CN110065013A - A kind of precision metallic grinding wheel grinding tool strikes off technique automatically - Google Patents
A kind of precision metallic grinding wheel grinding tool strikes off technique automatically Download PDFInfo
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- CN110065013A CN110065013A CN201910310462.6A CN201910310462A CN110065013A CN 110065013 A CN110065013 A CN 110065013A CN 201910310462 A CN201910310462 A CN 201910310462A CN 110065013 A CN110065013 A CN 110065013A
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- scraper
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- circulation action
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
- B24D18/00—Manufacture of grinding tools or other grinding devices, e.g. wheels, not otherwise provided for
- B24D18/0009—Manufacture of grinding tools or other grinding devices, e.g. wheels, not otherwise provided for using moulds or presses
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Abstract
The present invention provides a kind of precision metallic grinding wheel grinding tool and strikes off technique automatically, striking off technique includes booth material technique and scraper technique, booth material technique is that mixed material is passed through booth material scraper up and down motion and left-right collision movement, auxiliary mould assembly rotary motion itself is evenly distributed so that mixed material Multiple components uniformly mix and can tentatively reach in each position mass body product of circumference；Scraper technique be will have already passed through booth material technological operation material moved up and down by scraper scraper, movement is rebuffed in left and right and lateral be rebuffed rolls movement etc., auxiliary mould assembly rotary motion itself, so that mixed material is compacted puffy material by scraper scraper, and without material sticks on inner core, outer ring and scraper scraper.The present invention carries out booth material and scraper technological operation to the raw metal in metal wheel preparation process, and artificial experience is parameterized, effective process flow is provided, and is capable of providing technical support in the old and new employee's handover, technical staff is effectively reduced and enters gate threshold.
Description
Technical field
The invention belongs to grinding wheel preparation technical fields, and in particular to a kind of precision metallic grinding wheel grinding tool strikes off technique automatically.
Background technique
Metal wheel is the high hard brittle material special effects tools such as Pattern In Grinding Cemented Carbide, glass, ceramics, jewel.In recent years, with
The rapid development of high-speed grinding superfine grinding technology, requirements at the higher level are proposed to grinding wheel, ceramic resin binding agent sand wheel is
Production needs are not able to satisfy, metal bonded wheel is due to the significant properties such as its bond strength height, good moldability, long service life
It is widely applied production.
Sintering type metal binding agent sand wheel in metal wheel uses high-temperature sintering process mostly using metals such as bronze as bonding agent
Manufacture, bond strength is high, and good moldability, high temperature resistant, thermal conductivity wearability is good, long service life, can bear larger load.
Sintering type metal binding agent sand wheel forming manufacturing technology includes: mixing-compression moulding-hot pressed sintering-mill at present
Cut processing-detection packaging etc..Wherein compression moulding technique is the critical process of production and processing, generallys use cooling formation technic,
Forming quality will directly affect the quality of final products.The booth material in compression moulding technique and scraper technique are in high degree at present
On affect the quality of press-formed product.
The booth material in compression moulding technique and scraper technique are both needed to using manually being operated, wherein booth material and scraper at present
Operation shares same rotating platform, and rotating platform speed is controlled by manual operation foot pedal, and metal powder is placed in mould group
In assembly, mould group assembly is placed in rotating platform and is rotated, and is operated in the material of booth using simple booth material scraper,
It is operated in scraper using scraper.Booth material and scraper operational process of craft are more uninteresting cumbersome at present, excessively need people
Be experience as technical support, when be commonly present emergency situations and need to handle, there are technical barriers when the old and new employee joins, and do not have at present
There is parametrization process flow, artificial booth material and scraper efficiency are lower, need to put into a large amount of manpowers and participate in, this process directly affects whole
A manufacturing schedule.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems of the prior art, provide a kind of precision metallic grinding wheel grinding tool
Automatically technique is struck off.
