CN104369064B - Air bag polishing tool and system and method - Google Patents
Air bag polishing tool and system and method Download PDFInfo
- Publication number
- CN104369064B CN104369064B CN201410669176.6A CN201410669176A CN104369064B CN 104369064 B CN104369064 B CN 104369064B CN 201410669176 A CN201410669176 A CN 201410669176A CN 104369064 B CN104369064 B CN 104369064B
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- China
- Prior art keywords
- air bag
- pressure
- hollow axle
- bag polishing
- polishing tool
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- 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.)
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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
- B24B13/00—Machines or devices designed for grinding or polishing optical surfaces on lenses or surfaces of similar shape on other work; Accessories therefor
- B24B13/01—Specific tools, e.g. bowl-like; Production, dressing or fastening of these tools
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
Abstract
The invention discloses an air bag polishing tool and system and method. The air bag polishing tool comprises a motor, a speed reducer, a hollow rotating shaft and an air bag, wherein the motor, the speed reducer, the hollow rotating shaft and the air bag are sequentially connected. The hollow rotating shaft is provided with a hollow cavity, the two ends of the hollow cavity are communicated to the air bag and a ventilation guide pipe respectively, and an electrical proportional valve is arranged on the ventilation guide pipe. The air bag polishing tool further comprises a pressure intensity sensor for detecting the pressure intensity of air in the air bag and a pressure sensor for detecting the positive pressure of the tool. By means of the air bag polishing tool, based on the electrical proportional valve, the contact pressure and the contact pressure intensity of a polished surface can be controlled in real time, the air bag polishing tool can meet the requirements of different machined surfaces for different machining pressures, the machining accuracy can be improved, the polishing process can be simplified, the machining cost can be reduced, and the air bag polishing tool is simple in structure and easy to control.
Description
Technical field
The present invention relates to a kind of air bag polishing tool, especially relating to one kind can be by real-time control air pressure come control table
The equipment of mirror polish footprint pressure.
Background technology
In recent years, optical surface and die curve development of manufacturing are very rapid, are related to face also widely.Polishing conduct
Optical surface and die curve manufacture last together with technique, the final mass to curved surface and service life play vital
Effect.Air bag polishing is a kind of emerging certainty glossing, the polishing of especially suitable free form surface.So-called certainty is
The material removal amount of polishing process is controlled, and air bag polishing mainly enables air bag by the pressure in air bag when controlling polishing
Contact with various curve stables, when camped between a timing can realize the predictability of material removal amount.Air bag polishing adopts
Inflate spherical flexible air-bag and as polishing tool, curved surface is polished in gasbag outer surface stickup polishing pad, not only can protect
Card rubbing head and the identical property of polished surface of the work are good, and can be by adjusting Stress control polishing efficiency and polished workpiece
Surface quality.
In polishing process, polishing tool is polished in polished surface of the work by given path, when polishing workpiece
Form and position error in surface, polished surface of the work curvature changes or the reason such as machine vibration may lead to polishing contact
Power can not meet requirement, and contact force is an important control parameter in polishing process, and stable polishing contact force is conducive to
Reduce workpiece surface roughness, improve polishing precision and increase polishing stable.Before air bag polishing technology occurs, buffer
Tool usually realizes the flexible contact between polishing tool and polished surface using spring or other flexible material, makes throwing
Contact force in photoreduction process keeps within the specific limits as far as possible, but this flexible contact is typically all difficult in line traffic control
System.
Content of the invention
It is an object of the invention to provide a kind of air bag polishing tool, system and method, with overcome of the prior art not
Foot.
For achieving the above object, the following technical scheme of present invention offer:
The embodiment of the present application discloses a kind of air bag polishing tool, including the motor being sequentially connected, decelerator, hollow axle
And air bag, described hollow axle has a hollow cavity, and the two ends of this hollow cavity are respectively communicated with described air bag and a ventilation
Conduit, described airway is provided with electric Proportion valve, and described air bag polishing tool also includes gas in the described air bag of a detection
The pressure transducer of body pressure.
Preferably, in above-mentioned air bag polishing tool, described air bag polishing tool also includes the positive pressure of a detection instrument
The pressure sensor of power.
