CN111890377B - Robot end effector, robot and grinding system - Google Patents
Robot end effector, robot and grinding system Download PDFInfo
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- CN111890377B CN111890377B CN202010683939.8A CN202010683939A CN111890377B CN 111890377 B CN111890377 B CN 111890377B CN 202010683939 A CN202010683939 A CN 202010683939A CN 111890377 B CN111890377 B CN 111890377B
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- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 239000000428 dust Substances 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- -1 polytetrafluoroethylene Polymers 0.000 claims description 3
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 3
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- 230000007246 mechanism Effects 0.000 abstract description 11
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- 238000007906 compression Methods 0.000 description 14
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- 230000001050 lubricating effect Effects 0.000 description 3
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- 238000009966 trimming Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a robot end actuating mechanism, a robot and a grinding system, wherein the robot end actuating mechanism comprises a body, a connecting part, a displacement adjusting part and a transmission part, wherein the body is provided with a first mounting surface and a second mounting surface which are arranged in parallel, the connecting part is arranged on one side close to the first mounting surface, the connecting part is clamped with the body to form an adjusting cavity, the displacement adjusting part is arranged on the first mounting surface and is contained in the adjusting cavity, the displacement adjusting part is electrically connected with a control system of the robot, the transmission part sequentially penetrates through the body, the displacement adjusting part and the connecting part, one end of the transmission part close to the second mounting surface is connected with a motor shaft of the robot, and the other end of the transmission part is used for connecting a clamping head for clamping a blade. The invention has smart design, is convenient to install, can be adaptively adjusted, thereby realizing automatic grinding, further realizing the constancy of grinding force and grinding quantity, and ensuring the accuracy and consistency of grinding.
Description
Technical Field
The invention relates to the technical field of aero-engine blade processing, in particular to a robot tail end executing mechanism, a robot and a grinding system.
Background
In the manufacture of the aeroengine blade, the processing of the blade is required to realize the precision requirement and the surface quality requirement by adopting a polishing method, and the air inlet and outlet edges of the blade are the most critical parts of the blade, so that the precision and consistency of the blade have important influence on the performance of the aeroengine. However, the blades are formed by complex space curved surfaces, so that the polishing of the air inlet and outlet sides of the blades can be usually finished manually by a craftsman, the working efficiency is low, a large amount of manpower is consumed, in addition, the precision and consistency of the blades are difficult to ensure, and the poor production environment can have a certain influence on the health and safety of the craftsman.
There are constant force control systems on various devices, basically by sensing the change of the grinding force and then controlling the movement of the device to achieve constant grinding force. However, this method has a fatal disadvantage that when the change of the grinding force is sensed, the grinding damage of the blade is caused, and then the grinding force is regulated by sensing the change of the grinding force, so that the damage can be reduced only, and the damage cannot be avoided in time, and the loss can be saved. Therefore, it is highly desirable to provide a robotic end effector that is efficient, accurate, low cost, and provides a constant grinding force.
Disclosure of Invention
The invention aims to provide a robot end actuating mechanism, a robot and a grinding system, which are used for solving the problems that the existing actuating mechanism is low in efficiency, low in precision, high in cost and incapable of providing constant grinding force.
The above object of the present invention can be achieved by the following technical solutions:
the invention provides a robot tail end actuating mechanism which comprises a body, a connecting part, a displacement adjusting part and a transmission part, wherein the body is provided with a first mounting surface and a second mounting surface which are arranged in parallel, the connecting part is arranged on one side close to the first mounting surface, the connecting part is clamped with the body to form an adjusting cavity, the displacement adjusting part is arranged on the first mounting surface and is contained in the adjusting cavity, the displacement adjusting part is electrically connected with a control system of a robot, the transmission part sequentially penetrates through the body, the displacement adjusting part and the connecting part, one end of the transmission part, which is close to the second mounting surface, is connected with a motor shaft of the robot, and the other end of the transmission part is used for connecting a clamping head for clamping a blade.
