CN112318327A - Automatic polishing platform and polishing method thereof - Google Patents
Automatic polishing platform and polishing method thereof Download PDFInfo
- Publication number
- CN112318327A CN112318327A CN202011265297.6A CN202011265297A CN112318327A CN 112318327 A CN112318327 A CN 112318327A CN 202011265297 A CN202011265297 A CN 202011265297A CN 112318327 A CN112318327 A CN 112318327A
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- push rod
- rod device
- transverse
- platform
- longitudinal
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- 238000005498 polishing Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims description 20
- 238000007517 polishing process Methods 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/02—Bench grinders
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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
- 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)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention relates to an automatic polishing platform, which comprises a grinding head assembly and a platform, wherein a workpiece placing area is arranged on the platform, the grinding head assembly is close to the workpiece placing area, the automatic polishing platform also comprises a two-dimensional force sensor, a longitudinal push rod device, a transverse push rod device and a controller, the longitudinal push rod device comprises a longitudinal push plate moving along the longitudinal direction, the transverse push rod device comprises a transverse push plate moving along the transverse direction, the pressure value applied to a workpiece is reduced or increased, and the controller stops the longitudinal push rod device and the transverse push rod device from working until the pressure value applied to the workpiece is the same as a preset pressure value, so that the workpiece is always subjected to the optimal polishing pressure in the polishing process, the polishing efficiency is greatly improved, and the polishing precision.
Description
Technical Field
The invention relates to an automatic polishing platform and a polishing method thereof.
Background
The purpose of polishing is to remove burrs on the surface of a product workpiece, to make the workpiece smooth and easy to continue processing or to reach a finished product.
An automatic grinding device also appears at present, and the arm drives the bistrique and removes to polish to the work piece along predetermined orbit, but work piece production process has certain error, when the bistrique removes to polish to the work piece along predetermined orbit, because the work piece has the error, the in-process of polishing, the pressure that receives the bistrique of work piece is different, leads to polishing the effect poor, and the efficiency of polishing is low, is difficult to control the precision of polishing of work piece, can't satisfy user's demand.
Disclosure of Invention
The first purpose of the invention is to provide an automatic polishing platform which can automatically polish workpieces, and has high workpiece polishing precision and polishing efficiency.
The second purpose of the invention is to provide a polishing method of the automatic polishing platform, which has the advantages of automatic polishing, high workpiece polishing precision and high polishing efficiency.
The first object of the present invention is achieved by:
an automatic polishing platform comprises a grinding head assembly and a platform, wherein a workpiece placing area is arranged on the platform, the grinding head assembly is close to the workpiece placing area, the automatic polishing platform also comprises a two-dimensional force sensor, a longitudinal push rod device, a transverse push rod device and a controller, the longitudinal push rod device comprises a longitudinal push plate moving along the longitudinal direction, and the transverse push rod device comprises a transverse push plate moving along the transverse direction;
the longitudinal push rod device is seated on the transverse push plate, the upper end of the two-dimensional force sensor is connected with the platform, and the lower end of the two-dimensional force sensor is connected with the longitudinal push plate;
the two-dimensional force sensor, the longitudinal push rod device and the transverse push rod device are respectively electrically connected with the controller, the two-dimensional force sensor sends signals to the controller, the controller processes the signals to form control data which are respectively input into the longitudinal push rod device and the transverse push rod device, the longitudinal push rod device drives the longitudinal push plate to move longitudinally, the transverse push rod device drives the transverse push plate to move transversely, and the longitudinal push rod device and the transverse push rod device jointly adjust the position of the platform.
The two-dimensional force sensor is a force sensor capable of measuring force and moment components in two directions simultaneously, and the two-dimensional force sensor is arranged on the platform, so that the two-dimensional force sensor can monitor the stress state of a workpiece in the polishing process in real time, the size of the two-dimensional force sensor is small, the force and moment components in the two directions can be measured, and the size of the polishing platform is reduced.
