Robot force feedback pneumatic tensioning grinding and polishing device based on double sensors

Abstract

The invention discloses a robot force feedback pneumatic tensioning grinding and polishing device based on double sensors. The robot force feedback pneumatic tensioning grinding and polishing device comprises a grinding and polishing contact execution assembly, an axial constant force regulation and control assembly, a driving tensioning assembly and a robot connection force feedback assembly. The axial constant-force regulation and control assembly comprises a pressure sensor and a voice coil motor, and the voice coil motor is controlled to act through a feedback signal of the pressure sensor so as to realize electric constant-force grinding and polishing of the front-end grinding and polishing contact execution assembly; the driving tensioning assembly combines pneumatic tensioning and servo motor driving, and it is ensured that the abrasive belt works stably. The robot connection force feedback assembly comprises a six-dimensional force sensor, and the six-dimensional force sensor and the axial regulation and control assembly form a force measurement-control-feedback closed-loop system. High-precision and high-responsivity closed-loop constant-force grinding and polishing are achieved, the abrasive belt structure is easy to replace, the integration level, the stability and the adaptability are high, the production cost is reduced, and the machining quality and the production efficiency are remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of robot polishing equipment, and in particular to a robot force feedback pneumatic tensioning polishing device capable of realizing dual-sensor based robot. Background Art

[0002] In the field of mechanical processing, although traditional processing methods such as turning and milling can achieve the basic forming of workpieces, various defects will inevitably be left on the surface of the workpiece during the processing, such as surface unevenness, tool mark ripples, micro cracks and certain tensile stresses, etc. These defects may also lead to increased wear of the mechanical transmission system, increased vibration and noise, and other performance impacts. Grinding and polishing can effectively remove the above defects and improve the overall quality and performance of the workpiece.

[0003] Common grinding and polishing contact methods include grinding heads, polishing discs, and abrasive belts. Grinding head grinding and polishing are mostly used for fine processing of local areas of workpieces, which can achieve high processing accuracy, but the grinding and polishing efficiency is low. Polishing disc grinding and polishing are suitable for large-area grinding and polishing of workpiece surfaces, with high grinding and polishing efficiency, but relatively poor adaptability to the workpiece surface. Abrasive belts are flexible processing components with good adaptability and flexibility. They can perform relatively uniform grinding and polishing on the workpiece surface, and the grinding and polishing effect is relatively ideal. However, in actual applications, in order to prevent the abrasive belt from slipping, a special tensioning mechanism needs to be designed.

[0004] Traditional manual grinding and polishing has low precision and low efficiency, and it is difficult to maintain a constant grinding and polishing force, which can easily lead to damage to the workpiece surface or inadequate processing. Robot constant force grinding and polishing has the advantages of high precision, high efficiency, and good stability. It can significantly improve the processing quality and production efficiency of the workpiece and reduce labor costs and labor intensity. In addition, the design of a sensor measurement force control system can keep the grinding and polishing tool and the workpiece surface at a constant contact force, thereby improving the accuracy and consistency of grinding and polishing. In addition, since the robot processing trajectory requires trajectory continuity, the abrasive belt must avoid deviation during the grinding and polishing process. Therefore, it is necessary to reasonably design the abrasive belt deviation adjustment mechanism to achieve the best processing effect.

[0005] Constant force grinding and polishing places high demands on the device, mainly including stiffness, response speed and measurement accuracy. Sufficient stiffness ensures stable contact grinding and polishing, avoiding problems such as fluctuations in grinding and polishing force or deviation of grinding and polishing tools due to insufficient stiffness. High response speed ensures the continuity and stability of grinding and polishing to adapt to various interferences in the machining process, and the high-precision sensor measurement system can accurately detect the grinding and polishing force in real time and perform reliable constant force control. At present, the constant force grinding and polishing device mainly adopts the "spring tensioning" + "pneumatic polishing" method, but the response speed is limited, and the control accuracy and stability are poor. Therefore, it is of great significance to develop a constant force grinding and polishing device with a closed-loop sensing system of "pneumatic tensioning + electric grinding and polishing". Summary of the invention

[0006] In response to the above defects or improvement needs of the prior art, the present invention provides a robot force feedback pneumatic tensioning and polishing device based on dual sensors, wherein the device includes a voice coil motor as a constant force control component, a dual measurement system based on a one-dimensional force sensor and a six-dimensional force sensor to quickly adjust the grinding and polishing force, and uses the six-dimensional force sensor to directly compensate for the gravity of the device. A "pneumatic tensioning + electric grinding and polishing" device is designed to perform grinding and polishing actions, control the adjustable tension force and achieve constant force grinding and polishing, thereby effectively improving the surface quality and processing efficiency of the workpiece, and is particularly suitable for application scenarios of robot grinding and polishing.

