Flexible multistage self-adaptive processing device based on force dynamic real-time feedback

Abstract

The invention provides a flexible multi-stage self-adaptive processing device based on force dynamic real-time feedback, and relates to the field of cleaning or galling robot equipment.The flexible multi-stage self-adaptive processing device comprises an active lifting mechanism, a rapid locking mechanism and a flexible operation mechanism; the operation assembly is in floating flexible connection with the operation rack, so that the operation assembly can be passively changed to adapt to the characteristic change of an operation surface, and the operation effect is effectively guaranteed; meanwhile, the active lifting mechanism can drive the rapid locking mechanism and the flexible operation mechanism to be integrally adjusted up and down, and then overall preliminary large-scale adjustment can be conducted according to the working state of the operation assembly; by means of the active lifting mechanism and the flexible operation mechanism, the operation assembly can achieve flexible multi-stage self-adaptive adjustment based on force dynamic real-time feedback, then the cleaning or galling operation task can be efficiently completed, and the market value is high.

Description

Technical Field

[0001] The invention relates to the field of cleaning or hair pulling robot equipment, and in particular to a flexible multi-level adaptive processing device based on dynamic real-time feedback of force. Background Art

[0002] For the multi-layer spray painting anti-corrosion process on metal surfaces in shipyards, tank parks, etc., it is necessary to roughen the painted wall surface to roughen the original paint surface to improve the adhesion of the next paint and ensure the spraying quality. The existing operating equipment is powered by compressed air and uses a pneumatic motor to drive the operating disk to clean / roughen the surface. Due to the interference of multiple gas operating equipment on site, the gas pressure and flow fluctuate greatly, affecting the quality and efficiency of pneumatic operations.

[0003] If electric drive is used, it is necessary to meet the rotation speed of the turntable and have enough torque to clean the wall after a certain downward pressure. The selected drive motor needs to have a large torque at a high speed, which is difficult to achieve.

[0004] For different working conditions, each work disk needs to adapt to the characteristics of curved wall, undulating wall, etc., and multiple work disks need to have flexible adaptive capabilities so that they can always stick to the wall to ensure working strength and work efficiency. Therefore, how to achieve the flexible adjustment ability of each work disk in the case of one to multiple is also a key technical issue.

[0005] At the same time, as the operation time increases, the wear of the operating disc will easily lead to a gradual decrease in the downward pressure, affecting the quality of the operation. There is a tendency for randomness in the operator's adjustments, and the operation is not convenient and efficient. There are also great safety hazards and the risk of reduced operation quality. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a flexible multi-stage adaptive processing device based on real-time dynamic feedback of force. This patent enables the operating components to achieve flexible multi-stage adaptive adjustment based on real-time dynamic feedback of force through an active lifting mechanism and a flexible operating mechanism, thereby efficiently completing cleaning or roughening tasks.

[0007] The present invention is achieved through the following technical solutions:

[0008] A flexible multi-stage adaptive processing device based on real-time dynamic feedback of force comprises an active lifting mechanism, a quick locking mechanism and a flexible operating mechanism. The active lifting mechanism drives the quick locking mechanism and the flexible operating mechanism to adjust up and down as a whole. One side of the quick locking mechanism is fixedly connected to the free end of the active lifting mechanism, and the other side of the quick locking mechanism is detachably connected to the flexible operating mechanism through a connecting bracket. The flexible operating mechanism comprises an operating frame, multiple groups of parallel operating components and a driving motor. The driving motor is fixedly connected to the operating frame, and the output end of the driving motor drives the multiple groups of operating components to rotate through a transmission component. The operating components are floatingly and flexibly connected to the operating frame.

[0009] It can be seen that in the above technical scheme, the output end of the driving motor of this patent drives multiple groups of working components to rotate through the transmission assembly, so that the driving motor can increase the torque of the working component and reduce the speed through the transmission assembly, so that the driving motor can synchronously drag multiple working disks to work, and effectively avoid the disadvantages of the existing compressed air as the power; when the working surface is occasionally ups and downs or the downforce needs to be actively adjusted during the operation, due to the floating and flexible connection between the working component and the working frame, the working component can passively change to adapt to the changes in the characteristics of the working surface, effectively ensuring the working effect; at the same time, the active lifting mechanism drives the quick locking mechanism and the flexible working mechanism to adjust up and down as a whole, and then can make an overall preliminary large-scale adjustment according to the working state of the working component, so that the working component initially meets the working requirements; this patent uses the active lifting mechanism and the flexible working mechanism to enable the working component to achieve flexible multi-level adaptive adjustment based on real-time feedback of force dynamics, so that it can efficiently handle the work and complete the cleaning or roughening tasks.

