Pneumatic grinding end effector with spindle vibration isolation function and control method

Abstract

The invention provides a pneumatic grinding end effector with a spindle vibration isolation function and a control method, the pneumatic grinding end effector comprises a supporting assembly, the supporting assembly comprises an upper bottom plate and a lower bottom plate, a connecting flange is mounted on the upper bottom plate, and the connecting flange is used for being connected with a robot; the propelling assembly is connected with the upper bottom plate and the lower bottom plate, and the propelling assembly is used for adjusting the distance between the upper bottom plate and the lower bottom plate; the grinding assembly comprises a pneumatic motor and a grinding tool, and the pneumatic motor is installed on the lower bottom plate and used for driving the grinding tool; and the vibration isolation assembly comprises a vibration isolation frame and a plurality of photonic crystal unit cells installed on the vibration isolation frame, the vibration isolation frame is connected with an output shaft of the pneumatic motor and the grinding tool, and the multiple photonic crystal unit cells are arranged around the peripheral side of the vibration isolation frame. According to the pneumatic grinding end effector, the influence of vibration of the main shaft on the grinding quality in the grinding process of the end effector is effectively solved.

Description

Technical Field

[0001] The present disclosure generally relates to the technical field of automated grinding equipment, and in particular to a pneumatic grinding end effector with a spindle vibration isolation function and a control method thereof. Background Art

[0002] With the advancement of science and technology, robotic processing is gradually replacing manual labor with its flexibility and efficiency, especially in high-precision industries such as automobiles, aerospace and electronic manufacturing. In these fields, grinding end effectors have become a common tool for automation equipment because of their lightness and efficiency, and are good at precision processing on narrow or complex surfaces. However, spindle vibration has become a key factor affecting grinding accuracy and surface quality. Traditional pneumatic grinding end effectors are simple in design and rely on motor power, but system fluctuations and spindle rotation vibrations will reduce tool stability and result in uneven processing surfaces. Long-term vibration will accelerate equipment wear and shorten its life.

[0003] To solve the vibration problem, existing technologies attempt to add shock-absorbing pads or simple vibration isolation structures to the spindle, but the effect is limited in the face of complex working conditions. It is difficult to completely eliminate the impact of vibration on machining accuracy, and it is still difficult to ensure grinding accuracy and consistency. Therefore, developing an end effector with a simple structure that can effectively isolate the vibration of the pneumatic spindle and improve the grinding quality of the workpiece has become a current technical problem. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a pneumatic grinding end effector with a spindle vibration isolation function and a control method to solve the above-mentioned problems.

[0005] The first aspect of the present application provides a pneumatic grinding end effector with a spindle vibration isolation function, comprising: A support assembly, the support assembly comprising an upper base plate and a lower base plate, a connecting flange is mounted on the upper base plate, and the connecting flange is used to connect the robot; A propulsion assembly, the propulsion assembly is connected to the upper base plate and the lower base plate, and the propulsion assembly is used to adjust the distance between the upper base plate and the lower base plate; A grinding assembly, the grinding assembly comprising an air motor and a grinding tool, the air motor being mounted on the lower base plate, and the air motor being used to drive the grinding tool; A vibration isolation component, the vibration isolation component includes a vibration isolation frame and a plurality of phononic crystal cells mounted on the vibration isolation frame, the vibration isolation frame is connected to the output shaft of the pneumatic motor and the grinding tool, and the plurality of phononic crystal cells are arranged around the outer periphery of the vibration isolation frame.

[0006] According to the technical solution provided in the embodiment of the present application, the propulsion assembly includes: A plurality of guide rods, wherein the guide rods are fixedly mounted on the upper base plate, and telescopic rods are slidably connected to the guide rods, wherein the sliding direction is parallel to the extension direction of the output shaft, and the ends of the telescopic rods are fixedly connected to the lower base plate; A driving device is installed on the upper base plate, and the driving device has a retractable free end, the free end is fixedly connected to the lower base plate, and the retractable direction of the free end is parallel to the axis of the output shaft of the pneumatic motor.

