CN106826493A - A kind of swinging multistation Ginding process - Google Patents
A kind of swinging multistation Ginding process Download PDFInfo
- Publication number
- CN106826493A CN106826493A CN201710001608.XA CN201710001608A CN106826493A CN 106826493 A CN106826493 A CN 106826493A CN 201710001608 A CN201710001608 A CN 201710001608A CN 106826493 A CN106826493 A CN 106826493A
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- China
- Prior art keywords
- degree
- workpiece
- freedom manipulator
- station
- processed
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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
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
Abstract
The invention discloses a kind of swinging multistation Ginding process, the method includes, first, using multiple around index plate polish work station six degree of freedom manipulator clamping workpiece to be processed, then, index plate polishing work station on multiple power head devices respectively to workpiece to be processed clamped on corresponding six degree of freedom manipulator simultaneously be processed.The present invention can be processed to the workpiece of multiple stations simultaneously, efficiency is significantly improved.
Description
Technical field
The present invention relates to grinding technique field, more specifically, more particularly to a kind of swinging multistation Ginding process.
Background technology
In industry is polished, as shown in figure 1, traditional Ginding process arranges required power around robot
Head (bistrique), robot A clamping workpieces do corresponding track motion as needed on first unit head B of station, treat
After the completion of be transferred to next station, by that analogy, it is actual at work, other unit heads (bistrique) are in shape to be processed
State, reduces operating efficiency, and with the increase of work step (station), efficiency will drastically decline.For this reason, it is necessary to design a kind of returning
Rotatable multistation Ginding process improves efficiency thoroughly to solve the above problems.
The content of the invention
Efficient swinging multistation Ginding process is carried it is an object of the invention to provide one kind.
In order to achieve the above object, the technical solution adopted by the present invention is as follows：
A kind of swinging multistation Ginding process, the method includes, first, using multiple around index plate polishing work
The six degree of freedom manipulator clamping workpiece to be processed stood of work, multiple power head devices then, on index plate polishing work station
Workpiece to be processed clamped on corresponding six degree of freedom manipulator is processed simultaneously respectively.
Further, the swinging multistation Ginding process specifically includes following steps,
S1, control system control the tool on each six degree of freedom manipulator to clamp workpiece to be ground；
S2, control system control each six degree of freedom manipulator that workpiece to be ground is delivered into the dynamic of corresponding station respectively
At power head device, the unit head on power head device is simultaneously to the workpiece to be ground on each six degree of freedom manipulator according to first
Setting time is ground processing；
After S3, station corresponding in step s 2 complete attrition process, control system control index plate polishing work
Stand and rotate to next station；
Each power head device after S4, control system control adjustment station is carried out to the workpiece on six degree of freedom manipulator
The attrition process of subsequent processing；
S5, circulation step S3-S4 are untill the workpiece on each six degree of freedom manipulator is fully completed grinding.
Further, workpiece to be processed clamped on each six degree of freedom manipulator can adjust its work according to processing request
Make angle, the unit head on the power head device can realize 360 ° of rotary-grinding motions.
Further, the action of the six degree of freedom manipulator is realized by the industrial computer in control system, described
The action of index plate polishing work station and power head device is realized by PLC.
Compared with prior art, the advantage of the invention is that：The present invention can be processed to the workpiece of multiple stations simultaneously,
Efficiency is set to significantly improve, while the present invention more improves efficiency without Aligning control action.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of lapping device in the prior art.
Fig. 2 is the apparatus structure schematic diagram for realizing swinging multistation Ginding process of the present invention.
Fig. 3 is the process chart of swinging multistation Ginding process of the present invention.
Fig. 4 is the structural representation of power head device in Fig. 2.
Fig. 5 is the structural representation of six degree of freedom manipulator in Fig. 2.
Specific embodiment
The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, apparent is clearly defined so as to be made to protection scope of the present invention.
Refering to shown in Fig. 2 and Fig. 3, the present invention provides a kind of swinging multistation Ginding process, and the method is based on reference circle
Disk polishing work station 1, multiple six degree of freedom manipulators 2 and multiple power head devices 3 are implemented, and multiple power head devices 3 are equal
The even surrounding for being arranged in index plate polishing work station 1, multiple six degree of freedom manipulators 2 are evenly distributed on index plate and beat
Grind the periphery of work station 1, and each six degree of freedom manipulator 2 one power head device 3 of correspondence.
