CN113618603A - 3D printing part polishing device and method based on acoustic lens - Google Patents
3D printing part polishing device and method based on acoustic lens Download PDFInfo
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- CN113618603A CN113618603A CN202110972837.2A CN202110972837A CN113618603A CN 113618603 A CN113618603 A CN 113618603A CN 202110972837 A CN202110972837 A CN 202110972837A CN 113618603 A CN113618603 A CN 113618603A
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- industrial robot
- acoustic lens
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- ultrasonic transducer
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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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
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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
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
- B24B1/04—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes subjecting the grinding or polishing tools, the abrading or polishing medium or work to vibration, e.g. grinding with ultrasonic frequency
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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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a 3D printing part polishing device and method based on an acoustic lens. The device includes: base, ultrasonic transducer, industrial robot, supersound power, acoustic lens and open container. The ultrasonic transducer is arranged at the tail end of the industrial robot, the motion trail is adjusted according to the path planned by the industrial robot, the ultrasonic transducer converts the high-frequency electric excitation of the ultrasonic power supply into high-frequency vibration, the acoustic lens converges the energy generated by the ultrasonic vibration on the polishing point of the workpiece to be processed, and then the industrial robot drives the ultrasonic transducer to polish the surface of the workpiece to be processed according to the path of the system preplanned number. The intelligent robot ultrasonic focusing fluid polishing method for the 3D printing part can polish complex components, assemblies or tiny inner hole structural parts and the like.
Description
Technical Field
The invention relates to the technical field of fine part polishing, in particular to a 3D printing part polishing device and method based on an acoustic lens.
Background
3D printing is an additive manufacturing technology, and the principle is that three-dimensional modeling is firstly carried out through Computer Aided Design (CAD) or computer animation modeling software, and then the built three-dimensional model is divided into sections layer by layer, so that a printer is guided to print layer by layer. The 3D printing can print very complicated components or assemblies, but the surfaces of printed parts have a lot of floating powder, even though the parts are subjected to sand blasting, the use requirements of people cannot be met, high-quality surface polishing treatment needs to be carried out on the 3D printed parts, but the 3D printed parts are generally very complicated components or assemblies or fine inner hole structural parts, and polishing treatment is difficult to carry out through the traditional polishing technology.
Disclosure of Invention
The invention aims to provide a 3D printing part polishing device and method based on an acoustic lens, which are used for overcoming the defects of low polishing efficiency, poor polishing quality and high cost of the traditional mechanical polishing and solving the problem that the traditional polishing technology cannot polish 3D printing parts with complicated and fine inner hole structures.
In order to achieve the purpose, the invention provides the following scheme:
an acoustic lens-based 3D printed part polishing apparatus, comprising: the ultrasonic imaging device comprises a base, an ultrasonic transducer, an industrial robot, an ultrasonic power supply, an acoustic lens and an open container;
the open container is arranged on the base, polishing liquid is contained in the open container, and a workpiece to be processed is immersed in the polishing liquid in the open container;
the industrial robot is arranged on the base, the tail end of the industrial robot is connected with the ultrasonic transducer, and the industrial robot is used for controlling the movement of the ultrasonic transducer;
the ultrasonic power supply is connected with the ultrasonic transducer and is used for generating high-frequency electric excitation,
the ultrasonic transducer is used for converting high-frequency electric excitation into high-frequency vibration;
the acoustic lens is clamped at the amplitude output end of the ultrasonic transducer and used for converging high-frequency vibration on the surface of a workpiece to be processed.
Optionally, the distance between the acoustic lens and the workpiece to be processed is 0.09m-15 mm.
Optionally, the frequency of the ultrasonic wave emitted by the ultrasonic transducer is 15KHz to 20 MHz.
Optionally, the method further comprises: and the ultrasonic transducer is fixed on a flange at the tail end of the industrial robot through the connecting piece.
Optionally, the method further comprises: and the robot controller is connected with the industrial robot and is used for controlling the moving track of the industrial robot.
Optionally, the method further comprises: and the system control cabinet is connected with the robot controller, is used for carrying out analysis operation on the kinematics and dynamics of the industrial robot, is communicated with the robot controller, and realizes the control on the moving track of the ultrasonic transducer.
Optionally, the acoustic lens is a plano-concave acoustic lens, a plano-convex acoustic lens, a biconvex acoustic lens, or a biconcave acoustic lens; the material of the acoustic lens is organic glass, epoxy resin or aluminum alloy.