[0007] According to the technical solution provided in the embodiment of the present application, the phononic crystal unit cell includes a matrix and a scatterer, and the matrix includes: A frame area, wherein the frame area is rectangular and has a central position that penetrates to form a receiving space; an accommodating area, the accommodating area being arranged at the center of the accommodating space, and the scatterer being installed on the accommodating area; A transition zone is provided between the frame zone and the accommodation zone. The transition zone surrounds the accommodation zone and is connected to the frame zone at one end and to the accommodation zone at the other end.

[0008] According to the technical solution provided in the embodiment of the present application, the vibration isolation frame includes an upper connecting plate and a lower connecting plate, the upper connecting plate is connected to the output end of the pneumatic motor, and the lower connecting plate is used to connect the grinding tool; a plurality of phononic crystal groups are arranged between the upper connecting plate and the lower connecting plate, and the plurality of phononic crystal groups are connected to the outer peripheral sides of the upper connecting plate and the lower connecting plate, and each of the phononic crystal groups includes the same number of phononic crystal unit cells.

[0009] According to the technical solution provided in the embodiment of the present application, the central axis of the base is perpendicular to the axis of the output shaft of the pneumatic motor.

[0010] According to the technical solution provided in the embodiment of the present application, the substrate is made of resin material, and the scatterer is made of metal tungsten material.

[0011] According to the technical solution provided in the embodiment of the present application, an inclination sensor is installed on the lower base plate, and the inclination sensor is used to detect the inclination angle and inclination direction of the grinding tool.

[0012] According to the technical solution provided in the embodiment of the present application, a shaft sleeve is installed on the side of the lower connecting plate away from the upper connecting plate, the tightness of the shaft sleeve is adjustable, and the grinding tool is connected to the lower connecting plate through the shaft sleeve.

[0013] According to the technical solution provided in the embodiment of the present application, a shaft sleeve is installed on the side of the lower connecting plate away from the upper connecting plate, the tightness of the shaft sleeve is adjustable, and the grinding tool is connected to the lower connecting plate through the shaft sleeve.

[0014] A second aspect of the present application provides a pneumatic grinding end effector control method, based on the pneumatic grinding end effector with spindle vibration isolation function as described above, the method comprises: Calibrate the inclination sensor and the acceleration sensor; acquiring the tilt angle, the tilt direction and the propulsion acceleration in real time; Determining a current posture of the grinding tool according to the tilt angle and the tilt direction, and comparing the current posture with a target posture; When it is determined that the deviation between the current posture and the target posture is greater than a first preset threshold, a posture correction instruction is generated according to the deviation and sent to the robot; When it is determined that the difference between the current posture and the target posture is less than or equal to a first preset threshold, comparing the propulsion acceleration with a preset acceleration; When it is determined that the difference between the propulsion acceleration and the preset acceleration is greater than a second preset threshold, a propulsion correction instruction is generated according to the difference and sent to the driving device.

[0015] Compared with the prior art, the beneficial effects of the present application are as follows: by arranging a propulsion assembly and a grinding assembly on the support assembly, the grinding assembly can be used to grind the workpiece, the propulsion assembly can control the advancement of the grinding tool by adjusting the distance between the upper base plate and the lower base plate on the support assembly, and the propulsion assembly can also ensure constant grinding force, thereby improving the processing quality of the workpiece; by arranging a vibration isolation assembly, the vibration isolation assembly connects the pneumatic motor and the grinding tool of the grinding assembly, and the phononic crystal unit cell on the vibration isolation assembly has a phononic crystal band gap. Within the band gap range, the vibration elastic wave is confined within the phononic crystal unit cell and cannot continue to propagate forward, thereby achieving a vibration reduction effect and further improving the grinding quality of the workpiece. The end effector provided by the present application has a simple structure, can effectively isolate the vibration of the spindle, reduce wear and maintenance costs, and extend service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A schematic diagram of the structure of the pneumatic grinding end effector with spindle vibration isolation function provided in this application; Figure 2 for Figure 1 A side view of a pneumatic grinding end effector with spindle vibration isolation is shown; Figure 3 It is a structural schematic diagram of the vibration isolation component; Figure 4 Schematic diagram of the structure of a phononic crystal unit cell; Figure 5 is the band gap diagram of the phononic crystal unit cell; Figure 6 It is a curve diagram showing the relationship between the vibration frequency and the vibration transmissibility of the vibration isolation component.

