CN111546223A - Walking type thin-wall component grinding and polishing equipment - Google Patents
Walking type thin-wall component grinding and polishing equipment Download PDFInfo
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- CN111546223A CN111546223A CN202010536160.3A CN202010536160A CN111546223A CN 111546223 A CN111546223 A CN 111546223A CN 202010536160 A CN202010536160 A CN 202010536160A CN 111546223 A CN111546223 A CN 111546223A
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- 238000005498 polishing Methods 0.000 title claims abstract description 155
- 238000000227 grinding Methods 0.000 title claims abstract description 52
- 239000000428 dust Substances 0.000 claims description 35
- 230000001360 synchronised effect Effects 0.000 claims description 24
- 239000000835 fiber Substances 0.000 claims description 12
- 238000010521 absorption reaction Methods 0.000 claims description 11
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000000919 ceramic Substances 0.000 claims description 6
- 239000002245 particle Substances 0.000 claims description 6
- 238000005299 abrasion Methods 0.000 claims description 5
- 238000004381 surface treatment Methods 0.000 abstract description 7
- 238000007517 polishing process Methods 0.000 abstract description 4
- 230000008707 rearrangement Effects 0.000 abstract description 4
- 238000004891 communication Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
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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
- 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
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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
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses walking type thin-wall part grinding and polishing equipment which comprises an upright post, a vertical sliding table, a horizontal mechanical arm, a grinding and polishing machine, a six-dimensional force sensor assembly and an intelligent control system, wherein the six-dimensional force sensor assembly is connected between the grinding and polishing machine and the horizontal mechanical arm and is used for acquiring a real-time contact pressure value between a grinding and polishing wheel of the grinding and polishing machine and the surface of a thin-wall part; and when the contact pressure exceeds a preset contact pressure value, the intelligent control system controls the horizontal mechanical arm to retract so that the polishing wheel is automatically separated from the surface of the thin-wall component. The grinding and polishing equipment can be suitable for surface treatment of thin-wall parts of various specifications, and the surface contact pressure can be preset; deformation caused by collision with the surface of the thin-wall part can be avoided; in the continuous flexible grinding and polishing process, the uniform and smooth surface of the grinding part is ensured, and manual rearrangement is not needed.
Description
Technical Field
The invention relates to the technical field of grinding and polishing equipment, in particular to grinding and polishing equipment for a walking type thin-wall component.
Background
China is a large country for equipment manufacturing, and with the continuous development of manufacturing technology, the method is already involved in large-scale manufacturing of large and medium-sized equipment such as commercial airplanes, high-speed rail trains, ships and wind power generation, and products have various types and complex outer contour shapes, particularly various large and medium-sized thin-wall cylindrical parts. The manufacture and maintenance of the large and medium-sized equipment all need surface grinding, polishing and coating, wherein the grinding and polishing process still mostly depends on manual operation of workers holding the grinding machine, and the dust pollution is serious and the workers are harmed to health.
The invention discloses a pneumatic mechanical arm and a self-dust-absorption polishing system device adopting the same, which can be controlled by a single person, can continuously complete polishing procedures of various shapes and curved surface coherent parts of equipment, has a simple structure, does not need programming, improves the production efficiency and the quality of polishing surfaces, and reduces environmental pollution and harm to the health of workers to the maximum extent. However, when grinding a thin-walled cylindrical member, it is difficult to avoid the surface of the thin-walled cylindrical member from being deformed by impact, and the grinding and polishing surface is not uniform and smooth enough.
