Adaptive robot grinding and polishing system and method for difficult-to-grind complex components

Abstract

The application provides a self-adaptive robot grinding and polishing processing system and method for difficult-to-grind complex components, the processing system comprising a 3D laser scanner, which is used for modeling according to the shape and size of a workpiece, and automatically dividing a polishing area and planning a self-adaptive path according to geometric features; a mechanical arm, which is used for clamping the workpiece and moving according to the planned path; a floating belt polishing device; and a polishing device, which has a self-adaptive grinding and polishing mechanism capable of moving up and down along an axial direction, and is used for constant force polishing of the workpiece, real-time compensation of tool wear, radial vibration assisted polishing, and replacement of a polishing head according to requirements. The application can be used for polishing a narrow inner concave surface and a stepped right-angle concave surface and a fillet transition thereof of the workpiece, and can meet the precise polishing requirements of various difficult-to-grind complex components. The workpiece is divided into self-adaptive processes according to geometric features, multiple devices are concentrated together to form a robot grinding and polishing processing system with multiple process combinations, and the difficult-to-grind complex components can be polished in all directions.

Description

Technical Field

[0001] This invention relates to the field of grinding and polishing technology, and in particular to an adaptive robotic grinding and polishing system and method for complex components that are difficult to grind. Background Technology

[0002] Mechanical grinding is a process that uses mechanical equipment and tools to process the surface of a workpiece. Its purpose is to remove surface defects, improve surface quality, adjust dimensional accuracy, or achieve specific surface roughness requirements. Mechanical grinding is a widely used surface treatment technology in manufacturing, commonly found in aerospace, military, and new energy fields.

[0003] The aerospace, military, and new energy sectors place stringent demands on the surface quality, geometric accuracy, and consistency of complex-shaped components made from difficult-to-machine materials. Under conditions of diverse product types and complex, constrained structures, cutting tools may not be able to fully contact the grinding area or may over-grind. In particular, bottlenecks such as complex intersecting surfaces, easy over-grinding of transition edges, rapid tool wear on narrow concave surfaces, and limitations in the grinding system, even making machining impossible, severely restrict efficient automated machining of these products. Currently, in most cases, manual grinding of the grinding area is required using different grinding wheels.

[0004] In the process of realizing this invention, the inventors discovered that the prior art has at least the following problems: the surface quality, geometric accuracy and consistency requirements of difficult-to-machine materials and complex surface components restrict the efficient automatic processing of products, resulting in a series of problems such as high difficulty in grinding and polishing, strong reliance on manual experience, poor quality consistency and weak process adaptability. Summary of the Invention

[0005] The present invention aims to at least partially solve one of the technical problems in the related art.

[0006] Therefore, the purpose of this invention is to propose an adaptive robotic grinding and polishing system and method for difficult-to-grind complex components, so as to realize all-round grinding operations on difficult-to-grind complex components.

[0007] To achieve the above objectives, the first aspect of this invention proposes an adaptive robotic grinding and polishing system for complex components that are difficult to grind, comprising: A 3D laser scanner is used to model the shape and size of a workpiece, and automatically divide the workpiece into grinding areas and adaptive path planning according to geometric features; A robotic arm for moving along a planned path, the end of which is provided with a replaceable clamping fixture for holding the workpiece; A floating belt polishing device is used to polish the continuously variable curvature surface of the workpiece. The grinding device has an adaptive grinding and polishing mechanism that can move up and down along the axial direction. The adaptive grinding and polishing mechanism is used for constant force grinding of the workpiece, real-time compensation for tool wear, radial vibration-assisted grinding, and changing the grinding head as needed.

[0008] The adaptive robotic grinding and polishing system for difficult-to-grind complex components according to the present invention can grind narrow concave surfaces and the transition areas of stepped right-angle concave corners on workpieces. Addressing the precision grinding needs of various types of difficult-to-grind complex components, multiple devices are integrated into the same processing system, forming a multi-process robotic grinding and polishing system that enables all-around grinding operations on difficult-to-grind complex components. The adaptive grinding and polishing mechanism in the grinding and polishing system of the present invention grinds the workpiece according to a preset pressure value. It is a dynamic contact force closed-loop feedback compensation mechanism that can adapt to tool wear and compensate in real time, realizing the grinding process... The invention employs a laser scanner to model the shape and size of complex components. Through point cloud analysis, it automatically identifies geometric features such as curvature abrupt change areas, narrow concave surfaces, intersecting surfaces, and transition surfaces. The area to be polished is intelligently divided into rough grinding and fine polishing processes according to process requirements, generating an adaptive polishing strategy. This processing system is innovatively integrated, encompassing flexible sanding belts and polishing devices. It can adapt to the fine removal needs of complex surfaces such as narrow concave surfaces, curvature abrupt change surfaces, and intersecting surfaces. Through the deep integration of intelligent technology and modular design, it achieves autonomous response and optimization to complex working conditions.

[0009] According to one embodiment of the present invention, it further includes: A conical grinding wheel grinding device is used to grind the inner side of the threaded area and / or L-shaped curved portion of the workpiece; The dual-wheel grinding device has two grinding wheels with different grit sizes for rough grinding, chamfering, deburring, and removing excess material from the workpiece surface.

[0010] According to one embodiment of the present invention, the device further includes a storage platform for storing the workpiece, and a tool magazine is provided at the bottom of the grinding device.

