CN114952536A - Two-dimensional constant force platform with replaceable grinding machine - Google Patents
Two-dimensional constant force platform with replaceable grinding machine Download PDFInfo
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- CN114952536A CN114952536A CN202210702074.4A CN202210702074A CN114952536A CN 114952536 A CN114952536 A CN 114952536A CN 202210702074 A CN202210702074 A CN 202210702074A CN 114952536 A CN114952536 A CN 114952536A
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- 238000009434 installation Methods 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000005498 polishing Methods 0.000 claims description 23
- 230000005484 gravity Effects 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 244000137852 Petrea volubilis Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
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- 230000008602 contraction Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/008—Machines comprising two or more tools or having several working posts
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a two-dimensional constant force platform of a replaceable grinding machine, which comprises a bottom plate, a vertical moving mechanism, a transverse moving mechanism and a constant force control system, wherein the bottom plate is provided with a vertical moving mechanism; the vertical moving mechanism is provided with a vertical plate, the transverse moving mechanism is arranged on the vertical plate, the transverse moving mechanism is provided with a transverse plate, the transverse plate is provided with a mounting position for an externally-connected component, and the transverse plate is perpendicular to the vertical plate; the constant force control system comprises a vertical constant force cylinder, a horizontal constant force cylinder, an air source confluence plate, a three-position five-way valve A, a three-position five-way valve B, an electric proportional valve A and an electric proportional valve B; the vertical plate is connected to the vertical constant force cylinder, and the horizontal plate is connected to the horizontal constant force cylinder. Constant force is provided for movement in the Z-axis and X/Y-axis directions, so that a processing workpiece can be polished and ground and the like through constant torque in the Z-axis and X/Y-axis directions; and the installation position of the transverse plate can be replaced by different types of grinding tools or workpieces to be processed, so that the universality is good.
Description
Technical Field
The invention relates to the technical field of constant-force polishing, in particular to a two-dimensional constant-force platform of a replaceable polishing machine.
Background
In high-precision polishing and grinding processing, grinding and polishing pressure applied to a workpiece is an important factor influencing surface processing quality and material removal rate, so that the key for ensuring the processing quality is to ensure the constancy of the grinding and polishing pressure.
Firstly, an integrated constant-force abrasive belt sander is used at the present stage, a constant-force device is built in an abrasive belt machine, the sander with the function which is necessary to be adopted in use cannot be changed into different sanding tools, a common sander cannot adapt to constant sanding force, so that corresponding sanding equipment with the constant-force device needs to be changed every time one tool is changed, and waste of materials and resources is caused;
secondly, the abrasive belt is withstood by the constant force cylinder of the existing constant force abrasive belt grinding machine, so that the constant force contraction rollback processing can be only carried out under one dimensionality.
Thirdly, the polishing mode at the present stage or the robot flange end is installed, the robot flange end has corresponding load requirements, the polishing of single-sheet sand paper is generally only suitable, the polishing consumable material speed is high, the effect of installing a constant force device and an abrasive belt on the robot is relatively poor under the condition that the overall load of a general abrasive belt machine is heavier, and the general larger abrasive belt is adopted, so the teaching of the pose of the robot is relatively difficult.
Fourth, when the product is polished at the present stage under constant force, the constant force device generally cannot be used for clamping the product and two working conditions of the polishing tool, so that equipment with the constant force device needs to be replaced continuously during polishing, resource redundancy is caused, and equipment cost is high.
For example, the self-protection two-degree-of-freedom constant force platform disclosed in chinese patent ZL 202010634668.7 discloses a constant force polishing platform having X-axis constant force and Y-axis constant force, when used in conjunction with a robot, the robot and the constant force polishing platform cannot be well matched with each other, which results in accuracy errors during processing.
Therefore, a new technical solution is needed to solve the above problems.
Disclosure of Invention
In view of the above, the present invention provides a two-dimensional constant force platform of a replaceable grinding machine, which is provided with a transverse plate perpendicular to a vertical plate, so that the two-dimensional constant force platform can move in the Z-axis and X/Y-axis directions, and provides constant force for the movement in the Z-axis and X/Y-axis directions by matching with the arrangement of a vertical constant force cylinder and a horizontal constant force cylinder, so that a workpiece to be processed can be polished and ground by constant torque in the Z-axis and X/Y-axis directions.
