A polishing and polishing device for an arbitrary curved surface structure

Abstract

This invention discloses a grinding and polishing device for arbitrary curved surface structural components, belonging to the field of grinding and polishing technology. It includes a stage, a three-axis moving mechanism, a dual-rotational-degree-of-freedom attitude adjustment mechanism, a compliant force control mechanism, and an eccentric rotary grinding actuator. The stage is used to fix the non-standard component to be processed; the three-axis moving mechanism is mounted above the stage, and the fixed end of the dual-rotational-degree-of-freedom attitude adjustment mechanism is drivenly connected to the output end of the three-axis moving mechanism, providing rotational motion around the pitch and roll axes; the fixed end of the compliant force control mechanism is drivenly connected to the output end of the dual-rotational-degree-of-freedom attitude adjustment mechanism, adjusting and maintaining a constant grinding contact force in real time; the eccentric rotary grinding actuator is drivenly connected to the output end of the compliant force control mechanism, and a grinding head is detachably installed at its end, capable of simultaneously generating rotational motion around the axis and eccentric vibration motion. This invention enables flexible multi-degree-of-freedom movement, effectively improving the processing quality stability, equipment versatility, and processing efficiency of non-standard components.

Description

Technical Field

[0001] This invention relates to the field of grinding and polishing technology, and in particular to a grinding and polishing device for arbitrary curved surface structures. Background Technology

[0002] Against the backdrop of the booming development of modern manufacturing, high-end fields such as aerospace, automobile manufacturing, mold processing, precision instruments, and medical devices are constantly upgrading their technologies, and the application of non-standard components is becoming increasingly widespread. The surface grinding and polishing quality of these non-standard components plays a decisive role in the appearance precision, performance, service life, and reliability of products, and is a crucial link in the product manufacturing process.

[0003] Currently, traditional manual grinding is commonly used for polishing irregular surfaces. However, this method has many drawbacks. On the one hand, it is labor-intensive and the working environment is harsh. The grinding process generates a large amount of dust, noise, and debris, which seriously harms the respiratory system, hearing system, and physical health of the operators. On the other hand, manual operation is greatly affected by subjective factors. It is difficult to accurately control the grinding force, grinding speed, and grinding trajectory, resulting in poor surface finish and uneven smoothness. At the same time, manual grinding is inefficient. With the rising cost of labor each year, the production cost of manual grinding is constantly increasing, making it unable to meet the needs of large-scale, batch production, and severely restricting the production efficiency and product competitiveness of related industries.

[0004] To address the drawbacks of manual grinding, automated grinding and polishing equipment has emerged in the market. However, existing equipment still has several limitations, making it difficult to meet the demands for efficient and high-precision grinding of any irregular surface. Firstly, most existing automated grinding equipment is designed for regular surfaces (such as planes, cylinders, and cones), and its motion mechanisms are mostly limited to single linear or rotary motions, lacking flexible multi-degree-of-freedom posture adjustment capabilities. For irregular surfaces such as free-form surfaces, irregular contours, and uneven surfaces, it is impossible to achieve complete contact between the grinding head and the workpiece surface, thus affecting processing quality. Secondly, some automated grinding equipment with multi-degree-of-freedom adjustment capabilities uses a serial robotic arm structure. This structure has high motion inertia, low positioning accuracy, and insufficient flexibility. Furthermore, such equipment has high manufacturing and maintenance costs, is difficult to operate, and is difficult to popularize in small and medium-sized enterprises. In addition, the grinding head, as the core actuator of the grinding and polishing equipment, directly affects processing efficiency and surface quality. Existing automated grinding and polishing equipment with multi-degree-of-freedom adjustment capabilities uses a single rotary grinding head. Although it can achieve efficient material removal, it is not well adapted to irregular curved surfaces and is prone to leaving grinding marks at the transition of curved surfaces, making it difficult to guarantee surface smoothness.

[0005] In conclusion, it is urgent to develop an automated grinding and polishing equipment that is flexible in movement, adjustable in posture, and capable of grinding any irregular surface, in order to solve many problems existing in the current technology. Summary of the Invention

[0006] The purpose of this invention is to provide a grinding and polishing device for arbitrary curved surface structural parts, so as to solve the problems existing in the prior art. It allows for flexible movement with multiple degrees of freedom, effectively improving the stability of the processing quality of non-standard components, and effectively improving the versatility and processing efficiency of the equipment.

[0007] To achieve the above objectives, the present invention provides the following solution: This invention provides a grinding and polishing device for arbitrary curved surface structural components, comprising: a stage, a three-axis moving mechanism, a dual-rotational-degree-of-freedom attitude adjustment mechanism, a compliant force control mechanism, and an eccentric rotary grinding actuator. The stage is used to fix and place the non-standard component to be processed. The three-axis moving mechanism is installed above the stage and is used to drive the actuator end to perform three-axis linear motion in a spatial rectangular coordinate system. The fixed end of the dual-rotational-degree-of-freedom attitude adjustment mechanism is driven to the output end of the three-axis moving mechanism, and the dual-rotational-degree-of-freedom attitude adjustment mechanism is used to provide rotational motion about the pitch axis and roll axis. The fixed end of the compliant force control mechanism is driven to the output end of the dual-rotational-degree-of-freedom attitude adjustment mechanism, and the compliant force control mechanism is used to adjust and maintain a constant grinding contact force in real time. The eccentric rotary grinding actuator is driven to the output end of the compliant force control mechanism, and a grinding head is detachably installed at the end of the eccentric rotary grinding actuator. The eccentric rotary grinding actuator can simultaneously generate rotational motion around its axis and eccentric vibration motion.

