CN104385105A - Three-coordinate digital polishing machine - Google Patents
Three-coordinate digital polishing machine Download PDFInfo
- Publication number
- CN104385105A CN104385105A CN201410498576.5A CN201410498576A CN104385105A CN 104385105 A CN104385105 A CN 104385105A CN 201410498576 A CN201410498576 A CN 201410498576A CN 104385105 A CN104385105 A CN 104385105A
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- CN
- China
- Prior art keywords
- polishing
- polishing machine
- motor
- leading screw
- digitlization
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- 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
-
- 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
- B24B47/16—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces performing a reciprocating movement, e.g. during which the sense of rotation of the working-spindle is reversed
Abstract
The invention relates to a three-coordinate digital polishing machine which can be used for carrying out surface treatment on aerospace key parts. The three-coordinate digital polishing machine comprises a base, a rotating platform, a big arm, a small arm, a screw rod, an electric motor, an electric main shaft, a speed reducer, a sensor, a polishing head and the like. Compared with the prior art, the three-coordinate digital polishing machine disclosed by the invention has the obvious advantages that a wireless sensor is adopted for reducing the error of a polishing force from the polishing head to parts, the surface quality is increased, the production efficiency and the time efficiency are high, and the surface of one part can be more conveniently and quickly polished.
Description
Technical field
The present invention relates to a kind of surface polishing machine, particularly relating to one can carry out surface-treated three-dimensional digitlization polishing machine to Aero-Space vital part.
Background technology
At present, along with the development of science and technology, the facility capacity of every country also improves thereupon.In a lot of country, design and produce machine be in daily life necessity practice.In China, machine-building also has a great development, such as, in these years studying and the robot designed, automobile etc. always.But machine or parts just manufactured go out time, its surperficial major part is more coarse, also needs to carry out surface treatment and machine can be used better.Polish to make the surface of parts, beautify sight, a kind of machine of engineers design specially carrys out door and processes coarse plane and free form surface, is called polishing machine.
Before 18th century, the form of polishing machine is hand always, there occurs transformation after 18th century, by manually becoming automatic.And further develop along with science, polishing machine also enters Rapid development stage.A lot of country, the especially U.S., Europe and Chinese, design and produce the polishing machine of many types, the manufacturer of even a lot of manufacturing machine also develops the polishing machine of oneself.
Enter the eighties, the countries such as Japan, the U.S., Germany, France begin one's study and successfully produce polishing robot.Nowadays a lot of industrial circle, such as Aero-Space, apply polishing robot all widely.The realization of the digitlization three-dimensional surface finish machine of the design improves many deficiencies of original polishing machine.The design realizes robot motion by closed loop servo motor driven machine arm, to be connected and to measure polishing stress, obtain data and regulate by wireless collection-emitter, in addition also have following advantage by sensor with rubbing head:
1. reduce rubbing head to the error of part polishing power.
2. improve surface quality.
3. produce and time efficiency high.
4. the surface of a certain part of polishing more easily.
Summary of the invention
Based on above-mentioned background, the digitlization three-dimensional polishing machine of the design carrys out monitor strain power by using wireless senser, rubbing head institute applied pressure is adjusted by Computing, two mechanical arms are driven to realize Three Degree Of Freedom Polishing Motion by motor, the i.e. digitized polishing among a small circle of three-dimensional, thus improve polishing precision.
Accompanying drawing explanation
Fig. 1 is the overall plan design of digitlization three-dimensional robot;
The base of Tu2Shi robot;
The rotatable platform of Tu3Shi robot;
The large arm of Tu4Shi robot;
The motor of Tu5Shi robot;
The forearm of Tu6Shi robot;
The leading screw that Tu7Shi robot uses;
The rubbing head of Tu8Shi robot;
The decelerator of Tu9Shi robot;
Figure 10 is the bearing of robot;
Figure 11 is sensor overall structure;
Figure 12 is polished Thin-walled Workpiece.
In figure, 1 is base, and 2 is rotatable platform, and 3 is motor one, and 4 is large arm, 5 is motor two, and 6 is forearm, and 7 is motor three, and 8 is sleeve, 9 is electro spindle, and 10 is sensor, and 11 is rubbing head, 12 is leading screw, and 13 is leading screw connector, and 14 is decelerator, 15 is bearing, and 16 is slip ring, and 17 is brush, 18 is wireless collection-emitter, and 19 is conductor, and 20 is Thin-walled Workpiece.
Detailed description of the invention
Be described below in detail embodiments of the invention, in described embodiment accompanying drawing, same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
In describing the invention, term "front", "rear", "left", "right", " on ", the orientation of the instruction such as D score or position relationship be based on orientation shown in the drawings or position relationship, be only the present invention for convenience of description instead of require that the present invention with specific azimuth configuration and operation, therefore must can not be interpreted as limitation of the present invention.
