CN101121248A - Large-scale curved surface self-grinding-and-polishing working micro-robot - Google Patents
Large-scale curved surface self-grinding-and-polishing working micro-robot Download PDFInfo
- Publication number
- CN101121248A CN101121248A CNA2007100560925A CN200710056092A CN101121248A CN 101121248 A CN101121248 A CN 101121248A CN A2007100560925 A CNA2007100560925 A CN A2007100560925A CN 200710056092 A CN200710056092 A CN 200710056092A CN 101121248 A CN101121248 A CN 101121248A
- Authority
- CN
- China
- Prior art keywords
- wheel
- polishing
- grinding
- curved surface
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention relates to a miniature robot for automatic grinding and polishing operation of large curved surface belonging to mechanical manufacturing field. The present invention comprises a walking module and a grinding and polishing tool module. The structure of the walking module is that the mainframe is equipped with a driving wheel system and a driven wheel system; a steering mechanism is connected with the mainframe and the steering mechanism is connected with a belt of the driving wheel system, which is turned and transferred to the driven wheel system. The grinding and polishing module comprises a force-control cylinder, a bracket and a main shaft motor; the main shaft motor is connected with the bracket by an angular contact ball bearing; a universal grinding and polishing head is fixed with a main shaft and a guide shaft is connected with a guide shaft base in a sliding way by a guide linear bearing. The beneficial effect is that the miniature robot is used for automatic location and planning on the mold large curved surface to realize the finishing process of miniature equipment on large curved surface. In the way, not only the labor intensity of workers and processing cost are reduced, but also the processing flexibility and processing surface stability are promoted.
Description
Technical field
The invention belongs to mechanical manufacturing field.
Background technology
In recent ten years, fast development along with correlation techniques such as computer technology and modern control theories, the flexible manufacturing process that with the digital control processing is representative is gradually improved, can realize the automation shape processing of mold freedom curved surface, but polishing manufacturing procedures such as grinding, polishing still need be passed through in the surface after the shape processing, could obtain the surface quality of expection.
The purpose of polishing polishing processing is under the prerequisite that does not change the die surface form accuracy, removes tool marks or the metamorphic layer of shape processing at remained on surface, to reduce surface roughness, improves surface quality.With the precision die is example, the manual polishing machining period of free form surface, and 37～42% when accounting for the chief engineer in advanced industrial countries such as the U.S., Japan and Germany, China then reaches more than 50%.Manual polishing processing is not only time-consuming on the one hand, effort, inefficiency, and is difficult to guarantee form accuracy, the crudy instability, and this and mould modern production, the low cost of manufacturing, short period, high-quality requirement are difficult to adapt.The polishing processing of free form surface is the weak link in mould production, the manufacturing, becomes the bottleneck of restriction mold manufacturing industry development.
In order to reduce the manufacturing cost of mould, shorten the manufacturing cycle, the adverse effect of avoiding human factor to produce for mould, phase late 1980s, industrially developed country competitively carries out the research work of mold freedom curved surface polishing process automation, custom-designed grinding and polishing device is installed in the manual operations that replaces the workman on Digit Control Machine Tool or the industrial robot, and exploitation is comparatively general way based on the automatic polishing system of processing of Digit Control Machine Tool or industrial robot.For a long time, the research of relevant free form surface polishing process automation mainly concentrates on the proposition of various novel polishing methods and exploitation, polishing orbit generation method and trajectory planning, polishing interference detection, polishing technology rule and the control strategy of various experimental rigs, the research of control algolithm etc.At present, the present situation of the automatic polishing working research of mold freedom curved surface is: (1) for big profile free form surface, its automatic polishing processing is subjected to the limitation of the polishing equipment range of work.According to traditional cooked mode, large-scale free form surface must adopt large-scale polishing equipment processing, and large-scale polishing equipment manufacturing cost costliness exists the range of work and precision, rigidity simultaneously, many technical barriers such as motion rapidity and stability.Solve the accurate polishing problem of large-scale free form surface according to traditional pattern and need pay too big cost, therefore must look for another way, seek the brand-new technology approach.