[0008] Preferably, the three-axis moving mechanism includes a lateral moving mechanism, a longitudinal moving mechanism, and a vertical moving mechanism. A mounting frame is provided above the platform. The lateral moving mechanism is mounted on the mounting frame. The longitudinal moving mechanism is connected to the output end of the lateral moving mechanism. The vertical moving mechanism is mounted on the output end of the longitudinal moving mechanism. The output end of the vertical moving mechanism is connected to the dual-rotational-degree-of-freedom attitude adjustment mechanism. The lateral moving mechanism is used to drive the longitudinal moving mechanism to feed linearly along the X-axis. The longitudinal moving mechanism is used to drive the vertical moving mechanism to feed linearly along the Y-axis. The vertical moving mechanism is used to drive the dual-rotational-degree-of-freedom attitude adjustment mechanism to feed linearly up and down along the Z-axis.

[0009] Preferably, the lateral movement mechanism includes a first linear guide rail, a first slider, a first servo motor, a first ball screw, a first nut, and a first moving frame. The first linear guide rail is mounted on the mounting frame along the X direction. The first slider is slidably fitted on the first linear guide rail. The first moving frame is fixedly connected to the first slider. The first servo motor is fixedly mounted on the end of the mounting frame. The first ball screw is drivenly connected to the output shaft of the first servo motor. The first ball screw is arranged along the X direction. The first nut is fitted on the first ball screw and fixedly connected to the first moving frame. The longitudinal moving mechanism includes a second linear guide rail, a second slider, a second servo motor, a second ball screw, a second nut, and a second moving frame. The second linear guide rail is mounted on the first moving frame along the Y direction. The second slider is slidably fitted on the second linear guide rail. The second moving frame is fixedly connected to the second slider. The second servo motor is fixedly mounted on the end of the first moving frame. The second ball screw is driven by the output shaft of the second servo motor. The second ball screw is arranged along the Y direction. The second nut is fitted on the second ball screw and fixedly connected to the second moving frame. The vertical moving mechanism is mounted on the second moving frame. The vertical moving mechanism includes a third linear guide, a third slider, a third servo motor, a third ball screw, a third nut, and a third moving frame. The third linear guide is fixedly mounted on the second moving frame along the Z-direction. The third slider is slidably fitted on the third linear guide. The third moving frame is fixedly connected to the third slider. The third servo motor is fixedly mounted on the top of the second moving frame. The third ball screw is driven by the output shaft of the third servo motor. The third ball screw is arranged along the Z-direction. The third nut is fitted on the third ball screw. The third nut and the third moving frame are fixedly connected. The third moving frame is driven by the fixed end of the dual-rotational-degree-of-freedom attitude adjustment mechanism.

[0010] Preferably, the dual-rotational-degree-of-freedom attitude adjustment mechanism includes a pitch adjustment mechanism and a roll adjustment mechanism. The fixed end of the pitch adjustment mechanism is fixedly connected to the third moving frame, and the output end of the pitch adjustment mechanism is fixedly connected to the fixed end of the roll adjustment mechanism to drive the roll adjustment mechanism to rotate at a fixed angle around the pitch axis. The output end of the roll adjustment mechanism is fixedly connected to the fixed end of the compliant force control mechanism to drive the compliant force control mechanism to rotate at a fixed angle around the roll axis.

[0011] Preferably, the pitch adjustment mechanism includes a pitch drive motor, a support shaft, a counterweight, and a pitch frame. The fixed end of the pitch drive motor is fixedly connected to the third moving frame, the pitch frame is fixedly connected to the output shaft of the pitch drive motor, one end of the support shaft is fixedly connected to the pitch frame, and the other end passes through the third moving frame on the side away from the pitch drive motor and is fixedly connected to the counterweight. The roll adjustment mechanism includes a roll drive motor mounted on the pitch frame, and the output end of the roll drive motor is fixedly connected to the compliant force control mechanism.

[0012] Preferably, the compliant force control mechanism includes a mounting housing, a linear force control motor, a force sensor, and an elastic connection assembly. The mounting housing is fixedly connected to the output shaft of the roll drive motor. The linear force control motor is mounted above the mounting housing. The output end of the linear force control motor is connected to the eccentric rotary grinding actuator via the elastic connection assembly. The force sensor is disposed between the output end of the linear force control motor and the elastic connection assembly. The force sensor is electrically connected to the linear force control motor. The force sensor is used to collect the contact force between the grinding head and the non-standard component in real time and feed the signal back to the force control motor. The force control motor module drives the elastic connection assembly to perform linear feed according to the feedback signal to adjust the contact force. The elastic connection assembly is used to achieve buffered adaptive compensation of the contact force, avoid sudden changes in contact force caused by force control response delay, and ensure that the contact force is always maintained within a preset range during the grinding process.