[0010] According to the above technical solution, preferably, the working frame includes a frame bottom plate, a frame upper plate and multiple groups of frame connecting plates, the frame bottom plate and the frame upper plate are arranged in parallel up and down, and the upper and lower ends of the frame connecting plate are respectively fixedly connected to the frame upper plate and the frame bottom plate.

[0011] According to the above technical scheme, preferably, the flexible working mechanism includes three groups of working components arranged in parallel and two groups of driving motors, the three groups of working units form a herringbone structure, the two groups of driving motors are connected in series, the transmission component is arranged in the working frame, the transmission component includes multiple groups of guide wheels, tensioning units and double-sided toothed synchronous belts, the double-sided toothed synchronous belts are ring-shaped and successively pass around the guide wheels, tensioning units, multiple groups of working components and driving motors, the driving motor drives the double-sided toothed synchronous belts to rotate in a circle, the guide wheels are rotatably connected to the working frame through a rotating shaft, the guide wheels are used to guide the double-sided toothed synchronous belts, the tensioning units are used to tension the double-sided toothed synchronous belts, and the double-sided toothed synchronous belts drive the working components to work.

[0012] It can be seen that in the above technical solution, two groups of driving motors are connected in series, and the three groups of working units are synchronously driven by the double-sided toothed synchronous belt, and the guide wheel is rotatably connected to the working frame through a rotating shaft. The guide wheel is used to guide the double-sided toothed synchronous belt. As the double-sided toothed synchronous belt rotates, the wrap angle between the three working components and the double-sided toothed synchronous belt can be changed at the same time, making the transmission more stable and reliable; the tensioning unit is used to tension the double-sided toothed synchronous belt, so that the double-sided toothed synchronous belt is in a tensioned state, so that the double-sided toothed synchronous belt can stably drive the working components to work.

[0013] According to the above technical solution, preferably, the working component includes a working disc, multiple groups of ball spline sleeves, a follower wheel, a spline shaft and a floating unit. The lower end of the spline shaft is coaxially fixedly connected to the working disc through a connecting piece, the ball spline sleeve is connected to the working frame and the follower wheel, the spline shaft is vertically slidingly connected to the working frame and the follower wheel through the ball spline sleeve, the double-sided tooth synchronous belt drives the follower wheel, the follower wheel drives the spline shaft and the working disc to rotate, and the floating unit presses down the spline shaft and the working disc, so that a stable downward pressure is always maintained between the working disc and the working surface.

[0014] It can be seen that in the above technical solution, the working component utilizes the matching characteristics of the ball spline sleeve and the spline shaft to transmit both rotational motion and relative sliding, so as to realize the up and down movement of the working disc to adapt to the working surface; at the same time, the floating unit presses down the spline shaft and the working disc, so that a stable downward pressure is always maintained between the working disc and the working surface to meet the working requirements.

[0015] According to the above technical solution, preferably, the floating unit includes two groups of guide shafts, a floating connecting plate and two groups of springs. The two groups of guide shafts are fixedly connected to the upper plate of the frame, and the guide shafts are arranged on both sides of the spline shaft. The spline shaft is rotatably connected to the floating connecting plate through a follower bearing. A sliding hole that is slidably connected to the two groups of guide shafts is opened on the floating connecting plate. The spring is sleeved on the guide shaft, and the two ends of the spring respectively resist the upper end of the guide shaft and the floating connecting plate.

[0016] It can be seen that in the above technical solution, the two guide shafts fixed on the upper plate of the frame play a guiding role. At the same time, a spring is installed on the upper side to pre-tighten the floating connecting plate to ensure that a stable downward pressure is always maintained between the working disk below and the working surface to meet the working requirements.

