CN103522159B - There is automatic polishing method and the equipment thereof of constant force - Google Patents
There is automatic polishing method and the equipment thereof of constant force Download PDFInfo
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- CN103522159B CN103522159B CN201310477910.4A CN201310477910A CN103522159B CN 103522159 B CN103522159 B CN 103522159B CN 201310477910 A CN201310477910 A CN 201310477910A CN 103522159 B CN103522159 B CN 103522159B
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- mechanical hand
- controller
- polishing
- polishing wheel
- workpiece
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
Abstract
What the present invention relates to is a kind of automatic polishing method and equipment thereof with constant force, is a kind of processing method for metal surface polishing and equipment, belongs to field of metal surface treatment.Comprise polishing wheel, mechanical hand, piezoelectric transducer, controller, computer and fixture; Described mechanical hand is provided with mount pad, mount pad top is provided with a root post, column rear portion is provided with electric control cabinet, electric control cabinet is connected with controller, computer is connected with controller by the data connecting line of RS232C interface, and column top is provided with one and column support bar in 90 °, and one end of support bar is provided with the upper arm of the mechanical hand in 90 ° with support bar, the upper arm front end of mechanical hand is provided with the forearm of mechanical hand, and the forearm inside of mechanical hand is provided with piezoelectric transducer; The front end of the forearm of mechanical hand is provided with clamp connector, and mechanical hand front end is provided with fixture and is used for holding workpiece; Mechanical hand presses to the polishing wheel of High Rotation Speed by holder workpiece.
Description
Technical field
What the present invention relates to is a kind of automatic polishing method and equipment thereof with constant force, is a kind of processing method for metal surface polishing and equipment, belongs to field of metal surface treatment.
Background technology
Joint prosthesis, is the main implantable medical equipment carrying out using in joint replacement, is the most complicated in orthopaedics implant, has the medical device product of technology content most.At present, artificial joint replacement has been widely used in the treatment of joint Osteoarthritis, rheumatoid arthritis and post-traumatic arthritis.Joint principle of products is the selection of the inherent mechanism of two the relative motion surface of friction pair in joint, articular surface material and physical dimension, wherein the crucial index such as tribology, biomethanics being research articular surface.Roughness is the key factor of articular surface friction, promotes roughness index, and for the prosthese life-span, the probability that bone dissolves occurs patient, is the most key factor.Going by advanced manufacturing process the high accuracy polishing realizing prosthetic surface for how, is put the difficult problem in face of articular prosthesis manufacturing at home for one.In traditional manual glossing, the polishing wheel of High Rotation Speed presses to workpiece, makes abrasive material produce roll extrusion and micro cutting to surface of the work, thus obtains the finished surface of light.Traditional manual glossing, curved surface polishing mainly relies on and manually carries out, the extruding force that manual operation is difficult to ensure that polishing wheel produces surface of the work and frictional force constant, and surface quality can not be guaranteed, and Product Precision is too poor.Traditional operating type requires that operating personnel have higher technical ability, and affect greatly by accidentalia such as Employees'Emotions, scrappage is high.And dust pollution is large, workman's working condition is poor.
Summary of the invention
The present invention seeks to for above-mentioned weak point, a kind of automatic polishing method and the equipment thereof with constant force are provided.The automatic buffing equipment with constant force comprises polishing machine, mechanical hand, strain gauge, actuator, controller and fixture, more workpiece surface quality can be ensured than standard machinery formula polishing and manual polishing when carrying out complex curved surface part polishing, the product processed possesses the quality conformance of height, and working (machining) efficiency improves greatly.The automatic buffing equipment with constant force becomes polishing robot, is sealed in machine room, the waste pollution that polishing process produces, and can effectively clear up and control, do not pollute the environment or affect operator ' s health.The automatic buffing equipment automatic polishing cost with constant force is used to be significantly reduced.Have the automatic buffing equipment dynamic conditioning polishing force of constant force, flexible translation-angle, polishing path of making rational planning for, obtains high-quality surface.High-quality surface, can reduce the wearing and tearing on surface during use and bone dissolves odds, improves product service life.
