CN111975577A - Robot-held multi-workpiece synchronous polishing method - Google Patents
Robot-held multi-workpiece synchronous polishing method Download PDFInfo
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- CN111975577A CN111975577A CN202010724443.0A CN202010724443A CN111975577A CN 111975577 A CN111975577 A CN 111975577A CN 202010724443 A CN202010724443 A CN 202010724443A CN 111975577 A CN111975577 A CN 111975577A
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
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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
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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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
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—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 taking regard of the load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The embodiment of the invention discloses a robot-held multi-workpiece synchronous grinding method, which comprises a plurality of fixed grinding machines, a mechanical gripper, a rotary driving device, a workpiece fixing device and a grinding disc, wherein the grinding method comprises the following steps: s1, grabbing and fixing a plurality of workpieces to be polished by the mechanical gripper; s2, starting all the fixed grinding machines and the rotary driving devices; s3, the mechanical gripper drives the workpiece to move, so that the surface of the workpiece is in contact with the fixed grinding machine; s4, monitoring the machining state of the grinding surface of the workpiece in real time, and readjusting the position and the grinding track of the mechanical gripper when the machining state does not meet the preset requirement so as to enable the machining state to meet the preset requirement; s5, the fixed polisher is in contact with the polishing surface of the workpiece to be polished to perform polishing operation, automatic feeding, automatic polishing, automatic discharging and the like can be completed, meanwhile, the workpieces are fully automatically polished, manual workpiece replacement is not needed, polishing efficiency is high, and polishing quality of the workpieces is guaranteed.
Description
Technical Field
The invention relates to the field of polishing processing, in particular to a robot-held multi-workpiece synchronous polishing method.
Background
At present, the full-automatic grinding of robot gradually replaces manual grinding and semi-automatic grinding of special grinding machine, and the full-automatic grinding of robot is widely applied to various grinding industries, such as automobile industry, 3C industry and the like. The full-automatic grinding of robot not only guarantees the quality stability of polishing, has still greatly promoted production efficiency, especially uses to the dry grinding, and the full-automatic grinding of robot has greatly reduced intensity of labour, has improved operational environment.
The existing robot polishing mode generally has two types: firstly, the robot hand-held tool is close to the fixed workpiece for polishing, and secondly, the robot hand-held workpiece is close to the fixed tool for polishing. Except automatic polishing, the robot can also finish automatic material taking, automatic sand paper replacing, automatic blanking and other operations, thereby realizing the automation of the whole operation process. However, in any grinding mode, the robot can only grind 1 workpiece at a time, and compared with a five-axis special grinding machine which synchronously grinds 5 workpieces, the grinding efficiency is low.
At present, the prior robot polishing technology mainly has the following defects:
(1) the robot hand-held tool is used for polishing (or the robot hand-held workpiece is used for polishing), full-automatic polishing (including automatic feeding, automatic polishing, automatic sand paper changing and automatic discharging) of a complex curved surface can be realized, but only one workpiece can be polished each time, and the polishing efficiency is low;
(2) five special machines of polishing can polish five work pieces that contain complicated curved surface simultaneously, and it is efficient to polish, however, can't realize the process automation of polishing, and work piece material loading, abrasive paper change, work piece unloading need artifical the completion, and in addition, five special machines of polishing function singleness, the price is expensive.
Disclosure of Invention
The invention aims to provide a robot-held multi-workpiece synchronous polishing method, and solves the technical problems.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
a robot-held multi-workpiece synchronous grinding method comprises
The grinding machine comprises a plurality of fixed grinding machines and a mechanical claw, wherein the mechanical claw is positioned above the fixed grinding machines, the mechanical claw is arranged at the tail end of a robot, a workpiece fixing device and a rotary driving device are arranged on the mechanical claw, the workpiece fixing device is connected with the rotary driving device through a rotating shaft, and the workpiece fixing device is used for clamping and fixing a workpiece; the rotary driving device is used for driving the workpiece to be processed in a rotating mode, the fixed grinding machine comprises a grinding disc, the grinding disc is in contact with the workpiece and grinds the workpiece, and the mechanical gripper manipulates the workpiece to move and transfer a grinding area of the workpiece;
the polishing method further comprises the following steps:
s1, the mechanical gripper grabs and fixes a plurality of workpieces to be polished, the workpieces to be polished are moved to the upper part of the fixed polisher, and the workpieces to be polished correspond to the fixed polisher one by one;
s2, starting all the fixed grinding machines, and starting the rotary driving device to drive a plurality of workpieces to synchronously rotate simultaneously;
s3, the mechanical gripper displaces according to a preset polishing track to drive all workpieces to displace, so that the surfaces of the workpieces are in contact with the fixed polishing machine, and the polishing areas of the workpieces are adjusted;
s4, monitoring the machining state of the grinding surface of the workpiece in real time, and readjusting the position and the grinding track of the mechanical gripper when the machining state does not meet the preset requirement so as to enable the machining state to meet the preset requirement;
and S5, the fixed grinding machine is contacted with the grinding surface of the ground workpiece to carry out grinding operation, and after all the grinding surfaces of the workpiece are ground, the mechanical gripper unloads the ground workpiece.
