Force interaction polishing operation robot

Abstract

The invention discloses a force interaction polishing operation robot which comprises a rack, a follow-up steering module, a polishing operation module and three driving winding modules. The driving winding module comprises a rotating shaft and a winding wheel rotationally connected with the motor support, the rotating shafts of two modules are coaxial, and the rotating shaft of the other module is perpendicular to the coaxial line of the rotating shaft; the follow-up steering module comprises a central sleeve and three universal joints capable of changing included angles; the polishing operation module comprises three groups of stretching structures, each stretching structure is composed of a rope and a spring which are connected in series, the three ropes are wound on the three reels respectively, and the two ends of each rope are connected with the front platform and the rear platform respectively. When the robot conducts grinding operation, data of grinding operation force are calculated by detecting torque output of the motor, and grinding force interaction is achieved by combining with feedback control equipment. The whole device has higher force feedback precision, larger working space and a compact structure, and has the advantages of low inertia of moving parts, light weight, low cost, simplicity in maintenance and the like.

Description

Technical Field

[0001] This invention relates to a robot, and more particularly to a force-interactive grinding robot for grinding operations. Background Technology

[0002] The foundry industry is a fundamental industry, occupying an important position in my country's manufacturing sector. While my country's foundry industry has developed rapidly, the post-processing grinding of castings has become a bottleneck restricting its development due to factors such as high labor intensity, harsh working environments, and environmental pollution. Furthermore, the grinding allowance for castings varies greatly, making it difficult for traditional robots to adapt, and they easily wear out grinding blades, leading to increased costs. Existing equipment cannot provide feedback on the operating force during grinding operations. Therefore, a high-performance grinding robot with force interaction capabilities is needed to achieve a sense of force perception during the grinding process. Summary of the Invention

[0003] In view of the above background technology, the present invention proposes a force-interactive grinding operation robot. The device adopts a tensioned integral structure with unique advantages of light weight and compact structure. The whole device has high force feedback accuracy, large working space and compact structure, and at the same time has the advantages of low inertia of moving parts, low cost and simple maintenance.

[0004] To solve the above-mentioned technical problems, the present invention proposes a force-interactive grinding operation robot, including a frame, three sets of identical drive winding modules, a set of follow-up steering modules, a set of grinding operation modules, and a force feedback control device;

[0005] The frame is a rectangular support frame consisting of four supports;

[0006] The drive winding module includes a rotating shaft, one end of which is provided with a motor bracket. A drive motor is mounted on the motor frame, and a position detection device is mounted on the drive motor. The drive motor drives a winding wheel that is rotatably connected to the motor frame through a transmission mechanism. In each drive winding module, the other end of the rotating shaft is rotatably mounted on three supports on the top and sides of the frame through bearings.

[0007] The follow-up steering module includes a central sleeve, a Hooke hinge mounting base with a hexagonal through hole inside, a main Hooke hinge sliding sleeve, a main universal joint, and two auxiliary universal joints. The central sleeve is mounted on the Hooke hinge mounting base and is non-rotatable. The main Hooke hinge sliding sleeve slides on the central sleeve. Two coaxial auxiliary Hooke hinge shafts orthogonal to the axis of the central sleeve are arranged on the central sleeve, and the Hooke hinge arm side plates of the two auxiliary universal joints are rotatably connected to the two auxiliary Hooke hinge shafts. Two coaxial auxiliary Hooke hinge shafts orthogonal to the axis of the central sleeve are arranged on the main Hooke hinge sliding sleeve. The main Hooke hinge sliding sleeve has an orthogonal main Hooke hinge shaft. The Hooke hinge side plate of the main universal joint is rotatably connected to the two main Hooke hinge shafts. The main universal joint can slide on the central sleeve. The follow-up steering module realizes the change of the included angle between the three universal joints of one main universal joint and two auxiliary universal joints. On the Hooke hinge mounting base, slider connectors are arranged on both radially opposite sides. Each slider connector has a slider fixed by bolts. The positions of the two sliders are parallel to the two opposite side walls of the hexagonal through hole inside the Hooke hinge mounting base.