The invention also provides a 3D printing part polishing method based on the acoustic lens, which is applied to the 3D printing part polishing device based on the acoustic lens, and the method comprises the following steps:
acquiring a three-dimensional model diagram of a 3D printing part to be processed;
determining a polishing path according to the three-dimensional model map;
converting the polishing path into three-dimensional space coordinates;
performing analytical operation on the kinematics and dynamics of the industrial robot to obtain each joint corner of the industrial robot;
obtaining the terminal pose coordinates of the industrial robot according to the joint corners;
and adjusting the end pose of the industrial robot according to the three-dimensional space coordinates and the end pose coordinates of the industrial robot.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention has high automation degree and strong flexibility, and is particularly suitable for surface polishing of 3D printing parts with complex structures. The ultrasonic transducer is arranged at the tail end of an industrial robot, the motion trail is adjusted according to the path planned by the industrial robot, the ultrasonic transducer converts high-frequency electric excitation of an ultrasonic power supply into high-frequency vibration, an acoustic lens converges energy generated by the ultrasonic vibration on a polishing point of a workpiece to be processed, and then the industrial robot drives the ultrasonic transducer to polish the surface of the workpiece to be processed according to the path of a system preplanned number. The intelligent robot ultrasonic focusing fluid polishing method for the 3D printing part can polish complex components, assemblies or tiny inner hole structural parts and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a 3D printing part polishing device based on an acoustic lens according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a plano-concave acoustic lens according to an embodiment of the present invention; wherein, (a) is a front view, (b) is a left view, (c) is a top view, and (d) is an acoustic lens schematic diagram;
fig. 3 is a flowchart of the operation of the 3D printing part polishing device based on the acoustic lens according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide a 3D printing part polishing device and method based on an acoustic lens, which are used for overcoming the defects of low polishing efficiency, poor polishing quality and high cost of the traditional mechanical polishing and solving the problem that the traditional polishing technology cannot polish 3D printing parts with complicated and fine inner hole structures. .
The intelligent robot is a robot system which comprehensively simulates people in the aspects of perception, thinking and effect. The robot can not only independently complete work, but also complete tasks in cooperation with people or under the guidance control of people, and has very wide application in different fields.
The ultrasonic focusing fluid polishing technology does not use a polishing grinding disc, but directly soaks a workpiece in polishing liquid, and uses fluid as a polishing medium. The ultrasonic focusing fluid polishing is to radiate high-frequency ultrasonic waves to liquid through an ultrasonic transducer, and to drive polishing liquid to scour the surfaces of parts by utilizing a pressure field and a flow field generated by ultrasonic vibration.
The intelligent robot ultrasonic focusing fluid polishing method for the 3D printing part polishing technology has the advantages that the surface polishing of complex parts can be automatically realized, the polishing quality and efficiency are improved, the labor cost is saved, and the controllability is high.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the present invention provides an acoustic lens-based 3D printed part polishing apparatus, comprising: base 1, ultrasonic transducer 6, industrial robot 9, ultrasonic power supply 12, acoustic lens 5 and open container 2.
An open container 2 and an industrial robot 9 are arranged on a base 1, a workpiece 4 to be processed is immersed in polishing liquid 3 of the open container 2, and the polishing liquid 3 is higher than the bottom surface of the ultrasonic transducer 6.
An ultrasonic power supply 12 is connected to the ultrasonic transducer 6 for generating high frequency electrical excitation to cause the transducer to generate high frequency vibrations. The frequency range of the ultrasonic wave emitted by the ultrasonic transducer 6 is between 15KHz and 20MHz, and the required polishing frequency can be adjusted according to the polishing condition of the ultrasonic focusing fluid.
The acoustic lens 5 is installed at the amplitude output end of the ultrasonic transducer 6, and the other end of the ultrasonic transducer 6 is fixed on a flange at the tail end of the industrial robot 9 through a connecting piece 8. The ultrasonic transducer 6 carries out ultrasonic focusing fluid polishing on the workpiece 4 to be processed which is immersed in the polishing liquid 3 according to a planned path along with the industrial robot 9.
