CN107598724A - Glass mold polishing robot based on parallel institution - Google Patents
Glass mold polishing robot based on parallel institution Download PDFInfo
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- CN107598724A CN107598724A CN201710717741.5A CN201710717741A CN107598724A CN 107598724 A CN107598724 A CN 107598724A CN 201710717741 A CN201710717741 A CN 201710717741A CN 107598724 A CN107598724 A CN 107598724A
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- polishing
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- glass mold
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Abstract
The invention discloses a kind of glass mold polishing robot based on parallel institution, including frame, 3-freedom parallel mechanism；The motion platform of the grinding head for polishing that polishing assembly drives including polishing motor and by polishing motor, its one end and 3-freedom parallel mechanism is hinged；Device for force feedback includes the power actuator for being used for the force snesor and regulation contact for measuring polishing workpiece and grinding head for polishing contact, and one end of device for force feedback and the motion platform of 3-freedom parallel mechanism are hinged, and the other end is hinged with polishing assembly；Machine vision metrology mechanism includes machine vision camera and laser profilometry head；Two-dimensional movement platform, which is used to carrying polishing, workpiece and makes it planar move, and machine vision metrology mechanism and 3-freedom parallel mechanism are arranged at the top of two-dimensional movement platform.Polishing robot of the present invention can avoid the complicated program that Digit Control Machine Tool polishes, and reduce operation difficulty, improve polishing efficiency.
Description
Technical field
The present invention relates to a kind of mold polish device, more particularly to a kind of glass mold polishing machine based on parallel institution
Device people.
Background technology
All it is by certainly to metal Milling Process, Drilling operation from the casting of blank in the manufacturing process of glass mold
Dynamicization equipment and numerically controlled processing equipment realize automation processing.But still use hand before its last inner chamber buffing ring program
Work is operated to complete.But due to manual operation, there is the problem of efficiency is low, cost is high.Have become glass mold at present
Bottleneck in production industry.And polishing operation it is also difficult to achieve using the NC postprocessing process equipment of unified programming at present.This be by
It is related to more running parameter in polishing link, and these parameters need to carry out in real time according to actual conditions in operation
Regulation.
The content of the invention
For above-mentioned the deficiencies in the prior art, the invention provides a kind of glass mold polishing machine based on parallel institution
People, solve existing NC postprocessing process equipment and carry out the programming that dies cavity polishing needs carry out complexity, polishing process is difficult in real time
The problem of adjustment parameter.
Technical solution of the present invention is as follows：A kind of glass mold polishing robot based on parallel institution, including frame and
3-freedom parallel mechanism, polishing assembly, device for force feedback, two-dimensional movement platform and the machine vision for being arranged at the frame are surveyed
Measuring mechanism；
The polishing assembly includes polishing motor and the grinding head for polishing driven by polishing motor, one end of the polishing assembly
It is hinged with the motion platform of 3-freedom parallel mechanism；
The device for force feedback includes being used for the force snesor and tune for measuring polishing workpiece and grinding head for polishing contact
The power actuator of the contact is saved, one end of the device for force feedback and the motion platform of 3-freedom parallel mechanism are cut with scissors
Connect, the other end is hinged with polishing assembly；
The machine vision metrology mechanism includes machine vision camera and laser profilometry head；
The two-dimensional movement platform is used to carry polishing workpiece and it is planar moved, the machine vision metrology machine
Structure and 3-freedom parallel mechanism are arranged at the top of the two-dimensional movement platform.
Further, the 3-freedom parallel mechanism include be fixedly connected with frame fixed platform, motion platform and
Three groups of slide link mechanisms being connected between fixed platform and motion platform, the slide link mechanism include be movably arranged in
The sliding block and connecting rod of the fixed platform, one end of the connecting rod are hinged with the sliding block, the other end of connecting rod and the motion
Platform is hinged.
Further, the connecting rod is hinged with sliding block by revolute pair, and the connecting rod is hinged with motion platform by ball pivot.
Further, the fixed platform includes three cradling pieces being fixedly connected with the frame, three cradling pieces
Top between be fixedly connected and angle is equal two-by-two between cradling piece.
Further, ball-screw is provided with along the cradling piece, the sliding block coordinates with the ball-screw to be moved.
Further, the two-dimensional movement platform includes X-axis Mobile Slide and Y-axis Mobile Slide, and the X-axis and Y-axis are just
Hand over, the two-dimensional movement platform is provided with the fixture for being used for clamping polishing workpiece.
Further, the polishing assembly includes polishing connecting rod, and the head end of the polishing connecting rod is connected with polishing motor, thrown
The tail end of light connecting rod is hinged with motion platform by revolute pair；Feedback rod leading portion that the device for force feedback axially connects successively,
Force snesor, power actuator and feedback rod back segment, the feedback rod leading portion are hinged with polishing connecting rod by revolute pair, the feedback
Bar back segment is hinged with motion platform by revolute pair, and the power actuator adjusts the length of the device for force feedback.
Further, including controller, the controller are used to receive machine vision metrology mechanism metrical information and power
The force feedback information of sensor simultaneously controls the 3-freedom parallel mechanism, two-dimensional movement platform, polishing assembly and power actuator
Action.
The advantages of technical scheme provided by the present invention, is：Existing Digit Control Machine Tool is avoided to need to the advance of polishing process
The problem of programming, reduce technical sophistication degree.The handling time of glass mold polishing process is also drastically reduce the area simultaneously.
Whole polishing process only needs manually to carry out installation mold, setup parameter and the operation for removing glass mold.Using the present invention's
Glass mold polishing robot based on parallel institution, an operator can be operated same to multiple workpiece to multiple devices
When be polished.Therefore, had a very big significance for improving glass mold production efficiency and improving automaticity.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the glass mold polishing robot based on parallel institution.
Fig. 2 is that the glass mold polishing robot based on parallel institution carries out structure when machine vision and laser profile detection
Schematic diagram.
Fig. 3 is the main structure diagram of the glass mold polishing robot based on parallel institution.
Embodiment
With reference to embodiment, the invention will be further described, but not as a limitation of the invention.
Incorporated by reference to shown in Fig. 1, Fig. 2 and Fig. 3, the glass mold polishing machine based on parallel institution involved by the present embodiment
People includes the frame-type frame 1 in cuboid, and the frame-type frame 1 of cuboid conveniently installs other assemblies, including, freedom degree parallel connection
Mechanism, polishing assembly, device for force feedback, two-dimensional movement platform 17 and machine vision metrology mechanism.The concrete form of frame 1 can be with
That the frame-type component of cuboid or work top combine with column, frame 1 mainly rise fixed other assemblies and component it
Between relative position effect.
Fixed platform that 3-freedom parallel mechanism includes being fixedly connected with frame 1, motion platform 2 and it is connected to fixed platform
Three groups of slide link mechanisms between motion platform 2.Fixed platform includes three cradling pieces 3 being fixedly connected with the top of frame 1,
It is fixedly connected between the top of three cradling pieces 3 and angle is equal two-by-two between cradling piece 3, i.e., three cradling pieces 3 is in positive three
The position of three ribs of pyramid.Slide link mechanism includes being movably arranged the sliding block 4 and connecting rod 5 in fixed platform, specifically
It is that ball-screw 6 is set along the length direction of cradling piece 3 in the lower section of every cradling piece 3, ball-screw 6 is driven by servomotor 7,
Sliding block 4 coordinates along cradling piece 3 with ball-screw 6 to be moved back and forth.One end of connecting rod 5 is hinged by crossing revolute pair with sliding block 4, connecting rod
5 other end is be hinged by ball pivot and motion platform 2.
Polishing assembly is arranged on the lower section of the motion platform 2 of 3-freedom parallel mechanism, and it includes polishing connecting rod 8, polishing
Motor 9 and the grinding head for polishing 10 driven by polishing motor 9, the head end of polishing connecting rod 8 are connected with polishing motor 9, polishing connecting rod 8
Tail end is hinged with motion platform 2 by revolute pair, and polishing motor 9 then drives grinding head for polishing 10 to rotate and is polished.
Device for force feedback is similarly installed at the lower section of the motion platform 2 of 3-freedom parallel mechanism, and it includes being used to measure
Polish the force snesor 11 of workpiece and the contact of grinding head for polishing 10 and adjust the power actuator 12 of contact, in addition to it is anti-
Present bar leading portion 13 and feedback rod back segment 14.Feedback rod leading portion 13, force snesor 11, power actuator 12 and feedback rod back segment 14 are successively
Axially connection, feedback rod leading portion 13 are hinged with polishing connecting rod 8 by revolute pair, and feedback rod back segment 14 is with motion platform 2 by turning
It is dynamic secondary be hinged.Power actuator 12 adjusts the length of whole device for force feedback by adjusting its length.Because force feedback fills
The polishing connecting rod 8 for being articulated with polishing assembly is put, therefore polishing assembly is pushed during device for force feedback elongation, and device for force feedback shortens
When on lift polishing assembly, and then realize the regulation of polish pressure.
Machine vision metrology mechanism includes machine vision camera 15 and laser profilometry first 16, machine vision camera
15 and laser profilometry first 16 downwards be arranged on frame 1 side.
Two-dimensional movement platform 17 is arranged on the bottom of frame 1, and the top of two-dimensional movement platform 17, which is provided with, to be used to clamp polishing
The fixture 18 of workpiece, it carries polishing workpiece and it is planar moved.Machine vision metrology mechanism and freedom degree parallel connection
Mechanism is arranged at the top of two-dimensional movement platform 17.Two-dimensional movement platform 17 includes X-axis Mobile Slide 19 and Y-axis Mobile Slide
20, X-axis is orthogonal to Y-axis, and X-axis Mobile Slide 19 and Y-axis Mobile Slide 20 are driven by servomotor 21 and 22 respectively.
Glass mold polishing robot based on parallel institution also includes the upper unshowned controller of figure, and controller is used to connect
Receive the force feedback information of machine vision metrology mechanism metrical information and force snesor 11 and control servomotor 7,21,22, throw
Photoelectricity machine 9 and power actuator 12 act, and then drive 3-freedom parallel mechanism, two-dimensional movement platform 17 and polishing assembly
Action.
The course of work of glass mold polishing robot based on parallel institution is such, first passes through glass mold
Fixture 18 is installed in two-dimensional movement platform 17, and two-dimensional movement platform 17 is moved into machine vision metrology mechanism by controller
Lower section, the die cavity of glass model is measured.Machine vision camera 15 carries out figure to the planar structure of glass mold first
As analysis, and obtain the contour area of die cavity.Then sweep interval parameter is set according to the region parameter of profile.Finally, exist
Under the drive of control signal and servomotor 21,22, two-dimensional movement platform 17 moves in sweep interval, while laser wheel
Wide measurement head 16 gets the surface geometry data of die cavity.
Controller is analyzed and calculated to these surface geometry data, obtains the track data of polishing path.By controlling
Device solves the kinematic parameter of each servomotor 7,21,22 by the equation of motion of 3-freedom parallel mechanism, is thrown so as to realize
Tarry matter head is moved along specified track.
When polishing beginning, controller controls two-dimensional movement platform 17 that glass mold is moved into freedom degree parallel connection first
The lower section of mechanism makes grinding head for polishing 10 be in the starting point on mold cavity surface as original position, and produces one in advance
The thrust of setting, the thrust can feed back to controller by force snesor 11.In polishing process, when thrust produces
During change, power actuator 12 is controlled by controller, so as to ensure the relatively stable of thrust.
After grinding head for polishing 10 completes the polishing of whole mold cavity surface under the control of the controller, pass through two-dimensional movement platform
17 movement, glass mold is again moved into below machine vision metrology mechanism, by machine vision camera 15 to die cavity
Surface carries out graphical analysis, if quality of finish meets to require, that is, shuts down and is ready for dismounting mould.Do not reached if local
Require, then re-moved glass mold below 3-freedom parallel mechanism by two-dimensional movement platform 17, to these to polishing
The region for not up to polishing requirement is polished again.
Claims (8)
- A kind of 1. glass mold polishing robot based on parallel institution, it is characterised in that：Including frame and it is arranged at described 3-freedom parallel mechanism, polishing assembly, device for force feedback, two-dimensional movement platform and the machine vision metrology mechanism of frame；The polishing assembly includes polishing motor and the grinding head for polishing driven by polishing motor, one end of the polishing assembly and three The motion platform of freedom degree parallel connection mechanism is hinged；The device for force feedback includes being used for force snesor and the regulation institute for measuring polishing workpiece and grinding head for polishing contact The power actuator of contact is stated, one end of the device for force feedback and the motion platform of 3-freedom parallel mechanism are hinged, separately One end is hinged with polishing assembly；The machine vision metrology mechanism includes machine vision camera and laser profilometry head；The two-dimensional movement platform, which is used to carrying polishing, workpiece and makes it planar move, the machine vision metrology mechanism and 3-freedom parallel mechanism is arranged at the top of the two-dimensional movement platform.
- 2. the glass mold polishing robot according to claim 1 based on parallel institution, it is characterised in that described three certainly The fixed platform that includes being fixedly connected with frame by degree parallel institution, motion platform and it is connected between fixed platform and motion platform Three groups of slide link mechanisms, the slide link mechanism includes being movably arranged sliding block and connecting rod in the fixed platform, One end of the connecting rod is hinged with the sliding block, and the other end of connecting rod is hinged with the motion platform.
- 3. the glass mold polishing robot according to claim 2 based on parallel institution, it is characterised in that the connecting rod It is hinged with sliding block by revolute pair, the connecting rod is hinged with motion platform by ball pivot.
- 4. the glass mold polishing robot according to claim 2 based on parallel institution, it is characterised in that described to allocate Platform includes three cradling pieces being fixedly connected with the frame, is fixedly connected between the top of three cradling pieces and cradling piece Between two-by-two angle it is equal.
- 5. the glass mold polishing robot according to claim 4 based on parallel institution, it is characterised in that along the branch Hack lever is provided with ball-screw, and the sliding block coordinates with the ball-screw to be moved.
- 6. the glass mold polishing robot according to claim 1 based on parallel institution, it is characterised in that the two dimension Mobile platform includes X-axis Mobile Slide and Y-axis Mobile Slide, and the X-axis is orthogonal to Y-axis, and the two-dimensional movement platform, which is provided with, to be used In the fixture of clamping polishing workpiece.
- 7. the glass mold polishing robot according to claim 1 based on parallel institution, it is characterised in that the polishing Component includes polishing connecting rod, and the head end of the polishing connecting rod is connected with polishing motor, and the tail end and motion platform for polishing connecting rod lead to Revolute pair is crossed to be hinged；Feedback rod leading portion, force snesor, power actuator and the feedback rod that the device for force feedback axially connects successively Back segment, the feedback rod leading portion are hinged with polishing connecting rod by revolute pair, and the feedback rod back segment passes through rotation with motion platform Pair is be hinged, and the power actuator adjusts the length of the device for force feedback.
- 8. the glass mold polishing robot according to claim 1 based on parallel institution, it is characterised in that including control Device, the controller are used to receive the force feedback information of machine vision metrology mechanism metrical information and force snesor and control institute State 3-freedom parallel mechanism, two-dimensional movement platform, polishing assembly and the action of power actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710717741.5A CN107598724B (en) | 2017-08-21 | 2017-08-21 | Glass mold polishing robot based on parallel institution |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710717741.5A CN107598724B (en) | 2017-08-21 | 2017-08-21 | Glass mold polishing robot based on parallel institution |
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| CN107598724A true CN107598724A (en) | 2018-01-19 |
| CN107598724B CN107598724B (en) | 2019-08-13 |
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| CN201710717741.5A Active CN107598724B (en) | 2017-08-21 | 2017-08-21 | Glass mold polishing robot based on parallel institution |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108115692A (en) * | 2018-01-31 | 2018-06-05 | 北京航空航天大学 | Measuring device, system of processing and processing method |
| CN108422283A (en) * | 2018-02-07 | 2018-08-21 | 浙江爱仕达电器股份有限公司 | Aluminum pot deburring machine |
| CN109366298A (en) * | 2018-11-08 | 2019-02-22 | 陈玉梅 | A kind of new-energy automobile deflector processing grinding device |
| CN109877814A (en) * | 2019-04-26 | 2019-06-14 | 孙健春 | A kind of full-automatic transfer robot of parallel-connection driving type |
| CN110340747A (en) * | 2019-05-30 | 2019-10-18 | 浙江工业大学 | The micro- ultrasonic ball-shooting profiling array polishing method of bubble regulation and device |
| CN111015518A (en) * | 2018-10-10 | 2020-04-17 | 衢州学院 | Casting polishing device based on machine vision |
| CN111496398A (en) * | 2020-05-08 | 2020-08-07 | 陈波涛 | Laser tube angle intelligent adjustment robot |
| CN111774966A (en) * | 2020-07-16 | 2020-10-16 | 邓至凯 | Building wall putty operating arm and robot of polishing |
| CN112454090A (en) * | 2020-11-25 | 2021-03-09 | 杨玮军 | Grinding device for processing graphite round rod |
| CN113695991A (en) * | 2021-09-07 | 2021-11-26 | 成都极致智造科技有限公司 | Ion beam polishing device for optical element |
| CN113771092A (en) * | 2021-08-25 | 2021-12-10 | 北京国电光宇机电设备有限公司 | Intelligent workbench for electric power assembly |
| CN114952509A (en) * | 2022-05-05 | 2022-08-30 | 北京工业大学 | Automatic polishing detection workstation for complex special-shaped workpiece based on industrial robot and control method |
| TWI786449B (en) * | 2020-10-19 | 2022-12-11 | 鴻績工業股份有限公司 | polisher |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108115692A (en) * | 2018-01-31 | 2018-06-05 | 北京航空航天大学 | Measuring device, system of processing and processing method |
| CN108422283B (en) * | 2018-02-07 | 2023-12-05 | 上海爱仕达机器人有限公司 | Deburring machine for aluminum pot |
| CN108422283A (en) * | 2018-02-07 | 2018-08-21 | 浙江爱仕达电器股份有限公司 | Aluminum pot deburring machine |
| CN111015518A (en) * | 2018-10-10 | 2020-04-17 | 衢州学院 | Casting polishing device based on machine vision |
| CN109366298A (en) * | 2018-11-08 | 2019-02-22 | 陈玉梅 | A kind of new-energy automobile deflector processing grinding device |
| CN109877814A (en) * | 2019-04-26 | 2019-06-14 | 孙健春 | A kind of full-automatic transfer robot of parallel-connection driving type |
| CN110340747A (en) * | 2019-05-30 | 2019-10-18 | 浙江工业大学 | The micro- ultrasonic ball-shooting profiling array polishing method of bubble regulation and device |
| CN111496398A (en) * | 2020-05-08 | 2020-08-07 | 陈波涛 | Laser tube angle intelligent adjustment robot |
| CN111496398B (en) * | 2020-05-08 | 2021-12-10 | 中沃(泰州)激光科技有限公司 | Laser tube angle intelligent adjustment robot |
| CN111774966A (en) * | 2020-07-16 | 2020-10-16 | 邓至凯 | Building wall putty operating arm and robot of polishing |
| TWI786449B (en) * | 2020-10-19 | 2022-12-11 | 鴻績工業股份有限公司 | polisher |
| CN112454090A (en) * | 2020-11-25 | 2021-03-09 | 杨玮军 | Grinding device for processing graphite round rod |
| CN113771092A (en) * | 2021-08-25 | 2021-12-10 | 北京国电光宇机电设备有限公司 | Intelligent workbench for electric power assembly |
| CN113695991A (en) * | 2021-09-07 | 2021-11-26 | 成都极致智造科技有限公司 | Ion beam polishing device for optical element |
| CN114952509A (en) * | 2022-05-05 | 2022-08-30 | 北京工业大学 | Automatic polishing detection workstation for complex special-shaped workpiece based on industrial robot and control method |
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