[0007] To achieve the above purpose, the technical solution proposed by the present invention is:

[0008] A robot force feedback pneumatic tensioning grinding and polishing device based on dual sensors, the robot force feedback pneumatic tensioning grinding and polishing device comprises a grinding and polishing contact actuator 1, an axial constant force regulation component 2, a drive tensioning component 3, and a robot connection force feedback component 4. The axial constant force regulation component 2 is connected to the grinding and polishing contact actuator 1, and the axial constant force regulation component 2 is used to adjust the axial movement of the grinding and polishing contact actuator 1, thereby realizing constant force grinding and polishing regulation, and the grinding and polishing contact actuator 1 is used to perform grinding and polishing actions; the axial constant force regulation component 2 is installed together with the drive tensioning component 3 on the actuator support seat 25 of the robot connection force feedback component 4, and the other end of the robot connection force feedback component 4 is connected to the robot via a connecting flange. The drive tensioning component 3 is used to drive the abrasive belt to rotate to realize grinding and polishing, and to achieve the purpose of pneumatic tensioning the abrasive belt;

[0009] The pressure sensor 12 is provided in the axial constant force control component 2. It is a one-dimensional force sensor for detecting the grinding force exerted on the contact wheel 5. The grinding and polishing contact actuator component 1 connected at the front end plays a transmission role. After the measured value is fed back to the processor in real time, it guides the voice coil motor 10 to move axially forward and backward, thereby realizing constant force grinding and polishing. A six-dimensional force sensor 24 is provided in the robot connection force feedback component 4 for detecting the force condition of the entire grinding device on the other side. After gravity compensation is performed on the measured value of the six-dimensional force sensor 24, the grinding force of the contact wheel 5 after constant force control can be calculated. The pressure sensor 12 and the six-dimensional force sensor 24 can realize the closed-loop measurement processing of force control "measurement-processing-constant force control-true value verification", and the six-dimensional force sensor 24 is used to verify whether the value of the pressure sensor 12 is adjusted accurately, thereby avoiding defects such as data interference and data distortion caused by relying on a single measurement method.

[0010] The driving tensioning assembly 3 realizes the tensioning of the sand belt through the tensioning cylinder 18. When the sand belt needs to be tensioned, the front end of the tensioning cylinder 18 extends to push the tensioning wheel to feed and tighten the sand belt to achieve the tensioning purpose.

[0011] Furthermore, the grinding and polishing contact actuator 1 includes a contact wheel 5, a support frame 6, a connecting support seat 7, a guide wheel frame 8 and an idler wheel 9. Both sides of the contact wheel 5 are rotatably connected to the inner side of the front end of the support frame 6, the rear end of the support frame 6 is fixed on the connecting support seat 7, the upper surface of the connecting support seat 7 is fixedly connected to the guide wheel frame 8, and the idler wheel 9 is rotatably installed below the two ends of the guide wheel frame 8 for adjusting the wrap angle;

[0012] As a preferred embodiment of the present invention, in order to directly replace the abrasive belt without replacing other components and improve the versatility and flexibility of the device, the thickness of the support frame 6 of the present invention can be adjusted between 10 mm and 35 mm, and the spacing between the support frames 6 on both sides of the contact wheel 5 can be adjusted within the range of 13 mm to 52 mm to adapt to the contact wheel 5 with a width of 15 mm to 50 mm, thereby meeting the use requirements of different abrasive belt widths under different working conditions;

[0013] As a preferred embodiment of the present invention, in order to optimize the stability of the contact wheel 5 during the grinding and polishing process, the front straight notch of the connecting support seat 7 of the present invention is used to install the support frame 6, and other forms of through holes or no holes can also be used to enhance the rigidity of the overall contact structure through the press-connected structure on both sides of the double plates;

[0014] As a preferred embodiment of the present invention, in order to prevent the sanding belt from falling off, enhance the stability of the contact wheel 5 during grinding and polishing, and extend the service life of the sanding belt, the guide wheel frame 8 of the present invention is provided with through-hole straight slots on both sides of the bottom. By installing the idler wheel 9 at different positions, the sanding belt wrap angle of the contact wheel 5 can be adjusted to prevent the sanding belt from falling off, enhance the stability of the contact wheel during grinding and polishing, and extend the service life of the sanding belt.

