Pose adjusting mechanism for grinding head and grinding device

Abstract

The invention provides a position and posture adjusting mechanism for a grinding head. The position and posture adjusting mechanism comprises a fixed platform; the three adjusting assemblies are the same in structure; one side of each adjusting assembly is connected with the movable platform through a ball pair, and the other side of each adjusting assembly is slidably connected with the fixed platform. Each adjusting assembly comprises a first upper connecting rod, a first lower connecting rod, a second upper connecting rod and a second lower connecting rod, the first upper connecting rod, the second upper connecting rod and the movable platform are connected through spherical pairs, and the first lower connecting rod, the second lower connecting rod and the fixed platform are in sliding connection through sliding pairs. The connecting rods are rigidly connected through the moving pairs, the rotating pairs and the spherical pairs, active adjustment of the relative poses between the grinding tool and the workpiece can be achieved, the poses are stably and controllably adjusted, and the pose adjusting mechanism has the advantages of being high in rigidity, high in precision and low in inertia, and has good application prospects. And the method is suitable for high-precision grinding of complex curved surface workpieces with details, large curved surface changes or non-uniform shapes and the like.

Description

Technical Field

[0001] This disclosure relates to the field of precision grinding technology, and more specifically to a position adjustment mechanism and grinding device for a grinding head. Background Technology

[0002] Grinding processes require controlling the grinding head to contact the workpiece at a predetermined angle, utilizing its high-speed rotation to perform cutting or polishing. In precision manufacturing, fine grinding and polishing of workpiece surfaces are crucial steps in determining the final workpiece quality, and the positioning and adjustment of the grinding head is paramount to improving the quality of the grinding process. Therefore, high-precision grinding demands high accuracy in the positioning and adjustment of the grinding head, requiring both flexibility and strong rigidity and stability in the adjustment mechanism.

[0003] The positioning and adjustment of grinding heads widely employs "passive compliance" technology, which involves adding flexible devices to the end effector of robots or other grinding equipment to adjust the contact angle between the tool and the workpiece. These flexible devices include springs, dampers, and adjustable vent valves, which allow the tool to passively adapt to the shape of the workpiece surface during grinding and polishing. For example, in patent CN205415218U, the grinding head angle adjustment component uses cylindrical springs and conical springs to elastically fix the grinding head. Under the action of the springs, the grinding head adapts to the curved surface of the workpiece to adjust the grinding angle. This method is only suitable for grinding and polishing large-area arcs. For workpieces with detailed surfaces, large surface variations, or non-uniform shapes, the adaptability of this flexible angle adjustment device is limited, and it is not suitable for high-precision grinding of complex curved surfaces.

[0004] In related technologies, the grinding head angle is adjusted using a threaded method. While this method offers relatively high precision, the inherent characteristics of the thread itself can lead to loosening and wear, affecting the adjustment accuracy. For example, patents CN218697147U, CN219547460U, and CN222114475U disclose adjusting the grinding head angle using a worm gear and worm drive. However, this threaded adjustment device has a limited adjustment angle and can only adjust the rotation angle in one direction, resulting in low freedom and inflexibility in grinding head adjustment. Furthermore, this device also carries the risk of thread wear, reducing grinding accuracy.

[0005] In existing grinding equipment, grinding heads are often directly held and mounted by a serial robot via end effectors (such as grippers or suction devices) to complete the grinding process. The position and orientation of the grinding head are typically adjusted by comprehensively configuring the angle rotation of various joints of the serial robot. This limitation restricts the grinding head's adjustment angle, making it suitable only for grinding large-area flat or curved surfaces, and unsuitable for fine grinding of internal contours and complex curved surfaces. Furthermore, serial robots suffer from large cumulative errors, poor rigidity, and low stability, resulting in poor grinding stability and accuracy. The complex motion control and large positioning errors of serial robots can easily lead to poor contact between the grinding head and the workpiece, affecting the grinding effect. Summary of the Invention

[0006] In view of the above problems, this disclosure provides a position adjustment mechanism for a grinding head and a grinding device.