The shape of the acoustic lens 5 is plano-concave, plano-convex, biconvex, biconcave, or the like. The structure of the acoustic lens 5 is shown in fig. 2(a) - (c) and the principle is shown in fig. 2(d), under the action of ultrasound, the acoustic lens 5 focuses the energy in the sound field to a point, F is the distance from the acoustic lens 5 to the polished surface of the processed workpiece 4, F is the polished point, and changes along with the movement of the industrial robot 9. The acoustic lens 5 shown in fig. 2 is a plano-concave acoustic lens, and the material of the acoustic lens 5 may be one of organic glass, epoxy resin and aluminum alloy according to the propagation speed of the acoustic wave in the polishing solution. The material of the acoustic lens 5 is selected according to the comparison of the propagation velocity of the acoustic wave in the polishing solution 3 and that of other lens materials. The distance between the acoustic lens and the workpiece to be processed is 0.09-15 mm.
The above-mentioned device still includes: and the robot controller 10 is used for realizing the motion trail control of the industrial robot 9, so that the ultrasonic transducer 6 reinforces the surface of the workpiece 4 to be processed according to a planned path. The robot controller 10 is also used to control the working distance between the ultrasonic transducer 3 and the workpiece 4 to be processed.
The above-mentioned device still includes: and the system control cabinet 11 is used for performing analysis and calculation of kinematics and dynamics of the industrial robot 9, communicating with the robot controller 9 and controlling the moving track of the ultrasonic transducer 6.
Based on the device, the invention also provides a 3D printing part polishing method based on the acoustic lens, which comprises the following steps:
step 101: and acquiring a three-dimensional model diagram of the 3D printing part to be processed.
Step 102: and determining a polishing path according to the three-dimensional model map.
Step 103: and converting the polishing path into three-dimensional space coordinates.
Step 104: and carrying out analytic operation on the kinematics and dynamics of the industrial robot to obtain each joint corner of the industrial robot.
Step 105: and obtaining the terminal pose coordinates of the industrial robot according to the joint corners.
Step 106: and adjusting the end pose of the industrial robot according to the three-dimensional space coordinates and the end pose coordinates of the industrial robot.
The specific workflow is shown in fig. 3:
the SolidWorks software in the system control cabinet 11 generates a three-dimensional model drawing of the workpiece 4 to be processed according to the CAD drawing of the workpiece 4 to be processed, and the workpiece 4 to be processed is a 3D printed part, so that small flaws such as scratches, burrs and the like exist on the surface, and the use requirement cannot be met. Robottstudio software in the system control cabinet 11 establishes an interface of SolidWorks software, can simulate and generate a motion track of the periphery of a three-dimensional model of the workpiece 4 to be processed by the industrial robot 9 for performing an ultrasonic focusing fluid polishing task on the workpiece 4 to be processed by introducing the Robottstudio software of a three-dimensional model diagram of the workpiece 4 to be processed, and then converts the motion track into space three-dimensional coordinate data to be sent to the robot controller 10. The motion trail of the industrial robot 9 accords with the motion trail of the integral focused ultrasonic fluid polishing, in order to improve the polishing efficiency, the system control cabinet 11 is required to be used for performing kinematic analysis operation on the industrial robot 9, each joint corner of the industrial robot 9 which accords with the surface polishing path of the workpiece 4 to be processed is calculated, data of three-dimensional space coordinates obtained through calculation is sent to the robot controller 10, and the robot controller 10 performs three-dimensional space coordinate data integration processing; when the dynamics of the robot is analyzed and calculated, modeling calculation is respectively carried out on the kinematics of the mechanical arm of the industrial robot 9 by adopting a D-H parameter representation method to obtain each joint corner of the industrial robot 9.
TABLE 1 Flexible arm kinematics D-H parameters
qi(rad)、ai(mm)、di(mm)、αi(rad) indicates joint angle, link length, link offset and link torsion angle, respectively. According to the D-H parameters, the Cartesian space coordinate system is subjected to rotation and translation transformation, and then the coordinate systems of two adjacent joint connecting rods can be expressed as follows:
and the general homogeneous transformation matrix can be obtained by expanding the matrix:
processing the data to obtain a homogeneous transformation matrix of each joint:
the homogeneous transformation matrix of each joint can be obtained according to the derivation process, different joint rotation angle formulas of the industrial robot 9 can be obtained by multiplying the 6 joints, and the calculated data is three-dimensional coordinate data and is transmitted to the robot controller 10; after processing, the robot controller 10 establishes communication with the industrial robot 9, and the ultrasonic transducer 6 moves according to a path planned by the industrial robot 9 and executes an ultrasonic focusing fluid polishing task; the ultrasonic transducer 6 carries out ultrasonic focusing fluid polishing on the workpiece 4 to be processed through the converging action of the acoustic lens 5.