The swinging multistation Ginding process is comprised the following steps：
Step one, control system control the tool on each six degree of freedom manipulator 2 to clamp workpiece to be ground；
Step 2, control system control each six degree of freedom manipulator 2 that workpiece to be ground is delivered into corresponding work respectively
At the power head device 3 of position, the unit head on power head device 3 is simultaneously to the work to be ground on each six degree of freedom manipulator 2
Part is ground processing according to the first setting time, and the unit head on the power head device 3 can realize 360 ° of rotary-grinding fortune
It is dynamic；
After step 3, station corresponding in step s 2 complete attrition process, control system control index plate polishing
Work station 1 is rotated to next station；
Each power head device 3 after step 4, control system control adjustment station is to the work on six degree of freedom manipulator 2
Part carries out the attrition process of subsequent processing；
Step 5, circulation step S3-S4 are untill the workpiece on each six degree of freedom manipulator 2 is fully completed grinding.
The operation principle to multistation lapping device of the invention by taking 4 work steps as an example is described in detail below：
Track run duration (process time s1) of traditional approach such as each work step is 90s, and station (transfer s2) time is
10s, the Aligning control time (s3) be 20s, then the process time (s) of the workpiece be：
S=(S1+S2) XJ+S3=(90+10) X4+20=420 seconds=7 minutes every.
Traditional processing of robots time does not connect the clamping time for 420s, add up to seven minutes one.
As shown in Figures 2 and 3, if calculated in combination application method in the present invention：Same processing (s1) time
90s, if the time of rotary disk is also calculated as station (transfer s2), and the time is 10s, but clamped one time quantity is four, so supporting
Disappeared time of four work steps of revolution, and the process time of every is：
S=s1+s2=90+10=100 seconds
Total contrast：420 seconds/100 seconds=4.2
That is the work efficiency of combination application is 4.2 times of conventional method, technical indicator and with unit head quantity
Increase and increase simultaneously, that is to say, that unit head quantity is more, and effect is higher.
Wherein, the action of the six degree of freedom manipulator 2 is by the industrial computer realization in control system, the indexing
The action of disk polishing work station 1 and power head device 3 is realized by PLC.
When in use, the unit head that index plate polishing work station 1 can need work step is defeated according to technological requirement for the present invention
The station for needing processing is sent to, instead of robot needs that workpiece to be machined is transferred to the work of next work step, and power
Unit head on head device 3 has invalid Aligning control to move, and corresponding efficiency is also improved, accordingly, in each unit head
Corresponding station, has a workpiece to be machined being processed, you can while being processed, the present invention is in this operating mode
Under, the quantity of unit head is more, and efficiency is higher, by actually used, fullys meet the efficiency designed by this application.
Refering to shown in Fig. 4, the power head device 3 includes power source 6, installing plate 7, base 8 and unit head 9, the peace
Dress plate 7 is fixed on base 8, and the base 8 is fixed on 360 ° of disks 5, and the power source 6 is installed on installing plate 7, and should
The line shaft of power source 6 through after installing plate 7 with the detachable connection of unit head 9.
Refering to shown in Fig. 5, the six degree of freedom manipulator 2 includes the base 10 being sequentially connected from down to up, 11, wrist of crooking one's arm
Portion 12 and hand 13, are also equipped with the tool 14 for grabbing workpiece on the hand 13.
Present invention additionally comprises the safety device isolated for external environment condition.Can be used to improve working environment：Closed
Be isolated from the outside for the working environment of high noisy and dust by robot, it is to avoid operating personnel are under adverse circumstances
Harm to human body.Robot automatic surface rubbing down unit and automatic control system；Be particularly suitable under adverse circumstances, many product
Kind, large batch of flexible production, to stabilization, improve product quality, improve production efficiency is improved working conditions quick with product
Update is played a very important role.
Ginding process of the invention can use intelligent operation, Automatic Control, repeat programming, can complete in three dimensions
The electromechanical integration full automatic polishing equipment of various operations.Totally digitilized intelligent robot manufacture system is the new of autonomous Design
Digitlization, automation comprehensive integration production system so that product is gone into operation quickly.
It is one present invention is mainly used for the surface rubbing down treatment of the industries such as bathroom, automobile, motorcycle part, architectural hardware
The operation of kind of artificial intelligence, Automatic Control, repeatable programming, can complete various operations in three dimensions electromechanical integration it is complete certainly
Dynamic polissoir.Totally digitilized intelligent robot manufacture system is the novel digital of autonomous Design, automation comprehensive integration life
Product system, it is time-consuming：Off-line programming technique can quickly generate another needs the program of rubbing down product so that product is quickly
Gone into operation.Flexible Manufacture ability causes system faster from a kind of workpiece is processed, outstanding for small lot, multiple types work piece production
Its efficiency high.