[0015] Furthermore, the axial constant force control component 2 includes a voice coil motor 10, a pressure sensor connection motherboard 11, a pressure sensor 12, and a pressure sensor connection sub-board 13. The voice coil motor 10 is installed on the execution support seat 25 of the robot connection force feedback component 4, the front end of the voice coil motor 10 is connected to the pressure sensor connection motherboard 11, the pressure sensor connection motherboard 11 and the pressure sensor connection sub-board 13 clamp and install the pressure sensor 12, and the front end of the pressure sensor connection sub-board 13 is assembled with the polishing contact execution component 1, and the polishing contact force of the polishing contact execution component 1 is measured by the pressure sensor 12, which is used to guide the input current of the voice coil motor 10, adjust the output torque of the voice coil motor 10, and regulate the axial movement of the polishing contact execution component 1 to achieve constant force polishing;

[0016] Furthermore, the pressure sensor connected to the motherboard 11, the pressure sensor connected to the daughterboard 13, and the pressure sensor 12 are arranged as a whole on the slide at the front end of the voice coil motor 10, and a slide rail is arranged under the slide. The pressure sensor connected to the motherboard 11, the pressure sensor connected to the daughterboard 13, and the pressure sensor 12 as a whole can move along the slide rail under the drive of the voice coil motor 10, thereby regulating the axial movement of the polishing contact actuator 1 to achieve constant force polishing.

[0017] Furthermore, the driving tensioning assembly 3 includes a driving tensioning support column 14, a driving tensioning support plate 15, a servo motor 16, a driving wheel 17, a tensioning cylinder 18, a tensioning connecting frame 19, a tensioning wheel 20, and a tensioning guide idler wheel 21; the driving tensioning support column 14 is installed on the execution support seat 25 of the robot connection force feedback assembly 4, and the driving tensioning support plate 15 is fixed above the driving tensioning support column 14. The driving tensioning support plate 15 and the driving tensioning support column 14 together constitute the supporting structure of the entire driving tensioning assembly 3. A motor through hole is provided in the center of the driving tensioning support plate 15. The motor shaft of the servo motor 16 passes through the motor through hole and is connected to the driving wheel 17. The motor shaft and the driving wheel 17 transmit torque through a flat key, thereby driving the abrasive belt to rotate; the tensioning cylinder 18 is symmetrically installed on both sides of the driving tensioning support plate 15, and the cylinder top plate of the tensioning cylinder 18 is fixedly connected to the back plate of the tensioning connecting frame 19; the tensioning wheel 20 is installed on the tensioning connecting frame 19. When the abrasive belt needs to be tensioned, the tensioning cylinder 18 performs a forward movement, pushing the tensioning connecting frame 19 forward, and then driving the tensioning wheel 20 to feed, thereby achieving the tensioning of the abrasive belt; the tensioning guide idler wheel 21 is installed on the left and right ears of the driving tensioning support plate 15 to achieve the functions of guiding and increasing the wrap angle;

[0018] As a preferred embodiment of the present invention, in order to improve the adaptability and installation convenience of the device, the shaft side of the driving wheel 17 of the present invention is designed with a threaded hole, which is fixed on the motor shaft by screws to prevent the driving wheel 17 from axial movement;

[0019] As a preferred embodiment of the present invention, in order to ensure the accuracy and stability of the abrasive belt tensioning, a straight notch is provided at the connection between the tensioning connecting frame 19 and the cylinder top plate, and the center height of the tensioning wheel 20 can be adjusted up and down during installation to ensure the accuracy and stability of the abrasive belt tensioning;

[0020] As a preferred embodiment of the present invention, in order to facilitate the servo motor 16 to meet the installation requirements more easily and to be easier to position during use, the lower surface of the driving tensioning support plate 15 of the present invention is provided with a truncated cone surface to ensure the installation centering of the servo motor 16, and the servo motor 16 is installed on the truncated cone surface of the driving tensioning support plate 15.