[0017] According to the above technical solution, preferably, the active lifting mechanism includes a lifting platform base plate, a sliding assembly, a screw assembly and a lifting platform external plate, the quick locking mechanism is fixedly connected to the lifting platform external plate, the lifting platform external plate is slidably connected to the lifting platform base plate through the sliding assembly, the screw assembly is arranged on the lifting platform base plate, the screw assembly drives the lifting platform external plate to slide up and down, the sliding assembly includes a vertical slide rail and a slide, the vertical slide rail is fixedly connected to the lifting platform base plate, the slide is slidably connected to the vertical slide rail, and the slide is fixedly connected to the lifting platform external plate.

[0018] It can be seen that in the above technical solution, the external plate of the lifting platform is slidably connected to the bottom plate of the lifting platform through a sliding assembly, the screw assembly drives the external plate of the lifting platform to slide up and down, and the quick locking mechanism is fixedly connected to the external plate of the lifting platform, so that the screw assembly can smoothly drive the quick locking mechanism and the flexible operating mechanism to adjust up and down, thereby realizing the initial large-scale adjustment of the quick locking mechanism and the flexible operating mechanism as a whole, so that the operating assembly initially meets the operating requirements.

[0019] According to the above technical solution, preferably, the screw assembly includes a servo motor, a screw unit, a screw slider and a mechanical sensor. The servo motor is fixedly connected to the bottom plate of the lifting platform, the screw unit is rotatably connected to the bottom plate of the lifting platform through a bearing mounting seat, the servo motor drives the screw unit to rotate, the screw slider is adapted to the screw unit, and the screw slider is connected to the external plate of the lifting platform through the mechanical sensor, and the mechanical sensor is used to monitor the pressure value of the external plate of the lifting platform.

[0020] It can be seen that in the above technical solution, the servo motor drives the screw unit to rotate, and the screw unit drives the screw slider to adjust up and down, and the screw slider is connected to the lifting platform external plate through a mechanical sensor. The mechanical sensor is used to monitor the pressure value of the lifting platform external plate, so that the servo motor can be adjusted accordingly according to the pressure value of the mechanical sensor.

[0021] According to the above technical solution, preferably, an adaptive adjustment module is also included, and the adaptive adjustment module includes the following steps:

[0022] When the working surface fluctuates or the downward pressure needs to be actively adjusted during the operation, the floating unit of the working component changes passively to adapt to the changes in the working surface characteristics. At this time, the pressure between the working disc and the working surface changes, and the pressure value is monitored in real time through the mechanical sensor;

[0023] When the pressure value is within the required range, the active lifting mechanism does not act, and the floating unit completely relies on the adaptive working surface changes;

[0024] When the pressure value exceeds the required range, the active lifting mechanism will automatically adjust:

[0025] When the monitored pressure value is less than the lower limit of the allowable value, the active lifting mechanism automatically descends;

[0026] When the monitored pressure value is greater than the upper limit of the allowable value, the active lifting mechanism will actively rise; at the same time, the floating unit will also be adjusted synchronously until the pressure value monitored in real time by the mechanical sensor meets the operational requirements.

[0027] According to the above technical solution, preferably, the connecting bracket includes two groups of symmetrically arranged connecting plates and two groups of clamping tubes arranged up and down, the connecting plates are fixedly connected to the upper plate of the frame, the connecting plates are symmetrically arranged on both sides of the driving motor, and the clamping tubes are fixedly connected to the upper and lower sides of the connecting plates.

[0028] According to the above technical scheme, preferably, the quick locking mechanism includes a first quick locking part, a second quick locking part, a locking screw, a connecting rod shaft, a plum blossom nut and an arc pressure piece. The first quick locking part is fixedly connected to the external plate of the lifting platform, and the first quick locking part and the second quick locking part are rotatably connected by the locking screw. A card slot for locking the clamping tube is provided between the first quick locking part and the second quick locking part, which can complete the switching between the locked and open states. The connecting rod shaft is rotatably connected to the first quick locking part by a screw, and the second quick locking part is fixed and locked by the plum blossom nut and the arc pressure piece above.

[0029] It can be seen that in the above technical solution, the staff places the clamping tube of the connecting bracket in the corresponding slot of the quick locking mechanism, rotates the connecting rod shaft into place, and then fixes and locks the second quick locking part through the upper plum nut and arc pressure piece, thereby realizing the assembly work of the flexible operating mechanism.