[0007] According to a first aspect of this disclosure, a position adjustment mechanism for a grinding head is provided, comprising:

[0008] Determine the platform;

[0009] The moving platform has one side for fixing the grinding head;

[0010] Three identical adjustment components; in each adjustment component, one side is connected to the moving platform via a ball joint, and the other side is slidably connected to the fixed platform; each adjustment component supports the moving platform to perform pose adjustment movements with two rotational degrees of freedom and one translational degree of freedom relative to the fixed platform;

[0011] Each of the adjustment components includes:

[0012] The first upper connecting rod has its first end connected to the moving platform via a ball joint.

[0013] The first lower connecting rod has its first end rotatably connected to the second end of the first upper connecting rod, and the second end of the first lower connecting rod is slidably connected to the fixed platform through a first sliding pair.

[0014] The first end of the second upper connecting rod is connected to the first end of the first upper connecting rod and the moving platform respectively through the ball joint;

[0015] The second lower connecting rod has its first end rotatably connected to the second end of the second upper connecting rod, and its second end is slidably connected to the fixed platform through a second sliding pair.

[0016] According to embodiments of this disclosure, in each of the adjustment components, the branch formed by the first upper link and the first lower link is symmetrical with respect to the ball joint fork shape with respect to the branch formed by the second upper link and the second lower link.

[0017] According to embodiments of this disclosure, the configuration of the first and second moving pairs in each adjustment component includes:

[0018] The sliding axis of the first movable pair is set at a predetermined angle with the fixed platform;

[0019] The sliding axis of the second sliding pair is set at the predetermined angle with the fixed platform.

[0020] According to embodiments of this disclosure, the arrangement of the first and second moving pairs in each of the adjustment components includes:

[0021] The arrangement points of each of the first sliding pairs are evenly distributed on the arc of the first circumcircle;

[0022] The arrangement points of each of the second sliding pairs are evenly distributed on the arc of the second circumcircle;

[0023] Wherein, the first circumcircle and the second circumcircle are concentric circles, and the radius of the first circumcircle is greater than the radius of the second circumcircle;

[0024] In each of the adjustment components, the placement points of the first moving pair and the second moving pair are located on the same radial direction line of the concentric circles.

[0025] According to an embodiment of this disclosure, the arrangement points of each ball joint in each adjustment component are evenly distributed on the arc of the third circumcircle of the moving platform, wherein the third circumcircle is the circumcircle formed by the connection points of each ball joint and the moving platform.

[0026] According to embodiments of this disclosure, the rotation axis of the first end of the first lower link in each of the adjustment components is perpendicular to the sliding axis of the second end of the first lower link.

[0027] According to embodiments of this disclosure, the rotation axis of the first end of the second lower link in each of the adjustment components is perpendicular to the sliding axis of the second end of the second lower link.

[0028] According to embodiments of this disclosure, it further includes:

[0029] A power source is connected to the first and second sliding joints in each of the adjustment components; the power source is used to drive the first and second sliding joints in each of the adjustment components, so that the first lower link and the second lower link move linearly relative to the fixed platform.

[0030] Wherein, each of the aforementioned adjustment components supports pose adjustment motion of the moving platform relative to the fixed platform, comprising two rotational degrees of freedom and one translational degree of freedom, including:

[0031] While the first lower link and the second lower link move linearly relative to the fixed platform, they respectively drive the first upper link and the second upper link to rotate relative to the first lower link and the second lower link.

[0032] While the first upper link and the second upper link rotate relative to the first lower link and the second lower link, they drive the moving platform to perform spherical motion relative to the first upper link and the second upper link.

[0033] While the moving platform performs spherical motion relative to the first upper link and the second upper link, it also performs pose adjustment motion with two rotational degrees of freedom and one translational degree of freedom relative to the fixed platform.

