CN106944910A - A kind of notebook computer shell polishing tooling device based on industrial robot - Google Patents
A kind of notebook computer shell polishing tooling device based on industrial robot Download PDFInfo
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- CN106944910A CN106944910A CN201710178915.5A CN201710178915A CN106944910A CN 106944910 A CN106944910 A CN 106944910A CN 201710178915 A CN201710178915 A CN 201710178915A CN 106944910 A CN106944910 A CN 106944910A
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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
- 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
- B24B29/02—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 designed for particular workpieces
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Manipulator (AREA)
Abstract
一种基于工业机器人的笔记本外壳抛光工装设备，包括柔性抛光头和气动夹具和控制单元三部分；柔性抛光头包括一个连接法兰、两个连接板、两个夹持块、压缩弹簧和气动研磨机，连接法兰与工业机器人末端法兰盘连接，连接板与连接法兰连接，同时夹持块与连接板之间通过穿过压缩弹簧的半螺纹外六角螺栓连接，气动研磨机锁紧在两个夹持块的中间；气动夹具包括底板、气缸、长支撑板和短支撑板，长短支撑板对称安装在底板的直槽口上，气缸设置在长短支撑板的外侧；控制单元包括机器人控制柜、三位五通电磁阀、气源、过滤减压阀和两位两通电磁阀。本发明根据抛光位置自动松开和夹紧笔记本外壳，抛光效率高、抛光表面质量好，适用于不同型号笔记本外壳。
An industrial robot-based notebook shell polishing tooling equipment, including three parts: a flexible polishing head, a pneumatic clamp and a control unit; the flexible polishing head includes a connecting flange, two connecting plates, two clamping blocks, compression springs and pneumatic grinding machine, the connecting flange is connected to the end flange of the industrial robot, the connecting plate is connected to the connecting flange, and at the same time, the clamping block and the connecting plate are connected by half-threaded hex bolts passing through the compression spring, and the pneumatic grinder is locked at In the middle of the two clamping blocks; the pneumatic clamp includes a base plate, a cylinder, a long support plate and a short support plate, the long and short support plates are symmetrically installed on the straight slots of the base plate, and the cylinder is set outside the long and short support plates; the control unit includes a robot control cabinet , Three-position five-way solenoid valve, air source, filter pressure reducing valve and two-position two-way solenoid valve. The invention automatically loosens and clamps the notebook casing according to the polishing position, has high polishing efficiency and good polishing surface quality, and is suitable for different types of notebook casings.
Description
技术领域technical field
本发明涉及用于金属笔记本外壳抛光的打磨头和定位夹持装置领域，具体涉及一种基于工业机器人的笔记本外壳抛光工装设备，适用于抛光不同型号的金属笔记本外壳。The invention relates to the field of a polishing head and a positioning and clamping device for polishing metal notebook casings, in particular to a notebook casing polishing tooling device based on an industrial robot, which is suitable for polishing metal notebook casings of different types.
背景技术Background technique
金属笔记本外壳具有强度高、散热好、降噪、减震功能可承受较大的冲击震动负荷，通常用于在中高档笔记本的顶盖或者掌托部分。金属笔记本外壳的成型过程需要经过压铸成型、CNC精密加工、手工挫毛边以及抛光研磨处理最后经过喷涂处理。金属笔记本外壳在冲压、数控铣之后，会留下毛刺、刀痕等，需要进行抛光加工，传统手工抛光质量差、效率低，采用工业机器人抛光笔记本外壳受到广泛关注。不同型号笔记本外壳属于一种大尺寸、薄壁的工件，一般的夹具不能满足笔记本外壳的夹持。The metal notebook shell has high strength, good heat dissipation, noise reduction, and shock absorption functions, and can withstand large shock and vibration loads. It is usually used for the top cover or palm rest of mid-to-high-end notebooks. The molding process of the metal notebook case needs to go through die-casting, CNC precision machining, manual burring, polishing and grinding, and finally spraying. After stamping and CNC milling, metal notebook casings will leave burrs and knife marks, which need to be polished. Traditional manual polishing has poor quality and low efficiency. The use of industrial robots to polish notebook casings has attracted widespread attention. Different types of notebook casings are large-sized, thin-walled workpieces, and general fixtures cannot meet the clamping requirements for notebook casings.
