CN112775752B - Combined automatic polishing system for outer part and bottom curved surface of large complex workpiece - Google Patents
Combined automatic polishing system for outer part and bottom curved surface of large complex workpiece Download PDFInfo
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- CN112775752B CN112775752B CN201911096104.6A CN201911096104A CN112775752B CN 112775752 B CN112775752 B CN 112775752B CN 201911096104 A CN201911096104 A CN 201911096104A CN 112775752 B CN112775752 B CN 112775752B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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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
- 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
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The combined automatic polishing system mainly comprises a robot system for automatically polishing the outer curved surface of the large complex workpiece and a five-axis linkage mechanism for automatically polishing the curved surface of the bottom of the large complex workpiece, wherein the robot system comprises a polishing robot, a heightening platform, a linear seventh axis and a polishing platform, and the five-axis linkage mechanism comprises a longitudinal frame, a transverse frame upper plate, a lifting base, a lifting frame, a tripod, a bogie, a rotating shaft, a motor, a speed reducer, a polishing head, a rotating connecting block, a screw nut, a ball screw and the like. The whole mechanism is fixed on the ground by bolts, and the mechanism drives each position to move and rotate by a motor to realize five-axis linkage, so that the bottom curved surface of a large complex workpiece is polished. The invention is efficient and practical, greatly reduces labor cost, solves the problem of difficult overturning of large-scale complex workpieces, and can be applied to the process of polishing curved surfaces at the bottoms of various large-scale complex workpieces.
Description
Technical Field
The invention relates to the field of automatic polishing, in particular to a combined automatic polishing system for the outer part and the bottom curved surface of a large complex workpiece.
Background
The large-scale complex workpiece rack has large size, complex structure and large burrs on the inner surface and the outer surface, and the main material is ductile cast iron QT400. The bottom has a curved slot, and the machining holes are of various types, and generally require machining the outer surface and then machining the inner surface of the curved slot.
After the large-scale complicated work piece shaping, the frame surface is uneven, has a large amount of burrs and overlap, does not satisfy actual work demand, consequently need to handle the surface and just can use. At present, the surface treatment of the workpiece is completed manually, a worker holds a polishing tool to polish the surface of the workpiece, and a bottom curved surface polishing worker climbs down to polish, so that the polishing efficiency is very low, and the precision is not guaranteed. And a large amount of dust generated during manual polishing can not be completely absorbed by the dust collector, the polishing environment is very bad, the labor intensity of workers is high, and the dust collector can generate great harm to the bodies of the workers. Therefore, the polishing robot is required to polish to improve polishing efficiency and polishing precision, and in order to further improve polishing efficiency, the polishing robot is used for polishing the outer surface of a workpiece at the same time, and the five-axis linkage mechanism is used for polishing the curved surface of the bottom, so that the problem of difficult workpiece overturning can be solved.
The publication CN201410123244.9 discloses a large free-form surface robot polishing system, and the industrial robot is placed on a movable portal frame in the curved surface robot polishing system provided by the patent, so that a target curved surface can be quickly and accurately reached, and polishing is completed by adopting a pneumatic compliant device and a normal force control technology; CN201621050114.8 discloses a six-degree-of-freedom polishing robot adapted to curved surfaces, and brushes at the tail end of the robot through six rotating arms to realize six-degree-of-freedom polishing.
Some reports in the published literature mention the grinding of curved surfaces by means of fixing an industrial robot to a mobile portal frame; six rotating arms are also utilized, and a disk brush is connected to the tail end for curved surface polishing. However, the polishing of the bottom curved surface of the large complex workpiece is difficult, the polishing of the bottom curved surface is more troublesome, and the workpiece is required to be lifted for turning by lifting, so that the time and the labor are wasted, and a mechanism for polishing the bottom curved surface of the large complex workpiece is rarely reported at present.
The combined automatic polishing system can effectively solve the problem that the workpiece is difficult to turn when the outer part of the large-sized complex workpiece is separated from the curved surface at the bottom, and can be used for combined polishing of the outer part and the curved surface at the bottom, so that the combined automatic polishing system is applied to the robot automatic polishing process of the large-sized complex workpiece.
Disclosure of Invention
The invention aims to provide an external and bottom curved surface combined automatic polishing system for a large complex workpiece, so as to solve the problems of difficult processing of the bottom curved surface of the large complex workpiece and difficult overturning of the workpiece at present.