[0021] Furthermore, one end of the robot connection force feedback component 4 is connected to the robot, and the other end measures the force condition of the entire actuator, and feedback verifies whether the axial constant force control component 2 is accurately adjusted. The robot connection force feedback component 4 includes a robot connection mother flange 22, a robot connection sub-flange 23, a six-dimensional force sensor 24 and an actuator support seat 25. The two robot connection flanges are respectively connected to the robot end flange and the six-dimensional force sensor 24, and the robot connection mother flange 22 is fixedly connected to the robot connection sub-flange 23; the other end of the six-dimensional force sensor 24 is installed with an actuator support seat 25, which can directly measure the force condition of the entire actuator;

[0022] As a preferred embodiment of the present invention, in order to enhance the supporting rigidity of the entire device and facilitate positioning, a rib is designed at the bottom of the actuator support seat 25, and a boss or countersunk is designed at the installation position to ensure the working stability and accuracy of the actuator;

[0023] As a preferred embodiment of the present invention, in order to protect the internal components from being contaminated by dust and work chips, the execution support seat 25 may also include a dust cover design to extend the service life of the device.

[0024] The present invention has the following advantages over the prior art:

[0025] (1) The axial constant force control component and the robot connection force feedback component provided by the present invention realize a closed-loop measurement force control system. During operation, the one-dimensional force sensor in the axial constant force control component performs real-time measurement and control and adjusts the voice coil motor to execute the action; the six-dimensional force sensor of the robot connection force feedback component is connected to the robot body on the left side, without the influence of vibration sources, to ensure the reliability of the measurement data, and to perform zero-point calibration and gravity compensation of the grinding and polishing device based on calculation and analysis, to accurately obtain the force processing conditions of the overall device on the right side, and to perform closed-loop verification of the one-dimensional force sensor control force value. This design enables the device to quickly respond to force changes during the grinding and polishing process, adjust the grinding and polishing parameters in time, improve the grinding and polishing accuracy and efficiency, and meet the needs of high-precision grinding and polishing.

[0026] (2) The driving tensioning assembly provided by the present invention adopts pneumatic control and has the advantages of high stability and strong reliability. By adjusting the tensioning force, the tensioning state of the grinding and polishing belt can be effectively maintained and the grinding and polishing conditions can be optimized, thereby ensuring the continuity and stability of the grinding and polishing process and extending the service life of the grinding and polishing belt.

[0027] (3) The dual-sensor-based robot force feedback pneumatic tensioning grinding and polishing device provided by the present invention is designed with a quick-change structure for sanding belts of different widths. The driving wheel, contact wheel, idler wheel and tensioning wheel of the sanding belt of the corresponding width can be replaced to meet the needs of different working conditions. It can cope with various complex processing tasks and improve the practicability and economy of the equipment.

[0028] (4) The driving wheel and idler wheel of the dual-sensor-based robot force feedback pneumatic tensioning grinding and polishing device provided by the present invention are designed to prevent the axial movement of the abrasive belt. The wheel edges are designed with double-sided grooves to effectively maintain the stable operation of the abrasive belt. The movable design of the idler wheel effectively increases the wrap angle of the abrasive belt and increases the length of the abrasive belt. While enhancing the grinding stability, it also increases the heat dissipation of the abrasive belt, greatly improving the life of the abrasive belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 : The disassembly diagram of the device: 1. Grinding and polishing contact actuator, 2. Axial constant force control assembly, 3. Drive tension assembly, 4. Robot connection force feedback assembly;

[0030] Figure 2 : Grinding and polishing contact actuator: 5 contact wheel, 6 support frame, 7 connecting support seat 7, 8 guide wheel frame, 9 idler wheel;

[0031] Figure 3 : Axial constant force control components: 10 voice coil motor, 11 pressure sensor connected to motherboard, 12 pressure sensor, 13 pressure sensor connected to daughterboard;

[0032] Figure 4 : Driving tensioning assembly: 14 driving tensioning support column, 15 driving tensioning support plate, 16 servo motor, 17 driving wheel, 18 tensioning cylinder, 19 tensioning connecting frame, 20 tensioning wheel, 21 tensioning guide idler wheel;

[0033] Figure 5 : Robot connection force feedback components: 22 robot connection female flange, 23 robot connection sub-flange, 24 six-dimensional force sensor, 25 execution support seat;

[0034] Figure 6 : Add pneumatic principle diagram;

[0035] Figure 7 : Schematic diagram of constant force measurement and control;

[0036] Figure 8 : Execute the support seat structure diagram;

[0037] Fig. 9 : Schematic diagram of robot installation;

[0038] Fig.10 : Drive tensioning structure diagram. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application; as used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0041] Please refer to the instruction manual Figure 1 :

[0042] like Figure 1 As shown, it is an overall schematic diagram of an embodiment of a robot force feedback pneumatic tensioning grinding and polishing device based on dual sensors provided by the present invention, wherein the device mainly comprises a grinding and polishing contact actuator 1 for grinding workpieces, an axial constant force control component 2 for adjusting the magnitude of the grinding and polishing force, a driving tensioning component 3 for driving and tensioning the abrasive belt, and a robot connection force feedback component 4 for real-time feedback of the actuator force; wherein one end of the robot connection force feedback component 4 is connected to the robot through a flange, and the other end is connected to the driving tensioning component 3 and the axial constant force control component 2 through an actuator support seat, and the grinding and polishing contact actuator 1 is connected to the axial constant force control component 2 through a support seat.

