A robot force feedback pneumatic tension grinding and polishing device based on double sensors

Abstract

The application discloses a robot force feedback pneumatic tensioning grinding and polishing device based on double sensors, which comprises a grinding and polishing contact execution assembly, an axial constant force regulation assembly, a driving tensioning assembly and a robot connecting force feedback assembly; the axial constant force regulation assembly comprises a pressure sensor and a voice coil motor, the voice coil motor is controlled to act through a feedback signal of the pressure sensor, so that electric constant force grinding and polishing of the front end grinding and polishing contact execution assembly is realized; the driving tensioning assembly combines pneumatic tensioning and servo motor driving, and ensures stable work of the abrasive belt. The robot connecting force feedback assembly contains a six-dimensional force sensor, and forms a "force measurement-control-feedback" closed loop system with the axial regulation assembly. The application realizes high-precision and high-response closed loop constant force grinding and polishing, has advantages of easy abrasive belt replacement structure, high integration, high stability, strong adaptability and reduced production cost and the like, and significantly improves machining quality and production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot polishing equipment, and particularly relates to a robot force feedback pneumatic tension grinding and polishing device based on double sensors. BACKGROUND

[0002] In the field of mechanical processing, although traditional processing methods such as turning and milling can realize the basic forming of a workpiece, various defects such as uneven surface, tool mark ripple, micro-cracks and certain tensile stress are inevitably left on the surface of the workpiece in the processing, which may further cause performance influences such as accelerated wear of the mechanical transmission system, increased vibration and noise, etc. 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 and polishing with grinding heads are mainly used for fine processing of local areas of a workpiece and can achieve high processing precision, but the grinding and polishing efficiency is low. Polishing discs are suitable for grinding and polishing a large area of the surface of a workpiece and have high grinding and polishing efficiency, but the adaptability to the surface of the workpiece is relatively poor. An abrasive belt is a flexible processing component and has good adaptability and flexibility, can uniformly grind and polish the surface of a workpiece, and has ideal grinding and polishing effect. However, in actual application, a special tensioning mechanism needs to be designed to prevent the abrasive belt from slipping.

[0004] Traditional manual grinding and polishing have low precision and low efficiency, and the grinding and polishing force is difficult to keep constant, which may easily cause damage to the surface of the workpiece or insufficient processing. Robot constant force grinding and polishing have the advantages of high precision, high efficiency and good stability, can significantly improve the processing quality and production efficiency of the workpiece, and reduce labor cost and labor intensity. Moreover, a sensing force control system can be designed to keep the contact force between the grinding and polishing tool and the surface of the workpiece constant, thereby improving the precision and consistency of grinding and polishing. In addition, since the robot processing track requires track continuity, the abrasive belt needs to be reasonably designed to avoid deviation of the abrasive belt during grinding and polishing, so as to achieve the best processing effect.

[0005] Constant force grinding and polishing puts forward high requirements on the device, mainly including stiffness, response speed and measurement accuracy. Sufficient stiffness ensures stable contact grinding and polishing and avoids problems such as grinding and polishing force fluctuation or grinding and polishing tool deviation caused by insufficient stiffness. High response speed ensures the continuity and stability of grinding and polishing to adapt to various disturbances in the processing process, and a high-precision sensing 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 mode of “spring tensioning”+“pneumatic polishing”, but the response speed is limited and the control precision and stability are poor, so 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

[0006] In view of the above defects or improvement needs of the prior art, the present application provides a robot force feedback pneumatic tensioning polishing device based on double sensors, wherein the device comprises a voice coil motor as a constant force regulating component, a two-dimensional force sensor and a six-dimensional force sensor are used to quickly adjust the polishing force, the six-dimensional force sensor is used to directly compensate the gravity of the device, and a "pneumatic tensioning + electric polishing" device is designed to perform polishing action, the tensioning force is adjustable and constant force polishing is realized, thereby effectively improving the workpiece surface quality and processing efficiency, and the device is especially suitable for robot polishing application scenarios.