[0030] The beneficial effects of the present invention are:

[0031] (1) The output end of the driving motor of the present invention drives multiple groups of working components to rotate through the transmission assembly, so that the driving motor can increase the torque of the working components and reduce the speed through the transmission assembly, so that the driving motor can synchronously tow multiple working disks to work, while effectively avoiding the disadvantages of the existing compressed air-powered machine;

[0032] (2) When the working surface fluctuates or the downward pressure needs to be actively adjusted during operation, the working component can be passively changed to adapt to the changes in the working surface characteristics due to the floating and flexible connection between the working component and the working frame, effectively ensuring the working effect;

[0033] (3) The active lifting mechanism of the present invention can drive the quick locking mechanism and the flexible operating mechanism to adjust up and down as a whole, and then can make preliminary large-scale adjustments as a whole according to the working state of the operating assembly, so that the operating assembly can initially meet the operating requirements;

[0034] (4) This patent uses an active lifting mechanism and a flexible operating mechanism to enable the operating component to achieve flexible multi-level adaptive adjustment based on real-time dynamic force feedback, thereby being able to efficiently handle the work and complete the cleaning or roughening tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It shows an isometric structural schematic diagram according to an embodiment of the present invention;

[0036] Figure 2 It shows an isometric structural schematic diagram of a flexible operating mechanism according to an embodiment of the present invention;

[0037] Figure 3 A schematic structural diagram of a transmission assembly according to an embodiment of the present invention is shown;

[0038] Figure 4 A schematic cross-sectional view of a working assembly according to an embodiment of the present invention is shown;

[0039] Figure 5 It shows an isometric structural schematic diagram of an active lifting mechanism according to an embodiment of the present invention;

[0040] Figure 6 Another isometric structural diagram of the active lifting mechanism according to an embodiment of the present invention is shown, in which the external connecting plate of the lifting platform is hidden;

[0041] Figure 7 It shows an isometric structural schematic diagram of a quick locking mechanism in an open state according to an embodiment of the present invention;

[0042] Figure 8 It shows an isometric structural schematic diagram of a quick locking mechanism in a closed state according to an embodiment of the present invention;

[0043] Fig. 9 A schematic diagram of a process flow of an adaptive adjustment module according to an embodiment of the present invention is shown;

[0044] Description of reference numerals:

[0045] 1. Active lifting mechanism; 2. Quick locking mechanism; 3. Flexible operating mechanism; 4. Connecting bracket; 5. Operating frame; 6. Operating assembly; 7. Driving motor; 8. Transmission assembly; 9. Frame bottom plate; 10. Frame upper plate; 11. Frame connecting plate; 12. Guide wheel; 13. Tensioning unit; 14. Double-sided tooth synchronous belt; 15. Operating disc; 16. Ball spline sleeve; 17. Follower wheel; 18. Spline shaft; 19. Floating unit; 20. Connector; 21. Guide shaft; 22. Floating connecting plate; 23. Spring; 24. Bottom plate of lifting platform; 25. Sliding assembly; 26. Screw assembly; 27. External plate of lifting platform; 28. Vertical slide rail; 29. ​​Slide; 30. Servo motor; 31. Screw unit; 32. Screw slider; 33. Connecting plate; 34. Clamping tube; 35. First quick locking part; 36. Second quick locking part; 37. Locking screw; 38. Connecting rod shaft; 39. Plum nut; 40. Arc pressing part; 41. Mechanical sensor. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and the best embodiment. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the invention.

[0047] In the description of the invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the invention.

[0048] As shown in the figure, the present invention provides a flexible multi-stage adaptive processing device based on dynamic real-time feedback of force, including an active lifting mechanism 1, a quick locking mechanism 2, a flexible operating mechanism 3 and an adaptive adjustment module, the active lifting mechanism 1 drives the quick locking mechanism 2 and the flexible operating mechanism 3 to adjust up and down as a whole, one side of the quick locking mechanism 2 is fixedly connected to the free end of the active lifting mechanism 1, and the other side of the quick locking mechanism 2 is detachably connected to the flexible operating mechanism 3 through a connecting bracket 4, and the flexible operating mechanism 3 includes an operating frame 5, a plurality of groups of parallel operating components 6 and a driving motor 7, the driving motor 7 is fixedly connected to the operating frame 5, the output end of the driving motor 7 drives the plurality of groups of operating components 6 to rotate through a transmission component 8, and the operating component 6 is floatingly and flexibly connected to the operating frame 5;