Preferably, the body comprises a support piece and a transition piece which are sequentially arranged at intervals, the side surface, away from the support piece, of the transition piece forms the first mounting surface, the side surface, away from the transition piece, of the support piece forms the second mounting surface, the side surface, close to the transition piece, of the support piece is provided with a first support plate and a second support plate at intervals along the gravity direction, and the first support plate, the support piece, the second support plate and the transition piece enclose to form a mounting cavity.
Preferably, the transmission part comprises an Oldham coupling which is accommodated in the installation cavity, one end of the Oldham coupling is connected with the motor shaft inserted into the installation cavity from the supporting piece, a transmission shaft which is connected with the other end of the Oldham coupling, the other end of the transmission shaft penetrates through the plate body of the connection part to be connected with the clamping head, the transmission shaft is rotationally connected with the plate body of the connection part through a bearing, and the bearing is arranged on the plate body of the connection part through the fixing piece of the connection part.
Preferably, the displacement adjusting part comprises a first adjusting piece, a second adjusting piece and a rolling guide rail pair, wherein one end of the first adjusting piece is fixed at the upper end of the first mounting surface, the other end of the first adjusting piece is connected with the fixing piece, one end of the second adjusting piece is fixed at the lower end of the first mounting surface, the other end of the second adjusting piece is connected with the fixing piece, the second adjusting piece is electrically connected with the control system, the rolling guide rail pair comprises two guide rails symmetrically arranged at two sides of a connecting axis of the first adjusting piece and the second adjusting piece, two rolling sliding blocks are arranged on each guide rail, and the rolling sliding blocks are fixedly connected with a plate body of the connecting part.
Preferably, the fixing piece comprises a bearing end cover and a long screw, wherein the long screw penetrates through the plate body of the connecting part to be connected with the first spring in the first adjusting piece, and the bearing end cover is arranged below the long screw and abuts against the top end of the second spring in the second adjusting piece.
Preferably, the second adjusting piece further comprises a fixing seat fixed at the lower end of the first mounting surface, and a force sensor, wherein the force sensor is provided with a lower cylindrical section and an upper cylindrical section which are connected, the second spring is sleeved and connected with the upper cylindrical section, the lower cylindrical section is fixed at the upper end of the fixing seat, the diameter of the lower cylindrical section is larger than that of the upper cylindrical section, and the force sensor is electrically connected with the control system.
Preferably, the matching position of the transmission part and the supporting piece is further provided with a lubrication ring and a lubrication ring seat, the lubrication ring seat is clamped between the first supporting plate and the second supporting plate, the lubrication ring is clamped in the lubrication ring seat, and the transmission part passes through the lubrication ring and the lubrication ring seat.
Preferably, the lubrication ring is made of polytetrafluoroethylene material.
Preferably, the support piece comprises a support plate, a support seat and at least three groups of fine adjustment assemblies, wherein the support plate is far away from the side face of the transition piece to form the second installation face, the support seat is arranged on the second installation face, and the support seat is provided with the fine adjustment assemblies, and the fine adjustment assemblies comprise fine adjustment screws and fine adjustment cylindrical blocks which can respectively extend out of the support seat.
Preferably, the dust-proof device further comprises a dust-proof cover for preventing dust from entering between the body and the connecting part, and the dust-proof cover is respectively connected with the body and the connecting part.
The invention also provides a robot, which comprises any one of the end actuating mechanisms of the robot, wherein the end actuating mechanism of the robot is arranged at the tail end of the robot.
The invention also provides a grinding system for self-adaptive grinding of the air inlet and outlet edges of the aero-engine blade, which comprises the robot.