When the grinding head component moves to grind a workpiece according to a grinding track, because the workpiece has errors, the stress of the workpiece is caused to change, if the pressure value is greater than or less than a preset pressure value, the stress state is generated to the controller by the two-dimensional sensor, the controller processes the stress state to form control data, the control data is input into the transverse push rod device and the longitudinal push rod device, the transverse push rod device drives the transverse push rod to move along the transverse direction, the longitudinal push rod device drives the longitudinal push rod to move along the longitudinal direction, the position of the workpiece is adjusted together, the pressure value of the workpiece is reduced or increased, and the controller stops the longitudinal push rod device and the transverse push rod device from working until the pressure value of the workpiece is equal to the preset pressure value, so that the workpiece is guaranteed to be always subjected to the optimal grinding pressure in the grinding process.
The first object of the present invention can also be solved by the following technical measures:
as more specific scheme, horizontal push rod device includes lead screw, nut, servo motor, push rod, hold-in range, casing and horizontal push pedal, lead screw, nut, servo motor, push rod and hold-in range are arranged in the casing, through synchronous belt drive between lead screw and the servo motor, the nut cover is put on the lead screw, coupling nut on the lead screw is put to the push rod cover, and when the lead screw was rotatory, the nut slided along the length direction of lead screw, and the nut synchronization action is followed to the push rod, realizes that the push rod stretches out or retracts in the casing, horizontal push pedal and push rod are connected, and horizontal push pedal is followed the push rod synchronization action, and horizontal push pedal is followed lateral shifting.
More specifically, the servo motor of the transverse pushing rod device is electrically connected with the controller.
As more specific scheme, vertical push rod device includes lead screw, nut, servo motor, push rod, hold-in range, casing and vertical push pedal, lead screw, nut, servo motor, push rod and hold-in range are arranged in the casing, through synchronous belt drive between lead screw and the servo motor, the nut cover is put on the lead screw, coupling nut on the lead screw is put to the push rod cover, and when the lead screw was rotatory, the nut slided along the length direction of lead screw, and the nut synchronization action is followed to the push rod, realizes that the push rod stretches out or retracts into in the casing, vertical push pedal and push rod are connected, and vertical push pedal is followed the push rod synchronization action, and vertical push pedal is followed vertical movement.
More specifically, the servo motor of the longitudinal push rod device is electrically connected with the controller.
As a more specific scheme, the grinding head assembly comprises a grinding head and a driving device, and the driving device drives the grinding head to rotate.
As a more specific scheme, the grinding head grinding machine further comprises a mechanical arm, the mechanical arm is connected with the grinding head assembly, a processor used for executing a preset grinding track command is arranged in the mechanical arm, the processor controls the mechanical arm to move according to a preset grinding track, and the grinding head assembly moves along with the mechanical arm to grind a workpiece according to the preset track.
The second object of the present invention is achieved by:
a grinding method of an automatic grinding platform comprises the following steps:
the method comprises the following steps: presetting a polishing track command to a processor of the mechanical arm, and presetting a pressure value received in the workpiece polishing process to a controller;
step two: placing the workpiece on a workpiece placing area of the platform;
step three: switching on power supplies of the mechanical arm, the grinding head assembly, the two-dimensional force sensor, the longitudinal push rod device, the transverse push rod device and the controller to enable the mechanical arm, the grinding head assembly, the two-dimensional force sensor, the longitudinal push rod device, the transverse push rod device and the controller to be in working states;
step four: the mechanical arm drives the grinding head assembly to move to grind the workpiece according to a preset grinding track, and meanwhile, the two-dimensional force sensor monitors the pressure value applied to the workpiece;
if the pressure value is larger than or smaller than the preset pressure value, the two-dimensional force sensor sends a signal to the controller, the controller processes the signal to form control data, the control data are input into the transverse push rod device and the longitudinal push rod device, the transverse push rod device drives the transverse push plate to move transversely, the longitudinal push rod device drives the longitudinal push plate to move longitudinally, the position of the workpiece is adjusted together, the pressure value of the workpiece is reduced, and the controller stops the longitudinal push rod device and the transverse push rod device until the pressure value of the workpiece is equal to the preset pressure value.