Preferably, in above-mentioned air bag polishing tool, the output end of described decelerator is fixed with upper box, this upper box
There is an installing space, in described installing space, be provided with shaft coupling, described shaft coupling be fixed on described decelerator output shaft and
Between the top of described hollow axle.
Preferably, in above-mentioned air bag polishing tool, the bottom of described upper box is fixed with lower box, described lower box
It is sheathed on the outside of described hollow axle, described lower box has a sealing space, this sealing space is respectively communicated with described logical
Airway and described hollow cavity, the upper and lower ends of described sealing space are respectively equipped with a bearing, and this two bearing holder (housing, cover)s are located at institute
State the outside of hollow axle.
Preferably, in above-mentioned air bag polishing tool, the top surface of described upper box fits in the bottom surface of described lower box,
It is sealed with upper sealing ring, described upper box and the described lower box of annular between the diapire of described hollow axle and described upper box
Contact surface between be sealed with the middle sealing ring of annular, the bottom of described lower box is fixed with end cap, and this end cap is sheathed on described
The outside of hollow axle, is sealed with lower seal between described end cap and described hollow axle.
Preferably, in above-mentioned air bag polishing tool, the side wall of described upper box is fixed with one and is used for and outside work
The connecting bracket that industry robot connects, described pressure sensor is arranged in described connecting bracket.
Preferably, in above-mentioned air bag polishing tool, the bottom of described hollow axle is additionally provided with air-bag support, described gas
Capsule support includes the main part of hollow, and to having extended around installation portion, described hollow axle is sheathed on described for the bottom of this main body
The outside of main part, is fixed with hydraulic expanding cover between described main part and described hollow axle, and it is solid that described air bag passes through lock sleeve
On described installation portion.
The embodiment of the present application also discloses a kind of air bag polishing system, including controller, daq data collecting card and above-mentioned
Air bag polishing tool, described daq data collecting card is connected between described controller and electric Proportion valve.
Correspondingly, the embodiment of the present application also discloses a kind of control method of air bag polishing system, and this control method adopts
The two-step evolution method of pressure and pressure, including pressure control ring and Stress control ring, controller includes pressure controller and pressure
Force controller, daq data collecting card sends the pressure signal collecting to pressure controller, and pressure controller is to ideal pressure
It is adjusted with the difference of actual pressure, to electric Proportion valve, meanwhile, daq data collecting card will collect output control signal
Pressure signal send pressure controller to, pressure controller is adjusted to the difference of desired pressure and actual pressure, output
Pressure settings are to pressure control ring.
Compared with prior art, it is an advantage of the current invention that:
1), the present invention can be used for the polishing of all kinds of optical elements and mould, can be free form surface, plane etc.；
2), the present invention not only can use an air bag head, and is applied to the situation that bull uses cooperatively, by hydraulic pressure
Expansion sleeve can connect different air bag polishing tool heads, to realize various specific processing requests.
3), due to the compliance that gas is natural, the flexibility after air bag polishing tool inflation makes the process of polishing more steady,
And use the control to its internal pressure for the electric Proportion valve, air bag polishing tool can be made according to the surface of different workpieces and processing
Require, relevant pressure is provided it is ensured that polishing quality.
4) present invention is controlled it is proposed that a kind of new constant voltage using two-step evolution method to air pressure and polish pressure
Power becomes air bag polishing regulation and control method, control bladder pressure single than ever or the control polish pressure of pressure, more can guarantee that
The stationarity of polishing process and uniformity.
Brief description
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments described in application, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 show the schematic perspective view of air bag polishing tool in the specific embodiment of the invention；
Fig. 2 show the sectional view of air bag polishing tool in the specific embodiment of the invention；
Fig. 3 show the principle schematic of air bag polishing system in the specific embodiment of the invention；
Fig. 4 show the control principle drawing of air bag polishing system in the specific embodiment of the invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, detailed retouching is carried out to the technical scheme in the embodiment of the present invention
State it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the present invention
In embodiment, the every other enforcement that those of ordinary skill in the art are obtained on the premise of not making creative work
Example, broadly falls into the scope of protection of the invention.
