CN108608262A - Ultrasonic vibration assists active-passive composite flexible polishing method and device - Google Patents
Ultrasonic vibration assists active-passive composite flexible polishing method and device Download PDFInfo
- Publication number
- CN108608262A CN108608262A CN201810280983.7A CN201810280983A CN108608262A CN 108608262 A CN108608262 A CN 108608262A CN 201810280983 A CN201810280983 A CN 201810280983A CN 108608262 A CN108608262 A CN 108608262A
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- Prior art keywords
- abrasive band
- pull rod
- wheel
- contact
- hydraulic cylinder
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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
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
- B24B1/04—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes subjecting the grinding or polishing tools, the abrading or polishing medium or work to vibration, e.g. grinding with ultrasonic frequency
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
Abstract
A kind of ultrasonic vibration auxiliary active-passive composite flexible polishing method, pull rod hydraulic cylinder is fixed on bottom plate, pull rod hydraulic cylinder accelerator rod end acquires contact force information equipped with six-dimension force sensor, it flows through the oil mass of pull rod hydraulic cylinder to control by servo proportion and controls the stretching motion of pull rod, to realize active compliance；Become resilient flexibility abrasive band by going to a grassroots level, elastic layer, middle base, abrasive grain layer constitute；It flows through the oil mass of pull rod hydraulic cylinder to control by adjusting servo proportion and controls the stretching motion of pull rod, changing the contact force of rubbing head and workpiece；In conjunction with the mode of ultrasonic vibration, realizes being evenly distributed of contact traction, effectively reduces the contact force under equivalent material removal rate, to obtain higher quality of finish.And provide a kind of ultrasonic vibration auxiliary active-passive composite flexible polishing device.Adaptability of the present invention is preferable, use scope is not limited.
Description
Technical field
The present invention relates to a kind of polishing method and device more particularly to a kind of polishings of rotary shell part.
Background technology
In modern crafts, abrasive band has become as a kind of novel process of economical and efficient one in polishing technology field
The indispensable processing method of kind.Its is high in machining efficiency, adapts to the polishing of complicated abnormal shape workpiece.And use cost is low, behaviour
Making simple and safe, abrasive band can process other than the material that grinding wheel can be processed, and can also process some non-ferrous metals and nonmetallic
Soft material etc., this makes it has extremely to be widely applied.But there are still more problems for common abrasive band polishing, such as polished
Cheng Zhong, if contact wheel is too soft, the case where being susceptible to the abrasive grain rust in sand face but do not fall off, and hard contact wheel can lead to sand
Band and workpiece surface rigid contact, abrasive grain can cause the manufacturing deficiencies such as cut in workpiece surface.It is single in existing power prosecutor case
There is response lag in one active force prosecutor formula, can not accomplish real-time constant force control completely.Single passive compliance
Pass through the compliance movement that can absorb or store the mechanical devices of energy to realize to workpiece.But this compliant manner can not be eradicated
The problem of between robot high rigidity and the high submissive requirement of polishing.And adaptability is poor, use scope is restricted.
Invention content
In order to overcome the shortcomings of that adaptability existing for existing abrasive belt polishing equipment is poor, use scope is restricted,
The present invention propose a kind of adaptability preferably, the ultrasonic vibration auxiliary active-passive composite flexible polishing that is not limited of use scope
Method and device.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of ultrasonic vibration auxiliary active-passive composite flexible polishing method, pull rod hydraulic cylinder are fixed on bottom plate, pull rod liquid
Cylinder pressure tie rod end acquires contact force information equipped with six-dimension force sensor, and pull rod hydraulic cylinder is flowed through to control by servo proportion
Oil mass control the stretching motion of pull rod, to realize active compliance；Become resilient flexibility abrasive band by going to a grassroots level, elastic layer, middle base
Layer, abrasive grain layer are constituted；In polishing process, when rubbing head touches workpiece, which opens along the tangential of band
In the case of tight, abrasive band elastic layer still has sufficient residual elasticity soft to provide passive exposure in the normal direction for becoming elastic sand band
It is suitable；After the realization of rubbing head and workpiece contacts, contact force slowly increases, power by the amplitude transformer that is fixed on upper box, using
It is transmitted on the six-dimension force sensor of pull rod hydraulic cylinder accelerator rod front end to guide rod, the narrow slide plate being fixed on upper box,
Six-dimension force sensor is collected into the contact force information passed over from rubbing head front end, and stream is controlled by adjusting servo proportion
Oil mass through pull rod hydraulic cylinder controls the stretching motion of pull rod, changing the contact force of rubbing head and workpiece；It shakes in conjunction with ultrasound
Dynamic mode realizes being evenly distributed of contact traction, effectively reduces the contact force under equivalent material removal rate, to obtain higher
Quality of finish.
Further, ultrasonic vibration realization method is：By supersonic generator generate a specific frequency signal, and by its
It is transferred in ultrasonic transducer, the electrical power of input is converted into mechanical oscillation, i.e. ultrasonic wave by energy converter；Pass through amplitude transformer again
The vibration is amplified, the vibrations of amplitude transformer are transmitted on the contact wheel in abrasive band, drive change elastic sand band to realize by contact wheel super
The miscellaneous function of acoustic vibration.