The invention has the characteristics and advantages that:
The invention has smart design, is convenient to install, can be adaptively adjusted, thereby realizing automatic grinding, further realizing the constancy of grinding force and grinding quantity, and ensuring the accuracy and consistency of grinding.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a robotic end effector of the present invention;
FIG. 2 is a second perspective view of the robotic end effector of the present invention;
FIG. 3 is a cross-sectional view of the structure of FIG. 1 taken along the direction A-A;
FIG. 4 is a schematic view of the structure of the connecting part of the present invention;
FIG.5 is a schematic diagram illustrating the assembly of the displacement adjusting portion and the body according to the present invention;
FIG. 6 is a schematic structural view of a second adjusting member according to the present invention;
FIG. 7 is a schematic diagram of a force sensor of the present invention;
FIG. 8 is a schematic view of the structure of the support member of the present invention;
FIG. 9 is a cross-sectional view of the B-B structure of FIG. 8;
FIG. 10 is a schematic view of a robot according to the present invention;
Fig. 11 is a schematic view of the grinding system of the present invention.
Reference numerals and description:
1000. Robot end effector 1, body 10, mounting cavity 11, first mounting surface 12, second mounting surface 13, support member 131, first support plate 132, second support plate 133, support plate 134, support seat 1341, base 14, transition piece 2, connection portion 20, adjustment cavity 3, displacement adjustment portion 31, first adjustment member 311, first spring 312, first spring seat 32, second adjustment member 321, second spring 322, force sensor 3221, lower cylindrical section 3222, upper cylindrical section 323, fixing seat 331, rolling guide pair 3311, guide rail 2, rolling slider 3314, transmission portion 41, cross slider coupler 42, transmission shaft 43, bearing 44, fixing member 441, bearing end cap 442, long screw 5, lubrication ring 6, ring seat 7, fine adjustment assembly 71, screw 72, fine adjustment cylindrical block 8, cover 81, dust prevention 82, pressure plate 4102, diameter D1, L1, L2, axis line 3311, grinding system 3311, guide rail, grinding system driving portion 41, cross slider coupler 42, transmission shaft 43, bearing 44, fixing member 441, bearing end cap 442, long screw 5, lubrication ring 6, fine adjustment assembly 7, fine adjustment assembly 71, screw 72, fine adjustment cylindrical block 8, dust prevention cover 81, dust prevention cover 82, pressure plate 410, diameter, clamping system.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one
The present invention provides a robot end effector 1000, please refer to fig. 1 to 10, the robot end effector 1000 includes a body 1, a connecting portion 2, a displacement adjusting portion 3, and a transmission portion 4. Specifically, referring to fig. 2 and 3, the body 1 has a first mounting surface 11 and a second mounting surface 12 that are parallel to each other, the connecting portion 2 is disposed at a side near the first mounting surface 11, the connecting portion 2 is clamped with the body 1 to form an adjusting cavity 20, the displacement adjusting portion 3 is disposed on the first mounting surface 11 and is accommodated in the adjusting cavity 20, the displacement adjusting portion 3 is electrically connected with a control system of the robot 3000, the transmission portion 4 sequentially passes through the body 1, the displacement adjusting portion 3 and the connecting portion 2, one end of the transmission portion 4 near the second mounting surface 12 is connected with a motor shaft of the robot 3000, and the other end of the transmission portion 4 is used for connecting a clamping head 2000 for clamping a blade. The invention has smart design, is convenient to install and can be adjusted in a self-adaptive way, thereby realizing the constant grinding force and grinding quantity.
Further, referring to fig. 2 and 3, the body 1 includes a support member 13 and a transition member 14 that are sequentially disposed at intervals, a side surface of the transition member 14 away from the support member 13 forms a first mounting surface 11, a side surface of the support member 13 away from the transition member 14 forms a second mounting surface 12, a side surface of the support member 13 near the transition member 14 is provided with a first support plate 131 and a second support plate 132 at intervals along a gravitational direction, and the first support plate 131, the support member 13, the second support plate 132 and the transition member 14 enclose a mounting cavity 10.
In some embodiments, referring to fig. 3, the drive section 4 includes an oldham coupling 41 and a drive shaft 42. Specifically, the Oldham coupling 41 is accommodated in the installation cavity 10, one end of the Oldham coupling 41 is connected with a motor shaft inserted into the installation cavity 10 from the supporting member 13, the transmission shaft 42 is connected with the other end of the Oldham coupling 41, the other end of the transmission shaft 42 penetrates through a plate body of the connecting portion 2 to be connected with the clamping head 2000, the transmission shaft 42 is rotatably connected with the plate body of the connecting portion 2 through a bearing 43, and the bearing 43 is arranged on the plate body of the connecting portion 2 through a fixing member 44 of the connecting portion 2.