In order to achieve the purpose, the invention adopts the following technical scheme:
a two-dimensional constant force platform of a replaceable grinding machine comprises a bottom plate, a vertical moving mechanism, a transverse moving mechanism and a constant force control system; wherein:
the vertical moving mechanism is arranged on the bottom plate and provided with a vertical plate, the transverse moving mechanism is arranged on the vertical plate and provided with a transverse plate, the transverse plate is provided with an installation position for an externally-connected component, and the transverse plate is perpendicular to the vertical plate;
the constant force control system comprises a vertical constant force cylinder, a horizontal constant force cylinder, a gas source collecting plate, a three-position five-way valve A and a three-position five-way valve B, wherein the three-position five-way valve A and the three-position five-way valve B are connected with the gas source collecting plate;
the vertical plate is connected to the vertical constant force cylinder, and the transverse plate is connected to the horizontal constant force cylinder; therefore, the vertical constant force cylinder provides constant force for vertical movement of the vertical plate, and the horizontal constant force cylinder provides constant force for transverse movement of the transverse plate.
As an optimal scheme, the vertical moving mechanism comprises an installation vertical plate and a vertical sliding rail, the installation vertical plate is vertically installed on the bottom plate, the vertical sliding rail is arranged on one side of the installation vertical plate, the vertical plate is arranged on the vertical sliding rail, and the vertical constant force air cylinder drives the vertical plate to vertically move on the vertical sliding rail.
As a preferred scheme, the lateral moving mechanism comprises a mounting transverse plate and a horizontal sliding rail, the mounting transverse plate is vertically mounted on the vertical plate, the horizontal sliding rail is arranged on one side of the mounting transverse plate, the lateral plate is arranged on the horizontal sliding rail, and the horizontal constant force cylinder drives the lateral plate to laterally move on the horizontal sliding rail.
As a preferable scheme, the vertical slide rail is arranged on the front side of the mounting vertical plate, and the vertical constant force cylinder is arranged on the rear side of the mounting vertical plate; the horizontal slide rail is arranged on the upper side of the installation transverse plate, and the horizontal constant-force cylinder is arranged on the lower side of the installation transverse plate.
As a preferred scheme, the vertical constant force cylinder and the horizontal constant force cylinder are respectively connected with the vertical plate and the transverse plate through a connecting plate.
As a preferred scheme, all be equipped with the spacing groove on installation riser and the installation diaphragm, vertical plate and horizontal plate are spacing respectively in corresponding spacing groove.
Preferably, the electric proportional valve a and the electric proportional valve B are respectively erected on the bottom plate through a mounting frame, and the mounting frame is located beside the vertical moving mechanism.
As a preferable scheme, a hand-held handle is arranged on the bottom plate.
Preferably, the mounting position comprises a plurality of T-shaped slots and mounting grooves arranged at intervals, and the mounting grooves penetrate through the upper surface and the lower surface of the transverse plate and are perpendicular to the T-shaped slots.
Preferably, the transverse plate is provided with at least one of a pneumatic polishing head, an electric spindle polisher, a small-sized polishing abrasive belt machine and a workpiece to be processed through a mounting position.
Compared with the prior art, the invention has obvious advantages and beneficial effects, and specifically, the technical scheme includes that:
the two-dimensional constant force platform mainly comprises a transverse plate perpendicular to a vertical plate, the two-dimensional constant force platform can move in the Z axis direction and the X/Y axis direction, and the two-dimensional constant force platform is matched with the vertical constant force cylinder and the horizontal constant force cylinder to provide constant force for the movement in the Z axis direction and the X/Y axis direction, so that a machined workpiece can be polished and ground through constant torque in the Z axis direction and the X/Y axis direction.
Secondly, the transverse plate is provided with an installation position for an external connecting part, different types of grinding tools can be replaced on the installation position of the transverse plate, and a machined workpiece is held by a robot for grinding; the workpiece can be machined and installed on the installation position of the transverse plate, the robot is used for holding a grinding tool to grind the workpiece, and the universality is good.