To achieve the above object, the present invention adopts the following technical scheme: a kind of precision metallic grinding wheel grinding tool strikes off work automatically
Skill, comprising the following steps:
(1) robot body, robot control volume, force sensor, rotating platform stepper motor and step motor control are connected
The power supply of device；
(2) gas source of air spider is connected；
(3) air spider is ventilated, and the clamping jaw of chuck end opens, and mold assemblies is put into air spider, mold assemblies
Inside it is placed with equally distributed material；
(4) clamping jaw of air spider reverse ventilation, chuck end is shunk, clamping mold assembly；
(5) the driver control rotating platform rotation of stepper motor；
(6) robot end's scraper fast approaching mold assemblies, robot end's scraper are quickly moved to from initial zero position
H1 height above the initial point of scraper；
(7) robot end's scraper descending at slow speed is to initial teaching point；
(8) robot end's scraper successively executes point midway residence time △ T1, is moved to contact outer wall and force value is made to be F1
And retention time △ T2, it is subsequently moved to contact inner wall and force value is made to be F2 and retention time △ T2, and then by inner wall position
Point midway residence time △ T3 is returned to, then begins to decline height H from point midwayUnder, this section of robot end's scraper is successively
Execution movement can be considered " stop-touching the middle position decline in position-in outer wall-touching inner wall-return in middle position ", and following dynamic
It can be executed repeatedly in work, can be considered " the decline circulation action " of end scraper；Holding force value herein is that force sensor is real-time
Data measured, and float in certain allowed band, outer wall is contacted herein or inner wall movement is then surveyed by force sensor in real time
It obtains force value and then guided robot ontology executes corresponding sports；
(9) during decline, " decline circulation action " can be carried out always, until end scraper is run to vertical direction setting
Minimum point, herein falling head HUnderWith a variety of different parameters numerical value, and height HUnderNumerical value can be secondary with " decline circulation action "
Number increases and reduces, set " decline to circulation action " number as 4N times, and N is natural number herein, the 1st time to n-th when decline
Height △ H, falling head △ H/2, the falling head △ H/4 at the 3N times to the 4N times when n-th is to the 3N times, herein
△ H is fixed value；
(10) robot end's scraper successively executes point midway residence time △ T1, is moved to contact outer wall and force value is made to be F1
And retention time △ T2, it is subsequently moved to contact inner wall and force value is made to be F2 and retention time △ T2, and then by inner wall position
Point midway residence time △ T3 is returned to, then from point midway lifting height HOn, this section of robot end's scraper successively execute
Movement can be considered " stop-touch the middle position in position-in outer wall-touching inner wall-return and rise in middle position ", and in vertical motion
It can execute repeatedly, can be considered " the rising circulation action " of end scraper；Holding force value herein is that force sensor measures in real time
Data, and float in certain allowed band, outer wall is contacted herein or inner wall movement then measures power by force sensor in real time
Value and then guided robot ontology execution corresponding sports；
(11) in uphill process, " rising circulation action " can be carried out always, until end scraper is run to initial teaching point；
Lifting height H hereinOnWith a variety of different parameters numerical value, and height HOnNumerical value can increase with " rise circulation action " number and
Reduce, number sets " rising circulation action " number as 4N times, and N is natural number, the lifting height when arriving n-th the 1st time herein
△ H, lifting height △ H/2, the lifting height △ H/4 at the 3N times to the 4N times when n-th is to the 3N times, herein △ H
For fixed value；
(12) scraper end in end is left and has scraped material at this time, is then promoted to initial teaching point at a slow speed by initial teaching point
Top H1 height；
(13) robot returning quickly, robot end's scraper quickly move to initial zero from H1 height above initial teaching point
Site；
(14) rotating platform slowly slows down until stopping completely；
(15) air spider is ventilated, and chuck end jaw is opened, and takes out mold assemblies；
(16) striking off process flow at this time terminates, and waits and enters next circulation operation.
The air spider uses rotary air spider, is uniformly arranged that there are three clamping jaw, chuck jaws on air spider
Can radial concentric movement make workpiece self-centering.
Initial teaching point described in step (7) is located in mold assemblies lower pressure ring inside and outside wall middle position, and vertical
In lower pressure ring end face, and scraper is by pushing ring axis.
Step (8-11) is " decline circulation action " and " rising circulation action " and descending depth and lifting height are retouched
State, end scraper is moved from initial teaching point until return to initial teaching point, execute 4N time " declining circulation action " up to
It is vertically lowered minimum point, executes 2N times " rising circulation action " lifting height 3*N* △ H/2 in total from minimum point is vertically lowered,
Then execute 2N time " decline circulation action " until being vertically lowered minimum point, finally by be vertically lowered minimum point execution 4N times " on
Rise circulation action " return to initial scraper teaching point；Raising and lowering movement can be executed once, can also be performed a plurality of times, and be executed secondary
Number needs to be adjusted according to material attribute and mold situation.