Shown in ginseng Fig. 1 and Fig. 2, air bag polishing tool includes motor and encoder 1, decelerator 2, decelerator flange 3,
Shaft coupling 4, upper box 5, upper sealing ring 6, mechanical arm flange 7, connecting bracket 8, middle sealing ring 9, upper end bearing 10, nowel
Body 11, airway tube 12, hollow axle 13, bottom end bearing 14, lower seal 15, hydraulic expanding cover 16, lock sleeve 17, air-bag support
18, air bag 19.
Motor is fixedly connected with decelerator 2 with encoder 1, is connected to one by decelerator flange 3 and upper box 4
Rise, the output shaft of decelerator 2 drives hollow axle 13 to rotate by shaft coupling 4, and hydraulic expanding cover 16 is located on hollow axle 13, gas
Capsule support 18 is connected with hydraulic expanding cover 16, and air bag 19 is fixed on air-bag support 18 by lock sleeve 17, can be with hollow axle
13 rotate together, and lower box 11 is connected with upper box 5 by screw, and upper end bearing 10 and bottom end bearing 14 are positioned over lower box 11
Among, and the shaft shoulder positioning by hollow axle 13 and its interference fit, join for gap between upper sealing ring 6 and hollow axle 13
Close, the rotation of axle is not disturbed in the gas leakage reducing axial direction, and middle sealing ring 9 is located between lower box, is prevented using interference fit
Gas leakage, lower seal 15 and axle are also using gap cooperation.Mechanical arm flange 7 is connected with connecting bracket 8, is fixed on top box
On body 5, for the connection with industrial robot end flange.Airway 12 is connected to the passage open on lower box 11,
To lower box supply, air bag 19 is connected to by hollow axle 13.
When motor rotates, decelerator 2 is driven to rotate, decelerator 2 drives hollow axle 13 to rotate by shaft coupling 4, on
State hydraulic expanding cover 16 operationally to hold tightly with hollow axle 13, and fasten air-bag support 18, because air bag 19 passes through lock sleeve 17
Be connected with air-bag support, thus air bag 19 also with hollow axle 13 synchronous axial system.
When processing workpiece, source of the gas connects airway 12 by electric Proportion valve, supplies (or exhaust) to lower box 11,
Control its internal air pressure, and due to internal insertion between as described before hollow axle 13 and air-bag support 18, in air bag 19
Gas and nowel body in gas connection, air pressure is identical, thus reaching the purpose controlling air bag 19 internal gas pressure.When needs provide relatively
During high (or relatively low) pressure, electric Proportion valve can be controlled to set higher (or lower) atmospheric pressure value, airway 12 now conduct
Air supply pipe (or blast pipe) is supply inside polishing tool (or exhaust).
Referring to Fig. 3, air bag polishing system includes controller 20, daq data collecting card 21, electric proportional servo valve 22, pressure
Force snesor 23, air pressure sensor 24.Controller 20 comprises hardware system and the software systems of controller, and hardware system is just
It is control device, software systems are exactly control algolithm, the acceptance transmission of data depends on control device, the process of data and calculating
Depend on software service.The air inlet of described electric Proportion valve 22 connects source of the gas, and its gas outlet connects in air bag polishing tool
Lower box 11 on passage.Described air pressure sensor 24 is connected in lower box 11, in order to real-time measurement casing
Gentle intracapsular gas pressure intensity.Equipped with pressure sensor 23 on mechanical arm flange 7, the positive pressure of survey tool system.
Data collecting card 21 gathers the signal in pressure sensor 23 and pressure transducer 24, as the feedback signal of control system.With
When, data collecting card 21 output voltage values give electric proportional servo valve 22, the output pressure of electric proportional servo valve 22 and input
Signal is directly proportional.It is in communication with each other using pci local bus between data collecting card 21 and control device, control device can preserve
The data of data collecting card 21 collection, simultaneously can be to data collecting card 21 transmission order.
Control device can include microprocessor (mcu), and this mcu can include CPU (central
Processing unit, cpu), read-only memory module (read-only memory, rom), random storage module (random
Access memory, ram), time block, digital-to-analogue conversion module (a/d converter) and plural number input/defeated
Go out of the port.Certainly, the integrated circuit that control device can also take other form, such as: application-specific IC
(application specific integrated circuit, asic) or field programmable gate arrays (field
Programmable gate array, fpga) etc..Preferably, control device is preferably with the computer of display device.
