CN106926081B - Automatic polishing system - Google Patents

Automatic polishing system Download PDF

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Publication number
CN106926081B
CN106926081B CN201511021846.4A CN201511021846A CN106926081B CN 106926081 B CN106926081 B CN 106926081B CN 201511021846 A CN201511021846 A CN 201511021846A CN 106926081 B CN106926081 B CN 106926081B
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China
Prior art keywords
robot
connecting means
grinding
sanding
workpiece
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CN201511021846.4A
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Chinese (zh)
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CN106926081A (en
Inventor
曹启军
张爱勤
张大志
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.)
Tisheng elevator (Shanghai) Co.,Ltd.
Original Assignee
ThyssenKrupp Elevator AG
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    • 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
    • B24B9/00Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02Machines 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
    • B24B9/04Machines 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
    • 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
    • B24B23/00Portable grinding machines, e.g. hand-guided; Accessories therefor
    • B24B23/005Auxiliary devices used in connection with portable grinding machines, e.g. holders
    • 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
    • B24B23/00Portable grinding machines, e.g. hand-guided; Accessories therefor
    • B24B23/02Portable grinding machines, e.g. hand-guided; Accessories therefor with rotating grinding tools; Accessories therefor
    • B24B23/028Angle tools
    • 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
    • B24B27/00Other grinding machines or devices
    • B24B27/0076Other grinding machines or devices grinding machines comprising two or more grinding tools

Abstract

The invention provides an automatic grinding system, comprising a grinding table (2) and a workpiece (3) to be ground positioned on the grinding table (2), characterized in that the system further comprises at least one robot (4), the robot (4) is positioned on a corresponding base (1) and adjacent to the grinding table (2), a terminal end (12) of a mechanical arm (11) of the robot (4) is coupled with a clamping device (10), and an angle grinder (7) comprising a grinding sheet (9) is fixed on the clamping device (10). The automatic grinding system provided by the invention adopts robot automatic operation to replace the traditional manual grinding operation, improves the operating environment of workers, shortens the working hours, reduces the labor intensity of the workers, improves the quality and the manufacturing efficiency of products, and can be widely applied to the manufacturing process of various types of elevator door plates at present.

