Self-adaptive floating force control grinding and polishing robot and grinding and polishing method

Abstract

The invention discloses a self-adaptive floating force control grinding and polishing robot and a grinding and polishing method, and the grinding and polishing robot comprises a multi-axis linkage mechanical arm, a grinding head rotation driving unit, a force feedback sensing unit, a programmable control unit, a special-shaped grinding head, a grinding head geometric parameter input unit and a grinding head coping unit. Through multi-axis linkage of the mechanical arm and a numerical control program, grinding and polishing of the part to be ground and polished are achieved, and grinding of the special-shaped grinding head is achieved. The invention relates to the field of numerical control machining of parts, high-precision grinding and polishing machining can be achieved, the grinding and polishing feed amount can be adjusted in real time through force feedback, the adopted special-shaped grinding head can conduct grinding and polishing machining on various complex machining surfaces under the condition of a single grinding head, different types of grinding heads do not need to be frequently replaced, and the machining efficiency is improved. And long-time high-precision grinding and polishing machining can be achieved by grinding the special-shaped grinding head in good time.

Description

Technical Field

[0001] The invention relates to the field of numerical control machining of parts, and in particular to an adaptive floating force-controlled grinding and polishing robot and a grinding and polishing method. Background Art

[0002] Grinding and polishing of parts are widely used in the field of CNC machining. Due to the various geometric shapes of parts to be ground and polished, and many of them have relatively complex geometric surfaces, grinding and polishing often requires deburring and grinding and polishing of the corners of parts. Traditional grinding methods such as ordinary grinding heads, grinding wheels, abrasive belts, and flap wheels are usually difficult to achieve fine grinding and polishing under such complex shapes and corners, especially when the grinding and polishing heads are worn. It is even more difficult to achieve fine grinding and polishing, and traditional polishing methods usually cannot achieve the required material removal. The above situation is a problem that needs to be solved urgently for parts with a slightly larger material removal amount and higher grinding and polishing accuracy. Summary of the invention

[0003] The first invention purpose of the present invention is to provide an adaptive floating force-controlled grinding and polishing robot, which can achieve high-precision grinding and polishing processing, and can adjust the grinding and polishing feed rate in real time through force feedback. The special-shaped grinding head used can perform grinding and polishing processing on various complex processing surfaces in the case of a single grinding head without the need to frequently replace different types of grinding heads, and can achieve long-term high-precision grinding and polishing processing by timely grinding the special-shaped grinding head. The second invention purpose of the present invention is to propose an adaptive floating force-controlled grinding and polishing method for the above-mentioned adaptive floating force-controlled grinding and polishing robot.

[0004] In order to achieve the above-mentioned invention object, the corresponding technical scheme is as follows:

[0005] A self-adaptive floating force-controlled grinding and polishing robot, comprising a multi-axis linkage mechanical arm, a grinding head rotation drive unit, a force feedback sensing unit, a programmable control unit, a special-shaped grinding head, a grinding head geometric parameter input unit, and a grinding head grinding unit, wherein the multi-axis linkage mechanical arm can drive the special-shaped grinding head to move and deflect an angle, the grinding head rotation drive unit can make the special-shaped grinding head rotate around its axis, and the force feedback sensing unit is used to obtain the grinding force of the special-shaped grinding head when grinding parts; the programmable control unit is connected to the multi-axis linkage mechanical arm, the grinding head rotation drive unit, and the force feedback sensing unit, and can realize control of the latter three and data exchange; the special-shaped grinding head has abrasive particles The area is called the grinding part, which includes a convex spherical part, a cylindrical part, and a dish-shaped part. The convex spherical part is located at the very end of the special-shaped grinding head, and the dish-shaped part is connected to the convex spherical part through the cylindrical part. The convex spherical part, the cylindrical part, and the dish-shaped part are all coaxial; the grinding head geometric parameter input unit is used to input the geometric parameter information of the special-shaped grinding head in a new and unworn state, and is connected to the programmable control unit; the grinding head grinding unit can be used to grind the convex spherical part so that the grinding surface of the convex spherical part that is worn during the grinding process is restored to a standard convex spherical surface, and the grinding head grinding unit can also be used to grind the dish-shaped part so that the dish-shaped part that is worn during the grinding process is restored to its sharp edge.

