CN106737196A - A kind of constant pressure constant linear velocity polishing method of robot polishing machine - Google Patents
A kind of constant pressure constant linear velocity polishing method of robot polishing machine Download PDFInfo
- Publication number
- CN106737196A CN106737196A CN201611218929.7A CN201611218929A CN106737196A CN 106737196 A CN106737196 A CN 106737196A CN 201611218929 A CN201611218929 A CN 201611218929A CN 106737196 A CN106737196 A CN 106737196A
- Authority
- CN
- China
- Prior art keywords
- robot
- sisal
- polishing
- control system
- real
- 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.)
- Granted
Links
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
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of constant pressure constant linear velocity polishing method of robot polishing machine, include the sisal polishing assembly and buffing component, robot, robot control system and PLC control system of double, wherein sisal polishing assembly includes the sisal of connection, sisal motor and sisal frequency converter, and buffing component includes cotton piece buff, cloth turbin generator and cotton piece buff frequency converter；The present invention increases ethernet communication functional module and multitask function card module by robot control system, completes robot control system and is communicated with the real-time, interactive of PLC control system, can be automatically obtained constant pressure and constant linear velocity grinding and polishing with polishing；End effector of robot constantly changes attitude, therefore while increasing the arc length of the actual grinding and polishing of flax wheel, each face of workpiece all uniform polish can be adapted into the processing of more large-size workpiece.
Description
Technical field
The present invention relates to a kind of polishing method, belong to polishing mechanical equipment technical field, refer in particular to a kind of robot and throw
The constant pressure constant linear velocity polishing method of ray machine.
Background technology
Current robot polishing machine typically completes polishing process using cotton piece buff, or grinding and polishing, polishing process are constituted into two works
Position polissoir, the last grinding and polishing operation of workpiece is carried out using sisal, recycles cotton piece buff to complete polishing process, to improve production effect
Rate.Foregoing two kinds of equipment will gradually wear out with process flax wheel, and its diameter will be gradually reduced；Meanwhile, in order to protect
Card flax wheel linear velocity is constant, and the speed of mainshaft can be gradually stepped up and cause the spindle vibration amplitude gradually to increase.Therefore, workpiece and fiber crops
Contact change and the vibration of main shaft between cotton piece buff influence very greatly on the surface quality of finish and its uniformity of product, unfavorable
In standardized production, the especially quality of finish on the irregular workpiece of outline influences more so.
To solve foregoing problem, simplest method is to increase by one between the end effector and work piece holder of robot
Individual constant force flexible flange (or constant force actuator), but constant force flexible flange is expensive, is normally only polished in special workpiece
Occasion can just be used." a kind of control cloth throws the method and apparatus (Authorization Notice No. of the constant polishing force of machine to China's patent of invention
CN102145473B) ", such technical scheme is disclosed：PLC control system sets control parameter, is driven by frequency converter
Dynamic motor load electric current, the buff radius of clean-up is obtained by servomotor, and PLC control system is analyzed and controls the driver to make
Servomotor drives the body for being connected with buff movable along cotton piece buff radial level.The patent of invention cannot be accurate in real time
Measurement cotton piece buff radius, but by work pieces process cloth foot wheel abrasion empirical value and compensate, need to change when changing another workpiece
Change experience offset；Meanwhile, it is gradually reduced with cloth wheel diameter, the continuous improvement of motor rotating speed, removable body makes cotton piece buff
Amplitude is increased, and polishing product surface quality uniformity nevertheless suffers from very big influence, especially constantly changes in end effector of robot
Become attitude, grinding and polishing point and deviate cotton piece buff horizontal center line and close under the operating mode of flax wheel minimum diameter, it more difficult to realize constant pressure
Polishing.
The content of the invention
A kind of shortcomings and deficiencies it is an object of the invention to overcome prior art, there is provided constant pressure of robot polishing machine
Constant linear velocity polishing method, can be automatically obtained constant pressure and constant linear velocity grinding and polishing and polishing process, wide adaptation range, carry
Production efficiency high, reduces production cost, improves product quality.