[0008] The grinding operation module includes a central rod. Several guide rail connectors are mounted on the outer rotating surface of the central rod on opposite radial sides. Each guide rail connector on both sides is connected to an axial guide rail. The central rod passes through the hexagonal through hole of the Hooke's hinge mounting base of the follow-up steering module. The two axial guide rails slide with two sliders. The two ends of the central rod are respectively provided with a front platform and a rear platform. A grinding mechanism is fixed on the front platform.

[0009] Each drive winding module is connected to the grinding operation module by a tension structure, which includes a rope with a tension spring at one end. The rope is wound around the winding wheel of the drive winding module, and the tension spring at one end of the rope is fixed to the front or rear platform of the grinding operation module. The other end of the rope is fixed to the rear or front platform of the grinding operation module.

[0010] Furthermore, in the force-interactive grinding robot described in this invention:

[0011] The transmission mechanism in the drive winding module can be any one of a coupling, a synchronous belt drive mechanism, or a gear drive mechanism, to achieve a direct or indirect connection between the output shaft of the drive motor and the rotating shaft of the winding wheel.

[0012] The secondary Hooke hinge axis in the follow-up steering module is perpendicular to the axis of the primary Hooke hinge axis.

[0013] The rotating shafts in the three sets of drive winding modules are located on the same plane, with two sets of rotating shafts being coaxial and the rotating shaft of the third set being arranged perpendicular to the two sets of rotating shafts. This structural arrangement can ensure that the axis of the rope and the winding drum remains perpendicular to the rope plane during the movement of the mechanism, avoiding rope overlap. The shaft ends of the other ends of the rotating shafts in the three sets of drive winding modules pass through the three supports of the frame and are respectively connected to the Hooke winch base keys of the main universal joint and the two auxiliary universal joints.

[0014] When the robot performs a polishing operation, the torque output of the drive motor is detected. Based on the output torque of the drive motor, the polishing operation force data can be calculated, and the polishing force interaction is realized in conjunction with the force feedback control device. Since position detection devices are installed on the drive motors in the three sets of drive winding modules, when the robot performs a polishing operation, the position detection devices detect the rotation angle of the drive motor and calculate the spatial position of the center of the polishing mechanism to achieve posture monitoring.

[0015] Compared with existing robots, the beneficial effects of this invention are:

[0016] This invention employs a tensioned integral structure design, which simplifies the overall structure and reduces manufacturing costs while meeting mechanical rigidity and positional accuracy requirements. It also significantly reduces the inertia of moving parts, making operation simple and convenient, with high dynamic performance and good maintainability. The entire device has high force feedback accuracy, a large working space, and a compact structure, while also having advantages such as low inertia of moving parts, light weight, low cost, and simple maintenance. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the force-interactive polishing robot of the present invention;

[0018] Figure 2 yes Figure 1 A schematic diagram of a set of drive winding modules shown in the figure;

[0019] Figure 3 yes Figure 1 A schematic diagram of the structure of the follow-up steering module shown in the figure;

[0020] Figure 4 yes Figure 1 A schematic diagram of the grinding operation module shown in the figure;

[0021] Figure 5 yes Figure 1 A schematic diagram showing the sliding connection between the grinding operation module and the follow-up steering module shown in the figure;

[0022] Figure 6 yes Figure 5 The diagram shows a longitudinal axial cross-section of the sliding connection between the grinding operation module and the follow-up steering module.

[0023] In the diagram: 1-Frame, 2-Drive winding module, 3-Follow-up steering module, 4-Grinding operation module; 21-Shaft, 22-Motor bracket, 23-Drive motor, 24-Winding wheel, 25-Transmission mechanism; 31-Main universal joint, 32-Secondary universal joint, 33-Main Hooke hinge sliding sleeve, 34-Center sleeve, 35-Secondary Hooke hinge shaft, 36-Main Hooke hinge shaft, 37-Slider connector, 38-Slider, 39-Hooke hinge mounting base, 41-Rear platform, 42-Center rod, 43-Front platform, 44-Grinding mechanism, 45-Rope, 46-Tension spring, 47-Guide rail connector, 48-Axis guide rail. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the following embodiments are by no means intended to limit the present invention.