The industrial robot 9 drives the ultrasonic transducer 6 to polish the whole workpiece 4 to be processed according to the polishing path. The heat generated by the ultrasonic transducer 6 is relatively large during polishing, and the ultrasonic transducer is properly cooled during polishing by its own water cooling system so as not to affect the performance of the ultrasonic transducer.
When the intelligent robot carries out ultrasonic focusing fluid polishing processing operation, the ultrasonic transducer 6 is driven by the industrial robot 9 to move from the initial position of the system to the starting point of the planned polishing path, and the workpiece 4 to be processed is subjected to ultrasonic focusing fluid polishing along the polishing path. After finishing the single-pass polishing, moving to the starting point of the polishing starting path again, at this time, measuring the surface roughness of the 3D printed part 4, and determining whether to perform the next-pass ultrasonic focusing fluid polishing according to different reference values of the surface roughness and the use requirements of different parts. After finishing the polishing passes, the ultrasonic focusing fluid polishing process is finished, and the industrial robot 9 returns to the system initial position, so that the ultrasonic focusing fluid polishing is finished.
The ultrasonic surface polishing device can automatically generate an ultrasonic surface polishing path meeting the process requirements, and plan a proper posture and speed to realize stable and continuous ultrasonic focusing fluid polishing; the polishing efficiency and quality of the ultrasonic focusing fluid can be greatly improved, the processing cost is saved, and the production benefit is improved; the problem that the traditional polishing technology is difficult to perform high-quality polishing on complex 3D parts can be solved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. The utility model provides a 3D prints part burnishing device based on acoustic lens which characterized in that includes: the ultrasonic imaging device comprises a base, an ultrasonic transducer, an industrial robot, an ultrasonic power supply, an acoustic lens and an open container;
the open container is arranged on the base, polishing liquid is contained in the open container, and a workpiece to be processed is immersed in the polishing liquid in the open container;
the industrial robot is arranged on the base, the tail end of the industrial robot is connected with the ultrasonic transducer, and the industrial robot is used for controlling the movement of the ultrasonic transducer;
the ultrasonic power supply is connected with the ultrasonic transducer and is used for generating high-frequency electric excitation,
the ultrasonic transducer is used for converting high-frequency electric excitation into high-frequency vibration;
the acoustic lens is clamped at the amplitude output end of the ultrasonic transducer and used for converging high-frequency vibration on the surface of a workpiece to be processed.
2. An acoustic lens-based 3D printed part burnishing apparatus according to claim 1, wherein the distance between the acoustic lens and the workpiece to be machined is 0.09m-15 mm.
3. The acoustic-lens-based 3D-printed part polishing apparatus as claimed in claim 1, wherein the frequency of the ultrasonic wave emitted from the ultrasonic transducer is 15KHz to 20 MHz.
4. The acoustic-lens based 3D-printed part burnishing apparatus according to claim 1, further comprising: and the ultrasonic transducer is fixed on a flange at the tail end of the industrial robot through the connecting piece.
5. The acoustic-lens based 3D-printed part burnishing apparatus according to claim 1, further comprising: and the robot controller is connected with the industrial robot and is used for controlling the moving track of the industrial robot.
6. The acoustic-lens based 3D-printed part burnishing apparatus according to claim 5, further comprising: and the system control cabinet is connected with the robot controller, is used for carrying out analysis operation on the kinematics and dynamics of the industrial robot, is communicated with the robot controller, and realizes the control on the moving track of the ultrasonic transducer.
7. The acoustic-lens-based 3D-printed part polishing apparatus according to claim 1, wherein the acoustic lens is a plano-concave acoustic lens, a plano-convex acoustic lens, a biconvex acoustic lens, or a biconcave acoustic lens; the material of the acoustic lens is organic glass, epoxy resin or aluminum alloy.
8. An acoustic lens-based 3D printed part polishing method applied to the acoustic lens-based 3D printed part polishing apparatus according to any one of claims 1 to 7, the method comprising:
acquiring a three-dimensional model diagram of a 3D printing part to be processed;
determining a polishing path according to the three-dimensional model map;
converting the polishing path into three-dimensional space coordinates;
performing analytical operation on the kinematics and dynamics of the industrial robot to obtain each joint corner of the industrial robot;
obtaining the terminal pose coordinates of the industrial robot according to the joint corners;
and adjusting the end pose of the industrial robot according to the three-dimensional space coordinates and the end pose coordinates of the industrial robot.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102274A (en) * | 2021-11-12 | 2022-03-01 | 苏州大学 | 3D printing part processing method |
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Application publication date: 20211109 |