The six degree of freedom mechanical hand sanding and polishing equipment and automatic control system device product of present invention use are to industry skill
The progress of art with important contribution, be mainly reflected in：Six degree of freedom manipulator is flexible with tool fixture by control system
B. is accurately captured to workpiece by wet type sanding and polishing, whole sanding and polishing is all in the liquid that a relative closure is dustless
Mill is completed in region, and the polishing of different parts is completed according to workpiece technological requirement, is finally reached product requirement.Workpiece rotation and can
Speed governing, main operational principle is to walk profiling curve using every group of bistrique servomotor shape programming；Intelligence grinding robot series
Technology：Reduce labour cost：Compared with artificial, production efficiency is improved, can long-time Continuous maching, an operating personnel can control
The industrial robot rubbing down system that system is more than 5, improves operating efficiency, reduces and uses the labour cost of skilled craftsman.Carry
High yield quality：The high consistency of rubbing down product quality is good, reduces the disqualification rate of product, improves the quality of product.
Yield rate is improve, process time is shortened, and greatly reduce production and the management cost of enterprise；Solve polishing, sander
The path and track that device people is related to are extremely complex.
Although being described in conjunction with the accompanying embodiments of the present invention, patent owner can be in appended claims
Within the scope of make various deformations or amendments, as long as no more than the protection domain described by claim of the invention, all should
Within protection scope of the present invention.
Claims (4)
1. a kind of swinging multistation Ginding process, it is characterised in that：The method includes, first, using multiple around indexing
Disk polish work station six degree of freedom manipulator clamping workpiece to be processed, then, index plate polishing work station on multiple
Power head device is processed simultaneously to workpiece to be processed clamped on corresponding six degree of freedom manipulator respectively.
2. swinging multistation Ginding process according to claim 1, it is characterised in that：The swinging multiplexing Bit Grinding
Method specifically includes following steps,
S1, control system control the tool on each six degree of freedom manipulator to clamp workpiece to be ground；
S2, control system control each six degree of freedom manipulator that workpiece to be ground is delivered to the unit head of corresponding station respectively
At device, the unit head on power head device is simultaneously to the workpiece to be ground on each six degree of freedom manipulator according to the first setting
Time is ground processing；
After S3, station corresponding in step s 2 complete attrition process, control system control index plate polishing work station rotation
Go to next station；
Each power head device after S4, control system control adjustment station carries out next to the workpiece on six degree of freedom manipulator
The attrition process of operation；
S5, circulation step S3-S4 are untill the workpiece on each six degree of freedom manipulator is fully completed grinding.
3. swinging multistation Ginding process according to claim 1, it is characterised in that：On each six degree of freedom manipulator
Clamped workpiece to be processed can adjust its operating angle according to processing request, and the unit head on the power head device can be realized
360 ° of rotary-grinding motions.
4. swinging multistation Ginding process according to claim 1, it is characterised in that：The six degree of freedom manipulator
Action realizes that the action of the index plate polishing work station and power head device is led to by the industrial computer in control system
Cross PLC realization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710001608.XA CN106826493A (en) | 2017-01-03 | 2017-01-03 | A kind of swinging multistation Ginding process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710001608.XA CN106826493A (en) | 2017-01-03 | 2017-01-03 | A kind of swinging multistation Ginding process |
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| Publication Number | Publication Date |
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| CN106826493A true CN106826493A (en) | 2017-06-13 |
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| CN201710001608.XA Pending CN106826493A (en) | 2017-01-03 | 2017-01-03 | A kind of swinging multistation Ginding process |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101030336A (en) * | 2007-03-21 | 2007-09-05 | 固高科技(深圳)有限公司 | Teaching assembled tool and its controlling method |
| CN101163568A (en) * | 2005-04-18 | 2008-04-16 | 应用技术联合机电公司 | Arrangement of robots and device comprising the same |
| KR20080057920A (en) * | 2006-12-21 | 2008-06-25 | 류병현 | The rotating automatic polishing device of the glass lens |
| CN104440477A (en) * | 2014-11-14 | 2015-03-25 | 广州遂联自动化设备有限公司 | Disc type raw material feeding method and devices for disc type raw material feeding method |
| CN105033822A (en) * | 2015-08-28 | 2015-11-11 | 广州遂联自动化设备有限公司 | Polishing and grinding device with six-freedom-degree mechanical arms |
-
2017
- 2017-01-03 CN CN201710001608.XA patent/CN106826493A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101163568A (en) * | 2005-04-18 | 2008-04-16 | 应用技术联合机电公司 | Arrangement of robots and device comprising the same |
| KR20080057920A (en) * | 2006-12-21 | 2008-06-25 | 류병현 | The rotating automatic polishing device of the glass lens |
| CN101030336A (en) * | 2007-03-21 | 2007-09-05 | 固高科技(深圳)有限公司 | Teaching assembled tool and its controlling method |
| CN104440477A (en) * | 2014-11-14 | 2015-03-25 | 广州遂联自动化设备有限公司 | Disc type raw material feeding method and devices for disc type raw material feeding method |
| CN105033822A (en) * | 2015-08-28 | 2015-11-11 | 广州遂联自动化设备有限公司 | Polishing and grinding device with six-freedom-degree mechanical arms |
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Application publication date: 20170613 |