[0004] Therefore, considering the curvature change characteristics and precision requirements of large thin-walled parts, it is necessary to design a rigid-flexible coupling two-rotation-one-translation parallel mechanism with no accompanying motion as the end effector. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a rigid-flexible coupling hybrid robot equipment for grinding and polishing thin-walled parts.

[0006] According to the present invention, a rigid-flexible coupling hybrid robot equipment for grinding and polishing thin-walled parts includes: an industrial serial robot, a rigid-flexible coupling two-rotation-one-transfer parallel mechanism, and a grinding and polishing processing head;

[0007] The rigid-flexible coupling two-rotation-one-transfer parallel mechanism is installed on the industrial serial robot, the grinding and polishing head is installed on the rigid-flexible coupling two-rotation-one-transfer parallel mechanism, and the industrial serial robot drives the grinding and polishing head to grind and polish thin-walled parts.

[0008] Preferably, the rigid-flexible coupling two-rotation-one-transfer parallel mechanism comprises: a frame fixed platform, an output moving platform, a series motion branch and an airbag-type cylinder motion device;

[0009] The frame fixed platform and the output moving platform are connected via the series motion branch and the airbag cylinder motion device;

[0010] The frame fixed platform is installed on the industrial serial robot, and the grinding and polishing head is installed on the output dynamic platform.

[0011] Preferably, the series motion branch comprises: a frame bearing seat, a first connecting rod, a first Hooke's joint, a second connecting rod and a first ball joint;

[0012] The frame bearing seat is fixedly mounted on the frame fixed platform, one end of the first connecting rod is rotatably connected to the frame bearing seat, and the other end is rotatably connected to one end of the second connecting rod through the first Hooke's joint, and the other end of the second connecting rod is rotatably connected to the output dynamic platform through the first ball joint.

[0013] Preferably, the frame bearing seat is rotationally matched with the first connecting rod through a first rotating pair, the first connecting rod is rotationally matched with the first Hooke's hinge through a first rotating axis of the first Hooke's hinge, and the first Hooke's hinge is rotationally matched with the second connecting rod through a second rotating axis of the first Hooke's hinge.

[0014] Preferably, the rotation axis of the first rotation pair is parallel to the first rotation shaft axis.

[0015] Preferably, when there are two serial motion branches, the angle between the rotation axes of the first rotation pairs in the two serial motion branches is 120°;

[0016] The two series motion branches are located on the sides of the airbag-type cylinder motion device.

[0017] Preferably, the airbag cylinder motion device comprises: an airbag cylinder, a first cylinder bearing seat, a second cylinder bearing seat and a second Hooke's hinge;

[0018] One end of the airbag cylinder is fixedly mounted on the frame fixed platform, and the other end is fixedly mounted on the first cylinder bearing seat. The first cylinder bearing seat is rotatably connected to the second cylinder bearing seat via the second Hooke's hinge, and the output dynamic platform is fixedly mounted on the second cylinder bearing seat.

[0019] Preferably, the first cylinder bearing seat is rotationally matched with the second Hooke's hinge via the third rotation axis of the second Hooke's hinge, and the second Hooke's hinge is rotationally matched with the second cylinder bearing seat via the fourth rotation axis of the second Hooke's hinge.

[0020] Preferably, the first rotating pair is a driving pair, the driving mechanism of the driving pair includes a motor and a gear driver, and the first connecting rod rotates relative to the frame bearing seat through the drive of the first rotating pair.

[0021] Preferably, the airbag cylinder realizes linear motion toward the fixed platform of the frame through an internal cylinder.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention utilizes a serial industrial robot, a rigid-flexible coupled two-rotation-one-transfer parallel mechanism, and a grinding and polishing head to achieve both large-scale spatial positioning and small-scale precision grinding and polishing. This rigid-flexible coupled hybrid grinding and polishing equipment offers significant advantages, including strong load capacity, good compliance, high precision / rigidity, and strong versatility. It facilitates high-speed, high-precision grinding and polishing of large, thin-walled structural parts of varying sizes.