Further, in the change resilient flexibility abrasive band, by the base material as abrasive material and binder supporting body, base material is optional
Bu Ji, non-woven fabrics or composite base material are selected, certain thickness elastic layer material is adhered in base by primer, in elastic layer
Upper directly to plant sand, selection continues to bond one layer of base above the elastic layer of the change elastic sand band, and then is planted above base again
Sand.
The change resilient flexibility abrasive band uses closed type structure, passes through abrasive band driving wheel, spring roller mechanism, contact wheel, bullet
The tensioning wheel that spring roller mechanism, driven wheel, oscillating cylinder control completes the installation in abrasive band, and during polishing, abrasive band passes through
The contact wheel support of abrasive band bar front end is contacted with workpiece, and realizes passive compliance function by elastic layer.
Polishing time-varying elastance abrasive band is contacted by the support of abrasive band bar front end contact wheel with workpiece, and the device is in mechanical arm
Under drive, there is set space path planning；When being polished to different regions, the meeting that the size of contact force is difficult to avoid that occurs
Fluctuation, and the fluctuation information of contact force can be installed in the acquisition of the six-dimension force sensor between narrow sliding block and pull rod；In pull rod cylinder
The front end of telescopic rod is equipped with the rectangular plate of one piece of narrow slide plate, and the surrounding of narrow slide plate has hole, and being equipped on hole can allow guide rod to pass through
Leader casing, several guide rods are arranged in the apparatus, to ensure that pull rod cylinder is output to the linearity of the movement of rectangular plate；
In addition, the guide rod and leader casing of close bottom plate can allow narrow slide plate together with leader casing in guide rod using clearance fit
Upper reciprocating motion, and the leader casing on the guide rod of top two, using the fixed connection of relative position, leader casing is together with narrow cunning
Plate, guide rod move together, and the guide rod of top realizes the movement of upper box by being fixedly connected with L-shaped connector；By dividing
The deviation before real-time contact power and ideal value is analysed, adjusts servo proportion to control the pull rod hydraulic pressure flowed through on bottom plate
The flow of cylinder, and then control the flexible of pull rod hydraulic cylinder accelerator rod.
It has been fixedly connected with mechanical arm on pedestal, the path planning for the polishing of different piece surfaces is completed with mechanical arm；So
And when completion path planning is polished, due to the form and position of contact surface, real-time fluctuations can occur for contact force, however mechanical
Arm can not make real-time adjustment according to the variation of contact force to polishing path, that is, can not achieve constant force polishing.
The servo proportion is in electrohydraulic servo proportional valve, and hydraulic pressure draw-bar cylinder is bolted on bottom plate, hydraulic pressure
The oil inlet and outlet of cylinder is connected to by oil pipe on electrohydraulic servo proportional valve；Hydraulic cylinder accelerator rod front end is equipped with six-dimension force sensor,
The information of its contact force acquired variation compares desired contact power, by feedback result with electric signal by passing to computer
Form inputs electrohydraulic servo proportional valve；The low power electric signal that electrohydraulic servo proportional valve can will transmit is converted into high-power
Hydraulic energy output, realize the extension and contraction control of pull rod.
A kind of active-passive composite flexible polishing device, including main passive smoothing mechanism, mechanical arm, rotary table and ultrasound
Accessory part is vibrated, the main passive smoothing mechanism is mounted on the motion end of mechanical arm, and the mechanical arm is mounted on pedestal, institute
The actuating station for stating main passive smoothing mechanism is located on the polishing station of the rotary table；
The main passive smoothing mechanism includes upper box, lower box and bottom plate, and pull rod hydraulic cylinder is fixedly mounted on bottom plate,
The telescopic rod of pull rod hydraulic cylinder is connect with six-dimension force sensor, and the other end of six-dimension force sensor is connected on narrow slide plate, narrow cunning
Plate is to be slidably connected with the guide rod on bottom plate, and narrow slide plate is to be fixedly connected with the guide rod of upper box, realizes upper box and abrasive band bar
Whole linear motion flows through the oil mass of pull rod hydraulic cylinder and controls the flexible fortune of pull rod by adjusting servo proportion to control
It is dynamic；Upper box installation becomes resilient flexibility abrasive band, it is described become resilient flexibility abrasive band by going to a grassroots level from bottom to top, elastic layer,
Middle base, abrasive grain layer are constituted；
The ultrasonic vibration accessory part includes supersonic generator, energy converter and ultrasonic variable amplitude bar, the ultrasonic wave
The end of amplitude transformer is connected on the boss of upper box, and has that improve connection together steady in the middle part of the amplitude transformer on rearward position
The boss of qualitative boss, amplitude transformer is connected on upper box, and two boss are mutually parallel；The vibrations of amplitude transformer are transmitted to abrasive band
Contact wheel on, pass through contact wheel drive become elastic sand band realize ultrasonic vibration.
