CN114523408B - Robot polishing device and method based on spindle type polishing head - Google Patents
Robot polishing device and method based on spindle type polishing head Download PDFInfo
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- CN114523408B CN114523408B CN202210228568.3A CN202210228568A CN114523408B CN 114523408 B CN114523408 B CN 114523408B CN 202210228568 A CN202210228568 A CN 202210228568A CN 114523408 B CN114523408 B CN 114523408B
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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
- B24B1/005—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes using a magnetic polishing agent
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- 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
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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 relates to a robot polishing device and method based on a spindle type polishing head. The tail end of a robot body in the device is connected with a main shaft motor fixing seat through an L-shaped connecting plate; the spindle motor is arranged on the spindle motor fixing seat; the output shaft of the spindle motor is provided with a synchronizing wheel; the synchronous wheel transmits power to the transmission shaft through a synchronous belt; the transmission shaft is connected with one end of the spindle-shaped polishing head; the other end of the spindle-shaped polishing head is connected with the rotary thimble; the baffle is arranged obliquely above the spindle-shaped polishing head; the piezoelectric pump is arranged on the side surface of the L-shaped connecting plate and is arranged below the spindle motor; the inlet and the outlet of the piezoelectric pump are both connected with a conduit; the guide tube fixing frame is used for fixing the middle section of the guide tube of the outlet of the piezoelectric pump on the baffle; the tail end of the guide pipe is arranged between the spindle type polishing head and the disc type workpiece; the pneumatic rotating three-jaw chuck is arranged above the workbench; the invention can solve the problem of uneven removal of the surface material of the workpiece, thereby improving the polishing precision.
Description
Technical Field
The invention relates to the field of ultra-precision polishing, in particular to a robot polishing device and method based on a spindle type polishing head.
Background
Magnetorheological polishing is an emerging flexible polishing technology, and is more and more favored by experts in the polishing industry due to controllable flexibility, but still has more defects, especially for polishing disc workpieces. The magnetic field is controlled by controlling the polishing clearance, but because the linear speed of the disc workpiece has gradient during polishing, the removal quantity MRR also has gradient change according to the traditional Preston removal formula, so that the uneven removal phenomenon of the surface material of the workpiece is easy to occur on the surface of the polished disc workpiece, and the polishing precision is not ideal.
Therefore, it is desirable to provide a new polishing apparatus or method to solve the problem of non-uniform removal of surface material from a workpiece.
Disclosure of Invention
The invention aims to provide a robot polishing device and method based on a spindle type polishing head, which can solve the problem of uneven removal of the surface material of a workpiece and further improve the polishing precision.
In order to achieve the purpose, the invention provides the following scheme:
a robot polishing device based on a spindle-type polishing head comprises: the device comprises a spindle type polishing head, a pneumatic rotating three-jaw chuck, a workbench, a robot base, a robot body, an L-shaped connecting plate, a spindle motor fixing seat, a spindle motor, a piezoelectric pump, a guide pipe fixing clamp, a synchronous wheel, a synchronous belt, a baffle, a transmission shaft and a rotary thimble;
the robot body is arranged on the robot base;
the tail end of the robot body is connected with the spindle motor fixing seat through an L-shaped connecting plate;
the spindle motor is arranged on the spindle motor fixing seat; the spindle motor is used for providing polishing power;
the output shaft of the spindle motor is provided with the synchronizing wheel;
the synchronous wheel transmits power to the transmission shaft through a synchronous belt;
the transmission shaft is connected with one end of the spindle-shaped polishing head; the other end of the spindle-shaped polishing head is connected with the rotary thimble;
the baffle is arranged obliquely above the spindle-shaped polishing head; the baffle is used for shielding the magnetorheological polishing solution thrown out during polishing;
the piezoelectric pump is arranged on the side surface of the L-shaped connecting plate and is arranged below the spindle motor;
the inlet and the outlet of the piezoelectric pump are both connected with a conduit; the conduit is used for conveying magnetorheological polishing solution;
the catheter fixing frame is used for fixing the middle section of the catheter at the outlet of the piezoelectric pump on the baffle;
the tail end of the guide pipe is arranged between the spindle type polishing head and the disc type workpiece;
the pneumatic rotating three-jaw chuck is arranged above the workbench; the pneumatic rotary three-jaw chuck is used for clamping disc workpieces and realizing the rotary motion of the disc workpieces under the action of an air source.