The present invention has the method for the automatic polishing of constant force and equipment takes following technical scheme to realize:
The automatic buffing equipment with constant force comprises polishing wheel, mechanical hand, piezoelectric transducer, controller, computer and fixture.Described mechanical hand is provided with mount pad, and mount pad bottom surface is provided with screw hole, and mount pad is fixed on the ground by screw hole by screw.Mount pad top is provided with a root post, column rear portion is provided with electric control cabinet, and electric control cabinet is connected with controller by electrical equipment control line, and computer is connected with controller by the data connecting line of RS232C interface, the action of control machine hand, column can rotate.Column top is provided with one and column support bar in 90 °, and support bar is cylinder.One end of support bar is provided with the upper arm of the mechanical hand in 90 ° with support bar, and the upper arm of mechanical hand can rotate.The upper arm front end of mechanical hand is provided with the forearm of mechanical hand, and the forearm inside of mechanical hand is provided with piezoelectric transducer, and piezoelectric transducer front end is provided with spring, is used for fixing clamp connector, and produces dynamic force.The forearm end face of mechanical hand is provided with screw thread, and end cap is connected with forearm by screw thread, and can adjust the tension force of spring.The forearm of mechanical hand can rotate.The front end of the forearm of mechanical hand is provided with clamp connector, clamp connector is provided with two sections, and large end is one section of cylinder, and is provided with the different endoporus of two diameters, the endoporus that diameter is large is used for jockey, inserts a straight pin be eventually used for fixing fixture at the endoporus that diameter is little.Mechanical hand front end is provided with fixture and is used for holding workpiece, and according to the difference of hand holding workpiece, fixture can be different.Mechanical hand presses to the polishing wheel of High Rotation Speed by holder workpiece, polishing wheel rotating speed 3000r/min.Polishing wheel is installed on the rotary shaft, is threaded connection and makes it fixing.Rotating shaft is linked together by yielding coupling and motor.Motor makes rotating shaft and polishing wheel rotate by yielding coupling.
Utilize computer aided manufacture system secondary development under AutoCAD environment, AutoCAD carries out solid modelling to part, and physical model is saved as physical model file, physical model file is read by the cutter orbit making program of secondary development, realize the generation without the polishing tool machining locus of interfering, and by coordinate transform, the cutter path in workpiece coordinate system is converted to the movement locus of workpiece in coordinate system of robot arm system, thus the motion of control machine hand.Piezoelectric transducer is provided with for measuring contact stress in mechanical hand front end, when workpiece produces contact stress, stress is delivered to piezoelectric transducer by fixture, clamp connector, piezoelectric transducer touches stress will output pulse signal, contact stress larger pulse model is larger, controller judges the size of polishing force according to pulse signal, the chirokinesthetic track of dynamic fine setting machine, thus realizes the constant of polishing force when workpiece contacts with polishing wheel.Make the conversion in polishing force direction more flexible by the planning of computer-aided manufacturing program to polishing circuit, reduce the pit of surface of the work.
Mechanical hand is a wrist type PUMA-562 mechanical hand with six degree of freedom, and microcomputer is connected with the controller of mechanical hand by the data connecting line of RS232C interface.Controller adopts the digital control system of Fa Nake or Siemens, digital control system performs by the compiled code of computer, mechanical hand is by being arranged on the holder workpiece of front end, and space, according to envisioning the programme-control machine hand that sets in spatial three-dimensional movement, is pressed to polishing wheel by controller.
Described mechanical hand adopts PUMA-562 mechanical hand.
The automatic polishing method with the automatic buffing equipment of constant force is as follows:
In coordinate system of robot arm, polishing wheel is mounted on the rotary shaft, the centre of gyration of rotating shaft is fixing to the relative position of the centre of gyration of mechanical hand, mechanical hand is a wrist type PUMA-562 mechanical hand with six degree of freedom, computer is connected with mechanical hand controller by the data connecting line of RS232C interface, controller adopts the digital control system of Fa Nake or Siemens, digital control system performs by the compiled code of computer, mechanical hand is by being arranged on the holder workpiece of front end, controller according to pre-set programme-control machine hand in spatial three-dimensional movement, space is pressed to polishing wheel, when workpiece produces contact stress, controller receives the size of piezoelectric transducer feedback pulse signal, the movement locus of controller dynamic micro-adjustments mechanical hand, when the contact stress of workpiece is less than the value preset, controller meeting control machine hand, close to polishing wheel, makes surface of the work produce enough frictional force, when absorption surface stress is greater than preset value, controller meeting control machine hand is away from polishing wheel, and make the frictional force of surface of the work reduce frictional force, mechanical hand can change the track of workpiece motion s under control of the controller flexibly, the size of dynamic conditioning polishing force, keeps the constant of polishing force.