Disclosure of Invention
The invention aims to provide walking type grinding and polishing equipment for thin-wall parts, which can avoid the surface of the thin-wall part from being damaged or deformed by heating, and the grinding and polishing surface is uniform and smooth and does not need manual rearrangement.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a grinding and polishing device for a walking type thin-wall component comprises:
an upright post, a vertical sliding table arranged on the upright post, a horizontal mechanical arm connected with the vertical sliding table, a polishing machine connected with the horizontal mechanical arm, a six-dimensional force sensor assembly and an intelligent control system,
the six-dimensional force sensor assembly is connected between the grinding and polishing machine and the horizontal mechanical arm and is used for acquiring a real-time contact pressure value between a grinding and polishing wheel of the grinding and polishing machine and the surface of the thin-wall part;
the intelligent control system is in signal connection with the six-dimensional force sensor assembly and the horizontal mechanical arm, when the contact pressure exceeds a preset contact pressure value, the horizontal mechanical arm is controlled to retract so that the polishing wheel is automatically separated from the surface of the thin-wall component, and when the contact pressure is smaller than the preset contact pressure value, the horizontal mechanical arm is controlled to extend so that the polishing wheel is automatically contacted with the surface of the thin-wall component.
Furthermore, the intelligent control system is in signal connection with the vertical sliding table so as to control the horizontal mechanical arm to extend or retract, and synchronously control the vertical sliding table to move up and down to form an arc motion track while the polishing wheel is in contact with or separated from the surface of the thin-wall component.
Furthermore, the walking type thin-wall part polishing device also comprises a dust collector, the polishing machine is a self-dust-absorption polishing machine, the self-dust-absorption polishing machine comprises a dust collection device,
the dust suction device comprises a dust cover and a dust suction hose, and the dust suction hose is connected with the dust collector.
Furthermore, the polishing and burnishing machine comprises a polishing and burnishing wheel and a push wheel electric push rod connected with the polishing and burnishing wheel, wherein the push wheel electric push rod drives the polishing and burnishing wheel to move at a low speed through a fine adjustment motor and to be in contact with the surface of the thin-wall part, and meanwhile, the abrasion of the polishing and burnishing wheel is compensated.
Furthermore, the polishing wheel comprises a polishing machine bracket, a radial cyclone brush polishing wheel and a driving motor, wherein the radial cyclone brush polishing wheel and the driving motor are connected to the polishing machine bracket; the radial cyclone brush polishing wheel comprises a plurality of fine fiber wheels, fine fibers and ceramic abrasive particles.
Further, the six-dimensional force sensor assembly comprises a six-dimensional force sensor and flanges connected to two ends of the six-dimensional force sensor,
flanges at two ends of the six-dimensional force sensor are respectively connected with the grinding and polishing machine support and the tail end of the horizontal mechanical arm, and a pressure regulating wheel is further mounted at the side end of the grinding and polishing machine support.
Further, the vertical sliding table comprises a vertical sliding table saddle and a vertical sliding table transmission chain for driving the vertical sliding table saddle to move up and down,
perpendicular slip table drive chain includes: the vertical sliding table comprises a servo motor, a gear, a rack, a counterweight chain wheel, a counterweight chain and a counterweight block;
the vertical sliding table servo motor is in transmission connection with a gear, the gear is connected with a rack, and the rack is arranged on the upright post; the counter weight sprocket sets up on the stand top, the counter weight chain sets up on the counter weight sprocket, counter weight chain one end is connected with perpendicular slip table saddle, and the other end is connected with the balancing weight, the balancing weight sets up in the stand.
Furthermore, the vertical sliding table comprises a vertical sliding table saddle, and a horizontal mechanical arm servo motor is arranged on the vertical sliding table saddle;
the horizontal mechanical arm comprises two stages of telescopic arms, and the two stages of telescopic arms comprise a first stage telescopic arm and a second stage telescopic arm;
the horizontal mechanical arm also comprises a ball screw connected with a servo motor of the horizontal mechanical arm and a ball screw seat connected with the ball screw, and the ball screw seat is connected with the primary telescopic arm; the horizontal mechanical arm servo motor drives the ball screw rod seat to move through the ball screw rod, and then drives the first-stage telescopic arm connected with the ball screw rod seat to move.
