CN113118884A - Snowboard grinding station mechanism and grinding method - Google Patents
Snowboard grinding station mechanism and grinding method Download PDFInfo
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- CN113118884A CN113118884A CN202110536861.1A CN202110536861A CN113118884A CN 113118884 A CN113118884 A CN 113118884A CN 202110536861 A CN202110536861 A CN 202110536861A CN 113118884 A CN113118884 A CN 113118884A
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- mechanical arm
- clamp
- side edge
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- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005498 polishing Methods 0.000 claims abstract description 41
- 238000007599 discharging Methods 0.000 claims abstract description 17
- 238000001179 sorption measurement Methods 0.000 claims description 17
- 230000001939 inductive effect Effects 0.000 claims description 9
- 239000004677 Nylon Substances 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 4
- 229920001778 nylon Polymers 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 239000000428 dust Substances 0.000 description 18
- 239000002184 metal Substances 0.000 description 10
- 241000252254 Catostomidae Species 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 238000007688 edging Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 230000007704 transition Effects 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
- B24B3/00—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools
- B24B3/006—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools for edges of skis, snowboards or the like
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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
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a snowboard polishing station mechanism and a polishing method, which comprise a clamp module, a feeding and discharging device, a side edge polishing device and a bottom edge polishing device; the feeding and discharging device is used for installing or taking down the snow plate on the clamp module, the side edge polishing device is used for polishing the side edge of the snow plate installed on the clamp module, and the bottom edge polishing device is used for polishing the bottom edge of the snow plate installed on the clamp module. Through unloader and side sword grinding device, second robotic arm drive end sword grinding device in the drive of first robotic arm to realize that the automation of snow board grinding station goes up unloading, polishes the side sword of snow board, polishes the end sword of snow board, helps improving efficiency and the precision of polishing, and degree of automation is high.
Description
Technical Field
The invention relates to the technical field of snowboard processing equipment, in particular to a snowboard grinding station mechanism and a grinding method.
Background
The snowboard is a skiing sports apparatus and generally comprises a mountain board, a cross-country winter and winter two-item board, a platform board, a free board, a single board and the like. Generally, the snowboard is composed of a multilayer structure, including an elastic plate, a board core, a glass fiber composite material, a high polymer material bottom board, a metal edge and the like.
In the production process of the snowboard, the snowboard after cutting and forming needs to be ground so that the surface of the snowboard is sufficiently flat. The existing processing mode is generally to polish through the artificial mode, and not only production efficiency is not high in the artificial mode, but also the skis are easy to shift in the polishing process, so that the polishing precision is not high.
Chinese patent with publication No. CN212553047U discloses a ski adhesive tape edge grinding device, which includes: locating component, compress tightly subassembly and edging subassembly, the edging subassembly includes sideslip module, sideslip slide, location horizontal pole, polishes the head and polish the driving piece, and the sideslip module sets up on the workstation, and the sideslip slide is connected with the sideslip module, and the location horizontal pole sets up on the sideslip slide, polishes the head and rotates and set up in the one end of location horizontal pole, polishes the driving piece and polish the head and be connected.
The inventor considers that the grinding device in the prior art has poor working efficiency and low grinding precision, and has a point to be improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a snowboard grinding station mechanism and a grinding method.
The snowboard grinding station mechanism provided by the invention comprises a clamp module, a feeding and discharging device, a side edge grinding device and a bottom edge grinding device; the feeding and discharging device is used for installing or taking down the snow plate on the clamp module, the side edge polishing device is used for polishing the side edge of the snow plate installed on the clamp module, and the bottom edge polishing device is used for polishing the bottom edge of the snow plate installed on the clamp module.
Preferably, one side of the clamp module is provided with a first mechanical arm, the feeding and discharging device and the side edge polishing device are both installed on the first mechanical arm, and the first mechanical arm is used for switching the working states of the feeding and discharging device and the side edge polishing device.
Preferably, the loading and unloading device comprises a support, an adsorption component and a clamping component, wherein the adsorption component and the clamping component are both arranged on the same side of the support; the adsorption assembly comprises a fourth sucking disc and a driving air cylinder, the driving air cylinder is installed on one side of the support, a piston rod of the driving air cylinder moves in a direction far away from or close to the support, and the fourth sucking disc is installed on the piston rod of the driving air cylinder; the clamping assembly is used for clamping or loosening the snowboard.