It should be understood by those skilled in the art that the motor shaft in this embodiment is the motor shaft at the end of the robot 3000 in some embodiments, and in other embodiments, the motor shaft is the motor shaft at the end of the robot 3000, so long as it can be connected to the oldham coupling 41 to achieve power transmission, which is within the scope of the present invention.
The displacement adjusting unit 3 can adjust the displacement of the blade and the gripper 2000 in real time, so that the rotation axis of the gripper 2000 does not coincide with the motor rotation axis at the end of the robot 3000. To solve this problem, the oldham coupling 41 of the present invention is a high-precision rolling oldham coupling, thereby ensuring that the rotation axis of the gripping head 2000 is always coaxial with the motor rotation axis at the end of the robot 3000. The invention can adaptively adjust the rotation shaft of the clamping head 2000 and the motor rotation shaft at the tail end of the robot 3000 through the design, so that the clamping head 2000 and the motor rotation shaft at the tail end of the robot 3000 always move coaxially, and the grinding precision and consistency are ensured.
In some embodiments, referring to fig. 3 and 5, the displacement adjusting portion 3 includes a first adjusting member 31, a second adjusting member 32, and a roller rail pair 331. Specifically, one end of the first adjusting member 31 is fixed at the upper end of the first mounting surface 11, the other end of the first adjusting member 31 is connected with the fixing member 44, one end of the second adjusting member 32 is fixed at the lower end of the first mounting surface 11, the other end of the second adjusting member 32 is connected with the fixing member 44, the second adjusting member 32 is electrically connected with the control system, the rolling guide rail pair 331 comprises two guide rails 3311 symmetrically arranged at two sides of a connecting axis of the first adjusting member 31 and the second adjusting member 32, two rolling sliding blocks 3312 are arranged on each guide rail 3311 in the rolling guide rail pair 331, the rolling sliding blocks 3312 are fixedly connected with a plate body of the connecting portion 2, and rolling friction is formed between the rolling sliding blocks 3312 and the guide rails 3311, so that friction force is smaller, accuracy is higher, and control is easier.
Further, the moving direction of the rolling rail pair 331 (i.e., the rolling slider 3312 and the rail 3311) is parallel to the normal direction of the grinding force, so that the displacement adjusting section 3 can adjust the displacement of the clamp head 2000 in accordance with the normal direction of the grinding force.
In some embodiments, referring to fig. 3 and 4, the mount 44 includes a bearing end cap 441 and a long screw 442. The long screw 442 is connected with the first spring 311 in the first adjusting member 31 through the plate body of the connecting part 2, and the bearing end cap 441 is disposed below the long screw 442 and abuts against the top end of the second spring 321 in the second adjusting member 32. Preferably, the first adjusting member 31 further includes a first spring seat 312, so that the first spring 311 is fixedly connected to the transition member 14, which is convenient for disassembly and assembly, and saves efficiency.
In some embodiments, referring to fig. 3 and 5, the first spring 311 is an extension spring and the second spring 321 is a compression spring. Preferably, the axis L1 of the first spring 311 (i.e., the extension spring) coincides with the axis L2 of the second spring 321 (i.e., the compression spring), while the directions of the two axes coincide with the normal line of the grinding force, so that the first spring 311 (i.e., the extension spring) and the second spring 321 (i.e., the compression spring) can respond quickly with the change of the grinding force.
