CN113878473B - Pneumatic grinding and polishing device - Google Patents
Pneumatic grinding and polishing device Download PDFInfo
- Publication number
- CN113878473B CN113878473B CN202111164607.XA CN202111164607A CN113878473B CN 113878473 B CN113878473 B CN 113878473B CN 202111164607 A CN202111164607 A CN 202111164607A CN 113878473 B CN113878473 B CN 113878473B
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- polishing
- pneumatic
- contact force
- pneumatic polishing
- guide rail
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- 238000005498 polishing Methods 0.000 title claims abstract description 140
- 230000000630 rising effect Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000007517 polishing process Methods 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
- 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
-
- 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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- 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
- B24B47/00—Drives or gearings; Equipment 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
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention provides a pneumatic grinding and polishing device, which comprises: the pneumatic polishing device comprises a machine base, a workbench, a mechanical arm, a pneumatic polishing controller, a pneumatic polishing actuator and a pneumatic polishing platform, wherein the pneumatic polishing platform is used for fixing a workpiece to be polished, acquiring the actual contact force in the vertical direction acting on the workpiece to be polished, controlling the output contact force of the pneumatic polishing actuator through the pneumatic polishing controller, and adjusting the output contact force of the pneumatic polishing actuator according to the actual contact force in the vertical direction acting on the workpiece to be polished, which is acquired by the pneumatic polishing platform.
Description
Technical Field
The invention relates to the technical field of pneumatic polishing, in particular to a pneumatic polishing device.
Background
Polishing and sanding are one process underlying the manufacturing industry. At present, the manufacturing industry mainly uses manual polishing, however, the manual operation is difficult to ensure the processing quality, and the consistency and stability of polishing and polishing are relatively poor. With the development of intelligent manufacturing technology, robots are increasingly used for surface machining instead of traditional machining.
The quality of polishing quality is directly determined by the contact force between the industrial robot and the workpiece in the polishing process, and the excessive or insufficient contact force can cause the phenomenon of over-polishing or under-polishing on the surface of the workpiece, further cause the uneven quality of the surface of the workpiece, so that the industrial robot needs to be accurately controlled in contact force. At present, the mechanical arm tail end polishing mechanism mainly realizes direct and indirect measurement of contact force in the following two modes: firstly, a six-dimensional force sensor is arranged between the tail end of the mechanical arm and the polishing mechanism to directly measure the contact force; and secondly, installing a moment sensor at the joint position of the mechanical arm to indirectly measure the contact force. However, the above two contact force measurements are both lazy to the force sensor with higher cost, and the cost of the six-dimensional force sensor and the torque sensor is even higher than that of the mechanical arm body, so that the six-dimensional force sensor and the torque sensor are difficult to popularize in engineering application. Therefore, how to achieve a measurement of contact force without a six-dimensional force sensor and a torque sensor remains a very challenging problem.
Disclosure of Invention
The present invention aims to solve at least to some extent one of the technical problems in the above-described technology. Therefore, the invention aims to provide a pneumatic polishing device which can improve the control precision of output contact force, and can effectively reduce the influence of hysteresis characteristics of the device on the predicted value of the output contact force, so that the prediction and control precision of the output contact force of the device can be improved, and further, the consistency and stability of the stress of a workpiece to be polished and the surface processing quality of the workpiece to be polished can be ensured.
In order to achieve the above object, an embodiment of the present invention provides a pneumatic polishing device, including: a base; the workbench is fixed on the base; the mechanical arm is fixed on the workbench; the pneumatic polishing controller is arranged at one end of the mechanical arm; the pneumatic polishing actuator is connected with the pneumatic polishing controller; the pneumatic polishing platform is fixed on the machine base; the pneumatic polishing platform is used for fixing a workpiece to be polished, acquiring the actual contact force in the vertical direction acting on the workpiece to be polished, and the pneumatic polishing controller is used for controlling the output contact force of the pneumatic polishing actuator and adjusting the output contact force of the pneumatic polishing actuator according to the actual contact force in the vertical direction acting on the workpiece to be polished, which is acquired by the pneumatic polishing platform.
