CN109807734B - Automatic polishing machine - Google Patents
Automatic polishing machine Download PDFInfo
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- CN109807734B CN109807734B CN201910205982.0A CN201910205982A CN109807734B CN 109807734 B CN109807734 B CN 109807734B CN 201910205982 A CN201910205982 A CN 201910205982A CN 109807734 B CN109807734 B CN 109807734B
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- 238000005498 polishing Methods 0.000 title claims abstract description 181
- 230000003287 optical effect Effects 0.000 claims description 12
- 238000007517 polishing process Methods 0.000 abstract description 5
- 238000005299 abrasion Methods 0.000 abstract description 2
- 230000001960 triggered effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 239000003082 abrasive agent Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Abstract
The invention provides an automatic polishing machine, which comprises a polishing device, a manipulator and a polishing force control device, wherein the force control device comprises a machine base, a shaft is arranged between the front side wall and the rear side wall of the machine base, the left side wall and the right side wall are different in height, a bearing seat capable of rotating along the circumferential direction of the shaft is connected in a shaft sleeve mode, the top surface of the bearing seat is leveled with the top surface of the left side wall or the right side wall on the higher side of the machine base, a sensor is fixed on the inner side of the upper portion of the right side wall or the left side wall on the lower side of the machine base, a workbench is covered on the top surface of the machine base, the workbench is supported by the bearing seat and the right side wall or the left side wall on the higher side of the machine base, a vertical sensor sensing plate is fixed on the back surface of the suspended side of the workbench, and a fixing seat capable of clamping a workpiece is arranged on the top surface, and the sensor can be triggered when the workbench rotates in place. The automatic polishing machine disclosed by the invention has a simple and reasonable structure, and well solves the problem that the pushing force of the mechanical arm cannot be adjusted in time due to rapid abrasion of the polishing wheel or the polishing wheel in the polishing process.
Description
Technical Field
The invention relates to the field of grinding and polishing, in particular to equipment for processing the surface of a workpiece by utilizing a grinding wheel or a polishing wheel, and more particularly relates to an automatic grinding and polishing machine with controllable force between the grinding wheel or the polishing wheel and the workpiece.
Background
Sanding and polishing are an important process in industrial processing. Polishing refers to a machining process of using a machine to increase the roughness of the surface of a workpiece to obtain a pattern or to remove burrs on the surface of the workpiece, and polishing refers to a machining process of using a machine to decrease the roughness of the surface of the workpiece to obtain a bright, flat surface; the polishing and burnishing apparatuses are basically the same, except that the polishing is performed by contacting the workpiece surface with a grinding wheel and the burnishing is performed by contacting the workpiece surface with a burnishing wheel, and they are pressed against the workpiece by using a grinding wheel or a burnishing wheel rotating at a high speed, and rolling and micro-cutting are performed on the workpiece surface by an abrasive material on the grinding wheel or the burnishing wheel surface, thereby obtaining a carved, burr-removed or bright working surface. The existing polishing production mainly uses manual operation, the labor intensity of manual operation polishing is high, the working efficiency is low, and because dust generated in the polishing process can cause great harm to the body of workers, a polishing workstation and a polishing robot are adopted to replace manual polishing, which are items being explored, developed and advanced by technicians in the field in recent years, but the item cannot be completely broken through at present, because polishing ensures polishing effect by the strength of contact between a workpiece and a polishing wheel or polishing wheel, the polishing wheel or polishing wheel wears fast in the polishing process, the strength of contact with the workpiece is changed irregularly, and the data of the force sensor is difficult to process and use because of frequent collision vibration between the polishing wheel or polishing wheel and the workpiece in the polishing process.
Disclosure of Invention
In order to solve the problems, the invention aims to provide an automatic polishing machine, which can timely feed back the pressure between a workpiece and a polishing wheel or a polishing wheel to a mechanical arm, so that the mechanical arm can timely adjust the propelling force, and a stable binding force is obtained between the workpiece and the polishing wheel or the polishing wheel.
