An automatic lapping robot end effector

Abstract

An automatic scraping robot end effector belongs to the field of machining technology. The automatic scraping robot end effector achieves force loading through a loading electric push cylinder, angle adjustment through an angle adjustment cylinder, and monitors the force state of the scraper and the overall force posture of the end effector through a six-dimensional force sensor. The loading electric push cylinder adjusts the downward pressure applied to the scraper in real time, the angle sensor collects angle data in real time, and the angle adjustment cylinder drives an angle adjustment adapter rod to control the scraper angle parameters. Combined with a control system, it achieves parameterized control of the scraping process and automates the scraping process in conjunction with an industrial robot, innovating scraping technology and replacing traditional manual scraping. This invention can be transformed into supporting equipment for scraping various structural surfaces and can also be used to develop automatic scraping robot process equipment in conjunction with industrial robots.

Description

Technical Field

[0001] This invention belongs to the field of ultra-precision machining technology, and in particular relates to an end effector of an automatic scraping robot. Background Technology

[0002] Currently, manual scraping is generally used to achieve micron-level surface precision machining of large structural components. Traditional manual scraping involves first cleaning the part surface, applying red lead powder to the end face, then grinding the end face against a standard plane to identify high points. These high points are then removed using a scraping tool, and the surface precision is achieved through repeated processes. Therefore, traditional manual scraping is inefficient, unsuitable for large structural components, and highly dependent on manual skill and physical strength. Prolonged manual scraping can easily lead to occupational diseases for workers. Furthermore, due to inconsistent scraping skill levels, the quality of the scraped parts is unstable. Summary of the Invention

[0003] The technical problem solved by this invention is: This invention provides an automatic scraping robot end effector, which can be fixed to the end of an industrial robot. By integrating the end effector with the robot system, parameterized control of the robot scraping process can be achieved. It can make full use of the characteristics of industrial robots, such as large arm span and high degree of freedom, to perform precision scraping on large structural parts and achieve micron-level surface accuracy machining.

[0004] The technical solution of the present invention is as follows: The present invention discloses an end effector for an automatic scraping robot, characterized in that it includes an adapter plate, a force sensor mounting base, a six-dimensional force sensor, a main load-bearing structure, a loading electric cylinder, a left transmission plate, a right transmission plate, a loading adapter shaft, a linear guide slider module, an angle sensor, an angle sensor mounting base, an angle adjustment cylinder, a scraper fixing rear cover, an angle adjustment shaft, a scraper fixing front cover, a loading plate, an angle adjustment adapter rod, an angle adjustment shaft seat, a scraper, an angle adjustment cylinder mounting base, a scraper fixing shaft, and a scraper fixing base;

[0005] The adapter plate is fixedly connected to the force sensor mounting base, and the upper end face of the six-dimensional force sensor is fixedly connected to the lower end face of the force sensor mounting base. The lower end face of the six-dimensional force sensor is installed on the upper surface of the main load-bearing structure to collect the force state of the scraper. The two sides of the main load-bearing structure are connected to the left and right transmission plates through linear guide rail modules to ensure that the scraper moves along the axial direction of the six-dimensional force sensor during the downward pressing process. The loading electric push cylinder is fixedly installed inside the main load-bearing structure. When the loading electric push cylinder drives the loading adapter shaft under pressure, it drives the loading plate fixedly connected to the loading adapter shaft to move longitudinally along the loading adapter shaft, and drives the left and right transmission plates to drive the scraper to press down.

[0006] An angle sensor is fixedly connected to an angle sensor mounting base to monitor the scraper angle; the angle sensor mounting base is fixedly connected to the left transmission plate; the angle adjustment cylinder is connected to the angle adjustment shaft seat via an angle adjustment adapter rod and an angle adjustment shaft; the angle adjustment cylinder drives the angle adjustment adapter rod to adjust the scraper angle.

[0007] The angle adjustment shaft is movably connected to the angle adjustment adapter rod. The angle adjustment shaft mates with the hole in the front cover of the scraper fixing plate. The rear cover of the scraper fixing plate is fixedly connected to the scraper fixing seat. The angle adjustment cylinder fixing seat is fixedly installed on the lower surface of the loading plate. The angle adjustment cylinder fixing seat is fixedly connected to the scraper fixing seat. The angle adjustment cylinder fixing seat is movably connected to the left transmission plate and the right transmission plate through the scraper fixing shaft. When adjusting the scraper angle, the scraper fixing shaft can achieve stable angle adjustment of the scraper.