During scraper, is executed in step (11) last time and execute 4N " rising circulation by being vertically lowered minimum point
During movement " returns to initial teaching point, need to add the movement that outer wall is touched in multiple scraper rotation；Specific movement, which executes, retouches
State as follows: scraper carries out rotation M degree after vertical rise, with the vertical center of end scraper, so that scraper front deposit
Material is moved towards outer wall direction, and after rotating M degree, scraper is moved horizontally so that outer wall is touched in scraper side, and needs to keep
The time of △ T2 is then moved horizontally in the middle part of inside and outside wall and returns to original middle position point by rotation M degree；The rotation of this scraper
The movement for touching outer wall is executed in last time returns to initial scraper by being vertically lowered minimum point execution 4N times " rising circulation action "
During teaching point, 2N times before " rising circulation action ", executed at interval of 2 times " rising circulation action " primary.
A kind of precision metallic grinding wheel grinding tool is provided the beneficial effects of the present invention are: the present invention and strikes off technique automatically, to gold
Belonging to the raw metal in grinding wheel preparation process and carries out booth material and scraper technological operation, the present invention parameterizes artificial experience,
It is capable of providing effective process flow, is capable of providing technical support in the old and new employee's handover, technical staff's introduction door is effectively reduced
Sill, and can be realized efficient operation by scraping device, while can guarantee product quality consistency, Neng Gouji
It is big to reduce employee's labour working strength.
Detailed description of the invention
Fig. 1 is scraping device structural schematic diagram of the invention.
Fig. 2 is doctor assemblies structural schematic diagram.
Fig. 3 is the cross section structure schematic diagram of doctor assemblies.
Fig. 4 is the structural schematic diagram of pinboard.
Fig. 5 is the structural schematic diagram of scraper pressing plate.
Fig. 6 is the structural schematic diagram of booth material scraper.
Fig. 7 is the structural schematic diagram of scraper scraper.
Fig. 8 is mold position rotating system structure diagram.
Fig. 9 is the structural schematic diagram of positioning chuck.
Figure 10 is the structural schematic diagram for positioning gripping finger.
Figure 11 is the structural schematic diagram of mold assemblies.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and specific embodiments.
As shown in figs. 1-11, the present invention provides a kind of automatic scraping device of precision metallic grinding wheel grinding tool, including robot is scraped
Knife system and mold position rotating system, the robot doctor blade system include robot body 1, are provided in robot base
Multi-section active arm 2,2 end of Multi-section active arm are provided with force sensor 3, and 3 bottom of force sensor is provided with doctor assemblies, mould
Having position rotating system includes rotating platform 5, and positioning device 6 is provided on rotating platform 5, is placed with mold in positioning device 6
Assembly 7.
Doctor assemblies include tool changing component 4 and scraper 8, and tool changing component 4 includes pinboard 9 and scraper pressing plate 10, pinboard 9
Upper surface is provided centrally with positioning convex platform 11, and pinboard 9 is fixedly connected on power by hexagon socket head cap screw and positioning convex platform 11 and feels biography
On sensor 3,9 bottom of pinboard is fixed with scraper mounting base 12, and scraper mounting groove 13 is provided on scraper mounting base 12, is scraped
The setting of 10 bottom sides of knife pressing plate is used for fixed doctor 8 there are two fixed block 14, on scraper pressing plate 10 and scraper mounting base 12
It is provided with location hole, scraper 8 is mounted in scraper mounting groove 13, and fixed by the fixed block 14 of 10 bottom of scraper pressing plate
Afterwards, scraper pressing plate 10 and scraper mounting base 12 are fixed together by hexagon socket head cap screw.
Scraper 8 includes booth material scraper and scraper scraper, and booth material scraper bottom is set as comb teeth-shaped scraper, scraper scraper bottom
It is set as flat scraper.When replacing scraper, it is only necessary to which two hexagon socket head cap screws for unscrewing scraper pressing plate enable scraper to lead to
Scraper pressing plate bottom fixed block is crossed, scraper is extracted at this time, is subsequently inserted into required scraper, tighten bolt using allen wrench, is led to
It crosses compression scraper lower end surface and front and then completes location and installation.
Pinboard 9 uses flange pinboard, and force sensor 3 uses six axis force sensors.
Positioning device 6 includes positioning chuck 15, and positioning gripping finger 16 is equipped on positioning chuck 15, and mold assemblies 7 are placed
In positioning gripping finger 16.
Positioning chuck 15 uses rotary air spider, is uniformly arranged three clamping jaws 17 on positioning chuck 15, clamping jaw 17 can
Radial concentric is mobile to make workpiece self-centering, positions there are three gripping fingers 16, positions and is provided with bolt hole, each positioning in gripping finger 16
Gripping finger 16 and the clamping jaw 17 of positioning chuck are bolted to connection.