[0017] Figure numbers: 1. upper base plate; 2. lower base plate; 3. connecting flange; 4. pneumatic motor; 5. grinding tool; 6. vibration isolation frame; 7. phononic crystal unit cell; 8. guide rod; 9. telescopic rod; 10. driving device; 11. upper connecting plate; 12. lower connecting plate; 13. substrate; 14. scatterer; 15. frame area; 16. accommodation area; 17. transition area; 18. inclination sensor; 19. acceleration sensor; 20. bushing; 21. motor clamp; 22. quick connector; 23. fixing clamp. DETAILED DESCRIPTION

[0018] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the inventions. It should also be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0019] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] Example 1 Please refer to Figure 1-Figure 4 , this embodiment provides a pneumatic grinding end effector with a spindle vibration isolation function, including: A support assembly, the support assembly comprising an upper base plate 1 and a lower base plate 2, a connecting flange 3 is mounted on the upper base plate 1, and the connecting flange 3 is used to connect the robot; A propulsion assembly, the propulsion assembly is connected to the upper base plate 1 and the lower base plate 2, and the propulsion assembly is used to adjust the distance between the upper base plate 1 and the lower base plate 2; A grinding assembly, the grinding assembly comprising an air motor 4 and a grinding tool 5, the air motor 4 being mounted on the lower base plate 2, and the air motor 4 being used to drive the grinding tool 5; The vibration isolation component includes a vibration isolation frame 6 and a plurality of phononic crystal cells 7 mounted on the vibration isolation frame 6, wherein the vibration isolation frame 6 is connected to the output shaft of the pneumatic motor 4 and the grinding tool 5, and the plurality of phononic crystal cells 7 are arranged around the outer peripheral side of the vibration isolation frame 6.

[0021] Specifically, the upper base plate 1 and the lower base plate 2 are parallel to each other. A connecting flange 3 is fixedly installed on the side of the upper base plate 1 away from the lower base plate 2. The connecting flange 3 is used to connect with the robot. The robot drives the end effector to move through the connecting flange 3 and adjusts the tilt angle and tilt direction of the end effector. The grinding assembly is installed on the lower base plate 2 as the core part of the end effector. The grinding assembly mainly includes an air motor 4 and a grinding tool 5. The air motor 4 is installed on the side of the lower base plate 2 close to the upper base plate 1 through a motor clamp 21. The air motor 4 is connected to a quick connector 22. The air motor 4 can be quickly connected to an external air supply device through the quick connector 22; the output shaft of the air motor 4 passes through the lower base plate 2 and is used to drive the grinding tool 5 to rotate. The output shaft of the drive motor 4 is perpendicular to the lower base plate 2. The upper base plate 1 and the lower base plate 2 are connected by a propulsion assembly. In addition to connecting the upper base plate 1 and the lower base plate 2, the propulsion assembly also propels the grinding tool 5 by adjusting the distance between the upper base plate 1 and the lower base plate 2, thereby ensuring balanced grinding force.