[0006] The purpose of setting the convex spherical portion of the special-shaped grinding head is that the standard convex spherical surface is very beneficial for high-precision CNC programming grinding and polishing, because it is a standard spherical surface, and the difficulty is relatively small when performing tool path programming and coordinate transformation of CNC programs. The convex spherical surface is very suitable for part surfaces with relatively continuous curvature or edges on parts with less drastic curvature changes.

[0007] The purpose of setting the cylindrical part of the special-shaped grinding head is that when the convex spherical part of the special-shaped grinding head is worn, when the convex spherical part is ground by the grinding head grinding unit, the spherical part of the convex spherical part can completely maintain its original size, because it is only equivalent to shortening the length of the cylindrical part. In this way, the newly ground convex spherical part is only translated in the axial direction by the grinding thickness relative to the original convex spherical part. In the CNC system, this situation only changes the tool length, that is, when updating the CNC program, you only need to modify the tool length, and there is no need to reprogram the CNC, which is very convenient.

[0008] The purpose of providing the dish-shaped portion on the special-shaped grinding head is that the sharp edge of the dish-shaped portion can be used to grind a position on a part with a very large curvature change or a sharp angle position.

[0009] Preferably, the multi-axis linkage robotic arm is a six-axis robotic arm.

[0010] Preferably, the force feedback sensing unit includes X-axis force feedback, Y-axis force feedback, Z-axis force feedback, and grinding rotation axis torque feedback.

[0011] Preferably, the grinding head grinding unit is connected to the programmable control unit, and the grinding head grinding unit realizes the grinding of the special-shaped grinding head by linkage with the multi-axis linkage robot arm and the grinding head rotation drive unit.

[0012] Preferably, the grinding head grinding unit includes a concave spherical surface grinding part and a V-shaped grinding part. The concave spherical surface grinding part can be used to grind the convex spherical surface part to restore the grinding surface of the worn convex spherical surface part to a standard convex spherical surface, and the V-shaped grinding part can be used to grind the dish-shaped part to restore the sharp edge of the worn dish-shaped part.

[0013] With respect to the above-mentioned adaptive floating force-controlled grinding and polishing robot, the present invention further proposes an adaptive floating force-controlled grinding and polishing method, comprising the following steps:

[0014] S1: inputting geometric parameter information of a special-shaped grinding head in a brand new and unworn state through the grinding head geometric parameter input unit;

[0015] S2: Combining the geometric parameter information of the part to be polished, the target geometric parameter information of the part to be polished, and the geometric parameter information of the special-shaped grinding head, a grinding and polishing CNC program is written by the programmable control unit, and the grinding and polishing CNC program can be executed by the multi-axis linkage robot arm and the grinding head rotation drive unit as a grinding and polishing processing action, wherein the smooth and continuous positions to be polished on the part to be polished are polished by the convex spherical portion, and the sharp angle positions or discontinuous positions are polished by the edge of the dish-shaped portion;

[0016] S3: The programmable control unit adjusts the grinding and polishing feed parameters through the force feedback information obtained by the force feedback sensing unit, and determines the wear condition of the special-shaped grinding head with the help of the force feedback information. When the wear condition exceeds the threshold, the special-shaped grinding head is repaired through the linkage of the multi-axis linkage robot arm, the grinding head rotation drive unit and the grinding head repairing unit, and the geometric parameter information of the special-shaped grinding head in S2 is updated to the latest geometric parameter information of the special-shaped grinding head after repair, and the grinding and polishing CNC program is updated based on this.

