CN103878666B - A kind of free form surface robot polishing system - Google Patents
A kind of free form surface robot polishing system Download PDFInfo
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- CN103878666B CN103878666B CN201410123106.0A CN201410123106A CN103878666B CN 103878666 B CN103878666 B CN 103878666B CN 201410123106 A CN201410123106 A CN 201410123106A CN 103878666 B CN103878666 B CN 103878666B
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- pneumatic
- control cabinet
- main shaft
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- 238000005498 polishing Methods 0.000 title claims abstract description 61
- 238000003801 milling Methods 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims description 12
- 238000000227 grinding Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 238000003754 machining Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 229910001651 emery Inorganic materials 0.000 claims description 2
- 239000011347 resin Substances 0.000 claims description 2
- 229920005989 resin Polymers 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000003746 surface roughness Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000306 component Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000008358 core component Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000009885 systemic effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a kind of free form surface robot polishing system, this system includes workbench, industrial robot, robot control cabinet, milling tools, pneumatic main shaft, connector, Pneumatic control cabinet and system control cabinet.Automaticity of the present invention is high, flexible strong, it is particularly well-suited to the polishing of free form surface, it is specially, milling tools is clamped by the pneumatic main shaft being fixed on industrial machine robot end, milling tools is made to compress surface to be machined all the time by the pneumatic Compliant Force Control function of pneumatic main shaft, and pressure size keeps constant, industrial robot adjusts pose according to path planning simultaneously, make polishing pressure in the normal direction of surface to be machined, milling tools high-speed rotation is made by the air motor of pneumatic main shaft, milling tools is driven according to path planning, part to be polished by industrial robot again.
Description
Technical field
The present invention relates to Industrial Robot Technology field, particularly relate to a kind of free form surface robot polishing system.
Background technology
The part sanding and polishing of current free form surface is substantially and is completed by experience by artificial hand-held power tool, and this is it is difficult to ensure that the accuracy of form and position of Free-form Surface Parts, surface microscopic physical attribute, and manufacturing cost is higher, constrains the development of mould process technology；Especially current manual work is difficult to ensure that concordance and the working (machining) efficiency of quality, and finished machined accounts for about the 37～42% of whole Making mold man-hour according to statistics, and heavy job task and poor efficiency make the lead time of some equipment be subject to serious impact.Therefore, the polishing processing of free form surface is the weak link in mould production, manufacture, becomes the bottleneck of restriction mold manufacturing industry development.
Summary of the invention
For above-mentioned problems of the prior art, the present invention proposes a kind of free form surface robot polishing system, the present invention is clamped milling tools by the pneumatic main shaft being fixed on industrial machine robot end, milling tools is made to compress surface to be machined all the time by the pneumatic Compliant Force Control function of pneumatic main shaft, and pressure size keeps constant, industrial robot adjusts pose according to path planning simultaneously, make polishing pressure in the normal direction of surface to be machined, milling tools high-speed rotation is made by the air motor of pneumatic main shaft, milling tools is driven according to path planning, part to be polished by industrial robot again.The present invention can ensure precision and the quality conformance that free form surface polishes effectively, and improves production efficiency, reduces the labor intensity of workman.
A kind of free form surface robot polishing system that the present invention proposes includes: workbench, industrial robot, robot control cabinet, milling tools, pneumatic main shaft, connector, Pneumatic control cabinet and system control cabinet, wherein:
Described workbench is used for fixing part to be processed；
Described pneumatic main shaft is fixed on the end flange of industrial robot by connector；
Described milling tools is clamped in the bottom of described pneumatic main shaft, for performing designated movement track with industrial robot according to control instruction, is polished or is polished in the surface of fixing part to be processed on the table；
Pneumatic control cabinet utilizes pneumatic circuit that described pneumatic main shaft is controlled；
Described system control cabinet is used for carrying out robot kinematics and resolves with dynamic (dynamical) off-line, realizes pneumatic circuit control simultaneously, and carries out communication with robot control cabinet；
Described robot control cabinet, for controlling the motion of industrial robot, makes the milling tools of industrial machine robot end move according to planned trajectory.