[0007] To achieve the above object, the technical scheme provided by the present application is:

[0008] A robot force feedback pneumatic tensioning polishing device based on double sensors, the robot force feedback pneumatic tensioning polishing device comprises a polishing contact execution component 1, an axial constant force regulating component 2, a driving tensioning component 3, and a robot connecting force feedback component 4. The axial constant force regulating component 2 is connected to the polishing contact execution component 1, and is used to adjust the axial movement of the polishing contact execution component 1, thereby realizing constant force polishing regulation. The polishing contact execution component 1 is used to perform polishing action. The axial constant force regulating component 2 and the driving tensioning component 3 are installed on the execution support seat 25 of the robot connecting force feedback component 4, and the other end of the robot connecting force feedback component 4 is connected to a robot through a connecting flange. The driving tensioning component 3 is used to drive the rotation of the abrasive belt to realize polishing and achieve the purpose of pneumatic tensioning of the abrasive belt.

[0009] The axial constant force regulating component 2 is provided with a pressure sensor 12, which is a one-dimensional force sensor, and is used to detect the polishing force received by the contact wheel 5. The front-end connected polishing contact execution component 1 plays a transmission role, and 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 polishing. The robot connecting force feedback component 4 is provided with a six-dimensional force sensor 24, which is used to detect the stress condition of the entire polishing device on the other side. After the measured value of the six-dimensional force sensor 24 is compensated for gravity, the polishing force size of the contact wheel 5 after constant force regulation can be calculated. The pressure sensor 12 and the six-dimensional force sensor 24 can realize closed-loop measurement processing of "measurement-processing-constant force regulation-true value verification" of force control. The six-dimensional force sensor 24 is used to verify whether the value of the pressure sensor 12 is adjusted accurately, so as to avoid defects such as data interference and data distortion caused by relying on a single measurement method.

[0010] The driving tensioning component 3 is used to realize the tensioning of the abrasive belt through a tensioning cylinder 18. When the abrasive belt needs to be tensioned, the front end of the tensioning cylinder 18 is extended to push the tensioning wheel to feed and tighten the abrasive belt, thereby achieving the purpose of tensioning.

[0011] Further, the polishing contact execution assembly 1 comprises a contact wheel 5, a support frame 6, a connecting support base 7, a guide wheel frame 8 and an idler 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 base 7, the upper surface of the connecting support base 7 is fixedly connected with the guide wheel frame 8, and the idler 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 application, in order to directly replace the abrasive belt without replacing other components, improve the versatility and flexibility of the device, the thickness of the support frame 6 can be adjusted between 10mm and 35mm, and the distance between the support frames 6 on both sides of the contact wheel 5 can be adjusted within the range of 13mm to 52mm to adapt to the contact wheel 5 with a width of 15mm to 50mm, thereby meeting the use requirements of different abrasive belt widths under different working conditions;

[0013] As a preferred embodiment of the present application, in order to optimize the stability of the contact wheel 5 during polishing, the front end of the connecting support base 7 is provided with a straight slot for installing 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 pressure connection structure on both sides of the double plates;

[0014] As a preferred embodiment of the present application, in order to prevent the abrasive belt from falling off, enhance the stability of the contact wheel 5 during polishing, and prolong the service life of the abrasive belt, the guide wheel frame 8 is provided with through holes at the bottom of both sides, and the idler 9 is installed at different positions to adjust the wrap angle of the contact wheel 5, prevent the abrasive belt from falling off, enhance the stability of the contact wheel during polishing, and prolong the service life of the abrasive belt.

