CN115256095A

CN115256095A - Polishing error intelligent compensation system based on multi-sensor fusion

Info

Publication number: CN115256095A
Application number: CN202211172888.8A
Authority: CN
Inventors: 张运生; 王雷; 汪存益; 程涛; 徐云云
Original assignee: Anhui Xinjingjie Automation Technology Co ltd
Current assignee: Anhui Xinjingjie Automation Technology Co ltd
Priority date: 2022-09-26
Filing date: 2022-09-26
Publication date: 2022-11-01
Anticipated expiration: 2042-09-26
Also published as: CN115256095B

Abstract

The invention relates to the technical field of polishing equipment, and particularly discloses a polishing error intelligent compensation system based on multi-sensor fusion, which comprises a base, wherein a supporting sliding assembly for supporting a workpiece is arranged at the top of the base, the supporting sliding assembly comprises a supporting unit and a sliding unit, a limiting assembly for limiting the workpiece is arranged on the supporting sliding assembly, a robot is arranged on the right side of the base, a numerical control system is arranged on the right end of the robot, a rough grinding machine is arranged on the left side of the top of the robot, and a compensation polishing assembly is arranged on the right side of the top of the robot.

Description

Polishing error intelligent compensation system based on multi-sensor fusion

Technical Field

The invention relates to the technical field of polishing equipment, in particular to a polishing error intelligent compensation system based on multi-sensor fusion.

Background

The method for improving the machining precision of the grinding numerical control machine tool through an error compensation mode is a commonly used technical means at present, generally speaking, the error compensation mode is that a numerical control system carries out analysis and calculation according to measured error data, then a group of corresponding error values are generated to offset the existing errors, and further the machining precision of the grinding numerical control machine tool is improved.

In a grinding numerical control machine tool system, a workpiece program gives ideal workpiece contour information, then a grinding error intelligent compensation program calculates a motion track of a grinding tool after compensation according to the part contour information and an actually used grinding tool radius parameter, so that the transportation track of the grinding tool is as close to the ideal part contour as possible, then the grinding tool after the motion track is moved to a digital signal processor for interpolation processing, then the digital signal processor detects a deviation distance between the circular arc center of the grinding tool and the ideal part contour, the deviation distance is the distance required for processing the workpiece by a control unit, and further the processing precision is improved.

The existing intelligent polishing error compensation system has the following problems in the using process: due to manufacturing reasons, burrs of each grinding workpiece are different, when larger burrs are encountered, the grinding workpiece can be subjected to large grinding pressure to generate grinding tool loss, the robot carries out compensation grinding on the workpiece by a principle of installing a multi-dimensional force sensor, but grinding for the workpiece with large burrs requires a long time, so that the grinding efficiency is reduced; secondly, when the workpiece is arc-shaped, due to the curvature change of the curved surface, the polishing workpiece on the robot can only accurately polish the specific area of the workpiece, but cannot polish the workpiece in all directions, so that the polishing accuracy is reduced.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a polishing error intelligent compensation system based on multi-sensor fusion, and solves the technical problems that the polishing speed is low, the compensation polishing efficiency is low, and workpieces with different curved surfaces cannot be polished in all directions.

In order to achieve the above purpose, the invention is realized by the following technical scheme:

the technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides an error intelligence compensating system polishes based on multisensory fuses, includes the base, the top of base is provided with the support slip subassembly that supports the work piece, supports the slip subassembly and includes support element and slip unit, it carries out spacing subassembly to the work piece to be provided with on the slip subassembly to support, the robot is installed on the right side of base, numerical control system has been installed on the right-hand member of robot, the rough grinding machine is installed in the top left side of robot, the top right side of robot is installed and is compensated the subassembly of polishing, the top of base is provided with carries out the adjusting part of adjusting distance to the support element, be provided with the swing subassembly of drive slip unit luffing motion on the support slip subassembly, install the measuring component to measuring the distance between base bottom surface and the work piece top surface on the base.

