CN106863124A - A kind of automatically grinding system based on robot - Google Patents

A kind of automatically grinding system based on robot Download PDF

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Publication number
CN106863124A
CN106863124A CN201710132472.6A CN201710132472A CN106863124A CN 106863124 A CN106863124 A CN 106863124A CN 201710132472 A CN201710132472 A CN 201710132472A CN 106863124 A CN106863124 A CN 106863124A
Authority
CN
China
Prior art keywords
robot
profiling
grinding wheel
chiba
conveyer belt
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
Application number
CN201710132472.6A
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Chinese (zh)
Other versions
CN106863124B (en
Inventor
孔英华
李锦龙
袁祥宗
杨林
王群
杨海滨
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Foshan Huashu Robot Co Ltd
Original Assignee
Foshan Huashu Robot Co Ltd
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Publication date
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Priority to CN201710132472.6A priority Critical patent/CN106863124B/en
Publication of CN106863124A publication Critical patent/CN106863124A/en
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Publication of CN106863124B publication Critical patent/CN106863124B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/04Headstocks; Working-spindles; Features relating thereto
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • B25J11/0065Polishing or grinding

Abstract

The invention discloses a kind of automatically grinding system based on robot, including sander, also include being located at the robot at sander rear, the side of robot is provided with feed device, sander is provided with rotating shaft, rotating shaft is provided with least two profiling Chiba grinding wheels, and the end of robot is provided with the negative suction fixture of profiling.Due to being provided with multiple anti-shape Chiba grinding wheels in rotating shaft, so each grinding wheel can be allowed only to be responsible for a part for product, the Chiba grinding wheel for being responsible for polishing corner is only polished corner, and the Chiba grinding wheel of polish plane or large curved surface is responsible for polish plane and large curved surface specially, this can just allow the abrasion that each grinding wheel can be overall, its profile integrally diminishes, and the shape of profiling will not change, and such robot only needs to carry out simple position compensation and can be achieved with continuous polishing.Polishing of the present invention for product.