[0015] Further, the axial constant force regulation assembly 2 comprises a voice coil motor 10, a pressure sensor connection main plate 11, a pressure sensor 12 and a pressure sensor connection sub plate 13. The voice coil motor 10 is installed on the execution support base 25 of the robot connection force feedback assembly 4, the front end of the voice coil motor 10 is connected with the pressure sensor connection main plate 11, the pressure sensor connection main plate 11 and the pressure sensor connection sub plate 13 clamp and install the pressure sensor 12, and the front end of the pressure sensor connection sub plate 13 is assembled with the polishing contact execution assembly 1. The polishing contact force of the polishing contact execution assembly 1 is measured by the pressure sensor 12, which is used to guide the input current size of the voice coil motor 10, adjust the output torque size of the voice coil motor 10, regulate the axial movement of the polishing contact execution assembly 1, and realize constant force polishing;

[0016] Further, the pressure sensor connecting main plate 11, the pressure sensor connecting sub plate 13 and the pressure sensor 12 are arranged as a whole on the slide table at the front end of the voice coil motor 10, a slide rail is arranged below the slide table, and the pressure sensor connecting main plate 11, the pressure sensor connecting sub plate 13 and the pressure sensor 12 as a whole can move along the slide rail under the driving of the voice coil motor 10, thereby regulating the axial movement of the polishing contact execution assembly 1 and realizing constant force polishing.

[0017] Further, 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 21. The driving tensioning support column 14 is installed on the execution support seat 25 of the robot connecting force feedback assembly 4, and the driving tensioning support plate 15 is fixed above the driving tensioning support column 14, and the driving tensioning support plate 15 and the driving tensioning support column 14 jointly constitute the support structure of the whole driving tensioning assembly 3. A motor through hole is formed in the center of the driving tensioning support plate 15. The motor shaft of the servo motor 16 penetrates through the motor through hole and is connected with the driving wheel 17. The motor shaft and the driving wheel 17 transmit torque through a flat key, thereby driving the sand belt to rotate. The tensioning cylinder 18 is symmetrically installed on the left and right sides of the driving tensioning support plate 15. The cylinder top plate of the tensioning cylinder 18 is fixedly connected with the back plate of the tensioning connecting frame 19. The tensioning wheel 20 is installed on the tensioning connecting frame 19. When it is necessary to tension the sand belt, the tensioning cylinder 18 performs a forward movement, pushes the tensioning connecting frame 19 to move forward, and then drives the tensioning wheel 20 to feed, thereby realizing the tensioning of the sand belt. The tensioning guide idler 21 is installed on the left and right ears of the driving tensioning support plate 15, thereby realizing the functions of guiding and increasing the wrap angle.

[0018] As a preferred embodiment of the present application, in order to improve the adaptability and installation convenience of the device, a threaded hole is designed on the shaft side of the driving wheel 17, and the driving wheel 17 is fixed on the motor shaft through a screw, thereby preventing the axial movement of the driving wheel 17.

[0019] As a preferred embodiment of the present application, in order to ensure the accuracy and stability of the sand belt tensioning, a straight slot is arranged at the connection between the tensioning connecting frame 19 and the cylinder top plate, and the central height of the tensioning wheel 20 can be adjusted up and down during installation, thereby ensuring the accuracy and stability of the sand belt tensioning.

[0020] As a preferred embodiment of the present application, in order to make the servo motor 16 more easily meet the installation requirements and be more easily positioned, a circular table surface is arranged on the lower surface of the driving tensioning support plate 15, which ensures the installation centering of the servo motor 16, and the servo motor 16 is installed on the circular table surface of the driving tensioning support plate 15.

[0021] Further, the robot connecting force feedback assembly 4 is connected to the robot at one end and measures the force of the entire actuator at the other end, and feeds back to verify whether the axial constant force regulating assembly 2 is adjusted accurately. The robot connecting force feedback assembly 4 comprises a robot connecting female flange 22, a robot connecting male flange 23, a six-dimensional force sensor 24 and an execution support seat 25. Two robot connecting flanges are connected to the robot end flange and the six-dimensional force sensor 24 respectively, and the robot connecting female flange 22 is fixedly connected with the robot connecting male flange 23; the other end of the six-dimensional force sensor 24 is installed with the execution support seat 25, which can directly measure the force of the entire actuator;

[0022] As a preferred embodiment of the present application, in order to enhance the support stiffness of the entire device and facilitate positioning, the execution support seat 25 is designed with a rib plate at the bottom and a boss or countersunk head at the installation position, so as to ensure the working stability and accuracy of the actuator;

[0023] As a preferred embodiment of the present application, in order to protect the internal components from dust and debris pollution, the execution support seat 25 can also comprise a dust cover design, so as to prolong the service life of the device.