In order to achieve the above purpose, the automatic polishing machine of the invention comprises a polishing device and a manipulator, and is characterized in that: the automatic polishing machine further comprises a polishing force control device, the force control device comprises a machine base, the machine base comprises a front side wall, a rear side wall, a left side wall and a right side wall, the front side wall and the rear side wall are equal in height, one side wall of the left side wall and the right side wall is slightly higher than the front side wall and the rear side wall, the other side wall of the left side wall and the right side wall is slightly lower than the front side wall and the rear side wall, a shaft is arranged between the front side wall and the rear side wall of the machine base, two ends of the shaft are respectively arranged at the middle position of the upper parts of the front side wall and the rear side wall, a bearing seat is connected in a shaft sleeve in the machine base, a ball bearing is arranged in the bearing seat, the bearing seat can rotate along the circumferential direction of the shaft, the top surface of the bearing seat is level with the top surface of the left side wall or the right side wall of the machine base, a sensor is fixed on the inner side of the upper part of the left side wall or the left side wall of the machine base, a workbench is covered with a workbench, the workbench is supported by the bearing seat and the left side wall or the left side wall of the machine base is slightly higher than the front side of the front side wall or the right side wall of the left side wall, the workbench is suspended on the right side of the left side of the workbench is fixed on the left side of the left side wall or the left side of the workbench is suspended side of the left side wall of the workbench, and the workbench is fixed on the left side of the workbench; the manipulator is positioned on the outer side of the right side wall or the left side wall of the lower side of the machine base of the force control device.
Preferably, the polishing force adjusting device comprises a force balance block, a screw rod capable of enabling the balance block to transversely move, two optical axes for guiding and bearing the balance block, a motor for driving the screw rod to rotate, a fixing screw rod and a supporting seat of the optical axes, wherein the bottom part of the supporting seat is contacted with the top surface of the workbench, and the supporting seat is partially suspended.
Preferably, the polishing force adjusting device comprises a spring, an upper supporting seat and a lower supporting seat, a screw rod positioned between the upper supporting seat and the lower supporting seat, optical axes positioned at two sides of the screw rod, a movable seat capable of moving up and down along the optical axes and a motor for driving the screw rod to rotate, wherein the motor is fixed on the top surface of the upper supporting seat; the polishing force adjusting device is located on the outer side of the left side wall or the right side wall of the machine base, one end of the spring is fixed on the side face of the workbench, and the other end of the spring is fixed on the movable base.
Preferably, the manipulator comprises a machine base and an arm rotationally connected with the machine base, the polishing device comprises a polishing wheel or a polishing wheel and a support for fixing the polishing wheel or the polishing wheel, and the manipulator comprises the machine base and the arm rotationally connected with the machine base.
Preferably, the polishing device is fixed on the top surface of the suspended side of the workbench of the polishing force control device, and the axial direction of the polishing wheel or polishing wheel of the polishing device is in the same direction as the axial direction of the force control device; the end of the mechanical arm clamps the workpiece and enables the workpiece to be positioned right above the polishing wheel or polishing wheel.
Preferably, the fixing seat capable of clamping the workpiece is fixed on the top surface of the suspended side of the workbench of the polishing force control device; the tail end of the mechanical arm clamps the support of the polishing device, and the polishing wheel or the polishing wheel is positioned right above the fixing seat, and the axial direction of the polishing wheel or the polishing wheel is perpendicular to the axial direction of the polishing force control device.
In order to make the workbench more stable in the rotation process, preferably, the shaft on the machine base of the force control device passes through the front side wall and the rear side wall of the machine base and is fixed on the front side wall and the rear side wall of the machine base through nuts positioned outside the machine base, and two bearing seats are respectively arranged on the inner sides of the front side wall and the rear side wall of the machine base.
In order to enable the workbench to be better matched with the machine base in the rotating process, preferably, the bottom surface of the workbench of the force control device is provided with a vertical side edge.
In order to make the top surface of the stand better support the workbench, preferably, the top surfaces of the left and right side walls of the stand of the force control device are inwardly extended with transverse edges.