[0008] Furthermore, the loading electric push cylinder includes a self-locking device. After the scraper contacts the workpiece to be scraped, the loading electric push cylinder continues to apply downward pressure to the scraper. Once the preset downward pressure is reached, the self-locking device, in conjunction with the control system, locks the scraper to achieve braking.

[0009] Furthermore, the angle adjustment adapter rod can move back and forth as the angle adjustment cylinder extends and retracts to adjust the scraper angle; the angle adjustment cylinder (after self-locking) fixes the relative position between the angle adjustment shaft and the scraper, so that the angle adjustment shaft acts as a load-bearing fulcrum when the scraper moves, to simulate the force process of manual scraping of the scraper.

[0010] Furthermore, the six-dimensional force sensor is used to measure forces and torques in three different directions in three-dimensional space, and to monitor the force state of the scraper and the overall force posture of the end effector.

[0011] Furthermore, the angle sensor is positioned relative to the fixed axis of the scraper.

[0012] Furthermore, the linear guide slider module includes two linear guides and two sliders, which are installed symmetrically as a whole.

[0013] Furthermore, the main load-bearing structure includes a top plate, a left load-bearing plate, a right load-bearing plate, and a reinforcing beam. The top plate is fixedly connected to the left load-bearing plate and the right load-bearing plate. The left load-bearing plate and the right load-bearing plate are fixedly connected by the reinforcing beam, providing stable support for the scraper pressing process and the scraping process.

[0014] Furthermore, there are no fewer than two reinforcing beams, which are fixedly connected to the left and right load-bearing plates respectively.

[0015] Furthermore, the adapter plate is provided with several interfaces, which can be used to fix the end effector to the industrial robot.

[0016] Based on the same inventive concept, this invention also proposes a method for scraping the surface of parts using an end effector of an automatic scraping robot. That is, after the end effector completes the adjustment of the scraper's downward pressure and angle, the scraper of the end effector is driven by an industrial robot to scrape the surface of the parts.

[0017] The advantages of this invention compared to the prior art are:

[0018] (1) An automatic scraping robot end effector of the present invention is used to realize parameterized control of the scraping process, cooperate with industrial robots to realize the automation and intelligence of the scraping process, replace manual scraping, and realize precision processing of the surface of various high-precision structural parts.

[0019] (2) The automatic scraping robot end effector of the present invention can be transformed into a supporting equipment for scraping the surface of spacecraft and various structures. It can also be used in conjunction with industrial robots to develop an automatic scraping robot process equipment, innovate scraping process, and replace manual scraping.

[0020] (3) The end effector of the automatic scraping robot of the present invention is equipped with a six-dimensional force sensor at the top to monitor the force state of the scraper and the overall force posture of the end effector, so as to realize parameterized control of the scraping pressure.

[0021] (4) The end effector of the automatic scraping robot of the present invention is equipped with an angle sensor to monitor the angle of the scraper and realize parameterized control of the angle during the scraping process;

[0022] (5) The present invention uses multiple sets of linear guide rail modules to ensure the rigidity of the structural design and the stability of the loading motion, and to support the scraper to scrape stably;

[0023] (6) The cross-sections of the six-dimensional force sensor, the loading electric cylinder, and the angle adjustment cylinder of the present invention are on the same plane, which prevents the generation of torque in other directions, realizes convenient control of loading force, and is conducive to the development of control system.

[0024] (7) The present invention is designed with a separable scraper fixing rear cover and a scraper fixing front cover to realize quick replacement of scraper;

[0025] (8) The angle sensor of the present invention is fixed to the scraper fixing shaft, directly collecting the scraper angle adjustment value, reducing the calculation steps, and ensuring the accuracy and authenticity of the angle adjustment;

[0026] (9) This invention can connect to different models of robots by designing different adapter plates;

[0027] (10) The present invention ensures the rigidity of the overall structure by designing reinforced beams;

[0028] (11) The angle adjustment bearing of the present invention can be fixed at different positions of the scraper, which makes it easy to achieve different lengths of scraper exposure and to achieve convenient scraping of narrow space size features. Attached Figure Description

[0029] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0030] Figure 1 This is a perspective view of the end effector of the automatic scraping robot of the present invention;

[0031] Figure 2 This is a rear view of the end effector of the automatic scraping robot of the present invention;

[0032] Figure 3 This is an isometric view of the end effector of the automatic scraping robot of the present invention. Detailed Implementation

[0033] To better understand the above technical solutions, the technical solutions of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0034] The following description, in conjunction with the accompanying drawings, provides a more detailed explanation of the titles provided in the embodiments of this application. Specific implementation methods may include:

