CN111515761A - Method and system for reducing polishing errors - Google Patents
Method and system for reducing polishing errors Download PDFInfo
- Publication number
- CN111515761A CN111515761A CN202010309606.9A CN202010309606A CN111515761A CN 111515761 A CN111515761 A CN 111515761A CN 202010309606 A CN202010309606 A CN 202010309606A CN 111515761 A CN111515761 A CN 111515761A
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- China
- Prior art keywords
- welding
- weld
- workpiece
- height
- reducing
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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
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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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
- 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
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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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- 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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
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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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
Abstract
The invention relates to the technical field of workpiece polishing, in particular to a method and a system for reducing polishing errors.
Description
Technical Field
The invention relates to the technical field of workpiece polishing, in particular to a method and a system for reducing polishing errors.
Background
At present, when a large number of workpieces are produced, although the sizes of the workpieces are within an allowable tolerance band, the specific sizes of the workpieces are different due to factors such as tooling, welding deformation and the like, the grinding difficulty is increased, and the grinding quality is not high due to the size difference of the workpieces.
Usually, polishing is performed on a weld joint, a point is firstly searched on the weld joint, the height of the point is determined, and the height of the polishing device is adjusted, so that polishing is performed, the change of the shape on the weld joint is random, the condition that a welding point is convex or concave may exist, the height of the point searched on the weld joint is random, the height of the polishing device may not be matched with the height of the weld joint, the polishing error between the polishing device and the weld joint is large, the contact area between the polishing device and the weld joint is too large when the polishing device performs polishing at the beginning, and the damage of the polishing device or the damage of a workpiece is caused.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, the distance between a polishing device and a welding seam is determined according to the height of a certain point of the welding seam of a workpiece, so that the polishing error between the polishing device and the welding seam is large, the contact area between the polishing device and the welding seam is too large, and the polishing device or the workpiece is damaged, and provides a method and a system for reducing the polishing error.
In order to achieve the above purpose, the invention provides the following technical scheme:
a method for reducing grinding errors includes the steps of obtaining height differences between a plurality of points on a weld and the surface of a workpiece, determining the maximum value of the height differences, and moving a grinding device so that the distance between the grinding device and the surface of the workpiece is equal to the maximum value.
As a preferred scheme of the invention, the height of the surface of the workpiece is measured, the heights of a plurality of welding points are measured on the welding seam, the height difference between the welding point on the welding seam and the surface of the workpiece is obtained, the height difference between the welding point on the welding seam and the surface of the workpiece can be accurately measured, so that the height between the polishing device and the welding seam is accurately judged, and the phenomenon that the polishing device is damaged or the workpiece is damaged due to the fact that the contact area between the polishing device and the welding seam is too large is avoided.
As a preferred aspect of the present invention, the point for measuring the height of the surface of the workpiece is close to the weld, so that it is possible to avoid a phenomenon in which the height error increases due to the fact that the point for measuring the height of the surface of the workpiece is too far from the weld and the surface of the workpiece itself is bent.
As a preferable scheme of the invention, the distance between the point for measuring the height of the surface of the workpiece and the welding line is 1cm-2cm, so that the accuracy of the height difference obtained by measuring the welding line and the surface of the workpiece can be improved, and the height error between the welding line and the surface of the workpiece can be reduced.
As the preferred scheme of the invention, the number of the height of the measuring welding points is determined according to the welding type and the welding length, and the height of the required measuring point is determined according to different welding types, so that the working strength can be reduced and the efficiency can be improved.
As a preferred scheme of the invention, the welding type is manual welding, and a measuring point is selected every 2-5 cm on a welding seam by manual welding; or the welding type is robot welding, the robot welding selects a measuring point on a welding seam every 3cm-10cm, the error of manual welding is large, the measuring point selected by manual welding is more than the measuring point of robot welding on the welding seam with the same length, time waste caused by too many measured points is avoided, meanwhile, the phenomenon that polishing devices are damaged or workpieces are damaged due to too few measured points can be avoided, hybrid welding is also included, the hybrid welding comprises manual welding and robot welding, and the measuring points are selected on the hybrid welding respectively according to the modes of manual welding and robot welding.