Further, the horizontal mechanical arm comprises two stages of telescopic arms, and the two stages of telescopic arms comprise a first stage telescopic arm and a second stage telescopic arm;
a synchronous belt pulley and a synchronous belt are arranged on the primary telescopic arm;
the end heads at two ends of the synchronous belt are respectively fixedly connected with two fixed points arranged at two sides of the vertical sliding table;
the middle end of the synchronous belt is fixedly connected with a fixed point arranged in the middle of the secondary telescopic arm;
the first-stage telescopic arm moves to enable the synchronous belt to move, the synchronous belt moves to drive the middle end to move, and therefore the second-stage telescopic arm and the first-stage telescopic arm are driven to move synchronously.
Further, the grinding and polishing equipment also comprises an electric trolley,
the electric trolley is provided with a stand column, a vertical sliding table, a horizontal mechanical arm, a polishing machine, a six-dimensional force sensor assembly, an intelligent control system and a dust collector.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention is a large and medium-sized flexible grinding and polishing device suitable for surface treatment of thin-wall parts with various specifications, and the surface contact pressure can be preset; when the contact pressure exceeds a set value, the polishing wheel is automatically separated from the surface of the workpiece, so that the deformation caused by collision with the surface of the thin-wall component is avoided; in the continuous flexible grinding and polishing process, the uniform and smooth surface of the grinding part is ensured, and manual rearrangement is not needed.
2. The invention adopts a self-dust-absorption polishing machine taking a radial cyclone brush polishing wheel as a core, the radial cyclone brush polishing wheel is formed by superposing a plurality of fine fiber wheels and is connected in series by a shaft, ceramic abrasive particles are attached to all the fine fibers of the cyclone brush, the radial cyclone brush polishing wheel has excellent flexibility, optimal adhesiveness and durable grinding force, no heat is generated in the operation process, and the operation surface is prevented from being damaged or deformed by heat; the self-dust collection function improves environmental management to a completely new level.
3. According to the invention, the motion positions of two servo motors are controlled in a closed loop manner, so that the vertical sliding table and the horizontal mechanical arm can move up and down alternately along the upright column to form an arc track, the synchronous extension of the two stages of telescopic arms drives the polishing wheel of the polishing machine to contact or separate from the surface of a workpiece, and the programming is simple and rapid; two electric push rods mainly comprising a fine adjustment motor are adopted to realize low-speed contact of the polishing wheel with the surface of a workpiece and compensation of abrasion of the polishing wheel.
4. The invention adopts a manually operated electric trolley to load a vertical column, a vertical sliding table, a horizontal mechanical arm consisting of two stages of telescopic arms, a self-dust-absorption polishing machine, a six-dimensional force sensor assembly, a dust collector, an intelligent control system and a manually operated walking electric trolley; the surface is polished by positioning the pressure regulating wheel in sections, so that the surface treatment device is suitable for surface treatment of thin-wall parts with different diameters, lengths and thicknesses.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a walking type thin-wall component grinding and polishing device of the invention;
FIG. 2 is a schematic structural diagram of the walking type thin-wall component grinding and polishing device of the invention;
FIG. 3 is a schematic view of a vertical slide table according to the present invention;
FIG. 4 is a schematic view of a vertical slide table according to the present invention;
FIG. 5 is a schematic view of a vertical slide table according to the present invention;
FIG. 6 is a schematic view of the horizontal robot arm configuration of the present invention;
FIG. 7 is a schematic diagram of a six-dimensional force sensor assembly of the present invention;
fig. 8 is a schematic view of the structure of the grinding and polishing machine of the present invention.
Figure 9 is a schematic diagram of the configuration of the abrasive polishing wheel of the present invention.
Fig. 10 is a block diagram of the intelligent control system of the present invention.
Detailed Description
To better illustrate the present invention, the present invention is described in further detail below with reference to FIGS. 1-10.
As shown in figures 1 and 2, the walking type thin-wall part grinding and polishing equipment comprises an electric trolley 8.
The electric trolley is provided with a stand column 1, a vertical sliding table 2, a horizontal mechanical arm 3, a grinding and polishing machine 5, a six-dimensional force sensor assembly 4, a dust collector 6 and an intelligent control system 7.