[0022] Specifically, in order to solve the influence of spindle vibration on grinding quality, in this embodiment, a vibration isolation component is arranged between the pneumatic motor 4 and the grinding tool 5. The vibration isolation component includes a vibration isolation frame 6 and a plurality of phononic crystal cells 7. The vibration isolation frame 6 connects the output shaft of the pneumatic motor 4 and the grinding tool 5. The plurality of phononic crystal cells 7 are arranged on the outer peripheral side of the vibration isolation frame 6. The phononic crystal cells 7 form a band gap that prohibits the propagation of elastic waves in the low-frequency range through the local resonance mechanism, thereby effectively reducing the vibration of the grinding tool 5 during operation. Through the cooperation of the plurality of phononic crystal cells 7, the vibration is effectively suppressed, thereby achieving the purpose of improving the grinding quality.

[0023] Furthermore, the propulsion assembly comprises: A plurality of guide rods 8, wherein the guide rods 8 are fixedly mounted on the upper base plate 1, and a telescopic rod 9 is slidably connected to the guide rods 8, wherein the sliding direction is parallel to the extension direction of the output shaft, and the end of the telescopic rod 9 is fixedly connected to the lower base plate 2; The driving device 10 is installed on the upper base plate 1. The driving device 10 has a retractable free end, and the free end is fixedly connected to the lower base plate 2. The retractable direction of the free end is parallel to the axis of the output shaft of the pneumatic motor.

[0024] Specifically, the propulsion assembly is composed of a driving device 10 and a plurality of guide rods 8, and the plurality of guide rods 8 are evenly arranged between the upper base plate 1 and the lower base plate 2. The driving device 10 is fixedly installed on the side of the upper base plate 1 close to the lower base plate 2, and the driving device 10 has a freely retractable free end, and the free end of the driving device 10 is fixedly connected to the side of the lower base plate 2 close to the upper base plate 1. The driving device 10 can adjust the distance between the upper base plate 1 and the lower base plate 2 by driving the free end to retract, so that the lower base plate 2 can be controlled to advance while the position of the upper base plate 1 is relatively fixed, thereby advancing the grinding tool 5 to provide grinding force for the grinding workpiece; optionally, the driving device 10 is a driving cylinder, and the driving device 10 is electrically connected to the control module of the robot. The guide rod 8 is fixed to the side of the upper base plate 1 close to the lower base plate 2. The guide rod 8 is hollow inside and one end close to the lower base plate 2 is open. A telescopic rod 9 is slidably installed inside the guide rod 8. The telescopic rod 9 can slide relative to the guide rod 8 along the axial direction parallel to the output shaft of the pneumatic motor 4. One end of the telescopic rod 9 extends out of the guide rod 8 and is fixedly connected to the lower base plate 2. The distance that the telescopic rod 9 extends out of the guide rod 8 is limited, ensuring that the telescopic rod 9 will not be separated from the guide rod 8. In this embodiment, three guide rods 8 are provided, and the three guide rods 8 and a driving device 10 are respectively provided corresponding to the four corners of the lower base plate 2. The guide rod 8 is fixed by a fixing fixture 23 provided on the upper base plate 1, and the telescopic rod 9 is fixed by a fixing fixture 23 provided on the lower base plate 2.

[0025] The guide rod 8 and the telescopic rod 9 cooperate to guide the movement of the lower base plate 2, constrain the free end of the lower base plate 2 to ensure that the lower base plate 2 moves in a specific direction, and at the same time improve the stability of the grinding tool 5 during the grinding process. In addition, the guide rod 8 and the telescopic rod 9 can also limit the travel range of the lower base plate 2, thereby preventing the drive device 10 from being damaged due to excessive travel, and also preventing the grinding tool 5 from being damaged.

[0026] Furthermore, the phononic crystal unit cell 7 includes a matrix 13 and a scatterer 14, and the matrix 13 includes: The frame area 15 is rectangular and has a central position that penetrates to form a receiving space; An accommodating area 16, wherein the accommodating area 16 is arranged at the center of the accommodating space, and the scatterer 14 is installed on the accommodating area 16; The transition area 17 is disposed between the frame area 15 and the accommodating area 16 . The transition area 17 surrounds the accommodating area 16 and has one end connected to the frame area 15 and the other end connected to the accommodating area 16 .