[0035] In the solution provided in this application embodiment, an automatic scraping robot end effector includes an adapter plate 1, a force sensor mounting base 2, a six-dimensional force sensor 3, a main load-bearing structure, a loading electric push cylinder 6, a left transmission plate 7, a right transmission plate 17, a loading adapter shaft 8, a linear guide rail slider module 9, an angle sensor 10, an angle sensor mounting base 11, an angle adjustment cylinder 12, a scraper fixing rear cover 13, an angle adjustment shaft 14, a scraper fixing front cover 15, a loading plate 18, an angle adjustment adapter rod 20, an angle adjustment shaft seat 21, a scraper 22, an angle adjustment cylinder mounting base 23, a scraper fixing shaft 24, and a scraper fixing seat 25;

[0036] The adapter plate 1 is fixedly connected to the force sensor mounting base 2, and the upper end face of the six-dimensional force sensor 3 is fixedly connected to the lower end face of the force sensor mounting base 2. The lower end face of the six-dimensional force sensor 3 is installed on the upper surface of the main load-bearing structure to collect the force state of the scraper 22. The scraper 22 is connected to the left transmission plate 7 and the right transmission plate 17 on both sides of the main load-bearing structure through a linear guide module to ensure that the scraper 22 moves along the axial direction of the six-dimensional force sensor 3 during the pressing process. The loading electric push cylinder 6 is fixedly installed in the main load-bearing structure. When the loading electric push cylinder 6 drives the loading adapter shaft 8 under pressure, it drives the loading plate 18, which is fixedly connected to the loading adapter shaft 8, to move longitudinally along the loading adapter shaft 8, and drives the left transmission plate 7 and the right transmission plate 17 to drive the scraper 22 to press down.

[0037] Angle sensor 10 is fixedly connected to angle sensor mounting base 11 to monitor the angle of scraper 22; angle sensor mounting base 11 is fixedly connected to left transmission plate 7; angle adjustment cylinder 12 is connected to angle adjustment shaft seat 21 through angle adjustment adapter rod 20 and angle adjustment shaft 14; angle adjustment cylinder 12 drives angle adjustment adapter rod 20 to adjust the angle of scraper 22.

[0038] Angle adjustment shaft 14 is movably connected to angle adjustment adapter rod 20. Angle adjustment shaft 14 is fitted with the hole of scraper fixing front cover 15. Scraper fixing rear cover 13 is fixedly connected to scraper fixing seat 25. Angle adjustment cylinder fixing seat 23 is fixedly installed on the lower surface of loading plate 18. Angle adjustment cylinder fixing seat 23 is fixedly connected to scraper fixing seat 25. Angle adjustment cylinder fixing seat 23 is movably connected to left transmission plate 7 and right transmission plate 17 through scraper fixing shaft 24. When adjusting the scraper angle, scraper fixing shaft 24 can realize stable angle adjustment of scraper 22.

[0039] Angle sensor mounting base 11 is fixedly connected to left transmission plate 7. Angle adjustment cylinder 12 is connected to angle adjustment shaft seat 21 through angle adjustment adapter rod 20 and angle adjustment shaft 14. Angle adjustment cylinder 12 drives angle adjustment adapter rod 20 to realize angle adjustment of scraper 22.

[0040] Angle adjustment shaft 14 is movably connected to angle adjustment adapter rod 20. Angle adjustment shaft 14 is fitted with the hole of scraper fixing front cover 15. Scraper fixing rear cover 13 is fixedly connected to scraper fixing seat 25. Angle adjustment cylinder fixing seat 23 is fixedly installed on the lower surface of loading plate 18. Angle adjustment cylinder fixing seat 23 is fixedly connected to scraper fixing seat 25. Angle adjustment cylinder fixing seat 23 is movably connected to left transmission plate 7 and right transmission plate 17 through scraper fixing shaft 24. When adjusting the scraper angle, scraper fixing shaft 24 can realize stable angle adjustment of scraper 22.

[0041] The device has a symmetrical structure, and its working principle and the functions of each component are as follows:

[0042] Working Principle: This device is fixed to the industrial robot via a top-mounted connecting screw. A loading electric cylinder 6 drives the loading plate 18, which in turn drives the scraper 22 along the axis of the six-dimensional force sensor 3 via the left and right transmission plates 7 and 17. When the scraper 22 contacts the workpiece, the loading electric cylinder 6 applies downward pressure. The six-dimensional force sensor 3 at the top of the device collects data on this downward pressure, allowing for parameterized control of the pressure in conjunction with the force control system. An angle adjustment cylinder 12 drives the angle adjustment adapter 20 to adjust the angle of the scraper 22. The angle sensor 10 collects real-time data on the scraper 22 angle, enabling parameter control of the scraper angle. After the scraping pressure and angle are adjusted, the industrial robot, with the device fixed in place, drives the device to perform the scraping action, completing the scraping work.