Further, the change resilient flexibility abrasive band is enclosed abrasive band, passes through abrasive band driving wheel, spring roller mechanism, contact
Wheel, driven wheel, oscillating cylinder control tensioning wheel complete abrasive band installation, the change elastic sand band by abrasive band driving wheel, from
Driving wheel, tensioning wheel and the Grinding Contact wheel mounted on abrasive band bar front end realize the installation for becoming elastic sand band, and by spring roller machine
Structure realizes being bonded for the change elastic sand band and abrasive band bar, and the tensioning in abrasive band is completed using rotary swinging air cylinder；The bar in abrasive band
Edge has a section groove, the gear fork of cooperation spring roller mechanism, gear fork to prevent abrasive band in process in the groove of abrasive band bar
Middle generation lateral sliding.
Driven gear is installed in the shaft of the abrasive band driving wheel, driven gear is engaged with driving gear, the driving tooth
Wheel couples with the output shaft of driving motor.
Further, the rectangular plate of one piece of narrow slide plate is housed in the front end of pull rod cylinder telescopic rod, the surrounding of narrow slide plate has
Hole, on hole equipped with can allow guide rod by leader casing, arrange guide rod to ensure that pull rod cylinder is output to rectangle in the narrow slide plate
The linearity of the movement of plank；In addition, the guide rod and leader casing of close bottom plate can allow narrow slide plate to connect using clearance fit
It is moved back and forth on guide rod together with leader casing, and the leader casing on the guide rod of top two is using the fixed company of relative position
It connects, leader casing is moved together with narrow slide plate, guide rod, and the guide rod of top realizes top box by being fixedly connected with L-shaped connector
The movement of body.
Beneficial effects of the present invention are mainly manifested in：Adaptability is preferable, use scope is not limited.
Description of the drawings
Fig. 1 is the installation diagram of the present invention.
Fig. 2 is the change elasticity abrasive belt shaft mapping of the present invention, wherein 241, elastic layer 242 of going to a grassroots level, middle base 243, abrasive grain
Layer 244.
Fig. 3 is the grinding attachment installation diagram of the end of the present invention, wherein upper box 12, lower box 42 and pedestal 43.
Fig. 4 is the upper box installation diagram of the end grinding attachment of the present invention.
Fig. 5 is the lower box installation diagram of the end grinding attachment of the present invention, wherein (a) is front view, is (b) vertical view.
Fig. 6 is the end upward view of the present invention.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig.1~Fig. 6, a kind of ultrasonic vibration auxiliary active-passive composite flexible polishing method, pull rod hydraulic cylinder are fixed on
On bottom plate, pull rod hydraulic cylinder accelerator rod end acquires contact force information equipped with six-dimension force sensor, is controlled by servo proportion
The oil mass of pull rod hydraulic cylinder is flowed through to control the stretching motion of pull rod, to realize active compliance；Become resilient flexibility abrasive band by lower base
Layer, elastic layer, middle base, abrasive grain layer are constituted；In polishing process, when rubbing head touches workpiece, the change elastic sand band
In the case of tangential tensioning along band, abrasive band elastic layer still has sufficient residual elasticity to carry in the normal direction for becoming elastic sand band
It is submissive for passive exposure；After the realization of rubbing head and workpiece contacts, contact force slowly increases, and power is by the change that is fixed on upper box
Width bar is transmitted to the 6 DOF mounted on pull rod hydraulic cylinder accelerator rod front end using to guide rod, the narrow slide plate being fixed on upper box
On force snesor, six-dimension force sensor is collected into the contact force information passed over from rubbing head front end, by adjusting servo-ratio
Example valve flows through the oil mass of pull rod hydraulic cylinder and controls the stretching motion of pull rod to control, changing contact of the rubbing head with workpiece
Power；In conjunction with the mode of ultrasonic vibration, realizes being evenly distributed of contact traction, effectively reduces the contact under equivalent material removal rate
Power, to obtain higher quality of finish.
Further, ultrasonic vibration realization method is：By supersonic generator generate a specific frequency signal, and by its
It is transferred in ultrasonic transducer, the electrical power of input is converted into mechanical oscillation, i.e. ultrasonic wave by energy converter；Pass through amplitude transformer again
The vibration is amplified, the vibrations of amplitude transformer are transmitted on the contact wheel in abrasive band, drive change elastic sand band to realize by contact wheel super
The miscellaneous function of acoustic vibration.
Further, in the change resilient flexibility abrasive band, by the base material as abrasive material and binder supporting body, base material is optional
Bu Ji, non-woven fabrics or composite base material are selected, certain thickness elastic layer material is adhered in base by primer, in elastic layer
Upper directly to plant sand, selection continues to bond one layer of base above the elastic layer of the change elastic sand band, and then is planted above base again
Sand.
The change resilient flexibility abrasive band uses closed type structure, passes through abrasive band driving wheel, spring roller mechanism, contact wheel, bullet
The tensioning wheel that spring roller mechanism, driven wheel, oscillating cylinder control completes the installation in abrasive band, and during polishing, abrasive band passes through
The contact wheel support of abrasive band bar front end is contacted with workpiece, and realizes passive compliance function by elastic layer.