[0024] 2. The grinding and polishing head uses a rigid-flexible coupling two-rotation and one-translation parallel mechanism to realize that the axis can be along the normal direction of the respective processing area on the thin-walled workpiece without accompanying movement, thereby achieving precise grinding and polishing in a small range. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0026] Figure 1 The overall structure diagram of the rigid-flexible coupling hybrid robot used for grinding and polishing thin-walled parts;

[0027] Figure 2 This is a structural diagram of a rigid-flexible coupling two-rotation-one-transmission parallel mechanism;

[0028] Figure 3 It is a schematic diagram of the series motion branch structure;

[0029] Figure 4 It is a schematic diagram of the structure of the air bag type cylinder motion device;

[0030] As shown in the figure:

[0031]

[0032] DETAILED DESCRIPTION

[0033] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0034] Example 1

[0035] like Figure 1 As shown, this embodiment includes: an industrial serial robot 1, a rigid-flexible coupling two-rotation-one-shift parallel mechanism 2 and a grinding and polishing head 3; the rigid-flexible coupling two-rotation-one-shift parallel mechanism 2 is installed on the industrial serial robot 1, and the grinding and polishing head 3 is installed on the rigid-flexible coupling two-rotation-one-shift parallel mechanism 2, and the industrial serial robot 1 drives the grinding and polishing head 3 to grind and polish thin-walled parts 4.

[0036] like Figure 2 As shown, the rigid-flexible coupling two-rotation-one-transfer parallel mechanism 2 includes: a frame fixed platform 21, an output moving platform 22, a serial motion branch and an airbag-type cylinder motion device; the frame fixed platform 21 and the output moving platform 22 are connected through the serial motion branch and the airbag-type cylinder motion device, the frame fixed platform 21 is installed on the industrial serial robot 1, and the output moving platform 22 is installed on the grinding and polishing processing head 3.

[0037] like Figure 3As shown, the series motion branch includes: a frame bearing seat 23, a first rotational pair 24, a first connecting rod 25, a first Hooke's joint 26, a second connecting rod 29, and a first ball joint 210. The frame bearing seat 23 is fixedly mounted on the frame fixed platform 21. One end of the first connecting rod 25 is rotationally connected to the frame bearing seat 23, and the other end is rotationally connected to one end of the second connecting rod 29 via the first Hooke's joint 26. The other end of the second connecting rod 29 is rotationally connected to the output movable platform 22 via the first ball joint 210. The frame bearing seat 23 is rotationally coupled to the first connecting rod 25 via the first rotational pair 24. The first connecting rod 25 is rotationally coupled to the first Hooke's joint 26 via the first rotation axis 27. The first Hooke's joint 26 is rotationally coupled to the second connecting rod 29 via the second rotation axis 28 of the first Hooke's joint 26. The rotation axis of the first rotational pair 24 is parallel to the axis of the first rotation axis 27. When two tandem motion branches are provided, the angle between the rotational axes of the first rotational pair 24 in the two tandem motion branches is 120°, and the two tandem motion branches are located on the sides of the airbag-type cylinder motion device. The first rotational pair 24 is a drive pair, and its drive mechanism includes a motor and a gear drive. The first connecting rod 25 rotates relative to the frame bearing seat 23 through the drive of the first rotational pair 24.

[0038] like Figure 4 As shown, the airbag cylinder motion device includes an airbag cylinder 211, a first cylinder bearing seat 212, a second cylinder bearing seat 213, and a second Hooke's hinge 214. One end of the airbag cylinder 211 is fixedly mounted on the frame fixed platform 21, and the other end is fixedly mounted on the first cylinder bearing seat 212. The first cylinder bearing seat 212 is rotatably connected to the second cylinder bearing seat 213 via the second Hooke's hinge 214. The output platform 22 is fixedly mounted on the second cylinder bearing seat 213. The first cylinder bearing seat 212 rotatably engages with the second Hooke's hinge 214 via the third rotation axis 215 of the second Hooke's hinge 214, and the second Hooke's hinge 214 rotatably engages with the second cylinder bearing seat 213 via the fourth rotation axis 216 of the second Hooke's hinge 214. The airbag cylinder 211 achieves linear motion toward the frame fixed platform 21 via its internal cylinder.