When the electric proportional valve A and the electric proportional valve B are matched with a robot for use, analog quantity signals of the electric proportional valve A and the electric proportional valve B are controlled by a control cabinet of the robot, air pressure values of a vertical constant force air cylinder and a horizontal constant force air cylinder are adjusted, and then a formula P = F/S is given according to pressure intensity, so that self gravity and friction force are balanced; the control cabinet of the robot is utilized to control analog quantity signals of the electric proportional valve A and the electric proportional valve B according to a PID algorithm, so that the vertical constant-force cylinder and the horizontal constant-force cylinder can output corresponding polishing force timely and stably; good matching is formed, and machining errors are reduced.
To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a perspective view of a preferred embodiment of the present invention;
FIG. 2 is a perspective view of another perspective of the preferred embodiment of the present invention;
FIG. 3 is a perspective view of another preferred embodiment of the present invention;
FIG. 4 is a schematic view of the pneumatic sanding head mounted on the transverse plate according to the preferred embodiment of the present invention;
FIG. 5 is a schematic view of the machining of the transverse plate with the motorized spindle sander according to the preferred embodiment of the present invention;
FIG. 6 is a schematic view of a cross plate with a small sanding belt sander according to a preferred embodiment of the present invention;
FIG. 7 is a schematic view of the transverse plate with a workpiece to be machined.
The attached drawings indicate the following:
1. bottom plate 2, vertical plate
3. Transverse plate 4, mounting location
5. Vertical constant force cylinder 6 and horizontal constant force cylinder
7. Air source collecting plate 8 and three-position five-way valve A
9. Three-position five-way valve B10 and electric proportional valve A
11. Electric proportional valve B12 and installation vertical plate
13. Vertical slide rail 14 and installation transverse plate
15. Horizontal slide rail 16 and connecting plate
17. Limiting groove 18 and side rib plate
19. Electric proportional valve mounting plate 20 and handheld handle
21. T-shaped slot 22 and mounting groove
23. Pneumatic grinding head 24 and electric spindle grinding machine
25. Small-sized grinding belt sander 26 and workpiece to be machined
27. A robot sanding tool 28, a protective housing.
Detailed Description
First, it should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention.
Referring to fig. 1 to 7, a specific structure of a preferred embodiment of the present invention is shown, which includes a bottom plate 1, a vertical moving mechanism, a horizontal moving mechanism, and a constant force control system; wherein:
the vertical moving mechanism is arranged on the bottom plate 1 and provided with a vertical plate 2, the transverse moving mechanism is arranged on the vertical plate 2 and provided with a transverse plate 3, the transverse plate 3 is provided with an installation position 4 for an externally-connected component, and the transverse plate 3 is perpendicular to the vertical plate 2;
the constant force control system comprises a vertical constant force cylinder 5, a horizontal constant force cylinder 6, an air source collecting plate 7, a three-position five-way valve A8 and a three-position five-way valve B9, wherein the three-position five-way valve A8 and a first interface of the three-position five-way valve B9 are connected with first air pipe interfaces of the vertical constant force cylinder 5 and the horizontal constant force cylinder 6 through an electric proportional valve A10 and an electric proportional valve B11 respectively, and second interfaces of the three-position five-way valve A8 and the three-position five-way valve B9 are connected with second air pipe interfaces of the vertical constant force cylinder 5 and the horizontal constant force cylinder 6 respectively;
the vertical plate 2 is connected with a vertical constant force cylinder 5, and the transverse plate 3 is connected with a horizontal constant force cylinder 6; therefore, the vertical constant force cylinder 5 provides constant force for the vertical movement of the vertical plate 2, and the horizontal constant force cylinder 6 provides constant force for the horizontal movement of the horizontal plate 3.