There is the automatic polishing method of constant force and the feature of equipment thereof:
Because manual quality of finish is difficult to control, once operating personnel slightly slip up, fatal damage will be caused even to cause whole part rejection to finished surface, scrappage is high.Although the equipment investment of artificial polishing is very low, time cost is not high, considers scrapping of accurate forge piece raw material, and the factor such as the man power and material dropped into, and actual cost is still higher.
Use and there is the method for the automatic polishing of constant force and equipment automatic polishing cost is significantly reduced.To be made rational planning for polishing path by computer, by the feedback of sensor to polishing force, controller dynamic conditioning, flexible translation-angle, obtains constant polishing force, and product obtains high-quality surface.
There is the automatic buffing equipment of constant force owing to having polishing machine, mechanical hand, strain gauge, actuator, controller and fixture, more workpiece surface quality can be ensured than standard machinery formula polishing and manual polishing when carrying out complex curved surface part polishing, the product processed possesses the quality conformance of height, and working (machining) efficiency improves greatly.The automatic buffing equipment with constant force becomes polishing robot, is sealed in machine room, the waste pollution that polishing process produces, and can effectively clear up and control, do not pollute the environment or affect operator ' s health.The automatic buffing equipment automatic polishing cost with constant force is used to be significantly reduced.Have the automatic buffing equipment dynamic conditioning polishing force of constant force, flexible translation-angle, polishing path of making rational planning for, obtains high-quality surface.High-quality surface, can reduce the wearing and tearing on surface during use and bone dissolves odds, improves product service life.
Accompanying drawing explanation
Below with reference to accompanying drawing, the invention will be further described:
Fig. 1 is the automatic buffing equipment structural representation with constant force.
Fig. 2 is the schematic diagram of the clamp connector of the automatic buffing equipment with constant force.
Detailed description of the invention
With reference to accompanying drawing 1,2, the automatic buffing equipment with constant force comprises polishing wheel 12, mechanical hand 18, piezoelectric transducer 16, controller 2, computer 1 and fixture 11.Described mechanical hand 18 adopts PUMA-562 mechanical hand, and described mechanical hand 18 is provided with mount pad 3, and mount pad 3 bottom surface is provided with screw hole 4, and mount pad 3 is fixed on the ground by screw hole 4 by screw.Mount pad 3 top is provided with a root post 19, column 19 rear portion is provided with electric control cabinet 5, electric control cabinet 5 is connected with controller 2 by electrical equipment control line, computer 1 is connected with controller 2 by the data connecting line of RS232C interface, be used for the action of control machine hand 18, column 19 can rotate.Column 19 top is provided with one and column support bar 6 in 90 °, and support bar 6 is cylinders.One end of support bar 6 is provided with the upper arm 7 of the mechanical hand 18 in 90 ° with support bar, and the upper arm 7 of mechanical hand 18 can rotate.The front end of the upper arm 7 of mechanical hand 18 is provided with mechanical hand 18 forearm 8, mechanical hand 18 forearm 8 is provided with inner bore of step 26, piezoelectric transducer 16 is arranged on the step surface 27 of inner bore of step 26, piezoelectric transducer 16 front end is provided with spring 17, spring 17 is arranged on the small cylinder 24 of clamp connector 9, be used for fixing clamp connector 9, and produce dynamic force.Forearm 8 end face of mechanical hand 18 is provided with screw thread 20, and end cap 21 is connected with forearm 8 by screw thread 20, and can adjust the tension force of spring 17.The forearm 8 of mechanical hand 18 can rotate.The front end of the forearm 8 of mechanical hand 18 is provided with clamp connector 9, clamp connector 9 is provided with two sections, large end is one section of cylinder 22, and be provided with the different endoporus of two diameters, the endoporus 25 that diameter is large is used for jockey, inserts a straight pin 10 be eventually used for fixing fixture at the endoporus 23 that diameter is little.Clamp connector 9 small end is provided with the small cylinder 24 in 90 ° with cylinder 22, and small cylinder 24 is used for mounting spring 17.Mechanical hand 18 front end is provided with fixture 11 and is used for holding workpiece, and according to the difference of holding workpiece, fixture 11 can be different.Mechanical hand 18 presses to the polishing wheel 12 of High Rotation Speed by fixture 11 holding workpiece, and polishing wheel 12 rotating speed is 3000r/min.Polishing wheel 12 is arranged on rotating shaft 13, and polishing wheel 12 is threaded connection and makes it fixing.Rotating shaft 13 is linked together by yielding coupling 14 and motor 15.Motor 15 makes rotating shaft 13 and polishing wheel 12 rotate by yielding coupling 14.Utilize computer aided manufacture system secondary development under AutoCAD environment, AutoCAD carries out solid modelling to part, and physical model is saved as physical model file, physical model file is read by the cutter orbit making program of secondary development, realize the generation without the polishing tool machining locus of interfering, and by coordinate transform, the cutter path in workpiece coordinate system is converted to the movement locus of workpiece in mechanical hand 18 coordinate system, thus the motion of control machine 2 hand.Piezoelectric transducer 16 is provided with for measuring contact stress in mechanical hand 18 front end, when workpiece produces contact stress, stress is delivered to piezoelectric transducer 16 by fixture 11, clamp connector 9, piezoelectric transducer 16 touches stress and just understands output pulse signal to controller 2 by electric wire 25, contact stress larger pulse model is larger, controller 2 judges the size of polishing force according to pulse signal, the track that dynamic fine setting mechanical hand 18 moves, thus realize the constant of polishing force when workpiece contacts with polishing wheel 12.Make the conversion in polishing force direction more flexible by the planning of computer-aided manufacturing program to polishing circuit, reduce the pit of surface of the work.