Preferably, the number of the workpiece fixing devices is not less than the number of the fixed grinders.
Preferably, the whole body of the mechanical gripper is a rectangular body, the workpiece fixing device comprises a plurality of workpiece clamps, and each workpiece clamp is movably arranged on the mechanical gripper through one rotating shaft.
Preferably, the rotary driving device comprises an external motor and a speed reducer which are arranged on the mechanical gripper, an output shaft of the external motor is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with the rotating shafts through a gear transmission mechanism.
Preferably, a plurality of the grinding discs are arranged at equal heights and equal intervals, and a plurality of the workpieces are also arranged at equal heights and equal intervals.
Preferably, the mechanical gripper is further provided with a controller, a monitoring device and an alarm device, the monitoring device is used for shooting and detecting the posture and the clamping state of the workpiece, and the controller is connected with the alarm device and the monitoring device;
when the monitoring device detects that the workpiece clamping posture of the workpiece is incorrect or the clamping force does not meet the grinding requirement, the controller controls the alarm device to give an alarm, and controls the workpiece fixing device to readjust the clamping posture or the clamping force of the workpiece.
Preferably, when the fixed polisher polishes the workpiece, a normal vector of a polishing position of the workpiece is perpendicular to a polishing tangent plane of the workpiece.
Preferably, a workpiece coordinate system is arranged on the polishing surface of the middle workpiece, the Z axis of the workpiece coordinate system is perpendicular to the polishing surface, and the Y axis of the workpiece coordinate system is parallel to the central connecting line of all the grinding discs;
and arranging a grinding machine coordinate system on the grinding disc surface of the middle grinding machine, wherein the Z axis of the grinding machine coordinate system is vertical to the grinding surface of the workpiece, and the Y axis of the grinding machine is parallel to the central connecting line of all the workpieces.
Preferably, when the workpiece is polished, each point to be polished on the workpiece passes through the zero point of the coordinate system of the fixed polisher.
Has the advantages that:
(1) the mechanical gripper of the robot can hold and fix a plurality of workpieces simultaneously, and can realize the simultaneous rotation of the workpieces through the rotary driving device and the rotating shaft, the movement of the mechanical gripper can enable the workpieces to be in contact with the fixed grinding machine simultaneously, the full-automatic grinding of complex curved surfaces of the workpieces can be realized, the operations of automatic feeding, automatic grinding, automatic discharging and the like can be completed, the workpieces can be ground fully automatically at the same time, the workpieces do not need to be replaced manually, and the grinding efficiency is high;
(2) the invention is provided with the steps of monitoring and calibrating, so that the workpiece is prevented from having poor polishing quality caused by insufficient clamping force and workpiece posture change in the polishing process, and the self-checking and self-adjusting device is arranged, thereby ensuring the polishing efficiency of the workpiece and the polishing quality of the workpiece.
Drawings
FIG. 1 is a flow chart of the steps of the robot hand-held multi-workpiece synchronous grinding method of the present invention;
FIG. 2 is a schematic diagram of a gripper according to the present invention;
FIG. 3 is a diagram of the position of the stationary sander and the sanded workpiece of the present invention.
