CN105215809A - With the Intellisense grinding machine robot system of explosion prevention function - Google Patents
With the Intellisense grinding machine robot system of explosion prevention function Download PDFInfo
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- CN105215809A CN105215809A CN201510653607.4A CN201510653607A CN105215809A CN 105215809 A CN105215809 A CN 105215809A CN 201510653607 A CN201510653607 A CN 201510653607A CN 105215809 A CN105215809 A CN 105215809A
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- grinding machine
- intellisense
- protection
- industrial
- main electrical
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- 238000004880 explosion Methods 0.000 title claims abstract description 17
- 230000002265 prevention Effects 0.000 title claims abstract description 16
- 238000013016 damping Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 239000011261 inert gas Substances 0.000 claims description 10
- 238000004146 energy storage Methods 0.000 claims description 9
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 8
- 239000001301 oxygen Substances 0.000 claims description 8
- 229910052760 oxygen Inorganic materials 0.000 claims description 8
- 239000000428 dust Substances 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 239000000843 powder Substances 0.000 claims description 4
- 239000006096 absorbing agent Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 12
- 230000008447 perception Effects 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 abstract description 2
- 238000005498 polishing Methods 0.000 description 16
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 238000012545 processing Methods 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011777 magnesium Substances 0.000 description 2
- 229910052749 magnesium Inorganic materials 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000010936 titanium Substances 0.000 description 2
- 229910052719 titanium Inorganic materials 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000007795 chemical reaction product Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 229910001651 emery Inorganic materials 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- 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
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
Abstract
The present invention relates to a kind of Intellisense grinding machine robot system with explosion prevention function, comprising: industrial grinding machine people, 3D vision system, power/Position Hybrid Control system, explosion-protection equipment, transmission system, vibration damping machine frame, industrial grinding machine people switch board, main electrical control cubicles, dust-proof automatic tool changer storehouse; Described industrial grinding machine human arm is provided with the electro spindle of band automatic tool changer function, and described transmission system is made up of slide unit, slide block, overlay, and described slide unit is embedded in geosyncline; Described transmission system, industrial grinding machine people switch board, dust-proof automatic tool changer storehouse, explosion-protection equipment, 3D vision system, power/Position Hybrid Control system are all connected with main electrical control cubicles, described main electrical control cubicles Control and Schedule all devices.The present invention, by visual guidance and power position Intellisense, makes industrial grinding machine people be provided with " vision ", " sense of touch " and " perception ", and obtains better large complicated carved crudy.
Description
Technical field
The present invention relates to a kind of Intellisense grinding machine robot system with explosion prevention function, belong to industrial intelligent robot grinding manufacture field.
Background technology
Along with progress and the manufacturing development of science and technology, market constantly increases the demand that sanding and polishing is processed.But the processing of current China sanding and polishing is mainly based on manually, and manual polishing inefficiency, wastes time and energy, and precision is not high, and product homogeneity is poor.Due to, the dust containing aluminium, magnesium, titanium and toxic smog can be produced in bruting process, make the working environment of workers severe, and the threat personal safety that easily sets off an explosion, the even contaminated environment because of gas discharging.Be difficult to realize automated production, become the bottleneck that sanding and polishing industry further develops.Therefore, the research of automatically grinding polissoir causes the extensive concern of a lot of colleges and universities, scientific research institution and company.
Complete deburring and polishing task by robot, the product homogeneity polished is promoted, significantly promotes to the direct feel of client.At present, polishing process adopted in the world is, application Pneumatic pressure controller realizes.Found through experiments, the contact force that realized by Pneumatic pressure controller is controlled, then show rigidity too low, postpone excessive, the quality of polishing cannot be ensured.Meanwhile, Aerodynamic Force Feedback can only be applicable to the light processing tasks such as polishing, deburring, wants it to coordinate and heavily processes, cannot realize.And domestic, start to adopt pneumatic form to ensure constant pressure contact, but all cannot ensure quality of polishing due to too low rigidity and excessive delay.
Due to these technical defects, prior art is made to be all simply by installing emery wheel additional in robot front end to perform single position command, all cannot realize the of paramount importance power of polishing is controlled in process, cannot complete large complicated carved processing; And in process, there is the danger of blast and the pollution to environment.