Description

Automatic polishing system
Technical Field
The present invention relates to the field of elevator manufacturing technology and automatic control, and more particularly to an automatic polishing system for elevator door panels.
Background
In the existing elevator manufacturing field, two manufacturing methods are generally adopted in the industry for manufacturing elevator door panels and reinforcing ribs: one mode is welded the door plant and strengthening rib together through resistance welding, and another mode is bonded the door plant and strengthening rib together through glue bonding. For the door panel processed by the resistance welding method, before entering the next spraying process, the resistance welding spot on one side of the surface of the door panel needs to be polished to be smooth. In the traditional process flow, the resistance welding spot on the surface of the door panel is mostly polished by manually holding an angle grinder. Firstly, the production efficiency of manual polishing is low, occupational diseases are easily caused by splashing of dust after polishing, potential safety hazards are many, the labor intensity of manual polishing work is high, repetitive actions are basically performed, and quality problems are easily caused by missed polishing; secondly, the problem of unstable polishing surface quality and the like is easily caused by uneven manual operation force, so that the quality and the precision of the polished product are relatively poor in consistency, and the product excellent rate is relatively low. Based on the above problems, there is a continuing need in the art for using machinery instead of human operations.
Disclosure of Invention
Aiming at the defects of manual polishing of metal workpieces such as elevator door plates and the like in the prior art, the invention adopts pioneering thinking, adopts a mode of simulating manual polishing by a robot through a plurality of tests to solve the problem of manual polishing of metal workpieces such as elevator resistance welding door plates and the like, reduces the occupational disease occurrence rate, stops potential safety hazards, improves the consistency of product quality and precision, and improves the production quality and the product yield.
To achieve the above object, according to one aspect of the present invention, there is provided an automatic grinding system comprising a grinding table and a workpiece to be ground positioned on the grinding table, characterized in that it further comprises at least one robot positioned on a respective base and adjacent to the grinding table, a clamping device being coupled to the end of the robot arm of said robot, on which clamping device an angle grinder comprising a grinding sheet is fixed.
Preferably, the clamping device comprises a first connecting device for coupling a robot arm of the robot, a second connecting device for coupling the angle grinder, and a third connecting device for coupling the first connecting device and the second connecting device.
Preferably, said third connecting means is elastic means.
Preferably, the third connecting means is a spring connecting plate.
Preferably, the spring attachment plate comprises a multi-layer spring plate.
Preferably, the spring force of each spring leaf in the plurality of layers of spring leaves is not all equal.
Preferably, the total spring force of the multi-layer spring plate is determined such that the clamping device is capable of supporting the weight of an angle grinder and at the same time such that the grinding plate generates a constant pressure on the workpiece to be ground.
Preferably, a height at which the robot arm is pressed down at the time of performing a grinding operation on the workpiece to be ground is determined such that the grinding sheet is always in contact with the workpiece to be ground, and the height of the pressing down is a constant value during grinding.
Preferably, the air intake amount of the angle grinder is controlled such that the rotation speed of the grinding plate is 10000rpm (revolutions per minute) or more.
According to another aspect of the invention, an elevator door panel manufacturing system is also provided, which is characterized by comprising the automatic grinding system, wherein the workpiece to be ground is an elevator door panel.
The automatic polishing system provided by the invention is mainly used for improving the process flow of polishing welding points of metal workpieces such as elevator door plates and the like after resistance welding, changes the traditional manual polishing mode, uses an industrial robot to simulate manual polishing action, and is revolutionary innovation of the traditional manual polishing process. The automatic grinding system provided by the invention couples the robot and the angle grinder together through the clamping device, and the clamping device not only can support the weight of the angle grinder, but also can keep the pressure value between the grinding sheet and the door plate constant when the angle grinder grinds the door plate.
Drawings
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. For purposes of clarity, the same reference numbers will be used in different drawings to identify the same elements. Wherein the content of the first and second substances,
FIG. 1 illustrates a schematic diagram of an automated grinding system according to an embodiment of the present invention; and
fig. 2 shows an enlarged view of part a-a of the automatic sanding system of fig. 1.
Detailed Description
Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. For the sake of clarity and brevity, actual embodiments are not limited to the features described in this specification. It will be appreciated that in the development of any such actual embodiment, as in any particular implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and process are given, but the scope of the present invention includes, but is not limited to, the following embodiments.
Fig. 1 shows a schematic structural view of an automatic grinding system according to an embodiment of the present invention. As shown in fig. 1, an automatic grinding system according to an embodiment of the present invention includes a grinding table 2 for supporting a workpiece 3 to be ground, such as an elevator door panel, the upper surface of the grinding table 2 being a substantially flat surface for placing the workpiece 3 such as the elevator door panel. Further, the automatic grinding system according to the embodiment of the present invention includes at least one robot 4 for automatically grinding a workpiece placed on the grinding table 2 under the control of a control system (not shown).
