CN113118884B - Snowboard polishing station mechanism and polishing method - Google Patents
Snowboard polishing station mechanism and polishing method Download PDFInfo
- Publication number
- CN113118884B CN113118884B CN202110536861.1A CN202110536861A CN113118884B CN 113118884 B CN113118884 B CN 113118884B CN 202110536861 A CN202110536861 A CN 202110536861A CN 113118884 B CN113118884 B CN 113118884B
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- snowboard
- mechanical arm
- polishing
- grinding
- side edge
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- 238000005498 polishing Methods 0.000 title claims abstract description 94
- 230000007246 mechanism Effects 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000000227 grinding Methods 0.000 claims abstract description 78
- 238000007599 discharging Methods 0.000 claims description 25
- 238000001179 sorption measurement Methods 0.000 claims description 24
- 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
- 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
- 238000010586 diagram Methods 0.000 description 3
- 238000007688 edging Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 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
- 244000137852 Petrea volubilis Species 0.000 description 1
- 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
- 238000000605 extraction Methods 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
- 238000000465 moulding Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (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 provides a snowboard polishing station mechanism and a polishing method, wherein the snowboard polishing station mechanism comprises a clamp module, a loading and unloading device, a side edge polishing device and a bottom edge polishing device; the upper and lower feeding devices are used for installing or removing the snowboard on the clamp module, the side edge polishing device is used for polishing the side edge of the snowboard installed on the clamp module, and the bottom edge polishing device is used for polishing the bottom edge of the snowboard installed on the clamp module. Unloader and side sword grinding device, second robotic arm drive end sword grinding device on the drive of first robotic arm to realize automatic unloading, polish the side sword of snowboard, polish the end sword of snowboard in the snowboard station of polishing, help improving efficiency of polishing and polishing precision, 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 polishing station mechanism and a polishing method.
Background
Snowboards are skiing sports equipment, and are generally divided into mountain boards, off-road winter boards, jump boards, free boards, veneers and the like. Generally, snowboards are composed of a multi-layer structure, including an elastic plate, a plate core, a glass fiber composite material, a polymer material bottom plate, a metal edge and the like.
In the production process of a snowboard, it is necessary to polish the snowboard after cutting and molding so that the surface of the snowboard is sufficiently flat. The existing processing mode is generally to polish in a manual mode, the production efficiency is low in the manual mode, and the snowboard is easy to deviate in the polishing process, so that the polishing precision is low.
The present chinese patent with publication number CN212553047U discloses a skiing adhesive tape edging device, include: the positioning assembly, compress tightly subassembly and edging subassembly, edging subassembly includes sideslip module, sideslip slide, location horizontal pole, polishes the bistrique and polishes the driving piece, and 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 first rotation and sets up in the one end of location horizontal pole, polishes the driving piece and is connected with the polishing head.
The inventor believes that the polishing device in the prior art has poor working efficiency and low polishing precision and has the problem to be improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a snowboard polishing station mechanism and a polishing method.
The invention provides a snowboard polishing station mechanism, which comprises a clamp module, a loading and unloading device, a side edge polishing device and a bottom edge polishing device; the upper and lower feeding devices are used for installing or removing the snowboard on the clamp module, the side edge polishing device is used for polishing the side edge of the snowboard installed on the clamp module, and the bottom edge polishing device is used for polishing the bottom edge of the snowboard installed on the clamp module.
Preferably, one side of the fixture 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 bracket, an adsorption assembly and a clamping assembly, wherein the adsorption assembly and the clamping assembly are both arranged on the same side of the bracket; the adsorption assembly comprises a fourth sucker and a driving air cylinder, the driving air cylinder is arranged on one side of the bracket, a piston rod of the driving air cylinder moves in a direction far away from or close to the bracket, and the fourth sucker is arranged 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 length direction of the bracket.
Preferably, the material of the contact part of the second pneumatic clamp and the snowboard comprises nylon material.
Preferably, the support is provided with an inductive switch, and the inductive switch and the adsorption component are positioned on the same side.
