CN103831695A - Large free-form surface robot polishing system - Google Patents
Large free-form surface robot polishing system Download PDFInfo
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- CN103831695A CN103831695A CN201410123244.9A CN201410123244A CN103831695A CN 103831695 A CN103831695 A CN 103831695A CN 201410123244 A CN201410123244 A CN 201410123244A CN 103831695 A CN103831695 A CN 103831695A
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- 238000005498 polishing Methods 0.000 title claims abstract description 80
- 238000000227 grinding Methods 0.000 claims description 35
- 238000003801 milling Methods 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 2
- 239000002245 particle Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 16
- 230000000007 visual effect Effects 0.000 abstract description 2
- 238000007517 polishing process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 239000013065 commercial product Substances 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/14—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by liquid or gas pressure
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a large free-form surface robot polishing system. The large free-form surface robot polishing system comprises a pneumatic polishing head, an industrial robot, a robot control cabinet, a traveler gantry, a visual system, a pneumatic control cabinet and a system control cabinet. When the polishing system works, a part standard is rapidly and accurately calibrated according to the standard accurate calibrating technique, the traveler gantry is used for driving the industrial robot to arrive at a target free-form surface, the pneumatic polishing head is driven by the industrial robot to polish the target free-form surface according to a planed path, the pneumatic smooth force control technique and the normal polishing force control technique are adopted in a polishing process, and consistency of polishing accuracy and polishing quality is effectively guaranteed; the industrial robot is driven by the traveler gantry to arrive at the next target free-form surface after the target free-form surface is polished, the industrial robot drives the pneumatic polishing head to conduct polishing according to the planed path again, and in this way, all free-form surfaces are polished step by step in sequence. The large free-form surface robot polishing system is simple in structure, wide in work range, and suitable for polishing the large free-form surfaces.
Description
Technical field
The present invention relates to Industrial Robot Technology field, relate in particular to a kind of large-scale free form surface robot polishing system.
Background technology
Current large-scale free form surface sanding and polishing is substantially all to be completed by experience by artificial hand-held power tool, this very difficult uniformity that keeps of pressure and polishing path that makes to polish, badly influence the polishing quality of product, simultaneously, for the larger workpiece of volume, manual polishing speed is limited, makes working (machining) efficiency lower, and the environment of sanding and polishing is severe, serious threat is healthy to labourer's.
At present, in commercial Application, there has been commercial product in the companies such as ABB, KUKA, FANUC for robot polishing system, but great majority are the polishings for miniature parts, for the polishing of large-scale Free-form Surface Parts, the current also solution of imperfect intelligent robot polishing system.
Summary of the invention
For the problem of above-mentioned existence, the present invention proposes a kind of large-scale free form surface robot polishing system, described system comprises: traveller gantry, industrial robot, robot control cabinet, pneumatic grinding head, vision system, Pneumatic control cabinet, system control cabinet, described large-scale free form surface robot polishing system is realized the motion of traveller gantry and industrial robot by control instruction, and drive pneumatic grinding head effectively to remove the tool marks that stay after digital control processing according to path planning, make part to be processed surface obtain lower surface roughness and the higher accuracy of form and position, workman's labour intensity and production cost are effectively reduced, die surface quality and working (machining) efficiency are improved.
The large-scale free form surface of the one robot polishing system that the present invention proposes comprises: traveller gantry, industrial robot 4, pneumatic grinding head 5, vision system, robot control cabinet 8, Pneumatic control cabinet 9 and system control cabinet 10, wherein:
Described traveller gantry for moving industrial robot mounted thereto 4 on a large scale in three directions;
Described industrial robot 4 is fixedly mounted on the saddle parts 3 of described traveller gantry, realize moving in three directions on a large scale with the slip of the saddle parts 3 by described traveller gantry, beam part 6 and pillar parts 2, and drive pneumatic grinding head 5 accurately to polish according to path planning by the control instruction of robot control cabinet 8;
Described pneumatic grinding head 5 is arranged on described industrial robot 4, for drive the milling tools high speed rotating of its end by compressed air, to the polishing of part free form surface, realize the control of Compliant Force by compressed air, so that free form surface is carried out to uniform grinding simultaneously;
Described vision system comprises video frequency collection card and industrial camera 7, wherein, described industrial camera 7 is arranged on described beam part 6, precisely demarcates for the benchmark to part to be processed, be the identification of part benchmark and location, for robot path planning provides reference data;
Described robot control cabinet 8, for generating control instruction, is controlled industrial robot 4 and is driven pneumatic grinding head 5 to move according to the path of advance planning;
Its inner pneumatic circuit of the instruction control that described Pneumatic control cabinet 9 sends according to system control cabinet 10 is realized described pneumatic grinding head 5 is rotatablely moved and the control of Compliant Force;
Described system control cabinet 10 resolves for carrying out robot kinematics and dynamic (dynamical) off-line, with described robot control cabinet 8 carry out communication, to traveller gantry servomotor control, to pneumatic circuit control, IMAQ and processing and human-computer dialogue.