Preferably, the support element includes four arc seats, four the arc seat all sets up on the base and distributes the rectangle array and pendulum cloth, be provided with the slide bar between the arc seat at both ends around being located, it is connected with the square piece to rotate between the opposite side of slide bar, the support column is all installed at both ends about the middle part of base, install the dead lever between the support column, the one end that the arc seat was kept away from to the square piece is rotated and is connected on the dead lever, the slide element sets up on the middle part of square piece, the slide element includes the slider of sliding connection on square piece, both ends all rotate and are connected with the backup pad about the slider, every group the top of backup pad install concave template.

Preferably, the limiting assembly comprises two limiting blocks, the two limiting blocks are symmetrically distributed on the concave plate around the bottom end, the two limiting blocks are provided with a pair of nut cylinders on the back faces of the limiting blocks, screws are connected to the front ends and the rear ends of the concave plate in a threaded manner, opposite ends of the screws are connected to the inner sides of the nut cylinders in a threaded manner, the opposite ends of the screws penetrate through the concave plate in a rotating manner and are provided with driven gears, driving gears are connected between the driven gears in a meshed manner, a driving rod connected to the inner side of the concave plate in a rotating manner is installed between the front driving gear and the rear driving gear, an L-shaped groove is formed in the inner side of the concave plate, a first bevel gear arranged on the inner side of the horizontal end of the L-shaped groove is installed in the middle of the driving rod, a driving motor is transversely installed in the middle of the concave plate, and a second bevel gear connected with the first bevel gear in a meshed manner is installed at the output end of the driving motor.

Preferably, the inboard of concave template and the bottom symmetry that is located the stopper have seted up the through-hole, the bottom of stopper passes behind the through-hole through the connecting rod and installs the slider, the bottom of concave template install with slider sliding connection's slide rail board, the voussoir is all installed to the opposite face of stopper, the rubber pad is installed in the outside of voussoir.

Preferably, the compensation subassembly of polishing includes multidimension force transducer, multidimension force transducer installs on the right-hand member of robot, the fixed block is installed to multidimension force transducer's bottom, both ends all are provided with the T type spare that is the tilting around the fixed block, both ends all rotate about the fixed block and are connected with two commentaries on classics boards, and install on the horizontal end of T type spare between the commentaries on classics board at both ends around being located, and the one end that the fixed block was kept away from to two commentaries on classics boards at both ends around being located rotates and is connected with the side grinding piece, the connecting seat is installed to the bottom symmetry of fixed block, it is connected with the top grinding piece to rotate between the connecting seat, the angle motor is installed to the front end of fixed block, the output of angle motor is installed the initiative running roller, both ends all rotate about the connecting seat and install the first passive running roller that grinds a fixed connection with the top, wherein the outside transmission that lies in left initiative running roller and first passive running roller is connected with first drive belt, two the right-hand member wears to establish behind the commentaries on classics board through the connecting rod and install the passive running roller, wherein the passive length that the second that lies in the front end that lies in the front end is less than lies in the rear end is located the rear end, wherein lies in the second drive belt and two outside that the second is connected of second is located the second that the second is located the second and the front end is located the second that the second is located the front end and is connected.

Preferably, the L notch has been seted up to the vertical end that is located both ends and corresponds T type spare around the fixed block, the round notch has been seted up to the bottom of fixed block, and round notch and L notch are linked together, the gear teeth end is installed to the relative end of T type spare, the wrench movement gear of the gear teeth end meshing with both ends around the inboard of fixed block is installed, the mid-mounting of fixed block has the driving piece of drive wrench movement gear rotary motion.

Preferably, the adjusting part includes the moving member, arc seat bottom that is located both ends around all installs on the moving member, the top of base is passed through the sliding rail connected mode and is connected with the moving member, the top of base rotates through the bearing frame and is connected with double-end lead screw, and both ends all are at the middle part threaded connection of moving member around the double-end lead screw, double-end lead screw's rear end rotates and wears to establish behind the moving member and install the carousel, the arc wall has been seted up to the arc seat inboard at both ends around, both ends slide about the slide bar and wear to establish in the arc wall, the spring pocket has been seted up to the left end of slide bar, the left end of slide bar just installs the extrusion spring in the spring pocket, both ends slide about the slide bar and are equipped with U type spare, the face of carrying on the back of arc seat passes through sliding rail connected mode sliding connection on U type spare of right-hand member, threaded connection has the regulation carousel on the U type spare that is located the right-hand member, and the one end of regulation carousel hugs closely on the arc seat.