[0034] According to embodiments of this disclosure, it further includes:

[0035] A clamp is fixed to the moving platform and is used to clamp or unload the grinding head.

[0036] A second aspect of this disclosure provides a polishing apparatus, including the pose adjustment mechanism described above.

[0037] The position adjustment mechanism and grinding device for a grinding head provided according to the embodiments of this disclosure have at least the following beneficial effects:

[0038] 1. The position adjustment mechanism for the grinding head disclosed herein can output two rotational degrees of freedom and one translational degree of freedom, which can freely and flexibly realize position adjustment, fully meet the adjustment requirements of the position and posture of the grinding head, and avoid the grinding head from staying in the same grinding surface in a fixed position for too long during the grinding process, which may cause local overheating or excessive wear of the workpiece.

[0039] 2. This disclosure uses sliding joints, revolute joints and ball joints to rigidly connect the various linkages, realizing the active transmission of motion between the linkages. This enables the active adjustment of the relative posture between the grinding tool and the workpiece, making the posture adjustment stable and controllable. It is suitable for high-precision grinding of complex curved surface workpieces with details, large surface changes or non-uniform shapes, avoiding the introduction of uncertainties due to passive and compliant posture adjustment.

[0040] 3. Each branch of this disclosure is connected by only two links in rotation, resulting in small cumulative error; the redundant structure of multiple motion branches has strong fault tolerance and reliability, giving the posture adjustment mechanism high overall stiffness, load-bearing capacity and stability.

[0041] 4. The position adjustment mechanism disclosed herein has a compact overall structure and features high rigidity, high precision, and low inertia. It can achieve stable and precise adjustment of the grinding head position and is suitable for high-precision grinding of complex curved surfaces. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] The foregoing contents, as well as other objects, features, and advantages of this disclosure, will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0044] Figure 1 A schematic diagram of a position adjustment mechanism for a grinding head according to an embodiment of the present disclosure is shown.

[0045] Figure 2 A perspective view of a pose adjustment mechanism for a grinding head according to an embodiment of the present disclosure is shown schematically.

[0046] Figure 3 A perspective view of a sliding joint of a pose adjustment mechanism for a grinding head according to an embodiment of the present disclosure is shown schematically.

[0047] Figure 4 This schematic diagram illustrates the kinematic principle of a position adjustment mechanism for a grinding head according to an embodiment of the present disclosure.

[0048] Figure 5 A perspective view of an adjustment component of a pose adjustment mechanism for a grinding head according to an embodiment of the present disclosure is shown schematically.

[0049] Figure 6 The diagram illustrates a scenario application of a pose adjustment mechanism for a grinding head according to an embodiment of the present disclosure.

[0050] The meanings of the reference numerals in the above figures are as follows:

[0051] 100-Fixed Platform;

[0052] 200-Dynamic Platform;

[0053] 300-Adjustment Components;

[0054] 310 - First upper connecting rod;

[0055] 320 - First lower linkage;

[0056] 330 - Second upper linkage;

[0057] 340 - Second lower link;

[0058] 350-ball set;

[0059] 360° Electric Linear Slide Table;

[0060] 361 - Ball screw;

[0061] 362-Servo Motor;

[0062] 363 - Linear guide slider. Detailed Implementation

[0063] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0064] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0065] To facilitate understanding of the technical solutions disclosed herein, the following terms are hereby explained:

[0066] Singular configurations (also known as unusual or special configurations) refer to specific positions or postures where the kinematic or dynamic properties of a mechanism change abruptly during motion, causing the mechanism to lose its normal controllability. Under these configurations, the mechanism may experience abrupt changes in degrees of freedom, uncontrollable motion, entry into dead points, or instantaneous instability, which adversely affect motion accuracy, load-bearing capacity, and control stability.