[0011] According to one embodiment of the present invention, the polishing device further includes a base, a support frame, a slider, a lead screw, and a motor. The lead screw is vertically arranged and connected to the base. The slider is connected to the adaptive polishing mechanism through the support frame. The output shaft of the motor is connected to the lead screw.

[0012] According to one embodiment of the present invention, the adaptive grinding and polishing mechanism includes a tool changing assembly, a housing, a floating electric spindle, and an electromagnetic vibration assembly. The tool changing assembly is used to change the grinding head. The floating electric spindle is axially movable inside the housing. The tool changing assembly is connected to the output shaft of the floating electric spindle. The electromagnetic vibration assembly is disposed around the tool changing assembly and is used to generate radial high-frequency vibration on the tool changing assembly.

[0013] According to one embodiment of the present invention, the electromagnetic vibration assembly includes an electromagnet, a permanent magnet, at least one angular contact ball bearing and a bearing housing. The inner wall of the housing is provided with a mounting groove, and the outer periphery of the bearing housing is provided with a protruding mounting plate. The mounting plate is inserted into the mounting groove. The angular contact ball bearing is disposed between the bearing housing and the tool changing assembly. The electromagnet is symmetrically disposed on the inner wall of the housing along the axis, and the permanent magnet is disposed on the bearing housing and disposed opposite to the electromagnet.

[0014] According to one embodiment of the present invention, the adaptive grinding and polishing mechanism further includes a cylinder, a guide block, a pressure sensor, and a limit switch. The cylinder has a downwardly extending push rod. The pressure sensor is disposed between the push rod and the floating electric spindle for measuring the pressure of the grinding head on the workpiece. The guide block is disposed on the outer wall of the floating electric spindle. The inner wall of the housing is provided with a groove for axial movement of the guide block. The limit switch is disposed on the lower side of the groove. When the pressure measured by the pressure sensor is less than the preset value, the push rod extends downward to maintain the pressure at the preset value; when the guide block triggers the limit switch, the tool is replaced.

[0015] According to one embodiment of the present invention, the tool changing assembly includes: A clamping link, the top end of which is used to connect to a rotation source; A cylindrical cam is fitted around the clamping link, the cylindrical cam is coaxially arranged with the clamping link, and the side wall of the cylindrical cam is provided with a through first sliding groove; Multiple grippers are arranged around the bottom end of the clamping link, and the outer wall of the grippers is provided with a second sliding groove arranged in a circumferential direction; A roller follower is sleeved around the periphery of the gripper and located inside the cylindrical cam. The inner wall of the roller follower is provided with a plurality of flanges that are adapted to the second slide groove. The outer wall of the roller follower is provided with cylindrical rollers, which are used to move along the guide path of the first slide groove. Multiple first elastic elements radially connect the gripper and the clamping link; The second elastic element is sleeved on the clamping link and is used to provide an upward elastic force after the clamping link is pressed down; The multiple grippers are initially closed. After the cylindrical cam is locked, the clamping rod is pressed down, and the grippers will open to replace the tool.

[0016] According to one embodiment of the present invention, the clamping link includes a rod portion, an upper disk and a lower disk connected together, the upper disk being located on the upper side of the rod portion, the lower disk being located at the bottom end of the rod portion, and the bottom surface of the lower disk being provided with a plurality of guide grooves, the first elastic element being radially arranged in the guide grooves.

[0017] The second aspect of this invention proposes an adaptive robotic grinding and polishing method for complex, difficult-to-grind components, which is based on the adaptive robotic grinding and polishing system for complex, difficult-to-grind components described in the first aspect, and includes: The robotic arm grips the workpiece and scans it in the working area of ​​the 3D laser scanner. It models the workpiece based on its shape and size, automatically divides the workpiece into different regions according to its geometric features, and automatically plans the path. Planning process scheme; The robotic arm clamps the workpiece to the floating sand belt polishing device for rapid rough grinding of flat and large curved surfaces according to the pre-planned path, and deburrs the edges and corners of the transition surfaces. Then, a fine sand belt is switched to perform fine polishing. The robotic arm clamps the workpiece into the working area of ​​the dual-grinding-wheel grinding device to grind the edges of the rounded corner transition area; The robotic arm grips the workpiece and moves it to the conical grinding wheel for grinding. The robotic arm clamps the workpiece into the working area of ​​the dual grinding wheel device. First, the cross-shaped surface is rough ground with a coarse grinding wheel, and then the cross-shaped surface is finely ground with a fine grinding wheel. The robotic arm clamps the workpiece into the working area of ​​the floating sanding belt polishing device and polishes the transition part between the intersecting surfaces. The robotic arm clamps the workpiece into the working area of ​​the grinding device, places the oilstone tool into the concave surface of the workpiece, and drags the workpiece back and forth to perform grinding operations on the concave surface. After grinding is completed, the robotic arm clamps the workpiece and exits the working area of ​​the grinding device. The adaptive grinding and polishing mechanism moves downwards to the tool magazine to replace the sandpaper ring and grinding head, and then returns to its original position. The robotic arm clamps the workpiece and moves it back to the working area of ​​the grinding device, continuously adjusting the angle to grind the stepped right-angle concave rounded corner transition area. Place the polished workpiece into the finished product area, and the robotic arm will pick up a new workpiece from the storage platform and repeat the above steps.