The beneficial effect of polishing system of the present invention has: the polishing pressure of (1) pneumatic main shaft and surface to be machined is easy to control, and can ensure that bruting process polishing pressure size remains consistent, effectively ensure the polishing removal amount of part, pneumatic main shaft also possesses milling tools wear automatic-compensation function simultaneously, makes bruting process can continue to carry out; (2) the present invention adopts normal direction polishing power control technology, remains in the normal direction of surface to be machined by robot path planning's pressure that makes to polish, and effectively ensures free form surface polishing precision and polishing quality conformance; (3) the present invention adopts the accurate calibration technique of benchmark, adopts overall Vision mode to detect the benchmark of part to be processed, utilizes nonlinear calibration method to carry out hand and eye calibrating to vision system, demarcates rapidly and accurately part benchmark; (4) adopt PROFIBUS bussing technique, realized the real-time Communication for Power between control system and robot controller, make system monitoring convenience and expansion good; (5) the present invention can realize the polishing of single large area Free-form Surface Parts, also can realize the batch polishing of multiple same parts, possesses higher grinding efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of polishing system according to an embodiment of the invention.
Fig. 2 is Working table structure schematic diagram according to an embodiment of the invention.
Fig. 3 is pillar construction schematic diagram according to an embodiment of the invention.
Fig. 4 is beam structure schematic diagram according to an embodiment of the invention.
Fig. 5 is saddle structural representation according to an embodiment of the invention.
Fig. 6 is pneumatic according to an embodiment of the invention grinding head structural representation.
Fig. 7 is composition of the control system schematic diagram according to an embodiment of the invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
The present invention proposes a kind of large-scale free form surface robot polishing system, it is by integrated industrial robot, traveller gantry and pneumatic grinding head, can realize the polishing to large-scale Free-form Surface Parts, or multiple parts of the same type are carried out to batch polishing, effectively improve production efficiency.
Fig. 1 is the structural representation of polishing system according to an embodiment of the invention, as shown in Figure 1, according to one embodiment of the invention, described large-scale free form surface robot polishing system comprises traveller gantry, industrial robot 4, pneumatic grinding head 5, vision system, robot control cabinet 8, Pneumatic control cabinet 9 and system control cabinet 10, wherein:
Described traveller gantry, for industrial robot mounted thereto 4 is moved on a large scale in X, Y, tri-directions of Z, has effectively expanded the working range of industrial robot, thereby can be used for polishing large-scale free form surface;
Described traveller gantry comprises worktable part 1, pillar parts 2, saddle parts 3 and beam part 6, and wherein, described pillar parts 2 is vertically mounted on the both sides of described worktable part 1, can move forward and backward along the direction of described worktable part 1; Described beam part 6 levels are arranged between described pillar parts 2, can move up and down along the direction of described pillar parts 2; Described saddle parts 3 are arranged on described beam part 6, can move left and right along the direction of described beam part 6, and in an embodiment of the present invention, above each parts are realized rectilinear motion separately by ball guide screw nat and linear guides;
Fig. 2 is Working table structure schematic diagram according to an embodiment of the invention, as shown in Figure 2, described worktable part 1 comprises workbench 1-3 and the first moving cell, wherein, described workbench 1-3 is such as fixing on the ground by foundation bolt, for supporting and the pillar parts 2 of fixing part to be processed and traveller gantry; Described the first moving cell symmetry is arranged on the both sides of described workbench 1-3, for described pillar parts 2 is installed, can on described workbench 1-3, move forward and backward.Each first moving cell includes the first servomotor 1-1, the first motor cabinet 1-2, the first ball guide screw nat 1-4, the first nut seat 1-5, the first slide block 1-6, the first linear guides 1-7 and clutch shaft bearing seat 1-8, and above-mentioned parts are installed so that pillar parts 2 can move forward and backward on described workbench 1-3 according to routine combination.