Optionally, the spindle-type polishing head is made of a permanent magnet.
Optionally, the method further comprises: a bearing seat;
the bearing block is respectively connected with the transmission shaft and the rotary thimble.
A robot polishing method based on a spindle type polishing head is applied to a robot polishing device based on the spindle type polishing head, and comprises the following steps:
acquiring surface topography characteristic parameters of a disc workpiece to be polished; the surface topography feature parameters include: surface roughness and flatness;
determining the removal depth and the removal amount corresponding to each point on the surface of the disc workpiece to be polished according to the surface topography characteristic parameters of the disc workpiece to be polished and the surface topography characteristic parameters of the finished workpiece;
determining a polishing gap and the angular speed of the disc type workpiece to be polished according to the influence parameters of the spindle type polishing head, the parameters of the magnetorheological polishing solution, the basic parameters of the disc type workpiece to be polished and the removal depth and the removal amount corresponding to each point on the surface of the disc type workpiece to be polished; the influencing parameters include: gradient magnetic field intensity and spindle-shaped polishing head radius; the basic parameters include: grinding, removing area and hardness of a disc workpiece to be polished; the parameters of the magnetorheological polishing solution comprise: shear stress, yield stress, volume ratio concentration of magnetic particles in the magnetorheological polishing solution, vacuum permeability, permeability of base solution and permeability of the magnetic particles;
according to the magnetic field intensity of the spindle type polishing head, aligning the region with the strongest gradient magnetic field of the spindle type polishing head to the circle center of the disc type workpiece to be polished; aligning the weakest area of the gradient magnetic field of the spindle type polishing head to the outermost edge area of the disc type workpiece to be polished; placing the spindle type polishing head along the diameter direction of the disc type workpiece to be polished, so that the central axial cross section of the spindle type polishing head is coplanar with the diameter of the disc type workpiece to be polished;
determining the path moving track of the spindle type polishing head according to the polishing gap; and determining the angular speed of the pneumatic rotating three-jaw chuck according to the angular speed of the disc workpiece to be polished.
Optionally, before determining the polishing gap and the angular velocity of the disc-like workpiece to be polished according to the influence parameter of the spindle-type polishing head, the parameter of the magnetorheological polishing liquid, the basic parameter of the disc-like workpiece to be polished, and the removal depth and the removal corresponding to each point on the surface of the disc-like workpiece to be polished, the method further includes:
performing polynomial fitting by using magnetic field simulation data to obtain a functional relation of the magnetic field strength with respect to the coordinate X;
and (4) obtaining the shear stress and the yield stress of the polishing solution under the same working condition by fitting experimental data measured by a rheometer.
Optionally, the determining, according to the influence parameter of the spindle-type polishing head, the parameter of the magnetorheological polishing solution, the basic parameter of the disc-type workpiece to be polished, and the removal depth and the removal amount corresponding to each point on the surface of the disc-type workpiece to be polished, the polishing gap and the angular velocity of the disc-type workpiece to be polished specifically include:
using formulas
Determining the removal depth corresponding to each point on the surface of the disc workpiece to be polished;
h is the removal depth, K is the dimensionless abrasion removal coefficient, P is the positive pressure applied to the surface of the disc workpiece to be polished, S is the grinding process, A is the removal area of the working area of the magnetic flow polishing solution and the surface of the disc workpiece to be polished, and H 1 The hardness of the surface of the disc-like workpiece.