As the preferred scheme of the invention, the measuring points are sequentially selected along the extending direction of the welding line, and the distance between two adjacent measuring points in the extending direction of the welding line is the same, so that the measuring points can be ensured to be arranged in a large range of the welding line, and the phenomenon of inaccurate height difference caused by over-concentration of the measuring points is avoided.
As a preferred scheme of the invention, two rows of measuring points are selected along the extending direction of the welding seam, the number of the measuring points on the section perpendicular to the extending direction of the welding seam is increased, and the phenomenon that the error is generated due to the selection of too few measuring points of the welding seam is reduced.
The utility model provides a system for reduce error of polishing, includes multiaxis robot, probe and workstation, multiaxis robot includes robotic arm, the probe is fixed robotic arm is last, multiaxis robot is connected with the controller, the probe is fixed robotic arm is last, places the work piece that will have the welding seam on the workstation, and the motion of robotic arm control robotic arm, robotic arm drive probe motion, and at first robotic arm drives probe and work piece surface contact, confirms work piece surface height, then probe and welding seam contact, confirms the height of welding seam from this, judges the peak position of welding seam through the difference in height, and grinding device is polished to the below of welding seam by the peak, has reduced because the area that grinding device and welding seam begin to contact is too big, causes grinding device damage or the phenomenon that the work piece damaged.
As a preferred scheme of the invention, the workbench is a positioner, the multi-axis robot is arranged between the two positioners, a workpiece to be polished is placed on the positioner, and the positioner controls the workpiece to move up and down and rotate, so that the workpiece and a welding seam are aligned with the probe, and the heights of the workpiece and the welding seam are conveniently measured.
Compared with the prior art, the invention has the beneficial effects that: the height difference between a plurality of positions on the welding line and the surface of the workpiece is obtained, the maximum value of the obtained height difference is determined, the grinding device starts to grind the welding line when the height difference is maximum, the distance between the grinding device and the welding line is gradually reduced, the contact area between the grinding device and the welding line when the grinding device and the welding line start to grind is small, and the phenomenon that the grinding device is damaged or the workpiece is damaged can be reduced.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic structural diagram of the probe in a working and suspended state;
FIG. 3 is a schematic structural view showing a state in which a probe is in contact with a workpiece;
FIG. 4 is a schematic structural view of a workpiece and a required measurement point of a weld;
FIG. 5 is another schematic view of the desired measurement points of the workpiece and the weld;
FIG. 6 is a side view of the probe suspended above the workpiece;
FIG. 7 is a general flow diagram of the present method;
the labels in the figure are: 1-multi-axis robot, 2-probe, 3-workbench, 4-mechanical arm, 5-controller, 6-workpiece, 7-welding seam, and 8-measuring point.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
Example 1
As shown in fig. 7, a method for reducing grinding errors includes obtaining height differences between a plurality of points on a weld 7 and the surface of a workpiece 6, determining a maximum value of the height differences, moving a grinding device so that the distance between the grinding device and the surface of the workpiece is equal to the maximum value, and obtaining the plurality of points on the weld 7 and the surface of the workpiece by: firstly, the height of the surface of a workpiece 6 is measured, for example, the height of a plurality of measuring points 8 on the workpiece 6 in fig. 4 and 5 is determined, then the probe 2 measures the height of the plurality of measuring points 8 on the welding seam 7, so that the height difference between the welding seam 7 and the surface of the workpiece 6 is calculated, the polishing track of the welding seam 7 is determined according to the obtained maximum height difference, the polishing device starts polishing from the maximum height difference of the welding seam 7, and the phenomenon that the contact area between the polishing device and the welding seam 7 is too large when polishing is started, wherein the contact area refers to the contact area between the polishing device and the welding seam in the height direction, and the polishing device or the workpiece 6 is damaged is avoided.
In order to reduce the error between the surface of the workpiece 6 and the welding seam 7, a measuring point for measuring the height of the surface of the workpiece 6 is close to the welding seam 7, so that the phenomenon that the height error is increased because the point for measuring the height of the surface of the workpiece 6 is too far away from the welding seam 7 and the surface of the workpiece 6 is bent per se is avoided; measuring a distance between a measuring point 8 of the surface height of the workpiece 6 and the welding line by 1cm-2cm, determining the number of measuring welding point heights according to the welding type and the welding length, wherein the welding type is manual welding, and one measuring point 8 is selected every 2cm-5cm when the manual welding is carried out on the welding line 7; or the welding type is robot welding, and one measuring point 8 is selected when the robot is welded on the welding seam 7 every 3-10 cm, so that the time waste caused by too many measuring points is avoided, and the situation that the measured height difference cannot reflect the integral height difference caused by too few measuring points can be avoided.
