CN110682194B - Polishing workstation and modular operation method thereof - Google Patents
Polishing workstation and modular operation method thereof Download PDFInfo
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- CN110682194B CN110682194B CN201910903235.4A CN201910903235A CN110682194B CN 110682194 B CN110682194 B CN 110682194B CN 201910903235 A CN201910903235 A CN 201910903235A CN 110682194 B CN110682194 B CN 110682194B
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- 238000005498 polishing Methods 0.000 title claims abstract description 33
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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
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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
- B24B41/02—Frames; Beds; Carriages
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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
- B24B41/06—Work supports, e.g. adjustable steadies
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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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a polishing workstation and a modularized operation method thereof, wherein the polishing workstation is provided with a five-axis carrier which is formed by combining three-axis linearity and two-axis nonlinearity above an operation platform based on a rack, and the tail end of the five-axis carrier is provided with a pneumatic chuck externally connected with an air source; a tool library and a main controller are arranged beside the operation platform, each processing tool in the tool library is independently positioned and is integrated with a pneumatic motor and a grinding head or a tool bit with a corresponding operation function; the five-axis carrier and the air source are controlled by the action and the on-off of the main controller; the modular operation method comprises the steps of pre-compiling a single set of programs for each processing object operation finished product in the prenatal, matching and storing the labels in the main controller, automatically identifying the processing objects in the processing operation stage and calling the corresponding single set of programs for processing operation. The innovative scheme of the invention improves the flexibility, efficiency and positioning precision of the customized composite processing program for the diversified shapes of the objects to be processed; the pre-programming process of a single set of program is simplified, the operation is convenient, and the collaboration is expanded.
Description
Technical Field
The invention relates to a polishing solution, in particular to a novel polishing workstation with high automation degree of machining tool changing, labor saving and consumable waste and a modular operation method thereof, and belongs to the technical field of electromechanical application.
Background
With the change of electromechanical technology, the industrial automatic production and processing industry develops rapidly, and the technical development of the industry is also promoted continuously. The industrial production comprises contents of various large-scale levels, the related equipment is large enough to produce large machines of vehicle navigation equipment, small enough to produce processing machines of various miniature parts, and the industrial production also comprises automatic assembling tools of various specifications and the like.
Whether the product is formed by injection molding, metal die casting or metal welding, the flatness, smoothness and reflection brightness of more or less surfaces of the product do not meet the ideal requirements, or the product has the phenomena of scratches, spots, edge collapse and the like. Therefore, deep processing treatment needs to be carried out by the equipment, the treatment is mostly completed by manual operation, and the consistency of batch treatment quality is difficult to ensure due to the difference of labor fatigue intensity. In view of this, many technicians provide various devices for liberating manual work and realizing preliminary automation through research, development and experiments. Generally, the processing content of the equipment is mainly grinding and polishing, so that the equipment also needs to periodically replace consumable tools such as a processing grinding head and the like in the operation process according to process requirements except for the requirements on the flexibility and the precision of the space positioning of the operation head, and almost all the consumable tools need to be manually replaced after shutdown operation, and the automation degree of the processing equipment and the efficiency of production operation are influenced on the premise of ensuring the safety of operators.
In a more solid and self-sealing manner, equipment such as a traditional polishing workstation and the like can only perform continuous processing treatment on consumables with single specification for a small part of products with regular shapes, even if the composite polishing processing of firstly thickening and then thinning is also fixed as a unique tool in output power, the required consumables are replaced manually or automatically; after the specification of the consumable material is changed, the output power of the tool needs to be adjusted adaptively, so that the complexity and difficulty of programming the program of an operator are increased, and the processing requirements of various products with complicated regular shapes or special shapes cannot be met.
Because the machining objects faced by the polishing workstation are various in types and shapes, the industrial control programs of the polishing workstation corresponding to different machining objects are different greatly. For operators who are on duty newly, too complicated programming operation of the processing object often happens without help, and the operating efficiency of production and processing enterprises is influenced to a certain extent. Moreover, it is also common for a polishing workstation to perform insertion work of different processing objects according to production plan adjustment, and therefore the work processing mode of the polishing workstation needs to meet the requirement of variability.
Disclosure of Invention
In view of the problems in the prior art, the invention aims to provide a polishing workstation and a modular operation method thereof, so as to solve the problems that the polishing workstation is flexible in operation and convenient to use in a modular manner when facing to processing objects with different shapes.