[0043] Further, such as Figure 5 The figure shows a robot connection force feedback component 4, which includes, from left to right, a robot connection female flange 22, a robot connection sub-flange 23, a six-dimensional force sensor 24, and an execution support seat 25; wherein, the robot connection female flange 22 has inner and outer circles provided with connection bolt holes, and the inner circle is mounted on the robot flange by bolts. Due to the requirements of the external dimensions of the six-dimensional force sensor, the robot connection sub-flange 23 is designed to be used as a transition, and its outer circle is connected to the robot connection female flange 22, and its inner circle is connected to the six-dimensional force sensor 24. The six-dimensional force sensor 24 is used to measure the force condition of the entire one side grinding and polishing device, and then measure the magnitude and direction of the grinding and polishing force. Therefore, the other end of the six-dimensional force sensor 24 is connected to the execution support seat 25 for connecting the entire grinding and polishing device; the execution support seat 25 is processed by milling, and has ribs, bosses, and grooves, which are used to increase rigidity, facilitate positioning, and increase the positioning accuracy and working stability of each grinding and polishing unit.

[0044] As a preferred solution of the present invention, the six-dimensional force sensor 24 uses a six-dimensional force sensor with an outer diameter of 70 mm. Since the six-dimensional force sensor has no installation through hole, two conversion connecting flanges with a diameter of 160 mm are designed for connection to increase the installation reliability and stability. The force and torque ranges of the sensor are 520N and 40N·M respectively, which meet the application requirements of "strong grinding and polishing". Through zero point correction and gravity compensation, the measurement accuracy and stability of the sensor under large load conditions are ensured. The overall structure has no slender rods, cantilever beams and other weak structures, and is suitable for precision machining of large-size workpieces and complex components.

[0045] Further, such as Figure 4 The figure shows a schematic diagram of the driving tensioning assembly 3 provided by the present invention, including a driving tensioning support column 14, a driving tensioning support plate 15, a servo motor 16, a driving wheel 17, a tensioning cylinder 18, a tensioning connecting frame 19, a tensioning wheel 20, and a tensioning guide idler wheel 21; wherein, the driving tensioning support column 14 and the driving tensioning support plate 15 together constitute a supporting structure, and the driving tensioning support column 14 is symmetrically installed in the groove of the execution support seat 25, and the upper end is connected to the driving tensioning support plate 15.

[0046] The driving tension support plate 15 has a through hole in the center, and is designed with a groove that matches the shoulder of the servo motor 16 to ensure the assembly and positioning requirements of the motor. The main shaft of the servo motor 16 and the driving wheel 17 use a flat key transmission to ensure centering and smooth load transmission, and the driving wheel 17 has a threaded hole tapped on the shaft side and is fixed by screws against the motor shaft; the driving tension support plate 15 is symmetrically arranged on the left and right sides, and a tensioning cylinder 18 and a tensioning guide idler wheel 21 are respectively installed. The front end of the tensioning cylinder 18 is connected to the rear end of the tensioning connecting frame 19 by bolts and nuts, and the tension The connection of the tightening connecting frame 19 is a straight groove, which can be used to adjust the tensioning connecting frame 19 up and down, and ensure that the center height of the tensioning wheel is in stable contact with the abrasive belt during installation; the tensioning wheel 20 is installed at the front end of the tensioning connecting frame 19 through bolts and nuts. When tensioning is required, the cylinder is actuated to push the tensioning connecting frame, and then push the tensioning wheel to feed, support the abrasive belt, and achieve tensioning; the tensioning guide idler wheel 21 is installed at the left and right ears of the tensioning connecting frame 19, and is fixed by bolts and nuts. The center height of the idler wheel can be adjusted by a thin nut or a gasket, which can ensure the stability of the abrasive belt grinding pad while achieving the purpose of preventing loosening.