[0043] like Figure 1 As shown, different interfaces are designed through adapter plate 1 to connect the end effector to different industrial robots, and screws are used for fixing. Force sensor mounting base 2 is designed to install six-dimensional force sensor 3 and connect it to adapter plate 1, and screws are used for fixing. Six-dimensional force sensor 3 is used to collect the force state of the end effector and scraper 22. When the scraper 22 is loaded, it works with the force control system to control the scraping pressure.

[0044] like Figure 1 As shown, the top plate 4, left support plate 5, right support plate 16, and reinforcing beam 19 are the main load-bearing structures of the end effector, providing stable support for the scraper 22 during the pressing and scraping processes. Linear guides and sliders are installed on the main load-bearing structures, the left transmission plate 7, and the right transmission plate 17 to ensure that the scraper 22 moves axially according to the force sensor during the pressing process, providing a basis for the six-dimensional force sensor 3 to monitor the force state of the scraper. All parts are connected and fixed with screws.

[0045] like Figure 1 As shown, the loading electric push cylinder 6 is used to drive the loading plate 18 to move longitudinally, which in turn drives the left transmission plate 7 and the right transmission plate 17 to drive the scraper 22 to press down. After the scraper 22 contacts the workpiece, the loading electric push cylinder 6 continues to apply downward pressure to the scraper 22. After reaching the set downward pressure, it cooperates with the force control system to self-lock and maintain the downward pressure state.

[0046] like Figure 1 As shown, the loading adapter shaft 8 is used to connect the loading electric push cylinder 6 and the loading plate 18 to realize the transmission of force and displacement during the loading process, and is fixed by screw connection.

[0047] like Figures 1-3 As shown, the angle adjustment cylinder mounting base 23 is used to fix the angle adjustment cylinder 12, and can fix the angle adjustment cylinder 12 to the loading plate 18. When the loading plate 18 moves along the axis of the six-dimensional force sensor 3, it can drive the angle adjustment cylinder 12 to move together.

[0048] The scraper fixing shaft 24, scraper fixing seat 25, scraper fixing front cover 15, and scraper fixing rear cover 13 are used to fix the scraper and provide stable support for the scraping process. When adjusting the scraper angle, the scraper fixing shaft 24 can also achieve stable angle adjustment of the scraper 22.

[0049] Angle sensor mounting bracket 11 is used to fix angle sensor 10 to the left transmission plate 7, providing an installation reference for the angle sensor. Angle sensor 10 is fixed relative to scraper fixing shaft 24. When the scraper angle changes, angle sensor 10 can collect scraper angle data, which, in conjunction with the control system, can realize parameterized control of the scraper angle.

[0050] The angle adjustment cylinder 12 is connected to the angle adjustment shaft seat 21 via the angle adjustment adapter rod 20 and the angle adjustment shaft 14. The angle adjustment cylinder 12 drives the angle adjustment adapter rod 20 to adjust the angle of the scraper.

[0051] like Figure 1 As shown, the scraper 22 is used to scrape the surface of the workpiece. After the end effector adjusts the scraper's downward pressure and angle, the industrial robot drives the end effector to perform surface scraping.

[0052] In the development of aerospace optical remote sensors, to reduce the impact of assembly stress on system accuracy and achieve precise optical transmission, the connecting surfaces of precision parts such as the lens frames, main load-bearing structural components, traditional mechanical parts, and space pointing structural components of the remote sensor require high precision, generally at the micrometer level. The aforementioned automated scraping robot end effector can be used for micrometer-level surface precision machining, particularly for the precision machining of large structural components in remote sensors. This solves the problems of traditional manual scraping processes, such as high dependence on manual scraping skills, difficulty in controlling quality consistency, inability to achieve precision scraping of large structural components, and inability to support the future development of large remote sensors.