Polishing time-varying elastance abrasive band is contacted by the support of abrasive band bar front end contact wheel with workpiece, and the device is in mechanical arm
Under drive, there is set space path planning；When being polished to different regions, the meeting that the size of contact force is difficult to avoid that occurs
Fluctuation, and the fluctuation information of contact force can be installed in the acquisition of the six-dimension force sensor between narrow sliding block and pull rod；In pull rod cylinder
The front end of telescopic rod is equipped with the rectangular plate of one piece of narrow slide plate, and the surrounding of narrow slide plate has hole, and being equipped on hole can allow guide rod to pass through
Leader casing, several guide rods are arranged in the apparatus, to ensure that pull rod cylinder is output to the linearity of the movement of rectangular plate；
In addition, the guide rod and leader casing of close bottom plate can allow narrow slide plate together with leader casing in guide rod using clearance fit
Upper reciprocating motion, and the leader casing on the guide rod of top two, using the fixed connection of relative position, leader casing is together with narrow cunning
Plate, guide rod move together, and the guide rod of top realizes the movement of upper box by being fixedly connected with L-shaped connector；By dividing
The deviation before real-time contact power and ideal value is analysed, adjusts servo proportion to control the pull rod hydraulic pressure flowed through on bottom plate
The flow of cylinder, and then control the flexible of pull rod hydraulic cylinder accelerator rod.
It has been fixedly connected with mechanical arm on pedestal, the path planning for the polishing of different piece surfaces is completed with mechanical arm；So
And when completion path planning is polished, due to the form and position of contact surface, real-time fluctuations can occur for contact force, however mechanical
Arm can not make real-time adjustment according to the variation of contact force to polishing path, that is, can not achieve constant force polishing.
The servo proportion is in electrohydraulic servo proportional valve, and hydraulic pressure draw-bar cylinder is bolted on bottom plate, hydraulic pressure
The oil inlet and outlet of cylinder is connected to by oil pipe on electrohydraulic servo proportional valve；Hydraulic cylinder accelerator rod front end is equipped with six-dimension force sensor,
The information of its contact force acquired variation compares desired contact power, by feedback result with electric signal by passing to computer
Form inputs electrohydraulic servo proportional valve；The low power electric signal that electrohydraulic servo proportional valve can will transmit is converted into high-power
Hydraulic energy output, realize the extension and contraction control of pull rod.
A kind of active-passive composite flexible polishing device, including main passive smoothing mechanism, mechanical arm, rotary table and ultrasound
Accessory part is vibrated, the main passive smoothing mechanism is mounted on the motion end of mechanical arm, and the mechanical arm is mounted on pedestal, institute
The actuating station for stating main passive smoothing mechanism is located on the polishing station of the rotary table；
The main passive smoothing mechanism includes upper box, lower box and bottom plate, and pull rod hydraulic cylinder is fixedly mounted on bottom plate,
The telescopic rod of pull rod hydraulic cylinder is connect with six-dimension force sensor, and the other end of six-dimension force sensor is connected on narrow slide plate, narrow cunning
Plate is to be slidably connected with the guide rod on bottom plate, and narrow slide plate is to be fixedly connected with the guide rod of upper box, realizes upper box and abrasive band bar
Whole linear motion flows through the oil mass of pull rod hydraulic cylinder and controls the flexible fortune of pull rod by adjusting servo proportion to control
It is dynamic；Upper box installation becomes resilient flexibility abrasive band, it is described become resilient flexibility abrasive band by going to a grassroots level from bottom to top, elastic layer,
Middle base, abrasive grain layer are constituted；
The ultrasonic vibration accessory part includes supersonic generator, energy converter and ultrasonic variable amplitude bar, the ultrasonic wave
The end of amplitude transformer is connected on the boss of upper box, and has that improve connection together steady in the middle part of the amplitude transformer on rearward position
The boss of qualitative boss, amplitude transformer is connected on upper box, and two boss are mutually parallel；The vibrations of amplitude transformer are transmitted to abrasive band
Contact wheel on, pass through contact wheel drive become elastic sand band realize ultrasonic vibration.
Further, the change resilient flexibility abrasive band is enclosed abrasive band, passes through abrasive band driving wheel, spring roller mechanism, contact
Wheel, driven wheel, oscillating cylinder control tensioning wheel complete abrasive band installation, the change elastic sand band by abrasive band driving wheel, from
Driving wheel, tensioning wheel and the Grinding Contact wheel mounted on abrasive band bar front end realize the installation for becoming elastic sand band, and by spring roller machine
Structure realizes being bonded for the change elastic sand band and abrasive band bar, and the tensioning in abrasive band is completed using rotary swinging air cylinder；The bar in abrasive band
Edge has a section groove, the gear fork of cooperation spring roller mechanism, gear fork to prevent abrasive band in process in the groove of abrasive band bar
Middle generation lateral sliding.
Driven gear is installed in the shaft of the abrasive band driving wheel, driven gear is engaged with driving gear, the driving tooth
Wheel couples with the output shaft of driving motor.
Further, the rectangular plate of one piece of narrow slide plate is housed in the front end of pull rod cylinder telescopic rod, the surrounding of narrow slide plate has
Hole, on hole equipped with can allow guide rod by leader casing, arrange guide rod to ensure that pull rod cylinder is output to rectangle in the narrow slide plate
The linearity of the movement of plank；In addition, the guide rod and leader casing of close bottom plate can allow narrow slide plate to connect using clearance fit
It is moved back and forth on guide rod together with leader casing, and the leader casing on the guide rod of top two is using the fixed company of relative position
It connects, leader casing is moved together with narrow slide plate, guide rod, and the guide rod of top realizes top box by being fixedly connected with L-shaped connector
The movement of body.