15 bottom of positioning chuck is provided with chuck pinboard 18, and positioning chuck 15 is fixed on rotation by chuck pinboard 18
On platform 5.5 bottom of rotating platform is provided with rotation drive device 51, and rotation drive device 51 uses stepper motor, rotating platform
5 use hollow rotating platform, and rotation drive device 51 drives rotating platform 5 to be rotated.
Mold assemblies 7 are made of inner core 71, lower platen 72, outer ring 73 and lower bolster 74, and 71 outer cover of inner core is equipped with down
Pressing plate 72,72 outer cover of lower platen is equipped with outer ring 73, between inner core 71 and lower platen 72 and between lower platen 72 and outer ring 73
Cooperated with minimal fitting gap, the inner core 71, lower platen 72 and outer ring 73 after assembly are placed on lower bolster 74.It pushes
The height of plate 72 is lower than the height of inner core 71 and outer ring 73, and the middle part of outer ring 73 is set as groove structure, between inner core and outer ring
Space for placing mixture.
The present invention provides a kind of precision metallic grinding wheel grinding tool and strikes off technique automatically, to the raw material in metal wheel preparation process
Metal carries out booth material and scraper technological operation.The present invention parameterizes artificial experience, is capable of providing effective process flow,
The old and new employee is capable of providing technical support when joining, and technical staff is effectively reduced and enters gate threshold, and can by scraping device
It realizes efficient operation, while can guarantee product quality consistency, can greatly reduce employee's labour working strength.
Spreading out material technique is the non-uniform mixed material that will be placed on mold assemblies lower platen, by the material scraper of booth
Lower movement and left-right collision movement, auxiliary mould assembly itself rotary motion, so that mixed material Multiple components uniformly mix
Merge and can tentatively reach and is evenly distributed in each position mass body product of circumference.
Scraper technique is the material being uniformly mixed and be evenly distributed that will have already passed through booth material technological operation, is scraped by scraper
Movement that knife moves up and down, left and right is rebuffed and lateral be rebuffed roll movement etc., auxiliary mould assembly itself rotary motion, so that mixed
The material to a certain extent compacting puffy material uniform and stable by scraper scraper is closed, and in inner core, outer ring and scraper scraper
On without material sticks.
Embodiment 1
Booth material process flow the following steps are included:
1. powering on (robot body, robot controller, force sensor, hollow rotating platform stepper motor and step
Into electric machine controller).
2. connecting gas source (rotary air spider).
3. clamping jaw opens (rotary air spider ventilation, chuck end jaw are opened), mold assemblies are put into, at this time mould
Tool assembly has been placed in needed for the material of certain mass booth and is uniformly distributed material.
4. clamping jaw clamps (rotary air spider reverse ventilation, chuck end jaw are shunk), clamping mold assembly.
5. hollow rotating platform rotation (stepper motor driver control hollow rotating platform is run with appropriate velocity-stabilization).
6. (robot end's scraper quickly moves robot end's scraper fast approaching mold assemblies from initial zero position point
H1 height above to booth material scraper initial point).
7. robot end's scraper descending at slow speed expects teaching point to initial booth.Booth material teaching point is located at die assembly
Lower pressure ring inside and outside wall middle position in body, and perpendicular to lower pressure ring end face, and material scraper is spread out by pushing ring axis.
8. robot end's scraper successively execute point midway stop △ t1, be moved to contact outer wall make force value be f1 simultaneously
Retention time △ t2 is subsequently moved to contact inner wall and force value is made to be f2 and retention time △ t2, and then returned by inner wall position
To point midway residence time △ t3, height h then is begun to decline from point midwayUnder；This section of robot end's scraper is successively held
Action can be considered " intermediate stop-touching outer wall -- m- middle position decline in touching inner wall-return ", and in following movement
In can execute repeatedly, can be considered " decline circulation action " of end scraper；Holding force value herein is that force sensor is surveyed in real time
Data are obtained, and are floated in certain allowed band, outer wall is contacted herein or inner wall movement is then measured by force sensor in real time
Force value and then guided robot ontology execution corresponding sports.