发明内容Contents of the invention
本发明要解决的技术问题是，针对传统笔记本外壳抛光存在的上述不足，提供一种基于工业机器人的笔记本外壳抛光工装设备，根据抛光位置自动松开和夹紧笔记本外壳，抛光效率高、抛光表面质量好，可以适用于不同型号笔记本外壳。The technical problem to be solved by the present invention is to provide a notebook case polishing tooling equipment based on an industrial robot, which automatically loosens and clamps the notebook case according to the polishing position, so that the polishing efficiency is high and the polished surface Good quality, suitable for different models of notebook casings.
本发明为解决上述技术问题所采用的技术方案是：The technical scheme that the present invention adopts for solving the problems of the technologies described above is:
一种基于工业机器人的笔记本外壳抛光工装设备，至少包括柔性抛光头和气动夹具和控制单元三部分；An industrial robot-based notebook shell polishing tooling equipment, including at least three parts: a flexible polishing head, a pneumatic clamp, and a control unit;
所述柔性抛光头至少包括一个连接法兰、两个连接板、两个夹持块、压缩弹簧和气动研磨机，连接法兰与工业机器人末端法兰盘连接，连接板与连接法兰连接，夹持块与连接板之间对称设置若干压缩弹簧，同时夹持块与连接板之间通过穿过压缩弹簧的半螺纹外六角螺栓连接，气动研磨机锁紧在两个夹持块的中间；The flexible polishing head includes at least one connecting flange, two connecting plates, two clamping blocks, a compression spring and a pneumatic grinder, the connecting flange is connected to the end flange of the industrial robot, the connecting plate is connected to the connecting flange, A number of compression springs are symmetrically arranged between the clamping block and the connecting plate, and at the same time, the clamping block and the connecting plate are connected by half-threaded hexagonal bolts passing through the compression spring, and the pneumatic grinder is locked in the middle of the two clamping blocks;
所述气动夹具至少包括底板、气缸、长支撑板和短支撑板，底板上沿长轴和短轴方向分别设置多个直槽口，气缸设置有四个，长支撑板、短支撑板各设置有两个，两个长支撑板和两个短支撑板通过外六角螺栓对称安装在底板的直槽口上，四个气缸分别设置在两个长支撑板和两个短支撑板的外侧；The pneumatic clamp at least includes a base plate, a cylinder, a long support plate and a short support plate, a plurality of straight slots are arranged on the base plate along the major axis and the short axis direction, four cylinders are provided, and the long support plate and the short support plate are each provided with There are two, two long support plates and two short support plates are symmetrically installed on the straight slots of the bottom plate through outer hexagonal bolts, and four cylinders are respectively arranged on the outside of the two long support plates and the two short support plates;
所述控制单元包括机器人控制柜、三位五通电磁阀、气源、过滤减压阀和两位两通电磁阀，三位五通电磁阀设置有四个，两位两通电磁阀设置有一个，四个气缸分别对应通过一个三位五通电磁阀与机器人控制柜的数字输出口连接(通过机器人控制柜的输出端子控制各个三位五通电磁阀通断，继而控制对应气缸的夹紧与松开)；气动研磨机通过两位两通电磁阀与机器人控制柜的数字输出口连接(通过机器人控制柜的输出端子控制两位两通电磁阀通断，继而控制气动研磨机的转动与停止)；气源的一个分支通过过滤减压阀后再分别通过各个三位五通电磁阀与对应气缸连接(调节气缸的进气气压，控制夹紧力)，气源的另一个分支直接通过两位两通电磁阀与气动研磨机的进气孔连接。The control unit includes a robot control cabinet, a three-position five-way solenoid valve, an air source, a filter pressure reducing valve and a two-position two-way solenoid valve. There are four three-position five-way solenoid valves and two two-position two-way solenoid valves. One, four cylinders are respectively connected to the digital output port of the robot control cabinet through a three-position five-way solenoid valve (the output terminals of the robot control cabinet control the on-off of each three-position five-way solenoid valve, and then control the clamping of the corresponding cylinder and loosen); the pneumatic grinder is connected to the digital output port of the robot control cabinet through the two-position two-way solenoid valve (the two-position two-way solenoid valve is controlled by the output terminal of the robot control cabinet, and then the rotation and rotation of the pneumatic grinder are controlled. Stop); one branch of the air source passes through the filter pressure reducing valve and then connects to the corresponding cylinder through each three-position five-way solenoid valve (adjusting the intake air pressure of the cylinder, controlling the clamping force), and the other branch of the air source directly passes through The two-position two-way solenoid valve is connected with the air inlet of the pneumatic grinder.