In order to be able to realize above-mentioned purpose, the present invention is realized according to following technical scheme：
A kind of constant pressure constant linear velocity polishing method of robot polishing machine, include double sisal polishing assembly and
Buffing component, robot, robot control system and PLC control system, wherein sisal polishing assembly include connection
Sisal, sisal motor and sisal frequency converter, buffing component include cotton piece buff, cloth turbin generator and cotton piece buff frequency converter, and its is specific
Include following steps：
S1, the constant polishing force of PLC control system setting sisal and cotton piece buff, constant linear velocity and robot coordinate；
S2, PLC control system start sisal motor and drive sisal to rotate, the end effector clamping workpiece of robot by its
Being pressed against the radial circumference of sisal carries out surface grinding and polishing and keeps；
S3, PLC control system obtain sisal motor real time load electric current and real-time by Ethernet by sisal frequency converter
Communication sends robot control system to, and robot control system calculates sisal real-time working radius and in real time polishing automatically
Power；
S4, robot control system according to sisal real-time working radius and real-time polishing force, when real-time polishing force and setting
When constant polishing force produces error, robot control system calculates robot corresponding coordinate compensation rate, Robot fiber crops automatically
Wheel radial moves horizontally compensation rate, maintains real-time grinding and polishing pressure constant, when the end effector clamping workpiece of robot is in difference
During locus, robot is on grinding and polishing point along sisal normal direction motion compensation amount；Meanwhile, robot control system passes through
Ethernet interactive correspondence, PLC control system changes sisal motor speed by the speed of sisal frequency converter amendment, maintains sisal linear speed
Degree is constant；
S5, the end effector change workpiece direction by robot, are repeatedly performed S2 to S4 steps, until completing sisal
Grinding and polishing operation；
S6, the setting that cotton piece buff control parameter has been completed in S1 steps, the automatic cloth turbin generator of PLC control system drive cotton piece buff
Rotated by setting linear velocity；The end effector of robot turns to the circumference of cotton piece buff according to the workpiece that manufacturing procedure will complete grinding and polishing
Surface polishing is carried out, S2 to S5 steps are repeatedly performed, until product completes whole polishing process.
Further, the sisal presses manufacturing procedure with the calculating of the real-Time Compensation value and robot coordinate system's correction value of cotton piece buff
Automatically switch, completed on robot control system backstage, it is to avoid pause of the robot when procedure is performed, by friendship in real time
The end effector that existing robot is proved to be true after interrogation in intercommunication is controlled in the constant pressure of different spatial.
Further, the robot control system has ethernet communication functional module and multitask function card module,
PLC control system uses apparatus logic control system, and robot control system and PLC control system are carried out in real time by Ethernet
Interactive correspondence, robot uses six-freedom degree drive mechanism.
Compared with prior art, its advantage is the present invention：
1st, the present invention increases ethernet communication functional module and multitask function card module by robot control system,
Complete robot control system to be communicated with the real-time, interactive of PLC control system, constant pressure and constant linear speed can be automatically obtained
Degree grinding and polishing and polishing；End effector of robot constantly changes attitude, thus can by each face of workpiece all uniform polish, while plus
The arc length of the actual grinding and polishing of hemp cotton piece buff, adapts to the processing of more large-size workpiece；
2nd, polishing machine of the invention and the design of constant pressure control method are unique novel, and mechanical structure simple and stable does not have
Any mechanical component motion, it is to avoid the influence of fiber crops, cotton piece buff vibration to workpiece polished surface quality, can make polishing product surface more
Uniformly；
3rd, robot is arranged in two station flax wheel polishing assemblies front, and robot can be with left rotation and right rotation, and its end is held
Row device clamping workpiece, completes grinding and polishing and polishing process, and improve production efficiency reduces production cost；
4th, robot is done grinding and polishing and Polishing Motion track and frequency both sides are symmetrical, therefore do not result in robot
Gearbox gear uneven wear, improves the robot life-span and ensures robot gripping and put back to accurate work piece positioning, so as to improve
The machining accuracy and production efficiency of workpiece.
In order to be able to the apparent understanding present invention, specific embodiment party of the invention is elaborated below with reference to brief description of the drawings
Formula.
Brief description of the drawings
Fig. 1 is the overlooking the structure diagram of robot polishing machine of the present invention.
