CN-122008051-A - Flexible clamping grinding device for aviation special-shaped parts

CN122008051ACN 122008051 ACN122008051 ACN 122008051ACN-122008051-A

Abstract

The invention discloses a flexible clamping polishing device for aviation special-shaped parts, which belongs to the technical field of robot polishing and comprises a robot executing unit, an XY moving unit, a Z-direction telescopic supporting unit, a vacuum adsorbing unit and a three-degree-of-freedom polishing executing unit, wherein the three units and the vacuum adsorbing unit form a distributed multi-dimensional adjustable flexible supporting adsorbing array, each supporting unit has the capability of XYZ three-dimensional translation and multi-degree-of-freedom rotation adjustment, a vacuum adsorbing end is an elastic buffer contact head, the polishing executing unit is provided with a redundant parallel swinging mechanism and a parallel spring stiffness dynamic adjusting module, and the grinding head is quick-detachable and can realize stepless speed regulation and axial floating. The device realizes the cooperation of clamping polishing depth, improves the suitability and the machining precision of a complex special-shaped structure, enhances the universality of the device, reduces the production operation and maintenance cost and adapts to the polishing requirements of different aviation materials.

Inventors

LIU YONG
TAO YUHUI
QIAN SEN
WU ZHE
DU ZHAOQUAN
Zhao Zeyao
LI CHANGQI
YANG LIFENG
SONG GUOHUA

Assignees

合肥工业大学

Dates

Publication Date: 20260512
Application Date: 20260302

Claims (8)

1. A flexible clamping polishing device for aviation special-shaped parts is characterized by comprising a robot executing unit, an XY-direction moving unit, a Z-direction telescopic supporting unit, a vacuum adsorption unit and a three-degree-of-freedom polishing executing unit which are distributed in an array mode, wherein the Z-direction telescopic supporting unit is mounted on the XY-direction moving unit, the vacuum adsorption unit is in transmission connection with the Z-direction telescopic supporting unit, the three-degree-of-freedom polishing executing unit is fixedly connected with the robot executing unit, the XY-direction moving unit, the Z-direction telescopic supporting unit and the vacuum adsorption unit form a multi-dimensional adjustable flexible supporting adsorption array which is distributed in an array mode, and the three-degree-of-freedom polishing executing unit is mounted with a rigidity dynamic adjusting module.
2. The flexible clamping polishing device for aviation special-shaped parts of claim 1, wherein the robot execution unit comprises a robot and a robot base, the robot is fixedly arranged on the robot base, and an execution end of the robot is fixedly connected with an adapter flange of the three-degree-of-freedom polishing execution unit.
3. The flexible clamping polishing device for aviation special-shaped parts, which is disclosed in claim 1, is characterized in that the XY-direction moving unit comprises a moving unit profile support and a bottom plate, wherein the bottom plate is fixed on the moving unit profile support, a plurality of X-direction guide rail supporting bases are symmetrically arranged on the upper surface of the bottom plate, X-direction guide rails are arranged on the X-direction guide rail supporting bases, X-direction sliding blocks are connected to the surfaces of the two ends of the X-direction guide rails in a sliding manner, and the X-direction sliding blocks are in threaded connection with X-direction lead screws through ball sliding blocks; the upper surface of the X-direction sliding block is fixedly connected with a Y-direction guide rail through a connecting plate, and the Y-direction guide rail synchronously and linearly moves along the X-direction guide rail along with the X-direction sliding block; The X-direction lead screw and the Y-direction lead screw are in transmission connection with a gear driving motor through a gear assembly, the gear assembly comprises a driving gear and a driven gear which are meshed with each other, the driving gear is fixedly connected with an output shaft of the gear driving motor, the driven gear is fixedly connected with the end part of the lead screw, and the end parts of the X-direction lead screw and the Y-direction lead screw are in running fit with the bottom plate through bearings.
4. The flexible clamping polishing device for the aviation special-shaped parts is characterized in that the Z-direction telescopic supporting unit comprises a driving motor support, a driving motor, a motor mounting frame, a coupler, a bearing, a threaded shaft, a guide post, a threaded lifting post and a sealing ring, the driving motor is fixed on a Y-direction sliding block of the XY-direction moving unit through the driving motor support, the motor mounting frame is fixedly connected with the Y-direction sliding block, an output shaft of the driving motor is in transmission connection with the threaded shaft through the coupler, the threaded shaft is in running fit with the motor mounting frame through the bearing, the threaded lifting post is in threaded fit with the threaded shaft, the guide post is in sliding fit with the threaded lifting post, one end, far away from the threaded shaft, of the threaded lifting post is in sealing connection with the vacuum adsorption unit through the sealing ring, and the driving motor can drive the threaded shaft to rotate and drive the threaded lifting post to perform Z-direction lifting motion along the guide post.
5. The flexible clamping polishing device for the aviation special-shaped parts is characterized in that the vacuum adsorption unit comprises a sealing bolt, a connector, a sealing nut, a supporting column head, an inner threaded cover, a sucker fixing ring, a rubber sucker and a supporting ball head, the sealing bolt is fixedly connected with a threaded lifting column of the Z-direction telescopic supporting unit through the connector and the sealing nut, the supporting column head is fixedly connected with the sealing bolt, the rubber sucker and the supporting ball head are fixedly connected with the sucker fixing ring, the sucker fixing ring is sleeved on the supporting column head and can swing around the supporting column head, the inner threaded cover is in threaded fit with the supporting column head, the sucker fixing ring can be extruded and fixed by screwing the inner threaded cover, the supporting ball head is an elastic buffering contact head, the vacuum sucker is formed in the supporting ball head, and the vacuum sucker is communicated with an external vacuum generator and a compressor.
6. The flexible clamping polishing device for aviation special-shaped parts, which is disclosed in claim 1, is characterized in that the three-degree-of-freedom polishing execution unit comprises an end effector adapter flange, a bottom plate, a movable platform and a polishing head, wherein the movable platform is connected with the bottom plate through a first swing mechanism which is symmetrically arranged and a second swing mechanism which is symmetrically arranged; The first swing mechanism comprises a worm and worm gear transmission mechanism, a first driving motor, a crank and a connecting rod, wherein the first driving motor is an adjusting motor and is fixed on the bottom plate, the worm and worm gear transmission mechanism is in transmission connection with an output shaft of the first driving motor, an output end of the worm and worm gear transmission mechanism is fixedly connected with the connecting rod, the connecting rod is in transmission connection with the crank, and the crank is connected with the moving platform and can drive the moving platform to swing back and forth; The second swing mechanism comprises an air cylinder, a spring, a rotating seat, a rotating shaft and a second driving motor, wherein the air cylinder is connected with the telescopic end of the second driving motor through a motor support, the motor support is rotationally connected with a fixing piece through a connecting pin, the second driving motor can drive the moving platform to swing left and right, the spring and the air cylinder are linked to form the stiffness dynamic adjusting module, and the air cylinder can change the compression amount of the spring through telescopic movement.
7. The flexible clamping polishing device for the aviation special-shaped parts, which is disclosed in claim 6, is characterized in that the polishing head is fixedly connected with the rotating shaft, the rotating shaft is rotatably connected with the rotating seat, the rotating seat is fixedly connected with the movable platform, the polishing head is of a quick-dismantling structure, and an elastic floating buffer structure is arranged at the end part of the polishing head.
8. The flexible clamping polishing device for aviation special-shaped parts, as set forth in claim 1, characterized in that the multidimensional adjustable flexible supporting and adsorbing array is composed of a plurality of supporting units distributed in a distributed mode, and each supporting unit is a combination of the XY-direction moving unit, the Z-direction telescopic supporting unit and the vacuum adsorbing unit.