The ultrasonic vibration of the present embodiment assists active-passive composite flexible polishing device, including robot front end (1), robot
Forearm (2), shaft (3), link block (4), robot's arm (5), turntable (6), pedestal (7), workpiece turntable (8), workpiece
(9), driving wheel (10), nut (11), upper box (12), tensioning wheel (13), nutted rod (14), rotary swinging air cylinder (15), from
Driving wheel (16), L-shaped connection (17), bolt (18), nut (19), spring (20), amplitude transformer (21), contact wheel (22), contact wheel
Support element (23), become elastic sand band (24), boss (25), gear fork (26), screw (27), connector (28), top guide bar set (29),
Guide rod (30), slide plate (31), lower guide rod set (32), bottom plate (33), pull rod hydraulic cylinder guide rod (34), six-dimension force sensor (35),
Pull rod hydraulic cylinder (36), boss (37), gear-box (38), driven wheel of differential (39), drive bevel gear (40), motor (41).Machine
For tool arm on pedestal, main passive smoothing mechanism is mounted in the end of mechanical arm, and the contact force by analyzing six-dimension force sensor is believed
Breath changes the flow of electrohydraulic servo proportional valve and realizes the main passive compliance to control the movement of upper box.(even using amplitude transformer
Same supersonic generator, energy converter) realize ultrasonic vibration miscellaneous function, use mechanical arm implementation mechanism spatial pose adjust
It is moved with set track.
The change elastic sand band by the base material as abrasive material and binder supporting body, base material may be selected cloth base, non-woven fabrics or
Composite base material etc..One layer of elastomeric material is bonded above base material, the selection of the elastic layer material can be according to practical grinding
Workpiece material, grinding parameter in the process selects suitable material.Such as：Butadiene-styrene rubber, SBS and other alternative bullets
Property material.One layer of primer is bonded in the top of the elastic layer, one layer of base is bonded on it and is planted for it in this layer of base
Enter the abrasive material as cutting edge, ablation.Property and grinding of the material of abrasive material also according to the workpiece material to be processed
Relevant parameter selected.The change elastic sand band is on the direction along tangent line, since the elasticity modulus of base material is relatively large.
In grinding, the pulling force being subject to is certain, and the deflection of the change elastic sand band is relatively small.And at this time perpendicular to the change elastic sand
In the direction of motion of band, due to the presence of elastic layer, still can linear elastic deformation in this direction, it is flexible to provide contact.
In the upper box rear end, a circular hole is provided with the case where the output shaft for ensureing motor ensures concentricity with circular hole
Under, it is bolted and the motor is attached on upper box, while realizing positioning requirements.Pass through on upper box in coupling part
Boss is set to enhance the stabilized soil pavement of coupling part.The output shaft end of the motor is connected with one group of straight bevel tooth
Wheel, realization, which is done exercises, to be transmitted on the driving wheel of abrasive band.
On the bevel gear box at the upper box back side, it is bolted and motor is connected to upper box, in motor
Shaft end connects a spur bevel gear, and the spur bevel gear of another cooperation is connected on an axis coaxial with driving wheel, should
Spur bevel gear, by key connection, realizes circumferentially positioned, attaching nut realization axially position with axis.In polishing processing
In, the power of the servo motor is passed to by bevel gear on the wheel shaft of active abrasive band, and active grinding wheel spindle passes through key connection and active sand
Wheel realization is circumferentially positioned, and the movement on axis is transmitted on active grinding wheel, and active grinding wheel, which drives, in upper box becomes elastic sand
Band movement.Gear-box is installed in the bevel gear of upper box, prevents bevel gear from being polluted during the motion by abrasive dust, influences to use
Service life.
There is an electrohydraulic servo proportional control device below the upper box, the device is using pull rod cylinder as the output of end
Element, pull rod hydraulic cylinder are bolted, are connected on bottom plate.It is connected equipped with L-shaped on bottom plate, has connect for bolt on one side
Use is connect, is bolted, which is connected on bottom plate.The other half has a hole covered for connection guide, guide rod and
Leader casing coordinates, and leader casing connects cooperation with L-shaped.In the top of bottom plate, there is identical L-shaped to connect.L-shaped connection passes through bolt
It is connected to upper box, hole and the leader casing of another side coordinate, and leader casing coordinates with guide rod.
In the guide-bar mechanism, the shaft end of the telescopic shaft of pull rod cylinder is connected to six-dimension force sensor, six-dimensional force sensing
Device another side is connected to the narrow slide plate of rectangle.It is provided with the hole coordinated with four guide rods in the narrow slide plate surrounding of the rectangle, is led between them
Axle sleeve connection is crossed, axle sleeve is fixedly connected on narrow slide plate, and two leader casings of top are to be fixedly connected with guide rod, and the company of lower section is a
Leader casing and guide rod are clearance fits, may be implemented to slide relatively, and can ensure the linearity of movement.