The beneficial effect comprise that (1) pneumatic main shaft possesses Compliant Force Control function, can guarantee that in bruting process, the pressure size of milling tools and surface to be machined remains constant, the automatic compensating action of abrasion of grinding wheel can be played, it is adaptable to complex-curved sanding and polishing simultaneously；(2) surface to be machined pressure is made to remain in the normal direction of surface to be machined by adjusting in real time of robot pose；(3) corresponding milling tools can be selected according to different technological requirements, material properties；(4) industrial robot polishing path according to coordinates measurement Software Create, drives milling tools the free form surface of part to be processed is polished or polishes, and production efficiency and polishing precision are polished apparently higher than robot teaching；(5) mutually orthogonal with Machining Path by the polishing path of coordinates measurement Software Create, it is effectively improved polishing quality.
Accompanying drawing explanation
Fig. 1 is polishing system structural representation according to an embodiment of the invention.
Fig. 2 is connecting-piece structure schematic diagram according to an embodiment of the invention.
Fig. 3 is milling tools structural representation according to an embodiment of the invention.
Fig. 4 is the cut-away view of pneumatic main shaft according to an embodiment of the invention.
Fig. 5 is pneumatic circuit schematic diagram according to an embodiment of the invention.
Fig. 6 is flow chart of polishing according to an embodiment of the invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, 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 free form surface robot polishing system, Fig. 1 is polishing system structural representation according to an embodiment of the invention, as shown in Figure 1, described polishing system includes workbench 10, industrial robot 3, robot control cabinet 2, milling tools 6, pneumatic main shaft 5, connector 4, Pneumatic control cabinet 7 and system control cabinet 1, wherein:
Described workbench 10 is used for fixing part 8 to be processed, and in an embodiment of the present invention, described part 8 to be processed is fixed on described workbench 10 by fixing parts 9.In another embodiment of the invention, the bottom of described workbench 10 is provided with damping means 11, and such as Filled Iron for Vibration Damping possesses vibration-damping function；
Described pneumatic main shaft 5 is fixed on the end flange of industrial robot 3 by connector 4, and the structural representation of connector 4 is as shown in Figure 2 according to an embodiment of the invention；
Described milling tools 6 is clamped in the bottom of described pneumatic main shaft 5, such as by the scroll chuck formula grips bottom described pneumatic main shaft 5, for performing designated movement track with industrial robot 3 according to control instruction, is polished or polish in the surface of the part to be processed 8 being fixed on workbench 10.As shown in Figure 3, described milling tools 6 includes polishing medium 6-2 and supporting grinding clamp 6-1, wherein, described polishing medium 6-2 can be the polishing media such as cup-type grinding wheel, dish (emery) wheel, sized flap wheel or resin wheel, in actual applications, the selection of polishing medium 6-2 and supporting grinding clamp 6-1 can be carried out according to different technological requirements, material properties；
Described polishing system utilizes pneumatic principle to polish, its polishing core component is pneumatic main shaft 5, as shown in Figure 4, described pneumatic main shaft 5 includes air motor 5-1 and submissive cylinder 5-2, wherein, air motor 5-1 is fixed on the slide unit of submissive cylinder 5-2, moves with slide unit, for driving milling tools 6 high-speed rotation in pneumatic main shaft, it is achieved polishing function；Submissive cylinder 5-2 possesses pneumatic Compliant Force Control function, is used for controlling polishing pressure, makes the contact force size on milling tools and part to be processed surface in bruting process remain constant, can play the automatic compensating action of abrasion of grinding wheel simultaneously；
Pneumatic control cabinet 7 utilizes pneumatic circuit that the air motor 5-1 and submissive cylinder 5-2 of described pneumatic main shaft 5 are controlled；
Described system control cabinet 1 is used for carrying out robot kinematics and resolves (including trajectory planning and motion compensation) with dynamic (dynamical) off-line, realize pneumatic circuit control simultaneously, and carry out communication with robot control cabinet 2, specifically, described system control cabinet 1 is provided with coordinates measurement software, for generating polishing path and carrying out inflection point detection, described coordinates measurement software, design industrial robot 3 is polished the planning in path and optimization, the polishing path that Machining Path data genaration is mutually orthogonal with Machining Path, again the path point generated is carried out inflection point detection, and the path point of generation is converted to the discernible control routine of robot, industrial robot adjusts attitude according to path point normal vector, the direction making polishing pressure remains in surface to be machined normal direction, realize the concordance of polishing quality；Control circuit in described system control cabinet 1 controls the pneumatic components and parts in pneumatic circuit according to the control instruction received；Described system control cabinet 1 carries out communication with robot control cabinet 2 by Profibus.