[0013] Preferably, the elastic connection assembly includes a spring and a linear bearing. The linear bearing is mounted on the mounting housing along the feed direction. The linear bearing includes multiple guide shafts and a movable seat. The guide shafts are arranged along the feed direction of the linear force control motor, and one end of the guide shaft is fixedly connected to the mounting housing. The movable seat is slidably connected to the guide shaft along the feed direction of the linear force control motor. One end of the spring is fixedly connected to the end of the force sensor away from the output shaft of the linear force control motor, and the other end is fixedly connected to the movable seat.

[0014] Preferably, the eccentric rotary grinding actuator includes a grinding base, a spindle motor, an eccentric spindle, a bearing housing, and a connecting flange. The grinding base is fixedly connected to the output end of the compliant force control mechanism. The spindle motor is fixedly mounted on the grinding base. The bearing housing is fixed on the side of the grinding base away from the compliant force control mechanism. The eccentric spindle is rotatably mounted in the bearing housing via a rotary bearing. One end of the eccentric spindle is connected to the output shaft of the spindle motor via a transmission belt, and the other end is mounted on the connecting flange. The grinding head is detachably fixed to the connecting flange. The axis of the eccentric spindle is parallel to and offset from the axis of the output shaft of the spindle motor, so that when the spindle motor rotates, it drives the eccentric spindle to generate eccentric rotary vibration, which, in conjunction with the follow-up rotation of the grinding head, simultaneously achieves a composite processing of rotary grinding and vibratory polishing.

[0015] Preferably, the grinding head is a quick-release circular grinding head, a grinding wheel, a flap wheel, or a polishing wheel.

[0016] Preferably, the first slider, the second slider, and the third slider are sliders with a built-in ball bearing structure.

[0017] The present invention achieves the following technical effects compared to the prior art: This invention provides a grinding and polishing device for arbitrary curved surface structures. A three-axis moving mechanism achieves three-axis linear feed within a spatial range, while a dual-rotational-degree-of-freedom attitude adjustment mechanism provides pitch and roll rotational attitude adjustment. This enables the eccentric rotary grinding actuator to adapt to the contour changes of any irregular curved surface, ensuring the grinding head can stably conform to the workpiece surface. A compliant force control mechanism collects and dynamically adjusts the grinding contact force in real time, and with elastic buffer compensation, maintains a constant grinding contact force, avoiding over-grinding or under-grinding caused by contact force fluctuations, effectively improving grinding performance. The eccentric rotary grinding actuator can simultaneously generate eccentric rotary vibration and the grinding head itself rotates, achieving a composite process of rotary grinding to remove material and vibratory polishing to improve surface finish. This ensures both processing efficiency and better surface finish. The overall equipment has a simple structure and low manufacturing cost, and can be adapted to the grinding and polishing of various non-standard components with arbitrary curved surfaces. It is highly versatile and effectively solves many problems existing in manual grinding and conventional automated grinding equipment. It can meet the batch processing needs of small and medium-sized enterprises and help improve the production efficiency and product competitiveness of related industries. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the grinding and polishing device for arbitrary curved surface structures provided by the present invention; In the diagram: 1. Display platform; 11. Mounting frame; 21. First linear guide rail; 22. First ball screw; 23. First nut; 24. First servo motor; 25. First mounting base; 26. First slider; 27. First moving frame; 31. Second linear guide rail; 32. Second ball screw; 33. Second nut; 34. Second servo motor; 35. Second mounting base; 36. Second slider; 37. Second moving frame; 41. Third linear guide rail; 42. Third ball screw; 44. Third servo motor; 46. Third slider; 47. Third moving frame; 51. Pitch drive motor; 52. Counterweight; 53. Pitch frame; 61. Roll drive motor; 71. Mounting housing; 72. Linear force control motor; 73. Force sensor; 74. Spring; 75. Linear bearing; 81. Eccentric rotary grinding actuator; 91. Grinding head. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The purpose of this invention is to provide a grinding and polishing device for arbitrary curved surface structural parts, so as to solve the problems existing in the prior art. It allows for flexible movement with multiple degrees of freedom, effectively improving the stability of the processing quality of non-standard components, and effectively improving the versatility and processing efficiency of the equipment.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Example 1 This invention provides a grinding and polishing device for arbitrary curved surface structures, such as... Figure 1As shown, it includes: a stage 1, a three-axis moving mechanism, a dual-rotational-degree-of-freedom attitude adjustment mechanism, a compliant force control mechanism, and an eccentric rotary grinding actuator 81. The stage 1 is used to fix and place non-standard components to be processed; the three-axis moving mechanism is installed above the stage 1 and is used to drive the actuator end to perform three-axis linear motion in a spatial rectangular coordinate system; the fixed end of the dual-rotational-degree-of-freedom attitude adjustment mechanism is connected to the output end of the three-axis moving mechanism, and the dual-rotational-degree-of-freedom attitude adjustment mechanism is used to provide rotational motion about the pitch axis and roll axis; compliant... The fixed end of the force control mechanism is connected to the output end of the dual-rotational-degree-of-freedom attitude adjustment mechanism. The compliant force control mechanism is used to adjust and maintain a constant grinding contact force in real time. The eccentric rotary grinding actuator 81 is connected to the output end of the compliant force control mechanism. A grinding head 91 is detachably mounted on the end of the eccentric rotary grinding actuator 81. The eccentric rotary grinding actuator 81 can simultaneously generate rotational motion around its axis and eccentric vibration motion. Through the coordinated work of each part, efficient and precise grinding and polishing of arbitrary curved surface structures can be achieved. The stage 1 provides a stable processing foundation. The three-axis moving mechanism enables flexible positioning of the actuator end in a spatial rectangular coordinate system. The dual-rotational-degree-of-freedom attitude adjustment mechanism ensures that the grinding head 91 can adapt to the angle changes of complex curved surfaces. The compliant force control mechanism ensures a constant grinding contact force and improves grinding quality. The compound motion mode of the eccentric rotary grinding actuator 81 enhances the effect and efficiency of grinding and polishing, effectively solving the problem of grinding and polishing non-standard components in the prior art.