Description

Flexible clamping grinding device for aviation special-shaped parts Technical Field The invention relates to the technical field of robot polishing, in particular to a flexible clamping polishing device for aviation special-shaped parts. Background In the aerospace manufacturing industry, aviation special-shaped parts such as complex special-shaped thin-wall skins, aviation composite special-shaped parts and the like are core parts forming aviation products, and the surface quality of the aviation special-shaped parts directly influences the aerodynamic performance, the structural strength and the service life of the aviation products. With the innovation of aviation products to high-performance and light-weight directions, the parts are mostly made of high-strength and high-hardness materials such as titanium alloy, high-temperature alloy, resin matrix composite materials and the like, the structural shape is more complex, and the clamping positioning and surface polishing processing are provided with serious challenges. At present, the clamping and polishing processing of aviation special-shaped parts gradually abandons the traditional manual polishing mode, and turns to the development of an automatic and flexible processing technology. In the aspect of the clamping technology, the flexible clamping and automatic polishing system for the aviation special-shaped parts is realized, the adaptive support-based flexible clamp scheme is adopted, the accurate positioning of special-shaped parts is realized through a combined clamp workbench, an adaptive support flexible clamp group and the like, but the clamping mechanism and the polishing mechanism of the scheme are mutually independent, do not form an integrated design, have poor processing consistency and are easily affected by station conversion, the clamping and polishing collaborative aspect is realized by an integrated polishing head module, a six-axis robot and an automatic polishing system of a supporting vehicle module, the collaborative control of clamping support and automatic polishing is realized, the adjusting range of the supporting vehicle module is limited, the adaptability of special-shaped parts with large curvature change and irregular structure is insufficient, the collaborative adjusting precision of a grinding head and the clamping mechanism depends on the motion control of the aviation robot, and no active linkage adaptive mechanism is adopted, and in addition, the clamping mechanism is also suitable for the multiplex part synchronous polishing scheme of regular arc-shaped parts, but the clamping adaptive capability of the automatic polishing system lacks effective clamping and adaptive capability to the typical complex special-shaped structure in the aviation field, and the quality control in the high-strength material polishing process is not considered, and the quality control and the stability of the polishing process in the air-craft quality control is difficult to ensure. In summary, the prior art generally has the problems of insufficient clamping and polishing integrated coordination, limited adaptability to a complex special-shaped structure at the polar end, to-be-lifted linkage precision of force control adjustment and clamping positioning, high clamping rigidity, easy damage of parts, poor compatibility of special clamping structure required customized design, and the like, and is difficult to fully meet the severe requirements of aviation special-shaped parts, particularly high hardness, variable curvature and thin-wall special-shaped parts, on clamping stability, polishing suitability and machining precision. Therefore, research and development of an integrated clamping polishing device capable of realizing cooperation of clamping and polishing depth, having higher flexible adaptation capability and accurate force control adjustment becomes a key requirement for solving the bottleneck of the current technology. Disclosure of Invention The invention aims to provide a flexible clamping polishing device for aviation special-shaped parts, which realizes the depth cooperation of clamping and polishing, improves the adaptation capability to complex special-shaped structures, ensures the processing precision and stability, enhances the universality of the device and reduces the production operation and maintenance cost. The invention provides a flexible clamping polishing device for aviation special-shaped parts, which comprises a robot executing unit, an XY moving unit, a Z-direction telescopic supporting unit, a vacuum adsorption unit and a three-degree-of-freedom polishing executing unit, wherein the XY moving unit, the Z-direction telescopic supporting unit, the vacuum adsorption unit and the three-degree-of-freedom polishing executing unit are distributed, the Z-direction telescopic supporting unit is carried on the XY moving unit, the vacuum adsorption unit is in transmission connection with the Z-direction telescopic suppo