Preferably, the side blade polishing device comprises a side blade polishing head which is rotatably arranged on one side of the support, which is away from the adsorption component.
Preferably, a second mechanical arm is arranged on one side of the clamp module, and the bottom edge polishing device is arranged on the second mechanical arm; the bottom edge polishing 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 part of the first mechanical arm is rotatably provided with a bottom edge polishing shaft, the coarse grinding head is coaxially arranged at one end of the bottom edge polishing shaft, and the fine grinding head is coaxially arranged at the other end of the bottom edge polishing shaft.
According to the polishing method of the snowboard polishing station mechanism provided by the invention, the snowboard polishing station mechanism is adopted, and the method comprises the following steps: s1, defaulting to a standby state by the first mechanical arm, wherein when the first mechanical arm is in the standby state, the feeding and discharging device faces downwards; s2, starting the first mechanical arm, and enabling the first mechanical arm to move and drive the feeding and discharging device to grab the snowboard; s3, the first mechanical arm moves and drives the feeding and discharging device to load the snowboard into the clamp module; s4, switching the side edge polishing device to a working state by the first mechanical arm, driving the side edge polishing device to conduct profiling side edge polishing on the snowboard mounted on the clamp module by using the first mechanical arm, and returning the first mechanical arm to an original point and keeping a standby state after finishing polishing; s5, the second mechanical arm is started to drive the rough grinding head to grind the bottom surface of the snowboard; s6, starting the second mechanical arm to drive the fine grinding head to conduct fine grinding correction on the bottom surface of the roughly ground snowboard; and S7, after finishing accurate grinding, returning the second mechanical arm to the original point, driving the feeding and discharging device to grab the processed snowboard and transfer the processed snowboard to the storage area by the first mechanical arm, and returning the first mechanical arm to the original point and keeping a standby state.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the invention, the first mechanical arm drives the feeding and discharging device, the side edge polishing device and the second mechanical arm drives the bottom edge polishing device, so that automatic feeding and discharging of the snowboard polishing station, polishing of the side edge of the snowboard and polishing of the bottom edge of the snowboard are realized, the polishing efficiency and polishing precision are improved, and the automation degree 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 improved;
3. According to the invention, the stability of grabbing the snowboard by the feeding and discharging device is improved by the combined action of the driving cylinder, the sucker and the second pneumatic clamp.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of the overall structure of a snowboard grinding station mechanism embodying the present invention;
FIG. 2 is a schematic diagram of the overall structure of a clamp module according to the present invention;
FIG. 3 is a schematic view of the overall structure of the front face of a clamp base embodying the present invention;
FIG. 4 is a schematic view of the overall structure of the back of a clamp base embodying the present invention;
Fig. 5 is a schematic diagram of the overall structure of the feeding and discharging device according to the present invention.
The figure shows:
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 present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
As shown in fig. 1, the snowboard polishing station mechanism provided by the invention comprises a clamp module 11, a loading and unloading device 202, a side edge polishing device 203 and a bottom edge polishing device 204.
As shown in fig. 2, the jig module 11 includes a dust collection device 101 and a jig base 102, the dust collection device 101 is erected on the ground, and the jig base 102 is horizontally installed on the upper side of the dust collection device 101. The side of the clamp base 102 facing away from the dust extraction 101 is fixedly provided with a positioning suction assembly, a circumferential clamping assembly 104 and a constant force support assembly 105.
As shown in fig. 3, the clamp base 102 is a rectangular thin plate structure with a certain structural strength, and provides a mounting base for the positioning and adsorbing assembly, the circumferential clamping assembly 104, and the constant force support assembly 105. The clamp base 102 is vertically and fixedly provided with support frames 1021 through bolts, three support frames 1021 are fixedly arranged at intervals on one side of the length direction of the clamp base 102, the heights of the three support frames 1021 are 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 vertically and fixedly arranged on the other side of the length direction of the clamp base 102 through bolts, and four support frames 1021 are all positioned in the middle part of the width direction of the clamp base 102.