Summary of the invention
The main object of the present invention is in existing process, the problem for the of paramount importance power control of polishing, safety anti-explosive, environmental protection cannot be realized, propose the Intellisense grinding machine robot system of band explosion prevention function, grinding machine people is allowed to be provided with " vision ", " sense of touch " and " perception ", there is explosion-protection equipment simultaneously, make the process safety of sanding and polishing, efficient, environmental protection.
In order to achieve the above object, the invention provides following technical scheme:
With the Intellisense grinding machine robot system of explosion prevention function, comprising: grinding machine people, 3D vision system, power/Position Hybrid Control system, explosion-protection equipment, transmission system, vibration damping machine frame, grinding machine people switch board, main electrical control cubicles, dust-proof automatic tool changer storehouse; Described grinding machine human arm is provided with the electro spindle of band automatic tool changer function; Described transmission system is made up of slide unit, slide block, overlay, and described slide unit is embedded in geosyncline, and described slide unit is provided with slide block, overlay; Described vibration damping machine frame is fixed on slide block by C type load-bearing vibration absorber; Described grinding machine people is connected with grinding machine people switch board; Described transmission system, grinding machine people switch board, dust-proof automatic tool changer storehouse, explosion-protection equipment, 3D vision system, power/Position Hybrid Control system are all connected with main electrical control cubicles, described main electrical control cubicles Control and Schedule all devices.
Wherein, described 3D vision system comprises: intelligent laser camera, industrial computer, described line laser sensor setting in industrial grinding machine people joint of mechanical arm foremost, described intelligent laser camera is by the form of ethernet communication, all send the data scanned to industrial computer, the data after process are transferred to main electrical control cubicles by described industrial computer.
Wherein, described power/Position Hybrid Control system comprises: six axle force feedback systems, speed control, be all connected with main electrical control cubicles.
Wherein, described explosion-protection equipment comprise between protection, safety door, oxygen detector, inert gas plenum machine, dedusting protection and chip removal system; Top between protection is located in described dedusting protection, and described dedusting protection is negative pressure suction, siphons away dust and powder by underdrain; Described chip removal system is made up of scrap collecting groove and Scrap-removing machine; Arrange oxygen detection system in described protection, described inert gas plenum machine connects Inert gas input port between protection, controls by main electrical control cubicles.
Wherein, described vibration damping machine frame comprises: support body, aligning guide, vibration-reduction energy-storage device, vibration damping antiwear device, described vibration-reduction energy-storage device is fixedly connected with support body top, described aligning guide is located at vibration-reduction energy-storage device top, described vibration damping antiwear device is located at support body middle and upper part, is connected with support body is vertical.
Wherein, described dust-proof automatic tool changer storehouse comprises: protecting crust, automatically-controlled door, knife rest, Tool monitoring sensor, be provided with hairbrush between described protecting crust and automatically-controlled door, and described automatically-controlled door is by air cylinder driven, protecting crust inside is located at by described knife rest, and each knife rest is provided with Tool monitoring sensor.
The invention has the beneficial effects as follows: the Intellisense grinding machine robot system of band explosion prevention function provided by the invention, by visual guidance and force feedback system Intellisense, main electrical control cubicles is given by information feed back, given an order by main electrical control cubicles again, industrial grinding machine people is made to be provided with " vision ", " sense of touch " and " perception ", achieve key technology---the power/Position Hybrid Control to complex curved surface part polishing, obtain better suface processing quality; System disposition high accuracy double slide unit, achieve artificial loading and unloading and robot to polish the parallel work-flow of processing, compared to current manual polishing mode, the time that Intellisense grinding machine robot system will at least shorten 50%, the polishing workman demand of reduction 70%; Meanwhile, originally
inventionbeing provided with explosion-protection equipment, cutting and waste material for absorbing the metal polished off, to improve the dust that processing environment Mass lost contains aluminium, magnesium, titanium, the injury to workers ' health caused, makes the process safety of sanding and polishing, efficient, environmental protection.
In order to further understand feature of the present invention and technology contents, refer to following detailed description for the present invention with
accompanying drawing, but
accompanying drawingreference and explanation use are only provided, are not used for being limited the present invention.