[0018] The adaptive robotic grinding and polishing method for complex components that are difficult to grind according to the present invention uses a laser scanner to model the shape and size of the complex component. Through point cloud analysis, it automatically identifies geometric features such as curvature change zones, narrow concave surfaces, intersecting surfaces, and transition surfaces. The area to be ground is intelligently divided into rough grinding and fine polishing processes according to process requirements, generating an adaptive grinding strategy. This processing system is innovatively integrated, covering flexible abrasive belts and grinding devices. It can adapt to the fine removal requirements of complex surfaces such as narrow concave surfaces, curvature change surfaces, and intersecting surfaces. Through the deep integration of intelligent technology and modular design, it achieves autonomous response and optimization to complex working conditions.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. Wherein: Figure 1 This is a schematic diagram of the structure of an adaptive robotic grinding and polishing system for complex components that are difficult to grind, as proposed in an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of a grinding device according to an embodiment of the present invention.

[0022] Figure 3 yes Figure 2 The diagram shows a cross-sectional structure of the adaptive grinding and polishing mechanism.

[0023] Figure 4 This is a top view of the electromagnetic vibration component.

[0024] Figure 5 This is a cross-sectional view of the tool changer assembly.

[0025] Figure 6 This is a cross-sectional view of the tool changer assembly.

[0026] Figure 7 This is an exploded view of the tool changer assembly.

[0027] Explanation of reference numerals in the attached figures: 100-Adaptive grinding and polishing mechanism, 107-Housing, 108-Limit switch, 109-Guide block, 111-Floating electric spindle, 112-Pressure sensor, 113-Cylinder, 114-Push rod, 115-Groove, 116-Angular contact ball bearing, 117-Bearing housing, 118-Oil-free bushing, 119-Elastic bushing, 120-Cylindrical cam, 121-First elastic element, 122-Second elastic element, 123-Clamping linkage, 124-Roller follower, 125-Gripper, 126-Second slide groove, 127-Cylindrical roller, 128-First slide groove, 129 - Mounting slot, 130 - Electromagnet, 131 - Permanent magnet, 200 - Support frame, 300 - Slider, 400 - Motor, 500 - Lead screw, 600 - Base, 700 - Tool magazine, 1000 - Grinding device, 1231 - Guide groove, 1241 - Flange, 1251 - Protrusion, 2000 - First sanding belt floating grinding and polishing device, 3000 - Robotic arm, 4000 - Fixture tooling, 5000 - Second sanding belt floating grinding and polishing device, 6000 - Conical grinding wheel grinding device, 7000 - Double grinding wheel grinding device, 8000 - 3D laser scanner, 9000 - Storage platform. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the invention, and should not be construed as limiting the invention. Rather, embodiments of the invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0029] The following is combined Figures 1 to 7 This invention describes an adaptive robotic grinding and polishing system and method for complex components that are difficult to grind, according to embodiments of the present invention.

[0030] An adaptive robotic grinding and polishing system for complex, difficult-to-grind components according to an embodiment of the present invention includes a 3D laser scanner 8000, a robotic arm 3000, a floating sanding belt polishing device, and a grinding device 1000.

[0031] The relative positions of the 3D laser scanner 8000, robotic arm 3000, floating belt polishing device, and grinding device 1000 are set according to actual needs and are not limited thereto. For example, the robotic arm 3000 is centered. The 3D laser scanner 8000 is used to model the workpiece according to its shape and size, and automatically divides the workpiece into grinding areas and adaptively plans paths based on geometric features. The robotic arm 3000 is used to move along the planned path, and its end is equipped with a replaceable fixture 4000 for holding the workpiece. The floating belt polishing device is used to grind and polish the continuously varying curvature surfaces of the workpiece. The grinding device 1000 has an adaptive grinding and polishing mechanism 100 that can move up and down axially. The adaptive grinding and polishing mechanism 100 is used for constant force grinding of the workpiece, real-time compensation for tool wear, radial vibration-assisted grinding, and changing the grinding head as needed.

[0032] The 3D laser scanner 8000 models the shape and dimensions of complex components, automatically identifying geometric features such as curvature abrupt changes, narrow concave surfaces, intersecting surfaces, and transition surfaces through point cloud analysis. Based on a machine learning classification model, the area to be polished is intelligently divided into rough grinding and fine polishing processes according to process requirements, and an adaptive polishing strategy is generated. The specific type of robotic arm 3000 is set according to actual needs and is not limited. For example, the robotic arm 3000 is a six-axis robotic arm with high flexibility. The number of floating belt polishing devices is set according to actual needs and is not limited. For example, there are two floating belt polishing devices: a first floating belt polishing device 2000 and a second floating belt polishing device 5000. Its adaptive force control system can adjust the contact angle in real time to maintain constant pressure and polish the continuously varying curvature surfaces of the workpiece. In addition, this flexible polishing tool, the belt polishing device, can adapt well to irregular transition surfaces, preventing unevenness or uneven wear in the transition area. The grinding device 1000 integrates a high-precision pressure sensor and control unit, constructing an intelligent compensation mechanism based on dynamic contact force closed-loop feedback. It collects dynamic contact force signals between the grinding head and the workpiece in real time. When the actual grinding force is detected to be lower than the preset process threshold, it dynamically adjusts the cylinder output pressure via an electromagnetic proportional valve based on a PID algorithm. This achieves millisecond-level compensation response for the cylinder-driven tool stroke, adapting to tool wear and compensating in real time, thus realizing adaptive dynamic balance in the grinding process.