In a preferred embodiment of the invention, as shown for example in fig. 1, the automatic grinding system may comprise two robots 4, each robot 4 being placed on a respective base 1, on both sides of the grinding table 2 and adjacent to said grinding table 2. In the present embodiment, the robot 4 may be a standardized robot, that is, an existing general-purpose industrial robot, such as a composite robot arm, which is not limited herein.
As shown in fig. 1, a clamping device 10 is coupled to a terminal end of a robot arm 11 of the robot 4, and an angle grinder 7 for grinding the workpiece 3 by its grinding blade 9 is fixed to the clamping device 10.
In order to clearly illustrate the structural principle of the present invention, fig. 2 shows an enlarged view of a portion a-a of the portion coupled with the robot 4 in the automatic grinding system of fig. 1.
As shown in fig. 2, the gripping means 10 coupled to the terminal 12 of the robot arm 11 of the robot 4 comprise first connecting means 5, second connecting means 8 and third connecting means 6, the first connecting means 5 being intended to couple the robot arm 11 of the robot 4, the second connecting means 8 being intended to couple and secure the angle grinder 7, the third connecting means 6 being intended to couple together said first connecting means 5 and said second connecting means 8.
According to a preferred embodiment of the present invention, as shown in fig. 2, the first connecting means 5 is a connecting plate, preferably rectangular in shape, which is fixedly connected to the terminal 12 of the robot arm 11 of the robot 4; the second connecting device 8 is also a connecting plate which comprises a rectangular handle and a circular end part, and the angle grinder 7 penetrates through an inner ring of the circular end part to be fixedly connected with the second connecting device; said third connecting means 6 are preferably also plates of rectangular shape, to which said first connecting means 5 and second connecting means 8 are coupled respectively on different areas within the same surface (for example the upper or lower surface) of the plate-shaped third connecting means 6. According to a preferred embodiment of the present invention, as shown in fig. 2, the first connecting means 5 and the second connecting means 8 are located on both sides of the center line of the lower surface of the third connecting means 6, respectively, and the first connecting means 5 and the second connecting means 8 are directly opposite to each other. Similarly, although not shown in the drawings, the first connecting means 5 and the second connecting means 8 may be located on both sides of the center line of the upper surface of the third connecting means 6, respectively, and the first connecting means 5 and the second connecting means 8 may be directly opposite to each other.
It should be noted that the above description of the shape, position and connection manner of the first, second and third connecting means is only for illustrative purposes and is not intended to limit the scope of the present invention, and in fact, those skilled in the art may make any changes or modifications to the shape, arrangement and connection manner of the first, second and third connecting means without departing from the spirit and scope of the present invention, and the modified or modified embodiments still remain within the scope of the present invention.
According to another preferred embodiment of the invention, said third connecting means 6 may be elastic means, which may preferably be a spring web, for example. More preferably, the spring connecting plate may include a plurality of layers of spring strips, and the spring force of each spring strip in the plurality of layers of spring strips may not be all equal, as long as the total spring force of the plurality of layers of spring strips may make the clamping device 10 have sufficient strength to support the weight of the angle grinder 7 and make the grinding plate 9 generate a constant pressure on the workpiece 3 to be ground, and a person skilled in the art may set each spring strip according to the principle according to actual construction conditions and needs, and details are not described herein.
During a grinding operation of the automatic grinding system according to an embodiment of the present invention, when the system is electrically activated by pressing a start button on a control panel (not shown in the figure), the robot 4 is started by the control system (not shown in the figure) and the angle grinder 7 (preferably, an air-powered angle grinder) is started. The control system then controls the robot arm 11 of the robot 4 to be pressed down with a height at which the robot arm 11 of the robot 4 is pressed down being controlled such that said sanding sheet 9 is always in contact with the workpiece 3 to be sanded and with a height of said pressing down being controlled to a constant value during sanding. The robot 4 polishes a workpiece (such as an elevator door panel) according to a preset polishing path (which is consistent with a polishing path when the workpiece is manually polished and is not described herein), a pressure value between the polishing sheet 9 and the workpiece 3 to be polished is always kept constant during polishing, and an air inflow amount of the angle grinder 7 is preferably controlled such that a rotation speed of the polishing sheet 9 is more than 10000rpm (revolutions per minute) during polishing, so that irregularities such as resistance welding spots on the surface of the workpiece such as the door panel can be efficiently polished.
The automatic grinding system provided by the invention adopts robot automatic operation to replace the traditional manual grinding operation, improves the operating environment of workers, shortens the working hours, reduces the labor intensity of the workers, improves the quality and the manufacturing efficiency of products, and can be widely applied to the manufacturing process of various types of elevator door plates at present.
Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art will recognize that the scope of the present invention as claimed is not limited to the preferred embodiments. Various changes and modifications to the embodiments described herein will be apparent to those skilled in the art without departing from the spirit and scope of the invention, and it is intended to cover in the appended claims all such modifications and changes as fall within the true spirit and scope of the invention.