Contact wheel is mounted in the front end of above-mentioned abrasive band bar by fixed rotary shaft.The size of the contact wheel is certain, is attached to sand
It is formed with gradient abrasive band bar edge line after on rod failure tangent.In abrasive band, the edge of bar is fluted, the spring rolling in the present apparatus
Clamp mechanism is used cooperatively with it, plays the preload to the just elastic sand band, and lateral register prevents abrasive band from occurring in polishing process
Offset, influences machining accuracy.Quality of finish for improving workpiece has good effect.
Bolt connect gear fork and pass through spring, and by nut be connected to L-shaped connection front end made by turning nut
Spring forms certain precompression.In the U-lag of the lower section of gear fork, a cylindrical roller is placed.Cylindrical roller spring with
Under the action of pressure, the preload in abrasive band and abrasive band bar is completed.L-shaped connection is connected by screw on main box.
It distributed the rotating shaft of two abrasive belt wheels on the right side of upper box, the rightmost side is equipped with an oscillating cylinder, using rotation
Oscillating cylinder, by control swingle drive tensioning wheel do rotary motion, realize the tensioning in the change resilient flexibility abrasive band.Upper
Babinet obtains left side and is equipped with an abrasive band bar, which is connected by screw, and is fixed on main box.Motor is mounted on and is corresponded to
The back side of upper box driving wheel, and gear-box is set, avoid the pollution of processing abrasive dust.In the another side of the motor, pull rod is installed
Cylinder balances the counterweight of both sides.Keep the size of assembly small as possible, be conducive to maximize the device mechanical arm tail end space bit
Movement is set not limited by the size of device itself.
Below in conjunction with the accompanying drawings, it is further described by the specific implementation mode to patent of the present invention, makes this invention
Technical solution and its effect it is clearer, clear.
The present embodiment is for polishing revolution shells cup.Workpiece cup is housed above turntable (8) as shown in Figure 1
(9).Mechanical arm is mounted on pedestal (7), and main passive smoothing mechanism is mounted on the end of mechanical arm.In upper box, become elasticity
Abrasive band (24) uses closed type structure, by abrasive band driving wheel (10), driven wheel (16), tensioning wheel (13) and is mounted on amplitude transformer
(21) the Grinding Contact wheel (22) of front end realizes the installation for becoming elastic sand band (24).Become when elastic sand band (24) is installed and passes through bullet
The groove of spring roller mechanism gear fork (26), can prevent abrasive band from lateral sliding occurring in process.Improve abrasive band operation
Stability, to improve the surface accuracy of grinding.The tensioning of change elastic sand band (24) is completed using rotary swinging air cylinder (15).
There are the bevel gear (39,40) of the driving motor (41) for placing active abrasive belt wheel and transmission, two guide rods logical below upper box
It crosses and is bolted to upper box, two guide rods (30) are fixedly connected with leader casing (29) herein, and the leader casing (29) and cunning
Also it is to be fixedly connected between plate (31).Meanwhile the leader casing that page is connected with two guide rods and is used cooperatively with it on bottom plate, bottom plate
Two of upper connection are the clearance fit that can be slided relatively between guide rod and leader casing, are solid between leader casing and slide plate at this time
Fixed connection.One pull rod hydraulic stem (34) is installed, the tie rod end of the hydraulic pressure draw-bar cylinder (37) is passed equipped with a six-dimensional force on bottom plate
Sensor (35), the used six-dimension force sensor other end are connected on slide plate, and slide plate is connected with four above-mentioned leader casings.
In process, turntable (8) drive workpiece (9) does the rotary motion of dead axle.It can be by adjusting rotary work
The rotating speed of platform adjusts in polishing process relative velocity between workpiece and abrasive band.The burnishing device proposed in the present invention, in machinery
Under the drive of arm, the adjustment of spatial pose is realized.It is directed to the revolution shells cup (9) in this example, realizes that rubbing head is thrown
The planning of light path, rubbing head slowly close near the starting processing stand of target workpiece, are slowly fed.Until the change elastic sand
Band (24) is bonded under the supporting role of contact wheel (22) with workpiece.Due to change elastic sand band (24) elasticity of itself, i.e.,
The passive compliance of processing may be implemented.Amplitude transformer (21) in upper box realizes shake of the contact wheel (22) according to certain amplitude
It is dynamic, improve contact force situation.The device moves under mechanical arm control according to set Space processing path.In process
In, since the contact force of abrasive band and workpiece has a great impact to the surface quality of processing, larger fluctuation occurs in contact force
The variation in place, power is transmitted to via amplitude transformer (21), upper box, guide rod (30), slide plate (31) on six-dimension force sensor (35),
Six-dimension force sensor (35) by the change information real-time delivery of power to computer, computer by compare actual value and ideal value it
Between deviation, electric signal is passed into electrohydraulic servo proportional valve.Electrohydraulic servo proportional valve converts greatly low power electric signal to
The hydraulic energy of power exports, and control flows through the inlet and outlet flow of pull rod hydraulic cylinder, realizes the stretching motion of pull rod (34).Slide plate
(31) it is moved together with pull rod (34) and six-dimension force sensor (35), upper box is driven to do the feed motion in rectilinear direction,
The change of relative position between rubbing head and workpiece is directly changed the size of contact force, and in the 6 DOF of pull rod (34) end
Force snesor is still collecting contact force information simultaneously, and electrohydraulic servo proportional valve can complete dynamic response in a short period of time,
The hysteresis quality for avoiding active compliance realizes real-time control of the burnishing device to contact force in polishing process.The polishing fills
Set realizes active and passive compliance function well is used in combination, and improves equivalent material removal rate using ultrasonic wave added device
Under contact force distribution situation.The device is improved to the adaptability of the processing more demanding workpiece of contact force, mechanical arm is to path
Strong adaptability make the device complete to polish well.