(2) more about the developmental research of various polishing methods and grinding and polishing device, the patented technology of this respect is many.Such as, the piston that promotes to be installed between robot wrist and the instrument by compressed air moves along line slideway, regulates the pneumatic grinding and polishing device of polishing contact pressure; The magnetic field that utilizes the inner permanent magnet of cup-shaped ferromagnetic polishing wheel to produce generates the magnetic pressure type grinding and polishing device of polishing pressure; Virtual central point is done gyration near making polishing wheel winding mold tool free form surface by custom-designed space mechanism, according to the stressing conditions of the geometrical property and the polishing tool end of polishing instrument and mold freedom curved surface contact area, adjust the passive compliance grinding and polishing device of polishing track etc.But the development eye with the overall situation sees that the research in this field still has many technical problems not solve, as the automatic polishing process technology problem of big profile free form surface.(3) variation of die curve and scrambling require the polishing instrument to change oneself movement locus and attitude along with the change of machining profile shape, this brings very big trouble for the control of polishing movement of tool, though use the motion that modern Computerized Numerical Control processing technology can control tool, but the establishment of numerical control program can run into very big difficulty, therefore, traditional digital control system is difficult to play a role in the automatic polishing processing of mold freedom curved surface, exploitation at present at the research of the special-purpose numerical control system of free form surface polishing processing seldom makes automatic polishing technology transform the challenge that is subjected to some key technology to actual productivity.(4) the employing industrial robot can carry out active track/pressure mixing adaptation control of power, position preferably, plan and follow the tracks of but be difficult to carry out the surperficial precision that generates track of free form surface as Digit Control Machine Tool, thereby trajectory error is bigger.And use in the robot polishing processing free form surface process, require the polishing instrument to press the projected path motion, must keep correct attitude simultaneously.Keep correct attitude, tend to sacrifice certain working space; Can cause the deficiency of precision and rigidity again for the arm length that increases working space and increase robot.So, adopt the traditional industry robot to realize the automatic polishing processing of mold freedom curved surface merely, exist the contradiction of working space and precision, rigidity.
Summary of the invention
The invention provides a kind of micro-robot of large-scale curved surface self-grinding-and-polishing working, the problem that process equipment is big, working space is limited that exists when solving present large-scale curved grinding-and-polishing working.In order to utilize Robotics, finish large-scale curved surface finishing processing with less cost, the design's novel micro-robot can be positioned large-scale curved on, from the master program curved surface processing path, in being moved, following voluntarily of institute's path planning finish polishing processing in turn to large-scale curved surface.Promptly finish the polishing of big surface of the work is processed with small device.
The technical scheme that the present invention takes is:
Comprise: walking module and polishing tool model.
Walking module is robot motion's executor, also is the carrier of polishing tool model.The polishing tool model then is the person of finishing of polishing processing.Walking module 1 realizes tracking, location and other synkinesias to machining path under the control of control system, provide feed motion for polishing processing simultaneously.Polishing module 2 is loaded on the walking module, drives the polishing instrument workpiece to be machined is carried out polishing processing.The two collaborative work can realize the large-scale plane to workpiece, the polishing processing of curved surface.
Among the present invention, the structure of walking module is, fixedly connected driving wheel system 1 and follower system 2 on the body 3, and transfer 4 is connected with body 3, and this transfer is connected with the transmission follower belt that turns in the driving wheel system.
The operation principle of this walking module is: the motion of robot drive by front and back totally two cover driving wheel systems 1 provide, servomotor wherein through transmission device, outputs to moving wheel with driving torque and speed according to control signal.Servomotor in the steering mechanism 4 through driving-belt, wheel, outputs to driving wheel system with driving torque and speed according to control signal, orders about driving wheel and produces a steering angle.So,, make it to cooperatively interact, both can realize that straight line moves ahead, translation diagonal and the maneuver of semidiameter turn arbitrarily, thereby realize the mobility motion of height by coordinating the rotating speed and the corner of two cover driving wheels before and after the control.
Body 3 is the basic structure that constitutes car body.It provides matrix for walking mechanism, tool model and other all elements that need load.