[0049] The working frame 5 includes a frame bottom plate 9, a frame upper plate 10 and a plurality of frame connecting plates 11, the frame bottom plate 9 and the frame upper plate 10 are arranged in parallel up and down, and the upper and lower ends of the frame connecting plate 11 are fixedly connected to the frame upper plate 10 and the frame bottom plate 9 respectively;

[0050] The flexible operating mechanism 3 of the present embodiment includes three groups of parallel operating components 6 and two groups of drive motors 7. The three groups of operating units form a herringbone structure. The two groups of drive motors 7 are connected in series. The transmission component 8 is arranged in the operating frame 5. The transmission component 8 includes multiple groups of guide wheels 12, a tensioning unit 13 and a double-sided toothed synchronous belt 14. The double-sided toothed synchronous belt 14 is annularly passed around the guide wheel 12, the tensioning unit 13, multiple groups of operating components 6 and the drive motor 7 in turn. The drive motor 7 drives the double-sided toothed synchronous belt 14 to rotate cyclically. The guide wheel 12 is rotatably connected to the operating frame 5 through a rotating shaft. The guide wheel 12 is used to guide the double-sided toothed synchronous belt 14. The tensioning unit 13 3 is used to tension the double-sided toothed synchronous belt 14, which drives the working component 6 to work; the two sets of driving motors 7 are connected in series, and the three sets of working units are synchronously driven by the double-sided toothed synchronous belt 14, and the guide wheel 12 is rotatably connected with the working frame 5 through the rotating shaft, and the guide wheel 12 is used to guide the double-sided toothed synchronous belt 14. As the double-sided toothed synchronous belt 14 rotates, the wrap angle between the three working components 6 and the double-sided toothed synchronous belt 14 can be changed at the same time, making the transmission more stable and reliable; the tensioning unit 13 is used to tension the double-sided toothed synchronous belt 14, so that the double-sided toothed synchronous belt 14 is in a tensioned state, so that the double-sided toothed synchronous belt 14 stably drives the working component 6 to work;

[0051] The working assembly 6 includes a working disc 15, multiple sets of ball spline sleeves 16, a follower wheel 17, a spline shaft 18 and a floating unit 19. The lower end of the spline shaft 18 is coaxially fixedly connected to the working disc 15 through a connecting piece 20. The ball spline sleeve 16 is connected to the working frame 5 and the follower wheel 17. The spline shaft 18 is vertically slidably connected to the working frame 5 and the follower wheel 17 through the ball spline sleeve 16. The double-sided toothed synchronous belt 14 drives the follower wheel 17, and the follower wheel 17 drives the spline shaft 18 and the working disc 1 5 rotates, and the floating unit 19 presses down the spline shaft 18 and the working disc 15, so that the working disc 15 and the working surface always maintain a stable downward pressure; the working assembly 6 uses the matching characteristics of the ball spline sleeve 16 and the spline shaft 18 that can both transmit rotational motion and slide relatively to achieve the up and down movement of the working disc 15 to adapt to the working surface; at the same time, the floating unit 19 presses down the spline shaft 18 and the working disc 15, so that the working disc 15 and the working surface always maintain a stable downward pressure to meet the working requirements;

[0052] The floating unit 19 includes two groups of guide shafts 21, a floating connecting plate 22 and two groups of springs 23. The two groups of guide shafts 21 are fixedly connected to the frame upper plate 10, and the guide shafts 21 are arranged on both sides of the spline shaft 18. The spline shaft 18 is rotatably connected to the floating connecting plate 22 through a follower bearing. The floating connecting plate 22 is provided with a sliding hole that is slidably connected to the two groups of guide shafts 21. The spring 23 is sleeved on the guide shaft 21, and the two ends of the spring 23 respectively press against the upper end of the guide shaft 21 and the floating connecting plate 22; the two guide shafts 21 fixed on the frame upper plate 10 play a guiding role, and at the same time, a spring 23 is installed on the upper side to pre-tighten the floating connecting plate 22 to ensure that a stable downward pressure is always maintained between the working disk 15 below and the working surface to meet the working requirements;