9. " decline circulation action " can carry out always, until end scraper runs to vertical direction and sets during decline
Set minimum point.Falling head h hereinUnder, there is a variety of different parameters numerical value, and height hUnderNumerical value can be with " decline circulation action "
Number increases and reduces, and sets " decline circulation action " number as 4n times, n is natural number herein, at present at the 1st time to n-th
Height △ h drops, falling head △ h/2, the falling head △ h/4 at the 3n times to the 4n times when n-th is to the 3n times, this
Place △ h is fixed value.
10. robot end's scraper successively executes point midway residence time △ t1, it is moved to contact outer wall and makes force value
For f1 and retention time △ t2, it is subsequently moved to contact inner wall and force value is made to be f2 and retention time △ t2, and then by inner wall
Position returns to point midway residence time △ t3, then from point midway lifting height hOn.This section of robot end's scraper is successively
Execution movement can be considered " stop-touch the middle position in position-in outer wall-touching inner wall-return and rise in middle position ", and dynamic rising
It can be executed repeatedly in work, can be considered " the rising circulation action " of end scraper.Holding force value herein is that force sensor is real-time
Data measured, and float in certain allowed band, outer wall is contacted herein or inner wall movement is then surveyed by force sensor in real time
It obtains force value and then guided robot ontology executes corresponding sports.
11. " rising circulation action " can carry out always in uphill process, until end scraper, which is run to booth, expects teaching
Point.Lifting height h hereinOnWith a variety of different parameters numerical value, and height hOnNumerical value can be with " rising circulation action " number
Increase and reduce, number set " rising circulation action " number as 4n times, and n is natural number herein, the 1st time to n-th when on
Rise △ h, lifting height △ h/2, the lifting height △ h/4 at the 3n times to the 4n times when n-th is to the 3n times, this
Place △ h is fixed value.
12. step (8-11) is " decline circulation action " and " rising circulation action " and descending depth and lifting height
Description, end scraper is from initial booth material teaching point movement until return to initial booth material teaching point, and 4n times " decline follows for execution
Gyration is made " until being vertically lowered minimum point, from being vertically lowered, minimum point execution 2n times " rising circulation action " is upper in total to be increased
3*n* △ h/2 is spent, then executes 2n times " decline circulation action " until minimum point is vertically lowered, finally by being vertically lowered minimum point
It executes 4n times " rising circulation action " and returns to initial booth material teaching point.Raising and lowering movement can be executed once, can also be multiple
It executes, executes number and need to be adjusted according to material attribute and mold situation.
13. scraper end in end, which is left, at this time has scraped material, then it is promoted at a slow speed initially by initially spreading out material teaching point
H1 height above the material teaching point of booth.
14. (robot end's scraper quickly moves to initially robot returning quickly from h1 height above the material initial point of booth
Zero point).
15. the rotation of hollow rotating platform stops (hollow rotating platform slowly slows down from appropriate speed up to stopping completely).
16. clamping jaw opening takes mold assemblies (self-centering outer clip chuck ventilation, chuck end jaw are opened).
Material process flow entire flow in booth terminates at this time, waits and enters next circulation operation.
Wherein for the material and different dimensions products of different formulations proportion, booth material process steps general process
Identical, Wen Zhong △ t1(point midway residence time), △ t2(touch the outer wall retention time), △ t3(touching inner wall is when keeping
Between), f1(touch outer wall force value), f2(touch inner wall force value), n(rise or fall circulation action number radix), △ h(rise
Or falling head), d(rise and fall action frequency), these parameters need according to the factors such as material formula and product size carry out
Corresponding adjustment.
Embodiment 2
Scraper technical process the following steps are included:
1. powering on (robot body, robot controller, force sensor, hollow rotating platform stepper motor and step
Into electric machine controller).
2. connecting gas source (rotary air spider).
3. clamping jaw opens (rotary air spider ventilation, chuck end jaw are opened), mold assemblies are put into, at this time mould
Material built in tool assembly be to have completed booth material technique and examined qualified material, at this time each material mixing of material it is uniform and
Surface of material is relatively flat.
4. clamping jaw clamps (rotary air spider reverse ventilation, chuck end jaw are shunk), clamping mold assembly.
5. hollow rotating platform rotation (stepper motor driver control hollow rotating platform is run with appropriate speed).
6. (robot end's scraper quickly moves robot end's scraper fast approaching mold assemblies from initial zero position point
H1 height above to scraper initial point).
7. robot end's scraper descending at slow speed is to initial scraper teaching point.Scraper teaching point is located at mold assemblies
In lower pressure ring inside and outside wall middle position, and perpendicular to lower pressure ring end face, and scraper scraper is by pushing ring axis.