Referring to Fig. 4, present example adopts the two-step evolution method of pressure and pressure, including pressure control ring and pressure control
Ring processed.Controller includes pressure controller and pressure controller, and data collecting card 21 sends the pressure signal collecting to pressure
Strong controller, pressure controller is adjusted to the difference of ideal pressure and actual pressure, and output control signal gives electric ratio
Valve.Meanwhile, data collecting card 21 sends the pressure signal collecting to pressure controller, pressure controller to desired pressure with
The difference of actual pressure is adjusted, and output pressure setting value is to pressure control ring.
During polishing, in order to obtain more preferable polishing effect, on the one hand it is intended to make air bag neither too hard, nor too soft, on the other hand need to protect
Hold suitable normal pressure.Such as when throwing convex surface, air bag and absorption surface, its contact area is smaller, is so keeping
In the case that polish pressure is constant, need to reduce the pressure in air bag, increase polishing contact area；When throwing concave surface, air bag and work
The contact area of part is larger, now can be with the pressure of augmented airbag to reduce contact area in the case of ensureing constant voltage.So,
In this case, two-step evolution method than single control bladder pressure or controls polish pressure, more can guarantee that the stationarity of polishing process
And uniformity.
In sum, the present invention based on electric Proportion valve can with real-time control polished surface contact with contact pressure
Strong air bag polishing tool, this air bag polishing tool can meet the requirement to different tonnages for the different finished surfaces, permissible
Improve machining accuracy, simplify polishing process, reduce processing cost, and structure relatively easy it is easy to control.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation are made a distinction with another entity or operation, and not necessarily require or imply these entities or deposit between operating
In any this actual relation or order.And, term " inclusion ", "comprising" or its any other variant are intended to
Comprising of nonexcludability, wants so that including a series of process of key elements, method, article or equipment and not only including those
Element, but also include other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element that limited by sentence "including a ..." it is not excluded that
Also there is other identical element including in the process of described key element, method, article or equipment.
The above is only the specific embodiment of the application it is noted that ordinary skill people for the art
For member, on the premise of without departing from the application principle, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as the protection domain of the application.
Claims (7)
1. a kind of air bag polishing system is it is characterised in that including controller, daq data collecting card and air bag polishing tool, described
Daq data collecting card is connected between described controller and electric Proportion valve, motor that air bag polishing tool includes being sequentially connected,
Decelerator, hollow axle and air bag, described hollow axle has a hollow cavity, and the two ends of this hollow cavity are respectively communicated with institute
State air bag and an airway, described airway is provided with electric Proportion valve, described air bag polishing tool also includes an inspection
Survey the pressure transducer of gas pressure intensity in described air bag, the control method of air bag polishing system adopts the two-stage control of pressure and pressure
Method processed, including pressure control ring and Stress control ring, controller includes pressure controller and pressure controller, and daq data is adopted
Truck sends the pressure signal collecting to pressure controller, and pressure controller enters to the difference of ideal pressure and actual pressure
Row is adjusted, and to electric Proportion valve, meanwhile, daq data collecting card sends the pressure signal collecting to pressure to output control signal
Force controller, pressure controller is adjusted to the difference of desired pressure and actual pressure, and output pressure setting value is to pressure control
Ring processed.
2. air bag polishing system according to claim 1 it is characterised in that: described air bag polishing tool also includes a detection
The pressure sensor of instrument positive pressure.
3. air bag polishing system according to claim 2 it is characterised in that: the output end of described decelerator is fixed with top box
Body, this upper box has an installing space, is provided with shaft coupling in described installing space, and described shaft coupling is fixed on described decelerator
Output shaft and the top of described hollow axle between.
4. air bag polishing system according to claim 3 it is characterised in that: the bottom of described upper box is fixed with nowel
Body, described lower box is sheathed on the outside of described hollow axle, and described lower box has a sealing space, and this sealing space is respectively
It is communicated in described airway and described hollow cavity, the upper and lower ends of described sealing space are respectively equipped with a bearing, this two
Bearing holder (housing, cover) is located at the outside of described hollow axle.