Below in conjunction with drawings and Examples, design principle of the present invention, functions structure and assembly technology are introduced:
As shown in Figure 1, the mechanical arm of this robot is made up of primary elements such as base, connector, motor, large arm, forearms.First base 1 is connected with rotatable platform 2, and rotatable platform 2 is connected with decelerator 14, bearing 15 and motor 1.Afterwards, rotatable platform 2 will be connected with parts such as large arm 4, forearm 6, other motors, leading screw 12, electro spindle 9.This robot manufactures primarily of 7075-T651 aluminum alloy materials, and range of movement is 400mm*400mm*200mm.
As shown in Figure 4 and Figure 6, the large arm 4 of the design is the same with the size of forearm 6, and length is 500mm, and width is 200mm, and thickness is 20mm.The two can do, and rotational steps is 360 °, radius is the circular motion of 450mm.Large arm 4 is connected with rotatable platform 2, and forearm 6 is connected with leading screw 12.
As shown in Figure 5, so-called robot, each joint is designed with motor, and mechanical arm can be moved.The robot of the design uses the servomotor of closed-loop system, if because have rotating speed or otherwise motion problems, closed-loop system can feed back to motor problem, and then is controlled problem and solve.
The design adopts the motor of three different sizes, and these three motors are all band brakes.Motor 1 driven machine people large arm motion, length is 155.5mm, width is 40mm, highly be 50mm, rotating speed is 3000r/min, and rated power is 0.1kW, and weight is 0.7kg.The forearm of motor 25 driven machine people, because the size of forearm is identical with large arm, so the size of motor 25 is identical with motor 1.Motor 37 drive leading screw 12 move up and down, length is 137.5mm, width is 40mm, highly be 50mm, rotating speed 3000r/min, rated power 0.05kW, weight is 0.6kg
As shown in Figure 8, the Material selec-tion of the rubbing head 11 of the design is diamond dust, and detailed physical performance is density is 3.1g/cm
3, bending strength is 550MPa, elastic modelling quantity 410GPa, Poisson's ratio 0.14, compression strength 3900MPa, hardness 2800kg/mm
2.The diameter of rubbing head is 25mm.Because the target face of aviation thin-walled workpiece 20 polished in the design is plane, the rubbing head form therefore used is cylindrical.Structure, what this design adopted is machine glazed finish.When part carries out surface treatment by mechanical polishing method, rough polishing and fine polishing can be divided into.The polishing range of speeds of rough polishing is 200-300r/min,
The polishing range of speeds of fine polishing is 150-200r/min.
As shown in figure 11, the design of polishing robot is by a kind of machine carried out part for the purpose of surface treatment.When polishing part, should be noted that technique and the technical parameter of polished part.In order to determine that the surface of this part does not have a lot of defects, then need to ensure that the power that polishing robot exports is enough.Therefore, sensor is a necessary instrument, and sensor to be contained in robot except measuring the power that exports of rubbing head, can also realize the effect of accurate polishing.The design wishes that this sensor also can show the value of this power.So, if a upper pressure process excessive we can turn off robot, and reduce this power in next process.The measuring method that sensor uses is that foil gauge is measured.In this design, interference wired in polishing process, therefore devises wireless sensor.But present scientific and technological level does not also exist the sensor of wireless dynamometry, then the transducing part that the design uses is made up of sensor 10, slip ring 16, brush 17, data acquisition-emitter 18.Concrete structure is that the sensor 10 with foil gauge own is placed in slip ring 16, and slip ring 16 connects by contacting with conductor 19 with brush 17, and brush 17 is connected with data acquisition-emitter 18.Wireless collection-emitter 18 transmits the voltage signal after foil gauge change to wireless receiver by several lines, wireless receiver is input to voltage signal in computer, thus the detection and control realized the power that rubbing head applies, namely first voltage transitions to straining, strain is transformed into stress, finally stress transmission Cheng Li.
Above three-dimensional digitlization polishing machine proposed by the invention is described in detail.Apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improve and modify and also fall in the protection domain of the claims in the present invention.
Claims (6)
1. can carry out a surface-treated three-dimensional digitlization polishing machine to Aero-Space vital part, it is characterized in that, comprise hardware components and software section.Hardware comprises arrangement holding portion, running part, leading screw feeding part and polishing part; Software comprises wireless collection part.
2. three-dimensional digitlization polishing machine as claimed in claim 1, it is characterized in that: described arrangement holding portion comprises base (1), rotatable platform (2), machine large arm (4), machine forearm (6), sleeve (8) and each connector composition, to be connected with rotatable platform (2) by base (1) and to provide support power, be connected successively by rotatable platform (2), large arm (4) and forearm (6) and realize robotic arm motion.