Among the present invention, the structure of driving wheel system 1 is: turn to transmission follower 101 to fixedly connected with steering spindle 104, thrust bearing 102 is rotationally connected with steering spindle, radial ball bearing 103 is rotationally connected with steering spindle, steering spindle is fixedlyed connected with active wheel carrier 106, motor 105 is fixedlyed connected with this active wheel carrier, wheel shaft 108 is rotationally connected with this active wheel carrier, wheel 107 is rotationally connected with wheel shaft, transmission initiatively flute profile belt wheel 112 is fixedlyed connected with motor shaft, the passive flute profile belt wheel 109 of transmission is fixedlyed connected with wheel shaft, Tooth Profile band 111 and transmission active flute profile belt wheel, transmission passive tooth banding pattern wheel connects, and driving-belt wheel cover 110 is fixedlyed connected with the active wheel carrier.
Driving wheel system works principle is: drive motors 105 is by the synchronous cog belt group: transmission initiatively flute profile belt wheel 112, Tooth Profile band 111, the passive flute profile belt wheel 109 of transmission is passed to wheel 107 with moment of torsion and speed, drives robot ambulation.The bearing group that whole driving wheel system forms by bearing connects with the robot housing construction, driving wheel mechanism can be rotated turning under 101 controls of control follower, thereby produce the deflection of walking.
Among the present invention, follower system 2 structures are: mobile jib 204 is fixedlyed connected with thrust bearing 201, radial ball bearing 202 is rotationally connected with mobile jib, piston 207 is fixedlyed connected with mobile jib, and cylinder body 208 is slidingly connected with piston, and cylinder cap 206 is fixedlyed connected with cylinder body, spring 205 is socketed in the cylinder body outside, with inferior part of the cylinder block simultaneously as wheel support, wheel shaft 210 is connected with wheel support by radial ball bearing 211, takes turns 209 and fixedlys connected with wheel shaft.
Follower system works principle is: bearing group and robot housing construction connection that whole follower system forms by bearing can freely be rotated the follower system around mobile jib 204 axis.The layout of bearing group and the offset placement of taking turns relative mobile jib 204 axis of 209 axis can make whole follower system become the universal wheel that can turn to system motion.
The suspension of follower in parallel is made of the steam-cylinder piston group and the spring 205 of mobile jib 204, cylinder cover 206, piston 207, cylinder body 208.Follower is supported adapt to curved surface face deformationization, also the dither excitation that is produced by working motion be produced damping simultaneously, reduce its influence body movement stability.
Four air throttling pore are respectively arranged on the piston of cylinder and the cylinder cover, when piston imposes on the vibrational excitation campaign of follower system with system, can to the generation damping force.Thereby offer the main kinetic damping of follower suspension by cylinder.Follower system after the standardization constitutes typical second order vibrational system.
Among the present invention, the structure of steering mechanism 4 is to turn to control servomotor 401 to fixedly connected with body 3, turn to transmission driving pulley 402 and this to turn to the control servo motor shaft to fixedly connected, turn to Tooth Profile band 403 to connect and turn to the transmission driving pulley and turn to the passive belt wheel 101 of transmission.
Steering mechanism's operation principle: by turning to control servomotor 401 by turning to transmission driving wheel 402, turn to Tooth Profile band 403 and turning to transmission follower 101, to driving wheel system output movement corner.The rotating speed of front and back driving wheel, moving corner totally four parameters cooperatively interact, and can realize various motion modes.
Among the present invention, the structure of polishing tool model is: power control cylinder 513 is fixedlyed connected with support 501, motor cabinet 504 is slidingly connected by linear bearing 502 and support, spindle motor 503 is fixedlyed connected with motor cabinet, motor shaft is fixedlyed connected with main shaft 506 by shaft coupling 505, main shaft is connected with support by angular contact ball bearing 507, universal joint polishing 508 is fixedlyed connected with main shaft, the axis of guide 509 is slidingly connected by guiding linear bearing 510 and guiding axle bed 511, and connecting rod 512 is connected with the axis of guide with power control cylinder respectively.