[0067] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0068] When using expressions such as "at least one of A, B, and C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). When using expressions such as "at least one of A, B, or C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0069] This disclosure provides an embodiment of a position adjustment mechanism for a grinding head. This mechanism can output two rotational degrees of freedom and one translational degree of freedom, enabling free and flexible position adjustment. It fully meets the adjustment requirements of the grinding head's position and orientation, preventing the grinding head from remaining in a fixed position on the same grinding surface for too long during the grinding process, which could lead to localized overheating or excessive wear of the workpiece. The overall structure of this position adjustment mechanism is compact, featuring high rigidity, high precision, and low inertia. It enables stable and precise adjustment of the grinding head's position and orientation, making it suitable for high-precision grinding of complex curved surfaces.

[0070] Figure 1 The schematic diagram illustrates the structural principle of a position adjustment mechanism for a grinding head according to an embodiment of the present disclosure.

[0071] like Figure 1 As shown, the position adjustment mechanism for a grinding head according to this embodiment includes: a fixed platform 100, a movable platform 200, and three identical adjustment components 300. The three identical adjustment components 300 are disposed between the fixed platform 100 and the movable platform 200. One side of each adjustment component 300 is connected to the movable platform 200 via a ball joint 350, and the other side of each adjustment component 300 is slidably connected to the fixed platform 100, with the other side of the adjustment component 300 referring to the side closer to the fixed platform 100.

[0072] The following combination Figure 1 As shown, taking a single adjustment component 300 as an example, the structural composition and connection method of the adjustment component 300 are described in detail.

[0073] like Figure 1As shown, each adjustment component 300 includes: a first upper connecting rod 310, a first lower connecting rod 320, a second upper connecting rod 330, and a second lower connecting rod 340. The first end of the first upper connecting rod 310 is connected to the moving platform 200 via a ball joint 350. The first end of the first lower connecting rod 320 is rotatably connected to the second end of the first upper connecting rod 310, and the second end of the first lower connecting rod 320 is slidably connected to the fixed platform 100 via a first sliding joint.

[0074] The first end of the second upper connecting rod 330 is connected to the first end of the first upper connecting rod 310 and the moving platform 200 via a ball joint 350. This ball joint 350 simultaneously connects the first upper connecting rod 310, the second upper connecting rod 330, and the moving platform 200, allowing the moving platform 200 to perform spherical rotation relative to the first upper connecting rod 310 and the second upper connecting rod 330. The first end of the second lower connecting rod 340 is rotatably connected to the second end of the second upper connecting rod 330, and the second end of the second lower connecting rod 340 is slidably connected to the fixed platform 100 via a second sliding joint.

[0075] Figure 2 A perspective view of a position adjustment mechanism for a grinding head according to an embodiment of the present disclosure is shown schematically.

[0076] According to embodiments of this disclosure, such as Figure 2 As shown, the first and second sliding joints in each adjustment component 300 are configured such that the sliding axis of the first sliding joint is set at a predetermined angle to the fixed platform 100; and the sliding axis of the second sliding joint is set at a predetermined angle to the fixed platform 100. For example, the predetermined angle can be 90°, that is, the sliding axis is set perpendicularly to the fixed platform 100. By setting each sliding joint at the predetermined angle as described above, the moving platform 200 can be stably supported.

[0077] Figure 3 A perspective view of a sliding joint of a position adjustment mechanism for a grinding head according to an embodiment of the present disclosure is shown schematically.

[0078] According to embodiments of this disclosure, such as Figure 2 and Figure 3 As shown, the ball joints 350 connecting the moving platform 200 and each branch can be universal joints, and all sliding joints in each branch (i.e., the first sliding joint and the second sliding joint) can be integrated electric linear slides 360, such as... Figure 3 As shown, the structure of the electric linear slide 360 ​​can integrate a ball screw 361 and a servo motor 362 as a drive unit, and a linear guide slider 363 as a guide mechanism. In each branch, the first lower connecting rod 320 and the second lower connecting rod 340 can be rigidly connected to the ball screw 361 through the linear guide slider 363, thereby forming a sliding connection between the first and second sliding pairs.