Optionally, the determining, according to the influence parameter of the spindle-type polishing head, the parameter of the magnetorheological polishing solution, the basic parameter of the disc-type workpiece to be polished, and the removal depth and the removal amount corresponding to each point on the surface of the disc-type workpiece to be polished, the polishing gap and the angular velocity of the disc-type workpiece to be polished specifically include:
using formulas
Determining the positive pressure applied to the surface of a disc workpiece to be polished;
wherein P is the positive pressure on the surface of the disc-like workpiece to be polished, eta 0 V = ω initial viscosity of the magnetic fluid polishing slurry 2 R is the linear velocity of the disc-like workpiece to be polished, x is the coordinate axis, R is the radius of the spindle-shaped polishing head, phi is the volume ratio concentration of the magnetic particles in the magnetic current polishing solution, mu 0 Is a vacuum permeability, mu f Is the magnetic permeability of the base liquid, mu p The magnetic permeability of the magnetic particles, H is the gradient magnetic field intensity, alpha is the included angle between the Z axis and the connecting line of a certain point on the surface of the disc workpiece to be polished and the curvature center of the spindle type polishing head, and H is m0 The distance from the pressure maximum to the disc-like workpiece to be polished.
Optionally, the determining, according to the influence parameter of the spindle-type polishing head, the parameter of the magnetorheological polishing solution, the basic parameter of the disc-type workpiece to be polished, and the removal depth and the removal amount corresponding to each point on the surface of the disc-type workpiece to be polished, the polishing gap and the angular velocity of the disc-type workpiece to be polished specifically include:
using formulas
Determining the distance from the maximum pressure value to the disc-type workpiece to be polished;
wherein tau is shear stress, tau 0 (H) Is the yield stress.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a robot polishing device and method based on a spindle type polishing head, wherein a robot body is arranged on a robot base; the tail end of the robot body is connected with the spindle motor fixing seat through an L-shaped connecting plate; the spindle motor is arranged on the spindle motor fixing seat; the spindle motor is used for providing polishing power; the output shaft of the spindle motor is provided with the synchronizing wheel; the synchronous wheel transmits power to the transmission shaft through a synchronous belt; the transmission shaft is connected with one end of the spindle-shaped polishing head; the other end of the spindle-shaped polishing head is connected with the rotary thimble; the baffle is arranged above the spindle-shaped polishing head in an inclined mode; the baffle is used for shielding the magnetorheological polishing solution thrown out during polishing; the piezoelectric pump is arranged on the side surface of the L-shaped connecting plate and is arranged below the spindle motor; the inlet and the outlet of the piezoelectric pump are both connected with a conduit; the conduit is used for conveying magnetorheological polishing solution; the catheter fixing frame is used for fixing the middle section of the catheter at the outlet of the piezoelectric pump on the baffle; the tail end of the guide pipe is arranged between the spindle type polishing head and the disc type workpiece; the pneumatic rotary three-jaw chuck is arranged above the workbench; the pneumatic rotary three-jaw chuck is used for clamping disc type workpieces and realizing the rotary motion of the disc type workpieces under the action of an air source.
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 robot polishing apparatus based on a spindle-type polishing head according to the present invention;
FIG. 2 is a schematic diagram of the distribution of gradient magnetic field of spindle-type polishing head;
FIG. 3 is a schematic diagram of the working principle of spindle-type polishing head for polishing and removing disc-type workpieces.