Fig. 3 is pillar construction schematic diagram according to an embodiment of the invention, as shown in Figure 3, described pillar parts 2 comprises column 2-1 and is arranged on the second moving cell of described column 2-1 mono-side, wherein, described the second moving cell comprises the second servomotor 2-2, the second motor cabinet 2-3, the second nut seat 2-4, the second slide block 2-5, the second linear guides 2-6, the second ball guide screw nat 2-7 and the second bearing block 2-8.The linear guides 1-7 that described column 2-1 is arranged on worktable part 1 by slide block 1-6 is upper, and drives ball guide screw nat 1-4 to drive left and right pillar parts 2 to move forward and backward on the linear guides 1-7 of worktable part 1 by the servomotor 1-1 of worktable part 1 the right and left simultaneously;
Fig. 4 is beam structure schematic diagram according to an embodiment of the invention, as shown in Figure 4, beam part 6 comprises crossbeam 6-8 and is arranged on the 3rd moving cell of described crossbeam 6-8 mono-side, wherein, described the 3rd moving cell comprises the 3rd servomotor 6-1, the 3rd motor cabinet 6-2, the 3rd ball guide screw nat 6-3, the 3rd nut seat 6-4, the 3rd slide block 6-5, the 3rd linear guides 6-6 and the 3rd bearing block 6-7.The linear guides 2-6 that described beam part 6 is arranged on the right and left pillar parts 2 by slide block 2-5 is upper, and drives ball guide screw nat 2-7 to realize beam part 6 by the servomotor 2-2 of pillar parts 2 the right and lefts to move up and down at pillar parts 2 simultaneously.
Fig. 5 is saddle structural representation according to an embodiment of the invention, as shown in Figure 5, described saddle parts 3 are arranged on by slide block 6-5 on the linear guides 6-6 of beam part 6, in the middle of saddle parts 3, be provided with a hole, for mounting nuts seat 6-4, and driving ball guide screw nat 6-3 to drive saddle parts 3 to move left and right on linear guides 6-6 by the servomotor 6-2 of beam part 6, industrial robot 4 is arranged on saddle parts 3 above with 3 motions of saddle parts simultaneously.
Described industrial robot 4 is fixedly mounted on by its base on the saddle parts 3 of described traveller gantry, move with saddle parts 3, thereby realize moving in X, Y, tri-directions of Z on a large scale by the movement of saddle parts 3, beam part 6 and pillar parts 2, and drive pneumatic grinding head accurately to polish according to path planning by the control instruction of robot control cabinet; In an embodiment of the present invention, described industrial robot 4 comprises 6 frees degree.
Described pneumatic grinding head 5 is arranged on described industrial robot 4, for drive the milling tools high speed rotating of its end by compressed air, realize the polishing to part free form surface, realize the control of Compliant Force by compressed air, so that free form surface is carried out to uniform grinding simultaneously; Described pneumatic grinding head 5 possesses milling tools wear automatic-compensation function;
Fig. 6 is pneumatic according to an embodiment of the invention grinding head structural representation, as shown in Figure 6, in an embodiment of the present invention, described pneumatic grinding head 5 comprises connector 5-1, the pneumatic main shaft 5-2 and the milling tools 5-3 that connect successively, wherein, connector 5-1 is for being fixed on by pneumatic main shaft 5-2 the flange that is positioned at described industrial robot 4 ends; Pneumatic main shaft 5-2 possesses pneumatic Compliant Force Control function, for controlling the polishing pressure of milling tools 5-3, the pressure size that makes to polish in bruting process remains consistent, effectively ensure the polishing removal amount of part, realize the uniform grinding to free form surface, make milling tools 5-3 High Rotation Speed the part of polishing simultaneously, and possess milling tools wear automatic-compensation function; Described milling tools 5-3 clamps by the scroll chuck formula chuck of pneumatic main shaft 5-2 bottom, be fixed on by connector 5-1 on the flange of industrial robot 4 ends, and with industrial robot 4 according to path planning to the part to be processed processing of polishing.
Wherein, described pneumatic main shaft 5-2 comprises air motor and submissive cylinder, and submissive cylinder possesses pneumatic Compliant Force Control function, for controlling the polishing pressure of milling tools 5-3, possesses milling tools wear automatic-compensation function simultaneously; Air motor is used for realizing milling tools 5-3 High Rotation Speed the part of polishing; Milling tools 5-3 selects corresponding flexible abrasive particle to polish for part to be processed according to different technological requirements, material properties.