The invention has the following beneficial effects:
the two-dimensional force sensor is a force sensor capable of measuring force and moment components in two directions simultaneously, and the two-dimensional force sensor is arranged on the platform, so that the two-dimensional force sensor monitors the stress state of a workpiece in the polishing process in real time, has small volume, can measure the force and moment components in the two directions and reduces the volume of the polishing platform.
In the invention, when the grinding head component moves according to the grinding track to grind a workpiece, because the workpiece has errors, the stress of the workpiece is changed, if the pressure value is greater than or less than the preset pressure value, the stress state is generated to the controller by the two-dimensional sensor, the controller processes the stress state to form control data, the control data is input into the transverse push rod device and the longitudinal push rod device, the transverse push rod device drives the transverse push rod to move along the transverse direction, the longitudinal push rod device drives the longitudinal push rod to move along the longitudinal direction, the position of the workpiece is adjusted together, the pressure value of the workpiece is reduced or increased, and the controller stops the longitudinal push rod device and the transverse push rod device until the pressure value of the workpiece is equal to the preset pressure value, therefore, in the polishing process, the workpiece is always subjected to the optimal polishing pressure, and the polishing efficiency and the polishing precision are greatly improved.
Drawings
Figure 1 is a schematic view of an automatic sanding platform.
Figure 2 is an exploded view of an automated sanding platform.
Detailed Description
The invention is further described with reference to the following figures and examples:
in an embodiment, as shown in fig. 1 to 2, an automatic polishing platform includes a mechanical arm (not shown), a polishing head assembly (not shown), a platform 1, a two-dimensional force sensor 2, a longitudinal push rod device 3, a transverse push rod device 4, and a controller (not shown), the mechanical arm is connected to the polishing head assembly, a processor for executing a preset polishing track command is disposed in the mechanical arm, the polishing head assembly includes a polishing head 5 and a driving device, the driving device drives the polishing head 5 to rotate, a workpiece placing area 11 is disposed on the platform 1, and the polishing head 5 is close to the workpiece placing area 11.
The transverse push rod device 4 comprises a screw rod (not shown in the figure), a nut (not shown in the figure), a servo motor (not shown in the figure), a push rod (not shown in the figure), a synchronous belt (not shown in the figure), a machine shell and a transverse push plate 41, wherein the screw rod, the nut, the servo motor, the push rod and the synchronous belt are arranged in the machine shell, the screw rod and the servo motor are driven by the synchronous belt, the nut is sleeved on the screw rod, and the push rod is sleeved on the screw rod and connected with the nut.
When the screw rod rotates, the nut slides along the length direction of the screw rod, the push rod moves synchronously along with the nut to stretch out or retract into the shell, the transverse push plate 41 is connected with the push rod, the transverse push plate 41 moves synchronously along with the push rod, and the transverse push plate 41 moves transversely.
The longitudinal push rod device 3 comprises a screw rod (not shown in the figure), a nut (not shown in the figure), a servo motor (not shown in the figure), a push rod (not shown in the figure), a synchronous belt (not shown in the figure), a machine shell and a longitudinal push plate 31, wherein the screw rod, the nut, the servo motor, the push rod and the synchronous belt are arranged in the machine shell, the screw rod and the servo motor are driven by the synchronous belt, the nut is sleeved on the screw rod, and the push rod is sleeved on the screw rod and connected with the nut.
When the screw rod rotates, the nut slides along the length direction of the screw rod, the push rod moves synchronously along with the nut to stretch out or retract into the shell, the longitudinal push plate 31 is connected with the push rod, the longitudinal push plate 31 moves synchronously along with the push rod, and the longitudinal push plate 31 moves longitudinally.
The longitudinal push rod device 3 sits on the transverse push plate 41, the upper end of the two-dimensional force sensor 2 is connected with the platform 1, the lower end of the two-dimensional force sensor 2 is connected with the longitudinal push plate 31, and the servo motor of the transverse push rod device 4, the servo motor of the longitudinal push rod device 3, the two-dimensional force sensor and the controller are electrically connected.