In order to solve the problems, the technical scheme of the invention is as follows:
the combined automatic polishing system for processing the outer curved surface and the bottom curved surface of the large complex workpiece is characterized by mainly comprising a robot system for automatically polishing the outer curved surface of the large complex workpiece and a five-axis linkage mechanism 5 for automatically polishing the bottom curved surface.
Further, the robot system mainly comprises a polishing robot 1, a raising platform 2, a linear seventh shaft 3 and a polishing platform 4.
Further, the grinding robot 1 is an industrial six-degree-of-freedom robot.
Further, the elevating platform 2 is mainly used for elevating the polishing robot 1, so that the polishing robot 1 can polish a workpiece conveniently.
Further, the upper part of the linear seventh shaft 3 is fixed with a lifting platform, and the lower part is connected with the ground, so that the polishing robot 1 can be driven to move back and forth in one direction.
Further, the polishing table 4 is used for bearing a workpiece, and a square groove is formed above the polishing table, so that the five-axis linkage mechanism 5 can conveniently polish the curved surface at the bottom of the workpiece.
Further, the five-axis linkage mechanism 5 is characterized by mainly comprising a longitudinal frame 5-9, a transverse frame 5-1, a transverse frame upper plate 5-7, a lifting base 5-6, a lifting frame 5-5, a tripod 5-2, a bogie 5-3, a rotating shaft 5-10, a motor 5-4, a speed reducer 5-8, a polishing head 5-11, a rotating connecting block 5-12, a screw nut 5-13, a ball screw 5-14 and the like.
Further, the two longitudinal frames 5-9 are fixed on the ground by bolts, and the longitudinal frames 5-9 are provided with a motor 5-4, a speed reducer 5-8, a ball screw 5-14 and a screw nut 5-13, so that X-direction movement can be completed.
Further, the cross frame 5-1 is fixed on the two longitudinal frames 5-9, and as the longitudinal frames 5-9 move, a motor 5-4, a speed reducer 5-8, a ball screw 5-14 and a screw nut 5-13 are arranged in the cross frame 5-1, so that Y-direction movement can be completed.
Further, the lower surface of the upper plate 5-7 of the cross frame is fixed with the screw nut 5-13, and can move along with the screw nut 5-13 in the Y direction.
Further, the lifting base 5-6 is fixed on the transverse frame upper plate 5-7, is matched with the lifting frame 5-5, and is internally provided with a motor 5-4, a speed reducer 5-8 and a ball screw 5-14.
Further, the lifting frame 5-5 is matched with the lifting base 5-6, and a ball screw 5-14 and a screw nut 5-13 are arranged in the lifting frame 5-5, so that Z-direction movement can be completed.
Further, the tripod 5-2 is fixed with a screw nut 5-13 in the lifting frame 5-5, and can move along with the screw nut 5-13 in the Z direction, and a motor 5-4 and a speed reducer 5-8 are fixed in the tripod 5-2.
Further, the bogie 5-3 is connected with the output end of the motor 5-4 above the tripod 5-2, and can rotate 360 degrees in the X-Y plane along with the rotation of the motor 5-4.
Further, the rotating shaft 5-10 is arranged on the bogie 5-3, one end of the rotating shaft is connected with the motor 5-4 and the speed reducer 5-8, the other end of the rotating shaft is matched with the bearing, and the rotating shaft 5-10 rotates by 120 degrees in an X-Z plane along with the rotation of the motor 5-4.
Further, one end of the rotary connecting block 5-12 is connected with the rotary shaft 5-10 in the direction, and the polishing head 5-11 is fixed at the other end, so that 120-degree rotation can be realized in the X-Z plane along with the rotary shaft 5-10.
Further, the polishing head 5-11 is a high-power pneumatic polishing head 5-11.
The advantage of this patent lies in: 1. the combined automatic polishing system can polish the outer part and the bottom curved surface of a large complex workpiece in a combined way, so that the workpiece does not need to be overturned, and the problem of difficult workpiece overturning is solved; 2. the outer part and the bottom curved surface of the workpiece are polished in a combined way, so that the polishing efficiency is greatly improved; 3. the designed five-axis linkage mechanism 5 can be normally used in a very small space at the bottom.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of a combined automatic grinding system for the outer and bottom curved surfaces of a large complex workpiece according to an embodiment of the present invention;
FIG. 2 is a global schematic diagram of a five-axis linkage provided by an embodiment of the present invention;
fig. 3 is a partial schematic diagram of a five-axis linkage mechanism according to an embodiment of the present invention.
