CN110421423A - A kind of automotive hub automatically grinding polishing system - Google Patents
A kind of automotive hub automatically grinding polishing system Download PDFInfo
- Publication number
- CN110421423A CN110421423A CN201910654136.7A CN201910654136A CN110421423A CN 110421423 A CN110421423 A CN 110421423A CN 201910654136 A CN201910654136 A CN 201910654136A CN 110421423 A CN110421423 A CN 110421423A
- Authority
- CN
- China
- Prior art keywords
- polishing
- sanding
- grinding
- wheel hub
- mounting plate
- 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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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding 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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
- B24B29/04—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces for rotationally symmetrical workpieces, e.g. ball-, cylinder- or cone-shaped workpieces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- 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
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/35—Accessories
-
- 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
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/36—Single-purpose machines or devices
- B24B5/44—Single-purpose machines or devices for grinding rims of vehicle wheels, e.g. for bicycles
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- 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)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The present invention is a kind of automotive hub automatically grinding polishing system, including sanding and polishing workbench, the telescopic grinding and polishing vision inspection apparatus being set to above to grinding and polishing automotive hub, it is fixed on sanding and polishing workbench and is used to grip the clamping device to grinding and polishing automotive hub, Six-DOF industrial robot, the sanding and polishing end being set on industrial robot wrist joint and the control cabinet for control system work, the wheel hub grinding and polishing tool magazine for holding a variety of process tools is additionally provided on sanding and polishing workbench, the clamping device can machining angle to automotive hub and Working position be adjusted.The system is provided with the wheel hub grinding and polishing tool magazine of oneself using Six-DOF industrial robot cooperation Pneumatic floating polishing main shaft, the flexibility and flexibility of this system sanding and polishing end greatly increased, the present invention, can tool changing as needed.
Description
Technical field
The present invention relates to automotive hub grinding and polishing apparatus field, specifically a kind of automotive hub automatically grinding polishing system.
Background technique
Automotive hub is the cylindrical metal parts of support tire of the exterior feature centered on axis in automobile tire, is tire
The basis depended on.The moulding of wheel hub determines the radiating efficiency of braking system, therefore it is very crucial for selecting the wheel hub of reasonable moulding
's.While considering heat dissipation and beauty, it is also noted that the service life of wheel hub, it is anti-twist, resistance to if support vertically hung scroll is very little
The ability and intensity of shock are bad, and the service life of wheel hub will shorten.In order to simultaneously guarantee automotive hub service life and
Aesthetic measure, being repaired and being polished to wheel hub is essential step.
It polishes for present machine, there is also polishing quality is bad, the wheel hub type of polishing is single, structure is simple,
Complex-curved wheel hub is difficult to realize accurately polish, and the degree of automation is not high, many processes need human assistance.
Such as application No. is the Chinese patents of CN201811567122 to disclose a kind of hub for vehicle wheel polishing system, although may be implemented more multiple
Miscellaneous polishing posture, but still have some limitations: the conveyer belt as where wheel hub remains horizontal, leads to it not
It is able to achieve freely adjusting for height locating for wheel hub, can not realize that wheel hub enables wheel hub be tilted a certain angle to carry out grinding and polishing in turn not
It is able to achieve and multi-faceted grinding and polishing is carried out to wheel hub.Application No. is the Chinese patents of CN201810923974.5 to disclose a kind of aluminum alloy wheel
Hub automatically grinding goes to pour the working method of ear device, and the polishing tool used is cylindrical grinding head, even if moving flitch, screw rod
Moving up and down for grinding head can only be also realized under the cooperation of slide unit and motor of polishing, its angle cannot be adjusted, this
Although the design of sample can be realized the polishing to wheel hub wall, the flexibility of grinding head is also greatly limited to.On and
Two patents are stated, can not achieve tool changing movement.
Summary of the invention
In view of the deficiencies of the prior art, it is above-mentioned to solve to devise a kind of automotive hub automatically grinding polishing system by the present invention
There are the problem of.The system is using Six-DOF industrial robot cooperation Pneumatic floating polishing main shaft, this system greatly increased
The flexibility and flexibility of sanding and polishing end, the present invention are provided with the wheel hub grinding and polishing tool magazine of oneself, can tool changing as needed.
The present invention solve the technical problem the technical solution adopted is that: a kind of automotive hub automatically grinding polishing system is provided
System, including sanding and polishing workbench, the telescopic grinding and polishing vision inspection apparatus being set to above to grinding and polishing automotive hub, fixation
On sanding and polishing workbench for grip the clamping device to grinding and polishing automotive hub, Six-DOF industrial robot,
The sanding and polishing end being set on industrial robot wrist joint and the control cabinet for control system work, which is characterized in that
The wheel hub grinding and polishing tool magazine for holding a variety of process tools, the clamping are additionally provided on sanding and polishing workbench
Device can machining angle to automotive hub and Working position be adjusted.