The technical solution for realizing the first object of the present invention is a polishing workstation, which is provided with a frame and an operation platform in a semi-enclosed machine case, and is characterized in that: based on the machine frame, a five-axis carrier formed by assembling a three-axis linear positioning mechanism and a two-axis nonlinear positioning mechanism is arranged above the operation platform, the tail end of the five-axis carrier is connected with a pneumatic chuck externally connected with an air source, and the pneumatic chuck is suspended above the operation platform and controlled to adjust positioning orientation; a tool warehouse is arranged at least one side of the operation platform, the tool warehouse comprises a set of processing tools, each processing tool is independently positioned and is integrated with a unique pneumatic motor and a grinding head or a tool bit with a corresponding operation function; a programmable main controller is arranged behind the operation platform, and the driving end of the five-axis carrier and the control end of the air source related valve are connected with the main controller through buses to be controlled to act and be locked; the surface of the operation platform is provided with a fixture module with an identification probe, and the signal of the identification probe is connected to the main controller.
The polishing workstation further comprises a vertical axial rotation unit and a horizontal axial swing unit, wherein the vertical axial rotation unit is composed of a driving motor, a stator and a rotor which are sequentially connected from top to bottom; the pneumatic chuck and the swinging part are connected into a whole and are externally connected with an air source through an air pipe and a valve, and the pneumatic chuck is provided with an interface which is in butt joint with a pneumatic motor of the processing tool for ventilation.
The polishing workstation further comprises N sets of processing tools with different types and specifications, wherein N is a natural number more than 2, the tool magazine is respectively provided with tool racks containing horizontal in-row and vertical in-row seating seats on two side surfaces of the operation platform, each processing tool is independently positioned in the seating seat, and the inner surface of each seating seat is provided with a reinforced positioning part.
The polishing workstation is further provided with an operating panel which is positioned outside the case and is connected with the main controller through a parallel line, wherein the operating panel is provided with a display screen for state monitoring and operation demonstration, an operating keyboard for manual programming or instruction calling and more than two communication interface modules for externally connecting an upper computer or a mobile memory.
The technical solution for achieving the second object of the present invention is a modular operation method, which is implemented based on the polishing workstation, and is characterized by comprising: in the prenatal preparation stage, a single set of programs for receiving and replacing the processing tools and facing each processing object operation finished product are pre-programmed, more than one processing object is labeled, and the single set of programs corresponding to the labels are stored in the main controller; and in the processing operation stage, the processing objects are loaded into the clamp modules one by one and are automatically identified, the main controller automatically calls the corresponding matched single program to implement processing operation according to the identified labels, and the single program which is currently running is inserted, interrupted and recovered before and after the consumable materials of the processing tool are used up and replaced.
The modular operation method further comprises the prenatal preparation stage: s1, constructing a space three-dimensional coordinate system on the operation platform, keeping the complete set of processing tools positioned in a tool library at intervals in a loss range, and storing the independent positioning data of each processing tool into a main controller; s2, defining the coordinate of a point position above the operation platform as the initial positioning data of the pneumatic chuck, and obtaining a first navigation subprogram set for respectively reloading the required processing tools by controlling and driving the pneumatic chuck by a five-axis carrier through operating and programming a main controller according to the space positioning distance between the pneumatic chuck and each processing tool; s3, decomposing more than one sub-processing sections according to the shape and the processing requirement of the processing object, wherein each sub-processing section comprises a required processing tool and a space range and an orientation range of a processing operation area, and obtaining a second navigation sub-program set of the five-axis carrier controlled to drive the processing tool to carry out operation of each sub-processing section through operating and programming a main controller; s4, according to the sub-processing sections decomposed by the processing object, inserting the first navigation sub-program set into the second navigation sub-program set in a segmentation mode according to the using sequence of the processing tool, and forming a single set of program matched with the processing object through the texture; s5, labeling the processing object, and storing the finished single set of program in the main controller in combination with the label; and repeating the steps S3-S5, and updating the single set of program library stored corresponding to the existing and newly added processing objects in the master controller.