按上述方案，所述连接法兰通过内六角螺栓与工业机器人末端法兰盘连接。According to the above scheme, the connecting flange is connected to the end flange of the industrial robot through the inner hexagonal bolt.
按上述方案，所述连接板通过M8外六角螺栓与连接法兰连接。According to the above scheme, the connecting plate is connected to the connecting flange through M8 outer hexagonal bolts.
按上述方案，所述夹持块与连接板之间对称设置四个压缩弹簧，同时夹持块与连接板之间通过四个穿过压缩弹簧的半螺纹外六角螺栓连接According to the above scheme, four compression springs are arranged symmetrically between the clamping block and the connecting plate, and at the same time, the clamping block and the connecting plate are connected by four half-threaded external hexagonal bolts passing through the compression springs
按上述方案，所述半螺纹外六角螺栓的下部锁死在夹持块上、上部可上下松动地穿设在连接板上(以此来达到抛光时的柔性)。According to the above scheme, the lower part of the half-threaded external hexagonal bolt is locked on the clamping block, and the upper part can be loosely threaded on the connecting plate up and down (so as to achieve flexibility during polishing).
按上述方案，所述气动研磨机通过M10外六角螺栓锁紧在两个夹持块的中间。According to the above scheme, the pneumatic grinder is locked in the middle of the two clamping blocks through M10 outer hexagonal bolts.
按上述方案，所述长支撑板、短支撑板分别在对应方向的直槽口内移动，并配合气缸以适应不同尺寸的笔记本外壳。According to the above solution, the long support plate and the short support plate move in the straight slots in the corresponding directions respectively, and cooperate with the cylinder to adapt to notebook casings of different sizes.
按上述方案，所述气动夹具还包括若干支撑螺栓，各个支撑螺栓对称安装在两个长支撑板和两个短支撑板围设起来的底板的中部，支撑螺栓的高度与长支撑板、短支撑板的高度调节一致(由于笔记本外壳较薄，抛光力的作用容易使其变形，支撑螺栓用于减小笔记本外壳变形，支撑螺栓高度通过水平仪调节)。According to the above scheme, the pneumatic clamp also includes a number of support bolts, and each support bolt is symmetrically installed in the middle of the bottom plate surrounded by two long support plates and two short support plates. The height adjustment of the board is consistent (because the notebook case is thin, it is easy to deform due to the polishing force, the support bolts are used to reduce the deformation of the notebook case, and the height of the support bolts is adjusted by a level).
按上述方案，所述气动研磨机包括上部开关和下部的粘盘，并设置有一个进气孔一个出气孔，当气源连接进气孔后，通过上部开关控制下部的粘盘转动。According to the above scheme, the pneumatic grinder includes an upper switch and a lower sticky disc, and is provided with an air inlet and an air outlet. When the air source is connected to the air inlet, the upper switch controls the rotation of the lower sticky disc.