[0027] Specifically, the phononic crystal unit cell 7 includes a matrix 13 and a scatterer 14. The scatterer 14 is a cubic structure, and the matrix 13 is composed of a frame area 15, a receiving area 16 and a transition area 17, wherein the frame area 15 is a rectangular parallelepiped and two opposite sides thereof are penetrated, and the frame area 15 is hollow inside to form a receiving space after being penetrated, and the receiving area 16 is arranged at the center of the receiving space, and the receiving area 16 is connected to the frame area 15 through the transition area 17 to be fixed in the receiving space, and the scatterer 14 is fixed at the center of the receiving area 16; the transition area 17 is arranged between the frame area 15 and the receiving area 16, one end of the transition area 17 is connected to the inner wall of the frame area 15, and the other end of the transition area 17 is connected to the outer wall of the receiving area 16, and the transition area 17 surrounds the receiving area 16; the frame area 15, the receiving area 16 and the transition area 17 are integrally formed, and the thickness of the frame area 15, the receiving area 16 and the transition area 17 are the same.

[0028] By building a phononic crystal unit cell model in COMSOL, the solid mechanics module is selected to perform finite element simulation on the phononic crystal unit cell structure, with resin material as the matrix 13 and metal tungsten block as the scatterer 14, and then meshing is performed to solve its characteristic frequency to obtain the phononic crystal band gap, such as Figure 5 As shown, , , Representing the three vertices of the Brillouin zone, the band gap range of the phononic crystal unit cell 7 is 288-394 Hz. Within the band gap range, the vibrating elastic wave is confined within the phononic crystal unit cell 7 and cannot continue to propagate forward, thereby achieving a vibration reduction effect and improving the grinding quality of the workpiece.

[0029] The phononic crystal unit cell 7 can be simplified as a "spring mass" system. The natural frequencies of each order of the phononic crystal unit cell 7 are determined by its equivalent mass and equivalent stiffness, satisfying:

[0030] in, represents the natural frequency, represents the angular frequency of the phononic crystal unit cell 7, represents the equivalent mass, represents the equivalent stiffness.

[0031] Furthermore, the substrate 13 is made of resin, and the scatterer 14 is made of metal tungsten.

[0032] In this embodiment, the substrate 13 is made of resin, and the scatterer 14 is made of metal tungsten. By setting the mass difference between the substrate 13 and the scatterer 14 to be larger, it is easier to generate a wider and lower frequency band gap.

[0033] Furthermore, the vibration isolation frame 6 includes an upper connecting plate 11 and a lower connecting plate 12, the upper connecting plate 11 is connected to the output end of the pneumatic motor 4, and the lower connecting plate 12 is used to connect the grinding tool 5; a plurality of phononic crystal groups are arranged between the upper connecting plate 11 and the lower connecting plate 12, and the plurality of phononic crystal groups are connected to the outer peripheral sides of the upper connecting plate 11 and the lower connecting plate 12, and each of the phononic crystal groups includes the same number of phononic crystal unit cells 7.

[0034] Specifically, the vibration isolation frame 6 is composed of an upper connecting plate 11 and a lower connecting plate 12. The upper connecting plate 11 and the lower connecting plate 12 are parallel to each other. The upper connecting plate 11 is fixedly connected to the output shaft of the pneumatic motor 4 that passes through the lower base plate 2. The lower connecting plate 12 and the upper connecting plate 11 are connected through a plurality of phononic crystal groups. Each phononic crystal group includes a plurality of phononic crystal cells 7, and the plurality of phononic crystal cells 7 are arranged in a square array. In the present embodiment, preferably, the upper connecting plate 11 and the lower connecting plate 12 are both configured as regular hexagonal structures, and six phononic crystal groups are correspondingly provided. The six phononic crystal groups are respectively connected to the corresponding side edges of the upper base plate 1 and the lower base plate 2; preferably, in the present embodiment, each phononic crystal group includes 9 phononic crystal cells 7, and the 9 phononic crystal cells 7 include three rows and three columns. Figure 6 As shown, after experimental verification, the vibration transmission rate of the vibration isolation assembly provided in this embodiment is significantly less than 0 in the frequency band between 288-394 Hz, and is adapted to the vibration frequency of the grinding tool 5 when working, indicating that the vibration isolation assembly has a good vibration isolation effect.