Preferably, the clamping assembly comprises a second pneumatic clamp, and one or more second pneumatic clamps are respectively arranged on two sides of the bracket in the length direction.
Preferably, the material of the contact part of the second pneumatic clamp and the snowboard comprises nylon material.
Preferably, the bracket is provided with an inductive switch, and the inductive switch and the adsorption component are located on the same side.
Preferably, the side edge grinding device comprises a side edge grinding head, and the side edge grinding head is rotatably arranged on one side of the support, which is far away from the adsorption assembly.
Preferably, a second mechanical arm is arranged on one side of the clamp module, and the bottom blade polishing device is mounted on the second mechanical arm; the bottom edge grinding device comprises a rough grinding head and a fine grinding head, and the rough grinding head and the fine grinding head are both rotatably arranged at the end part of the second mechanical arm.
Preferably, the end of the first mechanical arm is rotatably provided with a bottom blade grinding shaft, the rough grinding head is coaxially arranged at one end of the bottom blade grinding shaft, and the fine grinding head is coaxially arranged at the other end of the bottom blade grinding shaft.
According to the invention, a method for polishing a snowboard polishing station mechanism is provided, which adopts the snowboard polishing station mechanism as claimed in any one of claims 1 to 9, and comprises the following steps: s1, defaulting to a standby state of the first mechanical arm, wherein when the first mechanical arm is in the standby state, the loading and unloading device faces downwards; s2, starting the first mechanical arm, and driving the first mechanical arm to move and drive the loading and unloading device to grab the snowboard; s3, moving the first mechanical arm and driving the loading and unloading device to load the snowboard into the clamp module; s4, the first mechanical arm switches the side edge polishing device to a working state, the first mechanical arm drives the side edge polishing device to perform copying side edge grinding on the snowboard installed on the clamp module, and after grinding is finished, the first mechanical arm returns to the original point and keeps a standby state; s5, the second mechanical arm is started to drive the rough grinding head to grind the bottom surface of the snowboard; s6, the second mechanical arm is started to drive the accurate grinding head to carry out accurate grinding correction on the bottom surface of the snow board after coarse grinding; and S7, after finishing fine grinding, returning the second mechanical arm to the original point, driving the feeding and discharging device to grab the processed snowboard and transfer the snowboard to the storage area by the first mechanical arm, and then returning the first mechanical arm to the original point and keeping the first mechanical arm in a standby state.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the automatic feeding and discharging device, the first mechanical arm drives the feeding and discharging device and the side blade polishing device, and the second mechanical arm drives the bottom blade polishing device, so that automatic feeding and discharging of a snow board polishing station, polishing of the side blades of the snow board and polishing of the bottom blade of the snow board are achieved, polishing efficiency and polishing precision are improved, and the degree of automation is high;
2. according to the invention, the upper and lower positions of the feeding and discharging device and the side edge polishing device are adjusted through the rotation of the first mechanical arm, so that the switching of the working states of the feeding and discharging device and the side edge polishing device is realized, the integration level of a snowboard polishing station is improved, and the space utilization rate is further improved;
3. the snow plate grabbing device has the advantages that the driving of the driving cylinder, the sucking disc and the second pneumatic clamp are combined, so that the stability of the snow plate grabbing device for the feeding and discharging device is improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the overall structure of a snow board grinding station mechanism embodying the present invention;
FIG. 2 is a schematic view of the overall structure of a fixture module according to the present invention;
FIG. 3 is a schematic view of the front overall structure of a fixture base according to the present invention;
FIG. 4 is a schematic view of the overall structure of the back of the base of the fixture according to the present invention;
fig. 5 is a schematic view of the overall structure of the loading and unloading device according to the present invention.
Shown in the figure:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the snowboard grinding station mechanism according to the present invention includes a clamp module 11, a loading and unloading device 202, a side blade grinding device 203, and a bottom blade grinding device 204.