与现有技术相比，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1、使用工业机器人配合柔性抛光头和气动夹具自动抛光代替传统手工抛光，效率高、抛光表面质量好；1. Using industrial robots with flexible polishing heads and pneumatic fixtures to automatically polish instead of traditional manual polishing, with high efficiency and good polished surface quality;
2、抛光时对抛光头的尺寸和抛光力的大小有一定要求，柔性抛光头采用压缩弹簧和气动研磨机相结合的柔性机构，利用压缩弹簧的缓冲弹力来适应抛力，保证在抛光过程中气动研磨机的粘盘能够很好的与笔记本外壳贴合，避免过接触或者不接触，保证抛光质量和抛光效率；2. When polishing, there are certain requirements on the size of the polishing head and the size of the polishing force. The flexible polishing head adopts a flexible mechanism that combines a compression spring and a pneumatic grinder. The adhesive disc of the pneumatic grinder can fit well with the notebook case, avoiding over-contact or non-contact, and ensuring the polishing quality and polishing efficiency;
3、气动夹具采用四气缸定位夹紧装置，笔记本外壳下部设置支撑螺栓，上部采用气缸配合长支撑板和短支撑板，能够自动将笔记本外壳定位夹紧，并且具有足够的夹持力，保证机器人抛光时笔记本外壳的稳定；长短支撑板和支撑螺栓使得夹持力和抛光力即使很大也不会损坏笔记本外壳；3. The pneumatic clamp adopts four-cylinder positioning and clamping device. The lower part of the notebook shell is equipped with support bolts, and the upper part uses cylinders to match the long support plate and short support plate, which can automatically position and clamp the notebook shell, and has sufficient clamping force to ensure that the robot The stability of the notebook case during polishing; the length of the support plate and the support bolts make the clamping force and polishing force will not damage the notebook case even if it is large;
4、工业机器人将柔性抛光头抛到将与气缸干涉的位置，气缸打开，其余气缸夹紧，能够根据抛光位置自动松开和夹紧；同时根据不同大小的笔记本调整气缸和长短支撑板的位置，可以适用于不同型号笔记本外壳。4. The industrial robot throws the flexible polishing head to the position where it will interfere with the cylinder, the cylinder is opened, and the other cylinders are clamped, which can be automatically released and clamped according to the polishing position; at the same time, the positions of the cylinder and the length of the support plate are adjusted according to different sizes of notebooks , can be applied to different models of notebook shells.
附图说明Description of drawings
图1为本发明实施例工装设备配合工业机器人的整体工作结构示意图；Fig. 1 is a schematic diagram of the overall working structure of the tooling equipment of the embodiment of the present invention cooperating with the industrial robot;
图2为本发明的柔性抛光头装配示意图；Fig. 2 is the assembly schematic diagram of flexible polishing head of the present invention;
图3为本发明的气动夹具装配示意图；Fig. 3 is the assembly diagram of pneumatic clamp of the present invention;
图4为本发明的柔性抛光头三维模型爆炸示意图；Fig. 4 is a schematic diagram of explosion of a three-dimensional model of a flexible polishing head of the present invention;
图5为本发明的气动夹具三维模型爆炸示意图；Fig. 5 is a schematic diagram of explosion of a three-dimensional model of a pneumatic clamp of the present invention;
图6为本发明的控制单元配合气缸和气动研磨机的控制示意图；Fig. 6 is the schematic diagram of the control of the control unit of the present invention in cooperation with the cylinder and the pneumatic grinder;
图中，1-柔性抛光头，11-连接法兰，12-连接板，13-夹持块，14-压缩弹簧，15-气动研磨机，16-M8外六角螺栓，17-半螺纹外六角螺栓，18-M10外六角螺栓，2-气动夹具，21-底板，22-气缸，23-长支撑板，24-短支撑板，25-支撑螺栓，26-直槽口，27-外六角螺栓，3-控制单元，31-机器人控制柜，32-三位五通电磁阀，33-气源，34-过滤减压阀，35-两位两通电磁阀，4-工业机器人，5-笔记本外壳，6-工作台。In the figure, 1-flexible polishing head, 11-connecting flange, 12-connecting plate, 13-clamping block, 14-compression spring, 15-pneumatic grinder, 16-M8 external hexagon bolt, 17-half-thread external hexagon Bolt, 18-M10 hex bolt, 2-pneumatic clamp, 21-bottom plate, 22-cylinder, 23-long support plate, 24-short support plate, 25-support bolt, 26-straight notch, 27-external hexagon bolt , 3-control unit, 31-robot control cabinet, 32-three-position five-way solenoid valve, 33-air source, 34-filter pressure reducing valve, 35-two-position two-way solenoid valve, 4-industrial robot, 5-notebook Enclosure, 6-Workbench.