Preferably, the left end of slide bar wears to establish behind the U type spare and sliding connection has perpendicular seat, perpendicular seat is close to one side of arc seat and has seted up the spacing gliding sliding groove mouth of slide bar of being convenient for, the top of base and the below that corresponds perpendicular seat rotate and are connected with accommodate the lead screw, and accommodate the lead screw's the outside at the middle part threaded connection of perpendicular seat.

Preferably, the swing subassembly includes two drive seats, two the drive seat is all installed on the arc seat that is located the left end, and the driving machine is installed on the top that is located the drive seat of rear end, the driving groove has been seted up to the opposite face of drive seat, and all installs drive roller at the driving groove, the outside transmission of drive roller is connected with the drive belt, the output of driving machine and the drive roller fixed connection who is located the rear side wherein, the right-hand member of drive roller rotates through the connecting rod and wears to establish behind the drive seat and install the drive runner, it is connected with the turning block to rotate between the drive runner opposite side, and the one end of turning block rotates through the pivot and connects on the concave template.

Preferably, be located and seted up the rotation groove on the support column of left end, the top of base just is connected with the I-shaped piece at the rotation inslot rotation, the middle part sliding connection of I-shaped piece has T type piece, the laser instrument is installed at the top of T type piece, the cassette is installed to the bottom of T type piece and the side of keeping away from the I-shaped piece, the spring pull rod is installed to the inboard of cassette, and the pull rod in the spring pull rod slides and wears to establish behind the cassette and extrude on the I-shaped piece.

The invention has the beneficial effects that:

(1) The angle between the two side grinding pieces and the top grinding piece is adjusted through the compensation grinding assembly, so that the two side grinding pieces and the top grinding piece are both arranged on the curved surface of the workpiece, the contact area of the side grinding pieces and the top grinding pieces with the curved surface of the workpiece is increased, the applicability of the invention is improved, and in addition, the further grinding efficiency of burrs of the workpiece is accelerated under the matching action of the swinging assembly.

(2) According to the invention, under the matching action of the supporting sliding assembly and the swinging assembly, the concave plate moves left and right along the two square elements in the movement process, then the driving rotating wheel drives the driving rotating wheel and the concave plate to swing left and right, at the moment, the concave plate generates a curve track movement in the swinging process, so that the topmost surface of a workpiece on the concave plate is contacted with the rough grinding machine, and then burrs on the surface of the workpiece are all roughly ground with the rough grinding machine in an omnibearing manner in the rotation movement of the workpiece without moving by a robot, so that the grinding efficiency is improved.

According to the invention, the distance between the top surface of the base and the topmost top surface of the workpiece is detected through the measuring assembly, then the detected distance is equal to the distance between the I-shaped block and the T-shaped block, then the I-shaped block is manually rotated onto the top surface of the base, and then the moving members on two sides move oppositely through the adjusting assembly until the moving members and the laser are aligned, so that the angle between the square parts can be adjusted, and thus, the curved track motion generated in the sliding process of the concave plate on the square parts is adaptive to the curved surface of the workpiece, so that the angle of the square parts can be adjusted according to different curved surfaces on the workpiece.

Drawings

The invention is further illustrated by the following examples in conjunction with the drawings.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a right side view schematic of the unmanned aerial vehicle of the present invention;

FIG. 3 is a schematic view of a stop assembly according to the present invention;

FIG. 4 is a rear cross-sectional view of the stop block of the present invention;

FIG. 5 is a schematic left side view of the unmanned aerial vehicle of the present invention;

FIG. 6 is a partial enlarged view of A in FIG. 5;

FIG. 7 is a partial enlarged view of B in FIG. 5;

FIG. 8 is an enlarged view of a portion C of FIG. 5;

FIG. 9 is a cross-sectional view of a mounting block of the present invention;

figure 10 is a schematic view of a compensating sanding assembly of the present invention.