In order to prevent damage caused by hard collision of the workbench with the side wall top surface of the machine base and the top surface of the bearing seat in the working process, preferably, the left side wall or the right side wall top surface of the machine base of the force control device and the top surface of the bearing seat are provided with shockproof gaskets.
In the present invention, the polishing machine is a generic term of a polisher and a polishing machine, and is a polisher when a polishing wheel is used to contact a workpiece, and is a polishing machine when a polishing wheel is used to contact a workpiece.
According to the automatic polishing machine, a force control device is arranged between the polishing wheel or polishing wheel and the workpiece, the left side wall and the right side wall of the machine seat of the force control device are not equal in height, a rotatable bearing seat is arranged between the front side wall and the rear side wall of the machine seat, a workbench with the bottom surface in contact with the bearing seat can incline to the lower left side wall or the right side wall of the machine seat under the action of vertical thrust, the workpiece is placed on the top surface of the suspended side of the workbench, the polishing wheel or the polishing wheel is placed above the workpiece, or the polishing device is placed on the top surface of the suspended side of the workbench, the workpiece is placed above the polishing wheel or the polishing wheel, when a mechanical arm clamps the polishing wheel or the polishing wheel to push and touch the workpiece, or the polishing wheel or the workpiece to push and touch the polishing wheel, the workbench inclines, a sensor sensing plate on the back of the workbench can trigger a pressure sensor on the inner side of the upper side of the right side wall or the left side wall of the machine seat, the sensor timely sends a signal to the mechanical arm, and at the moment, a stable gravity force component is obtained between the workpiece and the polishing wheel or the polishing wheel is adjusted, and the force component is tightly attached to the workpiece through the force component, and the force is adjusted, and the force is best polished between the polishing components. The automatic polishing machine has a simple and reasonable structure, well solves the problem that the pushing force of the mechanical arm cannot be adjusted in time due to rapid abrasion of the polishing wheel or the polishing wheel in the polishing process, and enables the technology of replacing manual polishing by using a polishing workstation and a polishing robot to be popularized and applied.
Drawings
FIG. 1 is a schematic view of the structure of the automatic polishing machine of the present invention.
Fig. 2 is a schematic diagram of the front structure of the force control device of the automatic polishing machine.
Fig. 3 is a schematic structural view of one side of the force control device.
Fig. 4 is a schematic structural view of another automatic polishing machine according to the present invention.
Fig. 5 is a reference view showing an operation state of the automatic polishing machine of fig. 1 when polishing.
Fig. 6 is a reference view showing an operation state of the automatic polishing machine of fig. 5 when polishing.
Fig. 7 is another structural schematic diagram of the force adjustment assembly.
FIG. 8 is a schematic view of the force adjustment assembly of FIG. 7 secured to a side of a table.
As shown in fig. 1, 2 and 3, the automatic grinding and polishing machine of the present invention comprises a force control device 10, a grinding and polishing device 20, a manipulator 30 and a force adjusting device 40;
the force control device comprises a machine base, the machine base is of a horn-shaped structure, the bottom of the machine base extends outwards to form a horizontal side edge, the machine base comprises a front side wall 101, a rear side wall 102, a left side wall 103 and a right side wall 104, the front side wall and the rear side wall are equal in height, the left side wall is slightly lower than the front side wall and the rear side wall, the right side wall is slightly higher than the front side wall and the rear side wall, the height difference between the left side wall and the right side wall is about 5-20mm, a shaft 105 is arranged between the front side wall and the rear side wall of the machine base, the shaft penetrates through the front side wall and the rear side wall of the machine base and is fixed at the middle position of the upper part of the front side wall and the rear side wall of the machine base through a nut 106 positioned outside the machine base, bearing blocks 107 are sleeved at two ends of the shaft positioned in the machine base, ball bearings 108 