Claims (10)
1. a kind of ultrasonic vibration assists active-passive composite flexible polishing method, which is characterized in that pull rod hydraulic cylinder is fixed on bottom plate
On, pull rod hydraulic cylinder accelerator rod end acquires contact force information equipped with six-dimension force sensor, is flowed through by servo proportion to control
The oil mass of pull rod hydraulic cylinder controls the stretching motion of pull rod, to realize active compliance；Become resilient flexibility abrasive band by going to a grassroots level, bullet
Property layer, middle base, abrasive grain layer constitute；In polishing process, when rubbing head touches workpiece, the change elastic sand band is along band
Tangential tensioning in the case of, it is passive to provide that abrasive band elastic layer still has sufficient residual elasticity in the normal direction for becoming elastic sand band
It contacts submissive；After the realization of rubbing head and workpiece contacts, contact force slowly increases, power by the amplitude transformer that is fixed on upper box,
Using the six-dimensional force sensing being transmitted to guide rod, the narrow slide plate being fixed on upper box mounted on pull rod hydraulic cylinder accelerator rod front end
On device, six-dimension force sensor is collected into the contact force information passed over from rubbing head front end, by adjust servo proportion come
Control flows through the oil mass of pull rod hydraulic cylinder to control the stretching motion of pull rod, to change the contact force of rubbing head and workpiece；In conjunction with
The mode of ultrasonic vibration realizes being evenly distributed of contact traction, effectively reduces the contact force under equivalent material removal rate, to obtain
Obtain higher quality of finish.
2. the ultrasonic vibration as described in claim requires 1 assists active-passive composite flexible polishing method, it is characterised in that：Ultrasound
Vibration realizing mode is：The signal of a specific frequency is generated by supersonic generator, and is transmitted to ultrasonic transducer
In, the electrical power of input is converted into mechanical oscillation, i.e. ultrasonic wave by energy converter；The vibration is amplified by amplitude transformer again, luffing
The vibrations of bar are transmitted on the contact wheel in abrasive band, and the miscellaneous function for becoming elastic sand band and realizing ultrasonic vibration is driven by contact wheel.
3. ultrasonic vibration as claimed in claim 2 assists active-passive composite flexible polishing method, it is characterised in that：The change bullet
Property Flexible in, by the base material as abrasive material and binder supporting body, cloth base, non-woven fabrics or composite base material may be selected in base material,
Certain thickness elastic layer material is adhered in base by primer, sand is directly planted on elastic layer, selection is in change elasticity
Continue to bond one layer of base above the elastic layer in abrasive band, and then plants sand above base again.
4. ultrasonic vibration as claimed in claim 3 assists active-passive composite flexible polishing method, it is characterised in that：The change bullet
Property Flexible use closed type structure, by abrasive band driving wheel, spring roller mechanism, contact wheel, spring roller mechanism, driven
Wheel, oscillating cylinder control tensioning wheel complete the installation in abrasive band, during polishing, contact that abrasive band passes through abrasive band bar front end
Wheel support is contacted with workpiece, and realizes passive compliance function by elastic layer.
5. the ultrasonic vibration as described in one of Claims 1 to 4 assists active-passive composite flexible polishing method, it is characterised in that：
Polishing time-varying elastance abrasive band contacted with workpiece by the support of abrasive band bar front end contact wheel, the device under the drive of mechanical arm,
There is set space path planning；When being polished to different regions, the meeting that the size of contact force is difficult to avoid that is fluctuated, and
The fluctuation information of contact force can be installed in the acquisition of the six-dimension force sensor between narrow sliding block and pull rod；In pull rod cylinder telescopic rod
Front end is equipped with the rectangular plate of one piece of narrow slide plate, and the surrounding of narrow slide plate has a hole, on hole equipped with can allow guide rod by leader casing,
Several guide rods are arranged in the apparatus, to ensure that pull rod cylinder is output to the linearity of the movement of rectangular plate；In addition, close
The guide rod of bottom plate, using clearance fit, can allow narrow slide plate back and forth to be transported on guide rod together with leader casing with leader casing
It is dynamic, and the leader casing on the guide rod of top two is using the fixed connection of relative position, leader casing is together with narrow slide plate, guide rod one
Play movement, the guide rod of top realizes the movement of upper box by being fixedly connected with L-shaped connector；It is connect in real time by analysis
Deviation before touch and ideal value adjusts servo proportion to control the stream for flowing through the hydraulic cylinder of the pull rod on bottom plate
Amount, and then control the flexible of pull rod hydraulic cylinder accelerator rod.