Claims (5)

1. An automatic sanding system comprising a sanding table (2) and a workpiece (3) to be sanded located on the sanding table (2), the system further comprising at least one robot (4), the robot (4) being located on a respective base (1) and adjacent to the sanding table (2), a terminal end (12) of a robot arm (11) of the robot (4) being coupled with a clamping device (10), on which clamping device (10) an angle grinder (7) comprising a sanding disc (9) is fixed; the gripping device (10) comprises a first connecting device (5), a second connecting device (8) and a third connecting device (6), the first connecting device (5) is used for coupling a mechanical arm (11) of the robot (4), and the second connecting device (8) is used for coupling the angle grinder (7); the method is characterized in that: -the third connecting means (6) are used for coupling the first connecting means (5) and the second connecting means (8), the first connecting means (5) and the second connecting means (8) are respectively located on both sides of a center line of an upper surface or a lower surface of the third connecting means (6), and the first connecting means (5) and the second connecting means (8) are directly opposite to each other, the third connecting means (6) is a spring connecting plate, the spring force of which is determined so that the clamping device (10) can support the weight of an angle grinder (7) and simultaneously the grinding plate (9) generates a constant pressure on the workpiece (3) to be ground, and the pressing-down height of a mechanical arm (11) of the robot (4) is determined so that the grinding plate (9) is always in contact with the workpiece (3) to be ground when the workpiece (3) to be ground is subjected to a grinding operation, and the height of the depression is constant during sanding.
2. The automated grinding system of claim 1, wherein the spring attachment plate comprises a multi-layer spring plate.
3. The automated sanding system of claim 2, wherein the spring force of each spring leaf of the plurality of layers of spring leaves is not all equal.
4. An automatic sanding system according to any of claims 1-3, characterized in that the air intake of the angle grinder (7) is controlled such that the rotational speed of the sanding disc (9) is above 10000 rpm.
5. An elevator door panel manufacturing system, characterized by comprising an automatic sanding system according to any one of claims 1-4, wherein the workpiece (3) to be sanded is an elevator door panel.
CN201511021846.4A 2015-12-30 2015-12-30 Automatic polishing system Active CN106926081B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109048521A (en) * 2018-08-09 2018-12-21 广州国创科技有限公司 A kind of polishing system and technique for grinding equipment
CN109465744B (en) * 2018-11-19 2020-04-03 东莞长盈精密技术有限公司 Machine erecting debugging method of polishing equipment

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1150401A (en) * 1994-06-17 1997-05-21 株式会社小松制作所 Control device for robot
CN1426342A (en) * 2000-04-28 2003-06-25 莱姆普工程师有限公司 Device for mechanically rough machining and/or finish machining cast parts
CN102179746A (en) * 2011-03-03 2011-09-14 浙江工业大学 Pneumatic grinding wheel-based robot finish-machining system
CN103302563A (en) * 2012-03-14 2013-09-18 富泰华工业(深圳)有限公司 Polishing device and manipulator using same
CN203266317U (en) * 2013-05-03 2013-11-06 徕斯机器人(昆山)有限公司 Automatic polishing device of robot
CN103624648A (en) * 2013-12-16 2014-03-12 重庆大学 Polishing mechanism for car aluminum alloy hub robot
CN103862340A (en) * 2014-03-28 2014-06-18 中国科学院自动化研究所 Robot parallel polishing system
CN103878666A (en) * 2014-03-28 2014-06-25 中国科学院自动化研究所 Free-form surface robot polishing system
CN104858748A (en) * 2015-05-28 2015-08-26 华中科技大学 Automatic robot device for grinding air feeding and discharging edges of blade

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105081903A (en) * 2015-09-06 2015-11-25 东莞市莞智成机器人技术有限公司 Robot grinding system for outer surface of cylinder with boss

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1150401A (en) * 1994-06-17 1997-05-21 株式会社小松制作所 Control device for robot
CN1426342A (en) * 2000-04-28 2003-06-25 莱姆普工程师有限公司 Device for mechanically rough machining and/or finish machining cast parts
CN102179746A (en) * 2011-03-03 2011-09-14 浙江工业大学 Pneumatic grinding wheel-based robot finish-machining system
CN103302563A (en) * 2012-03-14 2013-09-18 富泰华工业(深圳)有限公司 Polishing device and manipulator using same
CN203266317U (en) * 2013-05-03 2013-11-06 徕斯机器人(昆山)有限公司 Automatic polishing device of robot
CN103624648A (en) * 2013-12-16 2014-03-12 重庆大学 Polishing mechanism for car aluminum alloy hub robot
CN103862340A (en) * 2014-03-28 2014-06-18 中国科学院自动化研究所 Robot parallel polishing system
CN103878666A (en) * 2014-03-28 2014-06-25 中国科学院自动化研究所 Free-form surface robot polishing system
CN104858748A (en) * 2015-05-28 2015-08-26 华中科技大学 Automatic robot device for grinding air feeding and discharging edges of blade

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Address after: 201602 No. 279, qiangye Road, Sheshan District, Songjiang Industrial Zone, Shanghai

Patentee after: Tisheng elevator (Shanghai) Co.,Ltd.

Address before: 201602 No. 279, qiangye Road, Sheshan District, Songjiang Industrial Zone, Shanghai

Patentee before: ThyssenKrupp Elevator (Shanghai) Co.,Ltd.

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