In the figure: 1. a base; 2. supporting the sliding assembly; 21. an arc-shaped seat; 22. a slide bar; 23. a square piece; 24. a support pillar; 25. fixing the rod; 26. a slider; 27. a support plate; 28. a concave plate; 3. a limiting component; 31. a limiting block; 32. a nut barrel; 33. a screw; 34. a driven gear; 35. a driving gear; 36. a driving lever; 37. a first bevel gear; 38. a drive motor; 39. a second bevel gear; 311. a slider; 312. a slide rail plate; 313. a wedge block; 4. a robot; 5. a rough grinding machine; 6. a compensation polishing component; 61. a multi-dimensional force sensor; 611. twisting the gear; 612. a gear tooth end; 62. a fixed block; 63. a T-shaped piece; 631. rotating the plate; 64. a side grinding member; 65. a connecting seat; 66. a top grinding piece; 621. an angle motor; 622. a driving roller; 623. a first driven roller; 624. a first drive belt; 625. a second driven roller; 626. a second belt; 7. an adjustment assembly; 71. a moving member; 72. a double-end screw rod; 73. a turntable; 74. a compression spring; 75. a U-shaped member; 76. a vertical seat; 77. adjusting the screw rod; 78. adjusting the turntable; 8. a swing assembly; 81. a driving seat; 82. a drive roller; 83. a drive belt; 84. driving the rotating wheel; 85. rotating the block; 9. a measurement component; 91. an I-shaped block; 92. a T-shaped block; 93. a laser; 94. a card holder; 95. a spring pull rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Referring to fig. 1 to 10, the present invention provides a technical solution: including base 1, base 1's top is provided with the support sliding assembly 2 that supports the work piece, support sliding assembly 2 includes support element and sliding unit, it carries out spacing subassembly 3 to the work piece to be provided with on the support sliding assembly 2, robot 4 is installed on base 1's right side, install numerical control system on robot 4's the right-hand member, rough grinding machine 5 is installed in robot 4's top left side, compensation grinding assembly 6 is installed on robot 4's top right side, base 1's top is provided with the adjusting part 7 that carries out the adjusting distance to the support element, be provided with the swing subassembly 8 of drive sliding unit fore-and-aft swing on the support sliding assembly 2, install the measuring component 9 to measuring the distance between base 1 bottom surface and the work piece top surface on the base 1.

As an embodiment of the present invention, as shown in fig. 1 and fig. 2, the supporting unit includes four arc-shaped seats 21, the four arc-shaped seats 21 are all disposed on the base 1 and distributed with a rectangular array of pendulous cloth, a sliding rod 22 is disposed between the arc-shaped seats 21 at the front and rear ends, a square member 23 is rotatably connected between opposite sides of the sliding rod 22, supporting columns 24 are mounted at both left and right ends of the middle portion of the base 1, a fixing rod 25 is mounted between the supporting columns 24, one end of the square member 23 far away from the arc-shaped seats 21 is rotatably connected to the fixing rod 25, the sliding unit is disposed on the middle portion of the square member 23, the sliding unit includes a sliding member 26 slidably connected to the square member 23, supporting plates 27 are rotatably connected to both left and right ends of the sliding member 26, and a concave plate 28 is mounted on the top of the supporting plate 27 of each group.

During operation, when a workpiece is placed on the concave plate 28, the supporting plate 27 is driven to move back and forth, the connected sliding part 26 slides on the square part 23, the concave plate 28 moves along a curved track, and then the workpiece can be rotationally polished according to the curved condition of the workpiece, so that the polishing efficiency of the workpiece is improved.