In the state that the movement of the clamping head 2000 is regulated by the first regulating member 31 and the second regulating member 32, the first spring 311 (i.e., the extension spring) and the second spring 321 (i.e., the compression spring) can adaptively stretch or compress in real time to regulate the grinding force when the grinding force is changed, so that the grinding force is kept constant. That is, when the clamping head 2000 moves downward due to the force variation, the clamping head 2000 drives the connecting portion 2 connected thereto to move downward, so that the long screw 442 fixed on the connecting portion 2 drives the first spring 311 (i.e. the extension spring) connected thereto to move downward along the gravity direction, at this time, the first spring 311 (i.e. the extension spring) is pulled, which generates an elastic force for pulling up the clamping head 2000, the second spring 321 (i.e. the compression spring) is pressed, which generates an elastic force for lifting up the clamping head 2000, and the combined action of the first spring 311 and the second spring 321 achieves the purpose of slowing down the clamping head 2000, thereby slowing down the moving speed of the rolling slide 3312 along the guide rail 3311, and guaranteeing the grinding precision. When the clamping head 2000 moves upwards due to the change of stress, the clamping head 2000 drives the connecting part 2 connected with the clamping head 2000 to move upwards, so that the long screw 442 fixed on the connecting part 2 drives the first spring 311 (i.e. the tension spring) connected with the clamping head to move upwards along the gravity direction, and at the moment, the first spring 311 (i.e. the tension spring) is pressed, and generates elastic force for pushing the clamping head 2000 downwards, thereby realizing the purpose of slowing down the lifting of the clamping head 2000, further slowing down the moving speed of the rolling slide block 3312 along the guide rail 3311, and guaranteeing the grinding precision.
In some embodiments, referring to fig. 3 and 5 to 7, the second adjusting member 32 further includes a fixing base 323 and a force sensor 322. Specifically, the fixed seat 323 is fixed at the lower end of the first mounting surface 11, the force sensor 322 is provided with a lower cylindrical section 3221 and an upper cylindrical section 3222 which are connected, the second spring 321 is sleeved on the upper cylindrical section 3222, the lower cylindrical section 3221 is fixed at the upper end of the fixed seat 323, the diameter D1 of the lower cylindrical section 3221 is larger than the diameter D2 of the upper cylindrical section 3222, and the force sensor 322 is electrically connected with the control system. Wherein the upper cylindrical section 3222 is used for fixing the second spring 321 (i.e., compression spring) and guiding the movement direction of the second spring 321 (i.e., compression spring), and the lower cylindrical section 3221 is used for measuring the stress of the second spring 321 (i.e., compression spring).
The force sensor 322 cooperates with the control system to carry out secondary adjustment on the clamping head 2000 while the movement of the clamping head 2000 is in the adjustment state of the first adjustment member 31 and the second adjustment member 32, specifically, the force sensor 322 can send the load between the second spring 321 (i.e. the compression spring) and the bearing end cover 441 to the control system electrically connected with the second spring 321 (i.e. the compression spring) in real time, so that the control system monitors the grinding state of the blade according to the actual load condition, adjusts the movement of the robot 3000, further adjusts the movement of the end actuator 1000 of the robot connected with the robot 3000, keeps the grinding force constant, avoids the occurrence of larger processing errors, causes the unqualified product processing, and improves the precision and the yield of the product. It should be understood by those skilled in the art that the electrical connection in the present invention may be a direct connection through a wire, or may be a wireless signal transmission, so long as it achieves the signal transmission, which is within the scope of the present invention.
It will be appreciated by those skilled in the art that while the adjustment of the first adjustment member 31 and the second adjustment member 32 and the adjustment of the force sensor 322 in conjunction with the control system are performed simultaneously, it takes some time, on the order of milliseconds, from the time the force sensor 322 receives the load signal to the time the control system actually controls the movement of the robot 3000, and the adjustment of the first adjustment member 31 and the second adjustment member 32 is performed in real time without a time delay, so that real time adjustment of the grinding force and grinding amount can be achieved before the adjustment of the force sensor 322 in conjunction with the control system comes.
According to the invention, the grinding force is regulated constantly through the force sensor 322 and the control system at the same time of regulating the first spring 311 (namely the tension spring) and the second spring 321 (namely the compression spring), so that the combined action of the components can be ensured to realize the self-adaptive regulation and the constancy of the grinding force, thereby ensuring the grinding precision and consistency, further realizing the flexible grinding and protecting the blade.
