CN113649899A - Titanium alloy part polishing equipment and polishing method - Google Patents
Titanium alloy part polishing equipment and polishing method Download PDFInfo
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- CN113649899A CN113649899A CN202110913187.4A CN202110913187A CN113649899A CN 113649899 A CN113649899 A CN 113649899A CN 202110913187 A CN202110913187 A CN 202110913187A CN 113649899 A CN113649899 A CN 113649899A
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/02—Bench grinders
-
- 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
-
- 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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/02—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant
- B24B55/03—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant designed as a complete equipment for feeding or clarifying coolant
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a titanium alloy part polishing device and a polishing method, comprising an industrial robot; polishing the end tool; the grinding end tool is connected with the industrial robot execution end, the industrial robot drives the grinding end tool to move randomly in a working space, and the grinding end tool is used for grinding titanium alloy parts; polishing the working platform; the polishing working platform is used for fixing the titanium alloy part and polishing the titanium alloy part by matching with the movement of the polishing tail end tool; automatically replacing the sand paper module; the automatic sand paper replacing module is matched with the grinding end tool to replace the waste sand paper on the grinding end tool with new sand paper; an electronic control system; the electric control system is electrically connected with the industrial robot, the polishing end tool, the polishing working platform and the automatic sand paper replacing module, and all parts are controlled to move integrally. The automatic grinding machine realizes automatic grinding of titanium alloy parts and improves production efficiency.
Description
Technical Field
The invention relates to the field of mechanical part processing equipment, in particular to titanium alloy part polishing equipment and a polishing method.
Background
Titanium alloys are a wide variety of alloy metals made from titanium and other metals, and are commonly used in the manufacture of aircraft engine compressor components, structural members for rockets, missiles and high speed aircraft.
Titanium alloy is an important metal material developed in the 50 s of the 20 th century, and is widely used because of its high strength, low density, good mechanical properties, good toughness and corrosion resistance. However, the titanium alloy has poor processing property and difficult cutting processing, particularly in the hot processing, the titanium alloy is easy to absorb impurities such as hydrogen, oxygen, nitrogen, carbon and the like to cause the mechanical property to be damaged, and meanwhile, the titanium alloy has poor wear resistance and complex production and grinding process. With the continuous development of the industry, titanium alloy materials are used more and more in the industrial field aiming at high-requirement products. For the polishing processing of the complex material, no targeted polishing equipment and no mature available polishing method exist, the polishing effect consistency is poor, and the complex material can only be continuously practiced to find. The trend of titanium alloy in the field of industrial automation is also increasing, and how to quickly polish and process titanium alloy parts is a necessary trend.
Therefore, those skilled in the art are dedicated to developing a titanium alloy part polishing device and a polishing method, so as to achieve automatic polishing of the titanium alloy part and improve production efficiency.
Disclosure of Invention
The invention aims to provide titanium alloy part polishing equipment and a polishing method, which can automatically polish titanium alloy parts and improve the production efficiency.
The technical scheme for solving the technical problems is as follows: the utility model provides a titanium alloy spare part equipment of polishing which characterized in that: comprising an industrial robot;
polishing the end tool; the grinding end tool is connected with the industrial robot execution end, the industrial robot drives the grinding end tool to move randomly in a working space, and the grinding end tool is used for grinding titanium alloy parts;
polishing the working platform; the polishing working platform is used for fixing the titanium alloy part and polishing the titanium alloy part by matching with the movement of the polishing tail end tool;
automatically replacing the sand paper module; the automatic sand paper replacing module is matched with the grinding end tool to replace the waste sand paper on the grinding end tool with new sand paper;
an electronic control system; the electric control system is electrically connected with the industrial robot, the polishing end tool, the polishing working platform and the automatic sand paper replacing module, and all parts are controlled to move integrally.
The invention has the beneficial effects that: the electric control system controls the industrial robot, the polishing end tool, the polishing working platform and the automatic sand paper replacing module to automatically polish and mold the titanium alloy parts, single-machine or multi-machine series operation can be realized, and polishing efficiency is improved.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the polishing end tool comprises a robot mounting flange, the robot mounting flange is connected with an industrial robot execution end, a force control floating device is mounted at the other end of the robot mounting flange, and the force control floating device is further connected with a concentric polisher and an eccentric polisher;
the concentric polisher and the eccentric polisher are arranged oppositely, the polishing discs are mounted at the output ends of the concentric polisher and the eccentric polisher respectively, abrasive paper is adhered to the polishing discs, and the force control floating device is used for controlling the contact force of the concentric polisher and the eccentric polisher on the titanium alloy part.