Polishing tool model operation principle: support 501 is connected on the walking module tool model, also is the support substrate of polishing module simultaneously.Spindle motor 503 is installed in the motor cabinet 504, and motor cabinet 504 is by linear bearing 502, realizes its moving in the axial direction.Motor passes to main shaft 506 by shaft coupling 505 with driving moment.Because main shaft 506 is to be connected by key with shaft coupling, there is no constraint on axial with shaft coupling 505, axial load is not passed to motor so only accept the moment of torsion that motor shaft transmits.The suffered axial load of main shaft 506 is born by the angular contact ball bearing 507 of supports main shaft.Main shaft 506 is passed to candan universal joint polishing 508 with moment of torsion.The lower end of universal joint polishing 508 is used to connect flexible polishing instrument, and can do adaptive swing with the polishing tool bearing forces, to keep the uniformity of polishing power to surface of the work.The axis of guide 509 can prevent that instrument from rotating under the processing torsional interaction.Guiding linear bearing 510 has guaranteed that with the guiding axle bed 511 that is fixed in walking mechanism the axis of guide 508 is straight-line smooth.
The motor cabinet 504 that connecting rod 512 is used to connect the axis of guide 509 and power control cylinder 513 and instrument links.Power control cylinder 513 is short stroke cylinders.Detection and control by to air pressure move up and down cylinder piston rod, to guarantee the constant of tonnage.Reach the purpose of submissive control.
Advantage of the present invention is: the present invention is off the beaten track, proposes the brand-new technology thinking to realize with small-sized equipment large-scale free form surface being carried out the target of polishing processing.Realize that by control system micro-robot moves on the surface of large-scale free form surface neatly, in advancing, large-scale free form surface is carried out polishing processing according to the geological information and the technique information of free form surface self.The small polishing of the large-scale free form surface robot that is developed, adopt the integrated control of position/attitude/pressure/speed, planning of the burst of apery polishing free form surface and regional trajectory planning new technology and from three-dimensional CAD information automatically generation comprise the automatic polishing machining control of the free form surface software etc. of burst polishing track optimizing and instrument attitude/pressure/speed-optimization information, all have independent intellectual property right, belong to initiative at home and abroad.
This technology can be used tiny device polishing machining large complicated die free form surface, having broken through polishing large-scale free form surface must be with the traditional mode of main equipment, solve the bottleneck of the polishing equipment range of work, filled up the blank of the automatic polishing process technology of big profile free form surface.
The invention has the beneficial effects as follows, can utilize micro-robot on mould is large-scale curved, autonomous positioning planning is realized by mini-plant large-scale curved polishing processing.Not only hand labor intensity, processing cost be can reduce, processing flexibility and processing, finished surface stability also can be improved.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a walking module structural representation of the present invention;
Fig. 3 is the left view of Fig. 2;
Fig. 4 is the vertical view of Fig. 2;
Fig. 5 is the stereogram of walking module;
Fig. 6 is a driving wheel system architecture schematic diagram of the present invention.
Fig. 7 is a driving wheel outline drawing of the present invention.
Fig. 8 is a follower outline drawing of the present invention.
Fig. 9 is the A-A cutaway view of Fig. 8.
Figure 10 is a steering mechanism of the present invention schematic diagram.
Figure 11 is the upward view of Figure 10.
Figure 12 is a polishing modular structure schematic diagram of the present invention.
Figure 13 is a polishing module outline drawing of the present invention.
The specific embodiment
Comprise: walking module I and polishing tool model II.
Wherein the structure of walking module I is: fixedly connected driving wheel system 1 and follower system 2 on the body 3, and steering mechanism 4 is connected with body 3, and this steering mechanism is connected with the transmission follower belt that turns in the driving wheel system.
Wherein, the structure of driving wheel system 1 is: turn to transmission follower 101 to fixedly connected with steering spindle 104, thrust bearing 102 is rotationally connected with steering spindle, radial ball bearing 103 is rotationally connected with steering spindle, steering spindle is fixedlyed connected with active wheel carrier 106, motor 105 is fixedlyed connected with this active wheel carrier, wheel shaft 108 is rotationally connected with this active wheel carrier, wheel 107 is rotationally connected with wheel shaft, transmission initiatively flute profile belt wheel 112 is fixedlyed connected with motor shaft, the passive flute profile belt wheel 109 of transmission is fixedlyed connected with wheel shaft, Tooth Profile band 111 and transmission active flute profile belt wheel, the passive flute profile belt wheel of transmission connects, and driving-belt wheel cover 110 is fixedlyed connected with the active wheel carrier.