[0079] In related technologies, flexible devices are used to adjust the contact angle between the grinding head and the workpiece. Such flexible devices (e.g., springs, dampers, adjustable vent valves, etc.) are prone to causing fluctuations in the grinding head after being subjected to reaction forces, which seriously affects the grinding accuracy. Moreover, this passive angle adjustment method may introduce uncertainties, especially for workpieces with higher requirements for high-precision surfaces. Due to the small and uncontrollable pressure applied, it is very easy to cause uneven grinding. Its grinding stability and accuracy are poor, and it is not suitable for high-precision grinding of complex curved surfaces.

[0080] The position adjustment mechanism disclosed herein rigidly connects each link through sliding joints, revolute joints, and ball joints, enabling controllable and active transmission of motion and force between the links. This allows for active adjustment of the relative position between the grinding tool and the workpiece, ensuring stable and controllable position adjustment. It is suitable for high-precision grinding of complex curved workpieces with intricate details, large surface variations, or non-uniform shapes, adapting to high-speed and high-precision grinding requirements. It can handle everything from rough grinding to fine polishing with ease, avoiding the introduction of uncertainties caused by passive and compliant position adjustments.

[0081] The following combination Figure 4 The motion principle of this posture adjustment mechanism is explained in detail.

[0082] Figure 4 The diagram illustrates the kinematic principle of a position adjustment mechanism for a grinding head according to an embodiment of the present disclosure.

[0083] To facilitate the description of the above motion principles, combined with Figure 2 and Figure 4 As shown, the connection points of all first sliding joints with the fixed platform 100 in the three adjustment components 300 are marked as points A, B, and C, respectively; the connection points of all second sliding joints with the fixed platform 100 are marked as points D, E, and F, respectively. A Cartesian coordinate system is established on the fixed platform 100, namely, the fixed coordinate system O-XYZ, where the origin O is located at the center of the circumcircle formed by A, B, and C, the X-axis direction is the same as the direction from C to A, and the Z-axis is perpendicular to the plane formed by A, B, and C and points towards the moving platform 200. A Cartesian coordinate system is established on the moving platform 200, namely, the moving coordinate system o-xyz, where the origin o is located at the center of the circumcircle formed by the connection points of all ball joints 350 in the three adjustment components 300, the X-axis direction is the same as the X-axis direction, and the Z-axis direction is the same as the Z-axis direction.

[0084] When the first lower link 320 at point A and the second lower link 340 at point D slide along their corresponding first and second sliding joints, respectively, the moving platform 200 rotates around the X-axis; when the first lower link 320 at point C and the second lower link 340 at point F slide along their corresponding first and second sliding joints, respectively, the moving platform 200 rotates around the Y-axis; when the first lower link 320 at points A, B, and C, and the second lower link 340 at points D, E, and F slide along their corresponding first and second sliding joints, respectively, the moving platform 200 moves along the Z-axis. Thus, the moving coordinate system o-xyz of the moving platform 200 can achieve two rotational degrees of freedom and one translational degree of freedom relative to the fixed coordinate system O-XYZ of the fixed platform 100, thereby enabling flexible adjustment of the pose of the moving platform 200, such as... Figure 4 As shown by the arrow in the image.

[0085] Each adjustment component supports pose adjustment movements of the moving platform relative to the fixed platform, with two rotational degrees of freedom and one translational degree of freedom. The two rotational directions of this pose adjustment mechanism are unaffected by the translational motion of the mechanism, exhibiting excellent attitude adjustment capabilities.