Description

A kind of automatically grinding system based on robot
Technical field
The present invention relates to a kind of automatically grinding system based on robot.
Background technology
Although present artificial intelligence robot is made suitable maturation, the fine polishing to product at that time is often It is accomplished manually.Especially polishing grinding operation, because the sized flap wheel for polishing is soft, can not during polishing It is lost disconnectedly, and product often has plane, curved surface and corner, causes when corner is polished, the part of sized flap wheel can occur part The change of shape, this results in existing intelligent robot and is difficult to automatic adaptation sized flap wheel so complicated and changeable.
The content of the invention
The technical problem to be solved in the present invention is:A kind of automatically grinding system based on robot is provided.
The present invention solve its technical problem solution be:
A kind of automatically grinding system based on robot, including sander, also including being located at the robot at sander rear, machine The side of people is provided with feed device, and sander is provided with rotating shaft, and rotating shaft is provided with least two profiling Chiba grinding wheels, robot End be provided with that profiling is negative to inhale fixture.
Used as the further of above-mentioned technical proposal, feed device includes conveyer belt, and the both sides of conveyer belt are equipped with guide part, Guide part is provided with multiple cylindrical rollers being vertically arranged along the conveying direction of conveyer belt.
Used as the further of above-mentioned technical proposal, the end of conveyer belt is provided with three pneumatic pushing blocks, and described three pneumatic to push away Block is respectively provided at left side, right side, the front side of conveyer belt.
As the further of above-mentioned technical proposal, oriented conveyer belt center is all provided with the pneumatic pushing block on left side and right side The rearmounted jacking block of the passed in and out conveyer belt that line stretches out, rearmounted jacking block is relative with the pneumatic pushing block position of front side.
The beneficial effects of the invention are as follows:A kind of automatically grinding system based on robot, including sander, also including being located at The robot at sander rear, the side of robot is provided with feed device, and sander is provided with rotating shaft, and rotating shaft is provided with least two Individual profiling Chiba grinding wheel, the end of robot is provided with the negative suction fixture of profiling.Beaten due to being provided with multiple anti-shape Chiba in rotating shaft Emery wheel, it is possible to allow each grinding wheel to be only responsible for a part for product, the Chiba grinding wheel of responsible polishing corner is only polished and turned Angle, and the Chiba grinding wheel of polish plane or large curved surface is responsible for polish plane and large curved surface specially, this can just allow each grinding wheel Abrasion that can be overall, its profile integrally diminishes, and the shape of profiling will not change, and such robot only needs to carry out Simple position compensation can be achieved with continuous polishing.Polishing of the present invention for product.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will make needed for embodiment description Accompanying drawing is briefly described.Obviously, described accompanying drawing is a part of embodiment of the invention, rather than whole implementations Example, those skilled in the art on the premise of not paying creative work, can also obtain other designs according to these accompanying drawings Scheme and accompanying drawing.
Fig. 1 is schematic perspective view of the invention;
Fig. 2 is the close-up schematic view of conveying end of tape of the invention;
Fig. 3 is pilot construction schematic diagram of the invention;
Fig. 4 is the schematic top plan view of sander of the invention;
Fig. 5 is that geometry of the invention calculates schematic diagram;
Fig. 6 is that another geometry of the invention calculates schematic diagram.
Specific embodiment
The technique effect of design of the invention, concrete structure and generation is carried out clearly below with reference to embodiment and accompanying drawing Chu, it is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair Bright a part of embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying The other embodiment obtained on the premise of creative work, belongs to the scope of protection of the invention.In addition, be previously mentioned in text All connection/annexations, not singly refer to that component directly connects, and refer to that can be added deduct by adding according to specific implementation situation Lack couple auxiliary to constitute more excellent draw bail.Each technical characteristic in the present invention, in the premise of not conflicting conflict Under can be with combination of interactions.
Referring to figs. 1 to Fig. 6, this is embodiments of the invention, specifically:
A kind of automatically grinding system based on robot, including sander, also including being located at the robot at sander rear, machine The side of people is provided with feed device, and sander is provided with rotating shaft, and rotating shaft is provided with least two profiling Chiba grinding wheels, robot End be provided with that profiling is negative to inhale fixture.Due to being provided with multiple anti-shape Chiba grinding wheels in rotating shaft, it is possible to allow each to polish A part for wheel only responsible product, the Chiba grinding wheel for being responsible for polishing corner is only polished corner, and polish plane or large curved surface Chiba grinding wheel is responsible for polish plane and large curved surface specially, and this can just allow the abrasion that each grinding wheel can be overall, and its profile is whole Diminish, and the shape of profiling will not change, such robot only needs to carry out simple position compensation to can be achieved with body Continuous polishing.The artificial six-joint robot of machine that the present embodiment is used.The origin stepping of the operating coordinates of six-joint robot, and Step distance gradually increases, and the step distance is Ck。CkStepping be loaded in robot Program and realize.
In order to allow product energy automatic transport to the crawl position of robot, feed device includes conveyer belt 1, in order to reduce product The transporting resistance of product, the both sides of conveyer belt 1 are equipped with guide part, and guide part is provided with multiple vertical along the conveying direction of conveyer belt 1 The cylindrical roller 2 of setting.All of cylindrical roller 2 is each provided on roller stand, and the both sides of conveyer belt 1 are equipped with roller stand.
In order to allow product to be precisely positioned to the crawl position of robot, the end of conveyer belt 1 be provided with three it is pneumatic Pushing block, three pneumatic pushing blocks are respectively provided at left side, right side, the front side of conveyer belt 1.
After the passed in and out conveyer belt that oriented belt centerline is stretched out is all provided with the pneumatic pushing block on left side and right side Top set block, rearmounted jacking block is relative with the pneumatic pushing block position of front side, and rearmounted jacking block is profiling jacking block, and thus some can not advised Product then carries out positioning efficiently and accurately.
The automatically grinding system of the present embodiment is so work, is comprised the following steps:
a)Profiling Chiba grinding wheel is made, is then fitted on the polishing motor in front of robot;
b)Now the front and rear operating coordinates of robot are A, and be put into product in profiling Chiba grinding wheel and polished by robot;
c)Robot captures another product, and the operating coordinates of robot move forward Ck, B coordinates are reached, wherein k is robot Capture the sequence number of product;
d)Robot is by step c)The product product for grabbing is put into profiling Chiba grinding wheel and is polished;
e)Repeat step c)With step d), wherein CkValue become big as the diameter of profiling Chiba grinding wheel diminishes.
Compensate the loss of profiling Chiba grinding wheel by the movement of operating coordinates, the mobile essence of described operating coordinates It is the amount of feeding, and the amount of movement C of operating coordinateskIt is to increase as the radius of profiling Chiba grinding wheel diminishes, so can allow The situation of each product sanding and polishing is than more consistent.
The radius of profiling Chiba grinding wheel is Rk, profiling Chiba grinding wheel contacts the chord length to be formed with product for D and be fixed Value, CkMeet relationship below:
As k=1, Ck=0, R0 are the initial radium of profiling Chiba grinding wheel.
Reference picture 5 and Fig. 6, the chord length D for allowing profiling Chiba grinding wheel and absorption surface to be formed remain certain value.Profiling thousand After a workpiece of having polished, because of loss, radial dimension diminishes profiling Chiba grinding wheel leaf grinding wheel, and radius R0 is changed into R1(Figure 5).Assuming that ground effect is consistent every time, the correspondence abrasive material quantity that loss reduces every time is also consistent.Section is pressed in emery wheel abrasive material In the case that product is uniformly distributed, the sectional area that loss is reduced every time is also consistent.
If the sectional area that loss reduces every time is, have:
Usually, if after kth time polishing, the radius of profiling Chiba grinding wheel is changed into, distance from the chord to the centre is changed into,(Fig. 6)Have:
Had according to geometrical relationship:
Amount of feeding C of the kth time polishing relative to kth -1 timekThe difference of distance from the chord to the centre of as polishing twice:
That is, C2~CkMeeting above-mentioned relation formula just can realize uniform grinding, the polishing of the product to 1 ~ k of serial number.
In actual production process, C2It is related such that:The different C of selection2Value, allows robot to carry out step b)Arrive Step e), as a certain C2It is worth corresponding C2To CkWhen the product produced meets the requirements, the C2Value determines.As a rule, Assuming that a profiling Chiba grinding wheel can process 500 products, it is only necessary to preceding 50 products of inspection, therefore it is 50 that can set k, and In actual production process, by iterating to calculate out 2 ~ 500 C of productkValue, is then loaded into the program of driven machine people Just may be used.Certainly, this technical process can also automatically be calculated by program.
In order to avoid the concentrated wear of profiling Chiba grinding wheel, same Product processing is caused to obtain uneven, the present embodiment Profiling Chiba grinding wheel be so make:Each big face of product is distinguished with turning, is distinguished for big face and turning Make the profiling Chiba grinding wheel of profiling.
To avoid concentrated wear, robot so polishes product:Beaten with profiling Chiba corresponding with big face The big face of emery wheel polishing, with profiling Chiba grinding wheel corresponding with turning polishing turning.
Better embodiment of the invention is illustrated above, but the present invention is not limited to the embodiment, Those of ordinary skill in the art can also make a variety of equivalent modifications or replacements on the premise of without prejudice to spirit of the invention, this A little equivalent modifications or replacement are all contained in the application claim limited range.