Specifically, the vertical moving mechanism comprises an installation vertical plate 12 and a vertical sliding rail 13, the installation vertical plate 12 is vertically installed on the bottom plate 1, the vertical sliding rail 13 is arranged on one side of the installation vertical plate 12, the vertical plate 2 is arranged on the vertical sliding rail 13, and the vertical constant force cylinder 5 drives the vertical plate 2 to vertically move on the vertical sliding rail 13;
the transverse moving mechanism comprises a mounting transverse plate 14 and a horizontal sliding rail 15, the mounting transverse plate 14 is vertically mounted on the vertical plate 2, the horizontal sliding rail 15 is arranged on one side of the mounting transverse plate 14, the transverse plate 3 is arranged on the horizontal sliding rail 15, and the horizontal constant force cylinder 6 drives the transverse plate 3 to transversely move on the horizontal sliding rail 15;
in this embodiment, the vertical slide rail 13 and the horizontal slide rail 15 are two ones arranged at an interval, and two sliders are respectively disposed thereon, and the vertical plate 2 and the horizontal plate 3 are respectively mounted on the corresponding vertical slide rail 13 and the corresponding horizontal slide rail 15 through the four sliders.
Further, the vertical slide rail 13 is arranged on the front side of the installation vertical plate 12, and the vertical constant force cylinder 5 is arranged on the rear side of the installation vertical plate 12; the horizontal slide rail 15 is arranged on the upper side of the mounting transverse plate 14, and the horizontal constant-force cylinder 6 is arranged on the lower side of the mounting transverse plate 14; the vertical constant force cylinder 5 and the horizontal constant force cylinder 6 are respectively connected with the vertical plate 2 and the transverse plate 3 through a connecting plate 16; the vertical installation plate 12 and the horizontal installation plate 14 are respectively provided with a limiting groove 17, and the vertical installation plate 2 and the horizontal installation plate 3 are respectively limited in the corresponding limiting grooves 17;
the electric proportional valve A10 and the electric proportional valve B11 are respectively arranged on the bottom plate 1 through a mounting frame, the mounting frame is located beside the vertical moving mechanism, the mounting frame comprises a side surface rib plate 18 and an electric proportional valve mounting plate 19 arranged at the top of the side surface rib plate 18, and the front side surfaces of the side surface rib plate 18 and the electric proportional valve mounting plate 19 are abutted against the rear side surface of the mounting vertical plate 12; the electric proportional valve A10 and the electric proportional valve B11 are arranged on the left side and the right side of the vertical constant force cylinder 5; the air supply confluence plate 7 is arranged on a mounting rack of an electric proportional valve B11.
Preferably, a handheld handle 20 is arranged on the bottom plate 1, and the handheld handle 20 is shaped like a Chinese character ji, so that the two-dimensional constant force platform can be conveniently taken and placed; the mounting position 4 comprises a plurality of T-shaped slots 21 and mounting grooves 22 which are arranged at intervals, and the mounting grooves 22 penetrate through the upper surface and the lower surface of the transverse plate 3 and are vertical to the T-shaped slots 21; the transverse plate 3 is at least provided with one of a pneumatic polishing head 23, an electric spindle polisher 24, a small-sized polishing abrasive belt machine 25 and a workpiece 26 to be processed through a mounting position 4; therefore, the grinding machine (same type or different types) can be replaced on the transverse plate 3, and the workpiece 26 to be processed can be arranged on the transverse plate 3, so that the transverse plate is suitable for various grinding scenes. Wherein the workpiece 26 to be machined is mounted to the mounting location 4, typically by means of a workpiece mounting bracket; and, the constant force control system housing is provided with a protective shell 28.
Detailed description the working principle of the present embodiment is as follows:
the three-position five-way valve A8 and the three-position five-way valve B9 are controlled by a control cabinet of the robot to drive the vertical constant force cylinder 5 and the horizontal constant force cylinder 6 to be in an ejection state, the vertical plate 2 moves to the upper side and the transverse plate 3 moves to the front under the driving of the connecting plates 16 of the vertical constant force cylinder 5 and the horizontal constant force cylinder 6, and resetting is completed.
The tool or the workpiece carried by the transverse plate 3 is kept moving in the horizontal and vertical directions by the guiding action of the vertical slide rail 13 and the horizontal slide rail 15.