The technical scheme has the advantages that the industrial robot drives the polishing end tool to move randomly in the working space, so that the polishing end tool can polish titanium alloy parts in all directions, and the contact force and polishing force of the polishing disc acting on the titanium alloy parts are controlled by controlling the force control floating device, so that the over-grinding phenomenon is prevented; according to the properties of the titanium alloy, a concentric grinding machine or an eccentric grinding machine can be selected to grind the titanium alloy parts, so that the grinding quality is further ensured.
Furthermore, waterproof covers are arranged on the concentric grinding machine and the eccentric grinding machine and positioned on the upper side of the grinding disc;
and the bottom of the force control floating device is also provided with a tool coordinate calibration tip.
Adopt above-mentioned further scheme's beneficial effect be at the in-process of polishing dish, cooling system can add the coolant liquid and cool off titanium alloy spare part or the dish of polishing, prevents that high temperature is out of shape, and the buckler can effectually prevent that coolant liquid or cutting fluid from splashing to other regions in the cooling process, causes pollution or short circuit etc.. The tool coordinate calibration point is used for calibrating a polishing terminal tool, and the polishing terminal tool needs to be positioned and calibrated through the tool coordinate calibration point in one working end time or a debugging process, so that the polishing quality is ensured.
Further, the polishing working platform comprises a polishing jig for mounting the titanium alloy part clamp, the polishing jig is connected with a rotating shaft, the rotating shaft extends out of the bottom of the polishing water tank and is connected with a rotating shaft motor and a speed reducer module, and the rotating shaft motor and the speed reducer module rotate to drive the polishing jig to rotate;
the bottom of the polishing water tank is provided with a first drainage valve, and a waterproof cover and a dustproof cover are installed outside the rotating shaft.
The further scheme has the advantages that the polishing jig is used for fixing the titanium alloy part clamp, different clamps are selected according to different titanium alloy parts, and universality is improved; under the action of a rotating shaft motor and a speed reducer module, the polishing jig realizes different rotating speeds and steering for matching with a polishing tail end tool, so that the polishing quality of the titanium alloy part is ensured; the waterproof cover and the dust cover arranged outside the rotating shaft can effectively protect the rotating shaft and prevent dust or moisture from entering the rotating part to cause corrosion.
Furthermore, the automatic sand paper changing module comprises a mounting plate, a plurality of sand paper storage bins are mounted on the mounting plate, sand paper guide openings are formed in bin openings of the sand paper storage bins, and telescopic cylinders are mounted at the bottoms of the sand paper storage bins;
the mounting plate is provided with a detection sensor for detecting that the thick abrasive paper is torn off or bonded, and the mounting plate is provided with a detection air hole for detecting that the abrasive paper with poor surface permeability is torn off or bonded;
still install the abrasive paper air clamp on the mounting panel, the abrasive paper air clamp is used for inserting inside and the clamp of abrasive paper and gets and tear.
The telescopic cylinder is adopted to continuously push out the abrasive paper in the abrasive paper storage bin upwards, so that the abrasive paper is ensured to be rapidly bonded with the polishing disc through the abrasive paper guide port; the detection sensor is used for detecting whether the thick abrasive paper is torn off and detecting whether the thick abrasive paper is bonded firmly again; the detection air hole is used for detecting whether the abrasive paper with poor surface permeability is torn off or not and re-bonding new abrasive paper, so that the abrasive paper is accurately replaced, and deviation is prevented; because abrasive paper and the dish of polishing bond firmly, when changing abrasive paper, need stretch into again tearing off behind the inside centre gripping of abrasive paper with the abrasive paper air clamp, guarantee abrasive paper bonding quality, and then guarantee the quality of polishing of titanium alloy spare part.
Further, the electric control system comprises a robot electric cabinet for controlling the action of the industrial robot, and the robot electric cabinet is electrically connected with a control cabinet for controlling the force control floating device, the rotating shaft motor and the speed reducer module;
and the control cabinet is also provided with an air pressure detection device and a control electromagnetic valve.
The beneficial effect of adopting above-mentioned further scheme is that each moving part and the detection part in the equipment of polishing pass through robot electrical apparatus cabinet and switch board centralized control coordination, and according to setting for step-by-step operation, the polishing of high-efficient completion titanium alloy spare part.
The polishing device further comprises a cooling water circulation system, wherein the cooling water circulation system comprises a water tank, a water pumping motor drives a water pumping pump to pump cooling water in the water tank to a primary filter and a secondary filter in sequence and then convey the cooling water to the polishing water tank, and the polishing water tank is communicated with the water tank through a water return pipe;
and a second drain valve is also installed at the bottom of the water tank.
