CN110355661A - Suitable for the reciprocal oilstone polishing system of robot end - Google Patents
Suitable for the reciprocal oilstone polishing system of robot end Download PDFInfo
- Publication number
- CN110355661A CN110355661A CN201910530247.7A CN201910530247A CN110355661A CN 110355661 A CN110355661 A CN 110355661A CN 201910530247 A CN201910530247 A CN 201910530247A CN 110355661 A CN110355661 A CN 110355661A
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- China
- Prior art keywords
- oilstone
- robot
- abrasive material
- cabinet
- reciprocal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000005498 polishing Methods 0.000 title claims abstract description 46
- 239000003082 abrasive agent Substances 0.000 claims abstract description 48
- 239000004575 stone Substances 0.000 claims abstract description 10
- 239000000428 dust Substances 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 12
- 239000002699 waste material Substances 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 10
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 9
- 229910052802 copper Inorganic materials 0.000 claims description 9
- 239000010949 copper Substances 0.000 claims description 9
- 238000004140 cleaning Methods 0.000 claims description 8
- 238000012790 confirmation Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 239000000383 hazardous chemical Substances 0.000 abstract description 2
- 231100000206 health hazard Toxicity 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 6
- 238000005299 abrasion Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 241000233855 Orchidaceae Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- 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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—Accessories therefor
-
- 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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power tools
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention provides one kind to be suitable for the reciprocal oilstone polishing system of robot end, includes robot, grinding head, abrasive material library and control system；The robot, grinding head and abrasive material library are connected in control system；The grinding head is mounted in robot, and grinding head includes oilstone clamping device；It is provided with cabinet on the abrasive material library, forms the memory space of oilstone inside cabinet；The robotically-driven grinding head carries out the replacement of oilstone to abrasive material library position.Invention replaces the stones of manually changing oil in traditional work, to improve the degree of automation of automatic grinding and polishing production line, reduce dependence of the automatic abrasive stick grinding and polishing line to worker, while also reducing the potential health hazards of worker on opposite grinding parabola.
Description
Technical field
The present invention relates to grinding and polishing fields, and in particular, to one kind is suitable for the reciprocal oilstone polishing system of robot end.
Background technique
In manufacturing industry, sanding and polishing is carried out to piece surface, reaching pre-provisioning request is an important processing work
Skill generally uses artificial method for complicated appearance part, however that there are homogeneity of product is poor, imitates for artificial part
The problems such as rate is low can more seriously generate a large amount of dust during the grinding process, seriously affect the physical and mental health of operator.
In current manufacturing industry escalation process, a large amount of automatically grinding line comes into being, but due to oilstone polishing system
Oilstone limited length needs timely carry to promote, or replaces oilstone in time after oilstone consumes certain length, just can guarantee and is added
The process velocity and quality of work workpiece, Most current automatically grinding line still using stone of manually changing oil, need artificial before stone of changing oil
It shuts down, needs to be switched on after changing, time and effort consuming；Due to oilstone can not auto-feed, process not can guarantee constant force griding, has yet
Using industrial robot replacement oilstone, although stopping machine realizes automation, the speed for stone of changing oil is too slow, seriously affects certainly
The production efficiency of dynamic polishing line.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide one kind to be suitable for the reciprocal oilstone mill of robot end
Polishing system.
What is provided according to the present invention is suitable for the reciprocal oilstone polishing system of robot end, includes robot, grinding head, mill
Expect library and control system；The robot, grinding head and abrasive material library are connected in control system；
The grinding head is mounted in robot, and grinding head includes oilstone clamping device；It is provided with and deposits on the abrasive material library
Container, cabinet inside form the memory space of oilstone；
The robotically-driven grinding head carries out the replacement of oilstone to abrasive material library position.
Preferably, the grinding head also includes active exposure flange and servo motor, servo motor and oilstone clamping device
It is connected；
The active exposure flange and servo motor are connected in control system；The control system includes with lower die
Block:
The critical judgment module of oilstone: oilstone is judged according to the stroke of active exposure flange caused by being lost due to oilstone
Whether waste reaches the critical value of setting；
Oilstone replaces module: when the waste for determining oilstone reaches the critical value of setting, servo motor is enabled to stop operating,
Oilstone clamping device is enabled to be parked in the dead-center position of setting.
Preferably, the grinding head also includes sequentially connected protection housing, connecting plate, dust-proof housing；
The servo motor is mounted in protection housing, and power conversion mechanism is equipped in dust-proof housing, and servo motor is logical
It crosses the power conversion mechanism and is connected to oilstone clamping device.
