阅读说明：本技术 一种基于双头电机形式的力控打磨机 (Force control grinding machine based on double-head motor form ) 是由 张欢 于 2021-10-12 设计创作，主要内容包括：本发明公开了一种基于双头电机形式的力控打磨机,涉及打磨机技术领域,包括力控执行器机构,所述力控执行器机构通过转接法兰连接有双头电机,所述双头电机的输出端螺纹连接有延长杆；本发明通过砂盘在工件表面运动打磨时,第一传感器检测当前设备的位置姿态,同时通过第三传感器判断砂盘的行程位置,再通过第二传感器感知砂盘在打磨过程中最前端的运动状态,再通过力传感器感知当前砂盘与工件的接触力,并将以上信息反馈至控制系统,控制系统在通过力控算法实时输出控制信号,控制信号用于控制压力阀,进而控制气缸的输出力,带动双头电机和砂盘轴向浮动,从而达到砂盘与工件之间接触力精准和稳定。(The invention discloses a force control grinding machine based on a double-head motor form, which relates to the technical field of grinding machines and comprises a force control actuator mechanism, wherein the force control actuator mechanism is connected with a double-head motor through a transfer flange, and the output end of the double-head motor is in threaded connection with an extension rod; when the sand table moves and polishes the surface of a workpiece, the first sensor detects the position posture of current equipment, the third sensor judges the stroke position of the sand table, the second sensor senses the motion state of the foremost end of the sand table in the polishing process, the force sensor senses the current contact force between the sand table and the workpiece and feeds back the information to the control system, the control system outputs a control signal in real time through a force control algorithm, the control signal is used for controlling a pressure valve and further controlling the output force of the cylinder to drive the double-end motor and the sand table to axially float, and therefore accurate and stable contact force between the sand table and the workpiece is achieved.)

1. A force controlled sander in the form of a dual head motor, comprising:

the force control actuator mechanism (1), the force control actuator mechanism (1) is connected with a double-end motor (3) through a transfer flange (2), and the output end of the double-end motor (3) is in threaded connection with an extension rod (4);

and one end of the extension rod (4) far away from the output end of the double-head motor (3) is in threaded connection with the sand disc (5).

2. A double-headed motor-based force-controlled grinding machine according to claim 1, characterized in that the force-controlled actuator mechanism (1) comprises a base connected to the adapter flange (2), a housing being fixedly connected to the side of the base remote from the adapter flange (2), the housing being of a hollow construction;

the top of the shell is connected with a cover plate, and a round hole is formed in the cover plate.

3. The force-controlled grinding machine based on the double-head motor form of claim 2, characterized in that a guide rail and a cylinder which are fixedly connected with a base are distributed in the shell, and the guide rail is connected with a sliding plate through a sliding block in a sliding manner;

and the extension rod of the air cylinder is connected with the sliding plate through a force sensor.

4. The double-headed motor based force control sander of claim 3, wherein the sliding plate is placed on a cover plate, and a gap between the circular hole in the cover plate and the sliding plate is filled with a sealing body;

the sealing body is made of soft and easily-deformable materials.

5. The double-headed motor based force control sander of claim 3, wherein a first sensor, a second sensor, a third sensor, a pressure valve, a diverter valve, a control circuit board are mounted on the inner wall of the housing;

the first sensor is used for measuring the attitude of the equipment, the second sensor is used for measuring the acceleration of the first moving part, the third sensor is used for measuring the position of the first moving part, the pressure valve is used for adjusting the gas pressure, the reversing valve is used for changing the direction of the gas path, and the control circuit board is used for controlling the whole system.

6. A double-headed motor based force-controlled sanding machine according to claim 1, characterized in that the force-controlled actuator mechanism (1) is bolted with a robot.

7. A force controlled sander in the form of a double-ended motor according to claim 1, characterized in that the screw threads of the output of the double-ended motor (3) and the extension rod (4) and the screw threads of the extension rod (4) and the sanding disc (5) are all in the opposite direction to the rotation of the output of the double-ended motor (3).

8. A force controlled sander in the form of a double-headed motor according to claim 1, characterized in that the double-headed motor (3) is provided with an outlet and an air pipe connection.

