Polishing robot wheel wear detection compensation device based on contact displacement sensing

Abstract

The application relates to a polishing robot grinding wheel wear detection compensation device based on a contact type displacement sensor, which comprises a grinding wheel, a lifting assembly, an electric spindle for driving the grinding wheel to work, a displacement sensor arranged on one side of the grinding wheel and fixed in position opposite to the grinding wheel, the lifting assembly comprising a spline screw, a servo motor and a connecting flange, the two ends of the connecting flange being connected with the polishing robot and the spline screw respectively, a sliding block being installed on the spline screw, the two ends of the sliding block being respectively provided with a ball spline sleeve matched with the spline screw in the key mode and a ball nut matched with the spline screw in the thread mode, the servo motor being connected with the ball nut through a transmission assembly, and the servo motor rotating the ball nut to make the sliding block move along the spline screw in the axial direction; during polishing, the displacement sensor is always in contact with the machined surface of a workpiece. The displacement sensor always in contact with the machined surface of the workpiece is used to acquire the wear amount of the grinding wheel, and the reliability and the accuracy of detection are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of industrial automation technology, specifically to a grinding robot wheel wear detection and compensation device based on contact displacement sensing. Background Technology

[0002] With the rapid development of industrial automation, industrial robots have been widely used in welding, grinding, and other applications. During the operation of grinding robots, the wear of the grinding wheel is one of the key factors affecting the grinding accuracy of the workpiece. Therefore, real-time detection and precise compensation of grinding wheel wear are important technical means to improve grinding accuracy and ensure consistent product quality.

[0003] Currently, grinding wheel wear detection mostly employs indirect optical detection methods. Chinese patent CN110587402B uses laser reflection to detect the grinding surface to determine the amount of grinding wheel wear; Chinese patent CN1320335C uses visual detection to detect the grinding screen to determine the amount of grinding wheel wear. However, when the grinding wheel rotates at high speed, abrasive particles fly out, and the airflow is agitated. These flying particles obstruct the light path, and uneven changes in air density cause light refraction, preventing the light from propagating in a straight line. This makes non-contact optical detection methods highly susceptible to interference from the working environment, easily leading to significant detection errors and affecting compensation accuracy. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a grinding wheel wear detection and compensation device for a grinding robot based on contact displacement sensing. The specific technical solution is as follows: A grinding robot grinding wheel wear detection and compensation device based on contact displacement sensing includes a grinding wheel, a lifting assembly, and an electric spindle that drives the grinding wheel. A displacement sensor is fixed in a relative position to one side of the grinding wheel. The lifting assembly includes a splined screw, a servo motor, and a connecting flange. The two ends of the connecting flange are connected to the grinding robot and the splined screw, respectively. A slider is mounted on the splined screw. The two ends of the slider are respectively provided with a ball spline sleeve that mates with the splined screw key and a ball nut that mates with the splined screw thread. The servo motor is connected to the ball nut through a transmission assembly. The servo motor drives the ball nut to rotate, causing the slider to move axially along the splined screw. During grinding, the displacement sensor is always in contact with the machined surface of the workpiece, and the wear of the grinding wheel is determined in real time using the results of the displacement sensor.

[0005] Furthermore, the axis of the displacement sensor probe is parallel to the axis of the electric spindle.

[0006] Furthermore, the transmission assembly includes a drive pulley, a driven pulley, and a synchronous belt. The drive pulley is connected to the output shaft of the servo motor, and the driven pulley is connected to a ball nut.

[0007] Furthermore, the spline screw is equipped with an upper limit block and a lower limit block at both ends.

[0008] Furthermore, both the servo motor and the electric spindle are fixedly mounted on the slider.

[0009] The beneficial effects of this invention are as follows: 1. Install a displacement sensor with a fixed relative position to the grinding wheel, ensuring that the sensor's detection end is always in contact with the workpiece surface. As the grinding wheel wears, the workpiece surface dimensions change, and the sensor reads this change in real time, thus accurately calculating the amount of grinding wheel wear. This direct contact measurement method fundamentally eliminates errors caused by abrasive grain obstruction and air turbulence in optical inspection, significantly improving the reliability and accuracy of the inspection.

[0010] 2. By using key and threaded connections, the rotational motion of the servo motor is converted into the precise axial movement of the slider, ensuring the stability of the grinding wheel's posture. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0012] Figure 1 This is a three-dimensional schematic diagram of the grinding robot grinding wheel wear detection and compensation device described in this invention; Figure 2 This is a front view of the grinding robot wheel wear detection and compensation device described in this invention; Figure 3 This is a rear view of the grinding robot wheel wear detection and compensation device described in this invention; Figure 4 This is a schematic diagram of the cooperation between the spline screw and the slider described in this invention.