The analog quantity signals of the electric proportional valve A10 and the electric proportional valve B11 are controlled by a control cabinet of the robot, the air pressure values of the vertical constant force air cylinder 5 and the horizontal constant force air cylinder 6 are adjusted, and then a formula P = F/S is given according to the pressure intensity, so that the gravity and the friction force of the robot are balanced.
The control cabinet of the robot is utilized to control analog quantity signals of the electric proportional valve A10 and the electric proportional valve B11 according to a PID algorithm, so that the vertical constant force cylinder 5 and the horizontal constant force cylinder 6 can output corresponding grinding force timely and stably.
By arranging the mounting positions 4 for the external connecting parts on the transverse plate 3, different types of grinding tools can be replaced on the mounting positions 4 of the transverse plate 3, and a machined workpiece is held by a robot to be ground; the workpiece 26 to be machined can also be mounted on the mounting location 4 of the transverse plate 3, and the workpiece 26 to be machined is ground by means of a robot-held grinding tool 27.
The two-dimensional constant force platform is characterized in that the two-dimensional constant force platform is fixed on a workbench, different types of grinding tools can be replaced, a to-be-processed workpiece is clamped by a robot to be ground, the two-dimensional constant force platform is in an ejection state at first, then balance force calibration is carried out, parameters of an electric proportional valve A, B are adjusted in an electric control mode during calibration, air pressure is adjusted to control the magnitude of torque, corresponding force is given after balance is finished, the force is grinding force, the to-be-processed workpiece is clamped by the robot to be pressed downwards or laterally on a grinding abrasive belt of a grinding machine of the two-dimensional constant force platform, and constant force grinding processing in the horizontal direction and the vertical direction can be carried out; in this embodiment, constant-force grinding processing in the Z-axis and X-axis directions is performed.
The operation flow of the present embodiment is detailed as follows:
installing a workpiece 26 to be processed, a pneumatic polishing head 23, an electric spindle polisher 24, a small-sized polishing belt sander 25 or other polishing tools on the installation position 4 on the transverse plate 3, positioning through a T-shaped slot 21, and fixing through an installation groove 22;
the electric proportional valve A10 and the electric proportional valve B11 are mounted on the electric proportional valve mounting plate 19, an air source is connected to the air source collecting plate 7 from the outside, a first interface of the three-position five-way valve A8 on the air source collecting plate 7 is connected with the electric proportional valve A10, the air is discharged from the electric proportional valve A10 to a second air pipe interface at the lower end of the vertical constant force cylinder 5, and the first air pipe interface at the upper end is connected to a second interface of the three-position five-way valve A8; similarly, the first interface of the three-position five-way valve B9 on the air source collecting plate 7 is connected with the electric proportional valve B11, the air comes out of the electric proportional valve B11 and then reaches the second air pipe interface at the rear end of the lower end of the horizontal constant force cylinder 6, and the first air pipe interface at the upper end is connected into the second interface of the three-position five-way valve B9;
resetting the state: the three-position five-way valve A8 is controlled by a control cabinet of the robot to drive the vertical constant force cylinder 5 to be in an ejection state, and the vertical plate 2 moves to the upper part on the vertical slide rail under the drive of the connecting plate 16; similarly, the three-position five-way valve B9 is controlled by the control cabinet of the robot to drive the horizontal constant force cylinder 6 to be in the ejection state, and the transverse plate 3 moves to the front on the horizontal slide rail under the drive of the connecting plate 16;
and (3) calibration state: after the grinding process is finished, the three-position five-way valve A8 and the three-position five-way valve B9 are reset, parameters of the electric proportional valve A10 and parameters of the electric proportional valve B11 are controlled by control signals of a control cabinet of the robot, the vertical constant force cylinder 5 and the horizontal constant force cylinder 6 enable the self weights to be leveled and balanced, and corresponding grinding force is given after the self weights are balanced.