8. robot end's scraper successively executes point midway residence time △ T1, it is moved to contact outer wall and makes the force value to be
F1 and retention time △ T2 are subsequently moved to contact inner wall and force value are made to be F2 and retention time △ T2, and then by inner wall position
Point midway residence time △ T3 is put back into, then begins to decline height H from point midwayUnder.This section of robot end's scraper according to
Secondary execution movement can be considered " stop-touching the middle position decline in position-in outer wall-touching inner wall-return in middle position ", and following
It can be executed repeatedly in movement, can be considered " the decline circulation action " of end scraper.Holding force value herein is that force sensor is real
When data measured, and float in certain allowed band, contact outer wall herein or inner wall movement is then real-time by force sensor
It measures force value and then guided robot ontology executes corresponding sports.
9. " decline circulation action " can carry out always, until end scraper runs to vertical direction and sets during decline
Set minimum point.Falling head H hereinUnderWith a variety of different parameters numerical value, and height HUnderNumerical value can be with " decline circulation action "
Number increases and reduces, and sets " decline circulation action " number as 4N times, N is natural number herein, at present at the 1st time to n-th
Height △ H drops, falling head △ H/2, the falling head △ H/4 at the 3N times to the 4N times when n-th is to the 3N times, this
Place △ H is fixed value.
10. robot end's scraper successively executes point midway residence time △ T1, it is moved to contact outer wall and makes force value
For F1 and retention time △ T2, it is subsequently moved to contact inner wall and force value is made to be F2 and retention time △ T2, and then by inner wall
Position returns to point midway residence time △ T3, then from point midway lifting height HOn.This section of robot end's scraper is successively
Execution movement can be considered " stop-touch the middle position in position-in outer wall-touching inner wall-return and rise in middle position ", and dynamic rising
It can be executed repeatedly in work, can be considered " the rising circulation action " of end scraper.Holding force value herein is that force sensor is real-time
Data measured, and float in certain allowed band, outer wall is contacted herein or inner wall movement is then surveyed by force sensor in real time
It obtains force value and then guided robot ontology executes corresponding sports.
11. " rising circulation action " can carry out always in uphill process, until end scraper is run to scraper teaching
Point.Lifting height H hereinOnWith a variety of different parameters numerical value, and height HOnNumerical value can be with " rising circulation action " number
Increase and reduce, number set " rising circulation action " number as 4N times, and N is natural number herein, the 1st time to n-th when on
Rise △ H, lifting height △ H/2, the lifting height △ H/4 at the 3N times to the 4N times when n-th is to the 3N times, this
Place △ H is fixed value.
12. step (8-11) is " decline circulation action " and " rising circulation action " and descending depth and lifting height
Description, end scraper moves from initial scraper teaching point until return to initial scraper teaching point, and 4N times " decline follows for execution
Gyration is made " until being vertically lowered minimum point, from being vertically lowered, minimum point execution 2N times " rising circulation action " is upper in total to be increased
3*N* △ H/2 is spent, then executes 2N times " decline circulation action " until minimum point is vertically lowered, finally by being vertically lowered minimum point
It executes 4N times " rising circulation action " and returns to initial scraper teaching point；Rise and fall movement can be executed once, can also repeatedly be held
Row executes number and needs to be adjusted according to material attribute and mold situation.
13. last time, which is executed, " it is dynamic to rise circulation by being vertically lowered minimum point execution 4N times wherein in step (12)
Make " it returns to during initial scraper teaching point, it needs to add multiple scraper rotation and touches outer wall movement.Specific movement executes description
As follows, scraper carries out rotation M degree after vertical rise, with the vertical center of end scraper, so that scraper front stacking material
It is moved towards outer wall direction, scraper moves horizontally so that outer wall is touched in scraper side, and needs to keep △ T2 after rotating M degree
Second, it is then moved horizontally in the middle part of inside and outside wall and returns to original middle position point by rotation M degree.It is dynamic that outer wall is touched in the rotation of this scraper
Make to execute in last time and returns to initial scraper teaching point mistake by being vertically lowered minimum point execution 4N times " rising circulation action "
Cheng Zhong is executed primary 2N times before " rising circulation action " at interval of 2 times " rising circulation action ".
14. scraper end in end, which is left, at this time has scraped material, then it is promoted at a slow speed initially by initial scraper teaching point
H1 height above scraper teaching point.
15. (robot end's scraper quickly moves to initially robot returning quickly from H1 height above scraper initial point
Zero point).