[0047] Further, such as Figure 3 The figure shows a schematic diagram of the axial constant force control component 2 provided by the present invention, including a voice coil motor 10, a pressure sensor connected to a motherboard 11, a pressure sensor 12, and a pressure sensor connected to a daughterboard 13; wherein, the input of the voice coil motor 10 is a current signal, and the output is the displacement of the voice coil motor, and the voice coil motor includes a stator and a mover, the lower end of the stator is connected to the actuator support seat 25, and the mover is connected to the front end of the sensor connected to the motherboard 11 to transmit power.

[0048] The pressure sensor connection motherboard 11 is connected to one side of the pressure sensor 12 by bolts, and the other side of the pressure sensor 12 is connected to the pressure sensor connection sub-board 13 by bolts. The double-sided connecting plates clamp the pressure sensor 12 to ensure accurate measurement of the grinding and polishing force, and transmit the measured value to the processor to guide the input current of the voice coil motor 10 and adjust the output torque of the voice coil motor 10. A slide is designed at the front end of the voice coil motor 10. The pressure sensor connection motherboard 11, the pressure sensor connection sub-board 13, and the pressure sensor 12 are arranged on the slide as a whole. A guide rail is arranged under the slide, and then the axial movement of the voice coil motor is regulated to realize the overall movement of the front end along the guide rail to realize constant force grinding. The pressure sensor connection sub-board 13 is connected to the support seat by bolts, and then the constant force regulation is transmitted to the grinding and polishing contact assembly to control the axial movement of the front end grinding and polishing contact actuator 1 to realize constant force grinding.

[0049] As a preferred solution of the present invention, the pressure sensor connection motherboard 11 is designed to have a rounded edge surface that is convenient for centering with the voice coil motor 10, ensuring that the center of the voice coil motor 10, the center of the pressure sensor connection motherboard 11, and the center of the pressure sensor 12 are aligned during installation to ensure the reliability and responsiveness of "force measurement-control". Further, Figure 2 The present invention provides a schematic diagram of a grinding and polishing contact actuator 1, comprising a contact wheel 5, a support frame 6, a connecting support seat 7, a guide wheel frame 8, and an idler wheel 9; wherein, a bolt hole is designed at the front end of the support frame 6, and both sides of the contact wheel 5 are installed by being rotatably connected with both sides of the front end of the support frame 6, a double bolt hole is provided at the rear end of the support frame 6, and a through-hole straight slot is provided at the front end of the connecting support seat 7, the support frame 6 is installed on the connecting support seat 7 by bolts passing through the through-hole straight slot, the guide wheel frame 8 is installed on the upper surface of the rear end of the connecting support seat 7, and the idler wheel 9 is installed on the left and right through-hole straight slots of the guide wheel frame 8 by bolts and nuts, so as to achieve the purpose of guiding the sanding belt.

[0050] As a preferred solution of the present invention, in order to facilitate the replacement of abrasive belts of different widths for grinding and polishing, by adjusting the thickness of the support frame 6 of the present invention, the front end spacing of the double frames is increased to install contact wheels of different widths. To ensure smooth grinding and polishing of the abrasive belt after replacement, the idler wheel 9, tensioning wheel 20, and driving wheel 17 can be directly replaced without affecting other components, and the idler wheel 9, tensioning wheel 20, and driving wheel 17 can be adjusted during installation to ensure that they are at the same height as the abrasive belt to ensure stable processing.

[0051] As a preferred embodiment of the present invention, in order to ensure uniform and stable surface quality during grinding and polishing, the connecting threaded holes on the upper surface of the connecting support seat 7 are divided into multiple groups, and the installation position of the guide wheel frame 8 can be adjusted forward and backward to adjust the wrap angle between the contact wheel and the abrasive belt; and the guide wheel frame 8 and the idler wheel 9 are designed to be installed as through-hole straight slots, and the installation position of the idler wheel 9 can be moved left and right according to the working conditions to adjust the wrap angle between the abrasive belt and the contact wheel.