Wherein, follower system 2 structures are: mobile jib 204 is fixedlyed connected with thrust bearing 201, radial ball bearing 202 is rotationally connected with mobile jib, piston 207 is fixedlyed connected with mobile jib, and cylinder body 208 is slidingly connected with piston, and cylinder cap 206 is fixedlyed connected with cylinder body, spring 205 is socketed in the cylinder body outside, with inferior part of the cylinder block simultaneously as wheel support, wheel shaft 210 is connected with wheel support by radial ball bearing 211, takes turns 209 and fixedlys connected with wheel shaft.Four air throttling pore are respectively arranged on the piston of cylinder and the cylinder cover.
Wherein, the structure of steering mechanism 4 is to turn to control servomotor 401 to fixedly connected with body 3, turn to transmission driving pulley 402 and this to turn to the control servo motor shaft to fixedly connected, turn to Tooth Profile band 403 to connect and turn to transmission driving wheel band 402 and turn to the passive belt wheel 101 of transmission.
Wherein, the structure of polishing tool model II is: power control cylinder 513 is fixedlyed connected with support 501, motor cabinet 504 is slidingly connected by linear bearing 502 and support, spindle motor 503 is fixedlyed connected with motor cabinet, motor shaft is fixedlyed connected with main shaft 506 by shaft coupling 505, main shaft is connected with support by angular contact ball bearing 507, universal joint polishing 508 is fixedlyed connected with main shaft, the axis of guide 509 is slidingly connected by guiding linear bearing 510 and guiding axle bed 511, and connecting rod 512 is connected with the axis of guide with power control cylinder respectively.
Claims (6)
1. the micro-robot of a large-scale curved surface self-grinding-and-polishing working is characterized in that comprising: walking module and polishing tool model.
2. the micro-robot of large-scale curved surface self-grinding-and-polishing working according to claim 1, it is characterized in that: the structure of walking module is: body (3) is gone up fixedly connected driving wheel system (1) and follower system (2), transfer (4) is connected with body (3), and this transfer is connected with the transmission follower belt that turns in the driving wheel system.
3. the micro-robot of large-scale curved surface self-grinding-and-polishing working according to claim 2, it is characterized in that: the structure of driving wheel system (1) is: turn to transmission follower (101) to fixedly connected with steering spindle (104), thrust bearing (102) is rotationally connected with steering spindle, radial ball bearing (103) is rotationally connected with steering spindle, steering spindle is fixedlyed connected with active wheel carrier (106), motor (105) is fixedlyed connected with this active wheel carrier, wheel shaft (108) is rotationally connected with this active wheel carrier, wheel (107) is rotationally connected with wheel shaft, transmission initiatively flute profile belt wheel (112) is fixedlyed connected with motor shaft, the passive flute profile belt wheel of transmission (109) is fixedlyed connected with wheel shaft, Tooth Profile band (111) and transmission active flute profile belt wheel, the passive flute profile belt wheel of transmission connects, and driving-belt wheel cover (110) is fixedlyed connected with the active wheel carrier.
4. the micro-robot of large-scale curved surface self-grinding-and-polishing working according to claim 2, it is characterized in that: follower system (2) structure is: mobile jib (204) is fixedlyed connected with thrust bearing (201), radial ball bearing (202) is rotationally connected with mobile jib, piston (207) is fixedlyed connected with mobile jib, cylinder body (208) is slidingly connected with piston, cylinder cap (206) is fixedlyed connected with cylinder body, spring (205) is socketed in the cylinder body outside, wheel support and inferior part of the cylinder block are one, wheel shaft (210) is connected with wheel support by radial ball bearing (211), wheel (209) is fixedlyed connected with wheel shaft, and four air throttling pore are respectively arranged on the piston of cylinder and the cylinder cover.
5. the micro-robot of large-scale curved surface self-grinding-and-polishing working according to claim 2, it is characterized in that: the structure of steering mechanism (4) is to turn to control servomotor (401) to fixedly connected with body (3), turn to transmission driving pulley (402) and this to turn to the control servo motor shaft to fixedly connected, turn to Tooth Profile band (403) to connect and turn to transmission driving pulley (402) and turn to the passive belt wheel of transmission (101).