A grinding method of an automatic grinding platform 1 comprises the following steps:
the method comprises the following steps: presetting a polishing track command to a processor of the mechanical arm, and presetting a pressure value received in the polishing process of the workpiece 6 to a controller;
step two: placing the workpiece 6 on the workpiece placing area 11 of the platform 1;
step three: the power supply of the mechanical arm, the grinding head 5 assembly, the two-dimensional force sensor 2, the longitudinal push rod device 3, the transverse push rod device 4 and the controller is switched on, so that the mechanical arm, the grinding head 5 assembly, the two-dimensional force sensor 2, the longitudinal push rod device 3, the transverse push rod device 4 and the controller are in a working state;
step four: the mechanical arm drives the grinding head 5 assembly to move according to a preset grinding track to grind the workpiece 6, and meanwhile, the two-dimensional force sensor 2 monitors the pressure value of the workpiece 6;
if the pressure value is greater than or less than the preset pressure value, the two-dimensional force sensor 2 sends a signal to the controller, the controller processes the signal to form control data, the control data are input into the transverse push rod device 4 and the longitudinal push rod device 3, the transverse push rod device 4 drives the transverse push plate 41 to move transversely, the longitudinal push rod device 3 drives the longitudinal push plate 31 to move longitudinally, the position of the workpiece 6 is adjusted together, the pressure value of the workpiece 6 is reduced or increased, and the controller stops the longitudinal push rod device 3 and the transverse push rod device 4 until the pressure value of the workpiece 6 is equal to the preset pressure value.
In the process of polishing the workpiece 6, the pressure value applied to the workpiece 6 affects both polishing efficiency and polishing precision, so that when the workpiece 6 is polished, the workpiece 6 maintains an optimal pressure value, and the polishing efficiency and polishing precision can be greatly improved.
Claims (8)
1. The utility model provides an automatic platform of polishing, includes bistrique subassembly and platform, is provided with the work piece on the platform and puts the region, and the bistrique subassembly is close to the work piece and puts region, its characterized in that: the device comprises a longitudinal push plate moving along the longitudinal direction, and a transverse push plate moving along the transverse direction;
the longitudinal push rod device is seated on the transverse push plate, the upper end of the two-dimensional force sensor is connected with the platform, and the lower end of the two-dimensional force sensor is connected with the longitudinal push plate;
the two-dimensional force sensor, the longitudinal push rod device and the transverse push rod device are respectively electrically connected with the controller, the two-dimensional force sensor sends signals to the controller, the controller processes the signals to form control data which are respectively input into the longitudinal push rod device and the transverse push rod device, the longitudinal push rod device drives the longitudinal push plate to move longitudinally, the transverse push rod device drives the transverse push plate to move transversely, and the longitudinal push rod device and the transverse push rod device jointly adjust the position of the platform.
2. The automated grinding platform of claim 1, wherein: the horizontal push rod device comprises a screw rod, a nut, a servo motor, a push rod, a synchronous belt, a machine shell and a horizontal push plate, wherein the screw rod, the nut, the servo motor, the push rod and the synchronous belt are arranged in the machine shell, the screw rod and the servo motor are in synchronous belt transmission, the nut is sleeved on the screw rod, the push rod is sleeved on the screw rod, the screw rod is rotated, the nut slides along the length direction of the screw rod, the push rod follows the nut to move synchronously, the push rod stretches out or retracts into the machine shell, the horizontal push plate is connected with the push rod, the horizontal push plate follows the push rod to move synchronously, and the horizontal push plate moves.
3. The automated grinding platform of claim 2, wherein: and the servo motor of the transverse push rod device is electrically connected with the controller.
4. The automated grinding platform of claim 1, wherein: vertical pusher includes lead screw, nut, servo motor, push rod, hold-in range, casing and vertical push pedal, lead screw, nut, servo motor, push rod and hold-in range are arranged in the casing, through synchronous belt drive between lead screw and the servo motor, the nut cover is put on the lead screw, coupling nut on the lead screw is put to the push rod cover, and when the lead screw was rotatory, the nut slided along the length direction of lead screw, and the nut synchronization action is followed to the push rod, realizes that the push rod stretches out or retracts in the casing, vertical push pedal and push rod are connected, and vertical push pedal is followed the push rod synchronization action, and vertical push pedal is followed vertical removal.