Described system control cabinet 1 sends instruction and controls the electric Proportion valve 7-6 in pneumatic circuit and two-position five-way valve 7-7 output pressure, submissive cylinder 5-2 is made to produce corresponding thrust, this thrust passes to milling tools 6 by air motor 5-1, the contact force size on milling tools 6 and part to be processed 8 surface in bruting process is made to remain the polishing force value controlling systemic presupposition, this pneumatic main shaft 5 one aspect makes polishing system possess pneumatic Compliant Force Control function, realize the uniformity of free form surface polishing effect, the automatic compensating action of abrasion of grinding wheel can be played on the other hand；Air motor 5-1 is realized rotating and stopping by controlling the break-make of two position two-way valve 7-5 in the instruction control pneumatic circuit that system sends, so that the milling tools 6 being clamped in pneumatic main shaft 5 realizes polishing function.
Described robot control cabinet 2, for controlling the motion of industrial robot 3, makes the milling tools 6 of industrial robot 3 end move according to planned trajectory；
As shown in Figure 5, pneumatic circuit schematic diagram within Pneumatic control cabinet 7, this pneumatic circuit includes source of the gas 7-1, release residual voltage hand-operated valve 7-2, filtering pressure reducing valve 7-3, oil sprayer 7-4, air motor 5-1, electric Proportion valve 7-6, submissive cylinder 5-2, controls the two position two-way valve 7-5 that air motor rotates and the two-position five-way valve 7-7 controlling cylinder commutation；Compression air enters filtering pressure reducing valve 7-3 and oil sprayer 7-4 after being input to release residual voltage hand-operated valve 7-2 from source of the gas 7-1, compression air is made to be filtered and reduce pressure, and carry mist of oil pneumatic components and parts are lubricated, then two-way is divided to respectively enter pneumatic main shaft 5, one tunnel enters air motor 5-1 after two position two-way valve 7-5, another road enters submissive cylinder 5-2 after electric Proportion valve 7-6 and two-position five-way valve 7-7；When two position two-way valve 7-5 receives the signal from control system, coil obtains electric, makes compression air be directly entered air motor 5-1, it is achieved air motor 5-1 high-speed rotation；Electric Proportion valve 7-6 exports corresponding air pressure according to the Control system simulation amount received, and when two-position five-way valve 7-7 receives the signal from control system, coil obtains electric, allows compressed air into submissive cylinder, produces polishing pressure.
As shown in Figure 6, the bruting process of free form surface robot polishing system comprises the following steps:
1. part 8 to be processed and milling tools 6 are installed；
2. start electric and pneumatic system, debug Pneumatic pressure；
3. start coordinates measurement software, import the cad data of part to be processed；
4. technological parameter is set, generates polishing path；
5. inflection point detection and correction, generates robot control routine and sends robot control cabinet 2 to；
6. industrial robot 3 drives milling tools 6 according to generating path movement and performing polishing task；
7. system monitoring and in real time Compliant Force Control；
8. polishing terminates, and carries out surface roughness detection；
9. polishing is repeated to not up to the surface of surface roughness requirements, until surface roughness reaches requirement.
Before the polishing system work of described free form surface robot, first the cad data of given free form surface is imported described system control cabinet, it is specially coordinates measurement software therein, the free form surface selecting to need polishing is required according to polishing, by arranging technique for grinding parameter, generate and meet the polishing path that processing technique requires, again through inflection point detection, revise the not accessibility path point of industrial robot 3, finally the path point of generation is converted to the discernible control routine of industrial robot 3 and inputs robot control cabinet 2, after robot control cabinet 2 resolves, generate the pose of industrial robot corresponding with path point, make the contact condition that milling tools is correct with surface to be machined maintenance, namely the polish direction of pressure remains in surface to be machined normal direction, thus realizing the concordance of polishing quality；Tool marks in order to stay after effectively removing digital control processing simultaneously, it is thus achieved that relatively low surface roughness and the higher accuracy of form and position, by arranging the related process parameters of coordinates measurement software, the polishing path making generation is mutually orthogonal with Machining Path；During polishing work, industrial robot 3 drives milling tools 6 from the starting point pre-set, along path point, the free form surface of part 8 to be processed is polished, and postindustrial robot 3 of having polished resets, unload the part 8 polished, complete a polishing cycle.