The beneficial effects of adopting above-mentioned further scheme are that cooling water circulating system is arranged in providing coolant liquid or cutting fluid to the titanium alloy spare part in polishing, prevents to cause the damage to titanium alloy spare part itself because of the high temperature that produces of polishing, and filters impurity wherein in the coolant liquid gets into primary filter and secondary filter through the suction pump circulation, and then guarantees cooling quality.
The automatic feeding device further comprises a rack, wherein the rack comprises a plurality of profile frames which are fixedly connected, an emergency stop switch, an external control button, a feeding window and a material taking window are arranged on the side wall of the rack, and a safety grating and a control box are arranged on the material taking window;
the upper side of the frame is provided with a three-color lamp and a heat dissipation vent.
The beneficial effects of adopting above-mentioned further scheme are that safe grating prevents that operating personnel from not operating according to the requirement and causing bodily injury, and operation box, scram switch and external control button etc. do benefit to operating personnel and operate outside the frame to show operating condition through the tricolor lamp.
Further, still install the support module in the frame, the support module is including installing the bearing bottom plate on the spandrel girder, lower margin supporting seat, heavy load foot cup and heavy load gyro wheel are still installed to the spandrel girder bottom.
The beneficial effect who adopts above-mentioned further scheme is that electrical system, automatic sand paper module, industrial robot etc. of trading all install on supporting module to bear through lower margin supporting seat and heavy load foot cup, the height of supporting module is also convenient for adjust to lower margin supporting seat and heavy load foot cup simultaneously, and the heavy load gyro wheel is convenient for wholly will polish the equipment removal.
The grinding method is characterized by comprising the following steps of:
1) calibrating the industrial robot, inserting industrial parameters into a program, and importing the program into an industrial robot controller;
2) the method comprises the following steps of process matching, selecting abrasive paper and a grinding machine according to the type of titanium alloy, setting grinding speed and grinding pressure, and planning a movement path of the grinding machine;
3) placing titanium alloy parts;
4) starting polishing equipment for polishing, polishing according to a matched process and an off-line program, switching from surface contact to line contact when polishing a fillet, and simultaneously changing polishing force to ensure uniform polishing;
the grinding force can be monitored in real time, communication feedback can be directly carried out on the grinding force and the industrial robot, and when different positions on the titanium alloy part are ground, the change of floating amount of each point position can be detected.
5) Testing, outputting the titanium alloy parts if the test is qualified, and returning to the step 4 if the test is unqualified);
wherein, the step 4) also comprises the step of replacing the sand paper.
The beneficial effects of adopting above-mentioned further scheme are through presetting for technical parameter to select corresponding consumptive material according to titanium alloy self characteristic, and polish after setting for the route of polishing, it is efficient to polish, and operating personnel intensity of labour is lower.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a tip grinding tool according to one embodiment of the present invention;
FIG. 3 is a schematic structural view of a polishing platen according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an automatic sandpaper changing module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an electrical control system according to an embodiment of the present invention;
FIG. 6 is a schematic view of a cooling water circulation system according to an embodiment of the present invention;
FIG. 7 is a schematic view of a rack structure according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a support module according to an embodiment of the present invention;
fig. 9 is a schematic view of a process flow of the polishing method of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
100. a support module; 200. polishing the working platform; 300. polishing the end tool; 400. automatically replacing the sand paper module; 500. an electronic control system; 600. a frame; 700. an industrial robot; 800. a cooling water circulation system;
101. heavy load foot cup; 102. a ground foot supporting seat; 103. a load-bearing floor; 104. a spandrel girder; 105. heavy-duty rollers;
201. a support frame; 202. polishing the water tank; 203. a rotating shaft; 204. polishing the smelting tool; 205. a first drain valve; 206. a rotating shaft motor and a speed reducer module;
301. installing a flange by a robot; 302. a force controlled float device; 303. a waterproof cover; 304. grinding disc; 305. a concentric sander; 306. calibrating a tool coordinate calibration tip; 307. an eccentric sander;
401. a support pillar; 402. a telescopic cylinder; 403. a sand paper storage bin; 404. a detection sensor; 405. a sand paper guide port; 406. air clamping of sand paper; 407. detecting air holes; 408. mounting a plate;
501. a robot electric cabinet; 502. a control cabinet; 503. an air pressure detecting device; 504. controlling the electromagnetic valve;
601. a safety grating; 602. a manipulation box; 603. an access door; 604. an external control button; 605. a feeding window; 606. a scram switch; 607 a three-color lamp; 608. a heat dissipation vent; 609. a profile frame; 610. a material taking window;
801. a sink support base; 802. a water tank; 803. a water return pipe; 804. a secondary filter; 805. a first stage filter; 806. a water pumping motor; 807. and a second drain valve.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "center", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "inner", "outer", "peripheral side", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and simplicity of description, and do not indicate or imply that the system or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, and fig. 8, a titanium alloy part grinding apparatus may be used for grinding various parts, including but not limited to products such as mobile phones, notebook computers, tablets, etc. in the 3C industry. Including industrial robot 700, select corresponding robot according to actual conditions, industrial robot 700 can adopt the manipulator of seven axle linkages in the embodiment, can remove wantonly in the design space.