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

[0025] (1) The axial constant force regulating assembly and the robot connecting force feedback assembly provided by the present application realize a closed-loop force control system. During operation, the one-dimensional force sensor in the axial constant force regulating assembly performs real-time measurement and control and adjusts the execution action of the voice coil motor; the six-dimensional force sensor of the robot connecting force feedback assembly is connected to the robot body on the left side, without vibration source influence, to ensure the reliability of the measurement data, and according to the calculation and analysis, the zero point calibration and gravity compensation of the polishing device are performed, so as to accurately obtain the force processing condition of the entire device on the right side, and the closed-loop verification of the one-dimensional force sensor control value is performed. This design enables the device to quickly respond to the force changes in the polishing process, timely adjusts the polishing parameters, improves the polishing accuracy and efficiency, and meets the demand for high-precision polishing.

[0026] (2) The driving tensioning assembly provided by the present application adopts pneumatic control, has the advantages of high stability and strong reliability, can effectively maintain the tensioning state of the polishing belt and optimize the polishing working condition by adjusting the tensioning force, ensures the continuity and stability of the polishing process, and prolongs the service life of the polishing belt.

[0027] (3) The robot force feedback pneumatic tensioning polishing device based on double sensors provided by the present application designs a quick change structure of sand belts with different widths, and the driving wheel, the contact wheel, the idler and the tensioning wheel corresponding to the sand belt with different width can be replaced, so as to meet the demand for different working conditions, cope with various complex machining tasks, and improve the practicability and economy of the equipment.

[0028] (4) The driving wheel and the idler wheel of the robot force feedback pneumatic tension grinding and polishing device based on double sensors are designed to prevent the axial movement of the abrasive belt, and the double-sided groove design is adopted on the wheel edge to effectively maintain the stable operation of the abrasive belt, and the movable design of the idler wheel effectively increases the abrasive belt wrap angle, increases the length of the abrasive belt, enhances the grinding stability, and increases the heat dissipation of the abrasive belt, greatly improving the service life of the abrasive belt. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 : Split diagram of the device: 1 grinding and polishing contact execution assembly, 2 axial constant force regulation assembly, 3 driving tension assembly, 4 robot connection force feedback assembly;

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

[0031] Figure 3 : Axial constant force regulation assembly: 10 voice coil motor, 11 pressure sensor connection motherboard, 12 pressure sensor, 13 pressure sensor connection daughterboard;

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

[0033] Figure 5 : Robot connection force feedback assembly: 22 robot connection mother flange, 23 robot connection daughter flange, 24 six-axis force sensor, 25 execution support seat;

[0034] Figure 6 : Pneumatic principle diagram;

[0035] Figure 7 : Constant force measurement and regulation principle diagram;

[0036] Figure 8 : Execution support seat structure diagram;

[0037] Figure 9 : Robot installation schematic diagram;

[0038] Figure 10 : Driving tension structure diagram. DETAILED DESCRIPTION

[0039] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0040] It should be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application; as used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and furthermore, it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a presence of a feature, step, operation, device, component and / or a combination thereof.

[0041] Please refer to the description Figure 1 :

[0042] As Figure 1 shown is an overall schematic diagram of a robot force feedback pneumatic tensioning polishing and grinding device based on double sensors, which mainly comprises a polishing and grinding contact execution assembly 1 for polishing a workpiece, an axial constant force regulation assembly 2 for regulating the size of polishing and grinding force, a driving and tensioning assembly 3 for driving and tensioning a sand belt, and a robot connected force feedback assembly 4 for real-time feedback of the force of an executor; one end of the robot connected force feedback assembly 4 is connected with a robot through a flange, and the other end is connected with the driving and tensioning assembly 3 and the axial constant force regulation assembly 2 through an execution support seat, and the polishing and grinding contact execution assembly 1 is connected with the axial constant force regulation assembly 2 through a support seat.