Described vision system comprises video frequency collection card and industrial camera 7, and wherein, described industrial camera 7 is arranged on described beam part 6, such as central bottom, for the benchmark of part to be processed is precisely demarcated, i.e. part benchmark identification and location, for robot path planning provides reference data;
In an embodiment of the present invention, described industrial camera 7 adopts short-focus lens, and pixel is higher than 1,200 ten thousand pixels.
In an embodiment of the present invention, adopt overall Vision mode to detect the benchmark of part to be processed, for the visual angle of guaranteeing industrial camera 7 can effectively cover whole part to be processed, industrial camera 7 is arranged on to crossbeam central bottom, in the time that part to be processed is carried out to benchmark calibration, pillar parts 2 is placed in the centre of workbench 1-3, and beam part 6 is placed in the top of column 2-1, then utilize nonlinear calibration method to carry out hand and eye calibrating to vision system, to alleviate the impact of pattern distortion; Industrial camera 7 obtains after part image, first adopt histogram equalization method to strengthen the contrast of image, adopt again median filter method to carry out smoothing processing to image, by edge detection operator, image is carried out to edge extracting, extract the circular hole edge feature of workpiece benchmark, finally determine its center line, complete the demarcation of part benchmark.
Described robot control cabinet 8, for generate the path file generated control instruction of Software Create according to path, is controlled industrial robot 4 and is driven pneumatic grinding head 5 to move according to the path of advance planning;
Described Pneumatic control cabinet 9 inside are provided with two-way pneumatic circuit, solenoid directional control valve and pneumatic proportional valve that the control instruction control compressed air being sent by system control cabinet 10 divides two-way to enter respectively Pneumatic control cabinet 9, to realize rotatablely moving and the control of Compliant Force of pneumatic main shaft 5-2 to described pneumatic grinding head 5, wherein, Compliant Force Control is mainly to regulate electric Proportion valve to make the pneumatic grinding head of bruting process compress all the time surface to be machined and polishing pressure size remains at setting value by system control cabinet 10, effectively ensure the polishing removal amount of part, realize the uniform grinding to free form surface, possesses milling tools wear automatic-compensation function simultaneously,
Described system control cabinet 10 resolves for carry out robot kinematics and dynamic (dynamical) off-line by profibus fieldbus, with described robot control cabinet 8 carry out communication, to traveller gantry servomotor control, to pneumatic circuit control, IMAQ and processing and human-computer dialogue.
Fig. 7 is composition of the control system schematic diagram according to an embodiment of the invention, as shown in Figure 7, before the polishing system work of described large-scale free form surface robot, first utilizing path to generate software processes the threedimensional model of part to be processed, extract processed curved surface data, then divide polishing region and polishing order, generate control instruction, and control instruction is sent to system control cabinet 10, send control instruction and control the driving of servomotor in X on traveller gantry, Y, tri-directions of Z by system control cabinet 10; The software of path generation is simultaneously determined technological parameter according to curved surface data and technique for grinding database, the polishing path in the each polishing of regeneration region, and be sent to robot control cabinet 8, industrial robot 4 is polished according to path planning.
When described large-scale free form surface robot polishing system is started working, first by vision system, industrial robot 4 is carried out to benchmark calibration, control X on traveller gantry by system control cabinet 10 again, Y, servomotor in tri-directions of Z, make industrial robot 4 move quickly into the suitably overhead of height, distance polishing target area, again by robot control cabinet 8 control industrial robot 4 by pneumatic grinding head 5 move to polishing path original position, industrial robot 4 drives pneumatic grinding head 5 to carry out the polishing to free form surface according to the polishing path of planning in advance, after a slice of having polished free form surface, the first return of industrial robot 4, then controlling traveller gantry by system control cabinet 10 drives industrial robot 4 to move quickly into next polishing target area, robot control cabinet 8 is controlled industrial robot 4 and is again driven pneumatic grinding head 5 to polish according to path planning, the free form surface of each zones of different of so progressively polishing in order, finally complete the polishing of all free form surfaces.The advanced horizontal reset of postindustrial robot 4 of having polished, then traveller gantry returns initial point again.