Particular embodiments described above; the purpose of the present invention, technical scheme and beneficial effect have been further described; it is it should be understood that; the foregoing is only specific embodiments of the invention; it is not limited to the present invention; all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (6)
1. a free form surface robot polishing system, it is characterised in that this system includes: workbench, industrial robot, robot control cabinet, milling tools, pneumatic main shaft, connector, Pneumatic control cabinet and system control cabinet, wherein:
Described workbench is used for fixing part to be processed；
Described pneumatic main shaft is fixed on the end flange of industrial robot by connector；
Described milling tools is clamped in the bottom of described pneumatic main shaft, for performing designated movement track with industrial robot according to control instruction, is polished or is polished in the surface of fixing part to be processed on the table；
Pneumatic control cabinet utilizes pneumatic circuit that described pneumatic main shaft is controlled；
Described system control cabinet is used for carrying out robot kinematics and resolves with dynamic (dynamical) off-line, realizes pneumatic circuit control simultaneously, and carries out communication with robot control cabinet；
Described robot control cabinet, for controlling the motion of industrial robot, makes the milling tools of industrial machine robot end move according to planned trajectory；
Described system control cabinet requires the free form surface selecting to need polishing according to polishing, by arranging technique for grinding parameter, generate and meet the polishing path that processing technique requires, again through inflection point detection, revise the not accessibility path point of industrial robot, finally the path point of generation is converted to the discernible control routine of industrial robot and inputs robot control cabinet；
Described system control cabinet is by arranging related process parameters, and the polishing path making generation is mutually orthogonal with Machining Path；
The bottom of described workbench is provided with damping means；Described part to be processed is fixed on described workbench by fixing parts.
2. system according to claim 1, it is characterised in that described milling tools includes polishing medium and supporting grinding clamp.
3. system according to claim 2, it is characterised in that described polishing medium is cup-type grinding wheel, dish (emery) wheel, sized flap wheel or resin wheel.
4. system according to claim 1, it is characterised in that described pneumatic main shaft includes air motor and submissive cylinder, wherein, air motor is fixed on the slide unit of submissive cylinder, moves with slide unit, for driving the milling tools high-speed rotation in pneumatic main shaft, it is achieved polishing function；Submissive cylinder possesses pneumatic Compliant Force Control function, is used for controlling polishing pressure, makes the contact force size on milling tools and part to be processed surface in bruting process remain constant.
5. system according to claim 1, it is characterized in that, described pneumatic circuit includes source of the gas, release residual voltage hand-operated valve, filtering pressure reducing valve, oil sprayer, air motor, electric Proportion valve, submissive cylinder, controls the two position two-way valve that air motor rotates and the two-position five-way valve controlling cylinder commutation.
6. system according to claim 1, it is characterised in that described industrial robot adjusts attitude according to path point normal vector, makes the direction of polishing pressure remain in surface to be machined normal direction.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410123106.0A CN103878666B (en) | 2014-03-28 | 2014-03-28 | A kind of free form surface robot polishing system |
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| CN201410123106.0A CN103878666B (en) | 2014-03-28 | 2014-03-28 | A kind of free form surface robot polishing system |
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| CN103878666A CN103878666A (en) | 2014-06-25 |
| CN103878666B true CN103878666B (en) | 2016-06-29 |
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Effective date of registration: 20180531 Address after: 518057 A, 6 yuan, Zhuyuan garden, No. 5 KELONG Road, Yuhai street, Nanshan District, Shenzhen, Guangdong. Patentee after: Zhongke Jun Sheng (Shenzhen) intelligent data science and Technology Development Co., Ltd. Address before: 100190 Zhongguancun East Road, Haidian District, Haidian District, Beijing Patentee before: Institute of Automation, Chinese Academy of Sciences |