Mechanical hand 18 is wrist type PUMA-562 mechanical hands with six degree of freedom, and computer is connected with mechanical hand controller by the data connecting line of RS232C interface.Controller adopts the digital control system of commercially available Fa Nake or Siemens, digital control system performs by the compiled code of computer, mechanical hand is by being arranged on the holder workpiece of front end, and space, according to envisioning the programme-control machine hand that sets in spatial three-dimensional movement, is pressed to polishing wheel by controller.
Computer adopts commercially available industrial control computer.
Described mechanical hand adopts the wrist type PUMA-562 mechanical hand with six degree of freedom.
With reference to accompanying drawing 1,2, the automatic polishing method with the automatic buffing equipment of constant force is as follows:
In mechanical hand 18 coordinate system, polishing wheel 12 is installed on rotating shaft 13, selects the centre of gyration of rotating shaft 13 to be fixing to the relative position of the centre of gyration of mechanical hand.Mechanical hand 18 is wrist type PUMA-562 mechanical hands 18 with six degree of freedom, and computer is connected with mechanical hand 18 controller by the data connecting line of RS232C interface.Controller 2 adopts the digital control system of Fa Nake or Siemens, digital control system performs by the compiled code of computer, mechanical hand 18 is by being arranged on fixture 11 holding workpiece of front end, workpiece in spatial three-dimensional movement, is pressed to polishing wheel 12 according to pre-set programme-control machine hand 18 by controller 2.When workpiece produces contact stress, controller 2 receives the size of piezoelectric transducer 16 feedback pulse signal, the movement locus of controller 2 dynamic micro-adjustments mechanical hand 18, when the contact stress of workpiece is less than the value preset, controller 2 meeting control machine hand 18, close to polishing wheel 12, makes surface of the work produce enough frictional force.When absorption surface stress is greater than preset value, controller 2 meeting control machine hand 18, away from polishing wheel, makes the frictional force of surface of the work reduce frictional force.Mechanical hand 18 can change the track of workpiece motion s under control of the controller flexibly, the size of dynamic conditioning polishing force, keeps the constant of polishing force.
Claims (8)
1. there is an automatic buffing equipment for constant force, it is characterized in that: comprise polishing wheel, mechanical hand, piezoelectric transducer, controller, computer and fixture; Described mechanical hand is provided with mount pad, mount pad top is provided with a root post, column rear portion is provided with electric control cabinet, electric control cabinet is connected with controller by electrical equipment control line, computer is connected with controller by the data connecting line of RS232C interface, the action of control machine hand, column rotates, column top is provided with a support bar in 90 ° with column, one end of support bar is provided with the upper arm of the mechanical hand in 90 ° with support bar, and the upper arm of mechanical hand rotates; The upper arm front end of mechanical hand is provided with the forearm of mechanical hand, and the forearm inside of mechanical hand is provided with piezoelectric transducer, and piezoelectric transducer front end is provided with spring, is used for fixing clamp connector, and produces dynamic force; The forearm end face of mechanical hand is provided with screw thread, and end cap is connected with forearm by screw thread, and can adjust the tension force of spring, and the forearm of mechanical hand rotates; The front end of the forearm of mechanical hand is provided with clamp connector, clamp connector is provided with two sections, and large end is one section of cylinder, and is provided with the different endoporus of two diameters, the endoporus that diameter is large is used for jockey, inserts a straight pin and be used for fixing fixture in the endoporus that diameter is little; Mechanical hand front end is provided with fixture and is used for holding workpiece; Mechanical hand presses to the polishing wheel of High Rotation Speed by holder workpiece, polishing wheel is installed on the rotary shaft, be threaded connection and make it fixing, rotating shaft is linked together by yielding coupling and motor, and motor makes rotating shaft and polishing wheel rotate by yielding coupling.