As shown in fig. 2, the clamp module 11 includes a dust suction device 101 and a clamp base 102, wherein the dust suction device 101 stands on the floor, and the clamp base 102 is horizontally installed on the upper side of the dust suction device 101. The side of the clamp base 102 facing away from the dust suction device 101 is fixedly provided with a positioning suction assembly, a circumferential clamping assembly 104 and a constant force supporting assembly 105.
As shown in fig. 3, the clamp base 102 is a rectangular thin plate structure with certain structural strength, and provides a mounting base for the positioning and suction assembly, the circumferential clamping assembly 104, and the constant force supporting assembly 105. The clamp base 102 is provided with three support frames 1021 through vertical fixed mounting of bolts, the support frames 1021 are fixedly mounted on one side of the clamp base 102 in the length direction at intervals, the height of the three support frames 1021 is gradually increased from the end part of the clamp base 102 to the middle part of the clamp base 102, one support frame 1021 is also fixedly mounted on the other side of the clamp base 102 in the length direction through vertical fixing of bolts, and the four support frames 1021 are located in the middle of the clamp base 102 in the width direction.
The positioning adsorption component comprises a first sucker 103, the upper sides of the four support frames 1021 of the first sucker 103 are respectively and fixedly provided with one, and the openings of the four suckers are arranged upwards. The heights of the first suckers 103 on the three support frames 1021 on one side of the length direction of the clamp base 102 are sequentially increased from outside to inside, and the arrangement of the three first suckers 103 is matched with the arc-shaped contour of the tail of the snowboard. The front end and the rear end of the snowboard are adsorbed and fixed by the cooperation of the four first suckers 103, so that the snowboard is installed on the clamp base 102, the positioning effect of the snowboard in the vertical direction is achieved, and the snowboard is positioned in a horizontal coordinate system.
As shown in fig. 3, the circumferential clamping assembly 104 includes three pneumatic clamps 1041 and three second suction cups 1042, the number of the pneumatic clamps 1041 is three at the middle of the clamp base 102 along the length direction of the clamp base 102 at intervals, the three pneumatic clamps 1041 are all located at the middle of the width direction of the clamp base 102, the heights of the three pneumatic clamps 1041 are all slightly higher than the highest first suction cup 103, and the moving directions of the three pneumatic clamps 1041 are all parallel to the width direction of the clamp base 102. After the snow board is adsorbed and fixed by the positioning and adsorbing assembly, the three pneumatic clamps 1041 work and clamp the left side and the right side of the snow board, so that the center line of the coordinate system of the snow board is positioned.
The second suction cups 1042 are fixed to the middle of one side of the pneumatic clamp 1041 along the length direction of the clamp base 102 through bolts and nuts, the mouths of the second suction cups 1042 are arranged upward, and the height of the mouths of the second suction cups 1042 is slightly lower than that of the pneumatic clamp 1041. By means of the second sucking discs 1042 fixedly installed on the pneumatic clamp 1041, the snowboard is clamped by the pneumatic clamp 1041 and simultaneously adsorbed by the second sucking discs 1042, and positioning and strengthening of the snowboard are achieved.
As shown in fig. 3, the constant force supporting assembly 105 includes a supporting cylinder 1051, a third suction cup 1052 and a supporting plate 1053, two supporting cylinders 1051 are installed between any two adjacent pneumatic clamps 1041 at intervals through bolts, and one supporting cylinder 1051 is fixedly installed at one side end of the clamp base 102 where one supporting frame 1021 is installed through bolts. The supporting plates 1053 are arranged on the supporting cylinders 1051 at the end parts of the clamp base 102 in the length direction, and the supporting cylinders 1051 adjacent to the supporting cylinders 1051 are respectively provided with one supporting plate through vertical fixed mounting of bolts, the tops of the two supporting plates 1053 are in contact fit with the snowboard, the upper sides of the supporting plates 1053 at the end parts of the clamp base 102 in the length direction are provided with arc-shaped parts 1054, and the arc-shaped parts 1054 are in contact fit with the front ends of the snowboard.
The third suction cup 1052 is fixedly mounted on the other three supporting cylinders 1051 respectively, and the openings of the three third suction cups 1052 are arranged upwards. After the circumferential clamping assembly 104 clamps the snow plate, the supporting cylinder 1051 is activated, the three third suckers 1052 and the two supporting plates 1053 gradually move upwards under the action of the corresponding supporting cylinders 1051 and contact with the snow plate, and when the upward acting force of the two supporting plates 1053 on the snow plate reaches the rated acting force, the supporting cylinder 1051 stops.
