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CN-121973172-A - Force interaction polishing operation robot

CN121973172ACN 121973172 ACN121973172 ACN 121973172ACN-121973172-A

Abstract

The invention discloses a force interaction polishing operation robot which comprises a frame, a follow-up steering module, a polishing operation module and three groups of driving winding modules, wherein the driving winding modules comprise rotating shafts and winding wheels which are connected with a motor bracket in a rotating mode, the rotating shafts of the two modules are coaxial, the rotating shafts of the other modules are coaxial and perpendicular to the rotating shafts, the follow-up steering module comprises a center sleeve and three universal joints capable of changing included angles, the polishing operation module comprises three groups of stretching structures which are formed by one rope and one spring in series, the three ropes are respectively wound on the three winding wheels, and two ends of each rope are respectively connected with a front platform and a rear platform. When the robot performs polishing operation, the data of polishing operation force is calculated by detecting the torque output of the motor, and the polishing force interaction is realized by the binding force feedback control equipment. The whole device has the advantages of higher force feedback precision, larger working space, compact structure, low inertia of moving parts, light weight, low cost, simple maintenance and the like.

Inventors

  • WANG PANFENG
  • LI JIAXING
  • Meng Qihao
  • SUN TAO

Assignees

  • 天津大学

Dates

Publication Date
20260505
Application Date
20260304

Claims (8)

  1. 1. The robot is characterized by comprising a frame (1), three groups of driving winding modules (2) with the same structure, a group of follow-up steering modules (3), a group of polishing operation modules (4) and force feedback control equipment; the frame (1) is a rectangular supporting frame formed by four supports; the driving winding module (2) comprises a rotating shaft (21), wherein one end of the rotating shaft (21) is provided with a motor bracket (22), a driving motor (23) is arranged on the motor frame (22), and a position detection device is arranged on the driving motor (23), the driving motor (23) drives a winding wheel (24) rotationally connected with the motor frame (22) through a transmission mechanism (25), and the other end of the rotating shaft (21) in each group of driving winding modules (2) is respectively rotationally arranged on three supports at the top and two sides of the frame (1) through bearings; The follow-up steering module (3) comprises a center sleeve (34), a Hooke joint installation seat (39) with a hexagonal through hole in the inside, a main Hooke joint sliding sleeve (33), a main universal joint (31) and two auxiliary universal joints (32), wherein the center sleeve (34) is installed on the Hooke joint installation seat (39) and can not rotate, the main Hooke joint sliding sleeve (33) slides on the center sleeve (34), two auxiliary Hooke joint rotating shafts (35) which are coaxial and are orthogonal to the axis of the center sleeve (34) are arranged on the center sleeve (34), hooke joint side plates of the two auxiliary universal joints (32) are all connected with the two auxiliary Hooke joint rotating shafts (35) in a rotating mode, two main Hooke joint rotating shafts (36) which are coaxial and are orthogonal to the axis of the main Hooke joint sliding sleeve (33) are arranged on the main Hooke joint sliding sleeve (33), and the Hooke joint side plates of the main universal joint (31) are connected with the two main Hooke joint rotating shafts (36) in a rotating mode, and the two main universal joints (32) can realize the change of the included angle between the two universal joints (32) and the main universal joint module (3); The hook hinge mounting seat (39) is provided with slide block connecting pieces (37) on two opposite sides in the radial direction, each slide block connecting piece (37) is fixedly provided with a slide block (38) through bolt connection, and the positions of the two slide blocks (38) are respectively parallel to two opposite side walls of a hexagonal through hole in the hook hinge mounting seat (39); The polishing operation module (4) comprises a center rod (42), wherein a plurality of guide rail connecting pieces (47) are respectively arranged on two opposite sides of the outer rotary surface of the center rod (42) in the radial direction, the guide rail connecting pieces (47) on two sides are connected with an axial guide rail (48), the center rod (42) penetrates into a hexagonal through hole of a Hooke hinge mounting seat (39) of the follow-up steering module (3), the two axial guide rails (48) are in sliding fit with two sliding blocks (38), a front platform (43) and a rear platform (41) are respectively arranged at two ends of the center rod (42), and a polishing mechanism (44) is fixed on the front platform (43); The polishing device comprises a polishing operation module (4), wherein a stretching structure is arranged between each group of driving winding modules (2) and the polishing operation module (4), the stretching structure comprises a rope (45), one end of the rope (45) is connected with a tension spring (46), the rope (45) is wound on a winding wheel (24) of the driving winding modules (2), the tension spring (46) at one end of the rope (45) is respectively fixed on a front platform (43) or a rear platform (41) of the polishing operation module (4), and the other end of the rope (45) is respectively fixed on the rear platform (41) or the front platform (43) of the polishing operation module (4).
  2. 2. The robot according to claim 1, wherein the rotating shafts (21) of the three groups of driving winding modules are located on the same plane, wherein the rotating shafts (21) of the two groups of driving winding modules are coaxial, and the rotating shafts (21) of the other group of driving winding modules are arranged perpendicular to the rotating shafts of the rotating shafts (21) of the two groups of driving winding modules.
  3. 3. The robot according to claim 1, wherein the transmission mechanism (25) in the drive winding module (2) is any one of a coupling, a synchronous belt transmission mechanism, and a gear transmission mechanism, and the direct or indirect connection between the output shaft of the drive motor (23) and the rotating shaft of the reel (24) is realized.
  4. 4. A force interactive sanding operation robot as defined in claim 1, characterized in that the secondary hook pivot (35) in the follow-up steering module (3) is perpendicular to the axis of the primary hook pivot (36).
  5. 5. The robot according to claim 1, wherein the shaft heads at the other ends of the rotating shafts (21) in the three groups of driving winding modules (2) respectively penetrate through three supports of the frame (1) and are respectively connected with the hook frame bases of the main universal joint (31) and the two auxiliary universal joints (32) in a key manner.
  6. 6. A force interactive sanding robot as defined in claim 1, characterized in that the tension springs (46) in the three sets of tension structures are connected to the front platform (43) or rear platform (41) simultaneously.
  7. 7. The force interactive sanding operation robot as recited in claim 1, characterized in that when the robot performs a sanding operation, sanding operation force data is calculated from the output torque of the drive motor (23), and sanding force interaction is achieved in combination with the force feedback control device.
  8. 8. The robot for force interactive sanding operation according to claim 1, wherein the position detection means detects a rotation angle of the driving motor (23) when the robot performs a sanding operation, calculates a spatial position of a rotation center of the sanding mechanism (44), and realizes pose monitoring of the sanding mechanism (44).