[0025] like Figure 1 As shown, the present invention proposes a force-interactive grinding robot, comprising a frame 1 for fixing the device, three sets of identical drive winding modules 2, a set of follow-up steering modules 3, a set of grinding operation modules 4, and a force feedback control device. The frame 1 is a rectangular support frame composed of four supports.

[0026] like Figure 2 As shown, the drive winding module 2 includes a rotating shaft 21, one end of which is provided with a motor bracket 22. A drive motor 23 is mounted on the motor bracket 22, and the drive motor 23 is equipped with a position detection device. The drive motor 23 drives a winding wheel 24 that is rotatably connected to the motor bracket 22 through a transmission mechanism 25. The other end of the rotating shaft 21 in each drive winding module 2 is rotatably mounted on three supports on the top and sides of the frame 1 through bearings.

[0027] In this invention, the rotating shafts 21 in the three sets of drive winding modules are located on the same plane, such as... Figure 1 As shown, the rotating shafts 21 of the two sets of drive winding modules are coaxial, and the rotating shaft 21 of the other set of drive winding modules is arranged perpendicular to the rotating shafts 21 of the two sets of drive winding modules.

[0028] The transmission mechanism 25 can be any one of a coupling, a synchronous belt drive mechanism, or a gear drive mechanism, and realizes a direct or indirect connection between the output shaft of the drive motor 23 and the rotating shaft of the winding wheel 24. Figure 2 The image shows a belt drive mechanism.

[0029] like Figure 3As shown, the follow-up steering module 3 includes a central sleeve 34 and three universal joints, including one main universal joint 31 and two auxiliary universal joints 32; a Hooke's hinge mounting base 39 with a hexagonal through hole inside and a main Hooke's hinge sliding sleeve 33; the central sleeve 34 is fitted onto the Hooke's hinge mounting base 39 and is non-rotatable, and the main Hooke's hinge sliding sleeve 33 slides on the central sleeve 34; two coaxial auxiliary Hooke's hinge shafts 35 are arranged on the central sleeve 34 and orthogonal to the axis of the central sleeve 34. The Hooke winch side plates of the two auxiliary universal joints 32 are rotatably connected to the two auxiliary Hooke hinge shafts 35 via rolling bearings; the main Hooke hinge sliding sleeve 33 is provided with two coaxial main Hooke hinge shafts 36 that are orthogonal to the axis of the main Hooke hinge sliding sleeve 33, and the Hooke winch side plate of the main universal joint 31 is rotatably connected to the two main Hooke hinge shafts 36 via rolling bearings, and the main universal joint 31 can slide on the central sleeve 34; thereby realizing the change of the included angle between the three universal joints of one main universal joint 31 and two auxiliary universal joints 32.

[0030] In this invention, the secondary Hooke hinge shaft 35 in the follow-up steering module 3 is perpendicular to the axis of the primary Hooke hinge shaft 36, as shown below. Figure 1 As shown. In this invention, the Hooke's reel bases of the two auxiliary universal joints 32 are respectively connected and fixed to the shaft ends of the two sets of drive winding modules 2 supported by the frame 1 via key connections. Similarly, the Hooke's reel base of the main universal joint 31 is connected and fixed to the shaft 21 of another set of drive winding modules 2 supported by the frame 1 via key connections. Figure 3 and Figure 6 As shown, in this invention, slider connectors 37 are arranged on both radially opposite sides of the Hooke's hinge mounting base 39. Each slider connector 37 is fixed with a slider 38 by bolts. The positions of the two sliders 38 are parallel to the two opposite sidewalls of the hexagonal through hole inside the Hooke's hinge mounting base 39. Figure 1 and Figure 3 As shown, in this invention, the shaft ends of the other ends of the rotating shafts 21 in the three sets of drive winding modules 2 pass through the three supports of the frame 1 and are respectively connected to the Hooke strand base of the main universal joint 31 and the two auxiliary universal joints 32.