In the above modularized operation method, further, the first set of navigation subroutines includes N first navigation subroutines in which the pneumatic chuck moves from the defined point location to any one of the independent positioning points of the processing tool in the set and controls the on/off of the valve related to the air source; the second navigation subprogram set comprises M second navigation subprograms, each second navigation subprogram is navigation control that the pneumatic chuck moves from the machining tool reloading positioning point to the machining operation area for traversing and returns to the defined point, and M is the number of the decomposed sub-machining sections.
The modular operation method further comprises the following processing operation stages: s6, loading the processing object with the pre-programmed single program into a clamp module, and automatically identifying the label of the processing object by an identification probe and interacting with a main controller through signals; s7, the main controller calls a single set of program corresponding to the label, the single set of program respectively outputs signals to the driving end of the five-axis carrier to navigate the movement of the pneumatic chuck, and outputs signals to the control end of the relevant valve of the air source to control the on-off; and S8, the pneumatic chuck resets in a no-load way at the defined point position, completes the execution of a single set of program and unloads the processing object from the clamp module.
The above modular operation method, further, the process of accessing the processing tool comprises: the unloaded pneumatic chuck moves to a position where a machining tool needs to be accessed based on the navigation of the five-axis carrier, is connected with a pneumatic motor in a virtual mode, and is controlled to be connected with an air source and integrally connected with the machining tool in a self-locking mode; the process of changing the machining tool includes: the non-idle pneumatic chuck moves to a reset positioning position of the tool library based on the navigation of the five-axis carrier and is controlled to cut off the air source, the pneumatic chuck is unlocked and separated from the machining tool to be stopped, then moves to a machining tool positioning position required to be replaced based on the navigation of the five-axis carrier and is connected with the pneumatic motor in a virtual mode, and then is controlled to be connected with the air source and is integrally connected with the machining tool in a self-locking mode.
In the above modularized working method, further, the usage time of each processing tool in the tool library is recorded in the master controller in real time, and the master controller is configured with a consumable material exhaustion control signal and a consumable material replacement subroutine related to the upper limit of the cumulative usage time of each processing tool, the consumable material replacement subroutine comprising: interrupting the execution of the current single set of program; the non-empty-load pneumatic chuck moves to a reset positioning position of the tool library from an interruption positioning position based on a five-axis carrier in a navigation mode and is controlled to cut off an air source, the pneumatic chuck is unlocked and separated from a machining tool to be replaced, then a pneumatic motor of the machining tool after replacement is connected in a virtual mode in situ, then the pneumatic chuck is controlled to be connected with the air source and is in integrated self-locking joint with the machining tool, then the pneumatic chuck is navigated to the interruption positioning position, and the current single program execution is recovered.
The polishing workstation and the modularized operation method thereof have the prominent substantive characteristics and remarkable progressiveness: 1) the pneumatic motors are independently integrated for all the used processing tools, and the five-axis carrier is combined to simulate the all-dimensional and all-directional positioning of the multi-axis robot in the polishing workstation in a regional mode, so that the limitation that the traditional single type power source and the traditional consumable clamp cannot be used for various tools is broken through, the debugging and setting of output parameters required by replacing different types of processing tools are omitted during the programming of a processing program, and the flexibility, efficiency and positioning precision of the processing tool for customizing the composite processing program for various shapes of the object to be processed are improved;
2) based on the hardware configuration of self-service programming control, through the subprogram modularization programming and the texture of changing different processing tools and decomposing the operation towards the processing object, the simplification of the single set of program pre-editing process is realized, the operation of operators is convenient, the single set of program corresponding to the high-difficulty processing object is easily remotely assisted to be pre-edited and is transferred to the main controller, and the cooperativity of the polishing workstation is deeply expanded.
Drawings
Figure 1 is a simplified schematic of the overall box structure of the sanding station of the present invention.
Fig. 2 is a schematic flow chart of the present invention based on the modularity of the grinding stations.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings for the purpose of understanding and controlling the technical solutions of the present invention, so as to define the protection scope of the present invention more clearly.
The designer of the invention realizes the limitations or deficiencies of the traditional process and the existing semi-automatic equipment aiming at the deep market investigation of the development of the small-sized machine processing operation industry, thereby relying on the long-term production line experience to research, develop and explore aiming at overcoming the technical problem, improving the flexibility and the processing efficiency of the industrial grinding composite operation and reducing the technical threshold of the operation in the industry, innovatively providing a grinding workstation and a modularized operation method thereof, and being widely applied to the secondary processing production application fields of grinding, milling, drilling and various combinations of various formed products. The scheme can quickly adapt to the requirements of new product development and market launching, and efficiently meets various novel processing requirements.