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a robot polishing device and method based on a spindle type polishing head, which can solve the problem of uneven removal of surface materials of a workpiece and further improve polishing precision.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
Fig. 1 is a schematic structural diagram of a robot polishing apparatus based on a spindle-type polishing head provided by the present invention, fig. 3 is a schematic diagram of a working principle of polishing and removing a disc-like workpiece 3 by a spindle-type polishing head 1, and as shown in fig. 1 and fig. 3, the robot polishing apparatus based on a spindle-type polishing head provided by the present invention includes: the device comprises a spindle hammer type polishing head 1, a pneumatic rotating three-jaw chuck 4, a workbench 5, a robot base 6, a robot body 7, an L-shaped connecting plate 8, a spindle motor fixing seat 9, a spindle motor 10, a piezoelectric pump 11, a guide pipe 12, a guide pipe fixing clamp 13, a synchronizing wheel 15, a synchronizing belt 16, a baffle 17, a transmission shaft 18 and a rotary thimble 19;
the robot body 7 is mounted on the robot base 6;
the tail end of the robot body 7 is connected with a spindle motor fixing seat 9 through an L-shaped connecting plate 8;
the spindle motor 10 is mounted on the spindle motor fixing seat 9; the spindle motor 10 is used for providing polishing power;
the output shaft of the spindle motor 10 is provided with the synchronous wheel 15;
the synchronous wheel 15 transmits power to the transmission shaft 18 through a synchronous belt 16;
the transmission shaft 18 is connected with one end of the spindle-shaped polishing head; the other end of the spindle-shaped polishing head is connected with a rotary thimble 19;
the baffle 17 is arranged obliquely above the spindle-shaped polishing head; the baffle 17 is used for shielding the magnetorheological polishing solution 2 thrown out during polishing;
the piezoelectric pump 11 is installed on the side surface of the L-shaped connecting plate 8 and below the spindle motor 10; the piezoelectric pump 11 controls the conduit 1212 to convey the magnetorheological polishing solution 2 by applying voltage, so that the magnetorheological polishing solution 2 is recycled;
the inlet and the outlet of the piezoelectric pump 11 are both connected with a conduit 12; the conduit 12 is used for conveying magnetorheological polishing solution 2;
the catheter 12 fixing frame is used for fixing the middle section of the catheter 12 at the outlet of the piezoelectric pump 11 on the baffle 17;
the tail end of the guide pipe 12 is arranged between the spindle type polishing head 1 and the disc type workpiece 3;
the pneumatic rotating three-jaw chuck 4 is arranged above the workbench 5; the pneumatic rotary three-jaw chuck 4 is used for clamping the disc type workpiece 3 and realizing the rotary motion of the disc type workpiece 3 under the action of an air source.
The spindle type polishing head 1 is made of a permanent magnet.
The invention provides a robot polishing device based on a spindle type polishing head, which further comprises: a bearing seat 14;
the bearing seat 14 is connected to the transmission shaft 18 and the rotary ejector pin 19, respectively.
The invention provides a robot polishing method based on a spindle-type polishing head, which is applied to a robot polishing device based on the spindle-type polishing head, and the robot polishing method comprises the following steps:
s101, obtaining surface topography characteristic parameters of a disc type workpiece 3 to be polished; the surface topography feature parameters include: surface roughness and flatness;
s102, determining the removal depth and the removal amount corresponding to each point on the surface of the disc type workpiece 3 to be polished according to the surface topography characteristic parameters of the disc type workpiece 3 to be polished and the surface topography characteristic parameters of the finished workpiece;
s103, determining a polishing gap and the angular speed of the disc type workpiece 3 to be polished according to the influence parameters of the spindle type polishing head 1, the parameters of the magnetorheological polishing solution 2, the basic parameters of the disc type workpiece 3 to be polished and the removal depth and the removal amount corresponding to each point on the surface of the disc type workpiece 3 to be polished; the influencing parameters include: gradient magnetic field intensity and spindle-shaped polishing head radius; the basic parameters include: grinding, removing area and hardness of the disc type workpiece 3 to be polished; the parameters of the magnetorheological polishing solution 2 comprise: shear stress, yield stress, volume ratio concentration of magnetic particles in the magnetorheological polishing solution 2, vacuum permeability, permeability of base liquid and permeability of the magnetic particles;
s104, aligning the region with the strongest gradient magnetic field of the spindle type polishing head 1 to the center of the circle of the disc type workpiece 3 to be polished according to the magnetic field intensity of the spindle type polishing head 1; aligning the weakest area of the gradient magnetic field of the spindle type polishing head 1 to the outermost edge area of the disc type workpiece 3 to be polished; the spindle type polishing head 1 is arranged along the diameter direction of the disc type workpiece 3 to be polished, so that the central axial cross section of the spindle type polishing head 1 is coplanar with the diameter of the disc type workpiece 3 to be polished, namely, the linear velocity gradient change of the disc type workpiece 3 is compensated by the magnetic pressure of the gradient magnetic field, the polishing pressure is in dynamic balance all the time, and the stable threshold value is kept.