In order to measure the height of the welding seam 7 conveniently, the measuring points 8 are sequentially selected along the extending direction of the welding seam 7, the intervals between every two adjacent measuring points 8 are the same, the measuring points 8 can be ensured to be arranged in a large range of the welding seam 7, a plurality of measuring points 8 can be added on the surface of the workpiece 6 in order to increase the accuracy of the height between the measuring points 8 on each welding seam 7 and the surface of the workpiece 6, the height difference between the measuring points 8 on the surface of the workpiece and the measuring points on the adjacent welding seams 7 is calculated, as shown in fig. 5, two rows of measuring points 8 are selected along the extending direction of the welding seam 7, and therefore the largest height difference can be accurately found, and the grinding error is reduced.
In order to implement the method, a system for reducing grinding errors is provided, as shown in fig. 1-6, comprising a multi-axis robot 1, a probe 2 and a worktable 3, wherein the multi-axis robot 1 comprises a mechanical arm 4, the probe 2 is fixed on the mechanical arm 4, the multi-axis robot 1 is connected with a controller 5, the probe 2 is provided with a contact sensor, the contact sensor is contacted with a workpiece 6 or a welding seam 7 through the probe 2, the contact sensor transmits a signal to the controller 5, the controller 5 records the height of the point, of course, besides the contact sensor, the probe 2 can be electrified, when the probe 2 is contacted with the workpiece 6 or the welding seam 7, a spark is generated, the mechanical arm 4 stops moving and the height of the point of the controller 5 is recorded, after the measurement of a measuring point 8 on the welding seam 7 is completed, the controller 5 calculates the maximum height difference between the surface of the welding seam 7 and the surface of the workpiece 6, and the controller 5 controls the polishing device to polish from the maximum height difference, so that the polishing device and the workpiece are prevented from being damaged by a polishing track, and the polishing error of the welding seam is reduced.
In this embodiment, workstation 3 is the machine of shifting, multiaxis robot 1 sets up two between the machine of shifting, the machine of shifting can control work piece 6 up-and-down motion and rotation, ensures that work piece 6 and face of weld align with probe 2, conveniently measures the height of work piece 6 and welding seam 7.
The specific work flow of the application is as follows: the number and the position of points to be measured are determined according to the welding type and the welding length of a workpiece 6, a mechanical arm 4 of a multi-axis robot 1 drives a probe 2 to measure the height of each point on the workpiece 6 and a welding seam 7, the mechanical arm 4 drives the probe 2 to move towards the workpiece 6 or the welding seam 7, after the probe 2 is contacted with the workpiece 6 or the welding seam 7, a controller 5 records the height of the point, the mechanical arm 4 drives the probe 2 to recover, the height of the other point is measured and recorded at the next position, after the measurement is completed, the controller 5 calculates the height difference between each point on the corresponding welding seam 7 and the workpiece 6, the controller 5 adjusts a polishing track according to the maximum height difference, the polishing device is controlled to polish the welding seam from the maximum height difference, and the phenomenon that the polishing device is damaged or the workpiece is damaged due to the fact that the contact area between the polishing device and the.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of reducing grinding errors, characterized by obtaining height differences between a plurality of points on a weld and the surface of a workpiece, determining the maximum of the height differences, and moving the grinding device such that the distance of the grinding device from the surface of the workpiece equals said maximum.
2. The method of reducing dressing error of claim 1 wherein the height of the surface of the workpiece is measured and the height of a plurality of weld points is measured at the weld to obtain the difference in height between the weld points on the weld and the surface of the workpiece.
3. The method of reducing dressing error of claim 2, wherein the point at which the height of the workpiece surface is measured is proximate the weld.
4. The method of reducing dressing error of claim 3, wherein the point at which the height of the workpiece surface is measured is 1cm-2cm from the weld.
5. The method of reducing dressing error of claim 2 wherein the number of measured weld heights is determined based on weld type and weld length.