[0031] like Figures 4 to 6As shown, the grinding operation module 4 includes a central rod 42, a front platform 43, a rear platform 41, a grinding mechanism 44, and three sets of tensioning structures. Several guide rail connectors 47 are mounted on opposite radial sides of the outer rotating surface of the central rod 42. Each guide rail connector 47 on both sides is connected to an axial guide rail 48. The central rod 42 passes through the hexagonal through hole of the Hooke's hinge mounting base 39 of the follow-up steering module 3. The two axial guide rails 48 are slidably engaged with the two sliders 38 of the follow-up steering module 3. The rear platform 41 and the front platform 43 are respectively fixed to both ends of the central rod 42. The grinding mechanism 44 is fixed to the front platform 43. Each set of tensioning structures is located between each set of drive winding modules 2 and the grinding operation module 4. Each tension structure includes a rope 45, one end of which is connected to a tension spring 46; the two ends of the three tension structures are respectively connected to the rear platform 41 and the front platform 43, that is, each rope 45 is wound on a winding wheel 24 of the drive winding module 2, and the tension spring 46 at one end of the rope 45 in the three tension structures is simultaneously connected to the front platform 43 (or the rear platform 41). Figure 1 In the embodiment shown, a tension spring 46 at one end of each rope 45 is connected to the rear platform 41, and the other end of the rope 45 is connected to the front platform 43.

[0032] When the robot performs a polishing operation, the torque output of the drive motor 23 is detected. The polishing operation force data can be calculated based on the output torque of the drive motor 23, and the polishing force interaction is realized in combination with the force feedback control device.

[0033] When pose monitoring is required, since position detection devices are installed on the drive motors 23 in the three sets of drive winding modules 2, when the robot performs grinding operations, the position detection devices detect the rotation angle of the drive motors 23 and calculate the spatial position of the center of the grinding mechanism 44, thereby realizing pose monitoring.

[0034] This invention proposes a force-interactive grinding robot based on the design concept of a symmetrical tensioned integral structure. While meeting the accuracy requirements of the force feedback device, it reduces the impact of inertial forces on the system, simplifies the overall structure, lowers manufacturing costs, and offers simple and convenient operation with good dynamics and maintainability. This invention can monitor the posture of the grinding mechanism and indirectly measure the magnitude of the grinding force to achieve interactive grinding force.

[0035] Although the present invention has been described above in conjunction with the accompanying drawings, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many improvements and changes under the guidance of the present invention without departing from the spirit of the present invention, and these improvements and changes are all within the protection scope of the present invention.