Grinding state: the robot clamps a workpiece 26 to be processed and presses a grinding tool downwards for grinding, the grinding tool is stressed to move downwards, and the grinding force controls the first dimensional force of the vertical constant force cylinder 5 by adjusting the pressure value of an electric proportional valve A10 through a control cabinet of the robot; the robot clamps the workpiece to be processed 26 and laterally presses the grinding tool for grinding, the grinding tool is stressed to move backwards, and the grinding force controls the second dimension force of the horizontal constant force cylinder 6 by adjusting the pressure value of an electric proportional valve B11 through a control cabinet of the robot;
it is also possible to mount the workpiece 26 to be worked on the transverse plate 3, mount the robot sanding tool 27 on the robot, and perform a sanding process by pressing the workpiece 26 to be worked downward or sideways by the robot sanding tool 27 on the robot.
The design of the invention is characterized in that:
the two-dimensional constant force platform mainly comprises a transverse plate perpendicular to a vertical plate, the two-dimensional constant force platform can move in the Z axis direction and the X/Y axis direction, and the two-dimensional constant force platform is matched with the vertical constant force cylinder and the horizontal constant force cylinder to provide constant force for the movement in the Z axis direction and the X/Y axis direction, so that a machined workpiece can be polished and ground through constant torque in the Z axis direction and the X/Y axis direction.
Secondly, the transverse plate is provided with an installation position for an external connecting part, different types of grinding tools can be replaced on the installation position of the transverse plate, and a machined workpiece is held by a robot for grinding; the workpiece can be machined and installed on the installation position of the transverse plate, the robot is used for holding a grinding tool to grind the workpiece, and the universality is good.
When the electric proportional valve A and the electric proportional valve B are matched with a robot for use, analog quantity signals of the electric proportional valve A and the electric proportional valve B are controlled by a control cabinet of the robot, air pressure values of a vertical constant force air cylinder and a horizontal constant force air cylinder are adjusted, and then a formula P = F/S is given according to pressure intensity, so that self gravity and friction force are balanced; the control cabinet of the robot is utilized to control analog quantity signals of the electric proportional valve A and the electric proportional valve B according to a PID algorithm, so that the vertical constant-force cylinder and the horizontal constant-force cylinder can output corresponding polishing force timely and stably; good matching is formed, and machining errors are reduced.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.
Claims (10)
1. The utility model provides a removable polisher two-dimensional constant force platform which characterized in that: the device comprises a bottom plate, a vertical moving mechanism, a transverse moving mechanism and a constant force control system; wherein:
the vertical moving mechanism is arranged on the bottom plate and provided with a vertical plate, the transverse moving mechanism is arranged on the vertical plate and provided with a transverse plate, the transverse plate is provided with an installation position for an externally-connected component, and the transverse plate is perpendicular to the vertical plate;
the constant force control system comprises a vertical constant force cylinder, a horizontal constant force cylinder, an air source collecting plate, a three-position five-way valve A and a three-position five-way valve B, wherein the three-position five-way valve A and the three-position five-way valve B are connected with the air source collecting plate;
the vertical plate is connected to the vertical constant force cylinder, and the transverse plate is connected to the horizontal constant force cylinder; therefore, the vertical constant force cylinder provides constant force for vertical movement of the vertical plate, and the horizontal constant force cylinder provides constant force for transverse movement of the transverse plate.
2. The two-dimensional constant force platform for an interchangeable sander of claim 1, wherein: the vertical moving mechanism comprises an installation vertical plate and a vertical sliding rail, the installation vertical plate is vertically installed on the bottom plate, the vertical sliding rail is arranged on one side of the installation vertical plate, the vertical plate is arranged on the vertical sliding rail, and the vertical constant force air cylinder drives the vertical plate to vertically move on the vertical sliding rail.
3. The two-dimensional constant force platform for an interchangeable sander of claim 2, wherein: the transverse moving mechanism comprises an installation transverse plate and a horizontal sliding rail, the installation transverse plate is vertically installed on the vertical plate, the horizontal sliding rail is arranged on one side of the installation transverse plate, the transverse plate is arranged on the horizontal sliding rail, and the horizontal constant force cylinder drives the transverse plate to transversely move on the horizontal sliding rail.