Fig. 2 is control system schematic block diagram of the present invention.
Fig. 3 is polishing machine constant pressure polishing control flow chart of the present invention.
Fig. 4 is polishing machine constant linear velocity polishing control flow chart of the present invention.
Fig. 5 is robot coordinate system's correction value schematic diagram of the present invention.
Specific embodiment
As shown in figure 1, robot polishing machine of the present invention includes sisal polishing assembly 1 and the buffing of double
Component 2, robot 3, robot control system and PLC control system (not shown) and positioned at the robot left and right sides
Two automatic feedings 4,5 being arranged symmetrically, wherein sisal polishing assembly 1 include the sisal of connection, sisal motor and
Sisal frequency converter, buffing component 2 includes cotton piece buff, cloth turbin generator and cotton piece buff frequency converter.
As shown in Fig. 2 to 5, the constant pressure constant linear velocity polishing method of above-mentioned robot polishing machine has specifically included following step
Suddenly：
S1, PLC control system set constant polishing force, the constant linear velocity of sisal and cotton piece buff by touch-screen or host computer
And robot coordinate；
S2, PLC control system start sisal motor and drive sisal to rotate, the end effector clamping workpiece of robot by its
Being pressed against the radial circumference of sisal carries out surface grinding and polishing and keeps；
S3, PLC control system obtain sisal motor real time load electric current and real-time by Ethernet by sisal frequency converter
Communication sends robot control system to, and robot control system calculates sisal real-time working radius and in real time polishing automatically
Power；
S4, robot control system according to sisal real-time working radius and real-time polishing force, when real-time polishing force and setting
When constant polishing force produces error, robot control system calculates robot corresponding coordinate compensation rate, Robot fiber crops automatically
Wheel radial moves horizontally compensation rate, maintains real-time grinding and polishing pressure constant, when the end effector clamping workpiece of robot is in difference
During locus, robot is on grinding and polishing point along sisal normal direction motion compensation amount；Meanwhile, robot control system passes through
Ethernet interactive correspondence, PLC control system changes sisal motor speed by the speed of sisal frequency converter amendment, maintains sisal linear speed
Degree is constant；
S5, the end effector change workpiece direction by robot, are repeatedly performed S2 to S4 steps, until completing sisal
Grinding and polishing operation；
S6, the setting that cotton piece buff control parameter has been completed in S1 steps, the automatic cloth turbin generator of PLC control system drive cotton piece buff
Rotated by setting linear velocity；The end effector of robot turns to the circumference of cotton piece buff according to the workpiece that manufacturing procedure will complete grinding and polishing
Surface polishing is carried out, S2 to S5 steps are repeatedly performed, until product completes whole polishing process.
Further, the sisal presses manufacturing procedure with the calculating of the real-Time Compensation value and robot coordinate system's correction value of cotton piece buff
Automatically switch, completed on robot control system backstage, it is to avoid pause of the robot when procedure is performed, by friendship in real time
The end effector that existing robot is proved to be true after interrogation in intercommunication is controlled in the constant pressure of different spatial.
Further, the robot control system has ethernet communication functional module and multitask function card module,
PLC control system uses apparatus logic control system, and robot control system and PLC control system are carried out in real time by Ethernet
Interactive correspondence, robot uses six-freedom degree drive mechanism.
The principle of above-mentioned robot polishing machine constant pressure polishing is as described below：
Because in polishing process, the principal element for influenceing workpiece surface quality of finish is respectively constant pressure, constant linear velocity.