In the figure: 1-fixing the sander; 10-grinding disc; 2-mechanical gripper; 3-a workpiece fixture; 30, clamping a workpiece; 4-a rotary drive; 40-an external motor; 41-a speed reducer; 5-a rotating shaft; 6-a monitoring device; 7-an alarm; 8-a controller; 9-a workpiece; and 90-a mobile phone middle frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
As shown in figures 1 and 2, the invention provides a robot-held multi-workpiece synchronous grinding method, which comprises the following steps
The grinding machine comprises a plurality of fixed grinding machines 1 and a mechanical claw 2, wherein the mechanical claw 2 is positioned above the fixed grinding machines 1, the mechanical claw 2 is arranged at the tail end of a robot, a workpiece fixing device 3 and a rotary driving device 4 are arranged on the mechanical claw 2, the workpiece fixing device 3 is connected with the rotary driving device 4 through a rotating shaft 5, and the workpiece fixing device 3 is used for clamping and fixing a workpiece 9; the rotary driving device 4 is used for driving a workpiece to be processed in a rotating mode, the fixed grinding machine 1 comprises a grinding disc 10, the grinding disc 10 is in contact with the workpiece and is used for grinding the workpiece 9, and the mechanical gripper 3 is used for operating the workpiece to move and transferring a grinding area of the workpiece;
the grinding method further comprises the following steps:
s1, the mechanical gripper grabs and fixes a plurality of workpieces to be polished, the workpieces to be polished are moved to the upper part of the fixed polisher, and the positions of the workpieces to be polished correspond to the fixed polisher one by one;
s2, starting all the fixed grinding machines, and starting the rotary driving device to drive a plurality of workpieces to synchronously rotate simultaneously;
s3, the mechanical gripper displaces according to a preset grinding track to drive all workpieces to displace, so that the surfaces of the workpieces are in contact with a grinding disc of a fixed grinding machine;
s4, monitoring the machining state of the grinding surface of the workpiece in real time, and readjusting the position and the grinding track of the mechanical gripper when the machining state does not meet the preset requirement so as to enable the machining state to meet the preset requirement;
and S5, the grinding disc of the fixed grinding machine is contacted with the grinding surface of the grinding workpiece to carry out grinding operation, and the mechanical gripper unloads the ground workpiece after the grinding surfaces of all the workpieces are ground.
The invention has the advantages that:
the mechanical gripper of the robot can hold and fix a plurality of workpieces simultaneously, and can realize the simultaneous rotation of the workpieces through the rotary driving device and the rotating shaft, the movement of the mechanical gripper can enable the workpieces to be in contact with the fixed grinding machine simultaneously, the full-automatic grinding of complex curved surfaces of the workpieces can be realized, the operations of automatic feeding, automatic grinding, automatic discharging and the like can be completed, the workpieces can be ground fully automatically at the same time, the workpieces do not need to be replaced manually, and the grinding efficiency is high;
the invention is provided with the steps of monitoring and calibrating, so that the workpiece is prevented from having poor polishing quality caused by insufficient clamping force and workpiece posture change in the polishing process, and the self-checking and self-adjusting device is arranged, thereby ensuring the polishing efficiency of the workpiece and the polishing quality of the workpiece.
As a preferred embodiment of the present invention, the number of workpiece fixing devices is not less than the number of fixed sanders 1.
In a preferred embodiment of the present invention, the gripper 2 is a rectangular body, and the workpiece fixing device 3 includes a plurality of workpiece clamps 30, and each of the workpiece clamps 30 is movably mounted on the gripper 2 through a rotating shaft 5.
In a preferred embodiment of the present invention, the rotation driving device 4 includes an external motor 40 and a speed reducer 41 mounted on the gripper 2, an output shaft of the external motor 40 is connected to an input shaft of the speed reducer 41, and an output shaft of the speed reducer 41 is connected to the plurality of rotating shafts 30 through a gear transmission mechanism. Specifically, each rotating shaft 30 is coaxially and fixedly connected with a driven gear, an output shaft of the speed reducer 41 is connected with a driving gear, a plurality of adjacent driven gears are meshed with each other, and one of the driven gears is meshed with the driving gear, so that after the external motor 40 and the speed reducer 41 are started, the driving gear drives all the driven gears to rotate, all the rotating shafts 30 are rotated, and all workpieces fixed below the mechanical gripper 2 are rotated.
In a preferred embodiment of the present invention, the plurality of grinding disks 10 are disposed at equal heights and at equal intervals, and the plurality of workpieces are also disposed at equal heights and at equal intervals. The workpiece polishing device has the advantages that workpieces can be polished simultaneously, polishing areas can be adjusted simultaneously, polishing efficiency and polishing synchronization rate of a plurality of workpieces are improved, and polishing quality is improved.