As an embodiment of the present invention, as shown in fig. 3 and 4, the limiting assembly 3 includes two limiting blocks 31, bottom ends of the two limiting blocks 31 are symmetrically distributed on the concave plate 28 in a front-back manner, a pair of nut barrels 32 are respectively installed on opposite sides of the two limiting blocks 31, front and back ends of the concave plate 28 are respectively connected with a screw 33 in a threaded manner, opposite ends of the screw 33 are connected with inner sides of the nut barrels 32 in a threaded manner, threaded holes on the nut barrels 32 in the front and back are arranged in an opposite manner, opposite ends of the screw 33 are rotatably inserted into the concave plate 28 and are provided with a driven gear 34, a driving gear 35 is engaged and connected between the driven gears 34, a driving rod 36 rotatably connected to the inner side of the concave plate 28 is installed between the front and back driving gears 35, an L-shaped groove is opened on the inner side of the concave plate 28, a first bevel gear 37 installed at a middle portion of the driving rod 36 on the inner side of a horizontal end of the L-shaped groove, a driving motor 38 is transversely installed at a middle portion of the concave plate 28, and an output end of the driving motor 38 is installed with a second bevel gear 39 engaged and connected to the first bevel gear 37.

In operation, after a workpiece is placed on the concave plate 28, the driving motor 38 is started to drive the second bevel gear 39 and the first bevel gear 37 to rotate, so that the driving rod 36 and the driving gear 35 rotate, and then the driven gears 34 on the two sides rotate correspondingly under the driving action of the driving gear 35, so that the nut barrel 32 and the screw 33 move in opposite directions, and the distance between the limiting blocks 31 can be adjusted according to the length of the workpiece, so that the limiting effect on the workpiece is improved.

As an embodiment of the present invention, as shown in fig. 3 and 4, through holes are symmetrically formed in the inner side of the concave plate 28 and at the bottom of the stopper 31, the bottom end of the stopper 31 passes through the through holes through a connecting rod and is provided with a slider 311, the bottom end of the concave plate 28 is provided with a sliding rail plate 312 slidably connected with the slider 311, opposite surfaces of the stopper 31 are provided with wedges 313, and the outer sides of the wedges 313 are provided with rubber pads.

During operation, when stopper 31 removes the in-process, slider 311 that its connection slided along slide rail board 312, improves stopper 31 sliding stability, and when the work piece on the curved surface was placed on concave type board 28, wedge 313 played the constraint effect to the both ends of work piece under through stopper 31's effect simultaneously, sets up through thinking the rubber pad, further improves the frictional capacity between wedge 313 and the work piece moreover.

As an embodiment of the present invention, as shown in fig. 8 and 10, the compensation polishing assembly 6 includes a multi-dimensional force sensor 61, the multi-dimensional force sensor 61 is installed on the right end of the robot 4, a fixed block 62 is installed at the bottom end of the multi-dimensional force sensor 61, T-shaped members 63 in a tilting type are installed at both front and rear ends of the fixed block 62, two rotating plates 631 are rotatably connected to both left and right ends of the fixed block 62, and are installed on the horizontal end of the T-shaped member 63 between the rotating plates 631 located at the front and rear ends, a side polishing member 64 is rotatably connected to one end of the two rotating plates 631 located at the front and rear ends, which is far away from the fixed block 62, a connecting seat 65 is symmetrically installed at the bottom end of the fixed block 62, a top polishing member 66 is rotatably connected between the connecting seats 65, an angle motor 621 is installed at the front end of the fixed block 62, an active roller 622 is installed at the output end of the angle motor 621, a first passive roller 623 fixedly connected to the top polishing member 66 is rotatably installed at both left and right ends of the connecting seat 65, a first passive roller 624 is connected to the outside of the first active roller 625 and a second passive roller 625, the second roller 625 is installed at the left end 625, and the second passive roller 625 located at the right side of the second end of the second passive roller 625.