Wherein, grinding and polishing constant pressure is main by sisal or cotton piece buff material, and contact between workpiece and sisal or cotton piece buff is determined
's.Accordingly, it would be desirable to for the sisal and cotton piece buff of unlike material demarcate the contact value of standard.PLC control system and robot control
It is as follows that the multitask of internal system processed calculates variable used：
Tem：Electromagnetic torque；T0：No-load torque；T2：Load torque；
F rubs：When demarcating sisal or cotton piece buff contact value, frictional force when workpiece is contacted with sisal or cotton piece buff；
F rubs ＇：After sisal or cloth foot wheel abrasion, frictional force when workpiece is contacted with sisal or cotton piece buff；
FN：When demarcating sisal or cotton piece buff contact value, the contact value between workpiece and sisal or cotton piece buff；
FN ＇：After sisal or cloth foot wheel abrasion, the contact between workpiece and sisal or cotton piece buff；
U2：When demarcating sisal or cotton piece buff contact value, the rotor voltage value of sisal or cloth turbin generator；
U2 ＇：After sisal or cloth foot wheel abrasion, the rotor voltage value of sisal or cloth turbin generator；
I2：The rotor electric current demarcated under contact value, i.e. torque current；
I2 ＇：After sisal or cloth foot wheel abrasion, rotor electric current, i.e. torque current.
First, it is the contact value of sisal or cotton piece buff demarcation standard.The pressure value can be in any of sisal or cotton piece buff
Radius normal direction is demarcated, and same material sisal or cotton piece buff, it is only necessary to demarcate once.The value by user according to
The technological requirement of workpiece is demarcated.User grips specific purpose tool (or the maximum of workpiece by operation robot end effector
Plane) and perform " pressure calibration program ", allow specific purpose tool to be contacted with sisal or cotton piece buff circumference, so as to complete to demarcate work
Make.After the completion of demarcation, rotor magnitude of voltage U2 and the torque electricity when PLC control system is by sisal and cotton piece buff nominal pressure value
Flow valuve I2 gives robot control system respectively by Ethernet/IP, for flax wheel radius calculation below provides basis ginseng
Number.
Then, before robot operation processing work procedure, first operating radius calculation procedure.End effector of robot is certainly
Dynamic gripping specific purpose tool (or maximum planes of workpiece), the circumference with rotation sisal or cotton piece buff is contacted, and PLC control system is same
When read frequency converter rotor voltage U2 ＇ and torque current I2 ＇ and give robot control system by Ethernet/IP,
Contrasted in program.After U2I2/U2 ＇ I2 ＇=1 (± 5%) (± 5% is tolerance range), i.e. U2I2/U2 ＇ I2 ＇
=FN/FN ＇=1 (± 5%) (formula (1)).Now, robot program is automatically extracted as the Y in the current TCP coordinates of robot
Y ＇ coordinate values in coordinate value, and the axle center coordinate of sisal or cotton piece buff, obtain sisal or cotton piece buff damages mill value Δ Y=Y ＇-Y.
Proof on formula (1) U2I2/U2 ＇ I2 ＇=FN/FN ＇=1 (± 5%) is as follows：
In the torque balance equation of motor：In Tem=T2+T0 because T0=pmec+p Δs, and mechanical loss pmec and
The ratio that added losses p Δs during nominal load account for electromagnetic torque Tem is fewer, it is possible to ignores T0 and disregards, be i.e. Tem ≈
T2.It is almost constant again because influence of the material change of same sisal or cotton piece buff in efficient working range to T2 is few
, so T2 is equal to the torque produced by frictional force when workpiece is contacted with sisal or cotton piece buff.According to torque formula：T=Ftr,
Friction formula：F rubs=FN μ, can obtain load torque T2=F and rub r=FN μ r (formula (2))；
According to formula (2), load torque when can obtain reference pressure value is T2=FN μ r (formula (3)), with
And the load torque T2 ＇ after sisal or cloth foot wheel abrasion=FN ＇ μ r ＇ (formula (4))；
Can be obtained formula (3) divided by formula (4), and after simplifying：T2/T2 ＇=FNr/FN ＇ r ＇ (formula (5)).Electricity
Motivation torque formula T2=9550P2/n (formula (6)) and power P 2=3U2I2cos φ (formula (7)) generation respectively
Enter in formula (5) formula, obtained after arrangement：U2I2/U2 ＇ I2 ＇=FNrn/FN ＇ r ＇ n ＇, i.e. U2I2/U2 ＇
I2 ＇=FNS/FN ＇ S ＇ (formula (8)).In formula (8), linear velocity S and sisal or cotton piece buff when sisal or cotton piece buff are demarcated
Linear velocity S ＇ after abrasion, are controlled the motor speed of frequency converter by PLC control system, reach constant linear velocity, i.e. S=S ＇
=2 π rn=2 π r ＇ n ＇ (formula (9)).In formula (9) substitution formula formula (8), U2I2/U2 ＇ I2 ＇ are finally given
=FN/FN ＇ (formula (10)).In formula (10), the contact of standard is all demarcated by above-mentioned sisal or cotton piece buff with I2 due to U2
During pressure value, the information for having read frequency converter by PLC control system is obtained and gives control system of robot by Ethernet/IP
System, i.e. U2I2 is datum, therefore robot control system is in adjustment workpiece and the pressure value FN ＇ between sisal or cotton piece buff
When, as long as making U2I2/U2 ＇ I2 ＇=1 (± 5%), just can obtain FN/FN ＇=1 (± 5%)；
After robot control system obtains cotton piece buff damage mill value Δ Y, by " multitask " functional module to being preset in Fig. 5
Some coordinate systems such as Z0Y0, Z1Y1, Z2Y2 in Y-coordinate value modify, Y ＇=Y+ Δ Y in this way, are capable of achieving
End effector of robot different spatial sisal or cotton piece buff in effective machining area constant pressure control so that
Ensure the surface quality of finish of irregular contour workpiece.