2. the automatic buffing equipment with constant force according to claim 1, is characterized in that: described mechanical hand adopts the wrist type PUMA-562 mechanical hand with six degree of freedom.
3. the automatic buffing equipment with constant force according to claim 1, is characterized in that: described controller adopts the digital control system of Fa Nake or Siemens.
4. the automatic buffing equipment with constant force according to claim 1, is characterized in that: described mount pad bottom surface is provided with screw hole, and mount pad is fixed on the ground by screw hole by screw.
5. the automatic buffing equipment with constant force according to claim 1, is characterized in that: described support bar is cylinder.
6. the automatic buffing equipment with constant force according to claim 1, is characterized in that: described polishing wheel rotating speed is 3000r/min.
7. the automatic buffing equipment with constant force according to claim 1, is characterized in that: clamp connector small end is provided with the small cylinder in 90 ° with cylinder, and small cylinder is used for mounting spring.
8. the automatic polishing method with the automatic buffing equipment of constant force according to claim 1, is characterized in that:
In coordinate system of robot arm, polishing wheel is mounted on the rotary shaft, the centre of gyration of rotating shaft is fixing to the relative position of the centre of gyration of mechanical hand, mechanical hand is a wrist type PUMA-562 mechanical hand with six degree of freedom, computer is connected with mechanical hand controller by the data connecting line of RS232C interface, controller adopts the digital control system of Fa Nake or Siemens, digital control system performs by the compiled code of computer, mechanical hand is by being arranged on the holder workpiece of front end, controller according to pre-set programme-control machine hand in spatial three-dimensional movement, workpiece is pressed to polishing wheel, when workpiece produces contact stress, controller receives the size of piezoelectric transducer feedback pulse signal, the movement locus of controller dynamic micro-adjustments mechanical hand, when the contact stress of workpiece is less than the value preset, controller meeting control machine hand, close to polishing wheel, makes surface of the work produce enough frictional force, when absorption surface stress is greater than preset value, controller meeting control machine hand is away from polishing wheel, and the frictional force of surface of the work is reduced, and mechanical hand can change the track of workpiece motion s under control of the controller flexibly, the size of dynamic conditioning polishing force, keeps the constant of polishing force.
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| CN201310477910.4A CN103522159B (en) | 2013-10-14 | 2013-10-14 | There is automatic polishing method and the equipment thereof of constant force |
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| CN201310477910.4A CN103522159B (en) | 2013-10-14 | 2013-10-14 | There is automatic polishing method and the equipment thereof of constant force |
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| CN103522159B true CN103522159B (en) | 2015-12-02 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150072A (en) * | 2015-08-04 | 2015-12-16 | 西宁科进工业设计有限公司 | Polishing machine |
| CN105373075A (en) * | 2015-12-18 | 2016-03-02 | 四川大学 | Preset rigidity precision elevation adjustment device |
| CN105598808B (en) * | 2016-02-19 | 2017-09-12 | 青岛海信模具有限公司 | One kind automation polishing system and polishing method |
| CN105728857B (en) * | 2016-03-21 | 2018-02-02 | 涂雁平 | Along with formula deburring polishing main shaft and deburring method |
| CN107225461A (en) * | 2017-06-06 | 2017-10-03 | 武汉理工大学 | A kind of automobile forge piece overlap automatically grinding system and technique based on on-line measurement |
| CN110064986B (en) * | 2019-04-26 | 2020-03-27 | 四川天府珞埔三维科技有限公司 | Automatic artificial tooth polishing control system |
| CN110450038A (en) * | 2019-08-06 | 2019-11-15 | 上海发那科机器人有限公司 | A kind of burnishing device of bottle blowing mould |
| CN110465862B (en) * | 2019-08-25 | 2021-05-04 | 山东理工大学 | Automatic complex curved surface force control high-shear low-pressure grinding device and machining method thereof |
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