The clamping device includes two automotive hub fixtures, the worm and gear being fixed on sanding and polishing workbench lifting
Machine and two straight line mould groups being fixed on sanding and polishing workbench, two straight line mould groups are with the worm screw institute of worm and gear elevator
It is symmetrical arranged in straight line, for clamping automotive hub, automotive hub fixture is fixedly mounted on accordingly two automotive hub fixtures
In straight line mould group；Worm and gear elevator is connect by supporting plate with the automotive hub to grinding and polishing；
The automotive hub fixture includes the fixture telescopic cylinder being fixed in straight line mould group, is fixed on fixture and uses and stretch
Rotary cylinder on cylinder and the clamping cylinder being fixed on rotary cylinder, fixture are passed through in straight line mould group with telescopic cylinder
Telescopic cylinder mounting plate connected with straight line mould group, telescopic cylinder mounting plate can move up and down in straight line mould group, and fixture is with stretching
It is provided with fixture floating junction on the piston rod of contracting cylinder, fixture is with being connected through a screw thread rotary cylinder on floating junction
Mounting plate, rotary cylinder are connected to one with telescopic cylinder by the mounting plate and fixture floating junction and fixture of rotary cylinder
It rises；Rotary cylinder is connected through a screw thread the mounting plate of clamping cylinder, and clamping cylinder is mounted on the mounting plate of clamping cylinder；Folder
The clamping action end of tight cylinder clamps the automotive hub to grinding and polishing.
The rotary cylinder can be realized overturns 0~180 degree of automotive hub at any angle.
The wheel hub grinding and polishing tool magazine is disposed in proximity to one jiao of the sanding and polishing workbench of sanding and polishing end, including circle
Cylindricality sanding and polishing head and bullet type sanding and polishing head, wheel hub grinding and polishing tool magazine horizontal mounting plate and wheel hub grinding and polishing tool magazine are horizontal
The lower part of mounting plate, wheel hub grinding and polishing tool magazine horizontal mounting plate is fixed on sanding and polishing workbench, upper end and wheel hub grinding and polishing knife
Tool library horizontal mounting plate is fixed together；Multiple storage cutter grooves are equipped on the edge of wheel hub grinding and polishing tool magazine horizontal mounting plate, it is more
A storage cutter groove is for holding cylindrical sanding and polishing head and/or bullet type sanding and polishing head.
The cylinder sanding and polishing head includes cylindrical grinding head and cylindrical polishing head, bullet type sanding and polishing head packet
Include bullet type grinding head and bullet type rubbing head.
Each rubbing head is a cutter, and cutter has knife handle, knife handle stop collar, knife handle stop collar is arranged on knife handle end
Knife handle groove, the length of knife handle groove and the consistency of thickness of wheel hub grinding and polishing tool magazine horizontal mounting plate are set on the knife handle of lower section；
The import for storing up cutter groove is rectangle, behind the positions of storing knifes be the circle being connected with rectangle both sides；Rectangle width and knife
The diameter of handle groove is identical, and the circular diameter that storage cutter groove is subsequent and rectangle both sides are connected is identical as the diameter of knife handle, knife handle
The diameter of stop collar is greater than shank diameter.
Wheel hub grinding and polishing tool magazine horizontal mounting plate, wheel hub grinding and polishing tool magazine horizontal mounting plate and sanding and polishing workbench three
Between be connected and fixed by corresponding 90 degree of connectors.
Vision inspection apparatus includes visual sensor bracket, visual sensor, visual sensor floating junction, vision biography
Sensor telescopic cylinder, vision-based detection mechanism mounting plate, vision-based detection mechanism mounting plate pass through 90 degree of connectors and sanding and polishing
Workbench is connected, and visual sensor is connected with telescopic cylinder by screw and trapezoidal nut and vision-based detection mechanism mounting plate, depending on
Feel that sensor floating junction and visual sensor are connected through a screw thread with telescopic cylinder and are fixed together, visual sensor bracket
It is connected through a screw thread and is fixed together with floating junction with visual sensor, visual sensor and visual sensor bracket pass through spiral shell
Line connection is fixed together.
The sanding and polishing end includes polishing or polishing cutter head, Pneumatic floating polishing main shaft, Pneumatic floating polishing main shaft
One end and Six-DOF industrial robot end are connected, and polishing or polishing cutter head and the Pneumatic floating polishing main shaft other end are connected.
The vision inspection apparatus and control cabinet are electrically connected, and control cabinet is communicated with host computer, and wheel is loaded in host computer
Hub image library；The original image for the automotive hub to be processed that vision inspection apparatus obtains is reached host computer by control cabinet, and will be former
Beginning image and the wheel hub image library for being stored in host computer are compared, and are controlled Six-DOF industrial robot by comparison result and are beaten
Whether polish wheel hub is continued in grinding and polishing light end.
Compared with prior art, the beneficial effects of the invention are that:
(1) automatic lifting of wheel hub is realized using worm and gear elevator, so the whatsoever automotive hub of type
It may be implemented in sustained height and carry out grinding and polishing, while facilitating Six-DOF industrial robot to position wheel hub, and energy
It prevents from preventing automotive hub fixture from accurately clamping wheel hub since hub positions are too low, while can also be in grinding and polishing
Play the role of being supported automotive hub in journey.
(2) automotive hub fixture uses straight line mould group and fixture telescopic cylinder, rotary cylinder, the shape of clamping cylinder linkage
Formula.The adjustment that automotive hub position in the same plane may be implemented, can also realize the rise and fall and overturning of automotive hub,
Meanwhile, it is capable to which automotive hub is made to tilt certain angle, some complex-curved polishings are mentioned for Six-DOF industrial robot
For best grinding angle.