As shown in fig. 1, is a simplified schematic diagram of the overall box structure of a preferred embodiment of a sanding station developed and proposed by the present invention. As can be seen from the figure, the five-axis carrier 3 is provided with a frame 1 and a working platform 2 which are positioned in a semi-enclosed machine case 9, and based on the above frame, from the technical summary, a five-axis carrier 3 formed by assembling a three-axis linear positioning mechanism 31 and a two-axis nonlinear positioning mechanism 32 is arranged above the working platform 2, and the tail end of the five-axis carrier 3 is provided with a pneumatic chuck 4 externally connected with an air source (not shown) through a relevant valve, the pneumatic chuck 4 is suspended above the working platform to be controlled to adjust the positioning orientation, that is, the movement of the pneumatic chuck 4 is not contacted with the working platform and is also controlled to avoid the clamp module and the object to be. At least one side of the working platform 2 is provided with a tool warehouse 5, wherein the tool warehouse comprises a set of processing tools 5i, i =1, 2 … … N (N is the total number of the processing tools with different types or specifications in the tool warehouse), each processing tool is independently positioned and is integrated with a unique pneumatic motor and a grinding head or a tool bit with corresponding working functions. That is, each processing tool has a unique positioning point for accessing and resetting in the tool library, and any processing tool is prohibited from being reset to the tool library when the processing tool is removed from the tool library, that is, reset and misplaced. After the air source is connected, the relevant operation is carried out by the power output of the pneumatic motor, and the corresponding grinding head and the corresponding tool bit are consumable workpieces which can be replaced from the warehouse. A programmable main controller 6 is arranged behind the operation platform 2, and the driving end of the five-axis carrier 3 and the control end of the air source related valve are connected with the main controller 6 through buses to be controlled to act and be locked. In addition, because of the requirement of automatic identification of the processing object, the surface of the working platform 2 is also provided with a fixture module 7 with an identification probe, and the signal of the identification probe is connected to the main controller 6. Regarding the implementation manner of the fixture module autonomous identification, simple examples are two-dimensional code pattern identification or other contact point contact identification, and the like, so that when an operator finishes clamping an object to be processed in place, the operator can automatically identify and assist the main controller to judge the whole process of the required processing operation, and quickly call one of the pre-programmed single programs.
Based on the general structural features of the above-mentioned grinding workstation, the three-axis linear positioning mechanism 31 is a conventional three-dimensional orthogonal-axis linear navigation positioning assembly, and therefore, the detailed structural features, navigation method and precision control measures thereof are omitted. The newly added two-axis non-linear positioning mechanism 32 includes a vertical axial rotation unit 32a and a horizontal axial swing unit 32b, which are connected together, the vertical axial rotation unit is composed of a driving motor 321a, a stator 322a and a mover 323a, which are sequentially connected from top to bottom, and in the illustrated embodiment, the vertical axial rotation unit is connected with a Z-axis slider in the three-axis linear positioning mechanism through a transition bracket. Specifically, the driving motor 321a, a part of the stator 322a and a power source interface (not shown) of the air pipe facing the air source are attached to the top side of the horizontal base plate of the adapter bracket, the other part of the stator is attached to the bottom side of the horizontal base plate and is integrated with the upper part, and the mover 323a is inserted into the stator 322a, axially positioned and radially controlled by the driving motor to rotate for 360 degrees. In the figure, the circular holes of the horizontal base plate and the fixed shaft portion 321b are provided for the air pipes, and the air pipes are not shown. The horizontal axis direction swing unit 32b is composed of a fixed shaft portion 321b in which a swing motor 322b is provided, and a swing portion 323b fixed to an output shaft of the swing motor, the mover 323a is integrally connected to the fixed shaft portion 321b, and the swing portion 323b is driven to swing and lock within an angular range of 180 ° or more. The pneumatic chuck 4 follows the rotating shaft of the swing part 323b through key joint fixation, and is externally connected with an air source through an air pipe and a valve (not shown). The pneumatic chuck 4 is provided with an interface which is butted with a pneumatic motor of a processing tool for ventilation, and the interface is provided with a sealing ring, so that the pneumatic motor can be conveniently butted to conduct air source power without leakage; the conventional pneumatic self-locking joint is arranged beside the periphery of the interface, and the female joint seat is arranged on the surface facing to the shell of the processing tool, so that the ventilation self-locking and the air-off unlocking can be realized after any processing tool is connected in a virtual mode. Such as a tool quick-change body BRQC018-S-M and its lockers BRMQC018 or other tool quick-change interface device.