Preferably, the active exposure flange and protective cover shell phase connect；
Active exposure flange is fastenedly connected in robot by six axis mounting flanges being arranged.
Preferably, the abrasive material library also includes detection device, and the control system includes with lower module:
Cabinet door opens and closes control module: cabinet being enabled to open or close；
Crawl confirmation module: according to the detection signal for carrying out self-test device, judge whether oilstone clamping device grabs oilstone
Take success.
Preferably, the abrasive material library also includes library bracket, and one or more cabinets are provided on the bracket of library；
The detection device is mounted on the bracket of library.
Preferably, oilstone shaper and oilstone dust cleaning brush are additionally provided on the library bracket.
Preferably, the oilstone dust cleaning brush is copper brush；Benchboard, the oilstone shaper and copper brush are provided on the bracket of library
It is installed on the inclined-plane of benchboard；
Dust collection cabinet and wastes recovering barrel are additionally provided on the bracket of library, the dust collection cabinet is located at benchboard obliquely downward
Side, the dust collection cabinet or library cradle top are provided with mesh screen.
Preferably, the control system also includes with lower module:
Polishing power control module: believed according to the polishing force parameter of setting with the real-time polishing power from active exposure flange
Number, generate polishing adjustment instruction；
Clamping jaw control module: oilstone clamping device is enabled to open or be closed；
In the oilstone replacement module, by the absolute coding type motor control box of setting stone clamping device is parked in and sets
Fixed dead-center position.
Preferably, the control system includes robot control cabinet, ACF control cabinet, motor control box and the control of abrasive material library
Case processed；
Robot control cabinet is connected to robot；ACF control cabinet is connected to the active exposure flange that grinding head is included；Electricity
Machine control cabinet is connected to the servo motor that grinding head is included；Abrasive material library control cabinet is connected to abrasive material library.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, instead of the stone of manually changing oil in traditional work, so that the degree of automation of automatic grinding and polishing production line is improved,
Dependence of the automatic abrasive stick grinding and polishing line to worker is reduced, while also reducing the potential health hazards of worker on opposite grinding parabola.
2, the present invention enables the oilstone polished machine in automatic grinding and polishing production line according to processing situation, control technique for grinding ginseng
The size of number power, monitors the abrasion of oilstone in real time and carries out corresponding bit shift compensation and guarantee that polishing power is constant.
3, the present invention can determine to replace oilstone critical moment automatically, and control robot realizes the fast accurate of oilstone automatically more
It changes, guarantees the recycling cleaning of oilstone.
4, the present invention is able to ascend the speed for stone of changing oil, and improves the status it cannot be guaranteed that constant force griding, shortens production line and stops
The machine waiting time realizes automatic processing for a long time, greatly reduces the sanding and polishing cost of enterprise, helps to enhance enterprise
Competitiveness of society.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the structure chart provided by the invention suitable for the reciprocal oilstone polishing system of robot end.
Fig. 2 is grinding head three-dimensional structure diagram of the present invention.
Fig. 3 is abrasive material library of the present invention three-dimensional structure diagram.
It is shown in figure:
The dust-proof housing 7 of grinding head 100
200 oilstone clamping device 8 of abrasive material library
300 cabinet 9 of control system
Six axis mounting flanges, 1 detection device 10
2 dust collection cabinet 11 of active exposure flange
Protect 3 oilstone shaper 12 of housing
4 library bracket 13 of servo motor
5 wastes recovering barrel 14 of connecting plate
6 copper brush 15 of power conversion mechanism
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
As shown in Figure 1, provided by the invention be suitable for the reciprocal oilstone polishing system of robot end, comprising robot, beat
Bistrique 100, abrasive material library 200 and control system 300；The robot, grinding head 100 and abrasive material library 200 are connected to control
In system 300 processed；The grinding head 100 is mounted in robot, and grinding head 100 includes oilstone clamping device 8；The abrasive material library
It is provided with cabinet 9 on 200, forms the memory space of oilstone inside cabinet 9, oilstone is stored in cabinet 9；The machine
People drives grinding head 100 to the replacement of 200 position of abrasive material library progress oilstone.