Considering the angular velocity omega of the disc-like workpiece 3 2 And the resulting linear velocity v = ω 2 R, taking into account the linear velocity in the radial direction from the center of the circleThe gradient of the degree is changed, and the gradient magnetic field generated by the spindle type polishing head 1 is shown in fig. 2.
S105, determining a path moving track of the spindle type polishing head 1 according to the polishing gap; the angular velocity of the pneumatically-rotated three-jaw chuck 4 is determined according to the angular velocity of the disc-like workpiece 3 to be polished.
Before S103, further comprising:
carrying out polynomial fitting by utilizing magnetic field simulation data to obtain a functional relation of the magnetic field intensity with respect to the coordinate X;
H＝ax 4 +bx 3 +cx 2 +dx+e；
wherein a, b, c, d and e are fitting coefficients.
And fitting the measured experimental data of the rheometer to obtain the shear stress and the yield stress of the polishing solution under the same working condition.
S103, specifically comprising:
using formulas
Determining the removal depth corresponding to each point on the surface of the disc type workpiece 3 to be polished;
wherein H is the removal depth, K is the dimensionless wear removal coefficient, P is the positive pressure applied to the surface of the disc workpiece 3 to be polished, S is the grinding process, A is the removal area of the magnetic flow polishing solution working area and the surface of the disc workpiece 3 to be polished, and H 1 The hardness of the surface of the disc-like workpiece 3.
Using formulas
Determining the positive pressure applied to the surface of the disc workpiece 3 to be polished;
wherein P is the positive pressure, eta, to which the surface of the disc-like workpiece 3 to be polished is subjected 0 V = ω initial viscosity of the magnetic fluid polishing slurry 2 R is the linear velocity of the disc-like workpiece 3 to be polished, x is the coordinate axis, R is the radius of the spindle-shaped polishing head, phi is the volume ratio concentration of the magnetic particles in the magnetic current polishing solution, mu 0 Is a vacuum permeability, mu f Magnetic permeability of base fluid, mu p The magnetic permeability of the magnetic particles, H is the gradient magnetic field intensity, alpha is the included angle between the connecting line of a certain point on the surface of the disc type workpiece 3 to be polished and the curvature center of the spindle type polishing head 1 and the Z axis, and H is m0 The distance from the pressure maximum to the disc-like workpiece 3 to be polished.
Using formulas
Determining the distance from the maximum pressure value to the disc-like workpiece 3 to be polished;
wherein τ is shear stress, τ 0 (H) Is the yield stress.