The six-dimensional force sensor assembly 4 is connected between the grinding and polishing machine 5 and the horizontal mechanical arm 3 and used for acquiring a real-time contact pressure value between a grinding and polishing wheel of the grinding and polishing machine and the surface of the thin-wall part.
The intelligent control system 7 is in signal connection with the six-dimensional force sensor assembly 4 and the horizontal mechanical arm 3, and when the contact pressure exceeds a preset contact pressure value, the horizontal mechanical arm is controlled to retract so that the polishing wheel is automatically separated from the surface of the thin-wall component, and when the contact pressure is smaller than the preset contact pressure value, the horizontal mechanical arm is controlled to extend so that the polishing wheel is automatically contacted with the surface of the thin-wall component.
In some embodiments, the electric trolley is provided with a stand column, a vertical sliding table, a horizontal mechanical arm, a grinding and polishing machine, a six-dimensional force sensor assembly, an intelligent control system and a dust collector; or the device is provided with a vertical column, a vertical sliding table, a horizontal mechanical arm, a grinding and polishing machine, a six-dimensional force sensor assembly and a dust collector. For example, the intelligent control system peripheral is connected and controlled in a communication connection or remote connection mode.
As shown in fig. 1 to 5, the vertical sliding table includes a vertical sliding table saddle 26, and a vertical sliding table transmission chain for driving the vertical sliding table saddle to move up and down, and the vertical sliding table transmission chain includes: a vertical sliding table servo motor 28, a gear (not shown in the figure), a rack 21, a counterweight chain wheel 25, a counterweight chain 22 and a counterweight block 23. Preferably, a speed reducer 27 connected with the vertical sliding table servo motor 28 is further arranged. The vertical sliding table servo motor 28 is in transmission connection with a gear, the gear is connected with a rack, and the rack is arranged on the upright column; the counter weight sprocket sets up on the stand top, the counter weight chain sets up on the counter weight sprocket, counter weight chain one end is connected with perpendicular slip table saddle, and the other end is connected with the balancing weight, the balancing weight sets up in the stand. When the intelligent control system 7 controls the vertical sliding table servo motor 28 to rotate, the vertical sliding table 2 is driven to move up and down along the upright post 1, and the quality of the horizontal mechanical arm 3 can be balanced. Preferably, a guide wheel 24 is also attached to the vertical ramp saddle.
And a horizontal mechanical arm servo motor 33 is also arranged on the vertical sliding table saddle 26.
As shown in fig. 6, the horizontal robot arm includes two stages of telescopic arms, including a first stage telescopic arm 37 and a second stage telescopic arm 38.
The horizontal mechanical arm further comprises a ball screw 35 connected with the horizontal mechanical arm servo motor 33, and a ball screw seat 34 connected with the ball screw 35, wherein the ball screw seat 34 is connected with a first-stage telescopic arm 37; the horizontal mechanical arm servo motor 33 drives the ball screw rod seat to move through the ball screw rod, and further drives the first-stage telescopic arm connected with the ball screw rod seat to move.
A synchronous belt pulley 31 and a synchronous belt 32 are arranged on the primary telescopic arm 37; the two end heads of the synchronous belt 32 are respectively fixedly connected with two fixed points arranged at two sides of the vertical sliding table; as shown by the fixed point 36 in fig. 6. The middle end 39 of the synchronous belt is fixedly connected with a fixed point arranged in the middle of the secondary telescopic arm.
The first-stage telescopic arm moves to enable the synchronous belt to move, the synchronous belt moves to drive the middle end to move, and therefore the second-stage telescopic arm and the first-stage telescopic arm are driven to move synchronously. That is, when the intelligent control system 7 controls the horizontal mechanical arm servo motor 33 to rotate, the polishing wheel 55 can be driven to extend out or retract, contact or separate from the surface of the thin-wall cylinder part, the vertical sliding table 2 and the horizontal mechanical arm 3 can move up and down along the upright column 1 in an alternating manner to form an arc track, and the synchronous extension of the two-stage telescopic arms 37 and 38 drives the polishing wheel 55 of the polishing machine 5 to contact or separate from the surface of the workpiece.