[0017] Beneficial effects of the present invention:

[0018] The present invention adopts a method similar to high-precision CNC multi-axis numerical control machining, can achieve high-precision grinding and polishing, and can adjust the grinding and polishing feed amount in real time through force feedback. The special-shaped grinding head adopted can perform grinding and polishing on various complex machining surfaces in the case of a single grinding head without the need for frequent replacement of different types of grinding heads, and can achieve long-term high-precision grinding and polishing by timely grinding the special-shaped grinding head.

[0019] It should be noted that the beneficial effects of the present invention are not limited to the above description, and the beneficial effects can be understood in conjunction with specific technical solutions and preferred implementations. In addition, descriptions of the technical effects and beneficial effects of a specific technical solution or preferred implementation are also interspersed in the content of the present invention and the implementations thereafter. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of an adaptive floating force-controlled grinding and polishing robot of the present invention, in which only a part of the robot's mechanical arm is shown.

[0021] Figure 2 Schematic diagram of the grinding head rotation drive unit and the special-shaped grinding head.

[0022] Figure 3 A schematic diagram of the grinding head grinding unit is shown. DETAILED DESCRIPTION

[0023] The present invention will be further described and explained in detail below in conjunction with the embodiments, implementation modes and drawings of the present invention. It should be noted that the described embodiments or implementation modes are only part of the embodiments or implementation modes of the present invention, rather than all of the embodiments or implementation modes, and the drawings are only schematic diagrams for convenience of explanation, rather than complete limitations on the implementation modes of the present invention. Based on the embodiments or implementation modes of the present invention, all other embodiments or implementation modes obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] The following description of the embodiments or implementations of the present invention is merely illustrative in nature and is in no way intended to limit the present invention, its application, or use.

[0025] like Figure 1-3As shown, the present invention is an adaptive floating force-controlled grinding and polishing robot, including a multi-axis linkage mechanical arm, a grinding head rotation drive unit 2, a force feedback sensing unit, a programmable control unit, a special-shaped grinding head 3, a grinding head geometric parameter input unit, and a grinding head grinding unit 4. The multi-axis linkage mechanical arm can drive the special-shaped grinding head 3 to move and deflect an angle, the grinding head rotation drive unit 2 can make the special-shaped grinding head 3 rotate around its axis, and the force feedback sensing unit is used to obtain the grinding force of the special-shaped grinding head 3 when grinding parts; the programmable control unit is connected to the multi-axis linkage mechanical arm, the grinding head rotation drive unit 2, and the force feedback sensing unit, and can realize control of the latter three and data exchange; the grinding head geometric parameter input unit is used to input the geometric parameter information of the special-shaped grinding head 3 in a new and unworn state, and is connected to the programmable control unit.

[0026] 〈Implementation method of multi-axis linkage robot arm and grinding head rotation drive unit〉

[0027] The multi-axis linkage robot arm is preferably a six-axis robot arm, and preferably, it has at least three degrees of freedom of movement and three degrees of freedom of rotation, and can drive the special-shaped grinding head 3 to achieve three-way movement and three-way rotation in three-dimensional space. Figure 1 A part of a multi-axis linkage robot arm is shown, including a first arm 1. The grinding head rotation drive unit 2 can also be a component of the multi-axis linkage robot arm, which is used to drive the special-shaped grinding head 3 to rotate around its own axis to achieve grinding and polishing.

[0028] <Implementation Method of Force Feedback Sensing Unit>

[0029] Preferably, the force feedback sensing unit includes X-axis force feedback, Y-axis force feedback, Z-axis force feedback, and grinding rotation axis torque feedback. The force feedback can adopt the related existing technology of three-axis dynamometer.

[0030] <Implementation Method of Programmable Control Unit>

[0031] Preferably, the programmable control unit is a CNC system, such as the common Siemens system, FANUC system, etc., and a grinding and polishing CNC program can be written through the programmable control unit. The grinding and polishing CNC program can be executed as a grinding and polishing processing action by the multi-axis linkage robot arm and the grinding head rotation drive unit.