The invention is not limited in above-mentioned specific embodiment, if not departing from this to various changes of the invention or modification
The spirit and scope of invention, if these are changed and within the scope of modification belongs to claim of the invention and equivalent technologies, then
The present invention is also intended to comprising these changes and modification.
Claims (3)
1. a kind of constant pressure constant linear velocity polishing method of robot polishing machine, includes the sisal polishing assembly and cloth of double
Buff polishing component, robot, robot control system and PLC control system, wherein sisal polishing assembly include the fiber crops of connection
Wheel, sisal motor and sisal frequency converter, buffing component include cotton piece buff, cloth turbin generator and cotton piece buff frequency converter, and its feature exists
In including following steps：
S1, the constant polishing force of PLC control system setting sisal and cotton piece buff, constant linear velocity and robot coordinate；
S2, PLC control system start sisal motor and drive sisal to rotate, and the end effector clamping workpiece of robot is pressed
Surface grinding and polishing is carried out in the radial circumference of sisal and keep；
S3, PLC control system obtain sisal motor real time load electric current and by Ethernet real-time communication by sisal frequency converter
Send robot control system to, robot control system calculates sisal real-time working radius and real-time polishing force automatically；
S4, robot control system according to sisal real-time working radius and real-time polishing force, when real-time polishing force with set constant
When polishing force produces error, robot control system calculates robot corresponding coordinate compensation rate, Robot sisal footpath automatically
To compensation rate is moved horizontally, maintain real-time grinding and polishing pressure constant, when the end effector clamping workpiece of robot is in different spaces
During position, robot is on grinding and polishing point along sisal normal direction motion compensation amount；Meanwhile, robot control system passes through ether
Net interactive correspondence, PLC control system changes sisal motor speed by the speed of sisal frequency converter amendment, maintains sisal linear velocity permanent
It is fixed；
S5, the end effector change workpiece direction by robot, are repeatedly performed S2 to S4 steps, until completing sisal grinding and polishing
Operation；
S6, the setting that cotton piece buff control parameter has been completed in S1 steps, the automatic cloth turbin generator of PLC control system drive cotton piece buff by setting
Alignment speed is rotated；The end effector of robot is carried out according to the circumference that the workpiece that manufacturing procedure will complete grinding and polishing turns to cotton piece buff
Surface polishes, and is repeatedly performed S2 to S5 steps, until product completes whole polishing process.
2. the constant pressure constant linear velocity polishing method of a kind of robot polishing machine according to claim 1, it is characterised in that：Institute
State sisal to automatically switch by manufacturing procedure with the calculating of the real-Time Compensation value and robot coordinate system's correction value of cotton piece buff, in robot
Control system backstage completes, it is to avoid pause of the robot when procedure is performed, and is communicated by real-time, interactive and realizes robot
End effector different spatial constant pressure control.