Accompanying drawing explanation
Below in conjunction with
accompanying drawing, by invention detailed description of the invention describe in detail, will make technical scheme of the present invention and other beneficial effect apparent.
fig. 1it is the structure of the Intellisense grinding machine robot system of band explosion prevention function of the present invention
figure;
fig. 2be the Intellisense grinding machine robot system of band explosion prevention function of the present invention protection between structure
figure.
Detailed description of the invention
For further setting forth the technological means and effect thereof that the present invention takes, below in conjunction with the preferred embodiments of the present invention and
accompanying drawingbe described in detail.
Refer to
fig. 1, the Intellisense grinding machine robot system of band explosion prevention function provided by the invention comprises: industrial grinding machine people 1,3D vision system, power/Position Hybrid Control system, explosion-protection equipment, transmission system 2, vibration damping machine frame 3, industrial grinding machine people switch board 4, main electrical control cubicles 5, dust-proof automatic tool changer storehouse 6; Described industrial grinding machine people 1 arm is provided with the electro spindle 7 of band automatic tool changer function; Described transmission system is made up of slide unit, slide block 9, overlay 8, and described slide unit is embedded in geosyncline, and described slide unit is provided with slide block 9, overlay 8; Described vibration damping machine frame 3 is fixed on slide block 9 by C type load-bearing vibration absorber; Described industrial grinding machine people 1 is connected with industrial grinding machine people switch board 4; Described transmission system 2, industrial grinding machine people switch board 4, dust-proof automatic tool changer storehouse 6, explosion-protection equipment, 3D vision system, power/Position Hybrid Control system are all connected with main electrical control cubicles 5, described main electrical control cubicles 5 Control and Schedule all devices.
Described 3D vision system comprises: intelligent laser camera, industrial computer, described intelligent laser camera is arranged at industrial grinding machine people 1 joint of mechanical arm foremost, described intelligent laser camera is by the form of ethernet communication, all send the data scanned to industrial computer, industrial computer is pre-installed the image processing software that I takes charge of independent development, the stereoscopic features point of workpiece is extracted and processed, and the data of process gained are contrasted with the normal data preset, obtain the side-play amount of workpiece shape and the altitude information of burr, finally send these data to industrial grinding machine people 1 and main electrical control cubicles 5, industrial grinding machine people 1 is guided to process workpiece according to the path revised by main electrical control cubicles 5.
Described power/Position Hybrid Control system comprises: six axle force feedback systems, speed control, is all connected with main electrical control cubicles 5.When industrial grinding machine people 1 works, deburring, deflashing are carried out to foundry goods, the size of six axle force feedback systems, the speed control sustainable control industrial robot 1 end cutter speed of travel and power, run into larger protruding time can run by automatic retarding, compared with speed when automatically can change grinding during small embossment into.Thus greatly improve technological effect, improve end product quality, tool life.
as Fig. 2shown in, described explosion-protection equipment to comprise between protection 17, safety door, oxygen detector, inert gas plenum machine, dedusting protection 18 and chip removal system; 17 tops between protection are located in described dedusting protection 18, and described dedusting protection 18 is negative pressure suction, siphons away dust and powder, prevent from spreading in air, effective environmental protection by underdrain; Described chip removal system is made up of scrap collecting groove 11 and Scrap-removing machine 10, and scrap collecting groove 11 realizes the collection to most of dust and chip, and Scrap-removing machine 10 to realize chip and dust to discharge between protection 17; Arrange oxygen detection system in 17 between described protection, described inert gas plenum machine connects Inert gas input port between protection, controls by main electrical control cubicles 5.When oxygen detector to detect between protection that in 17, oxygen exceeds preset value, and information is passed to main electrical control cubicles 5, then control inert gas plenum machine by main electrical control cubicles 5 and carry out ventilation work, prevent blast.
Described vibration damping machine frame 3 comprises: support body, aligning guide 12, vibration-reduction energy-storage device 13, vibration damping antiwear device, described vibration-reduction energy-storage device 13 is fixedly connected with support body top, described aligning guide 12 is located at vibration-reduction energy-storage device 13 top, described vibration damping antiwear device is located at support body middle and upper part, is connected with support body is vertical.