(3) it the flexibility due to automotive hub fixture and Six-DOF industrial robot and is set on its wrist joint
The grinding and polishing comprehensive to automotive hub may be implemented in the flexibility of sanding and polishing end, compared to existing automotive hub grinding and polishing
System grinding and polishing more comprehensively it is careful.
(4) the telescopic grinding and polishing vision inspection apparatus above automotive hub, may be implemented visual sensor along workbench
It is flexible in width direction, when detecting that its position influences Six-DOF industrial robot grinding and polishing, will automatically it stretch
Contracting, so as to the progress of grinding and polishing work；When detecting its position not influences Six-DOF industrial robot grinding and polishing, Jiu Huishi
When obtain automotive hub grinding and polishing original image, compare with picture library, set until the effect of grinding and polishing meets in picture library
Requirement.
(5) this equipment has the wheel hub grinding and polishing tool magazine of oneself, can be realized the movement for carrying out automatic tool changer as needed,
Wheel hub grinding and polishing tool magazine in the present invention is also by individually designed, in order to more easily store corresponding grinding and polishing cutter.
(6) sanding and polishing end of the invention can reduce grinding and polishing in the process to wheel hub using Pneumatic floating polishing main shaft
Caused by impact, increase wheel hub grinding and polishing sanding and polishing end flexibility.
(7) wheel hub grinding and polishing control cabinet and other system coordinations cooperation, may be implemented the automatic grinding and polishing of automotive hub, significantly
It saves human and material resources.
Detailed description of the invention
The present invention is further explained with example with reference to the accompanying drawing:
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the schematic perspective view of wheel hub grinding and polishing grasping system；
Fig. 3 is clamping device partial enlarged view；
Fig. 4 is the schematic perspective view of wheel hub grinding and polishing tool magazine；
Fig. 5 is telescopic grinding and polishing vision inspection apparatus front view；
Fig. 6 is the schematic elevation view of wheel hub grinding and polishing sanding and polishing end；
Description of symbols:
1. control cabinet, 2 sanding and polishing workbench, 3. Six-DOF industrial robots, 2a. clamping device, 2b vision-based detection
Device, 2c. wheel hub grinding and polishing tool magazine, 3a, sanding and polishing end, 2a1. straight line mould group mounting plate, 2a2. straight line mould group, 2a3. stretch
Contracting cylinder mounting plate, 2a4. fixture telescopic cylinder, 2a5. fixture floating junction, 2a6. automotive hub, 2a7. clamping cylinder,
The mounting plate of 2a8. clamping cylinder, 2a9. rotary cylinder, the mounting plate of 2a10. rotary cylinder, 2a11. worm and gear elevator,
The driving motor of 2a12. worm and gear elevator, 2b1. visual sensor bracket, 2b2. visual sensor, 2b3. visual sensing
Device floating junction, 2b4. visual sensor telescopic cylinder, 2b5. vision-based detection mechanism mounting plate, the polishing of 2c1. bullet type
Head, 2c2. storage cutter groove, 2c3. wheel hub grinding and polishing tool magazine horizontal mounting plate, 2c4. bullet type grinding head, 2c5. cylinder grinding head,
2c6. knife handle stop collar, 2c7. knife handle groove, 2c8. wheel hub grinding and polishing tool magazine horizontal mounting plate groove, 2c9. wheel hub grinding and polishing cutter
Library horizontal mounting plate groove, 2c10. wheel hub grinding and polishing tool magazine horizontal mounting plate, 3a1. sanding and polishing cutter head, 3a2. Pneumatic floating
Polishing main shaft.
Specific embodiment
Provide specific embodiments of the present invention below in conjunction with Fig. 1 to Fig. 5, technical solution in the embodiment of the present invention into
Row is complete, clearly describes.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative labor
Every other embodiment obtained under the premise of dynamic, shall fall within the protection scope of the present invention.
The present invention provides a kind of automotive hub automatically grinding polishing systems, including control cabinet 1, polishing to throw as shown in Figure 1
Light workbench 2, Six-DOF industrial robot 3, clamping device 2a, vision inspection apparatus 2b, wheel hub grinding and polishing tool magazine 2c, polishing
End 3a is polished, sanding and polishing end is mounted on Six-DOF industrial robot, for the sanding and polishing to automotive hub,
The sanding and polishing workbench 2 fixes on the ground, on sanding and polishing workbench Plane Installation have clamping device 2a,
Vision inspection apparatus 2b, wheel hub grinding and polishing tool magazine 2c.Clamping is fixed to automotive hub to be processed in clamping device, meanwhile,
The machining angle and position of automotive hub are adjusted.The detector of vision inspection apparatus is being located at automotive hub to be processed just
Top；
The control cabinet 1 is placed on apart from one position meter Chu of workbench.Vision inspection apparatus 2b and control cabinet are electrically connected,
Control cabinet is communicated with host computer, and wheel hub image library is loaded in host computer；Control cabinet can by vision inspection apparatus obtain to
The original image of processing automotive hub reaches host computer, and original image is compared with the wheel hub image library for being stored in host computer
Compared with controlling whether Six-DOF industrial robot and sanding and polishing end continue wheel hub of polishing by comparison result.