According to the pneumatic polishing device provided by the embodiment of the invention, the workpiece to be polished is fixed through the pneumatic polishing platform, the output contact force acting on the workpiece to be polished is obtained, the output contact force of the pneumatic polishing actuator is controlled through the pneumatic polishing controller, and the output contact force of the pneumatic polishing actuator is regulated according to the output contact force acting on the workpiece to be polished, which is obtained by the pneumatic polishing platform, so that the control precision of the output contact force can be improved, the influence of hysteresis characteristics of the device on the predicted value of the output contact force of the device can be effectively reduced, the prediction and control precision of the output contact force of the device can be improved, and the consistency and stability of the stress of the workpiece to be polished and the surface processing quality of the workpiece to be polished can be ensured.
In addition, the pneumatic polishing device according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, the pneumatic polishing controller comprises a pneumatic servo valve, a guide rail type air cylinder and a mechanical arm connecting plate, wherein the pneumatic servo valve and the guide rail type air cylinder are fixed at one end of the mechanical arm through the mechanical arm connecting plate, and the pneumatic servo valve controls the air pressure input into the guide rail type air cylinder to control the lifting distance of the guide rail type air cylinder.
According to one embodiment of the invention, the pneumatic polishing actuator comprises a polishing motor, a polishing head, a polishing connecting plate and an electric drill chuck, wherein the polishing motor is connected with the polishing head through the electric drill chuck, and the polishing motor and the electric drill chuck are fixed on the guide rail type air cylinder through the polishing connecting plate.
According to one embodiment of the invention, the pneumatic polishing platform comprises a guide rail bracket, a guide rail, a sliding block, a tool clamp bracket, a tool clamp and a pressure sensor, wherein the guide rail bracket is fixed on the base, the tool clamp bracket is arranged on the guide rail through the sliding block, and the pressure sensor is fixed on the tool clamp bracket to acquire the actual contact force acting on the workpiece to be polished in the vertical direction.
According to one embodiment of the invention, the pneumatic polishing controller adopts a modified split-state rational Bezier curve fitting algorithm to control the output contact force of the pneumatic polishing actuator.
According to one embodiment of the invention, the expression of the improved split-state rational bezier curve fitting algorithm is:
wherein x is i And x d Speed state variables representing the rising and falling phases of the input air pressure, respectively.
According to one embodiment of the invention, wherein f b (x) A rational bezier curve function is represented, the expression of which is:
wherein n represents the fitting order, w i-1 Representing the weight coefficient, p i-1 Representing the coefficients to be fitted.
Drawings
FIG. 1 is a schematic structural view of a pneumatic polishing device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the pneumatic polishing controller and the pneumatic polishing actuator according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a front structure of a pneumatic polishing platform according to an embodiment of the present invention;
FIG. 4 is a schematic view of the back structure of a pneumatic polishing platform according to an embodiment of the present invention;
FIG. 5 is a flow chart of predicting the output contact force of a pneumatic polishing apparatus according to an embodiment of the present invention;
FIG. 6 is an identification diagram of a BSCM algorithm-based input air pressure and output contact force relationship model according to one embodiment of the present invention;
FIG. 7 is an identification of a prior art input air pressure versus output contact force model;
fig. 8 is a graph comparing output contact force with actual contact force based on BSCM algorithm according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of a pneumatic polishing device according to an embodiment of the present invention.
As shown in fig. 1, the pneumatic polishing device according to the embodiment of the present invention includes: a stand 10; a work table 20, the work table 20 being fixed to the machine base 10; the mechanical arm 30, the mechanical arm 30 is fixed on the workbench 20; the pneumatic polishing controller 40 is arranged at one end of the mechanical arm 30; the pneumatic polishing actuator 50, wherein the pneumatic polishing actuator 50 is connected with the pneumatic polishing controller 40; the pneumatic polishing platform 60, the pneumatic polishing platform 60 is fixed on the machine base. The pneumatic polishing platform 60 is used for fixing a workpiece to be polished, acquiring an actual contact force in the vertical direction acting on the workpiece to be polished, and the pneumatic polishing controller 40 is used for controlling the output contact force of the pneumatic polishing actuator 50, and adjusting the output contact force of the pneumatic polishing actuator 50 according to the actual contact force in the vertical direction acting on the workpiece to be polished, acquired by the pneumatic polishing platform 60.