The positioning adsorption assembly comprises a first sucking disc 103, one first sucking disc 103 is fixedly arranged on the upper sides of four supporting frames 1021 respectively, and disc openings of the four sucking discs are all arranged upwards. The heights of the first suckers 103 on the three supporting 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 outline of the tail of the snowboard. The front end and the rear end of the snowboard are adsorbed and fixed by the four first suckers 103 in a matching way, so that the snowboard is mounted on the clamp base 102, the positioning effect on 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 pneumatic clamps 1041 and a second suction cup 1042, the pneumatic clamps 1041 are arranged in the middle of the clamp base 102 at intervals along the length direction of the clamp base 102, the three pneumatic clamps 1041 are all located in the middle of the width direction of the clamp base 102, the heights of the three pneumatic clamps 1041 are slightly higher than the highest first suction cup 103, and the movement directions of the three pneumatic clamps 1041 are all parallel to the width direction of the clamp base 102. After the positioning adsorption assembly adsorbs and fixes the snowboard, the three pneumatic clamps 1041 work and clamp the left and right sides of the snowboard, thereby positioning the coordinate system center line of the snowboard.
The middle part of one side of the second sucking disc 1042 along the length direction of the clamp base 102 of the pneumatic clamp 1041 is fixed with one through the matching of bolts and nuts, the disc opening of the second sucking disc 1042 is upward, and the height of the disc opening of the second sucking disc 1042 is slightly lower than the height of the pneumatic clamp 1041. By means of the second sucking disc 1042 fixedly arranged on the pneumatic clamp 1041, the snowboard is sucked by the second sucking disc 1042 while being clamped by the pneumatic clamp 1041, and positioning reinforcement of the snowboard is achieved.
As shown in fig. 3, the constant force support assembly 105 includes a support cylinder 1051, a third suction cup 1052 and a support plate 1053, the support cylinder 1051 is mounted between any adjacent two pneumatic clamps 1041 at intervals by bolts, and the support cylinder 1051 is mounted at one side end of the clamp base 102 where one support frame 1021 is mounted by bolts. The support plate 1053 is vertically and fixedly installed on the support cylinder 1051 located at the end part of the clamp base 102 in the length direction and on the support cylinder 1051 adjacent to the support cylinder 1051 through bolts, the tops of the two support plates 1053 are in contact fit with the snowboard, an arc-shaped part 1054 is formed on the upper side of the support plate 1053 located at the end part of the clamp base 102 in the length direction, and the arc-shaped part 1054 is in contact fit with the front end of the snowboard.
One third suction cup 1052 is fixedly installed on the other three supporting cylinders 1051, and the openings of the three third suction cups 1052 are all upward. After the peripheral clamping assembly 104 clamps the snowboard, the support cylinder 1051 is activated, the three third suction cups 1052 and the two support plates 1053 are gradually moved upward and in contact with the snowboard by the corresponding support cylinders 1051, and when the upward forces of the two support plates 1053 on the snowboard reach the nominal forces, the support cylinders 1051 are stopped.
Further, in order to protect the snowboard, the occurrence of damage to the snowboard due to contact with the positioning and adsorbing 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 respectively covered with a reverse arc angle made of nylon. In order to further improve the stability of the positioning adsorption assembly, the circumferential clamping assembly 104 and the constant force support 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-directional guiding adsorption structure.
As shown in fig. 2, 3 and 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 on the clamp base 102 and a pin hole on the dust collection sheet metal frame 1011 from top to bottom, the positioning pin 106 is respectively in transition fit with the clamp base 102 and the dust collection sheet metal frame 1011, and the positioning pin 106 is respectively installed at one of four corners of the clamp base 102, and positioning installation of the clamp base 102 and the dust collection sheet metal frame 1011 is realized by means of four positioning pins 106. The clamp base 102 is fixedly connected with the dust collection sheet metal frame 1011 through a fixing bolt, so that the installation compactness 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 mechanical arm 205 is fixedly installed on one side of the dust collection device 101 in the width direction, and a first fixing seat 206 is connected between the first mechanical arm 205 and the ground, so that the first mechanical arm 205 is stably and reliably installed on one side of the dust collection device 101. The first robot 205 is a six-degree-of-freedom robot, and the first robot 205 can implement automatic operations in six degrees of freedom by means of built-in program modules.