As shown in fig. 1 to 9, the polishing and polishing machine is a self-dust-collecting polishing and polishing machine, which includes a dust collector including a dust cover 514 and a dust collection hose 515, and the dust collection hose is connected to the dust collector 6.
The polishing and burnishing machine comprises a polishing and burnishing wheel and a push wheel electric push rod 58 connected with the polishing and burnishing wheel, wherein the push wheel electric push rod drives the polishing and burnishing wheel to move at a low speed through a fine adjustment motor and to be in contact with the surface of the thin-wall part, and meanwhile, the abrasion of the polishing and burnishing wheel is compensated.
The polishing wheel comprises a polishing machine bracket 56, a radial cyclone brush polishing wheel 55 and a driving motor 510, wherein the radial cyclone brush polishing wheel 55 is connected to the polishing machine bracket, and the driving motor 510 is in driving connection with the radial cyclone brush polishing wheel; the radial cyclone brush polishing wheel includes a central shaft 52, and a plurality of fine fiber wheels 551, fine fibers 553, and ceramic abrasive particles 554 disposed on the central shaft.
The self-dust-collection polishing machine 5 comprises a pressure regulating wheel 51, a sliding block 52, a linear guide rail 53, a pressure regulating electric push rod 54, a radial cyclone brush polishing wheel 55, a bracket 56, a linear guide rail 57, a push wheel electric push rod 58, a sliding seat 59, a spindle motor 510, a synchronous belt wheel 511, a synchronous belt 512, a synchronous belt wheel 513, a dust cover 514 and a dust collection hose 515; all the fine fibers 553 of the radial cyclone brush polishing wheel 55 are attached with ceramic grinding particles 554, the fine fibers 553 have excellent flexibility, optimal attachment and durable grinding force, no heat is generated in the operation process, and the operation surface is prevented from being damaged or deformed by heat; the dust brush 514 prevents the dust generated by the operation from leaking to the outside of the self-dust-absorption polishing machine 5 and is conveyed to the dust collector 6 through the dust collection hose 515, and the self-dust-absorption function improves the environmental management to a brand new level.
As shown in fig. 7, the six-dimensional force sensor assembly 4 includes a six-dimensional force sensor 41 and flanges 42, 43 connected at both ends of the six-dimensional force sensor.
Flanges at two ends of the six-dimensional force sensor are respectively connected with the grinding and polishing machine bracket 56 and the tail end of the horizontal mechanical arm, and particularly connected with the tail end of the second-stage telescopic arm 38 of the horizontal mechanical arm. The six-dimensional force sensor assembly 4 and the intelligent control system 7 form a force-torque closed-loop control system to ensure that the contact pressure of the polishing wheel 55 and the surface of the workpiece is constant, and flexible polishing is realized.
The side end of the grinding and polishing machine bracket is also provided with a pressure regulating wheel 51. After a period of operation, the manually operated electric trolley 8 moves for a certain distance and is positioned by the pressure regulating wheel 51 for operation again.
The intelligent control system 7 is further in signal connection with the vertical sliding table to control the horizontal mechanical arm to extend or retract, and synchronously control the vertical sliding table to move up and down to form an arc motion track while the polishing wheel is in contact with or separated from the surface of the thin-wall component.
Specifically, as shown in fig. 10, the intelligent control system 7 includes an industrial tablet pc-human interface display unit 71, a central logic control unit 72, a polishing wheel driving unit 73, a horizontal robot arm servo control unit 74, a horizontal robot arm servo motor 75 (i.e., servo motor 33), a vertical slide servo control unit 77, a vertical slide servo motor 76 (i.e., servo motor 28), a six-dimensional force control sensor signal processing unit 78, and a network communication unit 79.
The industrial tablet computer-human machine interface display unit 71 is used for presetting a contact pressure value and displaying the real-time contact pressure value.