[0053] In addition, the active lifting mechanism 1 includes a lifting platform bottom plate 24, a sliding assembly 25, a screw assembly 26 and a lifting platform external plate 27. The quick locking mechanism 2 is fixedly connected to the lifting platform external plate 27. The lifting platform external plate 27 is slidably connected to the lifting platform bottom plate 24 through the sliding assembly 25. The screw assembly 26 is arranged on the lifting platform bottom plate 24. The screw assembly 26 drives the lifting platform external plate 27 to slide up and down. The sliding assembly 25 includes a vertical slide rail 28 and a slide 29. The vertical slide rail 28 is fixedly connected to the lifting platform bottom plate 24, and the slide 29 is connected to the vertical The slide rail 28 is slidably connected, and the slide is fixedly connected to the lifting platform external plate 27; the lifting platform external plate 27 is slidably connected to the lifting platform bottom plate 24 through the sliding assembly 25, and the screw assembly 26 drives the lifting platform external plate 27 to slide up and down, and the quick locking mechanism 2 is fixedly connected to the lifting platform external plate 27, so that the screw assembly 26 can smoothly drive the quick locking mechanism 2 and the flexible operating mechanism 3 to adjust up and down, thereby realizing the initial large-scale adjustment of the quick locking mechanism 2 and the flexible operating mechanism 3 as a whole, so that the operating assembly 6 initially meets the operating requirements.

[0054] The adaptive adjustment module includes the following steps:

[0055] When the working surface fluctuates or the downward pressure needs to be actively adjusted during the operation, the floating unit 19 of the working assembly 6 changes passively to adapt to the changes in the working surface characteristics. At this time, the pressure between the working disk 15 and the working surface changes, and the pressure value is monitored in real time by the mechanical sensor 41;

[0056] When the pressure value is within the required range, the active lifting mechanism 1 does not move, and completely relies on the floating unit 19 to adapt to the changes in the working surface, and the floating unit forms a first-level passive flexible adjustment;

[0057] When the pressure value exceeds the required range, the active lifting mechanism 1 actively adjusts, and the active lifting mechanism forms a secondary active lifting adjustment, and the specific adjustment is as follows:

[0058] When the monitored pressure value is less than the lower limit of the allowable value, the active lifting mechanism 1 actively descends;

[0059] When the monitored pressure value is greater than the upper limit of the allowable value, the active lifting mechanism 1 actively rises; at the same time, the floating unit 19 will also be adjusted synchronously until the real-time monitoring pressure value of the mechanical sensor 41 meets the operation requirements.

[0060] The output end of the driving motor 7 of the present invention drives multiple groups of working components 6 to rotate through the transmission component 8, so that the driving motor 7 can increase the torque of the working component 6 and reduce the rotation speed through the transmission component, so that the driving motor 7 can synchronously drag multiple working disks 15 to work, and effectively avoid the disadvantages of the existing compressed air as the power; when the working surface fluctuates or the downward pressure needs to be actively adjusted during the operation, due to the floating and flexible connection between the working component 6 and the working frame 5, the working component 6 can passively change to adapt to the changes in the characteristics of the working surface, effectively ensuring the working effect; at the same time, the active lifting mechanism 1 drives the quick locking mechanism 2 and the flexible working mechanism 3 to adjust up and down as a whole, and then can perform overall preliminary large-scale adjustments according to the working state of the working component 6, so that the working component 6 initially meets the working requirements; this patent uses the active lifting mechanism 1 and the flexible working mechanism 3 to enable the working component 6 to achieve flexible multi-level adaptive adjustment based on real-time feedback of force dynamics, so that it can efficiently handle the operation and complete the cleaning or roughening operation tasks.

[0061] Optionally, in a possible embodiment, the screw assembly 26 includes a servo motor 30, a screw unit 31, a screw slider 32 and a mechanical sensor 41. The servo motor 30 is fixedly connected to the lifting platform base plate 24, the screw unit is rotatably connected to the lifting platform base plate 24 through a bearing mounting seat, the servo motor 30 drives the screw unit 31 to rotate, the screw slider 32 is adapted to the screw unit 31, the screw slider 32 is connected to the lifting platform external plate 27 through the mechanical sensor 41, the mechanical sensor 41 is used to monitor the pressure value of the lifting platform external plate 27, the servo motor 30 drives the screw unit 31 to rotate, the screw unit 31 drives the screw slider 32 to adjust up and down, and the screw slider 32 is connected to the lifting platform external plate 27 through the mechanical sensor 41. Since the mechanical sensor 41 is used to monitor the pressure value of the lifting platform external plate 27, the servo motor 30 can be adjusted accordingly according to the pressure value of the mechanical sensor 41.