5. The automated grinding platform of claim 4, wherein: and the servo motor of the longitudinal push rod device is electrically connected with the controller.
6. The automated grinding platform of claim 1, wherein: the grinding head assembly comprises a grinding head and a driving device, and the driving device drives the grinding head to rotate.
7. The automated grinding platform of claim 1, wherein: the grinding head component is connected with the grinding head component, a processor used for executing a preset grinding track command is arranged in the mechanical arm, the processor controls the mechanical arm to move according to the preset grinding track, and the grinding head component moves along with the mechanical arm to grind a workpiece according to the preset track.
8. A method of grinding using the automated grinding platform of claim 7, comprising: comprises the following steps of (a) carrying out,
the method comprises the following steps: presetting a polishing track command to a processor of the mechanical arm, and presetting a pressure value received in the workpiece polishing process to a controller;
step two: placing the workpiece on a workpiece placing area of the platform;
step three: switching on power supplies of the mechanical arm, the grinding head assembly, the two-dimensional force sensor, the longitudinal push rod device, the transverse push rod device and the controller to enable the mechanical arm, the grinding head assembly, the two-dimensional force sensor, the longitudinal push rod device, the transverse push rod device and the controller to be in working states;
step four: the mechanical arm drives the grinding head assembly to move to grind the workpiece according to a preset grinding track, and meanwhile, the two-dimensional force sensor monitors the pressure value applied to the workpiece;
if the pressure value is larger than or smaller than the preset pressure value, the two-dimensional force sensor sends a signal to the controller, the controller processes the signal to form control data, the control data are input into the transverse push rod device and the longitudinal push rod device, the transverse push rod device drives the transverse push plate to move transversely, the longitudinal push rod device drives the longitudinal push plate to move longitudinally, the position of the workpiece is adjusted together, the pressure value of the workpiece is reduced, and the controller stops the longitudinal push rod device and the transverse push rod device until the pressure value of the workpiece is equal to the preset pressure value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011265297.6A CN112318327A (en) | 2020-11-12 | 2020-11-12 | Automatic polishing platform and polishing method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011265297.6A CN112318327A (en) | 2020-11-12 | 2020-11-12 | Automatic polishing platform and polishing method thereof |
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| Publication Number | Publication Date |
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| CN112318327A true CN112318327A (en) | 2021-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011265297.6A Pending CN112318327A (en) | 2020-11-12 | 2020-11-12 | Automatic polishing platform and polishing method thereof |
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| CN (1) | CN112318327A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584414A (en) * | 2017-09-07 | 2018-01-16 | 潘汉祥 | A kind of polishing machine autocompensation installation |
| CN107598765A (en) * | 2017-10-17 | 2018-01-19 | 华中科技大学 | A kind of full electricity digitlization two-freedom degree force control grinding head device |
| CN108972343A (en) * | 2018-07-24 | 2018-12-11 | 华中科技大学 | A kind of two degrees of freedom grinding and polishing Study on Contact Force Control and system |
| CN213561792U (en) * | 2020-11-12 | 2021-06-29 | 佛山市增广智能科技有限公司 | Automatic polishing platform |
| CN213592550U (en) * | 2020-11-12 | 2021-07-02 | 佛山市增广智能科技有限公司 | Automatic polishing platform |
-
2020
- 2020-11-12 CN CN202011265297.6A patent/CN112318327A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584414A (en) * | 2017-09-07 | 2018-01-16 | 潘汉祥 | A kind of polishing machine autocompensation installation |
| CN107598765A (en) * | 2017-10-17 | 2018-01-19 | 华中科技大学 | A kind of full electricity digitlization two-freedom degree force control grinding head device |
| CN108972343A (en) * | 2018-07-24 | 2018-12-11 | 华中科技大学 | A kind of two degrees of freedom grinding and polishing Study on Contact Force Control and system |
| CN213561792U (en) * | 2020-11-12 | 2021-06-29 | 佛山市增广智能科技有限公司 | Automatic polishing platform |
| CN213592550U (en) * | 2020-11-12 | 2021-07-02 | 佛山市增广智能科技有限公司 | Automatic polishing platform |
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