In one embodiment of the present invention, as shown in fig. 2, the pneumatic polishing controller 40 may include a pneumatic servo valve 401, a rail type cylinder 402, and a robot arm connection plate 403, wherein the pneumatic servo valve 401 and the rail type cylinder 402 may be fixed at one end of the robot arm 30 through the robot arm connection plate 403, and the pneumatic servo valve 401 may control the lifting distance of the rail type cylinder 402 by controlling the air pressure inputted into the rail type cylinder 402.
Specifically, as shown in fig. 2, the arm connection plate 403 may include a first connection plate 4031, a second connection plate 4032, and a third connection plate 4033, wherein the first connection plate 4031 and the second connection plate 4032 may be fixed to both sides of the third connection plate 4033, respectively, may be welded to opposite end surfaces of the third connection plate 4033, for example, and further, connection holes a, b (not shown) and c (not shown) are provided on the first connection plate 4031, the second connection plate 4032, and the third connection plate 4033, respectively, whereby the arm connection plate 403 may be fixed to one end of the arm 30 through the connection hole a, may be fixed to one end of the arm 30 through a bolt connection, the pneumatic servo valve 401 may be fixed to the second connection plate 4032 through the connection hole b, may be fixed to the second connection plate 4032 through a bolt connection, and the rail cylinder 402 may be fixed to the third connection plate 4033 through the connection hole c, for example, may be fixed to the third connection plate 4033 through a bolt connection.
In one embodiment of the present invention, as shown in fig. 2, the pneumatic polishing actuator 50 may include a polishing motor 501, a polishing head 502, a polishing connection plate 503, and a drill chuck 504, wherein the polishing motor 501 is connected to the polishing head 502 through the drill chuck 504, and the polishing motor 501 and the drill chuck 504 are fixed to the rail cylinder 402 through the polishing connection plate 503.
Specifically, as shown in fig. 2, the polishing connection plate 503 may include a first polishing connection plate 5031 and a second polishing connection plate 5032, wherein the first polishing connection plate 5031 is fixed to one side of the second polishing connection plate 5032, for example, may be welded to one end surface of the second polishing connection plate 5032, and further, the first polishing connection plate 5031 and the second polishing connection plate 5032 are respectively provided with a connection hole e and a connection hole f (not shown), whereby the first polishing connection plate 5031 may be fixed to the rail cylinder 402 through the connection hole e, for example, may be fixed to the rail cylinder 402 through a bolt connection, and the polishing motor 501 and the electric drill chuck 504 may be fixed to the second polishing connection plate 5032 through the connection hole f, for example, may be fixed to the second polishing connection plate 5032 through a snap connection.
In one embodiment of the present invention, as shown in fig. 3, the pneumatic polishing platform 60 includes a rail bracket 601, a rail 602, a slider 603, a tool holder bracket 604, a tool holder 605, and a pressure sensor 606, wherein the rail bracket 601 is fixed to the machine base 10, the tool holder bracket 604 is provided on the rail 602 through the slider 603, and the pressure sensor 606 is fixed to the tool holder bracket 604 to obtain a vertical-direction actual contact force acting on a workpiece to be polished. Through setting up slider guide rail mechanism, can guarantee the unidirectional transmission of actual contact force to can get rid of the interference of other direction forces, can adopt low-cost pressure sensor to realize the measurement of polishing force from this.
Specifically, as shown in fig. 3, the tool holder 604 may include a tool holder connection plate 6041 and a tool holder support plate 6042, wherein the tool holder connection plate 6041 may be fixed on the slide 603 to move on the guide rail 602 by the slide 603, and the tool holder support plate 6042 may be fixed on the tool holder connection plate 6041 for placing the tool holder 605.
More specifically, as shown in fig. 3, the pneumatic polishing platform 60 further includes a corner bracket 607 and a pressure sensor fixing member 608, wherein the corner bracket 607 may be used to fixedly connect the tool holder connection plate 6041 and the tool holder support plate 6042, and the pressure sensor fixing member 608 may be used to fix the pressure sensor 606. Further, as shown in fig. 1 and 4, the pneumatic polishing platform 60 further includes a rail support plate 609 and an extrusion corner bracket 610, wherein the rail support plate 609 is fixed on one side of the rail support 601 and is fixedly extruded by the extrusion corner bracket 610, and further, the fixing support plate 100 may be connected to the fixing support plate 100 through the corner bracket 607, and the fixing support plate 100 may be fixed on the stand 10 through the corner bracket 607.