[0062] Optionally, in a possible embodiment, the connecting bracket 4 includes two groups of symmetrically arranged connecting plates 33 and two groups of upper and lower clamping tubes 34, the connecting plates 33 are fixedly connected to the frame upper plate 10, the connecting plates 33 are symmetrically arranged on both sides of the driving motor 7, and the clamping tubes 34 are fixedly connected to the upper and lower sides of the connecting plates 33.

[0063] Optionally, in a possible implementation, the quick locking mechanism 2 includes a first quick locking member 35, a second quick locking member 36, a locking screw 37, a connecting rod shaft 38, a plum nut 39 and an arc pressure member 40, the first quick locking member 35 is fixedly connected to the lifting platform external plate 27, the first quick locking member 35 and the second quick locking member 36 are rotatably connected by the locking screw 37, and a card slot for locking the clamping tube 34 is provided between the first quick locking member 35 and the second quick locking member 36, so as to complete the locking. To switch between the closed and open states, the connecting rod shaft 38 is rotatably connected to the first quick locking piece 35 by a screw, and the second quick locking piece 36 is fixed and locked by the upper plum nut 39 and the arc pressure piece 40. The staff places the clamping tube 34 of the connecting bracket 4 in the corresponding slot of the quick locking mechanism 2, rotates the connecting rod shaft 38 into place, and then fixes and locks the second quick locking piece 36 by the upper plum nut 39 and the arc pressure piece 40, thereby completing the assembly work of the flexible operating mechanism 3.

[0064] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A flexible multi-level adaptive processing device based on real-time dynamic feedback of force, characterized in that: It includes an active lifting mechanism, a quick locking mechanism and a flexible operating mechanism. The active lifting mechanism drives the quick locking mechanism and the flexible operating mechanism to adjust up and down as a whole. One side of the quick locking mechanism is fixedly connected to the free end of the active lifting mechanism, and the other side of the quick locking mechanism is detachably connected to the flexible operating mechanism through a connecting bracket. The flexible operating mechanism includes an operating frame, multiple groups of parallel operating components and a driving motor. The driving motor is fixedly connected to the operating frame, and the output end of the driving motor drives the multiple groups of operating components to rotate through a transmission component. The operating components are floatingly and flexibly connected to the operating frame.

2. A flexible multi-level adaptive processing device based on dynamic real-time feedback of force according to claim 1, characterized in that: The operating frame comprises a frame bottom plate, a frame upper plate and a plurality of frame connecting plates. The frame bottom plate and the frame upper plate are arranged in parallel up and down. The upper and lower ends of the frame connecting plates are fixedly connected to the frame upper plate and the frame bottom plate respectively.

3. A flexible multi-level adaptive processing device based on dynamic real-time feedback of force according to claim 2, characterized in that: The flexible working mechanism includes three groups of working components arranged in parallel and two groups of driving motors. The three groups of working units form a herringbone structure. The two groups of driving motors are connected in series. The transmission component is arranged in the working frame. The transmission component includes multiple groups of guide wheels, tensioning units and double-sided toothed synchronous belts. The double-sided toothed synchronous belts are ring-shaped and successively pass around the guide wheels, tensioning units, multiple groups of working components and driving motors. The driving motor drives the double-sided toothed synchronous belts to rotate in a circle. The guide wheels are rotatably connected to the working frame through a rotating shaft. The guide wheels are used to guide the double-sided toothed synchronous belts. The tensioning unit is used to tension the double-sided toothed synchronous belts. The double-sided toothed synchronous belts drive the working components to work.

4. The flexible multi-level adaptive processing device based on dynamic real-time feedback of force according to claim 3, characterized in that: The working assembly includes a working disc, multiple groups of ball spline sleeves, a follower wheel, a spline shaft and a floating unit. The lower end of the spline shaft is coaxially fixedly connected to the working disc through a connecting piece. The ball spline sleeve is connected to the working frame and the follower wheel. The spline shaft is vertically slidably connected to the working frame and the follower wheel through the ball spline sleeve. The double-sided tooth synchronous belt drives the follower wheel, and the follower wheel drives the spline shaft and the working disc to rotate. The floating unit presses down the spline shaft and the working disc, so that a stable downward force is always maintained between the working disc and the working surface.