4. A two-dimensional constant force platform for an interchangeable sanding machine according to claim 3, wherein: the vertical sliding rail is arranged on the front side of the mounting vertical plate, and the vertical constant-force cylinder is arranged on the rear side of the mounting vertical plate; the horizontal slide rail is arranged on the upper side of the installation transverse plate, and the horizontal constant-force cylinder is arranged on the lower side of the installation transverse plate.
5. The two-dimensional constant force platform for an interchangeable sander of claim 4, wherein: the vertical constant force cylinder and the horizontal constant force cylinder are respectively connected with the vertical plate and the transverse plate through a connecting plate.
6. The two-dimensional constant force platform for an interchangeable sander of claim 5, wherein: all be equipped with the spacing groove on installation riser and the installation diaphragm, vertical board and horizontal board are spacing respectively in corresponding spacing groove.
7. The two-dimensional constant force platform for an interchangeable sander of claim 1, wherein: the electric proportional valve A and the electric proportional valve B are respectively arranged on the bottom plate through a mounting frame, and the mounting frame is positioned beside the vertical moving mechanism.
8. The two-dimensional constant force platform for an interchangeable sander of claim 1, wherein: and a hand-held handle is arranged on the bottom plate.
9. The two-dimensional constant force platform for an interchangeable sander of claim 1, wherein: the mounting position comprises a plurality of T-shaped slots and mounting grooves which are arranged at intervals, and the mounting grooves penetrate through the upper surface and the lower surface of the transverse plate and are perpendicular to the T-shaped slots.
10. A two-dimensional constant force platform for an interchangeable sanding machine according to claim 1 or 9, characterized in that: the transverse plate is at least provided with one of a pneumatic polishing head, an electric spindle polisher, a small-sized polishing belt sander and a workpiece to be processed through a mounting position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210702074.4A CN114952536A (en) | 2022-06-21 | 2022-06-21 | Two-dimensional constant force platform with replaceable grinding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210702074.4A CN114952536A (en) | 2022-06-21 | 2022-06-21 | Two-dimensional constant force platform with replaceable grinding machine |
Publications (1)
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| CN111745537A (en) * | 2020-07-02 | 2020-10-09 | 秦皇岛汇久科技有限公司 | Self-protection double-freedom-degree constant force platform |
| CN212471103U (en) * | 2020-05-08 | 2021-02-05 | 佳奕筱安(上海)机器人科技有限公司 | Axial active floating constant force control device |
| CN112692706A (en) * | 2020-12-22 | 2021-04-23 | 苏州诺亚智造科技有限公司 | Method for automatically positioning and locking glass polishing machine brush |
| CN114147953A (en) * | 2021-11-30 | 2022-03-08 | 江南大学 | Additive manufacturing equipment and method based on material extrusion and photocuring composite molding |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000317787A (en) * | 1999-04-28 | 2000-11-21 | M Tec Kk | Work edge polishing device |
| CN105458857A (en) * | 2015-12-30 | 2016-04-06 | 浙江万丰科技开发股份有限公司 | Constant force compensation device |
| CN206475054U (en) * | 2016-12-27 | 2017-09-08 | 北京市电加工研究所 | A kind of fast advance and retreat cutter mechanism |
| CN106903613A (en) * | 2017-03-07 | 2017-06-30 | 山东大学 | The flexible polishing constant force control device of double actuator drivens |
| CN211193241U (en) * | 2019-11-28 | 2020-08-07 | 西南交通大学 | Electric constant-force grinding device |
| CN212471103U (en) * | 2020-05-08 | 2021-02-05 | 佳奕筱安(上海)机器人科技有限公司 | Axial active floating constant force control device |
| CN111745537A (en) * | 2020-07-02 | 2020-10-09 | 秦皇岛汇久科技有限公司 | Self-protection double-freedom-degree constant force platform |
| CN112692706A (en) * | 2020-12-22 | 2021-04-23 | 苏州诺亚智造科技有限公司 | Method for automatically positioning and locking glass polishing machine brush |
| CN114147953A (en) * | 2021-11-30 | 2022-03-08 | 江南大学 | Additive manufacturing equipment and method based on material extrusion and photocuring composite molding |
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