In some embodiments, referring to fig. 2 and 3, a lubrication ring 5 and a lubrication ring seat 6 are further disposed at the mating position of the transmission portion 4 and the support member 13, the lubrication ring seat 6 is clamped between the first support plate 131 and the second support plate 132, the lubrication ring 5 is clamped in the lubrication ring seat 6, and the transmission portion 4 passes through the lubrication ring 5 and the lubrication ring seat 6. Preferably, a stepped ring groove is formed in a side surface, close to the supporting plate 133, of the lubricating ring seat 6, and the lubricating ring 5 is accommodated in the stepped ring groove, so that the lubricating ring 5 is convenient to install, the installation time is saved, and the installation efficiency is improved.
It should be understood by those skilled in the art that the middle part of the supporting member 13 is provided with a circular hole through which the motor shaft at the end of the robot 3000 passes, and the lubrication ring 5 is coaxially installed with the circular hole at the middle part of the supporting member 13 through the lubrication ring seat 6, so that friction and loss can be reduced, the temperature of the product in use can be further reduced, the product can be protected, and the service life of the product can be prolonged.
In some embodiments, referring to fig. 2 and 3, the inner diameter of the lubrication ring 5 is between the diameter of the circular hole in the middle of the support 13 and the diameter of the motor shaft of the robot 3000, so that the motor shaft of the end of the robot 3000 can be prevented from rubbing against the circular hole in the middle of the support 13 when the motor shaft moves, and the motor shaft of the robot 3000 only rubs against the lubrication ring 5. Further, the lubrication ring 5 is made of polytetrafluoroethylene material. Therefore, the heat insulation effect is better, and the service life of the product is prolonged.
In some embodiments, referring to fig. 8 and 9, the support 13 includes a support plate 133 and a support seat 134. Specifically, the side surface of the support plate 133 away from the transition piece 14 forms the second mounting surface 12, the support seat 134 is arranged on the second mounting surface 12, and at least three groups of fine adjustment assemblies 7 are arranged on the support seat 134, wherein the fine adjustment assemblies 7 comprise fine adjustment screws 71 and fine adjustment cylindrical blocks 72 which can respectively extend out of the support seat 134.
In some preferred embodiments, referring to fig. 8, the support base 134 includes two symmetrically disposed pedestals 1341, and two fine adjustment assemblies 7 are symmetrically disposed on each pedestal 1341. In the initial state, the trimming module 7 (i.e., the trimming screw 71 and the trimming cylindrical block 72) is sequentially received in the same through hole formed in the base 1341. The clearance between the precise adjustment support seat 134 and the tail end of the robot 3000 is realized by adjusting the different lengths of the extension support seat 134 of the fine adjustment assembly 7 (i.e. the fine adjustment screw 71 and the fine adjustment cylindrical block 72), that is, the different lengths of the extension support seat 134 of the fine adjustment cylindrical block 72 are adjusted by rotating the fine adjustment screw 71, so that when the different lengths of the extension support seat 134 of the fine adjustment assembly 7 (i.e. the fine adjustment screw 71 and the fine adjustment cylindrical block 72) are simultaneously adjusted, the rotation axis of the fine adjustment clamping head 2000 and the motor rotation axis of the tail end of the robot 3000 can be adjusted in one direction, and the grinding precision and consistency are further ensured.
In some more specific embodiments, the trim screw 71 is a hexagon socket flat set screw.
In some embodiments, referring to fig. 1, a dust cover 8 for preventing dust from entering between the body 1 and the connection part 2 is further included, and the dust cover 8 is connected to the body 1 and the connection part 2, respectively. Specifically, the dust cover 8 includes dustproof bounding wall 81 and a plurality of clamp plates 82, and dustproof bounding wall 81 encloses body 1 and connecting portion 2 into a whole, and these clamp plates 82 can fix two surrounding edges of dustproof bounding wall 81 respectively on body 1 and connecting portion 2 to prevent that the dust from getting into the inside of terminal actuating mechanism 1000 of robot, and then guarantee the cleanliness of product, reduce the later maintenance cost of product.