The end-of-line tool 300: the polishing end tool 300 is connected with the execution end of the industrial robot 700, the industrial robot 700 drives the polishing end tool 300 to move randomly in the working space, and the polishing end tool 300 is used for polishing titanium alloy parts. In some embodiments, the polishing end tool 300 includes a robot mounting flange 301, the robot mounting flange 301 is connected to an execution end of an industrial robot 700, a force control floating device 302 is installed at the other end of the robot mounting flange 301, the force control floating device 302 is an active force control, after a certain polishing force and a polishing contact force are set, when polishing, a polishing force set for a polishing workpiece is always kept in a polishing process for polishing, and meanwhile, adjustment is performed constantly according to force feedback.
The force control floating device 302 is further connected with a concentric sander 305 and an eccentric sander 307, in the specific embodiment, the concentric sander 305 can be selected from a concentric motor or a pneumatic concentric sander according to the properties of the titanium alloy part and the sanding requirements of the titanium alloy part, and meanwhile, the eccentric sander 307 can be selected from an eccentric motor or a pneumatic eccentric sander. The force control floating device 302 is used for controlling contact forces of the concentric grinding machine 305 and the eccentric grinding machine 307 on the titanium alloy part. Specifically, the active force control provided by the force control floating device 302 acts on the polishing workpiece through the same motor 305 and the eccentric polishing machine 307, the concentric polishing machine 305 and the eccentric polishing machine 307 are arranged oppositely, the polishing discs 304 are mounted at the output ends of the concentric polishing machine 305 and the eccentric polishing machine 307, the polishing discs 304 are fixedly mounted on the concentric polishing machine 305 or the eccentric polishing machine 307, and the polishing discs of different types and sizes can be replaced according to the actual polishing requirements, so that the force control floating device is suitable for different titanium alloy parts, and further the polishing quality is ensured.
The concentric sander 305 sanding or the eccentric sander 307 sanding is selected according to the type of the titanium alloy part or the shape of the surface of the titanium alloy part, sanding discs 304 are adhered with sanding papers, which are roughly divided into fine sand and coarse sand, and different types of sanding papers are selected according to the type of the titanium alloy part, the sanding precision and the like.
The bottom of the force controlled floating device 302 is also mounted with a tool coordinate calibration tip 306. The tool coordinate calibration point 306 is used for calibrating the polishing end tool 300, and the tool coordinate calibration point 306 is needed to be used for positioning and calibrating during one working end time or debugging process of the polishing end tool 300, so that the walking path of the polishing end tool is accurate, and the polishing quality is further ensured. The concentric grinding machine 305 and the eccentric grinding machine 307 are both provided with the waterproof covers 303 on the upper sides of the grinding discs 304, the cooling circulation system 800 can add cooling liquid to cool titanium alloy parts in the grinding process of the grinding discs 304, high-temperature deformation is prevented, and the waterproof covers 303 can effectively prevent the cooling liquid or cutting liquid from splashing to other areas, especially electric control areas, to cause pollution or short circuit and the like in the cooling process.
As shown in fig. 1 and 3, the titanium alloy part polishing device further includes a polishing platform 200, wherein the polishing platform 200 is used for fixing the titanium alloy part and polishing the titanium alloy part in cooperation with the movement of the polishing end tool 300. In a specific embodiment, the polishing work platform 200 includes a polishing jig 204 for installing a titanium alloy part fixture, and different fixtures are selected according to different titanium alloy parts to perform clamping, so that the universality of the device is improved. The grinding tool 204 is connected with a rotating shaft 203, a waterproof cover and a dustproof cover are arranged outside the rotating shaft 203, and in another embodiment, the rotating shaft 203 is protected from water and dust. The waterproof and dustproof covers arranged outside the rotating shaft 203 can effectively protect the rotating shaft 203, prevent dust or moisture from entering the rotating parts to cause corrosion, and reduce the service life of the rotating shaft 203 and the parts thereof. The rotating shaft 203 extends out of the bottom of the polishing water tank 202, the edge of the polishing water tank 202 can be made into an anti-splashing structure to reduce splashing of cooling liquid, a first drain valve 205 is arranged at the bottom of the polishing water tank 202, the first drain valve 205 is used for draining the cooling liquid in the polishing water tank 202 completely, and the polishing water tank 202 is supported and installed on the supporting module 100 through the supporting frame 201.