The grinding head 100 is also comprising active exposure flange 2 and servo motor 4, servo motor 4 and oilstone clamping device 8
It is connected；The active exposure flange 2 is connected in control system 300 with servo motor 4；The control system 300 include with
Lower module: oilstone the critical judgment module of oilstone: is judged according to the stroke of active exposure flange 2 caused by being lost due to oilstone
Whether waste reaches the critical value of setting；Oilstone replaces module: when the waste for determining oilstone reaches the critical value of setting,
It enables servo motor 4 stop operating, oilstone clamping device 8 is enabled to be parked in the dead-center position of setting.The control system 300 also comprising with
Lower module: polishing power control module: believed according to the polishing force parameter of setting with the real-time polishing power from active exposure flange 2
Number, generate polishing adjustment instruction；Clamping jaw control module: oilstone clamping device 8 is enabled to open or be closed.The oilstone replaces module
In, make stone clamping device be parked in the dead-center position of setting by the absolute coding type motor control box of setting.Above structure exists
The reaction of connection relationship on entity device are as follows: the control system 300 includes robot control cabinet, ACF control cabinet, motor control
Case and abrasive material library control cabinet；Robot control cabinet is connected to robot；ACF control cabinet is connected to grinding head 100
Active exposure flange 2；Motor control box is connected to the servo motor 4 that grinding head 100 is included；Abrasive material library control cabinet is connected to mill
Expect library 200.
As shown in Fig. 2, the grinding head 100 also includes sequentially connected protection housing 3, connecting plate 5, dust-proof housing 7；Institute
It states servo motor 4 to be mounted in protection housing 3, power conversion mechanism 6 is installed in dust-proof housing 7, servo motor 4 passes through described
Power conversion mechanism 6 is connected to oilstone clamping device 8.The active exposure flange 2 is connected with protection housing 3；Active exposure method
Orchid 2 is fastenedly connected in robot by six axis mounting flanges 1 of setting.Preferably, the power conversion mechanism 6 is slide crank
Block mechanism, or similar vibration excitor etc. can generate the mechanism of straight reciprocating motion.
As shown in figure 3, the abrasive material library 200 also includes detection device 10, the control system 300 includes with lower module:
Cabinet door opens and closes control module: cabinet 9 being enabled to open or close；Crawl confirmation module: believed according to the detection for carrying out self-test device 10
Number, judge whether oilstone clamping device 8 grabs successfully oilstone.The abrasive material library 200 includes also library bracket 13, on library bracket 13
It is provided with one or more cabinets 9；The detection device 10 is mounted on library bracket 13.It is also set on the library bracket 13
It is equipped with oilstone shaper 12 and oilstone dust cleaning brush.Preferably, the oilstone dust cleaning brush is copper brush 15；It is provided on library bracket 13 tiltedly
Face platform, the oilstone shaper 12 are installed on the inclined-plane of benchboard with copper brush 15；Dust receipts are additionally provided on library bracket 13
Collect cabinet 11 and wastes recovering barrel 14, the dust collection cabinet 11 is located at the obliquely downward of benchboard, the dust collection cabinet 11 or
Mesh screen is provided at the top of library bracket 13, the dust that polishing generates oilstone enters dust collection cabinet 11 by mesh screen.Preferably, described
Oilstone dust cleaning brush can also be brush made of other metal materials, nonmetallic materials or composite material etc..
Preferred embodiment:
As shown in Figure 1, the present invention is mainly by flexible reciprocal oilstone grinding head 100, abrasive material library 200 and control system 300 3
It is most of to constitute.The automatic replacement for realizing abrasive material with the linkage of abrasive material library 200 by flexible reciprocal oilstone grinding head 100, passes through control
System 300 processed realizes the communication between grinding head 100, abrasive material library 200 and robot, passes through robot real-time control grinding head
100 with abrasive material library 200, realize the robot control of bruting process and technique for grinding parameter.Wherein flexible reciprocal oilstone grinding head
100 are installed on the 6th shaft end of robot, as shown in Fig. 2, flexible reciprocal oilstone grinding head 100 mainly by six axis mounting flanges 1,
Active exposure flange (ACF) 2, protection housing 3, servo motor 4, connecting plate 5, power conversion mechanism 6, dust-proof housing 7, oil stone clip
Hold the composition of mechanism 8.As shown in figure 3, abrasive material library 200 is mainly by oilstone cabinet 9, detection device 10, dust collection cabinet 11, oilstone
Shaper 12, copper brush 15, wastes recovering barrel 14, library bracket 13 form.Control system 300 is mainly controlled by robot control cabinet, ACF
Case, motor control box and 200 control cabinet of abrasive material library composition processed.