Description

Force interaction polishing operation robot Technical Field The invention belongs to a robot, and particularly relates to a force interaction polishing operation robot for polishing operation. Background The foundry industry is basic industry, takes up important place in the manufacturing industry of China, and when the foundry industry of China rapidly develops, the foundry post-treatment polishing field has become the bottleneck restricting the foundry industry development of China due to the factors of high labor intensity, severe working environment, environmental pollution and the like, and the polishing allowance of the foundry parts has large variation, the traditional robot is difficult to adapt, the polishing blade is easy to consume, the cost is increased, and the prior equipment cannot feed back the operation force of polishing operation. Therefore, a high-performance grinding robot with force interaction capability is needed to realize the force feeling of the grinding operation process. Disclosure of Invention Aiming at the background technology, the invention provides a force interaction polishing operation robot, which adopts a stretching integral structure with unique advantages of light weight and compact structure, has higher force feedback precision, larger working space and compact structure, and simultaneously has the advantages of low inertia of moving parts, low cost, simple maintenance and the like. In order to solve the technical problems, the invention provides a force interaction polishing operation robot which comprises a frame, three groups of driving winding modules with the same structure, a group of follow-up steering modules, a group of polishing operation modules and force feedback control equipment, wherein the frame is provided with a plurality of driving winding modules; The frame is a rectangular supporting frame formed by four supports; the driving winding module comprises a rotating shaft, wherein one end of the rotating shaft is provided with a motor bracket, a driving motor is arranged on a motor rack, and a position detection device is arranged on the driving motor; The follow-up steering module comprises a central sleeve, a Hooke joint mounting seat with a hexagonal through hole in the inner part, a main Hooke joint sliding sleeve, a main universal joint and two auxiliary universal joints, wherein the central sleeve is mounted on the Hooke joint mounting seat and can not rotate, the main Hooke joint sliding sleeve slides on the central sleeve, two auxiliary Hooke joint rotating shafts which are coaxial and are orthogonal with the axis of the central sleeve are arranged on the central sleeve, hooke joint side plates of the two auxiliary universal joints are respectively connected with the two auxiliary Hooke joint rotating shafts in a rotating manner, two main Hooke joint rotating shafts which are coaxial and are orthogonal with the axis of the main Hooke joint sliding sleeve are arranged on the main Hooke joint sliding sleeve, hooke joint side plates of the main universal joint are connected with the two main Hooke joint rotating shafts in a rotating manner, the main universal joint can slide on the central sleeve, the follow-up steering module realizes the change of the included angle between three universal joints of the main universal joint and the two auxiliary universal joints, the two sliding blocks are respectively arranged on the two opposite side walls of the main universal joint sliding sleeve, and the two sliding blocks are respectively connected with the two sliding blocks in a radial direction, and the two sliding blocks are respectively arranged on the two opposite side walls of the sliding blocks through the sliding blocks, and the sliding blocks are connected with the two sliding blocks in parallel through the positions; The polishing operation module comprises a center rod, wherein a plurality of guide rail connecting pieces are respectively arranged on two opposite sides of the outer rotary surface of the center rod in the radial direction, the guide rail connecting pieces on the two sides are connected with an axial guide rail, the center rod penetrates into a hexagonal through hole of a Hooke's joint mounting seat of the follow-up steering module, and the two axial guide rails are in sliding fit with two sliding blocks; the polishing device comprises a polishing operation module, a driving winding module, a polishing operation module and a stretching structure, wherein the stretching structure is arranged between each group of driving winding module and the polishing operation module and comprises a rope, one end of the rope is connected with a tension spring, the rope is wound on a winding wheel of the driving winding module, the tension spring at one end of the rope is fixed on a front platform or a rear platform of the polishing operation module, and the other end of the rope is fixed on the rear platform or the front platform of the polishi