As shown in fig. 1 and 4, the system further comprises an automatic sandpaper changing module 400, wherein the automatic sandpaper changing module 400 cooperates with the end of grinding tool 300 to change waste sandpaper on the end of grinding tool 300 into new sandpaper. In some embodiments, automated sandpaper changing module 400 includes a mounting plate 408, and mounting plate 408 is supportably mounted to support module 100 by support posts 401. A plurality of sandpaper storage bins 403 are mounted on mounting plate 408, and a plurality of sandpaper storage bins 403 are used to store different types of sandpaper to select between different types of titanium alloy parts. The storehouse mouth is stored to abrasive paper 403 is provided with abrasive paper guiding hole 405, and abrasive paper guiding hole 405 arranges the certain law of abrasive paper installation, and the abrasive paper 304 bonds abrasive paper in the assigned position of abrasive paper 304 through the cooperation with abrasive paper guiding hole 405 when bonding abrasive paper to guarantee the bonding quality of abrasive paper and abrasive paper dish, the follow-up of being convenient for is polished. The telescopic cylinder 402 is installed to abrasive paper storage bin 403 bottom, and telescopic cylinder 402 output and abrasive paper butt send the abrasive paper top in the abrasive paper storage bin 403 to abrasive paper guiding hole 405 department, and then be convenient for make a round 304 bond.
Also mounted on mounting plate 408 is sandpaper air clamp 406, sandpaper air clamp 406 being adapted to be inserted into the interior of sandpaper and pulled therefrom. Because abrasive paper and the dish 304 between bonding closely, be difficult for dropping, concrete change in-process, the inserted sheet on the abrasive paper air clamp 406 stretches into earlier between abrasive paper and the dish 304 of polishing, the pneumatic finger on the abrasive paper air clamp 406 is with the abrasive paper centre gripping afterwards, industrial robot 700 drives power accuse floating installation 302 and the dish of polishing and removes, thereby tear off abrasive paper from the dish 304 of polishing, abrasive paper air clamp 406 is opened again, in the automatic useless abrasive paper collection device who drops into the bottom of abrasive paper.
Whether need tear sand paper at sand paper change in-process to and whether bond in place after the sand paper bonds and all need detect. In the specific detection process, for thick abrasive paper, a detection sensor 404 for detecting that the thick abrasive paper is torn off or bonded is mounted on the mounting plate 408, firstly, after the thick abrasive paper is torn off, the grinding disc 304 is moved by the industrial robot 700 to be close to the detection sensor 404 to detect whether the thick abrasive paper is torn off, and if the thick abrasive paper is not torn off, the previous step is required to be returned to tear the thick abrasive paper again; if the peeling is detected, the grinding disc 304 moves to the sandpaper guide opening 405 to bond a new sandpaper, after the bonding is completed, it is also necessary to detect whether the grinding disc 304 is bonded with the sandpaper, and if no bonding is detected, the bonding operation is performed again.
The thin sheet sand paper adopts another detection mode, specifically, a detection air hole 407 for tearing off or adhering the sand paper with poor surface permeability is arranged on the mounting plate 408, the detection air hole 407 conducts air to the sand paper with poor surface permeability, and whether the sand paper is adhered or torn off is judged according to air resistance.
As shown in fig. 1 and 5, the sanding machine further comprises an electric control system 500, wherein the electric control system 500 is electrically connected with the industrial robot 700, the polishing end tool 300, the polishing work platform 200 and the automatic sandpaper changing module 400, and integrally controls the actions of all the components. In a specific embodiment, the electronic control system 500 includes an electric robot cabinet 501 for controlling the actions of the industrial robot, the electric robot cabinet 501 is electrically connected to a control cabinet 502 for controlling the force-controlled floating device 302 and the rotating shaft motor and speed reducer module 206, and the control cabinet 502 is further provided with an air pressure detection device 503 and a control solenoid valve 504. The force control system and the rotating shaft control system can also be integrated in the robot electric cabinet 501, the electric control system 500 can be used for manually setting the polishing pressure and the contact force for the tail end force control system and carrying out I/O configuration, and the change of the force and the change of the displacement can also be monitored in real time. The industrial robot 700 communicates with a master control system through a network, a force control system communicates with the robot through a Mudbus communication protocol, the grinding force and the contact force can be directly set through the industrial robot 700, and the rotating shaft 203 directly configures an external shaft on the robot control system.