Wheel hub image library in host computer is the standard automobile wheel hub image that user acquires setting in advance, such as wheel hub
Factory specially produces certain 15 kinds of wheel hub, using before the application, in advance the wheel hub of the various angles of this 15 kinds of wheel hubs at
Product figure comes out as original image (standard automobile wheel hub image) acquisition, forms image library.Image library is stored in computer, and just
It is compared in the wheel hub for carrying out grinding and polishing, sees and whether reach sanding and polishing requirement that (polishing requirement can be smart according to actual production
Degree requires to be set, and general control is other in the micron-scale).This image library is constantly to learn, and is constantly expanded.In this hair
It can be formed in bright middle wheel hub image library with the image of default setting common a variety of wheel hubs currently on the market, user can be as needed
Oneself is deleted or increases new wheel hub image, is updated to wheel hub image library.
The clamping device 2a includes two automotive hub fixtures, the worm and gear liter being fixed on sanding and polishing workbench
Drop machine and two straight line mould group 2a2 being fixed on sanding and polishing workbench, two straight line mould groups are with worm and gear elevator
Straight line is symmetrical arranged where worm screw, and for clamping automotive hub, automotive hub fixture is fixedly mounted on two automotive hub fixtures
In corresponding straight line mould group；Two automotive hub fixtures be about symmetrical on sanding and polishing workbench length direction,
It is the fixture telescopic cylinder 2a4 by being fixed on straight line mould group 2a2, and the rotation being fixed on fixture telescopic cylinder 2a4
The components such as rotaring cylinder 2a9, and the clamping cylinder 2a7 that is fixed on rotary cylinder 2a9 composition.Fixture is logical with telescopic cylinder 2a4
The telescopic cylinder mounting plate 2a3 crossed on straight line mould group 2a2 is connected with straight line mould group 2a2, and telescopic cylinder mounting plate 2a3 can be in straight line
It is moved up and down in mould group, fixture is with being provided with fixture floating junction 2a5, the floating junction on the piston rod of telescopic cylinder 2a4
The impact during the work time to fixture retractable air cylinder piston bar can be reduced.Pass through screw thread on fixture floating junction 2a5
It is connected with the mounting plate 2a10 of rotary cylinder, rotary cylinder 2a9 is connect by the mounting plate 2a10 and fixture of rotary cylinder with floating
Head 2a5 and fixture are linked together with telescopic cylinder 2a4.Rotary cylinder 2a9 is connected through a screw thread the mounting plate of clamping cylinder
2a8, clamping cylinder 2a7 are mounted on the mounting plate 2a8 of clamping cylinder.The clamping action end of clamping cylinder 2a7 can be realized pair
The clamping of automotive hub or clamping cylinder are pressed from both sides by the clamping part matched with automotive hub shape with automotive hub
Tightly, rotary cylinder 2a9, which can be realized, overturns certain degree even 180 degree of automotive hub, and fixture telescopic cylinder 2a4 can be with
Realize the flexible of automotive hub fixture, moving up and down for automotive hub fixture may be implemented in straight line mould group 2a2.
The worm and gear elevator 2a11 can drive worm gear rotation by motor, be then converted to the vertical side of worm screw
Upward linear motion, worm screw connect supporting plate, fixed car wheel hub on supporting plate, thus realize the supporting plate of worm and gear elevator
It moves up and down, the supporting plate of worm and gear elevator will ask automotive hub to move up and down.
The wheel hub grinding and polishing tool magazine 2c is one jiao of sanding and polishing workbench for being disposed in proximity to sanding and polishing end, by
Cylindrical sanding and polishing head and bullet type sanding and polishing head, wheel hub grinding and polishing tool magazine horizontal mounting plate 2c10, wheel hub grinding and polishing cutter
The components such as library horizontal mounting plate 2c3 composition.Wheel hub grinding and polishing is provided on the side of wheel hub grinding and polishing tool magazine horizontal mounting plate 2c10
Tool magazine horizontal mounting plate groove 2c9 is also equipped with workbench installation groove (not marking in figure) on sanding and polishing workbench 2,
There are wheel hub grinding and polishing tool magazine horizontal mounting plate groove and workbench installation groove, wheel hub grinding and polishing tool magazine horizontal mounting plate 2c10
It can be fixed together by 90 degree of connectors with sanding and polishing workbench 2.The attachment of this installation groove form can
The intensity to workbench or installation plate itself, stress is avoided to damage, and it is recessed that tool magazine can be made to be fixed on workbench installation
Any suitable location of slot.Cylindrical sanding and polishing head includes cylinder grinding head 2c5 and cylindrical polishing head, bullet type polishing
Rubbing head includes bullet type grinding head 2c4 and bullet type rubbing head 2c1.
It is recessed that the lower surface wheel hub grinding and polishing tool magazine horizontal mounting plate 2c3 is provided with wheel hub grinding and polishing tool magazine horizontal mounting plate
Slot 2c8, the wheel hub grinding and polishing tool magazine horizontal mounting plate groove can be vertically-mounted with wheel hub grinding and polishing tool magazine by 90 degree of connectors
Plate 2c10 is fixed together.It is evenly arranged four storage cutter groove 2c2 on wheel hub grinding and polishing tool magazine horizontal mounting plate 2c3, stores up cutter groove
The shape of 2c2 be stored up to cooperate knife handle individually designed cutter groove import be rectangle, behind storing knifes position be one with
The connected circle in rectangle both sides.Rectangle width is identical with the diameter of knife handle groove, when cutter is put toward storage cutter groove, knife handle groove
With storage cutter groove rectangle it is tangent entrance.Store up the diameter phase of the subsequent circular diameter and knife handle being connected with rectangle both sides of cutter groove
Together, and it is greater than knife handle groove diameter.Such design is to realize cooperation more steady between storage cutter groove and grinding and polishing cutter.