5. air bag polishing system according to claim 4 it is characterised in that: the top surface of described upper box fit in described under
The bottom surface of casing, is sealed with the upper sealing ring of annular, described upper box between the diapire of described hollow axle and described upper box
It is sealed with the middle sealing ring of annular and the contact surface of described lower box between, the bottom of described lower box is fixed with end cap, this end
Lid is sheathed on the outside of described hollow axle, is sealed with lower seal between described end cap and described hollow axle.
6. air bag polishing system according to claim 3 it is characterised in that: be fixed with a use on the side wall of described upper box
In the connecting bracket being connected with external industrial robot, described pressure sensor is arranged in described connecting bracket.
7. air bag polishing system according to claim 1 it is characterised in that: the bottom of described hollow axle is additionally provided with air bag
Support, described air-bag support includes the main part of hollow, the bottom of this main body to having extended around installation portion, described hollow axle
It is sheathed on the outside of described main part, between described main part and described hollow axle, is fixed with hydraulic expanding cover, described air bag leads to
Cross lock sleeve to be fixed on described installation portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410669176.6A CN104369064B (en) | 2014-11-20 | 2014-11-20 | Air bag polishing tool and system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410669176.6A CN104369064B (en) | 2014-11-20 | 2014-11-20 | Air bag polishing tool and system and method |
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| Publication Number | Publication Date |
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| CN104369064A CN104369064A (en) | 2015-02-25 |
| CN104369064B true CN104369064B (en) | 2017-01-25 |
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| CN201410669176.6A Active CN104369064B (en) | 2014-11-20 | 2014-11-20 | Air bag polishing tool and system and method |
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| CN105234807A (en) * | 2015-08-24 | 2016-01-13 | 苏州大学 | Force-controlled flange for polishing operation of industrial robot and polishing method |
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| CN106346347B (en) * | 2016-09-22 | 2018-02-06 | 西北工业大学 | A kind of polishing mechanism and polishing method for blade import/exhaust side |
| CN107116449A (en) * | 2017-06-19 | 2017-09-01 | 成都睿坤科技有限公司 | Air bag polishing device and air bag polishing machine |
| CN109048515A (en) * | 2018-07-12 | 2018-12-21 | 上海航天设备制造总厂有限公司 | A kind of small opening cylindrical part end socket inner wall constant pressure flexibility grinding device |
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| CN111230652A (en) * | 2020-02-03 | 2020-06-05 | 天津大学 | Air pressure controllable flexible grinding and polishing system |
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| CN112476144B (en) * | 2020-10-23 | 2022-03-29 | 厦门大学深圳研究院 | Vibration-suppressing air bag tool head of industrial robot grinding and polishing processing system |
| CN112605786B (en) * | 2020-11-29 | 2022-09-09 | 厦门理工学院 | Air bag polishing device and polishing head mechanism thereof |
| CN115070583A (en) * | 2022-07-07 | 2022-09-20 | 上海易农钢结构有限公司 | Rust removal device for building steel structure |
| CN115533751A (en) * | 2022-12-01 | 2022-12-30 | 成都泰美克晶体技术有限公司 | Air bag polishing head shape modification monitoring device and shape modification method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2712782B2 (en) * | 1990-08-06 | 1998-02-16 | 松下電器産業株式会社 | Polishing spindle |
| CN102133730B (en) * | 2011-01-06 | 2012-09-05 | 清华大学 | Multi-region air pressure control system for CMP (Chemical Mechanical Polishing) head |
| CN202045564U (en) * | 2011-03-03 | 2011-11-23 | 浙江工业大学 | Flexible controllable spherical air pressure grinding wheel polishing tool |
| CN102554749B (en) * | 2012-02-08 | 2015-03-11 | 厦门大学 | Dynamic load type flexible polishing head |
| CN204248604U (en) * | 2014-11-20 | 2015-04-08 | 苏州大学 | A kind of air bag polishing tool and system |
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Effective date of registration: 20180123 Address after: 224000 Guangxi Road No. 1 (T), Kang Zhong street, Yancheng City, Jiangsu Province Patentee after: Jiangsu Tuo domain Intelligent Equipment Co., Ltd. Address before: 215123 Suzhou Industrial Park, Jiangsu Road, No. 199 Patentee before: Soochow University |
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