Both the loading and unloading device 202 and the side edge polishing device 203 are mounted on the first mechanical arm 205, and the loading and unloading device 202 comprises a bracket 212, an adsorption component 222 and a clamping component. The bracket 212 is a strip-shaped metal structure and has a certain structural strength, the bracket 212 is a mounting base of the adsorption component 222 and the clamping component, 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 adsorption assembly 222 comprises a fourth suction cup 2221 and a driving cylinder 2222, wherein a cylinder body of the driving cylinder 2222 is fixedly arranged on the lower side wall of the bracket 212, a piston rod of the driving cylinder 2222 is vertically arranged, and the piston rod of the driving cylinder 2222 moves in a direction far away from or close to the bracket 212. The fourth suction cup 2221 is fixedly mounted at 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 feeding and discharging 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 snow board to be grabbed. To improve the stability of the fourth suction cup 2221 sucking the snowboard. The adsorption components 222 are fixedly arranged in the middle of the bracket 212 at equal intervals, the adsorption components 222 arranged at intervals of the three groups are used for adsorbing the snowboards to be grabbed in a common operation mode, and the stability and reliability of the adsorption components 222 for adsorbing the snowboards are improved due to the three spaced adsorption points.
The clamping components are second pneumatic clamps 232, one of the second pneumatic clamps 232 is fixedly arranged on one side of the three groups of adsorption components 222 on the lower side wall of the bracket 212, two of the second pneumatic clamps 232 are fixedly arranged on the other side of the three groups of adsorption components 222 on the lower side wall of the bracket 212 at intervals, and clamping openings of the three second pneumatic clamps 232 are away 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 disc 2221, and the three second pneumatic clamps 232 work simultaneously to clamp the snowboard, so that the stability of grabbing the snowboard by the feeding and discharging device 202 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 covered with the nylon protection blocks.
Further, in order to improve accuracy of grabbing the snowboard by the feeding and discharging device 202, the lower side wall of the bracket 212 is fixedly provided with the inductive switch 242, the inductive switch 242 is used for detecting inductive signals of the snowboard, the inductive switch 242 is arranged on the bracket 212 at intervals along the length direction of the bracket 212, and the five inductive switches 242 are distributed at two ends and the middle of the bracket 212, so that signals of the snowboard with different lengths can be detected.
As shown in fig. 1 and 5, the side blade grinding apparatus 203 includes a side blade grinding head 213 and a side blade grinding shaft 223, and the side blade grinding shaft 223 is vertically fixed to the middle of the upper side of the bracket 212. The side edge polishing head 213 adopts a hard CBN grinding wheel, the side edge polishing head 213 is coaxially and fixedly arranged on the side edge polishing shaft 223, and the side edge polishing head 213 is driven by a motor on the first mechanical arm 205, so that the side edge polishing head 213 is driven to rotate for polishing.
The tail end rotating shaft on the first mechanical arm 205 is controlled to rotate through a built-in software module, so that the upper and lower positions of the feeding and discharging device 202 and the side edge polishing device 203 are exchanged, and further, the switching of two working states of feeding and discharging operation and side edge polishing operation is realized.
As shown in fig. 1, a second mechanical arm 207 is fixedly installed on the other side of the dust collection device 101 in the width direction, and a second fixing seat 208 is connected between the second mechanical arm 207 and the ground, so that the second mechanical arm 207 is stably and reliably installed on the side edge of the dust collection device 101. The second robot 207 is a six-degree-of-freedom robot, and the second robot 207 can implement automatic operations in six degrees of freedom by means of built-in program modules.
The bottom edge polishing device 204 is fixedly installed at the end of the second mechanical arm 207, and the bottom edge polishing device 204 comprises a rough grinding head 214, a fine grinding head 224 and a bottom edge polishing shaft 234, wherein the bottom edge polishing shaft 234 is vertically rotatably installed at the end of the second mechanical arm 207. The rough grinding head 214 adopts sand paper grinding materials, the rough grinding head 214 is coaxially and fixedly arranged at the top end of the bottom edge grinding shaft 234, the fine grinding head 224 adopts a hard CBN grinding wheel, the fine grinding head 224 is coaxially and fixedly arranged 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 rotation of the bottom edge grinding shaft 234 drives the rough grinding head 214 and the fine grinding head 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 snowboard bottom plate arranged on the clamp module 11 are realized.