Further, in order to protect the snowboard, the situation that the snowboard is damaged due to the contact with the positioning adsorption assembly, the circumferential clamping assembly 104 and the constant-force supporting assembly 105 is reduced, and the tops of the two supporting plates 1053 are all wrapped with the rounded arc corners made of nylon. In order to further improve the stability of the positioning and adsorbing assembly, the circumferential clamping assembly 104 and the constant force supporting assembly 105 for adsorbing and fixing the snowboard, the first suction cup 103, the second suction cup 1042 and the third suction cup 1052 all adopt a micro-direction guiding and adsorbing structure.
As shown in fig. 2, fig. 3 and fig. 4, the dust collection device 101 includes a dust collection sheet metal frame 1011, the dust collection sheet metal frame 1011 is located at the top of the dust collection device 101, a positioning pin 106 is connected between the clamp base 102 and the dust collection sheet metal frame 1011, the positioning pin 106 sequentially penetrates through a pin hole in the clamp base 102 and a pin hole in the dust collection sheet metal frame 1011 from top to bottom, the positioning pin 106 is in transition fit with the clamp base 102 and the dust collection sheet metal frame 1011 respectively, and one positioning pin 106 is installed at four corners of the clamp base 102 respectively, and the positioning installation of the clamp base 102 and the dust collection sheet metal frame 1011 is realized by means of. The clamp base 102 and the dust collection sheet metal frame 1011 are fixedly connected through the fixing bolts, so that the installation tightness and reliability of the clamp base 102 and the dust collection sheet metal frame 1011 are improved.
As shown in fig. 1 and 5, a first robot arm 205 is fixedly mounted on one side of the dust suction device 101 in the width direction, and a first fixing base 206 is connected between the first robot arm 205 and the floor surface, so that the first robot arm 205 is stably and reliably mounted on one side of the dust suction device 101. The first robot 205 is a six-degree-of-freedom robot, and the first robot 205 can realize automatic operation in six degrees of freedom by a built-in program module.
Both the loading and unloading device 202 and the side edge grinding device 203 are mounted on the first robot arm 205, and the loading and unloading device 202 comprises a bracket 212, an adsorption assembly 222 and a clamping assembly. The bracket 212 is a long-strip-shaped metal structure and has certain structural strength, the bracket 212 is a mounting base of the adsorption assembly 222 and the clamping assembly, and the middle part of the bracket 212 is horizontally and fixedly mounted on a rotating shaft at the tail end of the first mechanical arm 205. The suction assembly 222 includes a fourth suction cup 2221 and a driving cylinder 2222, the cylinder body of the driving cylinder 2222 is fixedly mounted on the lower side wall of the support 212, the piston rod of the driving cylinder 2222 is vertically arranged, and the piston rod of the driving cylinder 2222 moves towards the direction far away from or close to the support 212. The fourth suction cup 2221 is fixedly mounted on the end of the piston rod of the driving cylinder 2222, and the opening of the fourth suction cup 2221 faces away from the bracket 212.
When the first mechanical arm 205 drives the loading and unloading device 202 to work, the driving cylinder 2222 is started to drive the fourth suction cup 2221 to move downwards, and the fourth suction cup 2221 adsorbs the snowboard to be grabbed. In order to improve the stability of the fourth suction cup 2221 in sucking the snowboard. The adsorption component 222 has three groups at the middle part of the bracket 212 at equal intervals, the three groups of adsorption components 222 arranged at intervals work together to adsorb the snowboard to be grabbed, and the adsorption points at three intervals improve the stability and reliability of the adsorption component 222 for adsorbing the snowboard.