When the grinding device works, after a workpiece is limited, in an initial state, the robot 4 roughly grinds the workpiece through the rough grinding machine 5, large burrs are ground, when rough grinding is finished, the robot 4 contacts the compensation grinding component 6 on the workpiece, after the angle motor 621 is started, under the action of the first transmission belt 624, the first driven rollers 623 on two sides are driven to rotate, so that the top grinding piece 66 rotates, then under the action of the second transmission belt 626, the second driven rollers 625 and the side grinding pieces 64 are driven to rotate, so that the side grinding pieces 64 on two sides rotate, the force generated by grinding the top grinding piece 66 and the side grinding pieces 64 on the workpiece in a butting mode is fed back to the multi-dimensional force sensor 61, the multi-dimensional force sensor 61 transmits the data of the force to the numerical control system, then the numerical control system starts the robot 4 to compensate the compensation grinding component 6 on the workpiece again, and further the compensation grinding effect on the workpiece is improved.

As an embodiment of the present invention, as shown in fig. 9 and 10, L notches are formed at front and rear ends of the fixing block 62 and corresponding to vertical ends of the T-shaped member 63, a circular notch is formed at a bottom of the fixing block 62 and is communicated with the L notch, a gear end 612 is mounted at an opposite end of the T-shaped member 63, a twisting gear 611 engaged with the gear end 612 at the front and rear ends is mounted inside the fixing block 62, and a driving member for driving the twisting gear 611 to rotate is mounted in a middle portion of the fixing block 62.

During operation, according to the curved surface condition of work piece, start driving piece and drive the fine setting rotation of wrench gear 611, then gear tooth end 612 drives T type spare 63 and the commentaries on classics board 631 rotary motion of connecting, and the surface of just contradicting on the work piece of top mill piece 66 and side mill piece 64 is favorable to adjusting the angle between the commentaries on classics board 631 according to different curved surfaces, improves the area of contact of side mill piece 64 and top mill piece 66 and work piece to improve the efficiency of polishing.

As an embodiment of the present invention, as shown in fig. 5 and 7, an angle sensor is installed between two square parts 23, and the angle penetration sensor is connected with a digital control system through a signal, the adjusting assembly 7 includes a moving part 71, the bottoms of the arc seats 21 located at the front and rear ends are all installed on the moving part 71, the top end of the base 1 is connected with the moving part 71 through a sliding rail connection manner, the top of the base 1 is rotatably connected with a double-headed lead screw 72 through a bearing seat, and the front and rear ends of the double-headed lead screw 72 are both in threaded connection in the middle of the moving part 71, the rear end of the double-headed lead screw 72 is rotatably inserted into the moving part 71 and is installed with a rotating disc 73, the inner sides of the arc seats 21 at the front and rear ends are provided with arc grooves, the left and right ends of the sliding rod 22 are slidably inserted into the arc grooves, the left end of the sliding rod 22 is provided with a spring groove, the left end of the sliding rod 22 is provided with an extrusion spring 74 in the spring groove, the left end and the left end of the sliding rod 22 is provided with U-shaped parts 75 slidably, the opposite side of the arc seats 21 is slidably connected on the U-shaped parts 75 through a sliding groove, the U-shaped parts 75 located at the right end of the U-shaped parts 75, and is connected with an adjusting rotating disc 78 closely attached to the adjusting disc, one end of the sliding rod seat, and a vertical sliding seat 76 of the sliding rod seat, and is connected to a side of the sliding rod seat 76 of the sliding seat, and is connected to a vertical screw seat 76 of the sliding seat, and is connected to a side of the sliding rod seat, and is connected to a vertical screw seat 76 of the adjusting base seat 76, and is connected to the vertical base seat 76 of the adjusting screw seat, and is connected to the adjusting screw seat, and the adjusting seat 76 of the sliding rod seat, and is connected to the adjusting seat, and the adjusting screw seat, and the vertical screw rod seat, and the adjusting seat 76 of the adjusting seat.