The large-scale free form surface of the present invention robot polishing system makes pneumatic grinding head 5 compress all the time surface to be machined by the pneumatic proportional valve of controlling pneumatic circuit in Pneumatic control cabinet 9 in bruting process, and by being set, electric Proportion valve make bruting process pressure size remain constant, pass through robot path planning simultaneously, the pressure that makes to polish remains in surface to be machined normal direction, adopt normal direction polishing power control technology, thereby effectively ensure the uniformity of free form surface polishing precision and polishing quality.
The present invention is applicable to the polishing of complex free curved surface, can make the steady quality of large-scale free form surface polishing, and effect is unified, has replaced workman to work in this rugged environment of sanding and polishing simultaneously, and has improved product working (machining) efficiency.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. one kind large-scale free form surface robot polishing system, it is characterized in that, this system comprises: traveller gantry, industrial robot (4), pneumatic grinding head (5), vision system, robot control cabinet (8), Pneumatic control cabinet (9) and system control cabinet (10), wherein:
Described traveller gantry for moving industrial robot mounted thereto (4) on a large scale in three directions;
Described industrial robot (4) is fixedly mounted on the saddle parts (3) of described traveller gantry, slip with the saddle parts (3) by described traveller gantry, beam part (6) and pillar parts (2) realizes moving in three directions on a large scale, and drives pneumatic grinding head (5) accurately to polish according to path planning by the control instruction of robot control cabinet (8);
Described pneumatic grinding head (5) is arranged on described industrial robot (4), for drive the milling tools high speed rotating of its end by compressed air, to the polishing of part free form surface, realize the control of Compliant Force by compressed air, so that free form surface is carried out to uniform grinding simultaneously;
Described vision system comprises video frequency collection card and industrial camera (7), wherein, it is upper that described industrial camera (7) is arranged on described beam part (6), precisely demarcates for the benchmark to part to be processed, be the identification of part benchmark and location, for robot path planning provides reference data;
Described robot control cabinet (8), for generating control instruction, is controlled industrial robot (4) and is driven pneumatic grinding head (5) to move according to the path of advance planning;
Its inner pneumatic circuit of the instruction control that described Pneumatic control cabinet (9) sends according to system control cabinet (10) is realized described pneumatic grinding head (5) is rotatablely moved and the control of Compliant Force;
Described system control cabinet (10) resolves for carrying out robot kinematics and dynamic (dynamical) off-line, with described robot control cabinet (8) carry out communication, to traveller gantry servomotor control, to pneumatic circuit control, IMAQ and processing and human-computer dialogue.
2. system according to claim 1, it is characterized in that, described traveller gantry comprises worktable part (1), pillar parts (2), saddle parts (3) and beam part (6), wherein, described pillar parts (2) is vertically mounted on the both sides of described worktable part (1), can move forward and backward along the direction of described worktable part (1); Described beam part (6) level is arranged between described pillar parts (2), can move up and down along the direction of described pillar parts (2); It is upper that described saddle parts (3) are arranged on described beam part (6), can move left and right along the direction of described beam part (6).
3. system according to claim 2, is characterized in that, pillar parts (2), saddle parts (3) and beam part (6) are realized rectilinear motion by ball guide screw nat and linear guides.
4. system according to claim 2, it is characterized in that, described worktable part (1) comprises workbench (1-3) and the first moving cell, wherein, described workbench (1-3) fixes on the ground, for supporting and the pillar parts (2) of fixing part to be processed and traveller gantry; Described the first moving cell symmetry is arranged on the both sides of described workbench (1-3), for described pillar parts (2) is installed, can on described workbench (1-3), move forward and backward.
5. system according to claim 4, it is characterized in that, described the first moving cell comprises the first servomotor (1-1), the first motor cabinet (1-2), the first ball guide screw nat (1-4), the first nut seat (1-5), the first slide block (1-6), the first linear guides (1-7) and clutch shaft bearing seat (1-8).
6. system according to claim 2, it is characterized in that, described pillar parts (2) comprises column (2-1) and is arranged on the second moving cell of described column (2-1) side, and described beam part (6) comprises crossbeam (6-8) and is arranged on the 3rd moving cell of described crossbeam (6-8) side.