In a preferred embodiment of the invention, the mechanical gripper 2 is further provided with a monitoring device 6, an alarm device 7 and a controller 8, the monitoring device 6 is used for shooting and detecting the postures and clamping states of a plurality of workpieces, and the alarm device 7 is connected with the monitoring device 7. The monitoring device 6 comprises a plurality of cameras and a plurality of detection devices, for example, a camera is arranged on the side of each workpiece fixing device 3 and used for shooting the clamping posture or state of the workpiece, and a pressure sensor is arranged on the inner side of the clamping arm of the workpiece clamp 30 and used for detecting whether the clamping force on the workpiece reaches the standard or not, so that the problem that the grinding degree of the grinding surface is not enough due to insufficient clamping force or incorrect posture of the workpiece in the grinding process is avoided.
When the monitoring device 6 detects that the workpiece clamping posture of the workpiece is incorrect or the clamping force does not meet the grinding requirement, the controller 8 controls the alarm device 7 to give an alarm. And the controller 8 controls the workpiece fixing device 3 to adjust the posture or the clamping force of the workpiece at the same time, so that the workpiece is more stable and does not slip off in the polishing process.
It is possible to supplement that the gripper 2 is connected to the robot by a six-axis arm.
A polishing control program is preset in the controller 8 to control the polishing track.
The grinding control program meets the following conditions:
(1) the user can customize details such as a polishing area, a polishing track path (such as sawtooth shape and square wave shape), a polishing path interval, polishing point location density and the like in the polishing control program.
(2) When the fixed polisher 1 polishes a workpiece, a normal vector of a polishing position of the workpiece is perpendicular to a polishing tangent plane of the workpiece.
Arranging a workpiece coordinate system on the polishing surface of a workpiece in the middle, wherein the Z axis of the workpiece coordinate system is vertical to the polishing surface, and the Y axis of the workpiece coordinate system is parallel to the central connecting lines of all the grinding discs;
and arranging a grinding machine coordinate system on the surface of a grinding disc of a fixed grinding machine in the middle, wherein the Z axis of the grinding machine coordinate system is vertical to the grinding surface of the workpiece, and the Y axis of the grinding machine is parallel to the central connecting line of all the workpieces. The X/Y axes are planar axes, the Z axis is a vertical axis, and the three axes are perpendicular to each other.
(3) When the workpiece is polished, each point to be polished on the workpiece passes through the zero point of the coordinate system of the fixed polisher. Each surface to be polished of the workpiece can be polished, and the polishing integrity of the workpiece is good.
(4) When the workpiece is polished, the robot is kept not to rotate around the Z axis of the workpiece coordinate system UT;
(5) when the workpiece is ground, the robot is kept from rotating around a certain axis of the workpiece coordinate system UT (the axis is an axis other than the axis in the direction of connecting the Z axis of the workpiece coordinate system and the center of the workpiece), for example, the X axis of the workpiece coordinate system UT.
Under the control of the grinding program, a plurality of workpieces on a mechanical gripper of the robot can be ensured to be uniformly and uniformly contacted with grinding discs of a plurality of fixed grinding machines all the time. In the grinding process, each workpiece is uniformly contacted with the grinding disc at equal intervals, so that the grinding quality is more consistent.
The method provided by the invention is used for describing in detail by taking the example that a robot holds 5 mobile phone middle frames 90 outer rings for synchronous grinding, as shown in fig. 3.
Under the two coordinate systems, the mechanical gripper displaces the mobile phone middle frame to the polishing position, and when the mobile phone middle frame is polished by keeping the posture in the drawing, the track of the mechanical gripper meets the following requirements:
(1) the normal vector of the polishing area of the outer ring of the middle frame of the mobile phone is always kept to be vertical to the surface of the grinding machine;
(2) the mechanical gripper of the robot only controls the middle frame of the mobile phone to synchronously translate along the Y/Z direction under the grinding machine coordinate system UF;
(3) and (4) integrating the motion requirements, so that the polishing points of the outer ring of the middle frame of the mobile phone sequentially pass through the UF zero point.