On the other hand, the tool magazine 5 includes N sets of different types and specifications of machining tools, N is a natural number of 2 or more, and the tool magazine 5 is provided with tool holders including seating seats arranged in rows and columns on both sides of the work platform, and each machining tool is independently positioned in the seating seat. In the illustrated embodiment, N =36, and the toolholders are distributed in two rows and nine rows of arrays on both sides of the working platform and symmetrically positioned on both sides, so that the pneumatic chucks can conveniently receive processing tools in different directions. As a technical optimization, in order to improve the positioning stability of each processing tool in the drop seat, a reinforced positioning part is arranged on the inner surface of the drop seat. The implementation mode of the method is as follows: the bottom surface of the seat is provided with an adsorption air hole of an external vacuum pump. The adsorption air hole provides the negative pressure when processing tool is idle to be used among the practical application, avoids polishing the operation in-process fuselage vibration and makes processing tool produce and rocks the noise, only meets the auto-lock back when specific processing tool and pneumatic chuck, adsorbs the air hole automatic switch-over to the decompression state, and processing tool can freely remove. Of course, the implementation method may include the use of magnetic attraction or elastic dragon ball, besides the air hole adsorption.
In addition, the polishing workstation is provided with an operation panel 8 which is positioned outside the case 9 and is connected with a main controller through a parallel line, the operation panel 8 is provided with a display screen 81 for state monitoring and operation demonstration, an operation keyboard 82 for manual programming or instruction calling and more than two communication interface modules (not shown) of an external connection upper computer or a mobile memory, so that a convenient operation interface for operators is provided.
The method is different from the traditional lagging mode that the time and labor are consumed and the entry difficulty is large when the materials come along with the processing object and the programming operation is carried out, is used as another innovative improvement of the hardware of the polishing workstation, and provides a brand new modularized operation method on the basis of the structural improvement of the polishing workstation in an optimized way, and is different from the mode that the processing operation process is divided into two stages of prenatal preparation and automatic processing operation. Specifically, in the prenatal preparation stage, more than one processing object is labeled and a single set of programs which are correspondingly matched with the labels are stored in a main controller by utilizing the receiving, replacing and installing of a pre-programmed processing tool and the single set of programs facing to each processing object operation finished product; and in the processing operation stage, the processing objects are loaded into the clamp modules one by one and are automatically identified, the main controller automatically calls the corresponding matched single program to implement processing operation according to the identified labels, and the single program which is currently running is inserted, interrupted and recovered before and after the consumable materials of the processing tool are used up and replaced. The modularization includes the following two levels of meanings, one is that the whole operation process is decomposed corresponding to a specific processing object, the receiving and changing tools are modularly programmed into relatively independent subprograms, and the subprograms can be used for repeatedly combining and compiling a complete program; and secondly, processing objects with different shapes, specifications and processing contents are distinguished, and a pre-programmed list set program matched in a modularization mode is adopted for automatic identification and then is selected and called.
To understand more specifically, as can be seen in the detailed flow chart shown in fig. 2, the prenatal preparation phase described above comprises: s1, a space three-dimensional coordinate system is built on the operation platform, the complete set of processing tools are kept to be positioned in the tool library at intervals in a loss range, and the independent positioning data of each processing tool are stored in the master controller. And S2, defining the coordinate of a point position above the operation platform as the initial positioning data of the pneumatic chuck, and obtaining a first navigation subprogram set for respectively reloading the required machining tools by controlling and driving the pneumatic chuck by a five-axis carrier through operating and programming a main controller according to the space positioning distance between the pneumatic chuck and each machining tool. S3, clamping any processing object in the clamp module, decomposing more than one sub-processing sections according to the shape and the processing requirement of the processing object, wherein each sub-processing section comprises a required processing tool and a space range and an orientation range of a processing operation area, and obtaining a second navigation subprogram set of the five-axis carrier controlled to drive the processing tool to carry out operation of each sub-processing section through operating and programming the main controller. And S4, according to the sub-processing sections decomposed by the processing object, the first navigation sub-program set is inserted into the second navigation sub-program set in a segmentation mode according to the using sequence of the processing tool, and the texture forms a single set of program matched with the processing object. And S5, labeling the processing objects, and storing the finished single set of programs in the main controller one by one in combination with the labels to form a single set of program database, so that the single set of programs can be conveniently managed and called by operators. And repeating the steps S3-S5 to update the single set of programs stored in the master corresponding to the existing and newly added processing objects. The processing operation stage comprises: s6, loading the processing object with the pre-programmed single program into a clamp module, and automatically identifying the label of the processing object by an identification probe and interacting with a main controller through signals; s7, the main controller calls a single set of program corresponding to the label, the single set of program respectively outputs signals to the driving end of the five-axis carrier to navigate the movement of the pneumatic chuck, and outputs signals to the control end of the relevant valve of the air source to control the on-off; and S8, the pneumatic chuck resets in a no-load way at the defined point position, completes the execution of a single set of program and unloads the processing object from the clamp module.