Telescopic grinding and polishing vision inspection apparatus above the automotive hub is by visual sensor bracket 2b1, vision
Sensor 2b2, visual sensor floating junction 2b3, visual sensor telescopic cylinder 2b4, vision-based detection mechanism mounting plate
The components such as 2b5 are constituted.Vision-based detection mechanism mounting plate 2b5 is fixed together by 90 degree of connectors with sanding and polishing workbench 2,
Visual sensor is connected in one piece by screw and trapezoidal nut and vision-based detection mechanism mounting plate 2b5 with telescopic cylinder 2b4, depending on
Feel that sensor is connected through a screw thread with floating junction 2b3 and visual sensor with telescopic cylinder 2b4 to be fixed together, visual sensing
Device bracket 2b1 and visual sensor are connected through a screw thread with floating junction 2b3 to be fixed together, visual sensor 2b2 and vision
Sensor stand 2b1, which is connected through a screw thread, to be fixed together.Here visual sensor is to reduce gas with floating junction 2b3
Cylinder is during the work time to the impact of cylinder piston rod, to extend the service life of cylinder.In this way it is telescopic design be in order to
While facilitating industrial robot grinding and polishing, working space is saved.
The Six-DOF industrial robot is Six-DOF industrial robot, and the higher grinding and polishing appearance of difficulty may be implemented
State realizes accurately grinding and polishing to the position of the inconvenient grinding and polishing of artificial and other machines, greatly improves working efficiency and work quality.
The sanding and polishing end includes sanding and polishing cutter head 3a1, Pneumatic floating polishing main shaft 3a2.Pneumatic floating polishing
Main shaft one end and Six-DOF industrial robot end are connected, and sanding and polishing cutter head and the Pneumatic floating polishing main shaft other end are solid
Even.The Pneumatic floating is polished main shaft, since its main shaft is to float, not only can radial 360 degree float, but also can axially float
It is dynamic, therefore during grinding and polishing being reduced, impact of the sanding and polishing end of wheel hub grinding and polishing to automotive hub further increases grinding and polishing
Quality.
Specifically, as shown in Fig. 2, after automotive hub 2a6 is installed on worm and gear elevator 2a11 by staff,
Vision inspection apparatus 2b will detect the position of automotive hub 2a6 at this time, this position will be transmitted to by vision inspection apparatus 2b
Control cabinet 1, control cabinet and host computer real-time communication, the grinding and polishing initial position (start bit of automotive hub 2a6 is calculated by host computer
Setting can be taking human as being previously set) and staff institute placement location deviation；This deviation is transmitted to control cabinet 1 by host computer, is controlled
Cabinet 1 processed will control clamping device 2a movement according to this deviation, adjust the position of automotive hub 2a6, until its position meets
The requirement of grinding and polishing initial position.
The vision inspection apparatus 2b is visual sensor bracket 2b1, visual sensor 2b2, visual sensing as shown in Figure 5
The components such as device floating junction 2b3, visual sensor telescopic cylinder 2b4, vision-based detection mechanism mounting plate 2b5 composition.Work
When, the original image that visual sensor 2b2 can obtain automotive hub sends control cabinet 1 to, moreover, due to visual sensor
With the scalability of telescopic cylinder 2b4, when visual sensor 2b2 detects that vision inspection apparatus 2b influences automotive hub grinding and polishing
When system job, this information can be transmitted to control cabinet 1, control cabinet 1 will control visual sensor and be stretched automatically with telescopic cylinder 2b4
Contracting, to adjust the position of mechanism of the vision inspection apparatus 2b in addition to vision-based detection mechanism mounting plate 2b5, in order to automotive hub
Polishing system operation.
In a series of preferable case study on implementation of the present invention, the movement of the clamping device 2a is controlled by control cabinet 1, control
The control information of cabinet 1 processed is on the one hand at grinding and polishing origin (the grinding and polishing initial position) for looking for automotive hub one from two aspects
Aspect comes from the deviation for the target wheel hub being polished in wheel hub 2a6 and image library.Specifically in a first aspect, looking for automobile
When the grinding and polishing origin of wheel hub, the driving motor 2a12 of worm and gear elevator shown in Fig. 2 is rotated, so that worm and gear be driven to go up and down
Machine 2a11 lifting, while linking with fixture telescopic cylinder 2a4, clamping cylinder 2a7, to realize automotive hub 2a6 level and erect
The grinding and polishing origin of automotive hub is found in the adjustment of the upward position of histogram.Specifically on the other hand, since wheel hub grinding and polishing to
During last grinding and polishing is at target wheel hub, it is polished automotive hub 2a6 and being constantly present for the target wheel hub in image library is inclined
Difference, the progress that this deviation can instruct grinding and polishing to work.Control cabinet 1 can control straight line mould group 2a2, the flexible gas of fixture
Cylinder 2a4, rotary cylinder 2a9, clamping cylinder 2a7 movement, can will be polished automotive hub 2a6 and be adjusted to suitable position, here
Described suitable position, either horizontal position, is also possible to be tilted a certain angle.In order to six degree of freedom industrial machine
People 3 and wheel hub grinding and polishing sanding and polishing end carry out comprehensive grinding and polishing to automotive hub.After certain one side is completed in grinding and polishing, rotary pneumatic
Cylinder 2a9 will will be polished wheel hub 2a6 and turn, to carry out comprehensive grinding and polishing to the another side for being polished wheel hub 2a6.Mill
The process of throwing is identical as the process in the first face of grinding and polishing, just repeats no more here.