5. The flexible multi-level adaptive processing device based on dynamic real-time feedback of force according to claim 4, characterized in that: The floating unit includes two groups of guide shafts, a floating connecting plate and two groups of springs. The two groups of guide shafts are fixedly connected to the upper plate of the frame, and the guide shafts are arranged on both sides of the spline shaft. The spline shaft is rotatably connected to the floating connecting plate through a follower bearing. The floating connecting plate is provided with a sliding hole that is slidably connected to the two groups of guide shafts. The spring is sleeved on the guide shaft, and the two ends of the spring respectively resist the upper end of the guide shaft and the floating connecting plate.

6. The flexible multi-level adaptive processing device based on dynamic real-time feedback of force according to claim 1, characterized in that: The active lifting mechanism includes a lifting platform bottom plate, a sliding assembly, a screw assembly and a lifting platform external plate, the quick locking mechanism is fixedly connected to the lifting platform external plate, the lifting platform external plate is slidably connected to the lifting platform bottom plate through the sliding assembly, the screw assembly is arranged on the lifting platform bottom plate, the screw assembly drives the lifting platform external plate to slide up and down, the sliding assembly includes a vertical slide rail and a slide, the vertical slide rail is fixedly connected to the lifting platform bottom plate, the slide is slidably connected to the vertical slide rail, and the slide is fixedly connected to the lifting platform external plate.

7. The flexible multi-level adaptive processing device based on dynamic real-time feedback of force according to claim 6, characterized in that: The screw assembly includes a servo motor, a screw unit, a screw slider and a mechanical sensor. The servo motor is fixedly connected to the bottom plate of the lifting platform. The screw unit is rotatably connected to the bottom plate of the lifting platform through a bearing mounting seat. The servo motor drives the screw unit to rotate. The screw slider is adapted to the screw unit. The screw slider is connected to the external plate of the lifting platform through a mechanical sensor. The mechanical sensor is used to monitor the pressure value of the external plate of the lifting platform.

8. The flexible multi-level adaptive processing device based on dynamic real-time feedback of force according to claim 7, characterized in that: The module further comprises an adaptive adjustment module, wherein the adaptive adjustment module comprises the following steps: When the working surface fluctuates or the downward pressure needs to be actively adjusted during the operation, the floating unit of the working component changes passively to adapt to the changes in the working surface characteristics. At this time, the pressure between the working disc and the working surface changes, and the pressure value is monitored in real time through the mechanical sensor; When the pressure value is within the required range, the active lifting mechanism does not act, and the floating unit completely relies on the adaptive working surface changes; When the pressure value exceeds the required range, the active lifting mechanism will automatically adjust: When the monitored pressure value is less than the lower limit of the allowable value, the active lifting mechanism automatically descends; When the monitored pressure value is greater than the upper limit of the allowable value, the active lifting mechanism will actively rise; at the same time, the floating unit will also be adjusted synchronously until the pressure value monitored in real time by the mechanical sensor meets the operational requirements.

9. The flexible multi-level adaptive processing device based on dynamic real-time feedback of force according to claim 1, characterized in that: The connecting bracket includes two groups of symmetrically arranged connecting plates and two groups of upper and lower clamping tubes, the connecting plates are fixedly connected to the upper plate of the frame, the connecting plates are symmetrically arranged on both sides of the driving motor, and the clamping tubes are fixedly connected to the upper and lower sides of the connecting plates.

10. The flexible multi-level adaptive processing device based on dynamic real-time feedback of force according to claim 1, characterized in that: The quick locking mechanism includes a first quick locking part, a second quick locking part, a locking screw, a connecting rod shaft, a plum nut and an arc pressure piece. The first quick locking part is fixedly connected to the external plate of the lifting platform, and the first quick locking part and the second quick locking part are rotatably connected by the locking screw. A card slot for locking the clamping tube is provided between the first quick locking part and the second quick locking part, which can complete the switching between the locked and opened states. The connecting rod shaft is rotatably connected to the first quick locking part by a screw, and the second quick locking part is fixed and locked by the plum nut and the arc pressure piece above.

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