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. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
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. A robot polishing device based on a spindle-type polishing head is characterized by comprising: the device comprises a spindle type polishing head, a pneumatic rotary three-jaw chuck, a workbench, a robot base, a robot body, an L-shaped connecting plate, a spindle motor fixing seat, a spindle motor, a piezoelectric pump, a guide pipe fixing clamp, a synchronous wheel, a synchronous belt, a baffle, a transmission shaft and a rotary thimble;
the robot body is arranged on the robot base;
the tail end of the robot body is connected with the spindle motor fixing seat through an L-shaped connecting plate;
the spindle motor is arranged on the spindle motor fixing seat; the spindle motor is used for providing polishing power;
the output shaft of the spindle motor is provided with the synchronizing wheel;
the synchronous wheel transmits power to the transmission shaft through a synchronous belt;
the transmission shaft is connected with one end of the spindle type polishing head; the other end of the spindle type polishing head is connected with a rotary thimble;
the baffle is arranged above the spindle type polishing head in an inclined mode; the baffle is used for shielding the magnetorheological polishing solution thrown out during polishing;
the piezoelectric pump is arranged on the side surface of the L-shaped connecting plate and is arranged below the spindle motor;
the inlet and the outlet of the piezoelectric pump are both connected with a conduit; the conduit is used for conveying magnetorheological polishing solution;
the catheter fixing frame is used for fixing the middle section of the catheter at the outlet of the piezoelectric pump on the baffle;
the tail end of the guide pipe is arranged between the spindle type polishing head and the disc type workpiece;
the pneumatic rotating three-jaw chuck is arranged above the workbench; the pneumatic rotary three-jaw chuck is used for clamping disc workpieces and realizing the rotary motion of the disc workpieces under the action of an air source;
the robot polishing method includes:
acquiring surface topography characteristic parameters of a disc workpiece to be polished; the surface topography feature parameters include: surface roughness and flatness;
determining the removal depth and the removal amount corresponding to each point on the surface of the disc workpiece to be polished according to the surface topography characteristic parameters of the disc workpiece to be polished and the surface topography characteristic parameters of the finished workpiece;
determining a polishing gap and the angular speed of the disc type workpiece to be polished according to the influence parameters of the spindle type polishing head, the parameters of the magnetorheological polishing solution, the basic parameters of the disc type workpiece to be polished and the removal depth and the removal amount corresponding to each point on the surface of the disc type workpiece to be polished; the influencing parameters include: gradient magnetic field intensity and spindle type polishing head radius; the basic parameters include: grinding, removing area and hardness of a disc workpiece to be polished; the parameters of the magnetorheological polishing solution comprise: shear stress, yield stress, volume ratio concentration of magnetic particles in the magnetorheological polishing solution, vacuum magnetic conductivity, magnetic conductivity of base solution and magnetic conductivity of the magnetic particles;
according to the magnetic field intensity of the spindle type polishing head, aligning the region with the strongest gradient magnetic field of the spindle type polishing head to the circle center of the disc type workpiece to be polished; aligning the weakest area of the gradient magnetic field of the spindle type polishing head to the outermost edge area of the disc type workpiece to be polished; placing the spindle type polishing head along the diameter direction of the disc type workpiece to be polished, so that the central axial cross section of the spindle type polishing head is coplanar with the diameter of the disc type workpiece to be polished;
determining the path moving track of the spindle type polishing head according to the polishing gap; and determining the angular speed of the pneumatic rotating three-jaw chuck according to the angular speed of the disc workpiece to be polished.
2. The spindle-type polishing head-based robot polishing device as claimed in claim 1, wherein the spindle-type polishing head is made of a permanent magnet.
3. A robot polishing apparatus based on a spindle-type polishing head as set forth in claim 1, further comprising: a bearing seat;
the bearing block is respectively connected with the transmission shaft and the rotary thimble.
4. A robot polishing method based on a spindle-type polishing head, which is applied to the robot polishing device based on the spindle-type polishing head as claimed in any one of claims 1 to 3, wherein the robot polishing method comprises:
acquiring surface topography characteristic parameters of a disc workpiece to be polished; the surface topography feature parameters include: surface roughness and flatness;
determining the removal depth and the removal amount corresponding to each point on the surface of the disc workpiece to be polished according to the surface topography characteristic parameters of the disc workpiece to be polished and the surface topography characteristic parameters of the finished workpiece;
determining a polishing gap and the angular speed of the disc type workpiece to be polished according to the influence parameters of the spindle type polishing head, the parameters of the magnetorheological polishing solution, the basic parameters of the disc type workpiece to be polished and the removal depth and the removal amount corresponding to each point on the surface of the disc type workpiece to be polished; the influencing parameters include: gradient magnetic field intensity and spindle type polishing head radius; the basic parameters include: grinding, removing area and hardness of a disc workpiece to be polished; the parameters of the magnetorheological polishing solution comprise: shear stress, yield stress, volume ratio concentration of magnetic particles in the magnetorheological polishing solution, vacuum magnetic conductivity, magnetic conductivity of base solution and magnetic conductivity of the magnetic particles;
according to the magnetic field intensity of the spindle type polishing head, aligning the region with the strongest gradient magnetic field of the spindle type polishing head to the circle center of the disc type workpiece to be polished; aligning the weakest area of the gradient magnetic field of the spindle type polishing head to the outermost edge area of the disc type workpiece to be polished; placing the spindle type polishing head along the diameter direction of the disc type workpiece to be polished, so that the central axial cross section of the spindle type polishing head is coplanar with the diameter of the disc type workpiece to be polished;
determining the path moving track of the spindle type polishing head according to the polishing gap; and determining the angular speed of the pneumatic rotating three-jaw chuck according to the angular speed of the disc workpiece to be polished.