In a series of preferable case study on implementation of the present invention, the Six-DOF industrial robot is the technology of this field
As personnel are known, there are six freedom degrees for the industrial robot, have flexibility is good, accuracy is high, job area is wide etc.
Advantage, details are not described herein.
Sanding and polishing end 3a shown in fig. 5 is mounted on Six-DOF industrial robot 3, it can be achieved that sanding and polishing end
Flexible grinding and polishing of the 3a to wheel hub 2a6 is polished.Sanding and polishing end 3a is using Pneumatic floating polishing main shaft 3a2, cylindrical polishing
Head 2c5, bullet type grinding head 2c4, bullet type rubbing head 2c1, cylindrical polishing head carry out the grinding and polishing of wheel hub.Wherein Pneumatic floating
Polishing main shaft 3a2 is flexible, can axial floating and can radial 360 degree float, therefore can reduce and grind during the grinding process
Damage of the cutter to wheel hub is thrown, while reducing the damage to Pneumatic floating polishing main shaft 3a2.Cylindrical and bullet type grinding and polishing cutter
It is mixed, it can learn from other's strong points to offset one's weaknesses, the place of cylindrical grinding and polishing cutter inconvenience grinding and polishing is completed by bullet type grinding and polishing cutter, bullet type mill
It is completed by cylindrical grinding and polishing cutter in the place for throwing cutter inconvenience grinding and polishing.Six-DOF industrial robot 3, Pneumatic floating polishing master
The combination of axis 3a2, clamping device 2a can be realized the grinding and polishing for not staying dead angle comprehensive to automotive hub.
In order to realize automatic tool changer work of the invention, the present invention is in the free close to six of sanding and polishing workbench 2
One jiao for spending industrial robot 3 is provided with wheel hub grinding and polishing tool magazine 2c shown in Fig. 3.It is uniformly distributed on the wheel hub grinding and polishing tool magazine 2c
There are four storing up cutter groove 2c2, storage cutter groove 2c2 be shaped to behind the rectangle of front it is round, before rectangle width and knife handle it is recessed
The diameter of slot 2c7 is identical；Circular diameter is identical as the diameter of knife handle below, and the diameter of knife handle stop collar 2c6 is greater than knife
The diameter of handle.After the completion of the process that wheel hub is polished or polished, when needing replacing the cutter following process of progress, control cabinet
1 will issue tool changing instruction to sanding and polishing end 3a and Six-DOF industrial robot 3, and Six-DOF industrial robot 3 is just
It can move at wheel hub grinding and polishing tool magazine 2c, the cutter on the Pneumatic floating for just completing work polishing main shaft 3a2 is placed into
On wheel hub grinding and polishing tool magazine 2c.The process that specific description is placed is that rectangle enters before knife handle groove 2c7 alignment storage cutter groove 2c2
Mouthful enter wheel hub grinding and polishing tool magazine 2c, when cutter is moved to the center of knife handle and stores up behind cutter groove 2c2 the circular center of circle same
When on vertical line, control cabinet 1 will issue the instruction for putting knife, and cutter is since gravity falls naturally, but due to knife handle stop collar
The presence of 2c6, cutter can be stuck on wheel hub grinding and polishing tool magazine 2c without falling, completely put knife this completes one and move
Make.Cutter from storage cutter groove 2c2 in take out when process with cutter is put into store up cutter groove 2c2 in process be precisely it is opposite,
Here it just repeats no more.Knife handle stop collar is set on the knife handle of cutter and knife handle groove, knife handle stop collar are located at knife handle groove
Top, connection polishing or rubbing head on the knife handle below knife handle groove.
The line direction that two straight line mould groups are defined in the present invention is length direction.With the above-mentioned various cylinders being related to, directly
The standard component of line mould group, Six-DOF industrial robot, Pneumatic floating polishing main shaft and various connections is commercially available obtains
.
The present invention does not address place and is suitable for the prior art.
Claims (10)
1. a kind of automotive hub automatically grinding polishing system, including sanding and polishing workbench, it is set to on grinding and polishing automotive hub
The telescopic grinding and polishing vision inspection apparatus of side, be fixed on sanding and polishing workbench for gripping to grinding and polishing automotive wheels
It the clamping device of hub, Six-DOF industrial robot, the sanding and polishing end being set on industrial robot wrist joint and is used for
The control cabinet of control system work, which is characterized in that
The wheel hub grinding and polishing tool magazine for holding a variety of process tools, the clamping device are additionally provided on sanding and polishing workbench
Can machining angle to automotive hub and Working position be adjusted.