Claims

1. A force-interactive grinding robot, characterized in that, It includes a frame (1), three sets of identical drive winding modules (2), a set of follow-up steering modules (3), a set of grinding operation modules (4), and a force feedback control device; The frame (1) is a rectangular support frame consisting of four supports; The drive winding module (2) includes a rotating shaft (21), one end of which is provided with a motor bracket (22). A drive motor (23) is mounted on the motor frame (22), and the drive motor (23) is equipped with a position detection device. The drive motor (23) drives a winding wheel (24) that is rotatably connected to the motor frame (22) through a transmission mechanism (25). The other end of the rotating shaft (21) in each drive winding module (2) is rotatably mounted on three supports on the top and sides of the frame (1) through bearings. The following steering module (3) includes a central sleeve (34), a Hooke hinge mounting base (39) with a hexagonal through hole inside, a main Hooke hinge sliding sleeve (33), a main universal joint (31), and two auxiliary universal joints (32); the central sleeve (34) is mounted on the Hooke hinge mounting base (39) and is not rotatable; the main Hooke hinge sliding sleeve (33) slides on the central sleeve (34); two coaxial auxiliary Hooke hinge shafts (35) orthogonal to the axis of the central sleeve (34) are arranged on the central sleeve (34), and the two auxiliary universal joints... The Hooke hinge side plates of the universal joint (32) are rotatably connected to two secondary Hooke hinge shafts (35); two coaxial main Hooke hinge shafts (36) orthogonal to the axis of the main Hooke hinge sliding sleeve (33) are arranged on the main Hooke hinge sliding sleeve (33); the Hooke hinge side plates of the main universal joint (31) are rotatably connected to the two main Hooke hinge shafts (36); the main universal joint (31) can slide on the central sleeve (34); the follow-up steering module (3) realizes the change of the included angle between the three universal joints of one main universal joint (31) and two secondary universal joints (32); On the Hooke hinge mounting base (39), slider connectors (37) are arranged on opposite sides in the radial direction. Each slider connector (37) is fixed with a slider (38) by bolts. The positions of the two sliders (38) are parallel to the two opposite side walls of the hexagonal through hole inside the Hooke hinge mounting base (39). The grinding operation module (4) includes a central rod (42). Several guide rail connectors (47) are mounted on the outer rotating surface of the central rod (42) on opposite sides in the radial direction. Each guide rail connector (47) on both sides is connected to an axial guide rail (48). The central rod (42) passes through the hexagonal through hole of the Hooke hinge mounting base (39) of the follow-up steering module (3). The two axial guide rails (48) are slidably engaged with the two sliders (38). The two ends of the central rod (42) are respectively provided with a front platform (43) and a rear platform (41). A grinding mechanism (44) is fixed on the front platform (43). Each drive winding module (2) is provided with a tension structure between itself and the grinding operation module (4). The tension structure includes a rope (45), one end of which is connected to a tension spring (46). The rope (45) is wound around the winding wheel (24) of the drive winding module (2). The tension spring (46) at one end of the rope (45) is fixed to the front platform (43) or the rear platform (41) of the grinding operation module (4). The other end of the rope (45) is fixed to the rear platform (41) or the front platform (43) of the grinding operation module (4).

2. The force-interactive grinding robot according to claim 1, characterized in that, The rotating shafts (21) in the three sets of drive winding modules are located in the same plane, wherein the rotating shafts (21) of two sets of drive winding modules are coaxial, and the rotating shaft (21) of the other set of drive winding modules is arranged perpendicular to the rotating shafts (21) of the two sets of drive winding modules.

3. The force-interactive grinding robot according to claim 1, characterized in that, The transmission mechanism (25) in the drive winding module (2) can be any one of a coupling, a synchronous belt transmission mechanism, or a gear transmission mechanism, to realize a direct or indirect connection between the output shaft of the drive motor (23) and the rotating shaft of the winding wheel (24).

4. The force-interactive grinding robot according to claim 1, characterized in that, The secondary Hooke hinge shaft (35) in the follow-up steering module (3) is perpendicular to the axis of the primary Hooke hinge shaft (36).

5. The force-interactive grinding robot according to claim 1, characterized in that, The shaft head at the other end of the rotating shaft (21) in the three sets of drive winding modules (2) passes through the three supports of the frame (1) and is connected to the Hooke winch base key of the main universal joint (31) and the two auxiliary universal joints (32).

6. The force-interactive grinding robot according to claim 1, characterized in that, The tension springs (46) in the three sets of tension structures are simultaneously connected to the front platform (43) or the rear platform (41).

7. The force-interactive grinding robot according to claim 1, characterized in that, When the robot performs a polishing operation, the polishing operation force data is calculated based on the output torque of the drive motor (23), and the polishing force interaction is realized in combination with the force feedback control device.

8. The force-interactive grinding robot according to claim 1, characterized in that, When the robot performs a polishing operation, the position detection device detects the rotation angle of the drive motor (23), calculates the spatial position of the rotation center of the polishing mechanism (44), and realizes the position and posture monitoring of the polishing mechanism (44).

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