Example one
As shown in fig. 1 and 6, the polishing machine further includes a cooling water circulation system 800, the cooling water circulation system is mainly used for providing cooling liquid or cutting fluid to the polishing work platform 200, in a specific embodiment, the cooling water circulation system 800 includes a water tank 802, a second drain valve 807 is further installed at the bottom of the water tank 802, and the second drain valve 807 is used for removing the cooling liquid when the cooling liquid is replaced. The water pumping motor 806 drives the water pumping pump to pump the cooling water in the water tank 802 to the primary filter 805 and the secondary filter 804 in sequence and then to the polishing water tank 202, and the polishing water tank 202 is communicated with the water tank 802 through the water return pipe 803. The filtering mesh number of the filtering pieces in the primary filter 805 is smaller than that of the secondary filtering mesh number, and the grinding precision of the titanium alloy parts in the secondary filtering mesh number cannot be lower than 10 mu m. The water tank 802 is supported and mounted on the support module 100 through the water tank support seat 801, and a movable roller can be further mounted at the bottom of the water tank support seat 801, so that the water tank can be moved when the cooling liquid or the cutting liquid is replaced.
For the grinding product of titanium alloy material, the abrasive paper of diamond abrasive grain can be selected, and the abrasive paper surface is hard, and the back has certain blotter, and the abrasive paper kind generally selects the abrasive paper of different mesh numbers through the technology of coarse grinding, semi-fine grinding, accurate grinding. The speed that industrial robot 700 moved must be polished under the low-speed, the pressure of polishing can not be too big, the rotational speed of polishing dish 304 can be set for according to concentric and eccentric difference, generally eccentric rotational speed will be greater than concentric rotational speed, need consider that titanium alloy polishes and accomplishes the process on next step after, all can carry out mirror finish on 3C trade on general next step, grind through the cladding and realize, so the abrasive paper vestige after the completion of last abrasive paper is ground needs shallowly, and the naked eye looks bright. During the grinding process, cooling liquid or grinding liquid must be used, water can be generally used for replacing the cooling liquid, when water is supplied, the grinding disc 304 must be kept continuously with water, the water flow cannot be too small, the grinding quality can be affected more seriously due to too small abrasive paper loss, and the pressure of the water cannot be too large, so that the change of the grinding force can be affected.
Example two
As shown in fig. 1 and 7, the emergency stop device further comprises a rack 600, wherein the rack 600 comprises a plurality of profile frames 609 which are fixedly connected to form a frame, partition plates are mounted on the frame, and an emergency stop switch 606 is arranged on a side wall of the rack 600 and used for rapidly stopping the equipment in an emergency situation to prevent further damage. External control buttons 604 facilitate operation by an operator outside the rack. The feeding window 605 and the material taking window 610, the feeding window 605 uses a rodless cylinder to match a linear slide rail as guiding and power, the feeding window 605 is automatically opened after polishing is completed, and the feeding window 605 is automatically closed when polishing is started after a workpiece is manually clamped. The material taking window 610 is provided with a safety grating 601 and a control box 602, the upper side of the rack 600 is provided with a three-color lamp 607 and a heat dissipation vent 608, the three-color lamp 607 gives a corresponding prompt, and an operator can conveniently take out the processed titanium alloy parts in time and flow to the next process. An access door 603 is further arranged on the rack 600, the access door 603 is convenient for maintenance personnel to enter the rack for maintenance, and the access door 603 is provided with a corresponding safety lock.
EXAMPLE III
As shown in fig. 1 and 8, a support module 100 is further installed in the rack 600, specifically, the support module 100 includes a load-bearing bottom plate 103 installed on a load-bearing beam 104, and the load-bearing bottom plate 103 may be made of a high-strength steel plate, so as to increase the weight of the bottom and prevent the industrial robot 700 from causing a device position deviation during movement.