Technical Field

The invention relates to the technical field of grinding machines, in particular to a force control grinding machine based on a double-head motor form.

Background

The process of polishing can be involved in the parts processing process of different industries such as aerospace, automobile parts, bathroom hardware and the like. However, currently, the grinding of many parts still relies mainly on manual grinding. However, manual polishing has many problems such as low efficiency and difficulty in ensuring polishing quality. Robotic polishing is becoming a growing trend and has found increasing application in the industrial field.

In the existing robot grinding and polishing process, contact force control measures are not considered or only simple rough floating force setting is adopted under most conditions between a grinding head and a workpiece, under the condition, the actual contact force in the grinding process is not accurately controlled, and when the position posture of a grinding tool changes or the grinding tool moves rapidly, the precision of the contact force between the grinding tool and the workpiece is influenced by the weight of the tool, the contact impact force between the grinding tool and the workpiece and the motion acceleration of the grinding tool, so that the grinding efficiency is seriously influenced.

Disclosure of Invention

The invention aims to provide a force control polisher based on a double-head motor, which aims to solve the problems that in the polishing process of the existing robot proposed in the background art, contact force control measures are not considered or only simple rough floating force setting is adopted under most conditions between a polishing head and a workpiece, in such a condition, the actual contact force in the polishing process is not accurately controlled, and in the process of position and posture change of a polishing tool or quick movement of the polishing tool, the precision of the contact force between the polishing tool and the workpiece is influenced by the weight of the tool, the contact impact force between the polishing tool and the workpiece and the motion acceleration of the polishing tool, and the polishing effect is seriously influenced.

In order to achieve the purpose, the invention provides the following technical scheme:

a force controlled sander in the form of a dual head motor comprising:

the force control actuator mechanism is connected with a double-end motor through a transfer flange, and the output end of the double-end motor is in threaded connection with an extension rod;

and one end of the extension rod, which is far away from the output end of the double-head motor, is in threaded connection with the sand disc.

As a further scheme of the invention, the force control actuator mechanism comprises a base connected with an adapter flange, wherein a shell is fixedly connected to one side of the base, which is far away from the adapter flange, and the shell is of a hollow structure;

the top of the shell is connected with a cover plate, and a round hole is formed in the cover plate.

As a further scheme of the invention, a guide rail and an air cylinder which are fixedly connected with a base are distributed in the shell, and the guide rail is connected with a sliding plate through a sliding block in a sliding way;

and the extension rod of the air cylinder is connected with the sliding plate through a force sensor.

As a further scheme of the invention, the sliding plate is arranged on the cover plate, and a sealing body is filled in a gap between the circular hole in the cover plate and the sliding plate;

the sealing body is made of soft and easily-deformable materials.

As a further scheme of the invention, a first sensor, a second sensor, a third sensor, a pressure valve, a reversing valve and a control circuit board are respectively arranged on the inner wall of the shell;

the first sensor is used for measuring the attitude of the equipment, the second sensor is used for measuring the acceleration of the first moving part, the third sensor is used for measuring the position of the first moving part, the pressure valve is used for adjusting the gas pressure, the reversing valve is used for changing the direction of the gas path, and the control circuit board is used for controlling the whole system.

As a further aspect of the present invention, the force control actuator mechanism is connected to a robot through a bolt.

As a further scheme of the invention, the screw thread screwing directions of the output end of the double-head motor and the extension rod and the screw thread screwing directions of the extension rod and the sand disc are opposite to the rotation direction of the output end of the double-head motor.

As a further scheme of the invention, the double-end motor is provided with an outlet and an air pipe interface.

Compared with the prior art, the invention has the beneficial effects that:

when the sand table moves and polishes on the surface of a workpiece, the first sensor detects the position posture of current equipment, the third sensor judges the stroke position of the sand table, the second sensor senses the motion state of the foremost end of the sand table in the polishing process, the force sensor senses the current contact force between the sand table and the workpiece and feeds back the information to the control system, the control system outputs a control signal in real time through a force control algorithm, the control signal is used for controlling a pressure valve and further controlling the output force of the cylinder to drive the double-end motor and the sand table to axially float, so that the contact force between the sand table and the workpiece is accurate and stable, and the whole polishing efficiency is improved.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic structural diagram of a force-controlled actuator mechanism according to the present invention;

FIG. 3 is a schematic view of a double-headed motor according to the present invention;

FIG. 4 is a schematic view of an extension pole of the present invention;

FIG. 5 is a schematic view of the connection structure of the louver blades according to the present invention;

fig. 6 is a schematic structural diagram of an adapter according to the present invention.