[0013] In the diagram: 1. Lower limit block; 2. Splined screw; 3. Driven wheel; 4. Driving wheel; 5. Synchronous belt; 6. Servo motor bracket; 7. Servo motor; 8. Slider; 9. Ball spline sleeve; 10. Upper limit block; 11. Connecting flange; 12. Electric spindle; 13. Electric spindle bracket; 14. Displacement sensor; 15. Displacement sensor mounting bracket; 16. Ball nut; 17. Grinding wheel; 18. Optical axis retaining ring; 19. Sensor baffle; 20. Proximity switch sensor. Detailed Implementation

[0014] The present invention provides the following specific implementation schemes: like Figure 1-4As shown, this invention provides a grinding robot grinding wheel wear detection and compensation device based on contact displacement sensing, including a grinding wheel 17, a lifting assembly, and an electric spindle 12 that drives the grinding wheel 17. A displacement sensor 14 is arranged on one side of the grinding wheel 17 and fixed in a relative position. The lifting assembly includes a spline screw 2, a servo motor 7, and a connecting flange 11. The two ends of the connecting flange 11 are respectively connected to the end effector of the grinding robot and the spline screw 2. A slider 8 is installed on the spline screw 2, and the two ends of the slider 8 are respectively provided with ball spline sleeves 9 that key-mate with the spline screw 2 and spline sleeves 9 that key-mate with the spline screw 2. The ball nut 16 is threaded into the spline screw 2. The servo motor 7 is connected to the ball nut 16 through a transmission assembly. The servo motor 7 drives the ball nut 16 to rotate, so that the slider 8 moves axially along the spline screw 2. During grinding, the displacement sensor 14 is always in contact with the workpiece surface being machined. The controller of the grinding robot receives the signal from the displacement sensor 14 and calculates the wear of the grinding wheel 17. When the wear of the grinding wheel 17 reaches the threshold, the controller sends a command to the servo motor 7 to drive the slider 8 to move, so that the grinding wheel 17 moves axially to complete the wear compensation.

[0015] Furthermore, the axis of the displacement sensor 14 probe is parallel to the axis of the electric spindle 12.

[0016] Furthermore, the transmission assembly includes a driving pulley 4, a driven pulley 3, and a synchronous belt 5. The driving pulley 4 is connected to the output shaft of the servo motor 7, and the driven pulley 3 is connected to the ball nut 16. Alternatively, the transmission assembly can also employ gear transmission.

[0017] Furthermore, the two ends of the spline screw 2 are provided with an upper limit block 10 and a lower limit block 1 for limiting.

[0018] Furthermore, the spline screw 2 is also equipped with an optical axis fixing ring 18 and a sensor baffle 19, and the slider 8 is equipped with a proximity switch sensor 20 that cooperates with the sensor baffle 19.

[0019] Furthermore, the servo motor 7 is fixedly mounted on the slider 8 via the servo motor bracket 6, the electric spindle 12 is fixedly mounted on the slider 8 via the electric spindle bracket 13, and the displacement sensor 14 is fixedly mounted on the electric spindle 12 bracket via the displacement sensor mounting bracket 15.

[0020] This invention incorporates a displacement sensor 14 fixed in position relative to the grinding wheel 17, ensuring that the sensing end of the sensor 14 is always in contact with the surface of the workpiece. As the grinding wheel 17 wears, the surface dimensions of the workpiece change, and the sensor reads this change in real time, thereby accurately calculating the wear amount of the grinding wheel 17. This direct contact measurement method fundamentally eliminates errors caused by abrasive grain obstruction and air disturbance in optical inspection, significantly improving the reliability and accuracy of the inspection.

[0021] This invention converts the rotational motion of the servo motor 7 into the precise axial movement of the slider 8 through key and thread engagement, thus ensuring the stability of the grinding wheel 17's posture.

[0022] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A grinding robot wheel wear detection and compensation device based on contact displacement sensing, comprising a grinding wheel, a lifting assembly, and an electric spindle for driving the grinding wheel, characterized in that: A displacement sensor is fixed in a relative position to one side of the grinding wheel. The lifting assembly includes a spline screw, a servo motor, and a connecting flange. The two ends of the connecting flange are connected to the grinding robot and the spline screw, respectively. A slider is installed on the spline screw. The two ends of the slider are respectively provided with a ball spline sleeve that mates with the spline screw key and a ball nut that mates with the spline screw thread. The servo motor is connected to the ball nut through a transmission assembly. The servo motor drives the ball nut to rotate so that the slider moves axially along the spline screw. During grinding, the displacement sensor is always in contact with the workpiece's machined surface.

2. The grinding robot wheel wear detection and compensation device based on contact displacement sensing according to claim 1, characterized in that: The axis of the displacement sensor probe is parallel to the axis of the electric spindle.

3. The grinding robot wheel wear detection and compensation device based on contact displacement sensing according to claim 1, characterized in that: The transmission assembly includes a drive pulley, a driven pulley, and a timing belt. The drive pulley is connected to the output shaft of the servo motor, and the driven pulley is connected to a ball nut.

4. The grinding robot wheel wear detection and compensation device based on contact displacement sensing according to claim 1, characterized in that: The spline screw has an upper limit block and a lower limit block at both ends.

5. The grinding robot wheel wear detection and compensation device based on contact displacement sensing according to claim 1, characterized in that: Both the servo motor and the electric spindle are fixedly mounted on the slider.

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