6. ultrasonic vibration according to claim 5 assists active-passive composite flexible polishing method, it is characterised in that：On pedestal
It has been fixedly connected with mechanical arm, the path planning for the polishing of different piece surfaces is completed with mechanical arm；However it is advised completing path
It draws when being polished, due to the form and position of contact surface, real-time fluctuations can occur for contact force, however mechanical arm can not be according to contact
The variation of power makes real-time adjustment to polishing path, that is, can not achieve constant force polishing.
7. the active-passive composite flexible polishing method as described in one of Claims 1 to 4, it is characterised in that：The servo ratio
Valve is in electrohydraulic servo proportional valve, and hydraulic pressure draw-bar cylinder is bolted on bottom plate, and the oil inlet and outlet of hydraulic cylinder passes through oil pipe
It is connected on electrohydraulic servo proportional valve；Hydraulic cylinder accelerator rod front end is equipped with six-dimension force sensor, the contact force variation of acquisition
Information compares desired contact power, feedback result is inputted electrohydraulic servo proportional as electronic signals by passing to computer
Valve；Electrohydraulic servo proportional valve can convert the low power electric signal that transmission comes to the output of powerful hydraulic energy, realize
The extension and contraction control of pull rod.
8. a kind of burnishing device for realizing active-passive composite flexible polishing method as described in claim 1, it is characterised in that：Institute
It includes main passive smoothing mechanism, mechanical arm, rotary table and ultrasonic vibration accessory part to state burnishing device, and the master is passively soft
The motion end of mechanical arm is mounted on along mechanism, the mechanical arm is mounted on pedestal, the actuating station of the main passive smoothing mechanism
On the polishing station of the rotary table；
The main passive smoothing mechanism includes upper box, lower box and bottom plate, and pull rod hydraulic cylinder is fixedly mounted on bottom plate, pull rod
The telescopic rod of hydraulic cylinder is connect with six-dimension force sensor, and the other end of six-dimension force sensor is connected on narrow slide plate, narrow slide plate with
Guide rod on bottom plate is to be slidably connected, and narrow slide plate is to be fixedly connected with the guide rod of upper box, realizes that upper box and abrasive band bar are whole
Linear motion, flow through the oil mass of pull rod hydraulic cylinder to control by adjusting servo proportion and control the stretching motion of pull rod；
Upper box installation becomes resilient flexibility abrasive band, and the resilient flexibility abrasive band that becomes is by going to a grassroots level from bottom to top, elastic layer, middle base
Layer, abrasive grain layer are constituted；
The ultrasonic vibration accessory part includes supersonic generator, energy converter and ultrasonic variable amplitude bar, the ultrasonic variable amplitude
The end of bar is connected on the boss of upper box, and is had on rearward position in the middle part of the amplitude transformer and improved connective stability together
Boss, the boss of amplitude transformer is connected on upper box, and two boss are mutually parallel；The vibrations of amplitude transformer are transmitted to connecing for abrasive band
On wheel trolley, is driven by contact wheel and become elastic sand band realization ultrasonic vibration.
9. burnishing device as claimed in claim 8, it is characterised in that：The change resilient flexibility abrasive band is enclosed abrasive band, is passed through
The tensioning wheel that abrasive band driving wheel, spring roller mechanism, contact wheel, driven wheel, oscillating cylinder control completes the installation in abrasive band, described
Become elastic sand band by abrasive band driving wheel, driven wheel, tensioning wheel and mounted on abrasive band bar front end Grinding Contact wheel realize become bullet
The installation in property abrasive band, and being bonded for the change elastic sand band and abrasive band bar is realized by spring roller mechanism, use rotary swinging air cylinder
To complete the tensioning in abrasive band；In abrasive band, there is a section groove at the edge of bar, and the gear fork of cooperation spring roller mechanism, gear fork is in abrasive band bar
Groove in prevent abrasive band from lateral sliding occurring in process.
10. burnishing device as claimed in claim 8 or 9, it is characterised in that：In the front end of pull rod cylinder telescopic rod equipped with one piece narrow
The rectangular plate of slide plate, the surrounding of narrow slide plate have a hole, on hole equipped with can allow guide rod by leader casing, the cloth in the narrow slide plate
Guide rod is set to ensure that pull rod cylinder is output to the linearity of the movement of rectangular plate；In addition, the guide rod close to bottom plate is adopted with leader casing
It is clearance fit, narrow slide plate can be allowed to be moved back and forth on guide rod together with leader casing, and on the guide rod of top two
Leader casing is moved using the fixed connection of relative position, leader casing together with narrow slide plate, guide rod, and the guide rod of top passes through
It is fixedly connected with L-shaped connector, realizes the movement of upper box.
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| CN201810280983.7A CN108608262B (en) | 2018-04-02 | 2018-04-02 | Ultrasonic vibration assisted active and passive composite flexible polishing method and device |
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| CN201810280983.7A CN108608262B (en) | 2018-04-02 | 2018-04-02 | Ultrasonic vibration assisted active and passive composite flexible polishing method and device |
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| CN117381607A (en) * | 2023-12-11 | 2024-01-12 | 长沙市云川机械有限公司 | Polishing device for machining mechanical parts |
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| CN117381607B (en) * | 2023-12-11 | 2024-02-23 | 长沙市云川机械有限公司 | Polishing device for machining mechanical parts |
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