具体实施方式detailed description
以下结合附图对本发明的原理和特征进一步的描述，所举实例只用于解释说明本发明，并非限定本发明的应用范围。The principles and features of the present invention will be further described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention, not to limit the scope of application of the present invention.
如图1～图3所示，本发明实施例所述的基于工业机器人的笔记本外壳抛光工装设备，至少包括柔性抛光头1和气动夹具2和控制单元3三大部分，柔性抛光头1安装于工业机器人4末端法兰盘处，气动夹具2安装在相对于工业机器人4合适的工作台6处，笔记本外壳5夹持在气动夹具2上。As shown in Figures 1 to 3, the notebook shell polishing tooling equipment based on industrial robots described in the embodiment of the present invention at least includes three parts: a flexible polishing head 1, a pneumatic clamp 2 and a control unit 3, and the flexible polishing head 1 is installed on At the end flange of the industrial robot 4 , the pneumatic clamp 2 is installed on a suitable workbench 6 relative to the industrial robot 4 , and the notebook case 5 is clamped on the pneumatic clamp 2 .
如图4所示，柔性抛光头1至少包括一个连接法兰11、两个连接板12、两个夹持块13、压缩弹簧14和气动研磨机15，连接法兰11通过内六角螺栓与工业机器人4末端法兰盘连接；连接板12通过M8外六角螺栓16与连接法兰11连接，夹持块13与连接板12之间对称设置四个压缩弹簧14(缓冲作用)，同时夹持块13与连接板12之间通过四个穿过压缩弹簧14的半螺纹外六角螺栓17连接，半螺纹外六角螺栓17的下部通过螺母锁死在夹持块13上、上部可上下松动地穿设在连接板12上，以此来达到抛光时的柔性；气动研磨机15通过M10外六角螺栓18锁紧在两个夹持块13的中间；As shown in Figure 4, the flexible polishing head 1 at least includes a connecting flange 11, two connecting plates 12, two clamping blocks 13, a compression spring 14 and a pneumatic grinder 15, and the connecting flange 11 is connected to the industrial The end flange of the robot 4 is connected; the connecting plate 12 is connected to the connecting flange 11 through M8 hexagonal bolts 16, and four compression springs 14 (buffering effect) are symmetrically arranged between the clamping block 13 and the connecting plate 12, while the clamping block 13 and the connecting plate 12 are connected by four half-threaded outer hexagon bolts 17 passing through the compression spring 14. The lower part of the half-threaded outer hexagonal bolt 17 is locked on the clamping block 13 by a nut, and the upper part can be loosely threaded up and down. On the connecting plate 12, the flexibility during polishing is achieved in this way; the pneumatic grinder 15 is locked in the middle of the two clamping blocks 13 through the M10 outer hexagonal bolt 18;
如图5所示，气动夹具2至少包括底板21、气缸22、长支撑板23、短支撑板24和支撑螺栓25，底板21上沿长轴和短轴方向分别设置多个直槽口26，气缸22设置有四个，长支撑板23、短支撑板24各设置有两个，两个长支撑板23和两个短支撑板24通过外六角螺栓27对称安装在底板21的直槽口26上，四个气缸22分别设置在两个长支撑板23和两个短支撑板24的外侧，移动长支撑板23、短支撑板24和气缸22以适应不同尺寸的笔记本外壳5；由于笔记本外壳5较薄，抛光力的作用容易使其变形，因此在两个长支撑板23和两个短支撑板24围设起来的底板21的中部对称安装四个支撑螺栓25，四个支撑螺栓25的高度与长支撑板23、短支撑板24的高度一致(支撑螺栓25高度通过水平仪调节)；As shown in Figure 5, the pneumatic clamp 2 at least includes a base plate 21, a cylinder 22, a long support plate 23, a short support plate 24 and a support bolt 25, and a plurality of straight notches 26 are arranged on the base plate 21 along the major axis and the minor axis respectively, There are four cylinders 22, two long support plates 23 and two short support plates 24 respectively, and the two long support plates 23 and the two short support plates 24 are