6. The method for reducing grinding errors according to claim 5, wherein the welding type is manual welding, and a measuring point is selected every 2cm-5cm on a welding seam by manual welding; or the welding type is robot welding, and one measuring point is selected every 3-10 cm on the welding seam by the robot welding.
7. The method for reducing grinding errors according to claim 5, wherein the measuring points are sequentially selected along the extending direction of the weld, and the distance between two adjacent measuring points in the extending direction of the weld is the same.
8. A method for reducing grinding errors according to claim 7, characterized in that two rows of measuring points are taken along the extension of the weld.
9. The system for reducing the polishing error is characterized by comprising a multi-axis robot (1), a probe (2) and a workbench (3), wherein the multi-axis robot (1) comprises a mechanical arm (4), the probe (2) is fixed on the mechanical arm (4), and the multi-axis robot (1) is connected with a controller (5).
10. System for reducing grinding errors according to claim 9, characterized in that the working table (3) is a positioner, the multi-axis robot (1) being arranged between two of said positioners.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010309606.9A CN111515761A (en) | 2020-04-20 | 2020-04-20 | Method and system for reducing polishing errors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010309606.9A CN111515761A (en) | 2020-04-20 | 2020-04-20 | Method and system for reducing polishing errors |
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| CN111515761A true CN111515761A (en) | 2020-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010309606.9A Pending CN111515761A (en) | 2020-04-20 | 2020-04-20 | Method and system for reducing polishing errors |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5299389A (en) * | 1990-12-21 | 1994-04-05 | Aiko Engineering Co., Ltd. | Automatic grinding apparatus |
| CN103831713A (en) * | 2012-11-28 | 2014-06-04 | 苏州英达瑞机器人科技有限公司 | Intelligent grinding head position adjusting device and grinding head set with same adopted |
| CN107116561A (en) * | 2017-06-19 | 2017-09-01 | 中国电子科技集团公司第二十八研究所 | A kind of weld grinding machine people |
| CN107363668A (en) * | 2017-05-19 | 2017-11-21 | 大连理工大学 | The measurement of thin-wall barrel weld seam and processing method |
| CN108161566A (en) * | 2017-12-22 | 2018-06-15 | 大连运明自动化技术有限公司 | A kind of blank allowance automatic detection device and method based on laser ranging sensing |
| CN108436708A (en) * | 2018-04-23 | 2018-08-24 | 宁波汇智恒动自动化科技有限公司 | A kind of automatic grinding device and its polishing system |
| CN207900842U (en) * | 2018-03-07 | 2018-09-25 | 南京亚海管业有限公司 | A kind of automatically grinding welding machine |
| CN110026877A (en) * | 2018-01-11 | 2019-07-19 | 昆山瑞咏成精密设备有限公司 | A kind of polishing machine and polishing method |
-
2020
- 2020-04-20 CN CN202010309606.9A patent/CN111515761A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5299389A (en) * | 1990-12-21 | 1994-04-05 | Aiko Engineering Co., Ltd. | Automatic grinding apparatus |
| CN103831713A (en) * | 2012-11-28 | 2014-06-04 | 苏州英达瑞机器人科技有限公司 | Intelligent grinding head position adjusting device and grinding head set with same adopted |
| CN107363668A (en) * | 2017-05-19 | 2017-11-21 | 大连理工大学 | The measurement of thin-wall barrel weld seam and processing method |
| CN107116561A (en) * | 2017-06-19 | 2017-09-01 | 中国电子科技集团公司第二十八研究所 | A kind of weld grinding machine people |
| CN108161566A (en) * | 2017-12-22 | 2018-06-15 | 大连运明自动化技术有限公司 | A kind of blank allowance automatic detection device and method based on laser ranging sensing |
| CN110026877A (en) * | 2018-01-11 | 2019-07-19 | 昆山瑞咏成精密设备有限公司 | A kind of polishing machine and polishing method |
| CN207900842U (en) * | 2018-03-07 | 2018-09-25 | 南京亚海管业有限公司 | A kind of automatically grinding welding machine |
| CN108436708A (en) * | 2018-04-23 | 2018-08-24 | 宁波汇智恒动自动化科技有限公司 | A kind of automatic grinding device and its polishing system |
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Application publication date: 20200811 |
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| RJ01 | Rejection of invention patent application after publication |