[0024] In a preferred embodiment, the three-axis moving mechanism includes a lateral moving mechanism, a longitudinal moving mechanism, and a vertical moving mechanism. A mounting frame 11 is provided above the platform 1. The lateral moving mechanism is mounted on the mounting frame 11. The longitudinal moving mechanism is connected to the output end of the lateral moving mechanism. The vertical moving mechanism is mounted on the output end of the longitudinal moving mechanism. The output end of the vertical moving mechanism is connected to the dual-rotational-degree-of-freedom attitude adjustment mechanism. The lateral moving mechanism drives the longitudinal moving mechanism to feed linearly along the X-axis. The longitudinal moving mechanism drives the vertical moving mechanism to feed linearly along the Y-axis. The vertical moving mechanism drives the dual-rotational-degree-of-freedom attitude adjustment mechanism to feed linearly up and down along the Z-axis. This layout of the three-axis moving mechanism, through the combination of linear motion in three directions, enables the equipment to accurately position the execution end in three-dimensional space, meeting the grinding requirements of different positions of non-standard components. This greatly improves the adaptability of the equipment to non-standard components of different shapes and sizes, and provides a precise basic position adjustment capability for subsequent attitude adjustment and grinding operations.

[0025] In a preferred embodiment, the lateral movement mechanism includes a first linear guide 21, a first slider 26, a first servo motor 24, a first ball screw 22, a first nut 23, and a first moving frame 27. The first linear guide 21 is mounted on the mounting frame 11 along the X direction. The first slider 26 is slidably fitted onto the first linear guide 21. The first moving frame 27 is fixedly connected to the first slider 26. The first servo motor 24 is fixedly mounted on the end of the mounting frame 11 via a first mounting base 25. The first ball screw 22 is drively connected to the output shaft of the first servo motor 24. The first ball screw 22 is arranged along the X direction. The first nut 23 is fitted onto the first ball screw 22 and is fixedly connected to the first moving frame 27. The longitudinal moving mechanism includes a second linear guide 31, a second slider 36, a second servo motor 34, a second ball screw 32, a second nut 33, and a second moving frame 37. The second linear guide 31 is mounted on the first moving frame 27 along the Y direction. The second slider 36 is slidably fitted onto the second linear guide 31. The second moving frame 37 is fixedly connected to the second slider 36. The second servo motor 34 is fixedly mounted on the first moving frame 27 via a second mounting base 35. At the end of the moving frame 27, the second ball screw 32 is connected to the output shaft of the second servo motor 34. The second ball screw 32 is arranged along the Y direction. The second nut 33 is fitted onto the second ball screw 32 and is fixedly connected to the second moving frame 37. The vertical moving mechanism is mounted on the second moving frame 37. The vertical moving mechanism includes a third linear guide 41, a third slider 46, a third servo motor 44, a third ball screw 42, a third nut, and a third moving frame 47. The third linear guide 41 is fixedly mounted on the second moving frame 37 along the Z direction. The third slider 46... The sliding contact is mounted on the third linear guide 41, the third moving frame 47 is fixedly connected to the third slider 46, the third servo motor 44 is fixedly mounted on the top of the second moving frame 37, the third ball screw 42 is driven by the output shaft of the third servo motor 44, the third ball screw 42 is arranged along the Z direction, the third nut is fitted onto the third ball screw 42, the third nut and the third moving frame 47 are fixedly connected, and the third moving frame 47 is driven by the fixed end of the dual-rotational-degree-of-freedom attitude adjustment mechanism. The detailed design of each component of the three-axis moving mechanism ensures smooth and precise linear motion in each direction. The cooperation between the linear guide and the slider reduces motion friction, ensuring the accuracy and stability of linear motion; the transmission method of the servo motor, ball screw, and nut can efficiently and accurately convert the rotational motion of the motor into linear motion, realizing precise control of the end position of the actuator, thereby improving the accuracy and reliability of the entire equipment's positioning in three-dimensional space, laying the foundation for achieving high-precision grinding and polishing.

