CN108161680A - A kind of submissive polishing system - Google Patents
A kind of submissive polishing system Download PDFInfo
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- CN108161680A CN108161680A CN201810175824.0A CN201810175824A CN108161680A CN 108161680 A CN108161680 A CN 108161680A CN 201810175824 A CN201810175824 A CN 201810175824A CN 108161680 A CN108161680 A CN 108161680A
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- 238000005498 polishing Methods 0.000 title claims abstract description 64
- 238000005096 rolling process Methods 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 12
- 230000004044 response Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
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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
- B24B39/00—Burnishing machines or devices, i.e. requiring pressure members for compacting the surface zone; Accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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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
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
Abstract
The present invention provides a kind of submissive polishing systems, belong to polissoir technical field.It solves the technical problems such as existing polishing system response transmission accuracy is inaccurate.This submissive polishing system includes rack, rubbing head, center screw and several rolling lead screws, rubbing head is rotatably connected on the outer end of center screw and is axially positioned on the screw of center, center screw, which rotates around the axis, to be connected in rack, each rolling lead screw is rotated around the axis and is axially positioned in rack, each rolling lead screw is along the circumferentially distributed of center screw and passes connection with center wire rod thread respectively, and polishing system further includes the driving mechanism for driving all rolling lead screws while rotation.Each ball-screw of this polishing system is all that threaded line contacts with center screw, the contact gap smaller of this structure, transmission accuracy higher, rigidity higher, and also bigger, movement are more steady for transferable torque.
Description
Technical field
The invention belongs to automate polissoir technical field, it is related to a kind of submissive polishing system.
Background technology
Robot automation's rubbing down has many advantages, such as that efficient, precision is controllable and saves cost compared to manual polishing.Machine
People automates the process that rubbing down is widely used in bathroom part, water heating pipe fittings, optical positioning device, various blades and mold manufacturing
In.In robot automation's rubbing down, in order to solve the problems, such as the polishing of complex curved surface parts, reduce surface roughness and improve face
Type precision is great novel mode using submissive polishing tool.At present, common polishing force control device has aerodynamic force control, electricity
Magnetic control, passive spring force control etc..Carry at present efficient major way be increase polishing disk size or improve robot into
To speed.
The shortcoming of automatic polishing system of the prior art is that response speed is not fast enough, and transmission accuracy is inaccurate.
Invention content
The present invention provides a kind of submissive polishing system, the present invention to be solved for the above problem existing for existing technology
Certainly the technical issues of is：How the transmission accuracy of polishing system is improved.
The purpose of the present invention can be realized by following technical proposal：
A kind of submissive polishing system, including rack, rubbing head, center screw and several rolling lead screws, the rubbing head turns
The dynamic outer end for being connected to the center screw and be axially positioned on the screw of center, which is characterized in that the center screw around
It is rotationally connected in rack from axis, each rolling lead screw is rotated around the axis and is axially positioned in the rack, each rolling lead screw
It passes along the circumferentially distributed of the center screw and with the center wire rod thread and connects respectively, the polishing system further includes driving
The driving mechanism that all rolling lead screws rotate simultaneously.
Its operation principle is：All rolling lead screws of submissive polishing system rotate around the axis and are axially positioned on the machine
On frame, driving mechanism drives all rolling lead screw rotations, and all rolling lead screws do not move axially, therefore these roll silk
Bar drives center screw rotation and makes center screw axial movement simultaneously, and center screw drives rubbing head axial movement, each to roll
Leading screw is due to being all that threaded line contacts with center screw, and the contact gap smaller of this structure, transmission accuracy higher, rigidity is more
Height, also bigger, movement are more steady for transferable torque.
In a kind of above-mentioned submissive polishing system, driving mechanism includes motor, driving gear and driven gear, the electricity
Machine is fixed in the rack, and the output shaft of the motor is fixedly connected with the driving gear, the driving gear with it is described from
Moving gear is meshed, and an end of each rolling lead screw is fixedly connected with driven gear.Motor driving driving gear rotation, it is driven
Gear rotates with driving gear and all rolling lead screws is driven to rotate simultaneously, these rolling lead screws drive center screw rotation simultaneously
And make center screw axial movement.
In a kind of above-mentioned submissive polishing system, each rolling lead screw is uniformly distributed along the circumferential direction of the driven gear.
Center screw can be driven more smoothly to rotate and move along the equally distributed driven screw of the circumferential direction of driven gear, further
Transmission accuracy is improved, the Torque distribution of transmission is also more uniform.
In a kind of above-mentioned submissive polishing system, the polishing system further includes screw sleeve, and the screw sleeve is consolidated
It is scheduled in the rack, the center screw and all rolling lead screws are respectively positioned in the screw sleeve.
In a kind of above-mentioned submissive polishing system, before the both ends of the screw sleeve are connected separately with internal tooth sleeve and
Internal tooth sleeve afterwards is respectively fixed with preceding retaining ring and rear retaining ring in the preceding internal tooth sleeve and rear internal tooth sleeve, respectively rolls silk
Two ends of bar are separately fixed in the preceding retaining ring and rear retaining ring, and each rolling lead screw is along the week of the preceding retaining ring
To being uniformly distributed, the rear retaining ring is fixed on the driven gear.In the structure, preceding internal tooth sleeve, preceding retaining ring, it is rear in
Tooth sleeve, rear retaining ring, screw sleeve, center screw and several rolling lead screws form screw component.
In a kind of above-mentioned submissive polishing system, the outer end of the center screw is connected with installing plate, the polishing
Head is fixed on the middle part of the installing plate, and the lower end of the installing plate is fixed with connecting rod, and the rod slide is connected to described
In rack, it is arranged on the connecting rod and is fixed with stop nut.During rubbing head is moved axially with center screw, connecting rod
Guiding role is played, the movement for making rubbing head is more steady, and stop nut plays position-limiting action to the stroke of installing plate.
In a kind of above-mentioned submissive polishing system, the outer end of the center screw is arranged and is fixed with spherical ball axis
It holds, the self-aligning ball bearing is fixed on the upper end of the installing plate.Self-aligning ball bearing is set, makes installing plate only with center screw
Axial movement, without being rotated with center screw, therefore the rubbing head occurred level movement on installing plate.
In a kind of above-mentioned submissive polishing system, three-dimensional force sensor is provided between the rubbing head and installing plate.
Three-dimension sensor is used to detect the normal force suffered by rubbing head.
In a kind of above-mentioned submissive polishing system, the rack includes bottom plate, and the both ends of the bottom plate are fixed respectively
There are front end panel and rear bearing sheet, bottom plate is fixedly arranged in the middle of intermediate support plate, and the screw sleeve passes through the intermediate supports
Two ends of plate and screw sleeve are separately fixed on the front end panel and rear bearing sheet.
In a kind of above-mentioned submissive polishing system, the center screw is two, and the outer end of each center screw is all provided with
Rubbing head is equipped with, the axial direction of each center screw is distributed with several rolling lead screws, and each rolling lead screw rotates around the axis and axial direction
It is positioned in the rack, each rolling lead screw passes with corresponding center wire rod thread connect respectively.In the present embodiment, polishing system
For double polishing head structures, double rubbing heads can carry out sanding and polishing to two workpiece simultaneously, improve working efficiency.
Compared with prior art, advantages of the present invention is as follows：
1st, each ball-screw of this polishing system is all that threaded line contacts with center screw, and the contact gap of this structure is more
Small, transmission accuracy higher, rigidity higher, also bigger, movement are more steady for transferable torque.
2nd, the torque transmission efficiency of this polishing system is high, and due to the raising of transmission stiffness, device operation is more steady, response speed
Degree is fast, and device fever is small, and service life is prolonged longer.
3rd, double polishing head structures may be used in this polishing system, and double rubbing heads can carry out polishing throwing to two workpiece simultaneously
Light improves working efficiency.
Description of the drawings
Fig. 1 is the structure diagram of this polishing system.
Fig. 2 is the explosive view of this polishing system.
Fig. 3 is the explosive view of screw component.
Fig. 4 is the schematic diagram of single rubbing head polishing locus and double rubbing head polishing locus.
Line-spacing schematic diagram when Fig. 5 is using double rubbing heads.
Fig. 6 is the movement relation schematic diagram of screw component.
In figure, 1, rack；1a, bottom plate；1b, front end panel；1c, rear bearing sheet；1d, intermediate support plate；2nd, rubbing head；3、
Center screw；4th, rolling lead screw；5th, motor；6th, driving gear；7th, driven gear；8th, screw sleeve；9th, preceding internal tooth sleeve；10、
Internal tooth sleeve afterwards；11st, preceding retaining ring；12nd, rear retaining ring；13rd, installing plate；14th, connecting rod；15th, stop nut；16th, spherical ball axis
It holds；17th, three-dimensional force sensor.
Specific embodiment
The following is specific embodiments of the present invention and with reference to attached drawing, technical scheme of the present invention is further described,
But the present invention is not limited to these embodiments.
Embodiment one
As shown in Figs. 1-3, this submissive polishing system includes rack 1, rubbing head 2, center screw 3 and several rolling lead screws 4,
Rubbing head 2 is rotatably connected on the outer end of center screw 3 and is axially positioned on center screw 3, and center screw 3 rotates around the axis
It is connected in rack 1, each rolling lead screw 4 is rotated around the axis and is axially positioned in rack 1, and each rolling lead screw 4 is along central hair
Bar 3 circumferentially distributed and being passed respectively with 3 screw thread of center screw connects, and polishing system further includes all rolling lead screws 4 of driving simultaneously
The driving mechanism of rotation.
As shown in Fig. 2, in the present embodiment, driving mechanism includes motor 5, driving gear 6 and driven gear 7, and motor 5 is fixed
In rack 1, output shaft and the driving gear 6 of motor 5 are fixedly connected with, and driving gear 6 is meshed with driven gear 7, respectively rolls silk
One end of bar 4 is fixedly connected with driven gear 7.Motor 5 drives driving gear 6 to rotate, and driven gear 7 is with driving gear 6
It rotates and drives all rolling lead screws 4 while rotate, these rolling lead screws 4 drive center screw 3 to rotate and make central hair simultaneously
Bar 3 moves axially.
Preferably, each rolling lead screw 4 is uniformly distributed along the circumferential direction of driven gear 7.Circumferential along driven gear 7 is uniformly divided
The driven screw of cloth can drive center screw 3 more smoothly to rotate and move, and further improve transmission accuracy, the power of transmission
Square distribution is also more uniform.
As shown in Fig. 2,3,6, preferably, polishing system further includes screw sleeve 8, screw sleeve 8 is fixed on rack 1
On, center screw 3 and all rolling lead screws 4 are respectively positioned in screw sleeve 8.
As shown in figure 3, in the present embodiment, the both ends of screw sleeve 8 are connected separately with preceding internal tooth sleeve 9 and rear internal tooth casing
Cylinder 10 is respectively fixed with preceding retaining ring 11 and rear retaining ring 12, each rolling lead screw 4 in preceding internal tooth sleeve 9 and rear internal tooth sleeve 10
Two ends be separately fixed in preceding retaining ring 11 and rear retaining ring 12, each rolling lead screw 4 is along the circumferential direction of preceding retaining ring 11
It is uniformly distributed, rear retaining ring 12 is fixed on driven gear 7.In the structure, preceding internal tooth sleeve 9, preceding retaining ring 11, rear internal tooth casing
Cylinder 10, rear retaining ring 12, screw sleeve 8, center screw 3 and several rolling lead screws 4 form screw component.
As shown in Fig. 2, the outer end of center screw 3 is connected with installing plate 13, rubbing head 2 is fixed in installing plate 13
Portion, the lower end of installing plate 13 are fixed with connecting rod 14, and connecting rod 14 is slidably connected in rack 1, is arranged and is fixed on connecting rod 14
Stop nut 15.During rubbing head 2 is moved axially with center screw 3, connecting rod 14 plays guiding role, makes rubbing head 2
Movement it is more steady, stop nut 15 plays position-limiting action to the stroke of installing plate 13.
As shown in Figure 2, it is preferred that the outer end of center screw 3 is arranged and is fixed with self-aligning ball bearing 16, self-aligning ball bearing
16 are fixed on the upper end of installing plate 13.Self-aligning ball bearing 16 is set, installing plate 13 is made only to be moved axially with center screw 3, and
It is not rotated with center screw 3, therefore 2 occurred level movements of the rubbing head on installing plate 13.
As shown in Fig. 2, three-dimensional force sensor 17 is provided between rubbing head 2 and installing plate 13.Three-dimension sensor is used to examine
Survey the normal force suffered by rubbing head 2.
As shown in Fig. 2, in the present embodiment, rack 1 includes bottom plate 1a, and the both ends of bottom plate 1a are respectively fixed with front end panel
1b's and rear bearing sheet 1c, bottom plate 1a is fixedly arranged in the middle of intermediate support plate 1d, and screw sleeve 8 passes through intermediate support plate 1d and screw
Two ends of sleeve 8 are separately fixed on front end panel 1b and rear bearing sheet 1c.
As shown in Figure 1, preferably, center screw 3 is two, the outer end of each center screw 3 is both provided with rubbing head
2, the circumferential direction of each center screw 3 is distributed with several rolling lead screws 4, and each rolling lead screw 4 is rotated around the axis and is axially positioned on
In rack 1, each rolling lead screw 4 passes with corresponding 3 screw thread of center screw connect respectively.In the present embodiment, polishing system is thrown to be double
Bare headed 2 structures, double rubbing heads 2 can carry out sanding and polishing to two workpiece simultaneously, improve working efficiency.
As shown in figure 4, influence of the double end rubbing head 2 to polishing line-spacing：To reach the grinding depth of requirement, generally repeated
It goes to be polished processing, the left figure of Fig. 4 represents conventional single head polishing mode, and the right figure of Fig. 4 is that double 2 modes of rubbing head (contain
One group of polishing disk), the direction of feed of double rubbing heads 2 is diagram polishing locus direction, it is clear that its efficiency is 2 times of left figure.
Line-spacing schematic diagram when Fig. 5 is shown using double end 2 mode of rubbing head, the direction of feed and Fig. 4 of double end rubbing head 2
The direction of feed of double rubbing heads 2 is vertical in right figure, to ensure that uniform material removes depth, plans line-spacing as shown in Figure 5,
Average row away from forThe L1 of Fig. 4 will obviously be more than, therefore improve polishing efficiency.
Motor corner and the relationship of 2 displacement distance of rubbing head, if the gearratio between driving gear 6 and driven gear 7 is
I, thenR2 is 7 pitch diameter of driven gear, and R1 is 6 pitch diameter of driving gear, and ball-screw 4 is transported along center leading screw 3
The dynamic one week number of turns rolledD is the diameter of leading screw sleeve 8, and d is the diameter of ball-screw 4, thus can be driven
Center leading screw 3 move n circle, if the screw pitch of ball-screw 4 and center leading screw 3 be P, motor rotational angle be θ, 4 edge of ball-screw
The angular speed that center leading screw 3 moves is ω, and the distance that rubbing head 2 moves is x, then following equation is set up：
System control principle describes：In view of the otherness of different Working position contact conditions, double 2 devices of rubbing head it is every
One rubbing head 2 is independent of each other by independent driver control.At some processing moment, surveyed by gravity sensor (not shown)
The angle of rubbing head 2 and gravity direction is measured, the normal force that end force snesor detects is converted to the normal direction of workpiece contact surface
Power feeds back to controller and is made the difference with desired power, and self-adaptive PID or fuzzy-adaptation PID control are carried out to power deviation, calculates motor and turns
Angle is simultaneously moved with rational speed, until power deviation is less than the threshold value of setting.So cycle completes the constant force needed or variable force
Control.
Embodiment two
The structure and principle and embodiment one of the present embodiment are essentially identical, and different place is that driving mechanism includes
Motor 5, idler wheel, synchronous belt and rotating disc, idler wheel are arranged and are fixed on the output shaft of motor 5, synchronous belt be connected to idler wheel and
On rotating disc, an end of each rolling lead screw 4 is respectively fixedly connected with rotating disc, circumferential direction of each rolling lead screw 4 along rotating disc
It is uniformly distributed.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can do various modifications or additions to described specific embodiment or replace in a similar way
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of submissive polishing system, including rack (1), rubbing head (2), center screw (3) and several rolling lead screws (4), institute
Rubbing head (2) is stated to be rotatably connected on the outer end of the center screw (3) and be axially positioned on center screw (3), feature
It is, the center screw (3), which rotates around the axis, to be connected in rack (1), and each rolling lead screw (4) rotates around the axis and axial direction
Be positioned in the rack (1), each rolling lead screw (4) along the circumferentially distributed of the center screw (3) and respectively with the center
Screw (3) screw thread passes connection, and the polishing system further includes the driving mechanism for driving all rolling lead screws (4) while rotation.
2. a kind of submissive polishing system according to claim 1, which is characterized in that driving mechanism includes motor (5), active
Gear (6) and driven gear (7), the motor (5) are fixed in the rack (1), the output shaft of the motor (5) with it is described
Driving gear (6) is fixedly connected with, and the driving gear (6) is meshed with the driven gear (7), one of each rolling lead screw (4)
End is fixedly connected with driven gear (7).
3. a kind of submissive polishing system according to claim 2, which is characterized in that each rolling lead screw (4) along it is described from
The circumferential direction of moving gear (7) is uniformly distributed.
4. a kind of submissive polishing system according to claim 2, which is characterized in that the polishing system further includes screw rod bushing
Cylinder (8), the screw sleeve (8) are fixed in the rack (1), the center screw (3) and all rolling lead screws (4) equal position
In the screw sleeve (8).
A kind of 5. submissive polishing system according to claim 4, which is characterized in that the both ends of the screw sleeve (8)
Preceding internal tooth sleeve (9) and rear internal tooth sleeve (10) are connected separately with, is divided in the preceding internal tooth sleeve (9) and rear internal tooth sleeve (10)
It is not fixed with preceding retaining ring (11) and rear retaining ring (12), two ends of each rolling lead screw (4) are separately fixed at the preceding guarantor
In held in ring (11) and rear retaining ring (12), each rolling lead screw (4) is uniformly distributed along the circumferential direction of the preceding retaining ring (11), described
Retaining ring (12) is fixed on the driven gear (7) afterwards.
A kind of 6. submissive polishing system according to claim 1, which is characterized in that the outer end of the center screw (3)
Installing plate (13) is connected with, the rubbing head (2) is fixed on the middle part of the installing plate (13), the lower end of the installing plate (13)
Portion is fixed with connecting rod (14), and the connecting rod (14) is slidably connected in the rack (1), is arranged and is fixed on the connecting rod (14)
There is stop nut (15).
A kind of 7. submissive polishing system according to claim 6, which is characterized in that the outer end of the center screw (3)
It is arranged and is fixed with self-aligning ball bearing (16), the self-aligning ball bearing (16) is fixed on the upper end of the installing plate (13).
8. a kind of submissive polishing system according to claim 6, which is characterized in that the rubbing head (2) and installing plate
(13) three-dimensional force sensor (17) is provided between.
9. a kind of submissive polishing system according to claim 5, which is characterized in that the rack (1) includes bottom plate (1a),
The both ends of the bottom plate (1a) are respectively fixed with front end panel (1b) and rear bearing sheet (1c), and bottom plate (1a's) is fixedly arranged in the middle of
Intermediate support plate (1d), two of the screw sleeve (8) across the intermediate support plate (1d) and screw sleeve (8) hold part
It is not fixed on the front end panel (1b) and rear bearing sheet (1c).
10. a kind of submissive polishing system according to claim 1, which is characterized in that the center screw (3) is two,
The outer end of each center screw (3) is both provided with rubbing head (2), and the circumferential direction of each center screw (3) is distributed with several rolling silks
Bar (4), each rolling lead screw (4) rotate around the axis and are axially positioned in the rack (1), each rolling lead screw (4) respectively with
Corresponding center screw (3) screw thread passes connection.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810175824.0A CN108161680B (en) | 2018-03-02 | 2018-03-02 | Flexible polishing system |
| PCT/CN2018/087279 WO2019165708A1 (en) | 2018-03-02 | 2018-05-17 | Compliant polishing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810175824.0A CN108161680B (en) | 2018-03-02 | 2018-03-02 | Flexible polishing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161680A true CN108161680A (en) | 2018-06-15 |
| CN108161680B CN108161680B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810175824.0A Active CN108161680B (en) | 2018-03-02 | 2018-03-02 | Flexible polishing system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108161680B (en) |
| WO (1) | WO2019165708A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015284A (en) * | 2018-09-21 | 2018-12-18 | 李海源 | A kind of ceramic rod grinder |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108161680B (en) | 2024-01-30 |
| WO2019165708A1 (en) | 2019-09-06 |
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