are arranged in the bearing blocks, and the bearing blocks can rotate along the circumferential direction of the shaft, the top surface of the bearing seat is leveled with the top surface of the left side wall, the top surfaces of the left side wall and the right side wall of the machine seat extend inwards to form a transverse edge 109, gaskets 110 are respectively fixed on the top surfaces of the bearing seat and the transverse edges of the left side wall and the right side wall, a pressure sensor 111 is fixed on the inner side of the upper part of the right side wall of the machine seat, a workbench 112 is covered on the top surface of the machine seat, the workbench is supported by the bearing seat and the right side wall, one side of the workbench, which is close to the left side wall, is suspended, a vertical side edge 113 is arranged on the bottom surface of the workbench, a vertical sensor sensing plate 114 is fixed on the back surface of one suspended side of the workbench, and can trigger the sensor and enable the sensor to send a signal when the workbench rotates in place;
the grinding and polishing device comprises a grinding wheel or polishing wheel 201 and a support 202 for fixing the grinding wheel or polishing wheel;
the manipulator comprises a base 301 and an arm 302, and the tail end of the arm can clamp a support of the grinding and polishing device;
the force adjusting device comprises a force balance block 401, a screw rod 402 capable of enabling the balance block to transversely move, two optical axes 403 playing a role in guiding and bearing the balance block, a motor 404 driving the screw rod to rotate, a support seat 405 fixing the screw rod and the cross rod, wherein the balance block penetrates through the screw rod and the optical axes, and the motor is fixed on the outer side wall of the support seat;
the top surface of the unsettled one side of workstation of dynamics controlling means is provided with the fixing base 502 that can centre gripping work piece 501, and the manipulator is located the outside of dynamics controlling means left wall, and the support of the terminal centre gripping burnishing and polishing device of arm of manipulator to make burnishing wheel or throwing aureola be located the polishing work piece fixing base directly over and the axial of burnishing wheel or throwing aureola be perpendicular with the axle of frame, dynamics adjusting device is located the workstation of work piece fixing base opposite side and the bottom surface part of its supporting seat is fixed in on the workstation, partly unsettled.
FIG. 4 shows another automatic polishing machine of the present invention, wherein a polishing device is fixed on the top surface of one side of a work table of a force control device, the end of an arm of a manipulator clamps a workpiece and enables the workpiece to be positioned right above a polishing wheel or polishing wheel of the polishing device, the axial direction of the polishing wheel or polishing wheel is in the same direction as the axial direction of a machine base, the force control device is positioned on the work table on the opposite side of the work table fixed seat, and the bottom surface part of a supporting seat of the force control device is fixed on the work table and is partially suspended.
When the automatic polishing machine is used, as shown in fig. 5, after a workpiece is positioned and fixed on a fixed seat, polishing starts, a mechanical arm clamps a polishing wheel or a polishing wheel to do polishing action, one side of the polishing wheel or the polishing wheel vertically pushes the workpiece until the workpiece is touched, a workbench with an impetus control device rotates anticlockwise around a shaft after the workpiece is collided, a sensor sensing plate rotating to the back of the workbench triggers a sensor on the inner side of the left side wall of a machine seat, the sensor sends a signal to the mechanical arm, the mechanical arm stops pushing the workpiece in the direction, only the polishing action is performed, the force supported by the right side wall of the machine seat is replaced by the polishing wheel or the polishing wheel, a stable binding force is obtained between the polishing workpiece and the polishing wheel or the polishing wheel, the force can be adjusted at any time, namely, the balance block of the force adjusting device is moved leftwards or rightwards by adjusting the force, when the balance block is moved leftwards, the balance block can be kept balanced only by applying small force, and conversely, the mechanical arm can keep the balance by applying large force when the balance block is moved rightwards, and the balance block can keep the balance between the balance block and the polishing wheel through the balance block and the polishing wheel.