symmetrically installed on the straight notches 26 of the base plate 21 by the outer hexagonal bolts 27 On, four cylinders 22 are respectively arranged on the outsides of two long support plates 23 and two short support plates 24, and move long support plates 23, short support plates 24 and cylinders 22 to adapt to notebook casings 5 of different sizes; 5 is thinner, and the effect of polishing force makes it deform easily, therefore four supporting bolts 25 are symmetrically installed in the middle of the bottom plate 21 surrounded by two long supporting plates 23 and two short supporting plates 24, and four supporting bolts 25 The height is consistent with the height of the long support plate 23 and the short support plate 24 (the height of the support bolt 25 is regulated by a spirit level);
如图6所示，控制单元3包括机器人控制柜31、三位五通电磁阀32、气源33、过滤减压阀34和两位两通电磁阀35，三位五通电磁阀32设置有四个，两位两通电磁阀35设置有一个，四个气缸22分别对应通过一个三位五通电磁阀32与机器人控制柜31的数字输出口连接，通过机器人控制柜31的输出端子控制各个三位五通电磁阀32通断，继而控制对应气缸22的夹紧与松开；气动研磨机15通过两位两通电磁阀35与机器人控制柜31的数字输出口连接，通过机器人控制柜31的输出端子控制两位两通电磁阀35通断，继而控制气动研磨机15的转动与停止；气源33的一个分支通过过滤减压阀34后再分别通过各个三位五通电磁阀32与对应气缸22连接，以调节气缸22的进气气压，从而控制夹紧力，气源33的另一个分支直接通过两位两通电磁阀35与气动研磨机15的进气孔连接。As shown in Figure 6, the control unit 3 includes a robot control cabinet 31, a three-position five-way solenoid valve 32, an air source 33, a filter pressure reducing valve 34 and a two-position two-way solenoid valve 35, and the three-position five-way solenoid valve 32 is provided with Four, two-position two-way solenoid valve 35 is provided with one, and four cylinders 22 are respectively connected to the digital output port of robot control cabinet 31 through a three-position five-way solenoid valve 32, and each is controlled by the output terminal of robot control cabinet 31. The three-position five-way solenoid valve 32 is turned on and off, and then controls the clamping and loosening of the corresponding cylinder 22; the pneumatic grinder 15 is connected to the digital output port of the robot control cabinet 31 through the two-position two-way solenoid valve 35, The output terminal of the two-position two-way solenoid valve 35 is controlled on and off, and then the rotation and stop of the pneumatic grinder 15 is controlled; a branch of the air source 33 passes through the filter pressure reducing valve 34 and then passes through each three-position five-way solenoid valve 32 and The corresponding air cylinder 22 is connected to adjust the intake air pressure of the air cylinder 22 to control the clamping force. The other branch of the air source 33 is directly connected to the air intake hole of the pneumatic grinder 15 through a two-position two-way solenoid valve 35 .
实施例中气动研磨机15型号：BD-0140，包括上部开关和下部的粘盘，气动研磨机15设置有一个进气孔一个出气孔，当气源33连接进气孔后，通过上部开关控制下部的粘盘转动。The model of pneumatic grinder 15 in the embodiment: BD-0140 includes an upper switch and a lower sticky disc. The pneumatic grinder 15 is provided with an air inlet and an air outlet. When the air source 33 is connected to the air inlet, it is controlled by the upper switch The lower sticky disc turns.