[0052] The specific working process of the dual-sensor based robot force feedback pneumatic tensioning grinding and polishing device provided by the present invention is as follows:

[0053] The speed of the grinding and polishing belt in the present invention is controlled by the servo motor of the grinding and polishing actuator. The driving wheel drives the entire gear train to work through the grinding belt. The driving wheel and the idler wheel are provided with a double-rib structure, and the grinding belt is automatically adjusted during the rotation of the grinding belt. During the grinding and polishing process, the contact wheel is pressed, and the pressure sensor detects the actual grinding and polishing force in real time and feeds it back to the processor. The processor calculates the difference between it and the expected contact force and feeds it back to the controller for calculation and sends a driving signal. The output torque is adjusted by adjusting the input current of the voice coil motor, thereby achieving constant force grinding and polishing. If the pressure sensor measures that the actual grinding and polishing force is greater than the set expected value, the controller reduces the input current of the voice coil motor to reduce the thrust, causing the front end of the voice coil motor to rise vertically along the slider rail, driving the entire grinding and polishing contact assembly to rise, and reducing the actual grinding and polishing force to the expected value; similarly, if the pressure sensor measures that the actual grinding and polishing force is less than the set expected value, the controller increases the input current of the voice coil motor to increase the thrust, causing the front end of the voice coil motor to descend vertically along the slider rail, driving the entire grinding and polishing contact assembly to descend, and increasing the actual grinding and polishing force to the expected value. The voice coil motor can provide real-time feedback on the displacement of the contact wheel and obtain the position of the contact wheel in real time, which can realize dual force and position detection and achieve high-precision position and constant force control.

[0054] During grinding and polishing, the six-dimensional force sensor can obtain the force conditions of the entire grinding and polishing device in real time. After transmitting the force value to the processor for analysis and calculation, the measured value is checked with the theoretical force value after the voice coil motor is controlled, which can ensure the accuracy of constant force control and realize closed-loop measurement of force-controlled grinding and polishing.

[0055] Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific implementation methods. For example, a voice coil motor combined with a pressure sensor device for realizing axial constant force grinding and polishing, in addition to using a pressure sensor to realize the measurement function of the grinding and polishing contact force, other similar devices for measuring force value and torque can also be used. Therefore, the above-mentioned specific implementation methods are only exemplary and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims. Any modification of the technical solution made according to the scope of the patent application of the present invention, or the equivalent replacement of some of the technical features therein, does not make the essence of the corresponding technical solution deviate from the spirit and coverage of the patent of the present invention, and all of these belong to the protection scope of the present invention.

Claims

1. A robot force feedback pneumatic tensioning grinding and polishing device based on dual sensors, characterized in that: The robot force feedback pneumatic tensioning grinding and polishing device comprises a grinding and polishing contact actuator (1), an axial constant force regulating component (2), a driving tensioning component (3), and a robot connection force feedback component (4); the axial constant force regulating component (2) is connected to the grinding and polishing contact actuator (1), the axial constant force regulating component (2) is used to adjust the axial movement of the grinding and polishing contact actuator (1), thereby realizing constant force grinding and polishing regulation, and the grinding and polishing contact actuator (1) is used to perform grinding and polishing actions; the axial constant force regulating component (2) and the driving tensioning component (3) are installed together on the actuator support seat (25) of the robot connection force feedback component (4), and the other end of the robot connection force feedback component (4) is connected to the robot via a connecting flange; the driving tensioning component (3) is used to drive the abrasive belt to rotate to realize grinding and polishing, and realize the purpose of pneumatic tensioning the abrasive belt; The pressure sensor (12) is arranged in the axial constant force control component (2), which is a one-dimensional force sensor for detecting the grinding force exerted on the contact wheel (5). The grinding and polishing contact actuator component (1) connected at the front end plays a transmission role. After the measured value is fed back to the processor in real time, the voice coil motor (10) is guided to move axially forward and backward, thereby realizing constant force grinding and polishing. The robot connection force feedback component (4) is arranged with a six-dimensional force sensor (24) for detecting the force condition of the entire grinding device on the other side. After gravity compensation is performed on the measured value of the six-dimensional force sensor (24), the grinding force of the contact wheel (5) after constant force control can be calculated. The pressure sensor (12) and the six-dimensional force sensor (24) can realize the closed-loop measurement processing of "measurement-processing-constant force control-true value verification" of force control, and the six-dimensional force sensor (24) is used to verify whether the value of the pressure sensor (12) is adjusted accurately, thereby avoiding the defects of data interference and data distortion caused by relying on a single measurement method. The driving tensioning assembly (3) realizes the tensioning of the sand belt through the tensioning cylinder (18). When the sand belt needs to be tensioned, the front end of the tensioning cylinder (18) extends to push the tensioning wheel to feed and tighten the sand belt, thereby achieving the tensioning purpose.