When the automatic polishing machine is used, as shown in fig. 6, a mechanical arm clamps a workpiece to perform polishing action on one hand and vertically pushes the polishing wheel or the polishing wheel of the polishing device until the polishing wheel or the polishing wheel is touched, a workbench with an impetus control device rotates anticlockwise around a shaft after collision, a sensor sensing plate at the back of the workbench triggers a sensor at the inner side of the left side wall of the machine seat, the sensor sends a signal to the mechanical arm, the mechanical arm stops pushing in the direction of the polishing wheel or the polishing wheel, only performs polishing action, the force supported by the right side wall of the machine seat is replaced by the polishing wheel or the polishing wheel, a stable binding force is obtained between the polishing workpiece and the polishing wheel or the polishing wheel, and the binding force can be timely adjusted by leftwards or rightwards moving a balance block of the adjusting force adjusting device.
Fig. 7 shows another structure 60 of the force adjusting device, which comprises a spring 601, an upper supporting seat 602 and a lower supporting seat 603, a screw 604 positioned between the upper supporting seat and the lower supporting seat, an optical axis 605 positioned at two sides of the screw, a moving seat 606 capable of moving up and down along the optical axis and a motor 607 for driving the screw to rotate, wherein the motor is fixed on the top surface of the upper supporting seat, the right side wall of the machine base is a side wall perpendicular to the horizontal plane, the upper supporting seat and the lower supporting seat of the force adjusting component are tightly attached to the right side wall of the machine base, one end of the spring is fixed on the moving seat through a lower positioning nail 608, and the other end of the spring is fixed on the outer side of the vertical side edge of the workbench through an upper positioning nail 609. When the polishing machine is used, the motor drives the screw rod to enable the movable seat to move up and down, so that the force of the spring is tensioned or relaxed, and further, vertical tension is applied to the workbench on the right side of the polishing force control device, and therefore the binding force between a workpiece and a polishing wheel or between the workpiece and the polishing wheel can be adjusted through the tightness of the spring, and the best polishing effect can be obtained.
The above is only a specific description of two embodiments of the automatic polishing machine, but these embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications, such as changes in the structure or position of the polishing device, the manipulator or the force adjusting device, without departing from the technical solution of the present invention should be included in the scope of the present invention.
Claims (9)
1. The utility model provides an automatic burnishing and polishing machine, includes burnishing and polishing device and manipulator, its characterized in that: the automatic polishing machine further comprises a polishing force control device, the force control device comprises a machine base, the machine base comprises a front side wall, a rear side wall, a left side wall and a right side wall, the front side wall and the rear side wall are equal in height, one side wall of the left side wall and the right side wall is slightly higher than the front side wall and the rear side wall, the other side wall of the left side wall and the right side wall is slightly lower than the front side wall and the rear side wall, a shaft is arranged between the front side wall and the rear side wall of the machine base, two ends of the shaft are respectively arranged at the middle position of the upper parts of the front side wall and the rear side wall, a bearing seat is connected in a shaft sleeve in the machine base, a ball bearing is arranged in the bearing seat, the bearing seat can rotate along the circumferential direction of the shaft, the top surface of the bearing seat is level with the top surface of the left side wall or the right side wall of the machine base, a sensor is fixed on the inner side of the upper part of the left side wall or the left side wall of the machine base, a workbench is covered with a workbench, the workbench is supported by the bearing seat and the left side wall or the left side wall of the machine base is suspended, the workbench is suspended on the left side of the left side wall or the left side wall of the workbench is suspended, the workbench is fixed on the left side of the workbench, and the workbench is fixed on the side of the upper polishing device; the manipulator is positioned on the outer side of the right side wall or the left side wall of the lower side of the machine base of the force control device; the polishing force adjusting device comprises a force balance block, a screw rod capable of enabling the balance block to transversely move, two optical axes for guiding and bearing the balance block, a motor for driving the screw rod to rotate, a support seat for fixing the screw rod and the optical axes, and the bottom surface of the support seat is partially contacted with the top surface of the workbench and is partially suspended.