[0039] Example 2

[0040] Example 2 is a preferred example of Example 1.

[0041] like Figure 1As shown, this embodiment includes: an industrial serial robot 1, a rigid-flexible coupled two-rotation-one-shift parallel mechanism 2, a grinding and polishing head 3, and a large, thin-walled workpiece 4 to be polished. The industrial serial robot 1 utilizes a six-degree-of-freedom serial manipulator arm, enabling large-scale spatial positioning when polishing large, thin-walled workpieces 4. The rigid-flexible coupled two-rotation-one-shift parallel mechanism 2 is mounted at the end of the industrial serial robot 1, and a grinding and polishing head 3 is mounted on the output platform 22 of the rigid-flexible coupled two-rotation-one-shift parallel mechanism 2. This enables precise polishing of thin-walled workpieces 4 over a small area.

[0042] like Figure 2-4 As shown, the rigid-flexible coupling two-rotation-one-transfer parallel mechanism 2 includes in sequence: a frame fixed platform 21, an output movable platform 22, two serial motion branches arranged between the frame fixed platform 21 and the output movable platform 22, and an airbag cylinder motion device, and the two serial motion branches are respectively arranged on both sides of the airbag cylinder motion device.

[0043] The series motion branch sequentially includes: a frame bearing seat 23 connected between the frame fixed platform 21 and the output movable platform 22, a first revolving pair 24, a first connecting rod 25, a first Hooke's joint 26, a second connecting rod 29, and a first ball joint 210. The frame bearing seat 23 is fastened to the frame fixed platform 21. The frame bearing seat 23 is rotationally engaged with the first connecting rod 25 via the first revolving pair 24. The first connecting rod 25 is rotationally engaged with the first Hooke's joint 26 via the first rotating axis 27 of the first Hooke's joint 26. The first Hooke's joint 26 is rotationally engaged with the second connecting rod 29 via the second rotating axis 28 of the first Hooke's joint 26. The second connecting rod 29 is rotationally engaged with the output movable platform 22 via the first ball joint 210.

[0044] The airbag cylinder motion device sequentially comprises: an airbag cylinder 211 connected between the frame fixed platform 21 and the output movable platform 22; a first cylinder bearing seat 212; a second Hooke's hinge 214; and a second cylinder bearing seat 213. The bottom of the airbag cylinder 211 is fixedly mounted on the frame fixed platform 21. The first cylinder bearing seat 212 is fixedly mounted on the top of the airbag cylinder 211 and rotatably engages with the second Hooke's hinge 214 via the second Hooke's hinge's third rotation axis 215. The second Hooke's hinge 214 rotatably engages with the second cylinder bearing seat 213 via the second Hooke's hinge's fourth rotation axis 216. The second cylinder bearing seat 213 is fixedly mounted on the bottom of the output movable platform 22.

[0045] In the two series motion branches, the rotation axis of the first rotation pair 24 is parallel to the axis of the first rotation shaft 27, and the angle between the rotation axes of the first rotation pair 24 in the two series branches is 120°.

[0046] The first revolving pair 24 is a drive pair, whose drive mechanism includes a motor and a gear drive. By driving the cylinder in the airbag cylinder 211, the airbag cylinder 211 can output a single degree of freedom (DOF) of vertical up-and-down motion. By driving the first revolving pair 24 and the airbag cylinder 211, the rigid-flexible coupled two-rotation-one-translation parallel mechanism 2 can achieve three degrees of freedom (DOF) of spatial motion: two rotations and one translation. The axes of rotation for the two DOFs are the axes of the third and fourth rotational axes 215 and 216 of the second Hooke's joint 214, respectively. The end output is unaccompanied motion.

[0047] By combining the two serial motion branches and the pneumatic cylinder motion mechanism, the resulting rigid-flexible hybrid robotic system achieves wide-scale spatial positioning. The axis of the grinding and polishing head (3) mounted on the output platform (22) can move unassisted, along the normal direction of the respective processing area on the large, thin-walled workpiece (4), achieving precise grinding and polishing within a small area.