Described dust-proof automatic tool changer storehouse comprises: protecting crust 16, automatically-controlled door 14, knife rest 15, Tool monitoring sensor, is provided with hairbrush between described protecting crust 16 and automatically-controlled door 14, at utmost reduces the intrusion of polishing powder.Described automatically-controlled door 14 is by air cylinder driven, and it is inner that protecting crust 16 is located at by described knife rest 16, and each knife rest 15 is provided with Tool monitoring sensor, and described Tool monitoring sensor is auxiliary realizes tool changing detection.Meanwhile, main shaft has automatic tool changer and cutter locking, throws off measuring ability.Two kinds of detection modes be combined with each other and verify, realize the reliable and stable of tool changing action.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (6)
1. be with the Intellisense grinding machine robot system of explosion prevention function, it is characterized in that: comprising: industrial grinding machine people, 3D vision system, power/Position Hybrid Control system, explosion-protection equipment, transmission system, vibration damping machine frame, industrial grinding machine people switch board, main electrical control cubicles, dust-proof automatic tool changer storehouse; Described industrial grinding machine human arm is provided with the electro spindle of band automatic tool changer function; Described transmission system is made up of slide unit, slide block, overlay, and described slide unit is embedded in geosyncline, and described slide unit is provided with slide block, overlay; Described vibration damping machine frame is fixed on slide block by C type load-bearing vibration absorber; Described industrial grinding machine people is connected with industrial grinding machine people switch board; Described transmission system, industrial grinding machine people switch board, dust-proof automatic tool changer storehouse, explosion-protection equipment, 3D vision system, power/Position Hybrid Control system are all connected with main electrical control cubicles, described main electrical control cubicles Control and Schedule all devices.
2. the Intellisense grinding machine robot system of band explosion prevention function according to claim 1, it is characterized in that: described 3D vision system comprises: intelligent laser camera, industrial computer, described intelligent laser camera is arranged at industrial grinding machine people joint of mechanical arm foremost, the data that described intelligent laser camera will scan, are transmitted by the form of ethernet communication.
3. the Intellisense grinding machine robot system of band explosion prevention function according to claim 1, is characterized in that: described power/Position Hybrid Control system comprises: six axle force feedback systems, speed control, be all connected with main electrical control cubicles.
4. the Intellisense grinding machine robot system of band explosion prevention function according to claim 1, is characterized in that: described explosion-protection equipment comprises: between protection, safety door, oxygen detector, inert gas plenum machine, dedusting protection and chip removal system; Top between protection is located in described dedusting protection, and described dedusting protection is negative pressure suction, siphons away dust and powder by underdrain; Described chip removal system is made up of scrap collecting groove and Scrap-removing machine; Arrange oxygen detection system in described protection, described inert gas plenum machine connects Inert gas input port between protection, controls by main electrical control cubicles.
5. the Intellisense grinding machine robot system of band explosion prevention function according to claim 1, it is characterized in that: described vibration damping machine frame comprises: support body, aligning guide, vibration-reduction energy-storage device, vibration damping antiwear device, described vibration-reduction energy-storage device is fixedly connected with support body top, described aligning guide is located at vibration-reduction energy-storage device top, described vibration damping antiwear device is located at support body middle and upper part, is connected with support body is vertical.
6. the Intellisense grinding machine robot system of band explosion prevention function according to claim 1, it is characterized in that: described dust-proof automatic tool changer storehouse comprises: protecting crust, automatically-controlled door, knife rest, Tool monitoring sensor, hairbrush is provided with between described protecting crust and automatically-controlled door, described automatically-controlled door is by air cylinder driven, protecting crust inside is located at by described knife rest, and each knife rest is provided with Tool monitoring sensor.
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| CN201510653607.4A CN105215809B (en) | 2015-10-13 | 2015-10-13 | Intellisense grinding machine people's system with explosion prevention function |
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| CN201510653607.4A CN105215809B (en) | 2015-10-13 | 2015-10-13 | Intellisense grinding machine people's system with explosion prevention function |
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| CN105598793A (en) * | 2016-02-02 | 2016-05-25 | 广东华科环龙智能系统设备有限公司 | Solid wood furniture surface full-automatic grinding robot workstation |
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