An anchor supporting seat 102, a heavy-load foot cup 101 and a heavy-load roller 105 are further mounted at the bottom of the bearing beam 104, the anchor supporting seat 102 and the heavy-load foot cup 101 are convenient to adjust the height of the supporting module 100, the heavy-load roller 105 can adopt a heavy-load horse wheel, and the heavy-load roller 105 is convenient to integrally move the polishing equipment. To further reduce the rocking of the support module, the anchor support base 102 may be secured thereto by anchor bolts.
As shown in fig. 9, a grinding method, which adopts the above titanium alloy part grinding device, includes the following steps:
1) calibrating the industrial robot before polishing, inserting industrial parameters into a program, and importing the program into an industrial robot controller;
2) the process matching comprises the steps of selecting abrasive paper and a grinding machine according to the type of titanium alloy, setting grinding speed and grinding pressure, and planning a walking path of the grinding machine;
3) an operator places titanium alloy parts and triggers a control command of the industrial robot, the industrial robot moves according to a set path, and the contact force is larger than the grinding force at the moment when the tail end grinding disc contacts the workpiece, so that the contact force is reduced by carrying out proper compensation according to the grinding force at the initial setting to prevent the workpiece from being over-ground.
4) The starting equipment of polishing is polished, polishes according to the technology of matching, polishes according to the procedure of off-line, when polishing the fillet, switches into line contact by the surface contact, guarantees that the effect of polishing of fillet and straight flange is unanimous, just must reduce the power of polishing of fillet department, also can improve the mode of the speed of polishing simultaneously and avoid the overgrinding phenomenon. Moreover, need to change the power of polishing and guarantee evenly polishing, the power of polishing can carry out real time monitoring, directly carries out communication feedback with industrial robot, when different positions were polished on titanium alloy spare part, detects out the change of each position floating volume.
When the service life of the abrasive paper reaches the limit or the abrasive paper with different meshes needs to be replaced, the control system can prompt the robot to replace the abrasive paper, wherein the service life of each type of abrasive paper and the use sequence of the abrasive paper need to be set during the early-stage debugging process, the use times and the sequence of each type of abrasive paper are led into the industrial robot demonstrator, and the monitoring is realized through the calling of a program.
5) Testing, the titanium alloy parts after polishing are tested: and (4) outputting the titanium alloy parts if the test is qualified, and returning to the step 4) to continue polishing if the test is unqualified.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a titanium alloy spare part equipment of polishing which characterized in that: comprising an industrial robot (700);
a sanding tip tool (300); the grinding end tool (300) is connected with an execution end of the industrial robot (700), the industrial robot (700) drives the grinding end tool (300) to move randomly in a working space, and the grinding end tool (300) is used for grinding titanium alloy parts;
polishing the working platform (200); the grinding working platform (200) is used for fixing the titanium alloy parts and is matched with the grinding tail end tool (300) to move to grind the titanium alloy parts;
an automatic sandpaper changing module (400); the automatic sandpaper changing module (400) is matched with the grinding end tool (300) to change waste sandpaper on the grinding end tool (300) into new sandpaper;
an electronic control system (500); the electric control system (500) is electrically connected with the industrial robot (700), the polishing end tool (300), the polishing working platform (200) and the automatic sand paper replacing module (400), and all parts are controlled to move integrally.
2. The titanium alloy part grinding apparatus according to claim 1, wherein: the polishing end tool (300) comprises a robot mounting flange (301), the robot mounting flange (301) is connected with an execution end of the industrial robot (700), a force control floating device (302) is mounted at the other end of the robot mounting flange (301), and the force control floating device (302) is further connected with a concentric polisher (305) and an eccentric polisher (307);
the concentric grinding machine (305) and the eccentric grinding machine (307) are arranged oppositely, a grinding disc (304) is mounted at the output end of each of the concentric grinding machine (305) and the eccentric grinding machine (307), sand paper is adhered to each grinding disc (304), and the force control floating device (302) is used for controlling the contact force of the concentric grinding machine (305) and the eccentric grinding machine (307) on the titanium alloy part.
3. The titanium alloy part grinding apparatus according to claim 2, wherein: a waterproof cover (303) is arranged on the concentric grinding machine (305) and the eccentric grinding machine (307) and positioned on the upper side of the grinding disc (304);
and the bottom of the force control floating device (302) is also provided with a tool coordinate calibration tip (306).
4. The titanium alloy part grinding apparatus according to claim 3, wherein: the grinding working platform (200) comprises a grinding jig (204) for mounting a titanium alloy part clamp, the grinding jig (204) is connected with a rotating shaft (203), the rotating shaft (203) extends out of the bottom of a grinding water tank (202) and is connected with a rotating shaft motor and speed reducer module (206), and the rotating shaft motor and speed reducer module (206) rotates to drive the grinding jig (204) to rotate;
the bottom of the polishing water tank (202) is provided with a first drainage valve (205), and a waterproof cover and a dustproof cover are installed outside the rotating shaft (203).