3. a kind of constant pressure constant linear velocity polishing method of robot polishing machine according to claim 1 or claim 2, its feature
It is：The robot control system has ethernet communication functional module and multitask function card module, PLC control system
Using apparatus logic control system, robot control system and PLC control system carry out real-time, interactive communication, machine by Ethernet
Device people uses six-freedom degree drive mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611218929.7A CN106737196B (en) | 2016-12-26 | 2016-12-26 | A kind of constant pressure constant linear velocity polishing method of robot polishing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611218929.7A CN106737196B (en) | 2016-12-26 | 2016-12-26 | A kind of constant pressure constant linear velocity polishing method of robot polishing machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737196A true CN106737196A (en) | 2017-05-31 |
| CN106737196B CN106737196B (en) | 2019-02-22 |
Family
ID=58926862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611218929.7A Active CN106737196B (en) | 2016-12-26 | 2016-12-26 | A kind of constant pressure constant linear velocity polishing method of robot polishing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737196B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639542A (en) * | 2017-09-15 | 2018-01-30 | 广东利迅达机器人系统股份有限公司 | The power control closed-loop system and its control method of a kind of sanding and polishing machine |
| CN108406599A (en) * | 2018-03-05 | 2018-08-17 | 苏州锃道研磨技术有限公司 | A kind of flexible abrasive product length attrition value detection and compensation system automatically |
| CN108422304A (en) * | 2018-01-31 | 2018-08-21 | 广州奇芯机器人技术有限公司 | A kind of method and digital control system of constant pressure polishing |
| CN108942538A (en) * | 2018-09-17 | 2018-12-07 | 苏州市海研电子科技有限公司 | A kind of constant linear velocity grinder for polishing |
| CN109434657A (en) * | 2018-12-25 | 2019-03-08 | 广东大雅智能厨电股份有限公司 | A kind of high-precision polishing system |
| CN112975748A (en) * | 2019-12-14 | 2021-06-18 | 佛山市后浪科技有限公司 | Abrasion detection and compensation method for polishing cloth wheel |
| WO2021248858A1 (en) * | 2020-06-11 | 2021-12-16 | 巨轮（广州）机器人与智能制造有限公司 | Plc-based automatic grinding constant pressure control method and system |
| CN114850973A (en) * | 2022-04-02 | 2022-08-05 | 浙江工贸职业技术学院 | Grinding and polishing compensation method for flexible wheel of robot |
| CN115213818A (en) * | 2022-07-26 | 2022-10-21 | 成都市瑞研光科技有限公司 | Robot polishing initial positioning compensation method and system based on force sensor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4107880A (en) * | 1976-02-02 | 1978-08-22 | Randall John P | Floating buffing wheel assembly |
| CN1079931A (en) * | 1992-07-27 | 1993-12-29 | 胡强 | Rotary constant pressure spring grinder |
| CN102145473A (en) * | 2011-01-19 | 2011-08-10 | 福建长江工业有限公司 | Method and equipment for controlling constant polishing force of buffing machine |
| CN201998031U (en) * | 2011-01-19 | 2011-10-05 | 福建长江工业有限公司 | Canvas polishing machine capable of keeping polishing force constant |
| CN105549545A (en) * | 2016-02-19 | 2016-05-04 | 泉州华中科技大学智能制造研究院 | Control algorithm based on constant-linear speed grinding of edge grinding machine |
| CN105751218A (en) * | 2016-05-05 | 2016-07-13 | 佛山市新鹏机器人技术有限公司 | Constant force device used for tail end of robot and control method for constant force device |
-
2016
- 2016-12-26 CN CN201611218929.7A patent/CN106737196B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4107880A (en) * | 1976-02-02 | 1978-08-22 | Randall John P | Floating buffing wheel assembly |
| CN1079931A (en) * | 1992-07-27 | 1993-12-29 | 胡强 | Rotary constant pressure spring grinder |
| CN102145473A (en) * | 2011-01-19 | 2011-08-10 | 福建长江工业有限公司 | Method and equipment for controlling constant polishing force of buffing machine |
| CN201998031U (en) * | 2011-01-19 | 2011-10-05 | 福建长江工业有限公司 | Canvas polishing machine capable of keeping polishing force constant |