[0033] The adaptive robotic grinding and polishing system for difficult-to-grind complex components according to the present invention can grind narrow concave surfaces and the transition areas of stepped right-angle concave corners on workpieces. Addressing the precision grinding needs of various types of difficult-to-grind complex components, multiple devices are integrated into the same processing system, forming a multi-process robotic grinding and polishing system that enables all-around grinding operations on difficult-to-grind complex components. The adaptive grinding and polishing mechanism in the grinding and polishing system of the present invention grinds the workpiece according to a preset pressure value. It is a dynamic contact force closed-loop feedback compensation mechanism that can adapt to tool wear and compensate in real time, realizing the grinding process... The invention employs a laser scanner to model the shape and size of complex components. Through point cloud analysis, it automatically identifies geometric features such as curvature abrupt change areas, narrow concave surfaces, intersecting surfaces, and transition surfaces. The area to be polished is intelligently divided into rough grinding and fine polishing processes according to process requirements, generating an adaptive polishing strategy. This processing system is innovatively integrated, encompassing flexible sanding belts and polishing devices. It can adapt to the fine removal needs of complex surfaces such as narrow concave surfaces, curvature abrupt change surfaces, and intersecting surfaces. Through the deep integration of intelligent technology and modular design, it achieves autonomous response and optimization to complex working conditions.

[0034] In some embodiments, such as Figure 1 As shown, the adaptive robotic grinding and polishing system for complex, difficult-to-grind components also includes a conical grinding wheel grinding device 6000 and a dual-grinding wheel grinding device 7000. The conical grinding wheel grinding device 6000 is used to grind the inner side of threaded areas and / or L-shaped curved sections of the workpiece. The dual-grinding wheel grinding device 7000 has two grinding wheels with different grit sizes for rough grinding, chamfering, deburring, and removing excess material from the workpiece surface. For the outer curved surfaces, the conical grinding wheel grinding device 6000 can also adapt well to their shape, performing uniform grinding.

[0035] The adaptive robotic grinding and polishing system also includes a storage table 9000 for storing workpieces, and a tool magazine 700 at the bottom of the grinding unit 1000. The tool magazine 700 contains various types of grinding heads. Different grinding heads are selected for different working conditions.

[0036] like Figure 2 As shown, this embodiment of the invention also proposes a polishing device 1000, including the adaptive polishing mechanism 100, base 600, support frame 200, slider 300, lead screw 500 and motor 400 of the above embodiment. The lead screw 500 is vertically arranged and connected to the base 600. The slider 300 is connected to the polishing device through the support frame 200. The output shaft of the motor 400 is connected to the lead screw 500.

[0037] The motor 400 drives the lead screw 500 to rotate, which causes the slider 300 to move the entire grinding device up and down, completing the tool changing operation in the tool magazine. It can also realize the processing of workpieces at different heights.

[0038] The grinding device is specifically designed to solve bottleneck problems such as complex cross-shaped surfaces of components, excessive wear of grinding and polishing tools on narrow concave surfaces, and limitations or even inability to process grinding systems at the transition points of stepped right-angle concave corners.

[0039] like Figure 3 As shown, in some embodiments, the adaptive grinding and polishing mechanism 100 includes a tool changing assembly, a housing 107, a floating electric spindle 111, and an electromagnetic vibration assembly. The floating electric spindle 111 is axially movable inside the housing 107. The tool changing assembly is connected to the output shaft of the floating electric spindle 111. The electromagnetic vibration assembly is disposed around the tool changing assembly and is used to generate radial high-frequency vibrations on the tool changing assembly.

[0040] The housing 107 provides support and protection for the internal tool changing assembly, floating electric spindle 111, and electromagnetic vibration assembly. The floating electric spindle 111 can float freely along the axial direction, adjusting the contact pressure according to the workpiece surface appearance during grinding to avoid damage. The specific frequency of the high-frequency vibration is set according to actual needs and is not limited. For example, a vibration frequency of several hundred Hz helps improve surface treatment quality.

[0041] The adaptive grinding and polishing mechanism places the electromagnetic vibration component around the tool changing component, causing the tool to generate radial high-frequency vibration. The high-frequency vibration combined with rotational motion can achieve higher grinding efficiency for the workpiece, adapt to narrow spaces, improve grinding quality, and realize fine grinding of difficult-to-grind areas of complex components.

[0042] The electromagnetic vibration assembly includes an electromagnet 130, a permanent magnet 131, at least one angular contact ball bearing 116, and a bearing housing 117. The inner wall of the housing 107 has a mounting groove 129, and the outer periphery of the bearing housing 117 has a protruding mounting plate inserted into the mounting groove 129. The angular contact ball bearing 116 is located between the bearing housing 117 and the tool changing assembly. The electromagnet 130 is symmetrically arranged along the axis on the inner wall of the housing 107, and the permanent magnet 131 is located on the bearing housing 117, opposite to the electromagnet 130. The bottom surface of the electromagnet 130 is separated from the upper stepped surface, providing sufficient vibration space for the electromagnetic vibration assembly. By energizing the electromagnet 130 with a pulse power supply, high-frequency radial vibration of the grinding tool in a confined space is achieved. The number of angular contact ball bearings 116 is determined according to actual needs and is not limited. For example, two angular contact ball bearings 116 are arranged along the axis. The permanent magnet 131 uses a Heilbeck array, resulting in a uniform magnetic field distribution.