The intelligent control system 7 receives the signal of the six-dimensional force sensor signal processing unit 78 through the six-dimensional force control sensor signal processing unit, and processes the obtained real-time contact pressure; the central logic control unit 72 judges according to a contact pressure value preset by a user through the industrial tablet computer-human machine interface display unit 71, and when the contact pressure exceeds the preset contact pressure value, a driving signal is sent to the horizontal mechanical arm servo control unit through the network communication unit 79, so that the horizontal mechanical arm servo motor 75 (namely the servo motor 33) is driven to work, and the polishing wheel is automatically separated from the surface of the thin-wall part; similarly, when the contact pressure is smaller than the preset contact pressure value, the central logic control unit 72 sends a driving signal to the horizontal mechanical arm servo control unit through the network communication unit, so as to drive the horizontal mechanical arm servo motor 75 (i.e., the servo motor 33) to work, so that the polishing wheel is automatically contacted with the surface of the thin-wall part.
The central logic control unit 72 is also connected to a polishing wheel drive unit which is operatively connected to a drive motor 510 for driving the polishing wheel. The central logic control unit 72 is connected to a vertical slide servo control unit 77 through a network communication unit 79, and the vertical slide servo control unit 77 is connected to a vertical slide servo motor 76 (i.e., the servo motor 28). The central logic control unit 72 is also connected to a vacuum cleaner, etc.
The industrial tablet computer-human-machine interface display unit 71 is also used for inputting other process parameters and force-torque closed-loop control, displaying other process parameters and the like;
the intelligent control system 7 controls the vertical sliding table 2 and the horizontal mechanical arm 3 to move up and down alternately along the upright post 1 to form an arc track through an industrial tablet computer-human-computer interface display unit 71, a central logic control unit 72, a six-dimensional force control sensor signal processing unit 78, a network communication unit 79, a horizontal mechanical arm servo control unit 74 and a vertical sliding table servo control unit 77, and the horizontal mechanical arm 3 drives the radial cyclone brush polishing wheel 55 to stretch and contract to contact or separate from the surface of the thin-wall part to perform polishing operation.
Specifically, in the embodiment of the present invention, the network communication unit 79 is connected to the external communication interfaces of the industrial tablet pc-hmi display unit 71, the six-dimensional force sensor signal processing unit 78 and the central logic control unit 72 through ethernet TCP/IP; the intelligent control system takes an embedded industrial tablet computer-human-computer interface display unit 71 and a central logic control unit 72 as a core, and the control of the control unit is completed through an Ethernet network.
The invention is a large and medium-sized flexible grinding and polishing device suitable for surface treatment of thin-wall parts with various specifications, and the surface contact pressure can be preset; when the contact pressure exceeds a set value, the polishing wheel is automatically separated from the surface of the workpiece, so that the deformation caused by collision with the surface of the thin-wall component is avoided; in the continuous flexible grinding and polishing process, the uniform and smooth surface of the grinding part is ensured, and manual rearrangement is not needed.
The invention adopts a self-dust-absorption polishing machine taking a radial cyclone brush polishing wheel as a core, the radial cyclone brush polishing wheel is formed by superposing a plurality of fine fiber wheels and is connected in series by a shaft, ceramic abrasive particles are attached to all the fine fibers of the cyclone brush, the radial cyclone brush polishing wheel has excellent flexibility, optimal adhesiveness and durable grinding force, no heat is generated in the operation process, and the operation surface is prevented from being damaged or deformed by heat; the self-dust collection function improves environmental management to a completely new level.
According to the invention, the motion positions of two servo motors are controlled in a closed loop manner, so that the vertical sliding table and the horizontal mechanical arm can move up and down alternately along the upright column to form an arc track, the synchronous extension of the two stages of telescopic arms drives the polishing wheel of the polishing machine to contact or separate from the surface of a workpiece, and the programming is simple and rapid; two electric push rods mainly comprising a fine adjustment motor are adopted to realize low-speed contact of the polishing wheel with the surface of a workpiece and compensation of abrasion of the polishing wheel.