3. three-dimensional digitlization polishing machine as claimed in claim 1, it is characterized in that: described running part comprises the motor of three joints and corresponding decelerator, power is exported through decelerator (14) by motor one (3), large arm (4) is driven to realize rotating, motor two (5) outputting power drives forearm (6) to rotate, motor three (7) drives lead screw transmission, realization pumps, and then realizes the accurate polishing of Three Degree Of Freedom of robot.
4. three-dimensional digitlization polishing machine as claimed in claim 1, is characterized in that: described leading screw feeding part comprises leading screw (12) and leading screw connector (13).By leading screw connector (13), leading screw (12) is connected with forearm (6) with motor three (7), motor three (7) outputting power, leading screw (12), by convert rotational motion rectilinear motion, realizes pumping of rubbing head (11).
5. three-dimensional digitlization polishing machine as claimed in claim 1, it is characterized in that: described polishing part refers to rubbing head (11), the rubbing head (11) of the design is for cylindrical, and selected materials is diamond dust (carborundum).
6. three-dimensional digitlization polishing machine as claimed in claim 1, is characterized in that: described wireless collection part comprises sensor (10), slip ring (16), brush (17), wireless collection-emitter (18) and conductor (19).It is inner that sensor (10) with foil gauge is placed on slip ring (16), slip ring (16) is connected by conductor (19) with brush (17), and then makes wireless collection-emitter (18) obtain data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410498576.5A CN104385105A (en) | 2014-09-25 | 2014-09-25 | Three-coordinate digital polishing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410498576.5A CN104385105A (en) | 2014-09-25 | 2014-09-25 | Three-coordinate digital polishing machine |
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| Publication Number | Publication Date |
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| CN104385105A true CN104385105A (en) | 2015-03-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201410498576.5A Pending CN104385105A (en) | 2014-09-25 | 2014-09-25 | Three-coordinate digital polishing machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171556A (en) * | 2015-08-14 | 2015-12-23 | 芜湖真空科技有限公司 | Glass edging machine |
| CN109968153A (en) * | 2019-03-22 | 2019-07-05 | 苏州协同创新智能制造装备有限公司 | High-precision pushes away light polishing type intelligent robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4706515A (en) * | 1985-09-10 | 1987-11-17 | Kabushiki Kaisha Sankyo Seiki Seisakusho | Multi-articulated robot |
| JP2003275978A (en) * | 2002-03-20 | 2003-09-30 | Yamaha Motor Co Ltd | Scara robot |
| CN101583468A (en) * | 2006-10-19 | 2009-11-18 | Abb股份有限公司 | System and method for automatically processing and/or machining workpieces |
| CN102157413A (en) * | 2011-01-20 | 2011-08-17 | 大连理工大学 | On-line measuring device for frictional force generated during polishing of small-sized wafer |
| CN203003891U (en) * | 2012-10-30 | 2013-06-19 | 南通通用机械制造有限公司 | Economical selective compliance assembly robot arm (SCARA) robot |
| CN103878666A (en) * | 2014-03-28 | 2014-06-25 | 中国科学院自动化研究所 | Free-form surface robot polishing system |
| CN203738786U (en) * | 2013-12-13 | 2014-07-30 | 浙江瑞宏机器人有限公司 | Movement mechanism for robot |
| CN103978477A (en) * | 2014-05-20 | 2014-08-13 | 奇瑞汽车股份有限公司 | Multi-joint robot |
-
2014
- 2014-09-25 CN CN201410498576.5A patent/CN104385105A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4706515A (en) * | 1985-09-10 | 1987-11-17 | Kabushiki Kaisha Sankyo Seiki Seisakusho | Multi-articulated robot |
| JP2003275978A (en) * | 2002-03-20 | 2003-09-30 | Yamaha Motor Co Ltd | Scara robot |
| CN101583468A (en) * | 2006-10-19 | 2009-11-18 | Abb股份有限公司 | System and method for automatically processing and/or machining workpieces |
| CN102157413A (en) * | 2011-01-20 | 2011-08-17 | 大连理工大学 | On-line measuring device for frictional force generated during polishing of small-sized wafer |
| CN203003891U (en) * | 2012-10-30 | 2013-06-19 | 南通通用机械制造有限公司 | Economical selective compliance assembly robot arm (SCARA) robot |
| CN203738786U (en) * | 2013-12-13 | 2014-07-30 | 浙江瑞宏机器人有限公司 | Movement mechanism for robot |
| CN103878666A (en) * | 2014-03-28 | 2014-06-25 | 中国科学院自动化研究所 | Free-form surface robot polishing system |
| CN103978477A (en) * | 2014-05-20 | 2014-08-13 | 奇瑞汽车股份有限公司 | Multi-joint robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171556A (en) * | 2015-08-14 | 2015-12-23 | 芜湖真空科技有限公司 | Glass edging machine |
| CN109968153A (en) * | 2019-03-22 | 2019-07-05 | 苏州协同创新智能制造装备有限公司 | High-precision pushes away light polishing type intelligent robot |
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Application publication date: 20150304 |
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