In the figure: 1. a force controlled actuator mechanism; 2. a transfer flange; 3. a double-headed motor; 4. an extension pole; 5. a sand pan; 6. louver blades; 7. an adapter; 701. and (4) mounting the groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1:

referring to fig. 1-4, the present invention provides a technical solution: a force control grinding machine based on a double-head motor form comprises a force control actuator mechanism 1, wherein the force control actuator mechanism 1 is connected with a double-head motor 3 through a transfer flange 2, and the output end of the double-head motor 3 is in threaded connection with an extension rod 4;

one end of the extension rod 4, which is far away from the output end of the double-end motor 3, is in threaded connection with a sand disc 5, the force control actuator mechanism 1 comprises a base connected with a switching flange 2, one side of the base, which is far away from the switching flange 2, is fixedly connected with a shell, and the shell is of a hollow structure;

the top of the shell is connected with a cover plate, the cover plate is provided with a round hole, a guide rail and an air cylinder which are fixedly connected with the base are distributed in the shell, and the guide rail is connected with a sliding plate through a sliding block in a sliding manner;

an extension rod of the air cylinder is connected with a sliding plate through a force sensor, the sliding plate is arranged on a cover plate, and a sealing body is filled in a gap between a round hole in the cover plate and the sliding plate;

the sealing body is made of soft and easily-changeable materials, and a first sensor, a second sensor, a third sensor, a pressure valve, a reversing valve and a control circuit board are respectively arranged on the inner wall of the shell;

first sensor is used for the measuring equipment gesture, the second sensor is used for measuring first motion portion acceleration, the third sensor is used for measuring first motion portion position, the pressure valve is used for adjusting gas pressure, the switching-over valve is used for changing the gas circuit direction, control circuit board is used for controlling entire system, force control executor mechanism 1 has the robot through bolted connection, double-end motor 3's output and extension rod 4's screw thread precession direction, extension rod 4 all rotates the opposite direction with double-end motor 3's output with sand table 5's screw thread precession direction, be provided with the outlet on double-end motor 3, the trachea interface.

Specifically, when the device is used, firstly, a user installs the whole device on a robot through a bolt, then, an electric wire is connected with a wire outlet on the double-headed motor 3, the user starts the double-headed motor 3, the output end of the double-headed motor 3 drives an extension rod 4 to be matched with a sand disc 5 to polish a workpiece, a first sensor detects the position posture of current equipment, meanwhile, a third sensor judges the stroke position of the sand disc 5, a second sensor senses the most front motion state of the sand disc 5 in the polishing process, a force sensor senses the current contact force between the sand disc 5 and the workpiece and feeds back the information to a control system, the control system outputs a control signal in real time through a force control algorithm, the control signal is used for controlling a pressure valve and further controlling the output force of an air cylinder, the double-headed motor 3 and the sand disc 5 are driven to axially float, and therefore, the contact force between the sand disc 5 and the workpiece is accurate and stable, help improving holistic efficiency of polishing, secondly double-end motor 3's output and extension rod 4's screw thread precession direction, extension rod 4 all rotates opposite direction with double-end motor 3's output with sand table 5's screw thread precession direction, can guarantee that extension rod 4 can not take place not hard up with sand table 5 when double-end motor 3 passes through output drive extension rod 4 and sand table 5, guarantee that holistic efficiency of polishing is not influenced, can link to each other with external equipment through the trachea interface on double-end motor 3 at last, to the inside cold air of carrying of double-end motor 3, reach the cooling to double-end motor 3, prevent that double-end motor 3 high temperature from causing the short circuit.