6. the micro-robot of large-scale curved surface self-grinding-and-polishing working according to claim 1, it is characterized in that: the structure of polishing tool model is: power control cylinder (513) is fixedlyed connected with support (501), motor cabinet (504) is slidingly connected by linear bearing (502) and support, spindle motor (503) is fixedlyed connected with motor cabinet, motor shaft is fixedlyed connected with main shaft (506) by shaft coupling (505), main shaft is connected with support by angular contact ball bearing (507), universal joint polishing head (508) is fixedlyed connected with main shaft, the axis of guide (509) is slidingly connected by guiding linear bearing (510) and guiding axle bed (511), and connecting rod (512) is connected with the axis of guide with power control cylinder respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100560925A CN100488726C (en) | 2007-09-19 | 2007-09-19 | micro-robot for independently grinding and polishing large-scale curved surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100560925A CN100488726C (en) | 2007-09-19 | 2007-09-19 | micro-robot for independently grinding and polishing large-scale curved surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101121248A true CN101121248A (en) | 2008-02-13 |
| CN100488726C CN100488726C (en) | 2009-05-20 |
Family
ID=39083850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100560925A Expired - Fee Related CN100488726C (en) | 2007-09-19 | 2007-09-19 | micro-robot for independently grinding and polishing large-scale curved surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100488726C (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102189459A (en) * | 2011-04-17 | 2011-09-21 | 吉林大学 | Autonomous grinding and polishing robot for welding line of large structural member |
| CN102729147A (en) * | 2012-07-05 | 2012-10-17 | 厦门台颖金刚石制品有限公司 | Bush-hammered roller assembly and bush-hammered grinding head |
| CN105500148A (en) * | 2016-01-11 | 2016-04-20 | 河北工业大学 | Large curved surface grinding self-adaptive grinding device |
| CN105643399A (en) * | 2015-12-29 | 2016-06-08 | 沈阳理工大学 | Automatic lapping and polishing system for complex surface of compliant control-based robot and machining method |
| CN107116418A (en) * | 2017-05-15 | 2017-09-01 | 中国科学院光电技术研究所 | A kind of wheeled polishing bistrique of public rotation |
| CN108582118A (en) * | 2018-07-12 | 2018-09-28 | 湖南超能机器人技术有限公司 | A kind of guiding inquiry robot |
| CN108673327A (en) * | 2018-06-05 | 2018-10-19 | 浙江海悦自动化机械股份有限公司 | A kind of high-efficient cleaning ray machine |
| CN108942606A (en) * | 2018-06-05 | 2018-12-07 | 浙江海悦自动化机械股份有限公司 | A kind of more wheel letter out devices |
| CN112275469A (en) * | 2020-11-03 | 2021-01-29 | 南京多脉智能设备有限公司 | Atomizing formula curved surface point glues manipulator |
| CN112296866A (en) * | 2019-08-02 | 2021-02-02 | 青岛泰德汽车轴承股份有限公司 | Main shaft channel grinding device in shaft-connected bearing |
| CN112947298A (en) * | 2021-03-24 | 2021-06-11 | 合肥工业大学 | Method, system and terminal for optimally generating curved surface machining track of robot |
| CN112974162A (en) * | 2020-09-11 | 2021-06-18 | 上海佐悦工业设备有限公司 | Sunroof rubber coating guide bracket |
-
2007
- 2007-09-19 CN CNB2007100560925A patent/CN100488726C/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102189459A (en) * | 2011-04-17 | 2011-09-21 | 吉林大学 | Autonomous grinding and polishing robot for welding line of large structural member |
| CN102729147A (en) * | 2012-07-05 | 2012-10-17 | 厦门台颖金刚石制品有限公司 | Bush-hammered roller assembly and bush-hammered grinding head |
| CN105643399A (en) * | 2015-12-29 | 2016-06-08 | 沈阳理工大学 | Automatic lapping and polishing system for complex surface of compliant control-based robot and machining method |
| CN105500148A (en) * | 2016-01-11 | 2016-04-20 | 河北工业大学 | Large curved surface grinding self-adaptive grinding device |