Second embodiment
The present invention also provides a robot 3000, please refer to fig. 10, which includes a robot end effector 1000 according to any one of the first embodiment, wherein the robot end effector 1000 is disposed at an end of the robot 3000. The end effector 1000 of the robot has the advantages and effects of the embodiment in the first embodiment, and will not be described in detail in this embodiment.
It should be understood by those skilled in the art that the robot 3000 provided by the present invention is used for clamping the air inlet and outlet edges of the aero-engine blade during adaptive grinding, and the clamping head 2000 can be selected from different types and structures according to actual requirements, which is not limited herein.
Embodiment III
The invention also provides a grinding system 4000, please refer to fig. 11, which is used for the self-adaptive grinding of the air inlet and outlet edges of the blade of the aero-engine, including the robot 3000 in any one of the second embodiment. The robot 3000 has the advantages and effects of the embodiment in the first embodiment, and will not be described in detail in this embodiment. Those skilled in the art will appreciate that the grinding system 4000 should also include a grinding portion 4100, which may be a grinding wheel or other structure capable of performing grinding, and is not limited thereto.
By the design, the automatic grinding of the air inlet and outlet edges of the aero-engine blade can be realized. In addition, the grinding force can be measured in real time and transmitted to the control system by adding the force sensor 322 on the compression spring, so that the grinding state of the blade can be monitored in real time. The control system can control the robot to drive the whole robot end actuating mechanism 1000 to move while the tension spring and the compression spring are adjusted, so that the constant grinding amount and grinding force are ensured, and the blade is further protected. The invention also adopts the rolling guide rail pair 331 to realize the movement of the blade in the grinding force direction, and the axial line of the extension spring and the axial line of the compression spring are in the same straight line and are simultaneously overlapped with the grinding force direction, so that the rapid reaction of the displacement of the blade to the grinding force can be realized, and the motor at the tail end of the robot is not coaxial with the rotating shaft of the blade due to the change of the position of the blade, and the blade and the motor at the tail end of the robot always move coaxially by adding the Oldham coupling between the tail end of the robot and the blade clamping assembly. Through the design, the automatic self-adaptive grinding of the blade air inlet and outlet edges by the robot is realized, and the grinding precision and consistency are ensured. The foregoing is only a few embodiments of the present invention and those skilled in the art, having the benefit of this disclosure, may make numerous changes and modifications to the embodiments of the invention described herein without departing from the spirit and scope of the invention.
Claims (6)
1. A robotic end effector, comprising:
The body is provided with a first mounting surface and a second mounting surface which are arranged in parallel;
The connecting part is arranged on one side close to the first mounting surface and is clamped with the body to form an adjusting cavity;
The displacement adjusting part is arranged on the first mounting surface and is accommodated in the adjusting cavity, and the displacement adjusting part is electrically connected with a control system of the robot;
the transmission part sequentially penetrates through the body, the displacement adjusting part and the connecting part, one end, close to the second mounting surface, of the transmission part is connected with a motor shaft of the robot, and the other end of the transmission part is used for being connected with a clamping head for clamping the blade;
the body comprises a support piece and a transition piece which are sequentially arranged at intervals, the side surface, far away from the support piece, of the transition piece forms a first installation surface, the side surface, far away from the transition piece, of the support piece forms a second installation surface, a first support plate and a second support plate are arranged on the side surface, near to the transition piece, of the support piece at intervals along the gravity direction, and a mounting cavity is formed by encircling the first support plate, the support piece, the second support plate and the transition piece;
The transmission part includes:
The transmission shaft is connected to the other end of the Oldham coupling, the other end of the transmission shaft penetrates through the plate body of the connecting part to be connected with the clamping head, the transmission shaft is rotationally connected with the plate body of the connecting part through a bearing, and the bearing is arranged on the plate body of the connecting part through a fixing piece of the connecting part;
The displacement adjustment section includes:
One end of the first adjusting piece is fixed at the upper end of the first mounting surface, and the other end of the first adjusting piece is connected with the fixing piece;
one end of the second adjusting piece is fixed at the lower end of the first mounting surface, the other end of the second adjusting piece is connected with the fixing piece, and the second adjusting piece is electrically connected with the control system;
the rolling guide rail pair comprises two guide rails symmetrically arranged on two sides of the connecting axis of the first adjusting piece and the second adjusting piece, each guide rail is provided with two rolling sliding blocks, and the rolling sliding blocks are fixedly connected with the plate body of the connecting part;
the fixing member includes:
The long screw penetrates through the plate body of the connecting part and is connected with the first spring in the first adjusting piece; the bearing end cover is arranged below the long screw and abuts against the top end of the second spring in the second adjusting piece;
the second adjuster further includes:
The fixed seat is fixed at the lower end of the first mounting surface;
The second spring is sleeved and connected with the upper cylindrical section, the lower cylindrical section is fixed at the upper end of the fixing seat, the diameter of the lower cylindrical section is larger than that of the upper cylindrical section, and the force sensor is electrically connected with the control system;
the dust-proof device further comprises a dust-proof cover used for preventing dust from entering the space between the body and the connecting part, and the dust-proof cover is respectively connected with the body and the connecting part.
2. The robotic end effector as claimed in claim 1, wherein the mating location of the drive portion and the support is further provided with a lube ring and a lube ring seat, the lube ring seat being clamped between the first support plate and the second support plate, the lube ring being clamped in the lube ring seat, the drive portion passing through the lube ring and the lube ring seat.
3. The robotic end effector as set forth in claim 2 wherein said lube ring is made of polytetrafluoroethylene material.
4. The robotic end effector as set forth in claim 1 wherein said support comprises:
a support plate forming the second mounting surface on a side surface of the transition piece;
The support seat is arranged on the second mounting surface and is provided with at least three groups of fine adjustment assemblies;
the fine adjustment assembly comprises fine adjustment screws and fine adjustment cylindrical blocks, wherein the fine adjustment screws and the fine adjustment cylindrical blocks can extend out of the supporting seat respectively.
5. A robot comprising a robot body, a robot body and a robot body, characterized by comprising the following steps:
the robotic end effector of any one of claims 1-4, disposed at an end of the robot.
6. A grinding system for the adaptive grinding of the inlet and outlet edges of an aircraft engine blade, characterized in that it comprises a robot as claimed in claim 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010683939.8A CN111890377B (en) | 2020-07-16 | 2020-07-16 | Robot end effector, robot and grinding system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010683939.8A CN111890377B (en) | 2020-07-16 | 2020-07-16 | Robot end effector, robot and grinding system |
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| CN111890377B true CN111890377B (en) | 2024-12-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN212497796U (en) * | 2020-07-16 | 2021-02-09 | 中国航空工业集团公司北京航空精密机械研究所 | Robot end actuating mechanism, robot and grinding system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006326771A (en) * | 2005-05-27 | 2006-12-07 | Fujitsu Ten Ltd | Adjusting mechanism and adjusting device |
| JP5076242B2 (en) * | 2007-03-30 | 2012-11-21 | アネスト岩田株式会社 | Scroll type fluid machine |
| CN108544374B (en) * | 2018-03-21 | 2023-06-20 | 安徽工程大学 | Multi-dimensional force feedback flexible floating polishing power head and application method thereof |
| CN108544328A (en) * | 2018-05-14 | 2018-09-18 | 科福龙阀门集团有限公司 | The flexible grinding device of three-eccentric-butterfly-valve sealing surface of seat |
| CN110745327A (en) * | 2019-11-26 | 2020-02-04 | 中冶南方工程技术有限公司 | Variable-rigidity floating robot end effector connecting device and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN212497796U (en) * | 2020-07-16 | 2021-02-09 | 中国航空工业集团公司北京航空精密机械研究所 | Robot end actuating mechanism, robot and grinding system |
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