2. The utility model provides an automatic burnishing and polishing machine, includes burnishing and polishing device and manipulator, its characterized in that: the automatic polishing machine also comprises a polishing force control device, the force control device comprises a machine base, the machine base comprises a front side wall, a rear side wall, a left side wall and a right side wall, the front side wall and the rear side wall are equal in height, one side wall of the left side wall and the right side wall is slightly higher than the front side wall and the rear side wall, the other side wall of the left side wall and the right side wall is slightly lower than the front side wall and the rear side wall, a shaft is arranged between the front side wall and the rear side wall of the machine base, two ends of the shaft are respectively arranged at the middle position of the upper parts of the front side wall and the rear side wall, a bearing seat is connected in a shaft sleeve in the machine base, a ball bearing is arranged in the bearing seat, the bearing seat can rotate along the circumferential direction of the shaft, the top surface of the bearing seat is level with the top surface of the left side wall or the right side wall of the machine base, a sensor is fixed on the inner side of the upper part of the left side wall or the left side wall of the machine base, a workbench is covered with a workbench, the workbench is supported by the bearing seat and the left side wall or the left side wall of the machine base, the workbench is suspended on the left side of the left side wall or the left side wall of the workbench is suspended, the workbench is fixed on the left side of the workbench, or the workbench is fixed on the side of the workbench; the manipulator is positioned on the outer side of the right side wall or the left side wall of the lower side of the machine base of the force control device; the polishing force adjusting device comprises a spring, an upper supporting seat and a lower supporting seat, a screw rod positioned between the upper supporting seat and the lower supporting seat, optical axes positioned at two sides of the screw rod, a movable seat capable of moving up and down along the optical axes and a motor for driving the screw rod to rotate.
3. The automatic grinding and polishing machine according to claim 1 or 2, characterized in that: the manipulator comprises a machine base and an arm rotationally connected with the machine base; the grinding and polishing device comprises a grinding wheel or a polishing wheel and a support for fixing the grinding wheel or the polishing wheel.
4. The automatic grinding and polishing machine according to claim 3, wherein: the polishing device is fixed on the top surface of the suspended side of the workbench of the polishing force control device, and the axial direction of a polishing wheel or polishing wheel of the polishing device is in the same direction as the axial direction of the force control device; the end of the mechanical arm clamps the workpiece and enables the workpiece to be positioned right above the polishing wheel or polishing wheel.
5. The automatic grinding and polishing machine according to claim 3, wherein: the fixing seat capable of clamping the workpiece is fixed on the top surface of the suspended side of the workbench of the polishing force control device; the tail end of the mechanical arm clamps the support of the polishing device, and the polishing wheel or the polishing wheel is positioned right above the fixing seat, and the axial direction of the polishing wheel or the polishing wheel is perpendicular to the axial direction of the polishing force control device.
6. The automatic grinding and polishing machine according to claim 4 or 5, wherein: the shaft on the machine base of the force control device penetrates through the front side wall and the rear side wall of the machine base and is fixed on the front side wall and the rear side wall of the machine base through nuts positioned outside the machine base, and two bearing seats are respectively arranged on the inner sides of the front side wall and the rear side wall of the machine base.
7. The automatic grinding and polishing machine according to claim 6, wherein: the bottom surface of the workbench of the force control device is provided with vertical side edges.
8. The automatic grinding and polishing machine according to claim 7, wherein: the top surfaces of the left side wall and the right side wall of the machine base of the force control device are inwards extended to form transverse edges.
9. The automatic grinding and polishing machine as set forth in claim 8 wherein: the top surfaces of the left side wall or the right side wall which is higher than the base of the force control device and the top surface of the bearing seat are respectively provided with a shockproof gasket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910205982.0A CN109807734B (en) | 2019-03-19 | 2019-03-19 | Automatic polishing machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910205982.0A CN109807734B (en) | 2019-03-19 | 2019-03-19 | Automatic polishing machine |
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| Publication Number | Publication Date |
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| CN109807734A CN109807734A (en) | 2019-05-28 |
| CN109807734B true CN109807734B (en) | 2024-02-23 |
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| CN201910205982.0A Active CN109807734B (en) | 2019-03-19 | 2019-03-19 | Automatic polishing machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115179144A (en) * | 2022-07-20 | 2022-10-14 | 浙江智源阀门科技有限公司 | Valve rod self-adaptation equipment of polishing |
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