[0053] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. An end effector for an automatic scraping robot, characterized in that, Includes adapter plate (1), force sensor mounting base (2), six-dimensional force sensor (3), main load-bearing structure, loading electric push cylinder (6), left transmission plate (7), right transmission plate (17), loading adapter shaft (8), linear guide rail slider module (9), angle sensor (10), angle sensor mounting base (11), angle adjustment cylinder (12), scraper fixing rear cover (13), angle adjustment shaft (14), scraper fixing front cover (15), loading plate (18), angle adjustment adapter rod (20), angle adjustment shaft seat (21), scraper (22), angle adjustment cylinder mounting base (23), scraper fixing shaft (24), and scraper fixing seat (25); The adapter plate (1) is fixedly connected to the force sensor mounting base (2), and the upper end face of the six-dimensional force sensor (3) is fixedly connected to the lower end face of the force sensor mounting base (2); the lower end face of the six-dimensional force sensor (3) is installed on the upper surface of the main load-bearing structure to collect the force state of the scraper (22); the left transmission plate (7) and the right transmission plate (17) on both sides of the main load-bearing structure are connected to the linear guide rail module to ensure that the scraper (22) moves along the axial direction of the six-dimensional force sensor (3) during the pressing process; the loading electric push cylinder (6) is fixedly installed in the main load-bearing structure. When the loading electric push cylinder (6) drives the loading adapter shaft (8) under pressure, it drives the loading plate (18) fixedly connected to the loading adapter shaft (8) to move longitudinally along the loading adapter shaft (8), and drives the left transmission plate (7) and the right transmission plate (17) to drive the scraper (22) to press down; Angle sensor (10) is fixedly connected to angle sensor mounting base (11) to monitor the angle of scraper (22); angle sensor mounting base (11) is fixedly connected to left transmission plate (7); angle adjustment cylinder (12) is connected to angle adjustment shaft seat (21) through angle adjustment adapter rod (20) and angle adjustment shaft (14); angle adjustment cylinder (12) drives angle adjustment adapter rod (20) to realize angle adjustment of scraper (22); Angle adjustment shaft (14) is movably connected to angle adjustment adapter rod (20). Angle adjustment shaft (14) is matched with the hole of scraper fixing front cover (15). Scraper fixing rear cover (13) is fixedly connected to scraper fixing seat (25). Angle adjustment cylinder fixing seat (23) is fixedly installed on the lower surface of loading plate (18). Angle adjustment cylinder fixing seat (23) is fixedly connected to scraper fixing seat (25). Angle adjustment cylinder fixing seat (23) is movably connected to left transmission plate (7) and right transmission plate (17) through scraper fixing shaft (24). When adjusting the scraper angle, scraper fixing shaft (24) can realize stable angle adjustment of scraper (22).

2. The end effector of an automatic scraping robot according to claim 1, characterized in that, The loading electric push cylinder (6) includes a self-locking device. After the scraper (22) contacts the workpiece to be scraped, the loading electric push cylinder (6) continues to apply downward pressure to the scraper (22). After reaching the preset downward pressure, the self-locking device locks the scraper (22) in conjunction with the control system to brake the scraper (22).

3. The end effector of an automatic scraping robot according to claim 1, characterized in that, The angle adjustment adapter rod (20) can move back and forth with the extension and retraction of the angle adjustment cylinder (12) to adjust the angle of the scraper (22); after the angle adjustment cylinder (12) locks itself, the relative position of the angle adjustment shaft seat (21) and the scraper (22) is fixed, so that the angle adjustment shaft seat (21) serves as the load fulcrum when the scraper (22) moves, in order to simulate the force process of manual scraping of the scraper.

4. The end effector of an automatic scraping robot according to claim 1, characterized in that, The six-dimensional force sensor (3) is used to measure the force and torque in three different directions in three-dimensional space, and to monitor the force state of the scraper (22) and the overall force posture of the end effector.

5. The end effector of an automatic scraping robot according to claim 1, characterized in that, The angle sensor (10) is fixed relative to the scraper fixing shaft (24).

6. The end effector of an automatic scraping robot according to claim 1, characterized in that, The linear guide slider module (9) includes two linear guides and two sliders, which are installed symmetrically as a whole.

7. The end effector of an automatic scraping robot according to claim 1, characterized in that, The main load-bearing structure includes a top plate (4), a left load-bearing plate (5), a right load-bearing plate (16), and a reinforcing beam (19). The top plate (4) is fixedly connected to the left load-bearing plate (5), and the top plate (4) is fixedly connected to the right load-bearing plate (16). The left load-bearing plate (5) and the right load-bearing plate are fixedly connected by the reinforcing beam (19), providing stable support for the scraper (22) pressing process and the scraping process.

8. The end effector of an automatic scraping robot according to claim 7, characterized in that, There are at least two reinforcing beams (19), which are fixedly connected to the left bearing plate (5) and the right bearing plate (16) respectively.

9. The end effector of an automatic scraping robot according to claim 1, characterized in that, The adapter plate (1) is provided with several interfaces, which can be used to fix the end effector to the industrial robot.

10. A method for scraping the surface of a part using an end effector of an automatic scraping robot according to any one of claims 1 to 9, characterized in that, After the end effector completes the adjustment of the scraper's downward pressure and angle, the scraper (22) of the end effector is driven by the industrial robot to scrape the surface of the part.

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