[0035] Furthermore, the central axis of the base 13 is perpendicular to the axis of the output shaft of the pneumatic motor 4 .

[0036] Specifically, each of the bases 13 is arranged parallel to the axis of the output shaft of the pneumatic motor 4, and the scatterer 14 is arranged on the side of the base 13 away from the axis of the output shaft of the pneumatic motor 4. When the pneumatic motor 4 drives the output shaft to rotate, centrifugal force is generated at the position of the scatterer 14, and the base 13 and the scatterer 14 cooperate to achieve the purpose of vibration reduction.

[0037] Furthermore, an inclination sensor 18 is installed on the lower base plate 2 , and the inclination sensor 18 is used to detect the inclination angle and inclination direction of the grinding tool 5 .

[0038] Specifically, the inclination sensor 18 is installed on one side of the lower base plate 2 close to the upper base plate 1. The inclination sensor 18 is electrically connected to the control module of the robot. The inclination sensor 18 detects the inclination angle and inclination direction of the grinding tool 5 and sends them to the control module. The control module determines the current posture of the grinding tool 5 according to the inclination angle and inclination direction, and then adjusts the current posture of the grinding tool 5 when it does not meet the requirements, ensuring that the grinding tool 5 maintains a constant angle with the workpiece surface, thereby further improving the grinding quality.

[0039] Furthermore, an acceleration sensor 19 is installed on the lower base plate 2 , and the acceleration sensor 19 is used to detect the propulsion acceleration of the grinding tool 5 .

[0040] Specifically, the acceleration sensor 19 is installed on the side of the lower base plate 2 close to the upper base plate 1. The acceleration sensor 19 is electrically connected to the control module of the robot. The acceleration sensor 19 detects the propulsion acceleration of the grinding tool 5 and sends it to the control module. The control module determines whether the propulsion acceleration of the grinding tool 5 meets the requirements. When the propulsion acceleration of the grinding tool 5 does not meet the requirements, the propulsion acceleration is adjusted by controlling the drive device 10 to ensure that the grinding tool 5 maintains a constant grinding force on the workpiece surface, thereby further improving the grinding quality.

[0041] Furthermore, a shaft sleeve 20 is installed on a side of the lower connecting plate 12 away from the upper connecting plate 11 , and the tightness of the shaft sleeve 20 is adjustable. The grinding tool 5 is connected to the lower connecting plate 12 via the shaft sleeve 20 .

[0042] Specifically, the grinding tool 5 is detachably connected to the lower connecting plate 12 by cooperating with the shaft sleeve 20. An adjusting bolt is threadedly installed on the shaft sleeve 20. After the grinding tool 5 is inserted into the shaft sleeve 20, the grinding tool 5 can be locked by rotating the adjusting bolt. The setting of the shaft sleeve 20 makes it convenient and flexible to replace different grinding tools 5, thereby adapting to different workpieces.