| CN105549545A (en) * | 2016-02-19 | 2016-05-04 | 泉州华中科技大学智能制造研究院 | Control algorithm based on constant-linear speed grinding of edge grinding machine |
| CN105751218A (en) * | 2016-05-05 | 2016-07-13 | 佛山市新鹏机器人技术有限公司 | Constant force device used for tail end of robot and control method for constant force device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639542A (en) * | 2017-09-15 | 2018-01-30 | 广东利迅达机器人系统股份有限公司 | The power control closed-loop system and its control method of a kind of sanding and polishing machine |
| CN108422304A (en) * | 2018-01-31 | 2018-08-21 | 广州奇芯机器人技术有限公司 | A kind of method and digital control system of constant pressure polishing |
| CN108406599A (en) * | 2018-03-05 | 2018-08-17 | 苏州锃道研磨技术有限公司 | A kind of flexible abrasive product length attrition value detection and compensation system automatically |
| CN108942538A (en) * | 2018-09-17 | 2018-12-07 | 苏州市海研电子科技有限公司 | A kind of constant linear velocity grinder for polishing |
| CN109434657A (en) * | 2018-12-25 | 2019-03-08 | 广东大雅智能厨电股份有限公司 | A kind of high-precision polishing system |
| CN109434657B (en) * | 2018-12-25 | 2024-04-09 | 广东大雅智能厨电股份有限公司 | High-precision polishing system |
| CN112975748A (en) * | 2019-12-14 | 2021-06-18 | 佛山市后浪科技有限公司 | Abrasion detection and compensation method for polishing cloth wheel |
| WO2021248858A1 (en) * | 2020-06-11 | 2021-12-16 | 巨轮（广州）机器人与智能制造有限公司 | Plc-based automatic grinding constant pressure control method and system |
| CN114850973A (en) * | 2022-04-02 | 2022-08-05 | 浙江工贸职业技术学院 | Grinding and polishing compensation method for flexible wheel of robot |
| CN115213818A (en) * | 2022-07-26 | 2022-10-21 | 成都市瑞研光科技有限公司 | Robot polishing initial positioning compensation method and system based on force sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106737196B (en) | 2019-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737196A (en) | A kind of constant pressure constant linear velocity polishing method of robot polishing machine | |
| CN105538095B (en) | A kind of wind turbine blade multirobot collaboration polishing system and method | |
| CN105945729B (en) | A kind of metallic rotary part constant pressure polishing control device and control method | |
| CN108340247B (en) | Robot polishing and grinding system | |
| CN103128645A (en) | Active compliance robot grinding system with controlled pressure and changeable speed and method | |
| CN105817968A (en) | Machine for grinding wheel finishing and optical component grinding | |
| CN204748334U (en) | A trimming device that is used for emery wheel terminal surface and periphery to maintain | |
| CN102806513B (en) | Polishing method with constant grinding amount | |
| CN104816221A (en) | Abrasive belt machine | |
| CN105583727B (en) | Polishing bistrique | |
| CN208759174U (en) | A kind of grinding-shaping device of vehicle bridge Step Shaft | |
| CN106181687A (en) | A kind of blisk system of processing and method | |
| CN111531413A (en) | Wind power blade multi-robot collaborative polishing system and method | |
| Wu et al. | A novel force-controlled spherical polishing tool combined with self-rotation and co-rotation motion | |
| CN102145473B (en) | Method and equipment for controlling constant polishing force of buffing machine | |
| CN103317420A (en) | Polishing wheel switching mechanism of polishing machine with abrasive belt | |
| CN201752859U (en) | Grinding machine | |
| CN102528665A (en) | Novel numerical-control grinding wheel dressing device | |
| CN212824314U (en) | Self-aligning roller bearing outer ring raceway grinding machine | |
| CN201427274Y (en) | multistage variable-speed milling and grinding machine | |
| CN112338689A (en) | Control system of full-automatic polishing robot | |
| CN206643756U (en) | A kind of shaft-like workpiece burnishing device | |
| CN201998031U (en) | Canvas polishing machine capable of keeping polishing force constant | |
| CN102785140A (en) | Flexible profile-following constant-pressure polishing device | |
| CN2843743Y (en) | Four main cone double-ended grinding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |