CN108406584B - Flexible polishing robot - Google Patents
Flexible polishing robot Download PDFInfo
- Publication number
- CN108406584B CN108406584B CN201810352831.3A CN201810352831A CN108406584B CN 108406584 B CN108406584 B CN 108406584B CN 201810352831 A CN201810352831 A CN 201810352831A CN 108406584 B CN108406584 B CN 108406584B
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- CN
- China
- Prior art keywords
- polishing
- platform
- mounting groove
- rod
- sleeve
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- 238000005498 polishing Methods 0.000 title claims abstract description 95
- 238000013016 damping Methods 0.000 claims abstract description 37
- 230000000694 effects Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
Abstract
The invention discloses a flexible polishing robot which comprises a plurality of telescopic damping rod pieces, a driving rod piece for providing feeding force, a connecting platform connected with a manipulator and a polishing platform for installing a polishing head, wherein one end of the driving rod piece is fixedly connected with the connecting platform, the other end of the driving rod piece is movably connected with the polishing platform, and two ends of the damping rod pieces are respectively and movably connected with the polishing platform and the connecting platform and are uniformly distributed along the edges of the polishing platform and the connecting platform. The flexible polishing robot provided by the invention improves the adaptability of the polishing head to the complex shape of the surface of the workpiece and the quick line change of the product, and improves the polishing quality and the polishing efficiency. The invention has simple structure, good use effect and easy popularization and use.
Description
Technical Field
The invention relates to the technical field of precision machining, in particular to a flexible polishing robot.
Background
Polishing is a surface modification process technology and has very wide application. The conventional polishing scheme adopts manual polishing, has low production efficiency, long working period, low precision and poor product uniformity. Especially noise and dust pollution of the polishing site are particularly harmful to workers. In addition, the frequent grinding operations of large-scale products and product line replacement place more stringent demands on the proficiency of manual grinding and the grinding cost efficiency.
The polishing robot system is a novel polishing operation mode capable of finishing mass products, products in various shapes or reducing or even eliminating the damage of polishing to human health, and can improve the working environment of workers, improve the consistency of products and reduce the production cost of the products, so that the robot polishing system is more and more widely applied.
Compared with hand-held polishing, the robot polishing can effectively improve production efficiency, reduce cost and improve product qualification rate, but due to factors such as rigidity of the mechanical arm and positioning error, when the robot is used for clamping the electric and pneumatic polishing heads for polishing, the conditions such as cutter breakage or damage to workpieces are easy to occur. In addition, the prior art only adopts the forms of pneumatic, force feedback, displacement springs and the like independently to form a flexible polishing system, so that the polishing efficiency and polishing precision are difficult to improve, and the polishing system cannot adapt to the change of the complex shape of the surface of a workpiece and the quick line changing requirement of a product. In order to make up for the defects of the design, the invention provides an active automatic multidirectional adjustment flexible polishing robot structure.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the flexible polishing robot, which improves the polishing efficiency and the polishing precision and increases the application range of polishing workpieces.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a flexible polishing robot, includes a plurality of telescopic damping member, provides the drive member of feeding force, the platform of polishing of the connection platform that links to each other with the manipulator and installation polishing head, the one end of drive member with connection platform fixed connection, the other end of drive member with platform swing joint polishes, a plurality of damping member's both ends swing joint respectively are in on platform and the connection platform polishes, and along polish the platform with the edge equipartition of connection platform.
Preferably, the damping rod piece includes the loop bar, adjusts pole and feeling contact force's sensor, the one end of loop bar is equipped with first mounting groove, the other end of loop bar is connected with and connects connect the first movable part of platform, adjust the pole one end telescopic peg graft An Di one mounting groove in, adjust the other end of pole and connect the second movable part of platform of polishing, the sensor is located in the first mounting groove, and be located first mounting groove bottom with between the regulation pole, the sensor with adjust pole with be equipped with the elastic component between the first mounting groove bottom.
Preferably, the first movable part is a hook hinge, the second movable part is a ball hinge, and the elastic part is a spring.
Preferably, the centre line of the first mounting groove coincides with the axis of the loop bar.
Preferably, the driving rod piece comprises a sleeve, a driving rod and a motor for providing driving force, one end of the sleeve is provided with a second mounting groove, the other end of the sleeve is fixedly connected with the connecting platform, one end of the driving rod is telescopically inserted into the second mounting groove, the other end of the driving rod is connected with a third movable piece connected with the polishing platform, and the motor is arranged on the sleeve.
Preferably, the third movable member is a ball hinge.
Preferably, the centre line of the second mounting groove coincides with the axis of the sleeve.
Preferably, a plurality of mounting holes for mounting the polishing heads are uniformly distributed on the surface of the polishing platform.
Preferably, a plurality of connecting holes are uniformly distributed on the connecting platform.
The beneficial effects of the invention are as follows: through setting up a plurality of telescopic damping member, and damping member connects the platform of polishing with activity, a plurality of damping member carry out three-dimensional space's gesture adjustment to the platform of polishing, realize polishing the grinding head keep contact and feed force of polishing of real-time feedback with the work piece of being polished in whole process of polishing, realize the real-time adjustment of the feed volume of polishing through feeding back to the drive member to improve the adaptability of polishing the complex shape in surface of work piece and product quick line change of grinding head, improved quality of polishing and efficiency of polishing. The invention has simple structure, good use effect and easy popularization and use.
Drawings
Fig. 1 is a schematic structural view of a flexible grinding robot of the invention.
Fig. 2 is a schematic structural view of a damping rod of the flexible grinding robot of the present invention.
Fig. 3 is a schematic structural view of a driving rod of the flexible polishing robot of the present invention.
FIG. 4 is a schematic cross-sectional view of the A-A plane of FIG. 3.
Wherein: the device comprises a 1-damping rod piece, a 11-first movable piece, a 12-spring, a 13-sensor, a 14-loop bar, a 15-first mounting groove, a 16-adjusting rod, a 17-second movable piece, a 2-driving rod piece, a 21-sleeve, a 22-driving rod, a 23-motor, a 24-second mounting groove, a 25-third movable piece, a 3-connecting platform, a 31-connecting hole, a 4-polishing platform and a 41-mounting hole.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flexible polishing robot of this embodiment includes a plurality of telescopic damping rods 1, a driving rod 2 for providing a feeding force, a connection platform 3 connected with a manipulator, and a polishing platform 4 for mounting a polishing head, one end of the driving rod 2 is fixedly connected with the connection platform 3, the other end of the driving rod 2 is movably connected with the polishing platform 4, two ends of the damping rods 1 are respectively movably connected with the polishing platform 4 and the connection platform 3, and are uniformly distributed along the edges of the polishing platform 4 and the connection platform 3.
Based on the flexible polishing robot of above-mentioned technical characteristics, through setting up a plurality of telescopic damping member 1, and damping member 1 movably connect polishing platform 4, a plurality of damping member 1 carry out three-dimensional space's gesture adjustment to polishing platform 4, realize polishing the grinding head keep contact and feed force of polishing of real-time feedback with the work piece of being polished in whole polishing process, realize the real-time adjustment of the feed volume of polishing through feeding back to drive member 2, thereby improve the adaptability of polishing the surface complex shape of grinding head to the work piece and product quick line change, improved polishing quality and polishing efficiency. The invention has simple structure, good use effect and easy popularization and use.
Referring to fig. 2, in this embodiment, the damping rod 1 includes a sleeve rod 14, an adjusting rod 16, and a sensor 13 for sensing contact force, a first mounting groove 15 is disposed at one end of the sleeve rod 14, a first movable member 11 connected to the connection platform 3 is connected to the other end of the sleeve rod 14, one end of the adjusting rod 16 is telescopically inserted into the An Di mounting groove 15, a second movable member 17 connected to the polishing platform 4 is connected to the other end of the adjusting rod 16, the sensor 13 is disposed in the first mounting groove 15, and an elastic member is disposed between the bottom of the first mounting groove 15 and the bottom of the adjusting rod 16, between the sensor 13 and the bottom of the adjusting rod 16 and the bottom of the first mounting groove 15. By providing said sensor 13 sensing the contact force, the contact force between the sanding head and the workpiece can be fed back in real time. Meanwhile, the first movable piece 11 and the second movable piece 17 are arranged, so that the damping rod piece 1 is convenient to adjust, and the damping rod piece 1 can adjust the compliance of the space posture of the polishing head in real time according to the contact force fed back by the sensor 13. By arranging the elastic piece, the damping rod piece 1 stretches and contracts in the first mounting groove 15 of the loop bar 14, and the damping rod piece 1 is adjusted.
In this embodiment, the first movable member 11 is a hook hinge. The damping rod piece 1 is connected with the manipulator through a Hooke hinge, so that the damping rod piece 1 can flexibly rotate when needing to be adjusted, and flexible polishing is realized.
In this embodiment, the second movable member 17 is a ball hinge. The ball hinge is convenient to install and adjust, safe and reliable, and meanwhile, the ball hinge can flexibly bear the pressure from different surfaces, so that the ball hinge is arranged between the adjusting rod 16 and the polishing head, reliability can be guaranteed, and the damping rod piece 1 can carry out compliance adjustment on the spatial posture of the polishing head in real time according to the contact force fed back by the sensor 13.
In this embodiment, the elastic member is a spring 12. In actual use, the height of contact between each position of the grinding member and the damping rod 1 is different due to the non-smooth surface of the grinding member. Meanwhile, a plurality of damping rod pieces 1 are used at the same time in actual use, and the damping rod pieces are connected to the connecting platform 3, so that in order to ensure that interference among the damping rod pieces 1 does not occur in working, springs 12 are arranged between the sensor 13 and the bottoms of the adjusting rods 16 and the first mounting grooves 15, so that the adjusting rods 16 of each damping rod piece 1 can adjust the height according to the respective positions, interference among other damping rod pieces 1 is avoided, and orderly working of the damping rod pieces 1 is ensured.
In this embodiment, the center line of the first mounting groove 15 coincides with the axis of the loop bar 14, which ensures that the thickness of the side wall of the loop bar 14 is uniform, and increases the reliability.
Referring to fig. 3 and 4, the driving rod 2 includes a sleeve 21, a driving rod 22, and a motor 23 for providing driving force, one end of the sleeve 21 is provided with a second mounting groove 24, the other end of the sleeve 21 is fixedly connected to the connection platform 3, one end of the driving rod 22 is telescopically inserted into the second mounting groove 24, the other end of the driving rod 22 is connected with a third movable member 25 connected to the polishing platform 4, and the motor 23 is disposed on the sleeve 21. During operation, the damping rod piece 1 feeds back the polishing feeding force to the driving rod piece 2, real-time adjustment of polishing feeding quantity is achieved, the driving rod piece 2 is convenient to adjust through the third movable piece 25, and accordingly the damping rod piece 1 can conduct space attitude compliance adjustment on the polishing head in real time according to the contact force fed back by the sensor 13, and accordingly adaptability of the polishing head to complex surface shapes of workpieces and rapid line replacement of products is improved, and polishing quality and polishing efficiency are improved.
In this embodiment, the third movable member 25 is a ball hinge. The ball hinge is convenient to install and adjust, safe and reliable, and meanwhile, the ball hinge can flexibly bear the pressure from different surfaces, so that the ball hinge is arranged between the driving rod 22 and the polishing platform 4, reliability can be guaranteed, the damping rod piece 1 can also conduct space attitude compliance adjustment on the polishing head in real time according to the contact force fed back by the sensor 13, and therefore the adaptability of the polishing head to complex shapes of the surface of a workpiece and rapid line replacement of products is improved, and polishing quality and polishing efficiency are improved.
In this embodiment, the center line of the second mounting groove 24 coincides with the axis of the sleeve 21, which ensures that the thickness of the sidewall of the sleeve 21 is uniform and increases the reliability.
In this embodiment, a plurality of mounting holes 41 for mounting polishing heads are uniformly distributed on the surface of the polishing platform 4. Preferably, the mounting hole 41 is a threaded hole of M6.
In this embodiment, a plurality of connection holes 31 are uniformly distributed on the connection platform 3. Preferably, the connecting hole 31 is a threaded hole of M8.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (7)
1. A flexible grinding robot which is characterized in that: the device comprises a plurality of telescopic damping rods, a driving rod for providing feeding force, a connecting platform connected with a manipulator and a polishing platform for installing a polishing head, wherein one end of the driving rod is fixedly connected with the connecting platform, the other end of the driving rod is movably connected with the polishing platform, two ends of the damping rods are respectively and movably connected with the polishing platform and the connecting platform, and the damping rods are uniformly distributed along the edges of the polishing platform and the connecting platform;
the damping rod piece comprises a sleeve rod, an adjusting rod and a sensor for sensing contact force, wherein a first mounting groove is formed in one end of the sleeve rod, a first movable piece connected with the connecting platform is connected to the other end of the sleeve rod, one end of the adjusting rod can be connected in the first mounting groove in a telescopic manner, a second movable piece connected with the polishing platform is connected to the other end of the adjusting rod, the sensor is located in the first mounting groove and located between the bottom of the first mounting groove and the adjusting rod, and elastic pieces are arranged between the sensor and the adjusting rod and between the sensor and the bottom of the first mounting groove;
the driving rod piece comprises a sleeve, a driving rod and a motor for providing driving force, wherein a second mounting groove is formed in one end of the sleeve, the other end of the sleeve is fixedly connected to the connecting platform, one end of the driving rod can be telescopically inserted into the second mounting groove, a third movable piece connected with the polishing platform is connected to the other end of the driving rod, and the motor is arranged on the sleeve.
2. A flexible grinding robot as set forth in claim 1, wherein: the first movable part is a Hooke hinge, the second movable part is a ball hinge, and the elastic part is a spring.
3. A flexible grinding robot as set forth in claim 1, wherein: the center line of the first mounting groove coincides with the axis of the loop bar.
4. A flexible grinding robot as set forth in claim 1, wherein: the third movable piece is a ball hinge.
5. A flexible grinding robot as set forth in claim 1, wherein: the center line of the second mounting groove coincides with the axis of the sleeve.
6. A flexible grinding robot as set forth in claim 1, wherein: a plurality of mounting holes for mounting the polishing heads are uniformly distributed on the surface of the polishing platform.
7. A flexible grinding robot as set forth in claim 1, wherein: a plurality of connecting holes are uniformly distributed on the connecting platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810352831.3A CN108406584B (en) | 2018-04-19 | 2018-04-19 | Flexible polishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810352831.3A CN108406584B (en) | 2018-04-19 | 2018-04-19 | Flexible polishing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108406584A CN108406584A (en) | 2018-08-17 |
| CN108406584B true CN108406584B (en) | 2024-02-27 |
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ID=63135984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810352831.3A Active CN108406584B (en) | 2018-04-19 | 2018-04-19 | Flexible polishing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108406584B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116369B (en) * | 2019-05-18 | 2024-03-22 | 杭州隆湖机电科技有限公司 | Grinding head for welding robot |
| CN110206428B (en) * | 2019-06-05 | 2020-07-24 | 中国科学院长春光学精密机械与物理研究所 | Non-coplanar hinge of pivot and have robot of this hinge |
| CN110216551B (en) * | 2019-06-26 | 2021-03-26 | 华中科技大学 | Active-passive compliant polishing tail end |
| US11584005B2 (en) * | 2020-07-31 | 2023-02-21 | GrayMatter Robotics Inc. | System and method for autonomously scanning and processing a part |
| US20220288774A1 (en) * | 2020-07-31 | 2022-09-15 | GrayMatter Robotics Inc. | System and method for autonomously scanning and processing a part |
| CN113319693B (en) * | 2021-06-15 | 2022-03-08 | 苏州双荣橡塑有限公司 | Polishing and cleaning equipment for handheld dust collector shell mold |
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| CN105014525A (en) * | 2015-07-03 | 2015-11-04 | 浙江工业大学 | Self-adaptive adjusting method based on multi-degree-of-freedom adjusting mechanism of grinded/polished workpieces |
| CN105798747A (en) * | 2016-04-25 | 2016-07-27 | 上海发那科机器人有限公司 | Floating type polishing tool and polishing robot with tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8740668B2 (en) * | 2010-03-12 | 2014-06-03 | Wayne O. Duescher | Three-point spindle-supported floating abrasive platen |
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2018
- 2018-04-19 CN CN201810352831.3A patent/CN108406584B/en active Active
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|---|---|---|---|---|
| CN105014525A (en) * | 2015-07-03 | 2015-11-04 | 浙江工业大学 | Self-adaptive adjusting method based on multi-degree-of-freedom adjusting mechanism of grinded/polished workpieces |
| CN105798747A (en) * | 2016-04-25 | 2016-07-27 | 上海发那科机器人有限公司 | Floating type polishing tool and polishing robot with tool |
| CN106891216A (en) * | 2017-02-23 | 2017-06-27 | 上海理工大学 | Six-freedom parallel type flash trimmer |
| CN207104639U (en) * | 2017-09-15 | 2018-03-16 | 富信成机械有限公司 | Peripheral milling flexibility leads rotation mechanism |
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| CN108406584A (en) | 2018-08-17 |
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