After the machining requirements are met, the outer surface of the middle frame of the mobile phone is sequentially polished, the outer surface of the middle frame of the mobile phone is polished, and whether the inner surface of the middle frame of the mobile phone is polished or not can be determined according to subsequent machining requirements. If the inner surface of the mobile phone middle frame needs to be polished, the grinding disc can be inserted into the inner side of the mobile phone middle frame for polishing operation only by adjusting the motion track of the mechanical gripper or adjusting the size of the grinding disc.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. A robot-held multi-workpiece synchronous grinding method is characterized by comprising the following steps
The grinding machine comprises a plurality of fixed grinding machines and a mechanical claw, wherein the mechanical claw is positioned above the fixed grinding machines, the mechanical claw is arranged at the tail end of a robot, a workpiece fixing device and a rotary driving device are arranged on the mechanical claw, the workpiece fixing device is connected with the rotary driving device through a rotating shaft, and the workpiece fixing device is used for clamping and fixing a workpiece; the rotary driving device is used for driving the workpiece to be processed in a rotating mode, the fixed grinding machine comprises a grinding disc, the grinding disc is in contact with the workpiece and grinds the workpiece, and the mechanical gripper manipulates the workpiece to move and transfer a grinding area of the workpiece;
the polishing method further comprises the following steps:
s1, the mechanical gripper grabs and fixes a plurality of workpieces to be polished, the workpieces to be polished are moved to the upper part of the fixed polisher, and the workpieces to be polished correspond to the fixed polisher one by one;
s2, starting all the fixed grinding machines, and starting the rotary driving device to drive a plurality of workpieces to synchronously rotate simultaneously;
s3, the mechanical gripper displaces according to a preset polishing track to drive all workpieces to displace, so that the surfaces of the workpieces are in contact with the fixed polishing machine;
s4, monitoring the machining state of the grinding surface of the workpiece in real time, and readjusting the position and the grinding track of the mechanical gripper when the machining state does not meet the preset requirement so as to enable the machining state to meet the preset requirement;
and S5, the fixed grinding machine is contacted with the grinding surface of the ground workpiece to carry out grinding operation, and after all the grinding surfaces of the workpiece are ground, the mechanical gripper unloads the ground workpiece.
2. A robot-handheld multi-workpiece synchronous grinding method as claimed in claim 1, characterized in that the number of workpiece fixing devices is not less than the number of fixed grinders.
3. The method of claim 1, wherein the gripper is rectangular, the workpiece holder comprises a plurality of workpiece clamps, and each workpiece clamp is movably mounted on the gripper through a rotating shaft.
4. The robot-handheld multi-workpiece synchronous grinding method as claimed in claim 3, wherein the rotary driving device comprises an external motor and a speed reducer which are mounted on the manipulator claw, an output shaft of the external motor is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with a plurality of rotating shafts through a gear transmission mechanism.
5. The method of claim 1, wherein the plurality of grinding discs are arranged at equal heights and at equal distances, and the plurality of workpieces are arranged at equal heights and at equal distances.
6. The robot-handheld multi-workpiece synchronous grinding method according to claim 1, characterized in that a controller, a monitoring device and an alarm device are further arranged on the mechanical gripper, the monitoring device is used for shooting and detecting the posture and the clamping state of the workpiece, and the controller is connected with the alarm device and the monitoring device;
when the monitoring device detects that the workpiece clamping posture of the workpiece is incorrect or the clamping force does not meet the grinding requirement, the controller controls the alarm device to give an alarm, and controls the workpiece fixing device to readjust the clamping posture or the clamping force of the workpiece.
7. The method of claim 1, wherein the fixed sander polishes the workpiece with a normal vector of a polishing position of the workpiece perpendicular to a polishing cut plane of the workpiece.
8. The robot-held multi-workpiece synchronous grinding method according to claim 1, characterized in that a workpiece coordinate system is arranged on a grinding surface of a middle workpiece, the Z axis of the workpiece coordinate system is perpendicular to the grinding surface, and the Y axis of the workpiece coordinate system is parallel to the central connecting line of all grinding discs;
and arranging a grinding machine coordinate system on the grinding disc surface of the middle fixed grinding machine, wherein the Z axis of the grinding machine coordinate system is vertical to the grinding surface of the workpiece, and the Y axis of the grinding machine is parallel to the central connecting line of all the workpieces.
9. The method of claim 8, wherein each point to be ground on the workpiece passes through the zero point of the coordinate system of the fixed grinding machine when the workpiece is ground.
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| CN113977386A (en) * | 2021-10-19 | 2022-01-28 | 横店集团东磁股份有限公司 | Differential grinding equipment for forming burrs of water pump rotor and implementation method thereof |
| CN114800214A (en) * | 2021-01-19 | 2022-07-29 | 富鼎电子科技(嘉善)有限公司 | Polishing device |
| CN115139206A (en) * | 2022-07-12 | 2022-10-04 | 金华凯力特自动化科技有限公司 | A multistation polishing equipment for production of stainless steel basin |
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