[0048] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this 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 operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0049] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A rigid-flexible coupling hybrid robot equipment for grinding and polishing thin-walled parts, characterized in that: include: An industrial serial robot (1), a rigid-flexible coupled two-rotation-one-transfer parallel mechanism (2), and a grinding and polishing head (3); The rigid-flexible coupling type two-rotation-one-shift parallel mechanism (2) is installed on the industrial serial robot (1), the grinding and polishing head (3) is installed on the rigid-flexible coupling type two-rotation-one-shift parallel mechanism (2), and the industrial serial robot (1) drives the grinding and polishing head (3) to grind and polish a thin-walled part (4); The rigid-flexible coupling two-rotation-one-transfer parallel mechanism (2) comprises: a frame fixed platform (21), an output moving platform (22), a series motion branch, and an airbag-type cylinder motion device; The frame fixed platform (21) and the output moving platform (22) are connected via the series motion branch and the airbag-type cylinder motion device; The frame fixed platform (21) is installed on the industrial serial robot (1), and the grinding and polishing head (3) is installed on the output moving platform (22); The series motion branch comprises: a frame bearing seat (23), a first connecting rod (25), a first Hooke's joint (26), a second connecting rod (29) and a first ball joint (210); The frame bearing seat (23) is fixedly mounted on the frame fixed platform (21); one end of the first connecting rod (25) is rotatably connected to the frame bearing seat (23); the other end of the first connecting rod (25) is rotatably connected to one end of the second connecting rod (29) via the first Hooke's hinge (26); the other end of the second connecting rod (29) is rotatably connected to the output movable platform (22) via the first ball joint (210); The frame bearing seat (23) is rotationally matched with the first connecting rod (25) through a first rotating pair (24); the first connecting rod (25) is rotationally matched with the first Hooke's hinge (26) through a first rotating shaft (27) of the first Hooke's hinge (26); the first Hooke's hinge (26) is rotationally matched with the second connecting rod (29) through a second rotating shaft (28) of the first Hooke's hinge (26); The airbag-type cylinder motion device comprises: an airbag-type cylinder (211), a first cylinder bearing seat (212), a second cylinder bearing seat (213), and a second Hooke's hinge (214); One end of the airbag cylinder (211) is fixedly mounted on the frame fixed platform (21), and the other end is fixedly mounted on the first cylinder bearing seat (212); the first cylinder bearing seat (212) is rotatably connected to the second cylinder bearing seat (213) via the second Hooke's hinge (214); and the output dynamic platform (22) is fixedly mounted on the second cylinder bearing seat (213).

2. The rigid-flexible coupling hybrid robot equipment for grinding and polishing thin-walled parts according to claim 1, characterized in that: The rotation axis of the first rotation pair (24) is parallel to the axis of the first rotation shaft (27).

3. The rigid-flexible coupling hybrid robot equipment for grinding and polishing thin-walled parts according to claim 1, characterized in that: When there are two series motion branches, the angle between the rotation axes of the first rotation pairs (24) in the two series motion branches is 120°; The two series motion branches are located on the sides of the airbag-type cylinder motion device.

4. The rigid-flexible coupling hybrid robot equipment for grinding and polishing thin-walled parts according to claim 1, characterized in that: The first cylinder bearing seat (212) is rotationally engaged with the second Hooke's hinge (214) via the third rotation axis (215) of the second Hooke's hinge (214), and the second Hooke's hinge (214) is rotationally engaged with the second cylinder bearing seat (213) via the fourth rotation axis (216) of the second Hooke's hinge (214).

5. The rigid-flexible coupling hybrid robot equipment for grinding and polishing thin-walled parts according to claim 1, characterized in that: The first rotating pair (24) is a driving pair, the driving mechanism of which includes a motor and a gear driver, and the first connecting rod (25) rotates relative to the frame bearing seat (23) through the drive of the first rotating pair (24).

6. The rigid-flexible coupling hybrid robot equipment for grinding and polishing thin-walled parts according to claim 1, characterized in that: The airbag cylinder (211) realizes linear motion toward the machine frame fixed platform (21) through the internal cylinder.

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