4. The invention adopts a manually operated electric trolley to load a vertical column, a vertical sliding table, a horizontal mechanical arm consisting of two stages of telescopic arms, a self-dust-absorption polishing machine, a six-dimensional force sensor assembly, a dust collector, an intelligent control system and a manually operated walking electric trolley; the surface is polished by positioning the pressure regulating wheel in sections, so that the surface treatment device is suitable for surface treatment of thin-wall parts with different diameters, lengths and thicknesses.
According to the polishing equipment, the electric trolley 8 is manually operated to walk along the edge of the thin-wall cylindrical part, when one section of part polishing operation is finished, the electric trolley 8 is manually operated to move for a certain distance, the pressure regulating wheel 51 is used for positioning and then the operation is finished, the intelligent control system 7 is used for operating the vertical sliding table 2 and the horizontal mechanical arm 3 to move up and down alternately along the upright post 1 to form an arc track, and the dust-collecting polishing machine 5 is used for polishing the arc track until the operation is finished.
In addition, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the description of the present invention, it is to be understood that the terms "vertical", "horizontal", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the scope of the present invention.
If the terms "first," "second," etc. are used herein to define parts, those skilled in the art will recognize that: the use of "first" and "second" is merely for convenience in describing the invention and to simplify the description, and unless otherwise stated the above words are not intended to have a special meaning.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.
Claims (10)
1. A walking thin-wall component grinding and polishing device is characterized by comprising:
the device comprises an upright post, a vertical sliding table arranged on the upright post, a horizontal mechanical arm connected with the vertical sliding table, a polishing machine connected with the horizontal mechanical arm, a six-dimensional force sensor assembly and an intelligent control system, wherein the six-dimensional force sensor assembly is connected between the polishing machine and the horizontal mechanical arm and is used for acquiring a real-time contact pressure value between a polishing wheel of the polishing machine and the surface of a thin-wall part;
the intelligent control system is in signal connection with the six-dimensional force sensor assembly and the horizontal mechanical arm, when the contact pressure exceeds a preset contact pressure value, the horizontal mechanical arm is controlled to retract so that the polishing wheel is automatically separated from the surface of the thin-wall component, and when the contact pressure is smaller than the preset contact pressure value, the horizontal mechanical arm is controlled to extend so that the polishing wheel is automatically contacted with the surface of the thin-wall component.
2. The walk-behind thin-walled component burnishing and polishing apparatus of claim 1, characterized in that:
the intelligent control system is further in signal connection with the vertical sliding table so as to control the horizontal mechanical arm to extend or retract, and synchronously control the vertical sliding table to move up and down to form an arc motion track while the polishing wheel is in contact with or separated from the surface of the thin-wall component.
3. The walk-behind thin-walled component burnishing and polishing apparatus of claim 1, characterized in that:
the walking type thin-wall part polishing device also comprises a dust collector, the polishing machine is a self-dust-absorption polishing machine, the self-dust-absorption polishing machine comprises a dust collection device,
the dust suction device comprises a dust cover and a dust suction hose, and the dust suction hose is connected with the dust collector.
4. The walk-behind thin-walled component burnishing and polishing apparatus of claim 1, characterized in that:
the polishing and burnishing machine comprises a polishing and burnishing wheel and a push wheel electric push rod connected with the polishing and burnishing wheel, wherein the push wheel electric push rod drives the polishing and burnishing wheel to move at a low speed through a fine adjustment motor and to be in surface contact with a thin-wall part, and meanwhile, the abrasion of the polishing and burnishing wheel is compensated.
5. The walk-behind thin-walled component burnishing and polishing apparatus of claim 1, characterized in that:
the polishing wheel comprises a polishing machine bracket, a radial cyclone brush polishing wheel and a driving motor, wherein the radial cyclone brush polishing wheel and the driving motor are connected to the polishing machine bracket;
the radial cyclone brush polishing wheel comprises a plurality of fine fiber wheels, fine fibers and ceramic abrasive particles.