[0043] Further, as Figure 5 shown is the robot connected force feedback assembly 4, from left to right are a robot connected female flange plate 22, a robot connected male flange plate 23, a six-dimensional force sensor 24, and an execution support seat 25; the robot connected female flange plate 22 is provided with connecting bolt holes in the inner and outer rings, and the inner ring is installed on the robot flange through bolts. Due to the requirements of the size of the six-dimensional force sensor, the robot connected male flange plate 23 is designed as a transition, the outer ring of which is connected with the robot connected female flange plate 22, and the inner ring of which is connected with the six-dimensional force sensor 24. The six-dimensional force sensor 24 is used to measure the force of the entire polishing and grinding device on one side, and thus the size and direction of the polishing and grinding force, and the other end of the six-dimensional force sensor 24 is connected with the execution support seat 25 for connecting the entire polishing and grinding device. The execution support seat 25 is milled and has a rib plate, a boss and a groove for increasing the rigidity, facilitating positioning, increasing the positioning accuracy and working stability of the polishing and grinding units.

[0044] As a preferred scheme of the present application, the six-dimensional force sensor 24 selects a six-dimensional force sensor with an outer diameter of 70 mm, since the six-dimensional force sensor has no mounting through hole, two conversion connecting flanges with a diameter of 160 mm are designed for connection, the installation reliability and stability are increased, the force and torque ranges of the sensor are 520 N and 40 N·M respectively, the application requirements of "strong force polishing" are met, 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 rod, no cantilever beam and other weak structures, and is suitable for precision machining of large-size workpieces and complex components.

[0045] Further, as shown in Figure 4 Fig. 3 is a schematic view of the driving and tensioning assembly 3 provided by the present application, which comprises a driving and tensioning support column 14, a driving and 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 and tensioning support column 14 and the driving and tensioning support plate 15 jointly constitute a support structure, the driving and tensioning support column 14 is symmetrically installed at the groove of the execution support seat 25, and the upper end is connected to the driving and tensioning support plate 15.

[0046] The driving and tensioning support plate 15 has a through hole at the center and a groove designed to cooperate with the shaft shoulder of the servo motor 16, so as to ensure the assembly and positioning requirements of the motor, the main shaft of the servo motor 16 is in transmission with the driving wheel 17 using a flat key, so as to ensure the centration and smooth load transmission, and the driving wheel 17 is provided with a threaded hole at the shaft side, which is fixed by a screw abutting against the motor shaft; the driving and tensioning support plate 15 is symmetrically arranged on the left and right sides, and is respectively provided with the tensioning cylinder 18 and the tensioning guide idler wheel 21, the front end of the tensioning cylinder 18 is connected to the rear end of the tensioning connecting frame 19 through a bolt and a nut, and the connecting portion of the tensioning connecting frame 19 is a straight slot, which can be used for up and down alignment of the tensioning connecting frame 19, so as to ensure the stable contact between the center height of the tensioning wheel and the abrasive belt during installation; the tensioning wheel 20 is installed at the front end of the tensioning connecting frame 19 through a bolt and a nut, when tensioning is needed, the cylinder is actuated to push the tensioning connecting frame, and then the tensioning wheel is fed to abut against the abrasive belt, so as to realize tensioning; the tensioning guide idler wheel 21 is installed at the left and right ears of the tensioning connecting frame 19, and is fixed through a bolt and a nut, the center height of the idler wheel can be adjusted through a thin nut or a gasket, so as to ensure the stability of the abrasive belt grinding pad and realize the purpose of preventing loosening.