Wherein flexible reciprocal oilstone grinding head 100 and the ACF control cabinet and motor control box of control system 300 form one
Flexible 100 system of grinding head is connect by the active of the flexible reciprocal oilstone grinding head 100 of the ACF control cabinet control of control system 300
The size of the power of flange 2ACF and the stroke of the current ACF of Real-time Feedback are touched, on the one hand can control technique for grinding parameter power
On the other hand size can pass through the abrasion of the flexible real time monitoring oilstone of active exposure flange ACF and is displaced accordingly
It is constant to compensate the power that guarantees to polish, and according to the flexible automatic judgement replacement oilstone critical moment of ACF, replaces oilstone state when reaching
When, ACF returns to a signal and to ACF control cabinet and passes to robot, carries out the automatic replacement of oilstone.Pass through control system
The servo motor 4 of the flexible reciprocal oilstone grinding head 100 of 300 motor control box control, the damage of oilstone is determined according to ACF stroke
Consumption, when reaching replacement oilstone state, motor control box controls servo motor 4, so that it is stopped rotating, motor control box is exhausted
To coding type, it can guarantee that the oilstone clamping device 8 of flexible reciprocal oilstone grinding head 100 is parked in dead-center position every time, thus side
Just the quick accurate positioning of oilstone clamping device 8, and then guarantee the quick-replaceable of oilstone.
The abrasive material library control cabinet of abrasive material library 200 and control system 300 forms an abrasive material library system, passes through active exposure method
Oilstone critical point, the oilstone clamping machine of the flexible reciprocal oilstone grinding head 100 of robot control cabinet control are replaced in the flexible judgement of orchid 2
Structure 8 opens cylinder, and oilstone is fallen into the wastes recovering barrel 14 in abrasive material library 200, while the information by that will need to change oilstone passes
Pass abrasive material library 200 control cabinet, abrasive material control cabinet realizes machine by the automatic switch of the oilstone cabinet 9 in control abrasive material library 200
Device people's automatically grabs oilstone.Determine whether to grab success by detection device 10 after crawl oilstone, in oilstone after grabbing successfully
Oilstone correction of the flank shape is carried out in shaper 12 and does the processing of oilstone deashing on copper brush 15, and oilstone powder is collected into dust by inclined-plane and receives
Collect in cabinet 11, so that the oilstone for realizing robot quickly, is accurately replaced automatically
It forms a die machine people by flexible reciprocal oilstone grinding head 100, abrasive material library 200 and control system 300 and beats
The oilstone polishing system of mill, control system 300 ensure that all control is all controlled by robot, to guarantee entire mold
The technological parameter of polishing is controllable whole, and abrasion and the real-time perfoming bit shift compensation of the real-time oilstone of energy, guarantees in bruting process
In technique normal force stabilization, thus guarantee polish quality stablize.Monitor abrasion and the realization of oilstone in real time by robot
The automatic replacement of abrasive material is realized in the linkage in grinding head 100 and abrasive material library 200.Promote the automation and intelligence of entire Mold polishing system
Energyization.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. one kind be suitable for the reciprocal oilstone polishing system of robot end, which is characterized in that comprising robot, grinding head (100),
Abrasive material library (200) and control system (300)；The robot, grinding head (100) and abrasive material library (200) are connected to control
On system (300) processed；
The grinding head (100) is mounted in robot, and grinding head (100) includes oilstone clamping device (8)；The abrasive material library
(200) it is provided on cabinet (9), forms the memory space of oilstone inside cabinet (9)；
The robotically-driven grinding head (100) carries out the replacement of oilstone to abrasive material library (200) position.
2. according to claim 1 be suitable for the reciprocal oilstone polishing system of robot end, which is characterized in that the polishing
Also comprising active exposure flange (2) and servo motor (4), servo motor (4) is connected head (100) with oilstone clamping device (8)；
The active exposure flange (2) and servo motor (4) are connected on control system (300)；The control system (300)
Comprising with lower module:
The critical judgment module of oilstone: oilstone is judged according to the stroke of active exposure flange (2) caused by being lost due to oilstone
Whether waste reaches the critical value of setting；
Oilstone replaces module: when the waste for determining oilstone reaches the critical value of setting, servo motor (4) is enabled to stop operating,
Oilstone clamping device (8) is enabled to be parked in the dead-center position of setting.
3. according to claim 2 be suitable for the reciprocal oilstone polishing system of robot end, which is characterized in that the polishing
Head (100) also includes sequentially connected protection housing (3), connecting plate (5), dust-proof housing (7)；
The servo motor (4) is mounted in protection housing (3), is equipped with power conversion mechanism (6) in dust-proof housing (7), watches
It takes motor (4) and is connected to oilstone clamping device (8) by the power conversion mechanism (6).