16. the rotation of hollow rotating platform stops (hollow rotating platform slowly slows down from appropriate speed up to stopping completely).
17. clamping jaw opening takes mold assemblies (self-centering outer clip chuck ventilation, chuck end jaw are opened).
The entire flow of scraper process flow at this time terminates, and waits and enters next circulation operation.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art, the present invention
It is not restricted to the described embodiments, under the premise of not departing from general idea of the present invention, several changes and improvements can also be made,
These also should be considered as protection scope of the present invention.
Claims (5)
1. a kind of precision metallic grinding wheel grinding tool strikes off technique automatically, it is characterised in that: the following steps are included:
(1) robot body, robot controller, force sensor, rotating platform stepper motor and step motor control are connected
The power supply of device；
(2) gas source of air spider is connected；
(3) air spider is ventilated, and the clamping jaw of chuck end opens, and mold assemblies is put into air spider, mold assemblies
Inside it is placed with equally distributed material；
(4) clamping jaw of air spider reverse ventilation, chuck end is shunk, clamping mold assembly；
(5) the driver control rotating platform rotation of stepper motor；
(6) robot end's scraper fast approaching mold assemblies, robot end's scraper are quickly moved to from initial zero position
H1 height above the initial point of scraper；
(7) robot end's scraper descending at slow speed is to initial teaching point；
(8) robot end's scraper successively executes point midway residence time △ T1, is moved to contact outer wall and force value is made to be F1
And retention time △ T2, it is subsequently moved to contact inner wall and force value is made to be F2 and retention time △ T2, and then by inner wall position
Point midway residence time △ T3 is returned to, then begins to decline height H from point midwayUnder, this section of robot end's scraper is successively
Execution movement can be considered " stop-touching the middle position decline in position-in outer wall-touching inner wall-return in middle position ", and following dynamic
It can be executed repeatedly in work, can be considered " the decline circulation action " of end scraper；Holding force value herein is that force sensor is real-time
Data measured, and float in certain allowed band, outer wall is contacted herein or inner wall movement is then surveyed by force sensor in real time
It obtains force value and then guided robot ontology executes corresponding sports；
(9) during decline, " decline circulation action " can be carried out always, until end scraper is run to vertical direction setting
Minimum point, herein falling head HUnderWith a variety of different parameters numerical value, and height HUnderNumerical value can be secondary with " decline circulation action "
Number increases and reduces, set " decline to circulation action " number as 4N times, and N is natural number herein, the 1st time to n-th when decline
Height △ H, falling head △ H/2, the falling head △ H/4 at the 3N times to the 4N times when n-th is to the 3N times, herein
△ H is fixed value；
(10) robot end's scraper successively executes point midway residence time △ T1, is moved to contact outer wall and force value is made to be F1
And retention time △ T2, it is subsequently moved to contact inner wall and force value is made to be F2 and retention time △ T2, and then by inner wall position
Point midway residence time △ T3 is returned to, then from point midway lifting height HOn, this section of robot end's scraper successively execute
Movement can be considered " stop-touch the middle position in position-in outer wall-touching inner wall-return and rise in middle position ", and in vertical motion
It can execute repeatedly, can be considered " the rising circulation action " of end scraper；Holding force value herein is that force sensor measures in real time
Data, and float in certain allowed band, outer wall is contacted herein or inner wall movement then measures power by force sensor in real time
Value and then guided robot ontology execution corresponding sports；
(11) in uphill process, " rising circulation action " can be carried out always, until end scraper is run to initial teaching point；
Lifting height H hereinOnWith a variety of different parameters numerical value, and height HOnNumerical value can increase with " rise circulation action " number and
Reduce, number sets " rising circulation action " number as 4N times, and N is natural number, the lifting height when arriving n-th the 1st time herein
△ H, lifting height △ H/2, the lifting height △ H/4 at the 3N times to the 4N times when n-th is to the 3N times, herein △ H
For fixed value；
(12) scraper end in end is left and has scraped material at this time, is then promoted to initial teaching point at a slow speed by initial teaching point
Top H1 height；
(13) robot returning quickly, robot end's scraper quickly move to initial zero from H1 height above initial teaching point
Site；
(14) rotating platform slowly slows down until stopping completely；
(15) air spider is ventilated, and chuck end jaw is opened, and takes out mold assemblies；
(16) striking off process flow at this time terminates, and waits and enters next circulation operation.