Detailed Description
The invention provides an automatic polishing system for combining the outer part and the bottom curved surface of a large complex workpiece, which is further described in detail below with reference to the accompanying drawings and the specific embodiments. It should be noted that the drawings are in a very simplified form and employ very precise ratios, and are merely for convenience and clarity in aiding in the description of embodiments of the invention.
As shown in fig. 1, the combined automatic polishing system for the outer and bottom curved surfaces of large complex workpieces mainly comprises: a robotic system and a five-axis linkage 5. The robot system mainly comprises a polishing robot 1, a heightening platform 2, a linear seventh shaft 3 and a polishing platform 4. The linear seventh shaft 3 is fixed on the ground, a lifting platform 2 is fixed above the linear seventh shaft, and the polishing robot 1 is fixed on the lifting platform 2. The linear seventh shaft 3 drives the polishing robot 1 to move back and forth in one direction, and the elevating platform 2 lifts the polishing robot 1, so that the polishing robot 1 can polish the outside of a large complex workpiece. The large complex workpiece is placed on the polishing table 4, a slot is formed in the middle of the polishing table 4, and the polishing heads 5-11 of the five-axis linkage mechanism 5 extend out of the slot to polish the curved surface at the bottom of the large complex workpiece, so that the problem of difficult overturning of the large complex workpiece is solved.
As shown in fig. 2 and 3, the five-axis linkage mechanism 5 mainly comprises a longitudinal frame 5-9, a transverse frame 5-1, a transverse frame upper plate 5-7, a lifting base 5-6, a lifting frame 5-5, a tripod 5-2, a bogie 5-3, a rotating shaft 5-10, a motor 5-4, a speed reducer 5-8, a polishing head 5-11, a rotating connecting block 5-12, a screw nut 5-13, a ball screw 5-14 and the like. The longitudinal frame 5-9 is fixed on the ground by bolts, one side is provided with a motor 5-4 and a speed reducer 5-8, the middle is provided with a ball screw 5-14, the transverse frame 5-1 is connected with a screw nut 5-13, and the transverse frame 5-1 is driven to move in the X direction by the rotation of the ball screw 5-14. The motor 5-4, the speed reducer 5-8, the ball screw 5-14 and the screw nut 5-13 are also arranged in the transverse frame 5-1, and the transverse frame upper plate 5-7 is connected with the screw nut 5-13 to realize the movement of the transverse frame upper plate 5-7 in the Y direction. The lifting base 5-6 is fixed on the transverse frame upper plate 5-7, and a motor 5-4, a speed reducer 5-8 and a ball screw 5-14 are fixed in the lifting base 5-6 and are fixed with the lifting frame 5-5. The screw nut 5-13 in the lifting frame 5-5 is connected with the tripod 5-2, and the tripod 5-2 can realize the movement in the Z direction. The motor 5-4 and the speed reducer 5-8 in the tripod 5-2 are connected with the bogie 5-3, so that the bogie 5-3 can realize 360-degree rotation on an X-Y plane along with the rotation of the motor 5-4. The side of the bogie 5-3 is fixed with a motor 5-4 and a speed reducer 5-8, and the middle is provided with a rotating shaft 5-10. One end of the rotary connecting block 5-12 is connected with the rotary shaft 5-10, and the other end is fixed with the polishing head 5-11, so that the polishing head 5-11 can complete 120-degree rotation on the X-Z plane along with the rotation of the motor 5-4. Three translations and two rotations can cover the curved surface at the bottom of the large complex workpiece completely, and each point can be polished.