[0047] Further, as shown in Figure 3 Fig. 2 is a schematic view of the axial constant force regulating assembly 2 provided by the present application, which comprises a voice coil motor 10, a pressure sensor connection mother board 11, a pressure sensor 12 and a pressure sensor connection daughter board 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, the voice coil motor comprises a stator and a rotor, the lower end of the stator is connected to the execution support seat 25, and the front end of the rotor is connected to the sensor connection mother board 11 to transmit power.

[0048] The pressure sensor connecting mother plate 11 is connected with one side of the pressure sensor 12 through bolts, the other side of the pressure sensor 12 is connected with the pressure sensor connecting sub plate 13 through bolts, the double-sided connecting plate clamps the pressure sensor 12, ensures the measurement accuracy of the polishing force, and transmits the measurement value to the processor to guide the input current size of the voice coil motor 10, adjusts the output torque size of the voice coil motor 10, the front end of the voice coil motor 10 is designed as a sliding table, the pressure sensor connecting mother plate 11, the pressure sensor connecting sub plate 13 and the pressure sensor 12 are arranged as a whole on the sliding table, a guide rail is arranged below the sliding table, and then the axial movement of the voice coil motor is adjusted to realize the movement of the whole front end along the guide rail, and constant force grinding is realized. The pressure sensor connecting sub plate 13 is connected with the supporting seat through bolts, and then the constant force control is transmitted to the polishing contact assembly, the axial movement of the front end polishing contact execution assembly 1 is controlled, and constant force polishing is realized.

[0049] As a preferred scheme of the present application, the pressure sensor connecting mother plate 11 is designed to have a round edge profile for convenient centering of the voice coil motor 10, so as to ensure that the center of the voice coil motor 10, the center of the pressure sensor connecting mother plate 11 and the center of the pressure sensor 12 are aligned during installation, so as to ensure the reliability and responsiveness of the force measurement and control. Further, Figure 2 The polishing contact execution assembly 1 provided by the present application is shown in the figure, which comprises a contact wheel 5, a support frame 6, a connecting supporting seat 7, a guide wheel frame 8 and an idler 9. The front end of the support frame 6 is designed with bolt holes, the contact wheel 5 is installed on both sides of the front end of the support frame 6 through rotating connection, the rear end of the support frame 6 is provided with double bolt holes, and the front end of the connecting supporting seat 7 is provided with a through hole straight slot. The support frame 6 is installed on the connecting supporting seat 7 through the bolt 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 supporting seat 7, and the idler 9 is installed on the left and right through hole straight slots of the guide wheel frame 8 through bolts and nuts, so as to achieve the purpose of sand belt guiding.

[0050] As a preferred scheme of the present application, in order to replace the sand belt with different widths for polishing, the thickness of the support frame 6 is adjusted to increase the distance between the front ends of the double frames to install contact wheels with different widths. In order to ensure smooth polishing of the sand belt after replacement, the idler 9, the tensioning wheel 20 and the driving wheel 17 can be directly replaced without affecting other parts, and the idler 9, the tensioning wheel 20 and the driving wheel 17 can be adjusted in height during installation to ensure that they are at the same height as the sand belt, so as to ensure the processing stability.

[0051] As a preferred scheme of the application, in order to ensure that the polishing and grinding can obtain uniform and stable surface quality, the connecting screw holes on the upper surface of the connecting support seat 7 are divided into multiple groups, the mounting position of the guide wheel frame 8 can be adjusted forward and backward, and the contact angle between the contact wheel and the abrasive belt is further adjusted; and the guide wheel frame 8 and the idler wheel 9 are mounted as a through hole straight slot, and the mounting position of the idler wheel 9 can be moved left and right according to the working condition, so as to adjust the contact angle between the abrasive belt and the contact wheel.