Based on the above structure, the pneumatic polishing apparatus according to the embodiment of the present invention may be configured, and a control process of the pneumatic polishing apparatus according to the embodiment of the present invention will be specifically described below.
Firstly, it should be noted that, the pneumatic servo valve of the pneumatic polishing device can realize continuous control of the input air pressure, and also can feed back the voltage corresponding to the actual input air pressure, and the output contact force of the pneumatic servo valve of the pneumatic polishing device can be predicted according to the feedback voltage. However, an obvious hysteresis exists between the input air pressure and the output contact force of the pneumatic servo valve of the conventional pneumatic polishing device, and the prediction accuracy of the output contact force of the pneumatic polishing device is affected.
Based on the above knowledge, the present invention adopts an improved split-state rational bezier curve fitting algorithm to predict and control the output contact force of the starting polishing device in the above embodiment, specifically, as shown in fig. 5, the process of predicting and controlling the output contact force of the pneumatic polishing device of the present invention may include the following steps:
s1, acquiring the input air pressure of the pneumatic servo valve.
Specifically, the input air pressure of the pneumatic servo valve may be calculated by acquiring a feedback voltage of the pneumatic servo valve, i.e., a corresponding voltage for controlling the input air pressure.
S2, calculating the output contact force of the pneumatic polishing device according to the input air pressure by adopting an improved split-state rational Bezier curve fitting algorithm.
The expression of the improved split-state rational Bezier curve fitting algorithm is as follows:
wherein x is i And x d Speed state variables representing the rising and falling phases of the input air pressure, respectively.
Further, f b (x) A rational bezier curve function is represented, the expression of which is:
wherein n represents the fitting order, w i-1 Representing the weight coefficient, p i-1 Representing the coefficients to be fitted.
Further, the coefficient to be fitted and the weight coefficient may be obtained by optimizing an objective function, and the expression of the objective function is:
o b ＝min(||e b || 2 )
wherein e b ＝f-f b (x) Representing residual errors.
From this, the identification result shown in fig. 6, that is, the relation model of the input air pressure and the output contact force, and further combining the relation model of the input air pressure and the output contact force obtained in the prior art shown in fig. 7, it can be known that the invention adopts the improved split-state rational bezier curve fitting algorithm, that is, the fitting model of BSCM only needs 2 steps and can fully consider the hysteresis characteristic between the input air pressure and the output contact force of the pneumatic servo valve of the pneumatic polishing device.
Further, the actual contact force in the vertical direction acting on the workpiece to be polished can also be obtained through the pneumatic polishing platform, and the difference between the actual contact force and the output contact force can be compared. Specifically, as shown in fig. 8, the invention adopts an improved split-state rational bezier curve fitting algorithm, namely a comparison graph between the output contact force and the actual contact force obtained by a BSCM algorithm, so that the coincidence ratio of the actual contact force and the output contact force is higher, the influence of hysteresis characteristics of the pneumatic polishing device on the predicted value of the output contact force can be effectively reduced, and the prediction precision of the output contact force of the pneumatic polishing device can be improved.
According to the pneumatic polishing device provided by the embodiment of the invention, the workpiece to be polished is fixed through the pneumatic polishing platform, the output contact force acting on the workpiece to be polished is obtained, the output contact force of the pneumatic polishing actuator is controlled through the pneumatic polishing controller, and the output contact force of the pneumatic polishing actuator is regulated according to the output contact force acting on the workpiece to be polished, which is obtained by the pneumatic polishing platform, so that the control precision of the output contact force can be improved, the influence of hysteresis characteristics of the device on the predicted value of the output contact force of the device can be effectively reduced, the prediction and control precision of the output contact force of the device can be improved, and the consistency and stability of the stress of the workpiece to be polished and the surface processing quality of the workpiece to be polished can be ensured.