Claims (4)

1. a kind of automatically grinding system based on robot, including sander, it is characterised in that:Also include being located at sander rear Robot, the side of robot is provided with feed device, and sander is provided with rotating shaft, and rotating shaft is provided with least two profiling Chiba Grinding wheel, the end of robot is provided with the negative suction fixture of profiling.
2. a kind of automatically grinding system based on robot according to claim 1, it is characterised in that:Feed device includes Conveyer belt(1), conveyer belt(1)Both sides be equipped with guide part, guide part is along conveyer belt(1)Conveying direction be provided with it is multiple vertically The cylindrical roller of setting(2).
3. a kind of automatically grinding system based on robot according to claim 1, it is characterised in that:Conveyer belt(1)'s End is provided with three pneumatic pushing blocks, and three pneumatic pushing blocks are respectively provided at conveyer belt(1)Left side, right side, front side.
4. a kind of automatically grinding system based on robot according to claim 3, it is characterised in that:Left side and right side Pneumatic pushing block on be all provided with the rearmounted jacking block of the passed in and out conveyer belt that oriented belt centerline is stretched out, rearmounted jacking block and front side Pneumatic pushing block position it is relative.
CN201710132472.6A 2017-03-07 2017-03-07 A kind of automatically grinding system based on robot Active CN106863124B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710132472.6A CN106863124B (en) 2017-03-07 2017-03-07 A kind of automatically grinding system based on robot

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CN106863124B CN106863124B (en) 2019-01-15

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003103378A (en) * 2002-09-25 2003-04-08 Kyokutoh Co Ltd Welding robot for spot welding
CN202963291U (en) * 2012-11-09 2013-06-05 东莞市容辰制罐有限公司 Metal can automatic stamping production line
CN203359466U (en) * 2013-07-23 2013-12-25 无锡日联科技有限公司 Battery detection device
CN204565834U (en) * 2015-04-28 2015-08-19 厦门嘉柯德自动化科技有限公司 A kind of robot automatically grinding system
CN106393155A (en) * 2016-09-23 2017-02-15 佛山华数机器人有限公司 Universal fixture for industrial robot
CN206567999U (en) * 2017-03-07 2017-10-20 佛山华数机器人有限公司 A kind of automatically grinding system based on robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003103378A (en) * 2002-09-25 2003-04-08 Kyokutoh Co Ltd Welding robot for spot welding
CN202963291U (en) * 2012-11-09 2013-06-05 东莞市容辰制罐有限公司 Metal can automatic stamping production line
CN203359466U (en) * 2013-07-23 2013-12-25 无锡日联科技有限公司 Battery detection device
CN204565834U (en) * 2015-04-28 2015-08-19 厦门嘉柯德自动化科技有限公司 A kind of robot automatically grinding system
CN106393155A (en) * 2016-09-23 2017-02-15 佛山华数机器人有限公司 Universal fixture for industrial robot
CN206567999U (en) * 2017-03-07 2017-10-20 佛山华数机器人有限公司 A kind of automatically grinding system based on robot

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