2. sanding and polishing system according to claim 1, which is characterized in that the clamping device includes two automotive hubs
Fixture, the worm and gear elevator being fixed on sanding and polishing workbench and two straight lines being fixed on sanding and polishing workbench
Mould group, two straight line mould groups are symmetrical arranged with straight line where the worm screw of worm and gear elevator, and two automotive hub fixtures are used for
Automotive hub is clamped, automotive hub fixture is fixedly mounted in corresponding straight line mould group；Worm and gear elevator by supporting plate with
Automotive hub to grinding and polishing connects；
The automotive hub fixture includes the fixture telescopic cylinder being fixed in straight line mould group, is fixed on fixture telescopic cylinder
On rotary cylinder and the clamping cylinder that is fixed on rotary cylinder, fixture telescopic cylinder pass through stretching in straight line mould group
Contracting cylinder mounting plate is connected with straight line mould group, and telescopic cylinder mounting plate can move up and down in straight line mould group, the flexible gas of fixture
Fixture floating junction, the fixture installation that rotary cylinder is connected through a screw thread on floating junction are provided on the piston rod of cylinder
Plate, rotary cylinder are linked together by the mounting plate and fixture floating junction and fixture of rotary cylinder with telescopic cylinder；Rotation
Rotaring cylinder is connected through a screw thread the mounting plate of clamping cylinder, and clamping cylinder is mounted on the mounting plate of clamping cylinder；Clamp gas
The clamping action end of cylinder clamps the automotive hub to grinding and polishing.
3. sanding and polishing system according to claim 2, which is characterized in that the rotary cylinder can be realized to automotive wheels
0~180 degree of hub is overturn at any angle.
4. sanding and polishing system according to claim 1, which is characterized in that the wheel hub grinding and polishing tool magazine is disposed in proximity to
One jiao of the sanding and polishing workbench of sanding and polishing end, including cylindrical sanding and polishing head and bullet type sanding and polishing head, wheel
Hub grinding and polishing tool magazine horizontal mounting plate and wheel hub grinding and polishing tool magazine horizontal mounting plate, under wheel hub grinding and polishing tool magazine horizontal mounting plate
Portion is fixed on sanding and polishing workbench, and upper end is fixed together with wheel hub grinding and polishing tool magazine horizontal mounting plate；In wheel hub grinding and polishing
The edge of tool magazine horizontal mounting plate be equipped with multiple storage cutter grooves, multiple storage cutter grooves for hold cylindrical sanding and polishing head with/
Or bullet type sanding and polishing head.
5. sanding and polishing system according to claim 4, which is characterized in that the cylinder sanding and polishing head includes cylinder
Shape grinding head and cylindrical polishing head, bullet type sanding and polishing head include bullet type grinding head and bullet type rubbing head.
6. sanding and polishing system according to claim 4, which is characterized in that each rubbing head is a cutter, cutter tool
There is knife handle, knife handle stop collar is set on knife handle end, knife handle groove is set on the knife handle below knife handle stop collar, knife handle groove
The consistency of thickness of length and wheel hub grinding and polishing tool magazine horizontal mounting plate；Store up cutter groove import be rectangle, behind storing knifes position
Setting is the circle being connected with rectangle both sides；Rectangle width is identical with the diameter of knife handle groove, and cutter groove is subsequent and rectangle for storage
The connected circular diameter in both sides is identical as the diameter of knife handle, and the diameter of knife handle stop collar is greater than shank diameter.
7. sanding and polishing system according to claim 4, which is characterized in that wheel hub grinding and polishing tool magazine horizontal mounting plate, wheel
It is connected and fixed by corresponding 90 degree of connectors between hub grinding and polishing tool magazine horizontal mounting plate and sanding and polishing workbench three.
8. sanding and polishing system according to claim 1, which is characterized in that vision inspection apparatus includes visual sensor branch
Frame, visual sensor, visual sensor floating junction, visual sensor telescopic cylinder, vision-based detection mechanism mounting plate, depending on
Feel that testing agency's mounting plate is connected by 90 degree of connectors and sanding and polishing workbench, visual sensor telescopic cylinder passes through spiral shell
Nail is connected with trapezoidal nut and vision-based detection mechanism mounting plate, visual sensor floating junction and the flexible gas of visual sensor
Cylinder, which is connected through a screw thread, to be fixed together, and visual sensor bracket and visual sensor are connected through a screw thread connected with floating junction
Together, visual sensor is connected through a screw thread with visual sensor bracket and is fixed together.
9. sanding and polishing system according to claim 1, which is characterized in that the sanding and polishing end includes polishing or throws
Light-knife head, Pneumatic floating polishing main shaft, Pneumatic floating polishing main shaft one end and Six-DOF industrial robot end are connected, polishing
Or polishing cutter head and the Pneumatic floating polishing main shaft other end are connected.