[0026] In a preferred embodiment, the dual-rotational-degree-of-freedom attitude adjustment mechanism includes a pitch adjustment mechanism and a roll adjustment mechanism. The fixed end of the pitch adjustment mechanism is fixedly connected to the third moving frame 47, and the output end of the pitch adjustment mechanism is fixedly connected to the fixed end of the roll adjustment mechanism to drive the roll adjustment mechanism to rotate at a fixed angle around the pitch axis. The output end of the roll adjustment mechanism is fixedly connected to the fixed end of the compliant force control mechanism to drive the compliant force control mechanism to rotate at a fixed angle around the roll axis. Through the cooperation of the pitch adjustment mechanism and the roll adjustment mechanism, the dual-rotational-degree-of-freedom attitude adjustment mechanism realizes the rotational movement of the grinding head 91 in two different axes, enabling the grinding head 91 to flexibly adjust its attitude and better conform to the complex surface of any curved structural component. This solves the problem that traditional equipment is difficult to adapt to the complex attitude of non-standard components, improves the adaptability and accuracy of grinding, ensures that the grinding head 91 can contact the workpiece surface at the optimal angle, and improves the grinding quality.

[0027] In a preferred embodiment, the pitch adjustment mechanism includes a pitch drive motor 51, a support shaft, a counterweight 52, and a pitch frame 53. The fixed end of the pitch drive motor 51 is fixedly connected to the third moving frame 47, and the pitch frame 53 is fixedly connected to the output shaft of the pitch drive motor 51. One end of the support shaft is fixedly connected to the pitch frame 53, and the other end passes through the side of the third moving frame 47 away from the pitch drive motor 51 and is fixedly connected to the counterweight 52. The roll adjustment mechanism includes a roll drive motor 61 mounted on the pitch frame 53, and the output end of the roll drive motor 61 is fixedly connected to the compliant force control mechanism. In the design of the pitch adjustment mechanism, the pitch drive motor 51 provides rotational power, the support shaft and the pitch frame 53 ensure the stability of the structure and the accuracy of rotation, and the counterweight 52 balances the load on the pitch frame 53 during rotation, reduces the load on the pitch drive motor 51, and improves the stability and accuracy of the pitch motion. The roll adjustment mechanism is based on the pitch frame 53 and a roll drive motor 61 is installed. It works in conjunction with the pitch adjustment mechanism to further enhance the flexibility and accuracy of the attitude adjustment of the grinding head 91, ensuring that the grinding head 91 can accurately conform to complex curved surfaces.

[0028] In a preferred embodiment, the compliant force control mechanism includes a mounting housing 71, a linear force control motor 72, a force sensor 73, and an elastic connection assembly. The mounting housing 71 is fixedly connected to the output shaft of the roll drive motor 61. The linear force control motor 72 is mounted above the mounting housing 71. The output end of the linear force control motor 72 is connected to the eccentric rotary grinding actuator 81 via the elastic connection assembly. A force sensor 73 is disposed between the output end of the linear force control motor 72 and the elastic connection assembly. The force sensor 73 is electrically connected to the linear force control motor 72. Force sensor 73 is used to collect the contact force between the grinding head 91 and the non-standard component in real time and feed the signal back to the force control motor. The force control motor module drives the elastic connection component to perform linear feed according to the feedback signal to adjust the contact force. The elastic connection component is used to achieve buffering and adaptive compensation of the contact force, avoiding sudden changes in contact force caused by force control response delay, and ensuring that the contact force is always maintained within the preset range during the grinding process. The compliant force control mechanism monitors the grinding contact force in real time through force sensor 73 and makes real-time adjustments through linear force control motor 72 and elastic connection component to ensure constant grinding contact force. This design effectively avoids changes in contact force caused by factors such as uneven workpiece surface, dimensional deviation, or clamping error, prevents over-cutting, scratches, and other problems, ensures the stability of grinding quality, improves the adaptability of the equipment to different working conditions, and makes the grinding process more reliable and accurate.

[0029] In a preferred embodiment, the elastic connection assembly includes a spring 74 and a linear bearing 75. The linear bearing 75 is mounted on the mounting housing 71 along the feed direction. The linear bearing 75 includes multiple guide shafts and a movable seat. The guide shafts are arranged along the feed direction of the linear force control motor 72, and one end of the guide shaft is fixedly connected to the mounting housing 71. The movable seat is slidably connected to the guide shaft along the feed direction of the linear force control motor 72. One end of the spring 74 is fixedly connected to the end of the force sensor 73 away from the output shaft of the linear force control motor 72, and the other end is fixedly connected to the movable seat. The design of the spring 74 and the linear bearing 75 in the elastic connection assembly realizes the buffering and adaptive compensation of the contact force. The spring 74 can buffer the change in contact force in a timely manner when there is a delay in force control response, avoiding the impact of sudden changes in contact force on the grinding quality. The guide shaft and movable seat of the linear bearing 75 ensure the linear motion accuracy of the spring 74 during the buffering process, enabling the elastic connection assembly to accurately respond to the adjustment command of the force control motor, further optimizing the force control effect, ensuring that the grinding contact force is always stable within the preset range, and improving the grinding quality and stability.