The clamping component is a second pneumatic clamp 232, one of the three groups of adsorption components 222 on the lower side wall of the bracket 212 is fixedly mounted on one side of the second pneumatic clamp 232, two of the three groups of adsorption components 222 on the lower side wall of the bracket 212 are fixedly mounted on the other side of the second pneumatic clamp 232 at intervals, and clamping openings of the three second pneumatic clamps 232 are deviated from the bracket 212. After the adsorption component 222 adsorbs the snowboard, the piston rod of the driving cylinder 2222 contracts, the snowboard moves to the clamping openings of the three second pneumatic clamps 232 along with the fourth sucking discs 2221, the three second pneumatic clamps 232 operate simultaneously to clamp the snowboard, and the stability of the loading and unloading device 202 for grabbing the snowboard is improved. In order to reduce the damage caused by the contact between the snowboard and the second pneumatic clamp 232, the contact parts of the three second pneumatic clamps 232 and the snowboard are all coated with a protective block made of nylon.
Further, in order to improve the accuracy that unloader 202 snatchs the snowboard, fixed mounting has inductive switch 242 on the lower lateral wall of support 212, and inductive switch 242 is used for detecting the inductive signal of snowboard, and inductive switch 242 installs five along the length direction interval of support 212 on support 212, and five inductive switch 242 distribute in the both ends and the middle part of support 212 to can detect the signal of the snowboard of different length.
As shown in fig. 1 and 5, the side edge grinding device 203 includes a side edge grinding head 213 and a side edge grinding shaft 223, and the side edge grinding shaft 223 is vertically fixed at the middle of the upper side of the bracket 212. The side edge grinding head 213 is a hard CBN grinding wheel, the side edge grinding head 213 is coaxially and fixedly installed on the side edge grinding shaft 223, and the side edge grinding head 213 is driven by a motor on the first mechanical arm 205, so that the side edge grinding head 213 is driven to rotate to carry out grinding operation.
The rotation of the tail end rotating shaft on the first mechanical arm 205 is controlled by a built-in software module, so that the up-and-down position exchange of the feeding and discharging device 202 and the side blade polishing device 203 is realized, and the switching of two working states of feeding and discharging operation and side blade polishing operation is realized.
As shown in fig. 1, a second robot arm 207 is fixedly installed on the other side of the dust suction device 101 in the width direction, and a second fixing base 208 is connected between the second robot arm 207 and the ground, so that the second robot arm 207 is stably and reliably installed on the side of the dust suction device 101. The second robot 207 is a six-degree-of-freedom robot, and the second robot 207 can perform automatic operation in six degrees of freedom by means of a built-in program module.
The bottom edge grinding device 204 is fixedly installed at the end of the second mechanical arm 207, the bottom edge grinding device 204 comprises a rough grinding head 214, a fine grinding head 224 and a bottom edge grinding shaft 234, and the bottom edge grinding shaft 234 is vertically and rotatably installed at the end of the second mechanical arm 207. The rough grinding heads 214 are used for grinding abrasive paper, the rough grinding heads 214 are coaxially and fixedly installed at the top end of the bottom edge grinding shaft 234, the fine grinding heads 224 are hard CBN grinding wheels, the fine grinding heads 224 are coaxially and fixedly installed at the bottom end of the bottom edge grinding shaft 234, the bottom edge grinding shaft 234 is driven by a motor on the second mechanical arm 207, the bottom edge grinding shaft 234 rotates to drive the rough grinding heads 214 and the fine grinding heads 224 to rotate, and then the second mechanical arm 207 is controlled to move along a specific program track through a program module arranged in the second mechanical arm 207, so that rough grinding and fine grinding of the snow plate base plate installed on the clamp module 11 are achieved.
According to the polishing method of the snowboard polishing station mechanism provided by the invention, the snowboard polishing station mechanism comprises the following steps:
s1, the first robot 205 defaults to a standby state, and when the first robot 205 is in the standby state, the openings of the three fourth suction cups 2221 on the loading/unloading apparatus 202 are all set downward.
S2, the first mechanical arm 205 is started, the first mechanical arm 205 moves along a preset track under the control of the built-in program module and drives the loading and unloading device 202 to move to a loading position, the five groups of sensing switches 242 sense signals, the three groups of driving cylinders 2222 are started to drive the three fourth suction cups 2221 to move downwards to absorb the snow, the three groups of driving cylinders 2222 drive the three fourth suction cups 2221 to drive the snow to move upwards to the clamping openings of the three second pneumatic clamps 232, and the three second pneumatic clamps 232 operate to clamp the snow at the same time.