6. The walk-behind thin-walled component burnishing and polishing apparatus of claim 1, characterized in that:
the six-dimensional force sensor assembly comprises a six-dimensional force sensor and flanges connected to two ends of the six-dimensional force sensor,
flanges at two ends of the six-dimensional force sensor are respectively connected with the grinding and polishing machine support and the tail end of the horizontal mechanical arm, and a pressure regulating wheel is further mounted at the side end of the grinding and polishing machine support.
7. The walk-behind thin-walled component burnishing and polishing apparatus of claim 1, characterized in that:
the vertical sliding table comprises a vertical sliding table saddle and a vertical sliding table transmission chain for driving the vertical sliding table saddle to move up and down,
perpendicular slip table drive chain includes: the vertical sliding table comprises a servo motor, a gear, a rack, a counterweight chain wheel, a counterweight chain and a counterweight block;
the vertical sliding table servo motor is in transmission connection with a gear, the gear is connected with a rack, and the rack is arranged on the upright post; the counter weight sprocket sets up on the stand top, the counter weight chain sets up on the counter weight sprocket, counter weight chain one end is connected with perpendicular slip table saddle, and the other end is connected with the balancing weight, the balancing weight sets up in the stand.
8. The walk-behind thin-walled component burnishing and polishing apparatus of claim 1, characterized in that:
the vertical sliding table comprises a vertical sliding table saddle, and a horizontal mechanical arm servo motor is arranged on the vertical sliding table saddle;
the horizontal mechanical arm comprises two stages of telescopic arms, and the two stages of telescopic arms comprise a first stage telescopic arm and a second stage telescopic arm;
the horizontal mechanical arm also comprises a ball screw connected with a servo motor of the horizontal mechanical arm and a ball screw seat connected with the ball screw, and the ball screw seat is connected with the primary telescopic arm; the horizontal mechanical arm servo motor drives the ball screw rod seat to move through the ball screw rod, and then drives the first-stage telescopic arm connected with the ball screw rod seat to move.
9. The walk-behind thin-walled component burnishing and polishing apparatus of claim 1, characterized in that:
the horizontal mechanical arm comprises two stages of telescopic arms, and the two stages of telescopic arms comprise a first stage telescopic arm and a second stage telescopic arm;
a synchronous belt pulley and a synchronous belt are arranged on the primary telescopic arm;
the end heads at two ends of the synchronous belt are respectively fixedly connected with two fixed points arranged at two sides of the vertical sliding table;
the middle end of the synchronous belt is fixedly connected with a fixed point arranged in the middle of the secondary telescopic arm;
the first-stage telescopic arm moves to enable the synchronous belt to move, the synchronous belt moves to drive the middle end to move, and therefore the second-stage telescopic arm and the first-stage telescopic arm are driven to move synchronously.
10. The walk-behind thin-walled component burnishing and polishing apparatus of claim 1, characterized in that:
the grinding and polishing equipment also comprises an electric trolley,
the electric trolley is provided with a stand column, a vertical sliding table, a horizontal mechanical arm, a polishing machine, a six-dimensional force sensor assembly, an intelligent control system and a dust collector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010536160.3A CN111546223A (en) | 2020-06-12 | 2020-06-12 | Walking type thin-wall component grinding and polishing equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010536160.3A CN111546223A (en) | 2020-06-12 | 2020-06-12 | Walking type thin-wall component grinding and polishing equipment |
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| CN111546223A true CN111546223A (en) | 2020-08-18 |
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| CN202010536160.3A Pending CN111546223A (en) | 2020-06-12 | 2020-06-12 | Walking type thin-wall component grinding and polishing equipment |
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| CN112605997A (en) * | 2020-12-17 | 2021-04-06 | 哈尔滨工业大学（威海） | Active self-adaptive force control device for mechanical arm and control method thereof |
| CN115971786A (en) * | 2022-12-19 | 2023-04-18 | 电子科技大学 | Multi-energy field auxiliary integrated repair system |
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