In a further refinement, the first set of navigation subroutines includes N first navigation subroutines in which the pneumatic chuck moves from the defined point location to any one of the independent positioning points of the processing tool in the set and controls the on/off of the valve associated with the air source. Due to the existence of the defined point positions, the displacement stroke of the pneumatic clamp is fixed when the processing tool is accessed and replaced, thereby the possibility of modular programming of the pneumatic chuck and the processing tool is given; the second navigation subprogram set comprises M second navigation subprograms, each second navigation subprogram is navigation control that the pneumatic chuck moves from the machining tool reloading positioning point to the machining operation area for traversing and returns to the defined point, and M is the number of the decomposed sub-machining sections. And each second navigation subprogram takes a specific processing tool and the processing operation range thereof as modularization basis, and in the process that the pneumatic chuck traverses the processing operation area, a pneumatic motor arranged in the processing tool is connected with an air source and performs processing operation according to preset output parameters.
The process of accessing the processing tool comprises: the unloaded pneumatic chuck moves to a position where a machining tool needs to be accessed based on the navigation of the five-axis carrier, is connected with a pneumatic motor in a virtual mode, and is controlled to be connected with an air source and integrally connected with the machining tool in a self-locking mode; the process of changing the machining tool comprises the following steps: the non-idle pneumatic chuck moves to a reset positioning position of the tool library based on the navigation of the five-axis carrier and is controlled to cut off the air source, the pneumatic chuck is unlocked and separated from the machining tool to be stopped, then moves to a machining tool positioning position required to be replaced based on the navigation of the five-axis carrier and is connected with the pneumatic motor in a virtual mode, and then is controlled to be connected with the air source and is integrally connected with the machining tool in a self-locking mode.
In addition, in the above modularized operation method, each processing tool has specific positioning data in the master controller, and the pneumatic chuck correspondingly accesses each processing tool to perform operation, and also keeps timing statistics in the master controller, so that the service time of each processing tool in the tool library is recorded in the master controller in real time, and the master controller is provided with a consumable material exhaustion control signal and a consumable material replacement subprogram which are related to the upper limit of the cumulative service time of each processing tool.
For an implementation in which a consumable material use-up indication occurs during a job, the consumable material replacement subroutine comprises: interrupting the execution of the current single set of program; the non-empty-load pneumatic chuck is navigated and moved to a reset positioning position of the tool library from an interruption positioning position based on a five-axis carrier and is controlled to cut off an air source, the pneumatic chuck is unlocked and separated from a machining tool to be replaced, then a pneumatic motor of the machining tool after replacement is connected in a virtual mode in situ, then the pneumatic chuck is controlled to be connected with the air source and is integrally self-locked with the machining tool, and then the pneumatic chuck is navigated and returned to the interruption positioning position; and restoring the current single program execution.
Of course, in the case of the consumable material use-up indication occurring in the standby implementation of the processing tool itself, the currently ongoing operation process need not be interrupted, and only the processing tool of the same type needs to be directly replaced.