And S3, the first mechanical arm 205 moves along a set track under the control of the built-in program module and drives the loading and unloading device 202 to load the snowboard into the clamp module 11 for rapid clamping and positioning.
S4, the first robot arm 205 switches the side edge grinding device 203 to the operating state, and performs profile side edge grinding of the snowboard mounted on the jig module 11 according to the program by using the cooperation of several axes of the first robot arm 205. According to the irregular shape of the snowboard, when the interaction force between the side edge grinding head 213 and the contact point of the snowboard is greater than 15N, the first mechanical arm 205 drives the side edge grinding device 203 to be away from the snowboard, and when the interaction force between the side edge grinding head 213 and the contact point of the snowboard is less than 15N, the first mechanical arm 205 drives the side edge grinding device 203 to be close to the snowboard. Thereby keeping constant 15N of force to carry out profile grinding on the snowboard side edge. After the grinding, the first robot 205 returns to the origin and remains in the standby state.
And S5, the second mechanical arm 207 is started under the control of a built-in program, and the rough grinding head 214 is driven to grind the bottom surface of the snowboard according to the program track. The rough grinding head 214 is in plane contact with the bottom wall of the snow board, constant force control is maintained, when the interaction force of the contact points is greater than 25N, the second mechanical arm 207 drives the bottom blade grinding device 204 to be away from the snow board, and when the interaction force of the contact points is less than 25N, the second mechanical arm 207 drives the bottom blade grinding device 204 to be close to the snow board, so that grinding operation is performed on the bottom surface of the snow board by keeping constant force 25N.
And S6, after the rough grinding is finished, the second mechanical arm 207 is switched to a finish grinding state according to a program, the finish grinding head 224 is in contact with the snowboard to be processed, and the finish grinding correction is carried out on the bottom surface of the snowboard after the rough grinding by adopting the same principle as the rough grinding, so that the precision of the grinding surface of the bottom edge of the snowboard can meet the requirement.
S7, after finishing the fine grinding, the second robot arm 207 returns to the original point, the first robot arm 205 drives the loading and unloading device 202 to grab the processed snowboard and transfer the snowboard to the storage area, and then the first robot arm 205 returns to the original point and keeps the standby state.
Variation example
The fine grinding stones 224 are coaxially and fixedly installed at the upper ends of the bottom edge grinding shafts 234, and the rough grinding stones 214 are coaxially and fixedly installed at the lower ends of the bottom edge grinding shafts 234.
Principle of operation
In operation, the first robot 205 is set to a standby state by default, and when the first robot 205 is set to the standby state, the loading and unloading device 202 faces downward; starting the first mechanical arm 205, and driving the feeding and discharging device 202 to grab the snow plate by the movement of the first mechanical arm 205; the first mechanical arm 205 moves and drives the loading and unloading device 202 to load the snowboard into the clamp module 11; the first mechanical arm 205 switches the side edge polishing device 203 to a working state, the first mechanical arm 205 drives the side edge polishing device 203 to perform profile modeling side edge grinding on the snowboard mounted on the clamp module 11, and after grinding is finished, the first mechanical arm 205 returns to the original point and keeps a standby state; then the second mechanical arm 207 is started to drive the rough grinding head 214 to grind the bottom surface of the snow plate; the second mechanical arm 207 is started to drive the fine grinding head 224 to perform fine grinding correction on the bottom surface of the snow board after coarse grinding; after the finish grinding is completed, the second mechanical arm 207 returns to the original point, the first mechanical arm 205 drives the loading and unloading device 202 to grab the processed snowboard and transfer the snowboard to the storage area, and then the first mechanical arm 205 returns to the original point and keeps the standby state.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A snowboard grinding station mechanism is characterized by comprising a clamp module (11), a loading and unloading device (202), a side edge grinding device (203) and a bottom edge grinding device (204);
unloader (202) are used for installing or taking off the snowboard on anchor clamps module (11), side sword grinding device (203) are used for polishing the operation to the side sword of installing the snowboard on anchor clamps module (11), end sword grinding device (204) are used for polishing the operation to the end sword of installing the snowboard on anchor clamps module (11).
2. The snowboard grinding station mechanism according to claim 1, wherein a first robot arm (205) is disposed on one side of the clamp module (11), the loading and unloading device (202) and the side edge grinding device (203) are both mounted on the first robot arm (205), and the first robot arm (205) is used for switching the working states of the loading and unloading device (202) and the side edge grinding device (203).