[0043] Example 2 This embodiment provides a method for controlling a pneumatic grinding end effector, based on the pneumatic grinding end effector with a spindle vibration isolation function as described in Embodiment 1, the method includes: Calibrate the inclination sensor 18 and the acceleration sensor 19; acquiring the tilt angle, the tilt direction and the propulsion acceleration in real time; Determine the current posture of the grinding tool 5 according to the tilt angle and the tilt direction, and compare the current posture with a target posture; When it is determined that the deviation between the current posture and the target posture is greater than a first preset threshold, a posture correction instruction is generated according to the deviation and sent to the robot; When it is determined that the difference between the current posture and the target posture is less than or equal to a first preset threshold, comparing the propulsion acceleration with a preset acceleration; When it is determined that the difference between the propulsion acceleration and the preset acceleration is greater than a second preset threshold, a propulsion correction instruction is generated according to the difference and sent to the driving device 10 .

[0044] Specifically, after the robot adjusts the position of the end effector, the control module calibrates the inclination sensor 18 and the acceleration sensor 19 to avoid inaccurate data acquisition during the subsequent grinding process; after calibration, the pneumatic motor 4 is turned on to start grinding. During the grinding process, the inclination angle and inclination direction of the grinding tool 5 are acquired in real time through the inclination sensor 18. After acquisition, the inclination sensor 18 sends the data to the control module. The control module can determine the current posture of the grinding tool 5 according to the inclination angle and inclination direction. The control module has a preset target posture. By comparing the current posture with the target posture, if the deviation between the current posture and the target posture is less than the first preset threshold, it is considered to be within the error range. At this time, the control module does not intervene in the grinding process. If the deviation between the current posture and the target posture is greater than the first preset threshold, it is considered that the grinding tool 5 has deviated during the grinding process. At this time, the control module generates a posture correction instruction according to the deviation and sends it to the robot, so that the robot can adjust the end control The inclination angle of the grinding tool 5 is adjusted according to the position of the device; at the same time, the propulsion acceleration of the grinding tool 5 is obtained in real time through the acceleration sensor 19 during the grinding process. After the acquisition, the acceleration sensor 19 sends the data to the module module. The control module is preset with a preset acceleration. If the deviation between the current posture and the target posture is less than the first preset threshold, the control module compares the propulsion acceleration with the preset acceleration after receiving the propulsion acceleration, and calculates the difference between the propulsion acceleration and the preset acceleration, and generates a propulsion correction instruction based on the comparison result and the calculated difference and sends it to the drive device 10, so that the propulsion acceleration of the grinding tool 5 is adjusted by controlling the drive device 10. The purpose of the comparison result is to determine whether the propulsion speed is too fast or too slow. If the deviation between the current posture and the target posture is greater than or equal to the first preset threshold, the control module sends a stop instruction to the drive device 10 while sending the robot posture correction instruction, so that the drive device 10 stops driving, so as to avoid the grinding tool 5 continuing to advance under the premise of posture deviation, affecting the grinding quality.

[0045] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A pneumatic grinding end effector with spindle vibration isolation function, characterized in that: include: A support assembly, the support assembly comprising an upper base plate (1) and a lower base plate (2), a connecting flange (3) being mounted on the upper base plate (1), the connecting flange (3) being used for connecting to a robot; A propulsion assembly, the propulsion assembly connecting the upper base plate (1) and the lower base plate (2), the propulsion assembly being used to adjust the distance between the upper base plate (1) and the lower base plate (2); A grinding assembly, the grinding assembly comprising an air motor (4) and a grinding tool (5), the air motor (4) being mounted on the lower base plate (2), and the air motor (4) being used to drive the grinding tool (5); A vibration isolation component, the vibration isolation component comprising a vibration isolation frame (6) and a plurality of phononic crystal cells (7) mounted on the vibration isolation frame (6), the vibration isolation frame (6) being connected to the output shaft of the pneumatic motor (4) and the grinding tool (5), and the plurality of phononic crystal cells (7) being arranged around the outer peripheral side of the vibration isolation frame (6).