In the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The meaning of "a plurality of" is two or more, unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms are not necessarily for 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Claims (3)
1. A pneumatic polishing device, comprising:
a base;
the workbench is fixed on the base;
the mechanical arm is fixed on the workbench;
the pneumatic polishing controller is arranged at one end of the mechanical arm;
the pneumatic polishing actuator is connected with the pneumatic polishing controller;
the pneumatic polishing platform is fixed on the machine base;
wherein the pneumatic polishing platform is used for fixing a workpiece to be polished and acquiring the actual contact force in the vertical direction acting on the workpiece to be polished, the pneumatic polishing controller is used for controlling the output contact force of the pneumatic polishing actuator and adjusting the output contact force of the pneumatic polishing actuator according to the actual contact force in the vertical direction acting on the workpiece to be polished acquired by the pneumatic polishing platform,
the pneumatic polishing platform comprises a guide rail bracket, a guide rail, a sliding block, a fixture bracket, a fixture and a pressure sensor, wherein the guide rail bracket is fixed on the machine base, the fixture bracket is arranged on the guide rail through the sliding block, the pressure sensor is fixed on the fixture bracket to obtain the actual contact force acting on the workpiece to be polished in the vertical direction,
the pneumatic polishing controller adopts an improved split-state rational Bezier curve fitting algorithm to control the output contact force of the pneumatic polishing actuator,
the expression of the improved split-state rational Bezier curve fitting algorithm is as follows:
，
wherein,and->Speed state variables representing the rising and falling phases of the input air pressure,
wherein,a rational bezier curve function is represented, the expression of which is:
，
wherein,nthe order of the fit is represented and,representing the weight coefficient, ++>Representing the coefficients to be fitted.
2. The pneumatic polishing device according to claim 1, wherein the pneumatic polishing controller comprises a pneumatic servo valve, a guide rail type cylinder and a mechanical arm connecting plate, wherein the pneumatic servo valve and the guide rail type cylinder are fixed at one end of the mechanical arm through the mechanical arm connecting plate, and the pneumatic servo valve controls the lifting distance of the guide rail type cylinder by controlling the air pressure input into the guide rail type cylinder.
3. The pneumatic polishing device of claim 2, wherein the pneumatic polishing actuator comprises a polishing motor, a polishing head, a polishing connection plate and an electric drill chuck, wherein the polishing motor is connected to the polishing head through the electric drill chuck, and the polishing motor and the electric drill chuck are fixed on the guide rail type cylinder through the polishing connection plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111164607.XA CN113878473B (en) | 2021-09-30 | 2021-09-30 | Pneumatic grinding and polishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111164607.XA CN113878473B (en) | 2021-09-30 | 2021-09-30 | Pneumatic grinding and polishing device |
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| Publication Number | Publication Date |
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| CN113878473A CN113878473A (en) | 2022-01-04 |
| CN113878473B true CN113878473B (en) | 2023-12-19 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB139893A (en) * | 1919-03-12 | 1920-03-18 | Arc And General Equipment Ltd | Improvements in rope and cable grips |
| CN201904753U (en) * | 2010-12-28 | 2011-07-20 | 常州工学院 | Voltage stabilizer for vehicle generator |
| CN105726006A (en) * | 2005-04-13 | 2016-07-06 | 爱德华兹生命科学公司 | Pulse contour method and apparatus for continuous assessment of a cardiovascular parameter |
| CN205876615U (en) * | 2016-07-04 | 2017-01-11 | 徐波东 | Wind power system of wind energy is utilized to high efficiency |
| CN213318794U (en) * | 2020-10-15 | 2021-06-01 | 常州心匠智能装备有限公司 | Laser cladding and electrolytic grinding combined machining device |
-
2021
- 2021-09-30 CN CN202111164607.XA patent/CN113878473B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB139893A (en) * | 1919-03-12 | 1920-03-18 | Arc And General Equipment Ltd | Improvements in rope and cable grips |
| CN105726006A (en) * | 2005-04-13 | 2016-07-06 | 爱德华兹生命科学公司 | Pulse contour method and apparatus for continuous assessment of a cardiovascular parameter |
| CN201904753U (en) * | 2010-12-28 | 2011-07-20 | 常州工学院 | Voltage stabilizer for vehicle generator |
| CN205876615U (en) * | 2016-07-04 | 2017-01-11 | 徐波东 | Wind power system of wind energy is utilized to high efficiency |
| CN213318794U (en) * | 2020-10-15 | 2021-06-01 | 常州心匠智能装备有限公司 | Laser cladding and electrolytic grinding combined machining device |
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|---|---|
| CN113878473A (en) | 2022-01-04 |
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