[0043] In some embodiments, such as Figure 3As shown, the adaptive grinding and polishing mechanism 100 also includes a cylinder 113, a guide block 109, a pressure sensor 112, and a limit switch 108. The cylinder 113 has a downwardly extending push rod 114. The pressure sensor 112 is located between the push rod 114 and the floating electric spindle 111, and is used to measure the pressure of the grinding head on the workpiece. The guide block 109 is located on the outer wall of the floating electric spindle 111. The inner wall of the housing 107 has a groove 115 for axial movement of the guide block 109. The limit switch 108 is located on the lower side of the groove.

[0044] When the pressure measured by pressure sensor 112 is less than the preset value, push rod 114 extends downward to maintain the pressure at the preset value. When guide block 109 triggers limit switch 108, the tool is replaced. Considering that the oilstone grinding head used for grinding wears quickly, tool wear compensation is introduced here. The tool wear compensation control system is a constant force control system.

[0045] Understandably, the pressure sensor 112 can monitor the grinding force between the grinding head and the workpiece in real time. When the grinding force is insufficient, the pressure sensor 112 will feed back to the processor, which is set internally or externally. The processor controls the cylinder 113 to extend the push rod 114 downwards to compensate for tool wear in real time. Conversely, when the grinding force is too large, the pressure sensor 112 will extend the push rod 114 downwards to compensate for tool wear in real time. The guide block 109 cooperates with the groove 115 on the inner wall of the housing, allowing the push rod 114 to drive the floating electric spindle 111 to rise and fall smoothly, thereby achieving real-time compensation for the tool. The limit switch 108 is installed in the slot reserved in the housing 107, located at the bottom of the groove 115. When the floating electric spindle 111 moves to this position, it controls the electromagnetic vibration component and the electric spindle motor to stop working and start executing the tool change command.

[0046] The adaptive grinding and polishing mechanism 100 uses an electromagnetic proportional valve to control the lifting and lowering of the push rod 114. Based on constant force closed-loop control, an intelligent compensation mechanism based on dynamic contact force closed-loop feedback is constructed to achieve adaptive compensation for tool wear, realize self-correction of millimeter-level wear, and solve the problem of poor automation feasibility caused by excessively rapid tool wear.

[0047] In some embodiments, combined with Figures 5 to 7 As shown, the tool changing assembly includes a clamping link 123, a cylindrical cam 120, multiple jaws 125, a roller follower 124, multiple first elastic elements 121 and second elastic elements 122.

[0048] The top end of the clamping link 123 is used to connect to the rotary source. The rotary source can be driven by electricity or pneumatics.

[0049] A cylindrical cam 120 is fitted around the clamping link 123, and the cylindrical cam 120 is coaxially arranged with the clamping link 123. The side wall of the cylindrical cam 120 has a through-hole first groove 128. The orientation and length of the first groove 128 are set according to actual needs and are not limited thereto. Multiple jaws 125 are arranged around the bottom end of the clamping link 123, and the outer wall of the jaws 125 has a circumferentially arranged second groove 126. The number of jaws 125 is set according to actual needs; for example, there are three jaws 125. The cross-section of the three jaws 125 is fan-shaped, and in the clamped state, the inner wall of the jaws 125 can clamp the tool. The specific type of tool is set according to actual needs; for example, the tool is a grinding head.

[0050] The roller follower 124 is sleeved around the gripper 125 and located inside the cylindrical cam 120. The inner wall of the roller follower 124 is provided with multiple flanges 1241 that are adapted to the second slide groove 126. The outer wall of the roller follower 124 is provided with cylindrical rollers 127. The cylindrical rollers 127 are used to move along the guide path of the first slide groove 128. The movement of the cylindrical rollers 127 drives the roller follower 124 to rotate, driving the gripper 125 to move radially. When viewed axially, the radial thickness of the flanges 1241 gradually increases or decreases. When the roller follower 124 rotates relative to the gripper 125, the flanges 1241 rotate relative to the second slide groove 126, pushing the gripper 125 radially outward.

[0051] Multiple first elastic elements 121 radially connect the gripper 125 and the clamping link 123. The first elastic elements 121 provide the force required for the gripper 125 to reset, keeping the gripper 125 closed when the roller follower 124 is not driven by an external force. A second elastic element 122 is fitted onto the clamping link 123 to provide an upward spring force after the clamping link 123 is pressed down, enabling the clamping link 123 to spring back to its initial position. The specific types of the first elastic elements 121 and the second elastic elements 122 are selected according to actual needs; for example, both are springs.

[0052] Multiple grippers 125 are initially closed. After the cylindrical cam 120 is locked, the clamping rod 123 is pressed down, and the grippers 125 open to change the tool. After the tool is changed, the cylindrical cam 120 is released, and the grippers 125 close to clamp the replaced tool. This completes one tool change process.

[0053] The tool changer assembly, through the cooperation of the clamping linkage, cylindrical cam, roller follower, jaws, and elastic elements, forms a linked structure that controls the opening and closing of the jaws, thereby achieving automatic tool changing and improving tool changing and machining efficiency. The tool changer assembly precisely converts the rotational motion of the cylindrical cam into the linear opening and closing action of the jaws, achieving low-cost maintenance while avoiding electromagnetic interference that could affect reliability.