Example 2:

referring to fig. 5-6, the present invention provides a technical solution: a force control grinding machine based on a double-head motor form is characterized in that an extension rod 4 can be further connected with an adapter 7 in a threaded mode, and one end, far away from the extension rod 4, of the adapter 7 is connected with a louver blade 6 in a threaded mode;

extension rod 4 all rotates opposite direction with double-end motor 3's output with the screw thread precession direction of adapter 7, adapter 7 and the screw thread precession direction of shutter plate 6, is located and has seted up mounting groove 701 on the 7 outer walls of adapter, installs abrasive paper in the mounting groove 701.

Specifically, referring to embodiment 1, a user can detach the sand plate 5 from the extension rod 4, and then connect the adapter 7 with the extension rod 4 through threads, and connect the adapter 7 with the louver blade 6 through threads, and install sand paper in the installation groove 701 on the outer wall of the adapter 7, when in use, the output end of the double-head motor 3 drives the extension rod 4 to cooperate with the louver blade 6 or the sand paper to polish a workpiece, so that the invention can deal with various polishing scenes by replacing polishing tools, thereby improving the applicability of the invention, secondly, the screw thread screwing directions of the extension rod 4 and the adapter 7, the screw thread screwing directions of the adapter 7 and the louver blade 6 are all opposite to the rotation direction of the output end of the double-head motor 3, and the double-head motor 3 can be ensured to drive the extension rod 4 and the adapter 7, the louver blade 6, the delay rods 4 and 7, and the louver blade 6 through the output end, The sand paper can not loosen, and the integral polishing efficiency is not influenced.

The working principle is as follows: for the invention, firstly, a user installs the whole body on a robot through bolts, then an electric wire is connected with a wire outlet on a double-head motor 3, the user starts the double-head motor 3, the output end of the double-head motor 3 drives an extension rod 4 to match with a sand disc 5 to polish a workpiece, a first sensor detects the position posture of the current equipment, meanwhile, the stroke position of the sand disc 5 is judged through a third sensor, the second sensor senses the most front motion state of the sand disc 5 in the polishing process, the force sensor senses the current contact force between the sand disc 5 and the workpiece and feeds back the information to a control system, the control system outputs a control signal in real time through a force control algorithm, the control signal is used for controlling a pressure valve and further controlling the output force of an air cylinder to drive the double-head motor 3 and the sand disc 5 to axially float, so as to achieve the accurate and stable contact force between the sand disc 5 and the workpiece, the grinding machine is beneficial to improving the whole grinding efficiency, secondly, the screw thread screwing directions of the output end of the double-head motor 3 and the extension rod 4 and the screw thread screwing directions of the extension rod 4 and the sand table 5 are all opposite to the rotation direction of the output end of the double-head motor 3, the extension rod 4 and the sand table 5 can be ensured not to be loosened when the double-head motor 3 drives the extension rod 4 and the sand table 5 through the output end, the whole grinding efficiency is ensured not to be influenced, the double-head motor 3 can be connected with external equipment through an air pipe interface on the double-head motor 3, cold air is conveyed into the double-head motor 3, the double-head motor 3 is cooled, short circuit caused by overhigh temperature of the double-head motor 3 is prevented, finally, a user can disassemble the sand table 5 from the extension rod 4, then the adapter 7 is in threaded connection with the extension rod 4, the adapter 7 is in threaded connection with a louver sheet 6, and sand paper is installed in an installation groove 701 on the outer wall of the adapter 7, when the double-end motor is used, the output end of the double-end motor 3 drives the extension rod 4 to be matched with the louver blades 6 or the abrasive paper to polish a workpiece, so that the double-end motor can deal with various polishing scenes by replacing polishing tools, the applicability of the double-end motor is improved, the screw thread screwing directions of the extension rod 4 and the adapter 7 and the screw thread screwing directions of the adapter 7 and the louver blades 6 are opposite to the rotation direction of the output end of the double-end motor 3, the long rod 4 and the adapter 7, the louver blades 6 and the abrasive paper cannot be loosened when the double-end motor 3 drives the extension rod 4 and the adapter 7, the louver blades 6 and the abrasive paper through the output end, and the whole polishing efficiency is not influenced.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.