2. A dual-sensor based robot force feedback pneumatic tensioning polishing device according to claim 1, characterized in that: The grinding and polishing contact actuator (1) comprises a contact wheel (5), a support frame (6), a connecting support seat (7), a guide wheel frame (8) and an idler wheel (9); the two sides of the contact wheel (5) are rotatably connected to the inner side of the front end of the support frame (6), the rear end of the support frame (6) is fixed on the connecting support seat (7), the upper surface of the connecting support seat (7) is fixedly connected to the guide wheel frame (8), and the idler wheel (9) is rotatably installed below the two ends of the guide wheel frame (8) for adjusting the wrap angle.

3. The dual-sensor based robot force feedback pneumatic tensioning polishing device according to claim 1 is characterized in that: The axial constant force control component (2) comprises a voice coil motor (10), a pressure sensor connecting motherboard (11), a pressure sensor (12), and a pressure sensor connecting daughterboard (13); the voice coil motor (10) is installed on an execution support seat (25) of a robot connection force feedback component (4); the front end of the voice coil motor (10) is connected to the pressure sensor connecting motherboard (11); the pressure sensor connecting motherboard (11) and the pressure sensor connecting daughterboard (13) clamp and install the pressure sensor (12); the front end of the pressure sensor connecting daughterboard (13) is equipped with the polishing contact execution component (1); the polishing contact force of the polishing contact execution component (1) is measured by the pressure sensor (12), which is used to guide the input current of the voice coil motor (10), adjust the output torque of the voice coil motor (10), and regulate the axial movement of the polishing contact execution component (1) to achieve constant force polishing.

4. The dual-sensor based robot force feedback pneumatic tensioning polishing device according to claim 1 is characterized in that: The pressure sensor connected motherboard (11), the pressure sensor connected daughterboard (13), and the pressure sensor (12) are arranged as a whole on a slide at the front end of the voice coil motor (10), and a slide rail is arranged below the slide. The pressure sensor connected motherboard (11), the pressure sensor connected daughterboard (13), and the pressure sensor (12) are able to move along the slide rail as a whole under the drive of the voice coil motor (10), thereby regulating the axial movement of the polishing contact actuator (1) to achieve constant force polishing.

5. The dual-sensor based robot force feedback pneumatic tensioning polishing device according to claim 1 is characterized in that: The driving tensioning assembly (3) comprises a driving tensioning support column (14), a driving tensioning support plate (15), a servo motor (16), a driving wheel (17), a tensioning cylinder (18), a tensioning connecting frame (19), a tensioning wheel 20, and a tensioning guide idler wheel (21); the driving tensioning support column (14) is mounted on an execution support seat (25) of a robot connection force feedback assembly (4); the driving tensioning support plate (15) is fixed above the driving tensioning support column (14); the driving tensioning support plate (15) and the driving tensioning support column (14) together constitute a supporting structure of the entire driving tensioning assembly (3); a motor through hole is provided at the center of the driving tensioning support plate (15); the electric power of the servo motor (16) is The machine shaft passes through the motor through hole and is connected to the driving wheel (17). The motor shaft and the driving wheel (17) transmit torque through a flat key, thereby driving the abrasive belt to rotate; the tensioning cylinder (18) is symmetrically installed on both sides of the driving tensioning support plate (15), and the cylinder top plate of the tensioning cylinder (18) is fixedly connected to the back plate of the tensioning connecting frame (19); the tensioning wheel 20 is installed on the tensioning connecting frame (19). When the abrasive belt needs to be tensioned, the tensioning cylinder (18) performs a forward movement to push the tensioning connecting frame (19) forward, thereby driving the tensioning wheel (20) to feed, thereby achieving tensioning of the abrasive belt; the tensioning guide idler wheel (21) is installed on the left and right ears of the driving tensioning support plate (15) to achieve the functions of guiding and increasing the wrap angle.

6. The dual-sensor based robot force feedback pneumatic tensioning polishing device according to claim 1 is characterized in that: One end of the robot connection force feedback component (4) is connected to the robot, and the other end measures the force condition of the entire actuator, and feedback verifies whether the axial constant force control component (2) is adjusted accurately; the robot connection force feedback component (4) comprises a robot connection mother flange (22), a robot connection sub-flange (23), a six-dimensional force sensor (24) and an actuator support seat (25); the two robot connection flanges are respectively connected to the robot end flange and the six-dimensional force sensor (24), and the robot connection mother flange (22) is fixedly connected to the robot connection sub-flange (23); the other end of the six-dimensional force sensor (24) is installed with the actuator support seat (25), which can directly measure the force condition of the entire actuator.

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