[0030] In a preferred embodiment, the eccentric rotary grinding actuator 81 includes a grinding base, a spindle motor, an eccentric spindle, a bearing housing, and a connecting flange. The grinding base is fixedly connected to the output end of the compliant force control mechanism. The spindle motor is fixedly mounted on the grinding base. The bearing housing is fixed on the side of the grinding base away from the compliant force control mechanism. The eccentric spindle is rotatably mounted in the bearing housing via a rotary bearing. One end of the eccentric spindle is connected to the output shaft of the spindle motor via a transmission belt, and the other end is fitted with a connecting flange. The grinding head 91 is detachably fixed to the connecting flange. The axis of the eccentric spindle is parallel to and offset from the axis of the output shaft of the spindle motor, so that when the spindle motor rotates, it drives the eccentric spindle to generate eccentric rotary vibration. Combined with the follow-up rotation of the grinding head 91, the composite processing of rotary grinding and vibratory polishing is realized simultaneously. The eccentric rotary grinding actuator 81, through its unique structural design, can realize the composite processing of rotary grinding and vibratory polishing simultaneously. Rotary grinding can efficiently remove material and level surfaces, while vibratory polishing can improve the smoothness and uniformity of surfaces, especially in curved surfaces and transition areas, avoiding local over-grinding or under-grinding, significantly improving the effect and efficiency of grinding and polishing, and meeting the requirements for high-quality processing of arbitrary curved surface structures.

[0031] In a preferred embodiment, the grinding head 91 is a quick-release circular grinding head 91, a grinding wheel, a flap wheel, or a polishing wheel. This multi-type, quick-release grinding head design allows the equipment to quickly change to the appropriate grinding tool according to the needs of different materials and processing stages, improving the equipment's versatility and processing efficiency. For example, a grinding wheel can be used to efficiently remove material during the rough grinding stage, while flap wheels and polishing wheels can be selected for the fine grinding and polishing stages respectively, meeting different processing requirements and enabling a single set of equipment to process various non-standard components.

[0032] In a preferred embodiment, the first slider 26, the second slider 36, and the third slider 46 are sliders with built-in ball bearing structures. The built-in ball bearing structure of the slider can effectively reduce the frictional resistance when sliding on the linear guide rail, making the movement of the three-axis moving mechanism more stable and smooth, improving the positioning accuracy and response speed of the equipment in three-dimensional space, while also reducing the wear of components, extending the service life of the equipment, ensuring the long-term stable operation of the equipment, and facilitating the realization of high-precision grinding and polishing operations.

[0033] Example 2 This embodiment provides a method for using the grinding and polishing device for arbitrary curved surface structures as described in Embodiment 1, including the following steps: 1. Preparation: Install the grinding head 91: Based on the material and processing stage of the non-standard component to be processed, select a suitable grinding head 91 from quick-release circular grinding head 91, grinding wheel, flap wheel, and polishing wheel, and detachably fix it to the connecting flange of the eccentric rotary grinding actuator 81. For example, for the rough grinding stage of metal materials, a grinding wheel can be selected; for the fine grinding stage, a flap wheel can be selected; and for the polishing stage, a polishing wheel can be selected.

[0034] Fixing non-standard components: Place the non-standard components to be processed on the platform 1, and fix them firmly according to the size and weight of the non-standard components using appropriate clamping methods to ensure that they will not shift during the grinding process and provide a stable reference for processing.

[0035] Equipment Inspection: Check the connections of all components, including the three-axis moving mechanism, the dual-rotational-degree-of-freedom attitude adjustment mechanism, the compliant force control mechanism, and the eccentric rotary grinding actuator 81, to ensure they are secure and that the wiring connections are normal. Pay particular attention to ensuring the smooth sliding of the first slider 26, the second slider 36, and the third slider 46 on their respective linear guides, and checking for any damage to the internal ball bearing structure; verifying the proper functioning of all servo motors, drive motors, and other power components; and confirming that the force sensor 73 accurately acquires signals.

[0036] 2. Equipment debugging: Three-axis moving mechanism debugging: Start the first servo motor 24 of the transverse moving mechanism to make the first moving frame 27 drive the longitudinal moving mechanism to feed linearly along the X-axis. Check whether the movement is smooth and whether the positional accuracy meets the requirements. Similarly, debug the longitudinal moving mechanism and the vertical moving mechanism in sequence to ensure that the longitudinal moving mechanism can drive the vertical moving mechanism to feed accurately along the Y-axis, and that the vertical moving mechanism can drive the dual-rotational-degree-of-freedom attitude adjustment mechanism to feed smoothly up and down linearly along the Z-axis, so as to achieve precise three-axis positioning of the execution end in the spatial rectangular coordinate system.

[0037] Dual-rotational-degree-of-freedom attitude adjustment mechanism debugging: Start the pitch drive motor 51 of the pitch adjustment mechanism and observe whether the roll adjustment mechanism can smoothly rotate at a fixed angle around the pitch axis. Adjust the pitch angle and check its accuracy and stability. Next, start the roll drive motor 61 of the roll adjustment mechanism and check whether the compliant force control mechanism can rotate at a fixed angle around the roll axis to ensure that the grinding head 91 can flexibly adjust its attitude to adapt to different surface angles.

[0038] Flexibility force control mechanism debugging: Under no-load conditions, start the linear force control motor 72 and observe whether the linear feed of the elastic connection component is smooth, whether the signal collected by the force sensor 73 is accurately fed back to the force control motor, whether the force control motor can adjust the elastic connection component in time according to the feedback signal, simulate the change of grinding contact force, and check whether the compliant force control mechanism can maintain the contact force within the preset range.