[0086] According to embodiments of this disclosure, such as Figure 4 As shown, the arrangement of the first and second sliding pairs in each adjustment component 300 is as follows: (1) The arrangement points of each first sliding pair are evenly distributed on the arc of the first circumscribed circle, which is the circumscribed circle formed by the connection points of each first sliding pair and the fixed platform 100. (2) The arrangement points of each second sliding pair are evenly distributed on the arc of the second circumscribed circle, which is the circumscribed circle formed by the connection points of each second sliding pair and the fixed platform 100. (3) The arrangement points of each ball joint 350 in each adjustment component 300 are evenly distributed on the arc of the third circumscribed circle of the moving platform 200, which is the circumscribed circle formed by the connection points of each ball joint and the moving platform. The first and second circumscribed circles are concentric circles, and the radius of the first circumscribed circle is greater than the radius of the second circumscribed circle. In each adjustment component 300, the arrangement points of the first and second sliding pairs are located on the same radial direction line of the concentric circles.

[0087] According to embodiments of this disclosure, such as Figure 4 As shown, the rotation axis of the first end of the first lower link 320 in each adjustment assembly 300 is perpendicular to the sliding axis of the second end of the first lower link 320.

[0088] Figure 5 A perspective view of the adjustment component of a position adjustment mechanism for a grinding head according to an embodiment of the present disclosure is shown schematically.

[0089] According to embodiments of this disclosure, such as Figure 5As shown, each adjustment component 300 of the position adjustment mechanism for the grinding head has a symmetrical structure. That is, the branch formed by the first upper link 310 and the first lower link 320, and the branch formed by the second upper link 330 and the second lower link 340, are forked symmetrical with respect to the ball joint 350.

[0090] This posture adjustment mechanism, through the symmetrical and evenly distributed parallel arrangement of the above branches, can stably support the moving platform to achieve posture adjustment movement. Each branch shares the load, and each branch can also act as an active branch to provide power, thereby achieving optimized distribution of internal forces to solve the problem of sharp decrease in stiffness under singular configurations of existing mechanisms.

[0091] According to an embodiment of this disclosure, the posture adjustment mechanism further includes a clamp that can be fixedly connected to the moving platform 200, that is, fixedly connected to the side of the moving platform 200 opposite to the mounting side of the adjustment component 300. The clamp can be used to clamp or unload the grinding head.

[0092] After the grinding head is clamped in the fixture, the grinding head adjusts its position and posture by following the movement of the platform, thereby completing the grinding process of the workpiece. This position adjustment mechanism for the grinding head can precisely adjust the grinding head to contact and grind the workpiece according to a predetermined position and angle, ensuring that the grinding head can complete the grinding process with sufficient accuracy and stable contact force.

[0093] According to an embodiment of this disclosure, the position adjustment mechanism for the grinding head further includes: a power source connected to the first and second sliding joints in each adjustment component 300; the power source is used to drive the first and second sliding joints in each adjustment component 300 so that the first lower connecting rod 320 and the second lower connecting rod 340 move linearly relative to the fixed platform 100.

[0094] Each adjustment component 300 supports the moving platform 200 to perform pose adjustment movements with two rotational degrees of freedom and one translational degree of freedom relative to the fixed platform 100, including: (1) while the first lower link 320 and the second lower link 340 move linearly relative to the fixed platform 100, they respectively drive the first upper link 310 and the second upper link 330 to rotate relative to the first lower link 320 and the second lower link 340. (2) while the first upper link 310 and the second upper link 330 rotate relative to the first lower link 320 and the second lower link 340, they drive the moving platform 200 to perform spherical motion relative to the first upper link 310 and the second upper link 330. (3) while the moving platform 200 performs spherical motion relative to the first upper link 310 and the second upper link 330, it realizes pose adjustment movements with two rotational degrees of freedom and one translational degree of freedom relative to the fixed platform 100.

[0095] To facilitate understanding of the above embodiments, a specific application scenario of the above embodiments will be used as an example for illustration below:

[0096] Figure 6 The diagram illustrates a scenario application of a pose adjustment mechanism for a grinding head according to an embodiment of the present disclosure.