[0054] like Figure 6 As shown, the clamping linkage includes a rod portion, an upper disk, and a lower disk connected together. The upper disk is located on the upper side of the rod portion, and the lower disk is located at the bottom end of the rod portion. The bottom surface of the lower disk has multiple guide grooves 1231, and a first elastic element 121 is radially arranged within the guide grooves 1231. A protrusion 1251 is provided on the top of the gripper 125, and the protrusion 1251 is placed within the guide groove 1231. The first elastic element 121 is installed within the guide groove 1231 and connected to the protrusion 1251. The width of the protrusion 1251 is adapted to the width of the guide groove 1231, enabling the gripper 125 to move radially without deviation.

[0055] Combination Figures 5 to 7 As shown, in some embodiments, when the cylindrical roller 127 contacts the top end of the first groove 128, the bottom surfaces of the cylindrical cam 120, the roller follower 124, and the gripper 125 are on the same plane, resulting in a more aesthetically pleasing appearance. After the cylindrical cam 120 is locked, the clamping rod 123 is pressed down, and the roller follower 124 and the gripper 125 extend from the bottom of the cylindrical cam 120. When the downward pressure of the clamping rod 123 is removed, the roller follower 124 and the gripper 125 retract into the roller follower.

[0056] like Figure 3 As shown, the lower inner wall of the housing 107 has a stepped hole, which has an upper stepped surface, a middle stepped surface, and a lower stepped surface from top to bottom. The inner diameter of the middle stepped surface is larger than the outer diameter of the roller follower 124 of the tool changer assembly and smaller than the outer diameter of the cylindrical cam 120 of the tool changer assembly. In other words, the middle stepped surface can lock the cylindrical cam 120. Below the lower stepped surface, an elastic bushing 119 and an oil-free bushing 118 are installed on the inner wall of the housing 107, with the oil-free bushing 118 fitted inside the elastic bushing 119. The oil-free bushing 118 can both guide and support the tool. The elastic bushing 119 can buffer and absorb vibration, preventing the tool from breaking due to high-frequency vibration.

[0057] Combination Figure 3 and Figure 4As shown, the electromagnetic vibration assembly includes an electromagnet 130, a permanent magnet 131, at least one angular contact ball bearing 116, and a bearing housing 117. The inner wall of the housing 107 has a mounting groove 129, and the outer periphery of the bearing housing 117 has a protruding mounting plate inserted into the mounting groove 129. The angular contact ball bearing 116 is located between the bearing housing 117 and the tool changing assembly. The electromagnet 130 is symmetrically arranged along the axis on the inner wall of the housing 107, and the permanent magnet 131 is located on the bearing housing 117, opposite to the electromagnet 130. The bottom surface of the electromagnet 130 is separated from the upper stepped surface, providing sufficient vibration space for the electromagnetic vibration assembly. By energizing the electromagnet 130 with a pulse power supply, high-frequency radial vibration of the grinding tool in a confined space is achieved. The number of angular contact ball bearings 116 is determined according to actual needs and is not limited. For example, two angular contact ball bearings 116 are arranged along the axis. The permanent magnet 131 uses a Hellbeck array, resulting in a uniform magnetic field distribution.

[0058] This invention also proposes an adaptive robotic grinding and polishing method for complex components that are difficult to grind. The method is based on the adaptive robotic grinding and polishing system for complex components described in this embodiment and includes the following steps: Step S1: The robotic arm clamps the workpiece into the working area of ​​the 3D laser scanner for scanning. The workpiece is modeled according to its shape and size, and the workpiece is automatically divided into different areas according to its geometric features, and the path is automatically planned.

[0059] In this embodiment, the robotic arm clamps the workpiece from the storage platform and scans it in the working area of ​​the 3D laser scanner to model the shape and size of the workpiece. Complex workpieces are divided into areas such as planes, curved surfaces, transition edges, intersecting surfaces, narrow concave surfaces, and rounded transitions according to their geometric features. Then, the robotic arm automatically plans the grinding route and formulates the process plan.

[0060] Step S2: Plan the process scheme.

[0061] In this embodiment, flat surfaces, large curved surfaces, outer arc-shaped surfaces, and irregular transition surfaces are rapidly roughed and finely ground using abrasive belts of different grits. For continuously varying curvature rounded transition areas, grinding wheels of different diameters and grits are selected in stages as grinding tools. For the inner and outer sides of L-shaped bends, tapered grinding wheels are used to better adapt to their shape. Complex intersecting surfaces are ground using different grades of grinding wheels and abrasive belts, with a roughing and fine-grading process. Narrow concave surfaces and transition rounded corners are ground using a specially designed electromagnetic high-frequency vibration adaptive tool compensation multi-type grinding device and special tools. For stepped right-angle concave rounded corner transitions, sandpaper rings of different grits and radii are used as grinding heads.

[0062] Step S3: The robotic arm clamps the workpiece to the floating sand belt polishing device for rapid rough grinding of flat and large curved surfaces according to the pre-planned path, and deburrs the edges of the transition surfaces. Then, the workpiece is polished with a fine sand belt.

[0063] Step S4: The robotic arm clamps the workpiece into the working area of ​​the dual-grinding wheel grinding device to grind the edges of the rounded transition area.

[0064] In this embodiment, the edges with smaller fillet radii in the continuously varying curvature rounded transition area are first ground. The robotic arm holds the workpiece and rotates the area to be ground on the grinding wheel according to the fillet radius. After grinding, the robotic arm holds the workpiece and repeats the above steps for the transition rounded corner area with larger curvature. Then, a finer-grit grinding wheel is used for fine polishing.