2. The pneumatic grinding end effector with spindle vibration isolation function according to claim 1 is characterized in that: The propulsion assembly comprises: a plurality of guide rods (8), the guide rods (8) being fixedly mounted on the upper base plate (1), the guide rods (8) being slidably connected to telescopic rods (9), the sliding direction of the telescopic rods (9) being parallel to the extension direction of the output shaft, and the ends of the telescopic rods (9) being fixedly connected to the lower base plate (2); A drive device (10), the drive device (10) being mounted on the upper base plate (1), the drive device (10) having a retractable free end, the free end being fixedly connected to the lower base plate (2), the retractable direction of the free end being parallel to the axis of the output shaft of the pneumatic motor.

3. The pneumatic grinding end effector with spindle vibration isolation function according to claim 2 is characterized in that: The phononic crystal unit cell (7) comprises a matrix (13) and a scatterer (14), wherein the matrix (13) comprises: A frame area (15), the frame area (15) is rectangular and has a central position that penetrates to form a receiving space; a containing area (16), the containing area (16) being arranged at a central position of the containing space, the scatterer (14) being mounted on the containing area (16); A transition zone (17), the transition zone (17) being arranged between the frame zone (15) and the accommodating zone (16), the transition zone (17) surrounding the accommodating zone (16) and having one end connected to the frame zone (15) and the other end connected to the accommodating zone (16).

4. The pneumatic grinding end effector with spindle vibration isolation function according to claim 3 is characterized in that: The vibration isolation frame (6) comprises an upper connecting plate (11) and a lower connecting plate (12), wherein the upper connecting plate (11) is connected to the output end of the pneumatic motor (4), and the lower connecting plate (12) is used to connect the grinding tool (5); a plurality of phononic crystal groups are arranged between the upper connecting plate (11) and the lower connecting plate (12), wherein the plurality of phononic crystal groups are connected to the outer peripheral sides of the upper connecting plate (11) and the lower connecting plate (12), and each of the phononic crystal groups comprises the same number of phononic crystal unit cells (7).

5. The pneumatic grinding end effector with spindle vibration isolation function according to claim 4 is characterized in that: The central axis of the base body (13) is perpendicular to the axis of the output shaft of the pneumatic motor (4).

6. The pneumatic grinding end effector with spindle vibration isolation function according to claim 5, characterized in that: The base (13) is made of resin, and the scatterer (14) is made of metal tungsten.

7. The pneumatic grinding end effector with spindle vibration isolation function according to claim 6, characterized in that: An inclination sensor (18) is installed on the lower base plate (2), and the inclination sensor (18) is used to detect the inclination angle and inclination direction of the grinding tool (5).

8. The pneumatic grinding end effector with spindle vibration isolation function according to claim 7, characterized in that: An acceleration sensor (19) is also mounted on the lower base plate (2), and the acceleration sensor (19) is used to detect the propulsion acceleration of the grinding tool (5).

9. The pneumatic grinding end effector with spindle vibration isolation function according to claim 8, characterized in that: A shaft sleeve (20) is installed on a side of the lower connecting plate (12) away from the upper connecting plate (11); the tightness of the shaft sleeve (20) is adjustable; and the grinding tool (5) is connected to the lower connecting plate (12) via the shaft sleeve (20).

10. A pneumatic grinding end effector control method, characterized in that: Based on the pneumatic grinding end effector with spindle vibration isolation function as claimed in claim 9, the method comprises: Calibrate the tilt sensor (18) and the acceleration sensor (19); acquiring the tilt angle, the tilt direction and the propulsion acceleration in real time; Determining a current posture of the grinding tool (5) according to the tilt angle and the tilt direction, and comparing the current posture with a target posture; When it is determined that the deviation between the current posture and the target posture is greater than a first preset threshold, a posture correction instruction is generated according to the deviation and sent to the robot; When it is determined that the deviation between the current posture and the target posture is less than or equal to a first preset threshold, comparing the propulsion acceleration with a preset acceleration; When it is determined that the difference between the propulsion acceleration and the preset acceleration is greater than a second preset threshold, a propulsion correction instruction is generated according to the difference and sent to the driving device (10).

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