7. system according to claim 6, it is characterized in that, described the second moving cell comprises the second servomotor (2-2), the second motor cabinet (2-3), the second nut seat (2-4), the second slide block (2-5), the second linear guides (2-6), the second ball guide screw nat (2-7) and the second bearing block (2-8); Described the 3rd moving cell comprises the 3rd servomotor (6-1), the 3rd motor cabinet (6-2), the 3rd ball guide screw nat (6-3), the 3rd nut seat (6-4), the 3rd slide block (6-5), the 3rd linear guides (6-6) and the 3rd bearing block (6-7).
8. system according to claim 1, it is characterized in that, described pneumatic grinding head (5) comprises the connector (5-1), pneumatic main shaft (5-2) and the milling tools (5-3) that connect successively, wherein, connector (5-1) is for being fixed on pneumatic main shaft (5-2) flange that is positioned at described industrial robot (4) end; Pneumatic main shaft (5-2), for controlling the polishing pressure of milling tools (5-3), makes milling tools (5-3) High Rotation Speed the part of polishing simultaneously; Described milling tools (5-3) clamps by the scroll chuck formula chuck of pneumatic main shaft (5-2) bottom, be fixed on by connector (5-1) on the flange of industrial robot (4) end, and with industrial robot (4) according to path planning to the part to be processed processing of polishing.
9. system according to claim 8, it is characterized in that, described pneumatic main shaft (5-2) comprises air motor and submissive cylinder, and submissive cylinder possesses pneumatic Compliant Force Control function, be used for controlling the polishing pressure of milling tools (5-3), possess milling tools wear automatic-compensation function simultaneously; Air motor is used for realizing milling tools (5-3) High Rotation Speed the part of polishing.
10. system according to claim 8, is characterized in that, described milling tools (5-3) selects corresponding flexible abrasive particle to polish for part to be processed according to different technological requirements, material properties.
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| CN104440469A (en) * | 2014-11-10 | 2015-03-25 | 南车青岛四方机车车辆股份有限公司 | Polishing method and system |
| CN104551897A (en) * | 2015-01-04 | 2015-04-29 | 中国矿业大学 | Processing device and method adapting to batch grinding of rock samples with different contour dimensions |
| CN104668958A (en) * | 2015-02-13 | 2015-06-03 | 深圳市圆梦精密技术研究院 | Flexible processing system |
| CN104858782A (en) * | 2015-04-03 | 2015-08-26 | 华南理工大学 | Constant pressure automatic grinding device and method based on fuzzy adaptive force control |
| CN104959839A (en) * | 2015-07-09 | 2015-10-07 | 徐州华恒机器人系统有限公司 | Gantry grinding, polishing and deburring robot workstation |
| CN105313122A (en) * | 2015-11-19 | 2016-02-10 | 上海交通大学 | Robot grinding device |
| CN105598777A (en) * | 2016-03-08 | 2016-05-25 | 济南大学 | Workpiece clamping structure for grinding tool, and tracking type casting edging machine and method |
| CN106112734A (en) * | 2016-06-22 | 2016-11-16 | 广州智铝铝业有限公司 | Monoblock type metal framework sanding apparatus |
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| CN106872104A (en) * | 2017-03-27 | 2017-06-20 | 江苏科技大学 | It is a kind of for tuning for Controllable Pitch Propeller blade center of gravity measurement and the compound platform of amendment |
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| CN106881648A (en) * | 2017-03-27 | 2017-06-23 | 江苏科技大学 | A kind of tuning for Controllable Pitch Propeller blade surface sanding apparatus and polishing process |
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| CN108039113A (en) * | 2018-01-23 | 2018-05-15 | 北京华航唯实机器人科技股份有限公司 | A kind of intelligent manufacturing cell design of system integration teaching equipment |
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| CN109848800A (en) * | 2019-01-25 | 2019-06-07 | 莱州文胜机械科技有限公司 | A kind of large size polished stone equipment |
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| CN112296806A (en) * | 2020-10-10 | 2021-02-02 | 重庆秉穗科技有限公司 | Polishing device and polishing method for polishing profile wing plate |
| CN112720113A (en) * | 2021-01-08 | 2021-04-30 | 周成建 | High-end equipment manufacturing steel plate surface polishing equipment |
| CN115026660A (en) * | 2022-08-11 | 2022-09-09 | 昆山市恒达精密机械工业有限公司 | CCD-based grinding process intelligent control method and system |
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| CN115972010A (en) * | 2023-02-01 | 2023-04-18 | 中冶赛迪技术研究中心有限公司 | Galvanized sheet system of polishing |
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