5. The titanium alloy part grinding apparatus according to claim 1, wherein: the automatic sand paper replacing module (400) comprises a mounting plate (408), a plurality of sand paper storage bins (403) are mounted on the mounting plate (408), sand paper guide openings (405) are formed in bin openings of the sand paper storage bins (403), and telescopic cylinders (402) are mounted at the bottoms of the sand paper storage bins (403);
a detection sensor (404) for detecting that the thick abrasive paper is torn off or adhered is arranged on the mounting plate (408), and a detection air hole (407) for detecting that the abrasive paper with poor surface permeability is torn off or adhered is arranged on the mounting plate (408);
still install abrasive paper air clamp (406) on mounting panel (408), abrasive paper air clamp (406) are used for inserting the abrasive paper inside and press from both sides and get and tear.
6. The titanium alloy part grinding apparatus according to claim 4, wherein: the electric control system (500) comprises a robot electric cabinet (501) used for controlling the action of the industrial robot, and the robot electric cabinet (501) is electrically connected with a control cabinet (502) used for controlling the force control floating device (302) and the rotating shaft motor and speed reducer module (206);
the control cabinet (502) is also provided with an air pressure detection device (503) and a control electromagnetic valve (504).
7. The titanium alloy part grinding apparatus according to claim 4, wherein: the polishing water tank is characterized by further comprising a cooling water circulation system (800), wherein the cooling water circulation system (800) comprises a water tank (802), a water pumping motor (806) drives a water pumping pump to pump cooling water in the water tank (802) to a primary filter (805) and a secondary filter (804) in sequence and then convey the cooling water to the polishing water tank (202), and the polishing water tank (202) is communicated with the water tank (802) through a water return pipe (803);
and a second drain valve (807) is also arranged at the bottom of the water tank (802).
8. The titanium alloy part grinding apparatus according to claim 7, wherein: the automatic feeding and taking machine is characterized by further comprising a rack (600), wherein the rack (600) comprises a plurality of profile frames (609) which are fixedly connected, an emergency stop switch (606), an external control button (604), a feeding window (605) and a taking window (610) are arranged on the side wall of the rack (600), and a safety grating (601) and a control box (602) are installed on the taking window (610);
the upper side of the frame (600) is provided with a three-color lamp (607) and a heat dissipation ventilation opening (608).
9. The titanium alloy part grinding apparatus according to claim 8, wherein: still install support module (100) in frame (600), support module (100) including installing bearing bottom plate (103) on spandrel girder (104), lower margin supporting seat (102), heavy load foot cup (101) and heavy load gyro wheel (105) are still installed to spandrel girder (104) bottom.
10. A grinding method using the titanium alloy component grinding apparatus according to any one of claims 1 to 9, comprising the steps of:
1) calibrating the industrial robot, inserting industrial parameters into a program, and importing the program into an industrial robot controller;
2) the method comprises the following steps of process matching, selecting abrasive paper and a grinding machine according to the type of titanium alloy, setting grinding speed and grinding pressure, and planning a movement path of the grinding machine;
3) placing titanium alloy parts;
4) starting polishing equipment for polishing, polishing according to a matched process and an off-line program, switching from surface contact to line contact when polishing a fillet, and simultaneously changing polishing force to ensure uniform polishing;
the polishing force can be monitored in real time, the polishing force can be directly communicated with an industrial robot for feedback, and the change of the floating amount of each point position is detected when different positions on the titanium alloy part are polished;
5) testing, outputting the titanium alloy parts if the test is qualified, and returning to the step 4 if the test is unqualified);
wherein, the step 4) also comprises the step of replacing the sand paper.
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| CN116100418A (en) * | 2023-01-10 | 2023-05-12 | 重庆智能机器人研究院 | Parameterized programming method for quantifying pen electric polishing process of industrial robot |
| CN116690435A (en) * | 2023-07-27 | 2023-09-05 | 广东健齿生物科技有限公司 | Post-treatment method for titanium mesh in additive manufacturing |
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| WO2021114855A1 (en) * | 2019-12-14 | 2021-06-17 | 上海航翼高新技术发展研究院有限公司 | Flexible automatic grinding device and grinding method for aircraft repairing composite material |
| CN215748350U (en) * | 2021-08-10 | 2022-02-08 | 重庆智能机器人研究院 | Titanium alloy spare part equipment of polishing |
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