10. sanding and polishing system according to claim 1, which is characterized in that the vision inspection apparatus and control cabinet electricity
Gas connection, control cabinet are communicated with host computer, and wheel hub image library is loaded in host computer；Control cabinet obtains vision inspection apparatus
The original image of automotive hub to be processed reaches host computer, and original image is carried out with the wheel hub image library for being stored in host computer
Compare, Six-DOF industrial robot is controlled by comparison result and whether sanding and polishing end continues wheel hub of polishing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910654136.7A CN110421423A (en) | 2019-07-19 | 2019-07-19 | A kind of automotive hub automatically grinding polishing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910654136.7A CN110421423A (en) | 2019-07-19 | 2019-07-19 | A kind of automotive hub automatically grinding polishing system |
Publications (1)
| Publication Number | Publication Date |
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| CN110421423A true CN110421423A (en) | 2019-11-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910654136.7A Pending CN110421423A (en) | 2019-07-19 | 2019-07-19 | A kind of automotive hub automatically grinding polishing system |
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| CN (1) | CN110421423A (en) |
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| CN110802415A (en) * | 2019-11-28 | 2020-02-18 | 秦皇岛中秦智能装备有限公司 | Novel online automatic grinding and burr milling system for wheel hub |
| CN111318928A (en) * | 2020-02-28 | 2020-06-23 | 上海发那科机器人有限公司 | Hub polishing device based on three-dimensional scanner and operation method thereof |
| CN111390676A (en) * | 2020-04-30 | 2020-07-10 | 瑞安市欣炜汽车部件有限公司 | Clamping device for polishing automobile hub and using method thereof |
| CN112894377A (en) * | 2021-01-15 | 2021-06-04 | 廊坊市亿创科技有限公司 | Flexible polishing system of robot with instrument automatic switch-over function |
| CN113427383A (en) * | 2021-07-27 | 2021-09-24 | 成都市瑞研光科技有限公司 | Intelligent polishing machine |
| CN113732930A (en) * | 2021-09-22 | 2021-12-03 | 苏州香农科技有限公司 | Intelligent robot polishing system based on 3D vision system |
| CN113770848A (en) * | 2021-09-28 | 2021-12-10 | 芜湖赢诺液压科技有限公司 | Inner hole polishing equipment |
| CN113927396A (en) * | 2021-12-17 | 2022-01-14 | 佛山隆深机器人有限公司 | Automatic grinding and polishing robot for welding seam of large machine component and control system |
| CN114029818A (en) * | 2021-11-03 | 2022-02-11 | 武汉行芝达自动化科技有限公司 | Industrial robot flexible polishing equipment and system based on machine vision |
| CN114178988A (en) * | 2021-12-15 | 2022-03-15 | 苏州东山精密制造股份有限公司 | Clamping and shifting device for box body polishing and box body polishing method |
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| CN114952447A (en) * | 2022-05-16 | 2022-08-30 | 上海惠而顺精密工具股份有限公司 | Secondary grinding machine for cutter head |
| CN115256098A (en) * | 2021-04-30 | 2022-11-01 | 万创(苏州)智能工业自动化有限公司 | Robot deburring device based on visual inspection |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110802415A (en) * | 2019-11-28 | 2020-02-18 | 秦皇岛中秦智能装备有限公司 | Novel online automatic grinding and burr milling system for wheel hub |
| CN111318928A (en) * | 2020-02-28 | 2020-06-23 | 上海发那科机器人有限公司 | Hub polishing device based on three-dimensional scanner and operation method thereof |
| CN111390676A (en) * | 2020-04-30 | 2020-07-10 | 瑞安市欣炜汽车部件有限公司 | Clamping device for polishing automobile hub and using method thereof |
| CN112894377A (en) * | 2021-01-15 | 2021-06-04 | 廊坊市亿创科技有限公司 | Flexible polishing system of robot with instrument automatic switch-over function |
| CN115256098A (en) * | 2021-04-30 | 2022-11-01 | 万创(苏州)智能工业自动化有限公司 | Robot deburring device based on visual inspection |
| CN113427383A (en) * | 2021-07-27 | 2021-09-24 | 成都市瑞研光科技有限公司 | Intelligent polishing machine |
| CN113732930A (en) * | 2021-09-22 | 2021-12-03 | 苏州香农科技有限公司 | Intelligent robot polishing system based on 3D vision system |
| CN113770848A (en) * | 2021-09-28 | 2021-12-10 | 芜湖赢诺液压科技有限公司 | Inner hole polishing equipment |
| CN114029818A (en) * | 2021-11-03 | 2022-02-11 | 武汉行芝达自动化科技有限公司 | Industrial robot flexible polishing equipment and system based on machine vision |
| CN114029818B (en) * | 2021-11-03 | 2022-10-11 | 武汉行芝达自动化科技有限公司 | Flexible grinding equipment for industrial robot based on machine vision |
| CN114346888A (en) * | 2021-12-13 | 2022-04-15 | 镇江裕久智能装备股份有限公司 | Automobile aluminum alloy wheel hub polishing equipment |
| CN114346888B (en) * | 2021-12-13 | 2024-04-02 | 镇江裕久智能装备股份有限公司 | Automobile aluminum alloy hub polishing equipment |
| CN114178988A (en) * | 2021-12-15 | 2022-03-15 | 苏州东山精密制造股份有限公司 | Clamping and shifting device for box body polishing and box body polishing method |
| CN113927396B (en) * | 2021-12-17 | 2022-05-03 | 佛山隆深机器人有限公司 | Automatic grinding and polishing robot for welding seam of large machine component and control system |
| CN113927396A (en) * | 2021-12-17 | 2022-01-14 | 佛山隆深机器人有限公司 | Automatic grinding and polishing robot for welding seam of large machine component and control system |
| CN114952447A (en) * | 2022-05-16 | 2022-08-30 | 上海惠而顺精密工具股份有限公司 | Secondary grinding machine for cutter head |
| CN114952447B (en) * | 2022-05-16 | 2024-06-04 | 上海惠而顺精密工具股份有限公司 | Secondary grinding machine for cutter head |
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