4. according to claim 3 be suitable for the reciprocal oilstone polishing system of robot end, which is characterized in that the active
Engagement flange (2) is connected with protection housing (3)；
Active exposure flange (2) is fastenedly connected in robot by six axis mounting flanges (1) of setting.
5. according to claim 1 be suitable for the reciprocal oilstone polishing system of robot end, which is characterized in that the abrasive material
Library (200) also includes detection device (10), and the control system (300) includes with lower module:
Cabinet door opens and closes control module: cabinet (9) being enabled to open or close；
Crawl confirmation module: according to the detection signal for carrying out self-test device (10), judge oilstone clamping device (8) whether to oilstone
It grabs successfully.
6. according to claim 5 be suitable for the reciprocal oilstone polishing system of robot end, which is characterized in that the abrasive material
Library (200) also includes library bracket (13), and one or more cabinets (9) are provided on library bracket (13)；
The detection device (10) is mounted on library bracket (13).
7. according to claim 6 be suitable for the reciprocal oilstone polishing system of robot end, which is characterized in that the library branch
Oilstone shaper (12) and oilstone dust cleaning brush are additionally provided on frame (13).
8. according to claim 7 be suitable for the reciprocal oilstone polishing system of robot end, which is characterized in that the oilstone
Dust cleaning brush is copper brush (15)；Benchboard is provided on library bracket (13), the oilstone shaper (12) is respectively mounted with copper brush (15)
On the inclined-plane of benchboard；
Dust collection cabinet (11) and wastes recovering barrel (14) are additionally provided on library bracket (13), the dust collection cabinet (11) is located at
Mesh screen is provided at the top of the obliquely downward of benchboard, the dust collection cabinet (11) or library bracket (13).
9. according to claim 2 be suitable for the reciprocal oilstone polishing system of robot end, which is characterized in that the control
System (300) is also comprising with lower module:
Polish power control module: according to the polishing force parameter of setting with come from active exposure flange (2) real-time polishing force signal,
Generate polishing adjustment instruction；
Clamping jaw control module: oilstone clamping device (8) are enabled to open or be closed；
In the oilstone replacement module, stone clamping device is made to be parked in setting by the absolute coding type motor control box of setting
Dead-center position.
10. according to claim 1 be suitable for the reciprocal oilstone polishing system of robot end, which is characterized in that the control
System (300) processed includes robot control cabinet, ACF control cabinet, motor control box and abrasive material library control cabinet；
Robot control cabinet is connected to robot；ACF control cabinet is connected to the active exposure flange that grinding head (100) is included
(2)；Motor control box is connected to the servo motor (4) that grinding head (100) is included；Abrasive material library control cabinet is connected to abrasive material library
(200)。
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| CN201910530247.7A CN110355661A (en) | 2019-06-19 | 2019-06-19 | Suitable for the reciprocal oilstone polishing system of robot end |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842778A (en) * | 2019-11-28 | 2020-02-28 | 成都飞匠智能科技有限公司 | Automatic grinding wheel replacing device and method for industrial robot |
| CN113376350A (en) * | 2021-08-14 | 2021-09-10 | 湖南博之凯创新科技有限公司 | Curved surface defect detection tool of engineering machinery covering part |
| CN114310600A (en) * | 2022-01-18 | 2022-04-12 | 广东熙瑞智能科技有限公司 | Full-automatic polishing workstation |
| WO2023109579A1 (en) * | 2021-12-16 | 2023-06-22 | 昂华（上海）自动化工程股份有限公司 | Paint surface reciprocating grinding and polishing abrasive paper system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842778A (en) * | 2019-11-28 | 2020-02-28 | 成都飞匠智能科技有限公司 | Automatic grinding wheel replacing device and method for industrial robot |
| CN110842778B (en) * | 2019-11-28 | 2024-04-19 | 成都飞匠智能科技有限公司 | Automatic grinding wheel replacement device and method for industrial robot |
| CN113376350A (en) * | 2021-08-14 | 2021-09-10 | 湖南博之凯创新科技有限公司 | Curved surface defect detection tool of engineering machinery covering part |
| WO2023109579A1 (en) * | 2021-12-16 | 2023-06-22 | 昂华（上海）自动化工程股份有限公司 | Paint surface reciprocating grinding and polishing abrasive paper system |
| CN114310600A (en) * | 2022-01-18 | 2022-04-12 | 广东熙瑞智能科技有限公司 | Full-automatic polishing workstation |
| CN114310600B (en) * | 2022-01-18 | 2022-08-23 | 广东熙瑞智能科技有限公司 | Full-automatic polishing workstation |
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