[0039] Debugging of eccentric rotary grinding actuator 81: Start the spindle motor and observe whether the eccentric spindle can generate eccentric rotary vibration, driving the grinding head 91 to simultaneously achieve a compound motion of rotary grinding and vibratory polishing, and check the smoothness and coordination of the motion.

[0040] 3. Polishing operation: Positioning and attitude adjustment: Based on the part of the non-standard component to be ground, the end effector is moved to the approximate position using a three-axis moving mechanism. Then, using a dual-rotational-degree-of-freedom attitude adjustment mechanism, the pitch and roll angles of the grinding head 91 are adjusted according to the curved shape and angle of the part, so that the grinding head 91 is as close as possible to the surface to be ground, ensuring that the grinding head 91 can contact the workpiece surface at the optimal angle.

[0041] Grinding Process: The spindle motor of the eccentric rotary grinding actuator 81 is started, enabling the grinding head 91 to begin a combined process of rotary grinding and vibratory polishing. Simultaneously, the compliant force control mechanism begins operation. The force sensor 73 collects the contact force between the grinding head 91 and the non-standard component in real time and feeds the signal back to the linear force control motor 72. Based on the feedback signal, the linear force control motor 72 drives the elastic connecting component to perform linear feed, adjusting the contact force in real time. The elastic connecting component provides buffering and adaptive compensation for the contact force, ensuring that the contact force remains within a preset range during grinding, avoiding over-cutting, scratches, and other problems caused by unstable contact force, thus ensuring grinding quality.

[0042] Movement and Adjustment: During the grinding process, based on the shape of the non-standard component and the grinding requirements, the three-axis movement mechanism controls the end effector to perform three-axis linear motion in a spatial rectangular coordinate system, ensuring that the grinding head 91 can cover the entire surface to be ground. Simultaneously, the contact between the grinding head 91 and the workpiece surface is continuously observed. If necessary, the attitude of the grinding head 91 is fine-tuned again using a dual-rotational-degree-of-freedom attitude adjustment mechanism to ensure consistent grinding results.

[0043] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A grinding and polishing device for arbitrary curved surface structural components, characterized in that: include: A storage platform, used to fix and place non-standard components to be processed; A three-axis moving mechanism is installed above the platform to drive the actuator to perform three-axis linear motion in a spatial rectangular coordinate system. A dual-rotational-degree-of-freedom attitude adjustment mechanism, wherein the fixed end of the dual-rotational-degree-of-freedom attitude adjustment mechanism is connected to the output end of the three-axis moving mechanism, and the dual-rotational-degree-of-freedom attitude adjustment mechanism is used to provide rotational motion about the pitch axis and the roll axis; A compliant force control mechanism, wherein the fixed end of the compliant force control mechanism is connected to the output end of the dual-rotational-degree-of-freedom attitude adjustment mechanism, and the compliant force control mechanism is used to adjust and maintain a constant grinding contact force in real time; as well as An eccentric rotary grinding actuator is connected to the output end of the compliant force control mechanism. A grinding head is detachably mounted at the end of the eccentric rotary grinding actuator. The eccentric rotary grinding actuator can simultaneously generate rotational motion around its axis and eccentric vibration motion.

2. The grinding and polishing device for arbitrary curved surface structures according to claim 1, characterized in that: The three-axis moving mechanism includes a lateral moving mechanism, a longitudinal moving mechanism, and a vertical moving mechanism. A mounting frame is provided above the platform. The lateral moving mechanism is mounted on the mounting frame. The longitudinal moving mechanism is connected to the output end of the lateral moving mechanism. The vertical moving mechanism is mounted on the output end of the longitudinal moving mechanism. The output end of the vertical moving mechanism is connected to the dual-rotational-degree-of-freedom attitude adjustment mechanism. The lateral moving mechanism is used to drive the longitudinal moving mechanism to feed linearly along the X-axis. The longitudinal moving mechanism is used to drive the vertical moving mechanism to feed linearly along the Y-axis. The vertical moving mechanism is used to drive the dual-rotational-degree-of-freedom attitude adjustment mechanism to feed linearly up and down along the Z-axis.

3. The grinding and polishing device for arbitrary curved surface structures according to claim 2, characterized in that: The lateral movement mechanism includes a first linear guide rail, a first slider, a first servo motor, a first ball screw, a first nut, and a first moving frame. The first linear guide rail is mounted on the mounting frame along the X direction. The first slider is slidably fitted on the first linear guide rail. The first moving frame is fixedly connected to the first slider. The first servo motor is fixedly mounted on the end of the mounting frame. The first ball screw is drivenly connected to the output shaft of the first servo motor. The first ball screw is arranged along the X direction. The first nut is fitted on the first ball screw and fixedly connected to the first moving frame. The longitudinal moving mechanism includes a second linear guide rail, a second slider, a second servo motor, a second ball screw, a second nut, and a second moving frame. The second linear guide rail is mounted on the first moving frame along the Y direction. The second slider is slidably fitted on the second linear guide rail. The second moving frame is fixedly connected to the second slider. The second servo motor is fixedly mounted on the end of the first moving frame. The second ball screw is driven by the output shaft of the second servo motor. The second ball screw is arranged along the Y direction. The second nut is fitted on the second ball screw and fixedly connected to the second moving frame. The vertical moving mechanism is mounted on the second moving frame. The vertical moving mechanism includes a third linear guide, a third slider, a third servo motor, a third ball screw, a third nut, and a third moving frame. The third linear guide is fixedly mounted on the second moving frame along the Z-direction. The third slider is slidably fitted on the third linear guide. The third moving frame is fixedly connected to the third slider. The third servo motor is fixedly mounted on the top of the second moving frame. The third ball screw is driven by the output shaft of the third servo motor. The third ball screw is arranged along the Z-direction. The third nut is fitted on the third ball screw. The third nut and the third moving frame are fixedly connected. The third moving frame is driven by the fixed end of the dual-rotational-degree-of-freedom attitude adjustment mechanism.