The polishing method of the snowboard polishing station mechanism provided by the invention comprises the following steps of:
s1, the first mechanical arm 205 defaults to a standby state, and when the first mechanical arm 205 is in the standby state, the disc openings of the three fourth suction discs 2221 on the feeding and discharging device 202 are all arranged downwards.
S2, starting the first mechanical arm 205, wherein the first mechanical arm 205 moves along a set track under the control of a 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 simultaneously start and drive the three fourth suckers 2221 to move downwards to adsorb the snow board, the three groups of driving cylinders 2222 then drive the three fourth suckers 2221 to drive the snow board to move upwards into the clamping ports of the three second pneumatic clamps 232, and the three second pneumatic clamps 232 simultaneously work to clamp the snow board.
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 mechanical arm 205 switches the side edge grinding device 203 to a working state, and the snowboard mounted on the clamp module 11 is subjected to profiling side edge grinding according to a program by utilizing the cooperation of the shafts of the first mechanical arm 205. According to the irregular shape of the snowboard, when the interaction force between the side edge polishing head 213 and the contact point of the snowboard is greater than 15N, the first mechanical arm 205 drives the side edge polishing device 203 to be away from the snowboard, and when the interaction force between the side edge polishing head 213 and the contact point of the snowboard is less than 15N, the first mechanical arm 205 drives the side edge polishing device 203 to be close to the snowboard. Thereby keeping constant 15N force to perform profiling grinding on the side edge of the snowboard. At the end of grinding, the first robot 205 returns to the origin and remains in a standby state.
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 snowboard, constant force control is maintained, when the interaction force of the contact point is greater than 25N, the second mechanical arm 207 drives the bottom edge polishing device 204 to be away from the snowboard, and when the interaction force of the contact point is less than 25N, the second mechanical arm 207 drives the bottom edge polishing device 204 to be close to the snowboard, so that the constant force 25N is maintained to grind the bottom surface of the snowboard.
And S6, after rough grinding is finished, the second mechanical arm 207 is switched to a fine grinding state according to a program, the fine grinding head 224 is in contact with the snowboard to be processed, and the bottom surface of the roughly ground snowboard is subjected to fine grinding correction by adopting the same principle as that of rough grinding, so that the grinding surface precision of the bottom edge of the snowboard is ensured to meet the requirement.
And S7, after finishing fine grinding, returning the second mechanical arm 207 to the original point, driving the loading and unloading device 202 by the first mechanical arm 205 to grab the processed snowboard and transfer the processed snowboard to a storage area, and returning the first mechanical arm 205 to the original point and keeping a standby state.
Variation examples
The fine grinding head 224 is coaxially and fixedly installed at the upper end of the bottom blade grinding shaft 234, and the coarse grinding head 214 is coaxially and fixedly installed at the lower end of the bottom blade grinding shaft 234.
Principle of operation
In operation, the first mechanical arm 205 defaults to a standby state, and when the first mechanical arm 205 is in the standby state, the loading and unloading device 202 faces downwards; starting a first mechanical arm 205, wherein the first mechanical arm 205 moves and drives the feeding and discharging device 202 to grasp a snowboard; 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 grinding device 203 to a working state, the first mechanical arm 205 drives the side edge grinding device 203 to conduct profiling side edge grinding on the snowboard installed on the clamp module 11, and the first mechanical arm 205 returns to the original point and keeps a standby state after grinding; then the second mechanical arm 207 starts to drive the rough grinding head 214 to grind the bottom surface of the snowboard; the second mechanical arm 207 starts to drive the fine grinding head 224 to conduct fine grinding correction on the bottom surface of the roughly ground snowboard; after finishing the fine grinding, 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 a standby state.