[0097] like Figure 6 As shown, a fixed coordinate system O-XYZ is set on the grinding trajectory line l of the workpiece, with the origin O being the grinding point. The X-axis is parallel to the normal of the grinding point, and the Y-axis is parallel to the tangent of the point. By flexibly adjusting the sliding motion of the first and second sliding joints in this posture adjustment mechanism, the rotation of the grinding head relative to the X and Y axes, as well as its movement relative to the Z-axis, can be adjusted, thus achieving three-degree-of-freedom posture adjustment of the grinding head.

[0098] The following uses the modified GK formula The degrees of freedom of the pose adjustment mechanism for the grinding head in this embodiment are calculated to verify the feasibility of the mechanism's movement. Where d is the order of the spatial mechanism, n represents the total number of moving parts in the mechanism including the frame, g is the number of kinematic pairs, and f... i Let v be the number of degrees of freedom of the i-th kinematic pair, and v be the number of over-constraints of the mechanism.

[0099] In this embodiment, d=6, n=14, and g=18. Given 30 and v=3, substituting these values ​​into the formula above, we get: The calculated position adjustment mechanism for the grinding head has 3 degrees of freedom, which confirms the correctness of the mechanism's degrees of freedom and the feasibility of its movement in this embodiment.

[0100] In this embodiment, the power source achieves three degrees of freedom motion (two rotations and one translation) by driving six prismatic joints, which is a redundant drive. That is, without increasing the degrees of freedom, increasing the number of drives improves the stiffness, load capacity, reliability, and fault tolerance of the posture adjustment mechanism.

[0101] The position adjustment mechanism redistributes internal forces through redundant drives, actively "counteracting" or "bypassing" singular trends. Without compromising the position and force control accuracy of the end effectors (i.e., the fixture and grinding head), it maintains high overall rigidity from within, ensuring smooth and stable operation even under seemingly precarious mechanical postures during the grinding process. For example, in the event of an emergency, if one drive chain malfunctions due to unexpected signal interference or mechanical jamming while grinding a critical curved surface, the mechanism will not immediately stop. Based on the control algorithm, the output scheme of the remaining five healthy drive chains can be recalculated instantly. By sacrificing the rigidity of the non-working directions or adjusting the workspace posture, it ensures that the grinding head can continue grinding the current critical path with sufficient accuracy and stable contact force, or perform a safe tool retraction action. The online fault tolerance of this position adjustment mechanism minimizes the losses from unexpected grinding device shutdowns.

[0102] This disclosure also provides a grinding apparatus, including the above-described position adjustment mechanism for the grinding head.

[0103] The position adjustment mechanism for grinding heads disclosed herein fully meets the position adjustment requirements of grinding heads, solving the limitation of adjustment mechanisms in related technologies that can only adjust one degree of rotational freedom. It also avoids the problems of poor adjustment accuracy caused by loose threads, wear, passive posture adjustment, and large cumulative errors in related technologies. This position adjustment mechanism for grinding heads has three degrees of freedom, has a wide range of applications, and allows for free and flexible angle adjustment, enabling high-precision grinding of complex curved surfaces.

[0104] The position and orientation adjustment mechanism for the grinding head and the grinding device disclosed herein can precisely adjust the position and orientation of the grinding head to adapt to different grinding requirements and material properties. This is of great significance for ensuring grinding quality, improving production efficiency, and extending the service life of the grinding head. During grinding, this adjustment mechanism can adjust the position and orientation of the grinding head to ensure that the grinding head has the correct position and angle during processing, thereby obtaining the best processing results. In the application of the grinding device, this position and orientation adjustment mechanism can be used to adjust parameters such as the grinding angle, grinding depth, and grinding speed of the grinding head to adapt to different grinding requirements.