The innovative characteristics of the modular working method are more evident from the product sales and the actual market applications, such as: after the new equipment of workstation of polishing is introduced to this kind of processing production type enterprise, need train operating personnel to be skilled to the object of treating of multiple specification and master machine programming operation, and still need loaded down with trivial details steps such as adjustment, trial run production to different processing objects after programming, but not influence production efficiency, still make the human cost high, appear idle equipment even and the awkward condition of executing for powerless production. Aiming at the frequently-seen current situation, the technical solution provided by the invention can provide remote programming and commissioning services. On the basis of polishing workstations configured in the same specification, a production enterprise (namely a client) can add samples and processing requirements of products to be processed and forward the samples and the processing requirements to an equipment production party, a professional team compiles a single set of programs similar to modularization according to the equipment specification, the processing requirements and the like, and then the single set of programs are fed back to the production enterprise and are stored in a main controller through a communication interface module of the operation panel. The single set of program independently operates aiming at the equipment with the specification and realizes the corresponding processing production operation, and has reproducibility and transplantation expansibility. Therefore, the preparation work for batch production of more than three grinding work stations with the same specification is obviously reduced in difficulty, and higher degree of consistency can be achieved. Particularly, for production enterprises, the technical threshold of production operators is reduced, and great labor cost saving is facilitated, so that the method is more suitable for expanding the production scale.
In summary, the scheme introduction and the embodiment of the workstation and the modular operation of the invention are combined with the detailed description of the figure, and compared with the existing conventional small and medium-sized grinding processing equipment, the scheme has the prominent substantive characteristics and the remarkable progress: the following two aspects are summarized and understood respectively.
Firstly, a complete-function tool set library is improved and provided, pneumatic motors are independently integrated into all used machining tools to be used as power output, parameter setting of the pneumatic motors can be defined according to consumable usage, the limitation that a traditional single type power source and a consumable clamp cannot be used for various tools is broken through, repeated debugging and setting of output parameters required by replacing different types of machining tools are omitted during machining program compilation, and consumed programming time is saved; and the five-axis carrier combined with three-axis linearity and two-axis nonlinearity simulates the multi-axis robot to be positioned in all directions in the grinding work occupation area, so that convenience is provided for the pneumatic clamp to access a machining tool at each fixed point position and carry out grinding operation, and the flexibility, the efficiency and the positioning precision of the machining equipment for customizing the composite machining program for the diversified shapes of the objects to be machined are improved comprehensively based on the improvement of a hardware base.
Secondly, based on self-service programming control hardware configuration, reusable modular subprograms are respectively compiled through the operations of changing different processing tools and decomposing facing to processing objects, and the subprograms are selected and combined according to the processing objects with different shapes and the processing requirements thereof, so that the simplification of a single program pre-compiling process is realized, and therefore, operators with different experiences can conveniently popularize and operate; meanwhile, the single set of programs corresponding to the high-difficulty processing objects are easily remotely assisted and pre-programmed, and are transferred to the main controller through the network, the cloud end and the mobile storage device, the single set of programs are suitable for synchronously preloading a part of single set of programs of the main controllers of the plurality of polishing work stations to perform batch large-scale operation, and the collaboration of the polishing work stations is deeply expanded.
The above detailed description of the embodiments with reference to the drawings is intended to be a detailed description of possible embodiments of the invention, and is not intended to limit the scope of the invention, which is defined by the claims and their equivalents, but rather by the claims.