[0065] Step S5: The robotic arm clamps the workpiece and grinds it using a conical grinding wheel device.

[0066] In this embodiment, the side of a conical grinding wheel is used to grind along the helical shape of the thread, removing burrs and uneven parts. Then, a robotic arm clamps the workpiece and brings the inner side of the L-shaped curved portion close to the grinding wheel to grind hard-to-reach corners. Similarly, for the outer curved surface, the conical grinding wheel can also adapt well to its shape and perform uniform grinding.

[0067] Step S6: The robotic arm clamps the workpiece into the working area of ​​the dual-grinding wheel grinding device. First, the cross-shaped surface is rough ground with a coarse grinding wheel, and then the cross-shaped surface is finely ground with a fine grinding wheel.

[0068] In this embodiment, considering the complexity of complex intersecting surfaces requiring the use of multiple tools, a coarser-grit grinding wheel is first used to rough grind the intersecting surfaces. During this process, care must be taken to ensure that the contact angle between the grinding wheel and the intersecting surfaces is not excessively damaged. Then, a fine-grit grinding wheel is used to remove the deep marks left during the rough grinding process, gradually refining each area of ​​the intersecting surface.

[0069] Step S7: The robotic arm clamps the workpiece into the working area of ​​the floating sanding belt polishing device and polishes the transition part between the intersecting surfaces.

[0070] In this embodiment, the flexible sanding belt is further refined and adjusted to ensure a natural and smooth transition, thus completing the grinding work on complex cross-shaped surfaces.

[0071] Step S8: The robotic arm clamps the workpiece into the working area of ​​the grinding device, places the oilstone tool into the concave surface of the workpiece, and drags the workpiece back and forth to perform grinding on the concave surface. After grinding is completed, the robotic arm clamps the workpiece and exits the working area of ​​the grinding device.

[0072] In this embodiment, the oilstone tool is designed according to the concave surface of the workpiece.

[0073] In step S9, the adaptive grinding and polishing mechanism moves downwards to the tool magazine to replace the sandpaper ring grinding head and then returns to its original position. The robotic arm clamps the workpiece and moves it back to the working area of ​​the grinding device, continuously adjusting the angle to grind the stepped right-angled concave rounded corner transition area.

[0074] In this embodiment, after the initial sanding is complete, a finer sandpaper ring can be used for further polishing.

[0075] Step S10: Place the polished workpiece into the finished product area, and the robotic arm will pick up a new workpiece from the storage platform and repeat the above steps.

[0076] The adaptive robotic grinding and polishing method for complex components that are difficult to grind according to embodiments of the present invention uses a laser scanner to model the shape and size of the complex components. Through point cloud analysis, it automatically identifies geometric features such as curvature change zones, narrow concave surfaces, intersecting surfaces, and transition surfaces. The area to be ground is intelligently divided into rough grinding and fine polishing processes according to process requirements, generating an adaptive grinding strategy. This processing system is innovatively integrated, encompassing flexible abrasive belts and grinding devices. It can adapt to the fine removal requirements of complex surfaces such as narrow concave surfaces, curvature change surfaces, and intersecting surfaces. Through the deep integration of intelligent technology and modular design, it achieves autonomous response and optimization to complex working conditions.

[0077] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0078] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0079] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0080] In the description of this invention, the terms "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0081] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0082] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0083] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An adaptive robotic grinding and polishing system for complex components that are difficult to grind, characterized in that, include: A 3D laser scanner (8000) is used to model the shape and size of a workpiece and automatically divide the workpiece into grinding areas and adaptive path planning according to geometric features; A robotic arm (3000) is used to move along a planned path. The end of the robotic arm (3000) is provided with a replaceable fixture (4000) for holding the workpiece. A floating belt polishing device is used to polish the continuously variable curvature surface of the workpiece. The grinding device (1000) has an adaptive grinding and polishing mechanism (100) that can move up and down along the axial direction. The adaptive grinding and polishing mechanism (100) is used for constant force grinding of the workpiece, real-time compensation of tool wear, radial vibration-assisted grinding, and changing the grinding head as needed. The adaptive grinding and polishing mechanism (100) includes a tool changing assembly, a housing (107), a floating electric spindle (111), and an electromagnetic vibration assembly. The tool changing assembly is used to change the grinding head. The floating electric spindle (111) is movably disposed in the housing (107) along the axial direction. The tool changing assembly is connected to the output shaft of the floating electric spindle (111). The electromagnetic vibration assembly is disposed around the tool changing assembly and is used to generate radial high-frequency vibration of the tool changing assembly. The housing (107) provides support and protection for the tool changing assembly, the floating electric spindle (111), and the electromagnetic vibration assembly inside. A conical grinding wheel grinding device (6000) is used to grind the inner side of the threaded area and / or L-shaped curved portion of the workpiece. The dual-wheel grinding device (7000) has two grinding wheels with different grit sizes for rough grinding, chamfering, deburring, and removing excess material from the workpiece surface.

2. The adaptive robotic grinding and polishing system for complex and difficult-to-grind components according to claim 1, characterized in that, It also includes a storage platform (9000) for storing the workpiece, and the bottom of the grinding device (1000) is provided with a tool magazine (700).

3. The adaptive robotic grinding and polishing system for complex, difficult-to-grind components according to claim 1, characterized in that, The polishing device (1000) also includes a base (600), a support frame (200), a slider (300), a lead screw (500), and a motor (400). The lead screw (500) is vertically arranged and connected to the base (600). The slider (300) is connected to the adaptive polishing mechanism (100) through the support frame (200). The output shaft of the motor (400) is connected to the lead screw (500).