本发明的使用过程是：将柔性抛光头1安装于工业机器人4末端法兰盘处；将气动夹具2安装在相对于工业机器人4合适的工作台6处；四个气缸22由四个三位五通电磁阀32分别对应控制，气动研磨机15由一个两位两通电磁阀35控制，四个三位五通电磁阀32和一个两位两通电磁阀35均接入机器人控制柜31的数字输出口，由机器人控制柜31发出指令控制各个电磁阀的通电与断电，继而控制气缸22的夹紧与松开以及控制气动研磨机15的转动与停止。将需要抛光的笔记本外壳5放入气动夹具2上，通过四个气缸22配合长支撑板23、短支撑板24夹住笔记本外壳5，笔记本外壳5由于气缸22的移动推到一个固定的位置然后夹紧，这就完成了笔记本外壳5的定位夹紧。工业机器人4进行抛光时，柔性抛光头1沿着规划好的路径运动，当柔性抛光头1与笔记本外壳5接触时，如果气动研磨机15的粘盘受到抛光力不均匀，柔性抛光头1通过4个压缩弹簧14自动调整粘盘，通过柔性抛光头1的弹性作用使气动研磨机15的粘盘很好的贴合笔记本外壳5表面，避免了刚性抛光头(不安装压缩弹簧14或者其它类似于弹簧的柔性零件的抛光头)部分接触不到的情况，提高了抛光质量。当柔性抛光头1运动到将与气缸22的夹紧部分干涉的位置时，对应某个气缸22的三位五通电磁阀32通电，该气缸22松开；当柔性抛光头1运动到远离气缸22的夹紧部分位置时，松开的气缸22夹紧，始终能够保持三个及以上的气缸22夹紧笔记本外壳5，能够很好地防止笔记本外壳5的松动。The use process of the present invention is: the flexible polishing head 1 is installed on the end flange of the industrial robot 4; the pneumatic clamp 2 is installed on the suitable workbench 6 relative to the industrial robot 4; The five-way solenoid valves 32 are controlled respectively. The pneumatic grinder 15 is controlled by a two-position two-way solenoid valve 35. Four three-position five-way solenoid valves 32 and one two-position two-way solenoid valve 35 are connected to the robot control cabinet 31. The digital output port is issued by the robot control cabinet 31 to control the power-on and power-off of each solenoid valve, and then control the clamping and loosening of the cylinder 22 and the rotation and stop of the pneumatic grinder 15 . Put the notebook case 5 to be polished on the pneumatic clamp 2, clamp the notebook case 5 through four cylinders 22 with the long support plate 23 and the short support plate 24, and push the notebook case 5 to a fixed position due to the movement of the cylinder 22 and then Clamping, this has just finished the positioning clamping of notebook case 5. When the industrial robot 4 is polishing, the flexible polishing head 1 moves along the planned path. When the flexible polishing head 1 is in contact with the notebook case 5, if the sticky disk of the pneumatic grinder 15 is subjected to uneven polishing force, the flexible polishing head 1 passes through 4 compression springs 14 automatically adjust the sticky disc, and the sticky disc of the pneumatic grinder 15 fits the surface of the notebook shell 5 well through the elastic action of the flexible polishing head 1, avoiding the rigid polishing head (without installing the compression spring 14 or other similar In the case that the polishing head of the flexible part of the spring is not in contact, the polishing quality is improved. When the flexible polishing head 1 moves to the position that will interfere with the clamping part of the cylinder 22, the three-position five-way solenoid valve 32 corresponding to a certain cylinder 22 is energized, and the cylinder 22 is released; when the flexible polishing head 1 moves away from the cylinder 22, the unclamped cylinder 22 is clamped, and three or more cylinders 22 can be kept clamping the notebook case 5 all the time, which can well prevent the notebook case 5 from loosening.
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之类，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made in the spirit and principles of the present invention should be included in the protection of the present invention. within range.
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