[0105] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined and / or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0106] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A position adjustment mechanism for a grinding head, comprising: Determine the platform; The moving platform has one side for fixing the grinding head; Three identical adjustment components; In each of the adjustment components, one side is connected to the moving platform via a ball joint, and the other side is slidably connected to the fixed platform; Each of the aforementioned adjustment components supports pose adjustment movements of the moving platform relative to the fixed platform, with two rotational degrees of freedom and one translational degree of freedom. Each of the adjustment components includes: The first upper connecting rod has its first end connected to the moving platform via a ball joint. The first lower connecting rod has its first end rotatably connected to the second end of the first upper connecting rod, and the second end of the first lower connecting rod is slidably connected to the fixed platform through a first sliding pair. The first end of the second upper connecting rod is connected to the first end of the first upper connecting rod and the moving platform respectively through the ball joint; The first end of the second lower connecting rod is rotatably connected to the second end of the second upper connecting rod, and the second end of the second lower connecting rod is slidably connected to the fixed platform through a second sliding pair.

2. The mechanism according to claim 1, wherein, In each of the adjustment components, the branch formed by the first upper link and the first lower link is symmetrical with respect to the forked shape of the ball joint, as is the branch formed by the second upper link and the second lower link.

3. The mechanism according to claim 1, wherein, The configuration methods for the first and second moving pairs in each of the adjustment components include: The sliding axis of the first movable pair is set at a predetermined angle with the fixed platform; The sliding axis of the second sliding pair is set at the predetermined angle with the fixed platform.

4. The mechanism according to claim 1, wherein, The arrangement of the first and second moving pairs in each of the adjustment components includes: The arrangement points of each of the first moving pairs are evenly distributed on the arc of the first circumcircle, which is the circumcircle formed by the connection points of each of the first moving pairs and the fixed platform. The arrangement points of each of the second sliding pairs are evenly distributed on the arc of the second circumcircle, which is the circumcircle formed by the connection points of each of the second sliding pairs and the fixed platform. Wherein, the first circumcircle and the second circumcircle are concentric circles, and the radius of the first circumcircle is greater than the radius of the second circumcircle; In each of the adjustment components, the placement points of the first moving pair and the second moving pair are located on the same radial direction line of the concentric circles.

5. The mechanism according to claim 1, wherein, The arrangement points of each ball joint in each of the adjustment components are evenly distributed on the arc of the third circumcircle of the moving platform, and the third circumcircle is the circumcircle formed by the connection points of each ball joint and the moving platform.

6. The mechanism according to claim 1, wherein, The rotation axis of the first end of the first lower link in each of the adjustment components is perpendicular to the sliding axis of the second end of the first lower link.

7. The mechanism according to claim 1, wherein, The rotation axis of the first end of the second lower link in each of the adjustment components is perpendicular to the sliding axis of the second end of the second lower link.

8. The mechanism according to claim 1, wherein, Also includes: A power source is connected to the first movable joint and the second movable joint in each of the aforementioned adjustment components; The power source is used to drive the first sliding joint and the second sliding joint in each of the adjustment components, so that the first lower link and the second lower link move linearly relative to the fixed platform. Wherein, each of the aforementioned adjustment components supports pose adjustment motion of the moving platform relative to the fixed platform, comprising two rotational degrees of freedom and one translational degree of freedom, including: While the first lower link and the second lower link move linearly relative to the fixed platform, they respectively drive the first upper link and the second upper link to rotate relative to the first lower link and the second lower link. While the first upper link and the second upper link rotate relative to the first lower link and the second lower link, they drive the moving platform to perform spherical motion relative to the first upper link and the second upper link. While the moving platform performs spherical motion relative to the first upper link and the second upper link, it also performs positional adjustment motion with two rotational degrees of freedom and one translational degree of freedom relative to the fixed platform.

9. The mechanism according to claim 1, wherein, Also includes: A clamp is fixed to the moving platform and is used to clamp or unload the grinding head.

10. A polishing apparatus, wherein, Includes the pose adjustment mechanism as described in any one of claims 1 to 9.

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