4. The adaptive robotic grinding and polishing system for complex, difficult-to-grind components according to claim 1, characterized in that, The electromagnetic vibration assembly includes an electromagnet (130), a permanent magnet (131), at least one angular contact ball bearing (116), and a bearing housing (117). The inner wall of the housing (107) is provided with a mounting groove (129). The outer periphery of the bearing housing (117) is provided with a protruding mounting plate, which is inserted into the mounting groove (129). The angular contact ball bearing (116) is located between the bearing housing (117) and the tool changing assembly. The electromagnet (130) is symmetrically arranged on the inner wall of the housing (107) along the axis. The permanent magnet (131) is located on the bearing housing (117) and is arranged opposite to the electromagnet (130).

5. The adaptive robotic grinding and polishing system for complex, difficult-to-grind components according to claim 4, characterized in that, The adaptive grinding and polishing mechanism (100) also includes a cylinder (113), a guide block (109), a pressure sensor (112), and a limit switch (108). The cylinder (113) has a downwardly extending push rod (114). The pressure sensor (112) is located between the push rod (114) and the floating electric spindle (111) and is used to measure the pressure of the grinding head on the workpiece. The guide block (109) is located on the outer wall of the floating electric spindle (111). The inner wall of the housing (107) is provided with a groove for the axial movement of the guide block (109). The limit switch (108) is located on the lower side of the groove. When the pressure measured by the pressure sensor (112) is less than the preset value, the push rod (114) extends downward to maintain the pressure at the preset value; when the guide block (109) triggers the limit switch (108), the tool is replaced.

6. The adaptive robotic grinding and polishing system for complex, difficult-to-grind components according to claim 5, characterized in that, The tool changing assembly includes: A clamping link (123), the top end of which is used to connect to a rotation source; A cylindrical cam (120) is sleeved around the clamping link (123). The cylindrical cam (120) and the clamping link (123) are coaxially arranged. The side wall of the cylindrical cam (120) is provided with a through first groove (128). Multiple grippers (125) are arranged around the bottom end of the clamping link (123), and the outer wall of the grippers (125) is provided with a second sliding groove (126) arranged in a circumferential direction. A roller follower (124) is sleeved around the gripper (125) and located inside the cylindrical cam (120). The inner wall of the roller follower (124) is provided with a plurality of flanges (1241) that are adapted to the second slide groove (126). The outer wall of the roller follower (124) is provided with cylindrical rollers (127), which are used to move along the guide path of the first slide groove (128). Multiple first elastic elements (121) radially connect the gripper (125) and the clamping link (123); The second elastic element (122) is sleeved on the clamping link (123) and is used to provide an upward elastic force after the clamping link (123) is pressed down; The multiple grippers (125) are closed in the initial state. After the cylindrical cam (120) is locked, the clamping link (123) is pressed down, and the grippers (125) will open to change the tool.

7. The adaptive robotic grinding and polishing system for complex, difficult-to-grind components according to claim 6, characterized in that, The clamping link (123) includes a rod, an upper disk and a lower disk connected together. The upper disk is located on the upper side of the rod, and the lower disk is located at the bottom end of the rod. The bottom surface of the lower disk is provided with a plurality of guide grooves (1231), and the first elastic element (121) is radially arranged in the guide grooves (1231).

8. An adaptive robotic grinding and polishing method for complex components that are difficult to grind, characterized in that, The adaptive robotic grinding and polishing system for difficult-to-grind complex components as described in claim 2 is used to complete the process, including: The robotic arm grips the workpiece and scans it in the working area of ​​the 3D laser scanner. It models the workpiece based on its shape and size, automatically divides the workpiece into different regions according to its geometric features, and automatically plans the path. Planning process scheme; The robotic arm clamps the workpiece to the floating sand belt polishing device for rapid rough grinding of flat and large curved surfaces according to the pre-planned path, and deburrs the edges and corners of the transition surfaces. Then, a fine sand belt is switched to perform fine polishing. The robotic arm clamps the workpiece into the working area of ​​the dual-grinding-wheel grinding device to grind the edges of the rounded corner transition area; The robotic arm grips the workpiece and moves it to the conical grinding wheel for grinding. The robotic arm clamps the workpiece into the working area of ​​the dual grinding wheel device. First, the cross-shaped surface is rough ground with a coarse grinding wheel, and then the cross-shaped surface is finely ground with a fine grinding wheel. The robotic arm clamps the workpiece into the working area of ​​the floating sanding belt polishing device and polishes the transition part between the intersecting surfaces. The robotic arm clamps the workpiece into the working area of ​​the grinding device, places the oilstone tool into the concave surface of the workpiece, and drags the workpiece back and forth to perform grinding operations on the concave surface. After grinding is completed, the robotic arm clamps the workpiece and exits the working area of ​​the grinding device. The adaptive grinding and polishing mechanism moves downwards to the tool magazine to replace the sandpaper ring and grinding head, and then returns to its original position. The robotic arm clamps the workpiece and moves it back to the working area of ​​the grinding device, continuously adjusting the angle to grind the stepped right-angle concave rounded corner transition area. Place the polished workpiece into the finished product area, and the robotic arm will pick up a new workpiece from the storage platform and repeat the above steps.

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