3. The snowboard grinding station mechanism of claim 1, wherein the loader and unloader (202) includes a bracket (212), a suction assembly (222), and a clamp assembly, both the suction assembly (222) and the clamp assembly being mounted to a same side of the bracket (212);
the adsorption assembly (222) comprises a fourth suction cup (2221) and a driving air cylinder (2222), the driving air cylinder (2222) is installed on one side of the support (212), a piston rod of the driving air cylinder (2222) moves towards the direction far away from or close to the support (212), and the fourth suction cup (2221) is installed on the piston rod of the driving air cylinder (2222);
the clamping assembly is used for clamping or loosening the snowboard.
4. A snow board grinding station mechanism as claimed in claim 3, wherein the clamping assembly comprises a second pneumatic clamp (232), the second pneumatic clamp (232) being provided with one or more of the brackets (212) on each side in the length direction.
5. The snowboard grinding station mechanism of claim 4, wherein the second pneumatic clamp (232) includes nylon material at the point of contact with the snowboard.
6. A snow board grinding station mechanism as claimed in claim 3, wherein said bracket (212) has an inductive switch (242) disposed thereon, said inductive switch (242) being located on the same side as the suction assembly (222).
7. A snow board grinding station mechanism as claimed in claim 3, characterized in that the side edge grinding device (203) comprises a side edge grinding head (213), the side edge grinding head (213) being rotatably arranged on the side of the bracket (212) facing away from the suction assembly (222).
8. A snow board grinding station mechanism according to claim 1, characterized in that a second robot arm (207) is provided at one side of the clamp module (11), the bottom edge grinding device (204) being mounted on the second robot arm (207);
the end edge grinding device (204) comprises rough grinding heads (214) and fine grinding heads (224), and the rough grinding heads (214) and the fine grinding heads (224) are both rotatably arranged at the end part of the second mechanical arm (207).
9. The snow board grinding station mechanism as claimed in claim 8, wherein the end of the first robot arm (205) is rotatably mounted with a bottom edge grinding shaft (234), the rough grinding stones (214) are coaxially disposed at one end of the bottom edge grinding shaft (234), and the fine grinding stones (224) are coaxially disposed at the other end of the bottom edge grinding shaft (234).
10. A method of grinding a snowboard grinding station mechanism, characterized in that a snowboard grinding station mechanism as claimed in any one of claims 1 to 9 is used, the method comprising the steps of:
s1, the first mechanical arm (205) is in a standby state by default, and when the first mechanical arm (205) is in the standby state, the loading and unloading device (202) faces downwards;
s2, starting the first mechanical arm (205), wherein the first mechanical arm (205) moves and drives the loading and unloading device (202) to grab the snowboard;
s3, the first mechanical arm (205) moves and drives the loading and unloading device (202) to load the snowboard into the clamp module (11);
s4, the first mechanical arm (205) switches the side edge grinding device (203) to a working state, the first mechanical arm (205) is used for driving the side edge grinding device (203) to carry out profile modeling side edge grinding on the snowboard mounted on the clamp module (11), and after grinding is finished, the first mechanical arm (205) returns to the original point and keeps a standby state;
s5, the second mechanical arm (207) is started to drive the rough grinding head (214) to grind the bottom surface of the snowboard;
s6, the second mechanical arm (207) is started to drive the fine grinding head (224) to perform fine grinding correction on the bottom surface of the snow board after coarse grinding;
and S7, after finishing fine grinding, returning the second mechanical arm (207) to the original point, driving the feeding and discharging device (202) by the first mechanical arm (205) to grab the processed snowboard and transfer the snowboard to a storage area, and then returning the first mechanical arm (205) to the original point and keeping the snowboard in a standby state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110536861.1A CN113118884B (en) | 2021-05-17 | 2021-05-17 | Snowboard polishing station mechanism and polishing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110536861.1A CN113118884B (en) | 2021-05-17 | 2021-05-17 | Snowboard polishing station mechanism and polishing method |
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| CN113118884B CN113118884B (en) | 2024-05-24 |
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| CN113118884B (en) | 2024-05-24 |
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