The combined automatic polishing system for the outer part and the bottom curved surface of the large complex workpiece is proved to be practical and reliable according to field repeated polishing tests.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (3)
1. A combined automatic polishing system for the outer and bottom curved surfaces of a large complex workpiece is characterized by comprising a robot system for automatically polishing the outer curved surfaces of the large complex workpiece and a five-axis linkage mechanism (5) for automatically polishing the bottom curved surfaces,
the robot system comprises a polishing robot (1), a lifting platform (2), a linear seventh shaft (3) and a polishing platform (4), wherein the linear seventh shaft (3) is arranged on the ground, the lifting platform (2) is arranged on the linear seventh shaft (3), the polishing robot (1) is arranged on the lifting platform (2), and the linear seventh shaft (3) can move back and forth along the polishing robot (1) in one direction;
the grinding table (4) is used for bearing a workpiece, and a square groove is formed above the grinding table (4) so as to facilitate the placement of the five-axis linkage mechanism (5) and the grinding of the curved surface at the bottom of the workpiece;
the five-axis linkage mechanism (5) comprises a longitudinal frame (5-9), a transverse frame (5-1), a transverse frame upper plate (5-7), a lifting base (5-6), a lifting frame (5-5), a tripod (5-2), a bogie (5-3), a rotating shaft (5-10), a motor (5-4), a speed reducer (5-8), a polishing head (5-11), a rotating connecting block (5-12), a screw nut (5-13) and a ball screw (5-14);
the two longitudinal frames (5-9) are fixed on the ground by bolts, and each longitudinal frame (5-9) is provided with a motor (5-4), a speed reducer (5-8), a ball screw (5-14) and a screw nut (5-13) so as to realize X-direction movement of the polishing head (5-11);
the transverse frame (5-1) is fixed on the two longitudinal frames (5-9), and a motor (5-4), a speed reducer (5-8), a ball screw (5-14) and a screw nut (5-13) are arranged in the transverse frame (5-1) so as to realize Y-direction movement of the polishing head (5-11);
the lower surface of the transverse frame upper plate (5-7) is fixed with a screw nut (5-13) of the transverse frame (5-1), the lifting base (5-6) is fixed on the transverse frame upper plate (5-7) and matched with the lifting frame (5-5) above, and a motor (5-4), a speed reducer (5-8) and a ball screw (5-14) are arranged in the lifting base;
the lifting frame (5-5) is matched with the lifting base (5-6), and a ball screw (5-14) and a screw nut (5-13) are arranged in the lifting frame (5-5) to finish Z-direction movement;
the tripod (5-2) is fixed with a screw nut (5-13) in the lifting frame (5-5), and moves along with the screw nut (5-13) in the Z direction, and a motor (5-4) and a speed reducer (5-8) are fixed in the tripod (5-2);
the bogie (5-3) is connected with an output shaft of the motor (5-4) above the tripod (5-2), and realizes 360-degree rotation in an X-Y plane along with the rotation of the motor (5-4);
the rotating shaft (5-10) is arranged on the bogie (5-3), one end of the rotating shaft is connected with the motor (5-4) and the speed reducer (5-8), the other end of the rotating shaft is matched with the bearing, and the rotating shaft (5-10) rotates by 120 degrees in an X-Z plane along with the rotation of the motor (5-4);
one end of the rotary connecting block (5-12) is connected with the rotating shaft (5-10), the other end of the rotary connecting block is fixed with the polishing head (5-11), and the rotary connecting block (5-12) realizes 120-degree rotation along with the rotating shaft (5-10) in an X-Z plane.
2. An external and bottom curved surface combined automatic grinding system for large complex workpieces according to claim 1, characterized in that said grinding heads (5-11) are high-power pneumatic grinding heads.
3. The combined automatic polishing system for the outer and bottom curved surfaces of a large complex workpiece according to claim 1, wherein the polishing robot (1) is an industrial six-degree-of-freedom robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911096104.6A CN112775752B (en) | 2019-11-11 | 2019-11-11 | Combined automatic polishing system for outer part and bottom curved surface of large complex workpiece |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911096104.6A CN112775752B (en) | 2019-11-11 | 2019-11-11 | Combined automatic polishing system for outer part and bottom curved surface of large complex workpiece |
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| CN112775752A CN112775752A (en) | 2021-05-11 |
| CN112775752B true CN112775752B (en) | 2023-06-30 |
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| CN201911096104.6A Active CN112775752B (en) | 2019-11-11 | 2019-11-11 | Combined automatic polishing system for outer part and bottom curved surface of large complex workpiece |
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| JP2001009765A (en) * | 1999-06-28 | 2001-01-16 | Hirata Corp | Elevating unit and robot device |
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