5. The method for robot polishing based on spindle-type polishing head according to claim 4, wherein the method for determining the polishing gap and the angular velocity of the disc-type workpiece to be polished according to the influencing parameters of the spindle-type polishing head, the parameters of the magnetorheological polishing solution, the basic parameters of the disc-type workpiece to be polished, and the removal depth and the removal corresponding to each point on the surface of the disc-type workpiece to be polished further comprises:
carrying out polynomial fitting by utilizing magnetic field simulation data to obtain a functional relation of the magnetic field intensity with respect to the coordinate X;
and (4) obtaining the shear stress and the yield stress of the polishing solution under the same working condition by fitting experimental data measured by a rheometer.
6. The robot polishing method based on spindle-type polishing head as claimed in claim 5, wherein the determining of the polishing gap and the angular velocity of the disc-type workpiece to be polished according to the parameters of the spindle-type polishing head, the parameters of the magnetorheological polishing fluid, the basic parameters of the disc-type workpiece to be polished, and the removal depth and the removal amount corresponding to each point on the surface of the disc-type workpiece to be polished specifically comprises:
using formulas
Determining the removal depth corresponding to each point on the surface of the disc workpiece to be polished;
h is the removal depth, K is the dimensionless abrasion removal coefficient, P is the positive pressure applied to the surface of the disc workpiece to be polished, S is the grinding process, A is the removal area of the working area of the magnetic flow polishing solution and the surface of the disc workpiece to be polished, and H 1 The hardness of the surface of the disc-like workpiece.
7. The robot polishing method based on spindle-type polishing head as claimed in claim 6, wherein the determining of the polishing gap and the angular velocity of the disc-type workpiece to be polished according to the parameters of the spindle-type polishing head, the parameters of the magnetorheological polishing fluid, the basic parameters of the disc-type workpiece to be polished, and the removal depth and the removal amount corresponding to each point on the surface of the disc-type workpiece to be polished specifically comprises:
using a formula
Determining the positive pressure applied to the surface of a disc workpiece to be polished;
wherein P is the positive pressure on the surface of the disc-like workpiece to be polished, eta 0 V = ω initial viscosity of the magnetic fluid polishing slurry 2 R is the linear velocity of the disc workpiece to be polished, x is the coordinate axis, R is the radius of the spindle-type polishing head, phi is the volume ratio concentration of the magnetic particles in the magnetic current polishing solution, mu 0 Is a vacuum permeability, mu f Is the magnetic permeability of the base liquid, mu p The magnetic permeability of the magnetic particles, H is the gradient magnetic field intensity, alpha is the included angle between the Z axis and the connecting line of a certain point on the surface of the disc workpiece to be polished and the curvature center of the spindle type polishing head, and H is m0 The distance from the pressure maximum to the disc-like workpiece to be polished.
8. The robot polishing method based on spindle-type polishing head as claimed in claim 7, wherein the determining of the polishing gap and the angular velocity of the disc-type workpiece to be polished according to the parameters of the spindle-type polishing head, the parameters of the magnetorheological polishing fluid, the basic parameters of the disc-type workpiece to be polished, and the removal depth and the removal amount corresponding to each point on the surface of the disc-type workpiece to be polished specifically comprises:
using formulas
Determining the distance from the maximum pressure value to the disc-type workpiece to be polished;
wherein τ is shear stress, τ 0 (H) Is the yield stress.
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