2. precision metallic grinding wheel grinding tool as described in claim 1 strikes off technique automatically, it is characterised in that: the air spider is adopted
With rotary air spider, be uniformly arranged on air spider there are three clamping jaw, chuck jaw can radial concentric it is mobile make workpiece from
Dynamic centering.
3. precision metallic grinding wheel grinding tool as described in claim 1 strikes off technique automatically, it is characterised in that: described in step (7)
Initial teaching point is located in mold assemblies time pressure ring inside and outside wall middle position, and perpendicular to lower pressure ring end face, and scraper
By pushing ring axis.
4. precision metallic grinding wheel grinding tool as described in claim 1 strikes off technique automatically, it is characterised in that: step (8-11) is
The description of " decline circulation action " and " rising circulation action " and descending depth and lifting height, end scraper is from initial teaching
Point movement executes 4N time " decline circulation action " until being vertically lowered minimum point until return to initial teaching point, from erecting
Straight decline minimum point executes 2N times " rising circulation action " lifting height 3*N* △ H/2 in total, then executes 2N " decline circulation
Movement " is finally returned to and is initially scraped by being vertically lowered minimum point execution 4N times " rising circulation action " up to being vertically lowered minimum point
Expect teaching point；Raising and lowering movement can be executed once, can also be performed a plurality of times, and executed number and needed according to material attribute and mould
Has situation adjustment.
5. precision metallic grinding wheel grinding tool as described in claim 1 strikes off technique automatically, it is characterised in that: during scraper,
It is executed in step (11) last time and returns to initial teaching point by being vertically lowered minimum point execution 4N times " rising circulation action "
During, need to add the movement that outer wall is touched in multiple scraper rotation；Specific movement, which executes, to be described as follows: scraper is rising vertically
Afterwards, rotation M degree is carried out with the vertical center of end scraper, so that scraper front stacking material is moved towards outer wall direction, rotation
After turning M degree, scraper is moved horizontally so that outer wall is touched in scraper side, and needs to keep the time of △ T2, and then level is moved
It moves to inside and outside wall middle part and returns to original middle position point by rotation M degree；The rotation of this scraper touches the movement of outer wall at last
Secondary execute is executed during 4N time " rising circulation action " return to initial scraper teaching point by being vertically lowered minimum point, " on
2N times before liter circulation action ", executed at interval of 2 times " rising circulation action " primary.
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| CN201910310462.6A CN110065013B (en) | 2019-04-17 | 2019-04-17 | Automatic strickling process for precise metal grinding wheel grinding tool |
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|---|---|---|---|
| CN201910310462.6A CN110065013B (en) | 2019-04-17 | 2019-04-17 | Automatic strickling process for precise metal grinding wheel grinding tool |
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| CN110065013B CN110065013B (en) | 2021-01-15 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009050749A1 (en) * | 2007-10-18 | 2009-04-23 | Davide Maternini S.P.A. | Method of fabrication of grinding wheels and related plant |
| CN202640186U (en) * | 2012-06-25 | 2013-01-02 | 郑州市弘毅机械有限公司 | Automatic scraping device for multi-station grinding wheel forming machine |
| CN104669139A (en) * | 2015-03-12 | 2015-06-03 | 金华职业技术学院 | Method for uniformly distributing diamond particles of diamond grinding wheel |
| CN107717766A (en) * | 2017-11-27 | 2018-02-23 | 郭伟 | A kind of emery wheel produces scraper |
| CN208697199U (en) * | 2018-07-25 | 2019-04-05 | 广东松崎磨料磨具制造有限公司 | Scraper for the processing of large-scale grinding wheel |
-
2019
- 2019-04-17 CN CN201910310462.6A patent/CN110065013B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009050749A1 (en) * | 2007-10-18 | 2009-04-23 | Davide Maternini S.P.A. | Method of fabrication of grinding wheels and related plant |
| CN202640186U (en) * | 2012-06-25 | 2013-01-02 | 郑州市弘毅机械有限公司 | Automatic scraping device for multi-station grinding wheel forming machine |
| CN104669139A (en) * | 2015-03-12 | 2015-06-03 | 金华职业技术学院 | Method for uniformly distributing diamond particles of diamond grinding wheel |
| CN107717766A (en) * | 2017-11-27 | 2018-02-23 | 郭伟 | A kind of emery wheel produces scraper |
| CN208697199U (en) * | 2018-07-25 | 2019-04-05 | 广东松崎磨料磨具制造有限公司 | Scraper for the processing of large-scale grinding wheel |
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| CN110065013B (en) | 2021-01-15 |
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