[0032] 〈Implementation Method of Special-Shaped Grinding Head〉

[0033] The area with abrasive grains on the special-shaped grinding head 3 is called the grinding part. Preferably, the grinding part includes a convex spherical part 301, a cylindrical part 303, and a disc-shaped part 302. The convex spherical part 301 is located at the very end of the special-shaped grinding head 3 and is a standard convex spherical surface. The disc-shaped part 302 is connected to the convex spherical part 301 through the cylindrical part 303. The convex spherical part 301, the cylindrical part 303, and the disc-shaped part 302 are all coaxial.

[0034] <Implementation method of grinding head grinding unit>

[0035] The grinding head grinding unit 4 can be used to grind the convex spherical portion 301 so that the grinding surface of the convex spherical portion 301 that is worn during the grinding process is restored to a standard convex spherical surface. The grinding head grinding unit 4 can also be used to grind the disc-shaped portion 302 so that the disc-shaped portion 302 that is worn during the grinding process is restored to its sharp edge.

[0036] Preferably, the grinding head grinding unit 4 is connected to the programmable control unit, and the grinding head grinding unit realizes the grinding of the special-shaped grinding head 3 by linkage with the multi-axis linkage robot arm and the grinding head rotation drive unit 2.

[0037] Preferably, the grinding head grinding unit 4 includes a concave spherical surface grinding portion 401 and a V-shaped grinding portion 402. The concave spherical surface grinding portion 401 can be used to grind the convex spherical surface portion 301 to restore the grinding surface of the worn convex spherical surface portion 301 to a standard convex spherical surface, and the V-shaped grinding portion 402 can be used to grind the disc-shaped portion 302 to restore the worn disc-shaped portion 302 to its sharp edge.

[0038] Preferably, the concave spherical surface of the concave spherical surface grinding portion 401 completely matches the convex spherical surface of the convex spherical portion 301 of the special-shaped grinding head 3 when the convex spherical surface is new and unused, and the radius is the same.

[0039] Preferably, the V-shaped cross section of the V-shaped grinding portion 402 is completely matched in size with the rotation cross section of the dish-shaped portion 302 of the special-shaped grinding head 3 when it is brand new and unused.

[0040] Preferably, the special-shaped grinding heads 3 and the grinding head grinding units 4 are provided in multiple groups with different sizes, and each group of special-shaped grinding heads 3 and grinding head grinding units 4 are matched in size.

[0041] <Implementation method of adaptive floating force controlled grinding and polishing method>

[0042] With respect to the above-mentioned adaptive floating force-controlled grinding and polishing robot, the present invention further proposes an adaptive floating force-controlled grinding and polishing method, comprising the following steps:

[0043] S1: inputting geometric parameter information of the special-shaped grinding head 3 in a brand new and unworn state through the grinding head geometric parameter input unit;

[0044] S2: Combining the geometric parameter information of the part to be polished, the target geometric parameter information of the part to be polished, and the geometric parameter information of the special-shaped grinding head 3, a grinding and polishing NC program is written by the programmable control unit, and the grinding and polishing NC program can be executed by the multi-axis linkage robot arm and the grinding head rotation drive unit 2 as a grinding and polishing processing action, wherein the smooth and continuous positions to be polished on the part to be polished are polished by the convex spherical portion 301, and the sharp angle positions or discontinuous positions are polished by the edge of the dish-shaped portion 302;

[0045] S3: The programmable control unit adjusts the grinding and polishing feed parameters through the force feedback information obtained by the force feedback sensing unit, and determines the wear condition of the special-shaped grinding head 3 with the help of the force feedback information. When the wear condition exceeds the threshold, the special-shaped grinding head 3 is repaired through the linkage of the multi-axis linkage robot arm, the grinding head rotation drive unit 2 and the grinding head repair unit, and the geometric parameter parameter information of the special-shaped grinding head 3 in S2 is updated to the latest geometric parameter information of the special-shaped grinding head 3 after repair, and the grinding and polishing CNC program is updated based on this.