[0052] The specific working process of the robot force feedback pneumatic tension polishing and grinding device based on double sensors provided by the application is as follows:

[0053] The polishing and grinding speed of the abrasive belt in the application is regulated by a servo motor of a polishing and grinding executor, the driving wheel drives the entire gear train to work through the abrasive belt, the driving wheel and the idler wheel are provided with a double flange structure to automatically adjust the bias of the abrasive belt during the rotation of the abrasive belt. During the polishing and grinding process, the contact wheel is pressed, the pressure sensor detects the actual polishing and grinding force in real time and feeds back to the processor, the processor feeds back the difference between the actual polishing and grinding force and the expected contact force to the controller after calculation, and then sends a driving signal, and the output torque is adjusted by adjusting the input current of the voice coil motor, so as to realize constant force polishing and grinding. If the actual polishing and grinding force measured by the pressure sensor is greater than the expected value, the controller reduces the input current of the voice coil motor, so that the thrust is reduced, the front end of the voice coil motor is lifted along the vertical direction of the sliding block guide rail, the entire polishing and grinding contact assembly is lifted, and the actual polishing and grinding force is reduced to the expected value; similarly, if the actual polishing and grinding force measured by the pressure sensor is less than the expected value, the controller increases the input current of the voice coil motor, so that the thrust is increased, the front end of the voice coil motor is lowered along the vertical direction of the sliding block guide rail, the entire polishing and grinding contact assembly is lowered, and the actual polishing and grinding force is increased to the expected value. The voice coil motor can feedback the displacement of the contact wheel in real time, and the position of the contact wheel can be obtained in real time, so that force and position detection can be realized, and high-precision position and constant force control can be realized.

[0054] During polishing and grinding, the six-dimensional force sensor can obtain the force condition of the entire polishing and grinding device in real time, and transmit the force value to the processor for analysis and calculation. After the analysis and calculation, the measured value is checked with the theoretical force value regulated by the voice coil motor, so that the accuracy of constant force regulation can be ensured, and force control polishing and grinding of closed loop measurement can be realized.

[0055] Although the preferred embodiments of the present application are described above in conjunction with the drawings, the present application is not limited to the above specific embodiments, for example, the voice coil motor for realizing axial constant force polishing and polishing is combined with a pressure sensor device, in addition to using a pressure sensor to realize the measurement function of the polishing contact force, other similar force value torque measuring devices can also be used, therefore, the above specific embodiments are only illustrative and not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, and any technical solution modification or equivalent replacement of part of the technical features within the scope of the patent application of the present application does not make the essence of the corresponding technical solution deviate from the spirit and scope of the present application, and these are within the protection scope of the present application.

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 through 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 pneumatically tensioning the abrasive belt; The pressure sensor (12) is provided 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 execution 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. A six-dimensional force sensor (24) is provided in the robot connection force feedback component (4), which is used to detect 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, data distortion, etc. 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; 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); 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 mounted below the two ends of the guide wheel frame (8) for adjusting the wrap angle; 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 in the center of the driving tensioning support plate (15); the electric current 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 sand 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 sand belt needs to be tensioned, the tensioning cylinder (18) performs a forward action, pushing the tensioning connecting frame (19) forward, and then drives the tensioning wheel (20) to feed, thereby achieving the tensioning of the sand belt; the tensioning guide idler (21) is installed on the left and right ears of the driving tensioning support plate (15) to achieve the function of guiding and increasing the wrap angle.

2. The dual-sensor-based robot force feedback pneumatic tensioning grinding and polishing device according to claim 1 is characterized in that: 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 daughterboard (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 daughterboard (13) clamp and install the pressure sensor (12); the front end of the pressure sensor connection daughterboard (13) is assembled 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), and 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.

3. The dual-sensor-based robot force feedback pneumatic tensioning grinding and polishing device according to claim 1, characterized in that: The pressure sensor connection motherboard (11), the pressure sensor connection 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 rail. The pressure sensor connection motherboard (11), the pressure sensor connection 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 grinding and polishing contact actuator (1) to achieve constant force grinding and polishing.

4. The dual-sensor-based robot force feedback pneumatic tensioning grinding and polishing device according to claim 1, 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) includes a robot connection female flange (22), a robot connection female 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 female flange (22) is fixedly connected to the robot connection female 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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