4. The grinding and polishing device for arbitrary curved surface structures according to claim 3, characterized in that: The dual-rotational-degree-of-freedom attitude adjustment mechanism includes a pitch adjustment mechanism and a roll adjustment mechanism. The fixed end of the pitch adjustment mechanism is fixedly connected to the third moving frame, and the output end of the pitch adjustment mechanism is fixedly connected to the fixed end of the roll adjustment mechanism to drive the roll adjustment mechanism to rotate at a fixed angle around the pitch axis. The output end of the roll adjustment mechanism is fixedly connected to the fixed end of the compliant force control mechanism to drive the compliant force control mechanism to rotate at a fixed angle around the roll axis.

5. The grinding and polishing device for arbitrary curved surface structures according to claim 4, characterized in that: The pitch adjustment mechanism includes a pitch drive motor, a support shaft, a counterweight, and a pitch frame. The fixed end of the pitch drive motor is fixedly connected to the third moving frame. The pitch frame is fixedly connected to the output shaft of the pitch drive motor. One end of the support shaft is fixedly connected to the pitch frame, and the other end passes through the third moving frame on the side away from the pitch drive motor and is fixedly connected to the counterweight. The roll adjustment mechanism includes a roll drive motor mounted on the pitch frame, and the output end of the roll drive motor is fixedly connected to the compliant force control mechanism.

6. The grinding and polishing device for arbitrary curved surface structures according to claim 5, characterized in that: The compliant force control mechanism includes a mounting housing, a linear force control motor, a force sensor, and an elastic connection assembly. The mounting housing is fixedly connected to the output shaft of the roll drive motor. The linear force control motor is mounted above the mounting housing. The output end of the linear force control motor is connected to the eccentric rotary grinding actuator via the elastic connection assembly. The force sensor is disposed between the output end of the linear force control motor and the elastic connection assembly. The force sensor is electrically connected to the linear force control motor. The force sensor is used to collect the contact force between the grinding head and the non-standard component in real time and feed the signal back to the force control motor. The force control motor module drives the elastic connection assembly to perform linear feed according to the feedback signal to adjust the magnitude of the contact force. The elastic connection assembly is used to achieve buffered adaptive compensation of the contact force, avoid sudden changes in contact force caused by force control response delay, and ensure that the contact force is always maintained within a preset range during the grinding process.

7. The grinding and polishing device for arbitrary curved surface structures according to claim 6, characterized in that: The elastic connection assembly includes a spring and a linear bearing. The linear bearing is mounted on the mounting housing along the feed direction. The linear bearing includes multiple guide shafts and a movable seat. The guide shafts are arranged along the feed direction of the linear force control motor, and one end of the guide shaft is fixedly connected to the mounting housing. The movable seat is slidably connected to the guide shaft along the feed direction of the linear force control motor. One end of the spring is fixedly connected to the end of the force sensor away from the output shaft of the linear force control motor, and the other end is fixedly connected to the movable seat.

8. The grinding and polishing device for arbitrary curved surface structures according to claim 1, characterized in that: The eccentric rotary grinding actuator includes a grinding base, a spindle motor, an eccentric spindle, a bearing housing, and a connecting flange. The grinding base is fixedly connected to the output end of the compliant force control mechanism. The spindle motor is fixedly mounted on the grinding base. The bearing housing is fixed on the side of the grinding base away from the compliant force control mechanism. The eccentric spindle is rotatably mounted in the bearing housing via a rotary bearing. One end of the eccentric spindle is connected to the output shaft of the spindle motor via a transmission belt, and the other end is mounted on the connecting flange. The grinding head is detachably fixed to the connecting flange. The axis of the eccentric spindle is parallel to and offset from the axis of the output shaft of the spindle motor, so that when the spindle motor rotates, it drives the eccentric spindle to generate eccentric rotary vibration. Combined with the follow-up rotation of the grinding head, it simultaneously realizes the composite processing of rotary grinding and vibratory polishing.

9. The grinding and polishing device for arbitrary curved surface structures according to claim 1, characterized in that: The grinding head is a quick-release round grinding head, grinding wheel, flap wheel or polishing wheel.

10. The grinding and polishing device for arbitrary curved surface structures according to claim 3, characterized in that: The first slider, the second slider, and the third slider are sliders with built-in ball bearing structures.

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