Those skilled in the art will appreciate that the invention provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. 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 for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.
In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (3)
1. The snowboard polishing station mechanism is characterized by comprising a clamp module (11), an upper and lower feeding device (202), a side edge polishing device (203) and a bottom edge polishing device (204);
The upper and lower feeding devices (202) are used for mounting or removing the snowboards on the clamp module (11), the side edge polishing devices (203) are used for polishing the side edges of the snowboards mounted on the clamp module (11), and the bottom edge polishing devices (204) are used for polishing the bottom edges of the snowboards mounted on the clamp module (11);
A first mechanical arm (205) is arranged on one side of the clamp module (11), the feeding and discharging device (202) and the side edge polishing device (203) are both arranged on the first mechanical arm (205), and the first mechanical arm (205) is used for switching the working states of the feeding and discharging device (202) and the side edge polishing device (203);
The feeding and discharging device (202) comprises a bracket (212), an adsorption component (222) and a clamping component, wherein the adsorption component (222) and the clamping component are both arranged on the same side of the bracket (212);
The adsorption assembly (222) comprises a sucking disc and a driving air cylinder (2222), the driving air cylinder (2222) is arranged on one side of the bracket (212), a piston rod of the driving air cylinder (2222) moves in a direction away from or close to the bracket (212), and the sucking disc is arranged on the piston rod of the driving air cylinder (2222);
The clamping assembly is used for clamping or loosening the snowboard;
The clamping assembly comprises pneumatic clamps, and one or more pneumatic clamps are respectively arranged on two sides of the bracket (212) in the length direction;
the contact part of the pneumatic clamp (232) and the snowboard is made of nylon;
The bracket (212) is provided with an inductive switch (242), and the inductive switch (242) and the adsorption component (222) are positioned on the same side;
The side edge polishing device (203) comprises a side edge polishing head (213), and the side edge polishing head (213) is rotatably arranged on one side of the bracket (212) away from the adsorption component (222);
A second mechanical arm (207) is arranged on one side of the clamp module (11), and the bottom edge polishing device (204) is arranged on the second mechanical arm (207);
The bottom edge grinding device (204) comprises a rough grinding head (214) and a fine grinding head (224), and the rough grinding head (214) and the fine grinding head (224) are both rotatably arranged at the end part of the second mechanical arm (207).
2. A snowboard grinding station mechanism according to claim 1, wherein the end of the first robotic arm (205) is rotatably mounted with a bottom blade grinding shaft (234), the coarse grinding head (214) is coaxially disposed at one end of the bottom blade grinding shaft (234), and the fine grinding head (224) is coaxially disposed at the other end of the bottom blade grinding shaft (234).
3. A method of sharpening based on the snowboard sharpening station mechanism of claim 2, comprising the steps of:
S1, defaulting the first mechanical arm (205) to a standby state, wherein when the first mechanical arm (205) is in the standby state, the feeding and discharging device (202) faces downwards;
s2, starting the first mechanical arm (205), wherein the first mechanical arm (205) moves and drives the feeding and discharging device (202) to grasp a snowboard;
s3, the first mechanical arm (205) moves and drives the feeding and discharging 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) drives the side edge grinding device (203) to conduct profiling side edge grinding on the snowboard mounted on the clamp module (11), and the first mechanical arm (205) returns to the original point and keeps a standby state after grinding is finished;
s5, the second mechanical arm (207) starts 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 conduct fine grinding correction on the bottom surface of the roughly ground snowboard;
And S7, after finishing accurate grinding, returning the second mechanical arm (207) to the original point, driving the loading and unloading device (202) to grasp the processed snowboard and transfer the processed snowboard to a storage area by the first mechanical arm (205), and returning the first mechanical arm (205) to the original point and keeping 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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| CN113118884A CN113118884A (en) | 2021-07-16 |
| CN113118884B true CN113118884B (en) | 2024-05-24 |
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| CN114367789B (en) * | 2022-01-12 | 2022-12-30 | 中国第一汽车股份有限公司 | Processing method of ice surface track racing snow car ice skate blade |
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