Claims

1. An adaptive floating force-controlled grinding and polishing robot, characterized in that: It includes a multi-axis linkage mechanical arm, a grinding head rotation drive unit, a force feedback sensor unit, a programmable control unit, a special-shaped grinding head, a grinding head geometric parameter input unit, and a grinding head grinding unit. The multi-axis linkage mechanical arm can drive the special-shaped grinding head to move and deflect the angle. The grinding head rotation drive unit can make the special-shaped grinding head rotate around its axis. The force feedback sensor unit is used to obtain the grinding force of the special-shaped grinding head when grinding parts. The programmable control unit is connected to the multi-axis linkage mechanical arm, the grinding head rotation drive unit, and the force feedback sensor unit, and can control the latter three and perform data exchange; The area with abrasive grains on the special-shaped grinding head is called a grinding part, and the grinding part includes a convex spherical part, a cylindrical part, and a dish-shaped part. The convex spherical part is located at the end of the special-shaped grinding head, and the dish-shaped part is connected to the convex spherical part through the cylindrical part. The convex spherical part, the cylindrical part, and the dish-shaped part are all coaxial. The grinding head geometric parameter input unit is used to input geometric parameter information of the special-shaped grinding head in a brand new and unworn state, and is connected to the programmable control unit; The grinding head grinding unit can be used to grind the convex spherical portion so that the grinding surface of the convex spherical portion that is worn during the grinding process is restored to a standard convex spherical surface. The grinding head grinding unit can also be used to grind the disc-shaped portion so that the disc-shaped portion that is worn during the grinding process is restored to its sharp edge.

2. The adaptive floating force-controlled grinding and polishing robot according to claim 1, characterized in that: The multi-axis linkage robotic arm is a six-axis robotic arm.

3. The adaptive floating force-controlled grinding and polishing robot according to claim 1, characterized in that: The force feedback sensing unit includes X-axis force feedback, Y-axis force feedback, Z-axis force feedback, and grinding rotation axis torque feedback.

4. The adaptive floating force-controlled grinding and polishing robot according to claim 1, characterized in that: The grinding head grinding unit is connected to the programmable control unit, and the grinding head grinding unit realizes the grinding of the special-shaped grinding head by linkage with the multi-axis linkage mechanical arm and the grinding head rotation drive unit.

5. The adaptive floating force-controlled grinding and polishing robot according to claim 4, characterized in that: The grinding head grinding unit includes a concave spherical surface grinding part and a V-shaped grinding part. The concave spherical surface grinding part can be used to grind the convex spherical surface part to restore the grinding surface of the worn convex spherical surface part to a standard convex spherical surface. The V-shaped grinding part can be used to grind the dish-shaped part to restore the sharp edge of the worn dish-shaped part.

6. An adaptive floating force-controlled grinding and polishing method, using the adaptive floating force-controlled grinding and polishing robot according to any one of claims 1 to 5, characterized in that: The steps include: S1: inputting geometric parameter information of a special-shaped grinding head in a brand new and unworn state through the grinding head geometric parameter input unit; S2: Combining the geometric parameter information of the part to be polished, the target geometric parameter information of the part to be polished, and the geometric parameter information of the special-shaped grinding head, a grinding and polishing CNC program is written by the programmable control unit, and the grinding and polishing CNC program can be executed by the multi-axis linkage robot arm and the grinding head rotation drive unit as a grinding and polishing processing action, wherein the smooth and continuous positions to be polished on the part to be polished are polished by the convex spherical portion, and the sharp angle positions or discontinuous positions are polished by the edge of the dish-shaped portion; S3: The programmable control unit adjusts the grinding and polishing feed parameters through the force feedback information obtained by the force feedback sensing unit, and determines the wear condition of the special-shaped grinding head with the help of the force feedback information. When the wear condition exceeds the threshold, the special-shaped grinding head is repaired through the linkage of the multi-axis linkage robot arm, the grinding head rotation drive unit and the grinding head repairing unit, and the geometric parameter information of the special-shaped grinding head in S2 is updated to the latest geometric parameter information of the special-shaped grinding head after repair, and the grinding and polishing CNC program is updated based on this.

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