| CN105500148B (en) * | 2016-01-11 | 2017-11-28 | 河北工业大学 | A kind of large-scale curved adaptive sanding apparatus of grinding |
| CN107116418A (en) * | 2017-05-15 | 2017-09-01 | 中国科学院光电技术研究所 | A kind of wheeled polishing bistrique of public rotation |
| CN108942606A (en) * | 2018-06-05 | 2018-12-07 | 浙江海悦自动化机械股份有限公司 | A kind of more wheel letter out devices |
| CN108673327A (en) * | 2018-06-05 | 2018-10-19 | 浙江海悦自动化机械股份有限公司 | A kind of high-efficient cleaning ray machine |
| CN108942606B (en) * | 2018-06-05 | 2023-08-29 | 杭州同悦自动化设备有限公司 | Multi-wheel light cleaning device |
| CN108673327B (en) * | 2018-06-05 | 2023-08-29 | 杭州同悦自动化设备有限公司 | High-efficiency polishing machine |
| CN108582118A (en) * | 2018-07-12 | 2018-09-28 | 湖南超能机器人技术有限公司 | A kind of guiding inquiry robot |
| CN112296866A (en) * | 2019-08-02 | 2021-02-02 | 青岛泰德汽车轴承股份有限公司 | Main shaft channel grinding device in shaft-connected bearing |
| CN112974162A (en) * | 2020-09-11 | 2021-06-18 | 上海佐悦工业设备有限公司 | Sunroof rubber coating guide bracket |
| CN112275469A (en) * | 2020-11-03 | 2021-01-29 | 南京多脉智能设备有限公司 | Atomizing formula curved surface point glues manipulator |
| CN112275469B (en) * | 2020-11-03 | 2022-05-31 | 广东海信通信有限公司 | Atomizing formula curved surface point glues manipulator |
| CN112947298A (en) * | 2021-03-24 | 2021-06-11 | 合肥工业大学 | Method, system and terminal for optimally generating curved surface machining track of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100488726C (en) | 2009-05-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100488726C (en) | micro-robot for independently grinding and polishing large-scale curved surface | |
| CN106625665B (en) | A kind of drilling milling machine device people's system of packaged type automatic addressing | |
| CN102922389B (en) | Polishing device and polishing method of aspheric optical element | |
| CN201217175Y (en) | Miniature robot for self-determination grinding and casting operation of large-scale curve | |
| CN201604070U (en) | Numerical control vertical type cylinder sleeve honing mill | |
| CN109849019B (en) | Multi-robot machining method for rotary structural member | |
| CN201951138U (en) | Four-axis three-dimensional engraving machine | |
| CN101690993A (en) | Multi-axis linkage numerical control laser processing system | |
| CN2912870Y (en) | Array shaft numeral control planer drilling machine | |
| CN104972455B (en) | There is the series-parallel robot of redundant drive based on plane parallel mechanism | |
| CN101890643A (en) | Movable processing machine tool of overlarge member | |
| CN101853012B (en) | Two-stage positioning free variable domain mechanical processing machine and two-stage positioning method thereof | |
| CN107116404B (en) | Constant-speed crankshaft follow-up grinding processing experimental system and technological method | |
| CN101966670A (en) | Automatic grinding processing production line of magnetic tile | |
| CN105150037A (en) | Centerless grinding machine device | |
| CN110125243A (en) | Progressive molding processing platform and control method with bit shift compensation function | |
| CN108188801B (en) | Automatic tool changing processing equipment | |
| CN102151844A (en) | Numerical control turning method and turning device for concentric waney symmetrically-distributed arcs | |
| CN102975097B (en) | Grinding and polishing combined machining machine tool | |
| CN207915241U (en) | Numerically control grinder structure | |
| CN204545975U (en) | A kind of large-scale Five-canted Gantry Machining Center | |
| CN102785141B (en) | Internal spherical grinder for machining of seal rings in similar ball valves | |
| CN203622212U (en) | Device for dressing in-place air bag polishing head | |
| CN108406751A (en) | A kind of high-precision multi-axis robot | |
| CN110340771A (en) | Passenger car body multirobot polishing system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090520 Termination date: 20110919 |