Claims (5)
1. A modular operation method of a polishing workstation is characterized in that the polishing workstation is provided with a rack and an operation platform which are positioned in a semi-closed case, a five-axis carrier frame formed by assembling a three-axis linear positioning mechanism and a two-axis nonlinear positioning mechanism is arranged above the operation platform based on the rack, the tail end of the five-axis carrier frame is provided with a pneumatic chuck externally connected with an air source, and the pneumatic chuck is suspended above the operation platform to be controlled, adjusted, positioned and oriented; a tool warehouse is arranged at least one side of the operation platform, the tool warehouse comprises a set of processing tools, each processing tool is independently positioned and is integrated with a unique pneumatic motor and a grinding head or a tool bit with a corresponding operation function; a programmable main controller is arranged behind the operation platform, and the driving end of the five-axis carrier and the control end of the air source related valve are connected with the main controller through buses to be controlled to act and be locked; the operation platform surface is equipped with the anchor clamps module of taking identification probe, and identification probe signal access master controller, its characterized in that includes:
in the prenatal preparation stage, S1, a space three-dimensional coordinate system is constructed on the operation platform, the complete set of processing tools are kept to be positioned in a tool library at intervals in a loss range, and the independent positioning data of each processing tool is stored in the master controller;
s2, defining the coordinate of a point position above the operation platform as the initial positioning data of the pneumatic chuck, and obtaining a first navigation subprogram set for respectively reloading the required processing tools by controlling and driving the pneumatic chuck by a five-axis carrier through operating and programming a main controller according to the space positioning distance between the pneumatic chuck and each processing tool;
s3, decomposing more than one sub-processing sections according to the shape and the processing requirement of the processing object, wherein each sub-processing section comprises a required processing tool and a space range and an orientation range of a processing operation area, and obtaining a second navigation sub-program set of the five-axis carrier controlled to drive the processing tool to carry out operation of each sub-processing section through operating and programming a main controller;
s4, according to the sub-processing sections decomposed by the processing object, inserting the first navigation sub-program set into the second navigation sub-program set in a segmentation mode according to the using sequence of the processing tool, and forming a single set of program matched with the processing object through the texture;
s5, labeling the processing object, and storing the finished single set of program in the main controller in combination with the label;
repeating the steps S3-S5, and updating a single set of program finished library stored in the master controller corresponding to the existing and newly added processing objects;
and in the processing operation stage, the processing objects are loaded into the clamp modules one by one and are automatically identified, the main controller automatically calls the corresponding matched single program to implement processing operation according to the identified labels, and the single program which is currently running is inserted, interrupted and recovered before and after the consumable materials of the processing tool are used up and replaced.
2. A method of modular operation of a sanding workstation as defined in claim 1, wherein: the first navigation subprogram set comprises N first navigation subprograms which are used for moving the pneumatic chuck from a defined point position to an independent positioning point of any processing tool in the set and controlling the on-off of a valve related to an air source, wherein N is the number of the processing tools in the tool library; the second navigation subprogram set comprises M second navigation subprograms, each second navigation subprogram is navigation control that the pneumatic chuck moves from the machining tool reloading positioning point to the machining operation area for traversing and returns to the defined point, and M is the number of the decomposed sub-machining sections.
3. A modular workmg method for a finishing station as claimed in claim 1, wherein the work-in-process phase comprises:
s6, loading the processing object with the pre-programmed single program into a clamp module, and automatically identifying the label of the processing object by an identification probe and interacting with a main controller through signals;
s7, the main controller calls a single set of program corresponding to the label, the single set of program respectively outputs signals to the driving end of the five-axis carrier to navigate the movement of the pneumatic chuck, and outputs signals to the control end of the relevant valve of the air source to control the on-off;
and S8, the pneumatic chuck resets in a no-load way at the defined point position, completes the execution of a single set of program and unloads the processing object from the clamp module.
4. A method of modular operation of a sanding station as defined in claim 1, wherein the process of accessing a working tool comprises: the unloaded pneumatic chuck moves to a position where a machining tool needs to be accessed based on the navigation of the five-axis carrier, is connected with a pneumatic motor in a virtual mode, and is controlled to be connected with an air source and integrally connected with the machining tool in a self-locking mode; the process of changing the machining tool includes: the non-idle pneumatic chuck moves to a reset positioning position of the tool library based on the navigation of the five-axis carrier and is controlled to cut off the air source, the pneumatic chuck is unlocked and separated from the machining tool to be stopped, then moves to a machining tool positioning position required to be replaced based on the navigation of the five-axis carrier and is connected with the pneumatic motor in a virtual mode, and then is controlled to be connected with the air source and is integrally connected with the machining tool in a self-locking mode.
5. A method of modular operation of a sanding workstation as defined in claim 1, wherein: the service time of each processing tool in the tool library is recorded in the master controller in real time, a consumable material exhaustion control signal and a consumable material replacement subprogram which are related to the upper limit of the cumulative service time of each processing tool are set in the master controller, and the consumable material replacement subprogram comprises: interrupting the execution of the current single set of program; the non-empty-load pneumatic chuck moves to a reset positioning position of the tool library from an interruption positioning position based on a five-axis carrier in a navigation mode and is controlled to cut off an air source, the pneumatic chuck is unlocked and separated from a machining tool to be replaced, then a pneumatic motor of the machining tool after replacement is connected in a virtual mode in situ, then the pneumatic chuck is controlled to be connected with the air source and is in integrated self-locking joint with the machining tool, then the pneumatic chuck is navigated to the interruption positioning position, and the current single program execution is recovered.
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