During operation, when the angle between the square parts 23 needs to be adjusted, the rotating disc 73 is twisted manually, the double-end lead screw 72 rotates under the pressure of the rotating disc 73, at the moment, the moving parts 71 on the two sides move relatively, meanwhile, the sliding rod 22 rotates along the arc-shaped groove, the sliding rod 22 moves along the sliding groove opening on the vertical seat 76, then, an angle sensor between the two square parts 23 is transmitted to a numerical control system through signals, when the angle on the numerical control system is suitable for a set value, the adjusting lead screw 77 is rotated manually until the vertical seat 76 is in a horizontal state, then, the adjusting rotating disc 78 rotates until the U-shaped part 75 moves towards the right end, at the moment, the extruding spring 74 enters a compression state, so that the U-shaped part 75 is extruded on the arc-shaped seat 21, and quick installation and limiting movement are facilitated.

As an embodiment of the present invention, as shown in fig. 5, the swing assembly 8 includes two driving seats 81, the two driving seats 81 are both installed on the arc-shaped seat 21 located at the left end, a driving machine is installed at the top end of the driving seat 81 located at the rear end, a transmission groove is formed on the opposite surface of the driving seat 81, driving rollers 82 are both installed in the transmission groove, a driving transmission belt 83 is connected to the outer side of the driving roller 82 in a transmission manner, the output end of the driving machine is fixedly connected to the driving roller 82 located at the rear side, the right end of the driving roller 82 is rotatably inserted through the driving seat 81 through a connection rod and is installed with a driving runner 84, a rotating block 85 is rotatably connected between the opposite sides of the driving runner 84, and one end of the rotating block 85 is rotatably connected to the concave plate 28 through a rotation shaft.

During operation, through starting the driving machine, its wherein drive roll wheel 82 of connecting is rotary motion, under the effect through drive belt 83, drive another drive roll wheel 82 rotary motion, thereby drive the drive runner 84 syntropy rotary motion on both sides, two drive runners 84 when present back are rotary motion, the turning block 85 pulling concave template 28 that is located the rear side moves backward, the turning block 85 that is located the front side simultaneously drives concave template 28 and moves backward, and in drive runner 84 rotates a week in-process, concave template 28 will be the back-and-forth movement once, improve the swing effect of concave template 28 like this.

As an embodiment of the present invention, as shown in fig. 5 and fig. 6, a rotating groove is formed on the supporting column 24 located at the left end, an i-shaped block 91 is rotatably connected to the top of the base 1 in the rotating groove, a T-shaped block 92 is slidably connected to the middle of the i-shaped block 91, a laser 93 is installed at the top of the T-shaped block 92, a clamping seat 94 is installed at the bottom end of the T-shaped block 92 and on a side surface far away from the i-shaped block 91, a spring pull rod 95 is installed inside the clamping seat 94, and a pull rod in the spring pull rod 95 is slidably inserted through the clamping seat 94 and then is extruded on the i-shaped block 91.

When the device works, when the distance between the top surface of the base 1 and the topmost surface of a workpiece needs to be detected, the device can be separated from the I-shaped block 91 through the T-shaped block 92 until the horizontal laser of the laser 93 is flush with the topmost surface of the workpiece, then the I-shaped block 91 is extruded on the spring pull rod 95, and then the I-shaped block 91 is rotated on the moving piece 71 at the rear end, so that the laser 93 is flush with the moving piece 71, the distance between the moving pieces 71 can be adjusted quickly, and the polishing compensation effect on the workpiece is further improved.

The working principle is as follows: this be used for a error intelligent compensation system polishes based on multisensory fuses, during the use:

firstly, the method comprises the following steps: after a large workpiece is placed on the concave plate 28, the driving motor 38 is started to drive the second bevel gear 39 and the first bevel gear 37 to rotate, so that the driving rod 36 and the driving gear 35 rotate, then under the driving action of the driving gear 35, the driven gears 34 on two sides correspondingly rotate, so that the nut barrel 32 and the screw 33 move oppositely, the rotating direction of the screw 33 is adjusted according to the square requirement, and the distance between the limiting blocks 31 can be adjusted according to the length of the workpiece.

Secondly, the method comprises the following steps: when the distance between the top surface of the base 1 and the topmost surface of the workpiece needs to be detected, the T-shaped block 92 can be separated from the I-shaped block 91 until the horizontal laser of the laser 93 is flush with the topmost surface of the workpiece, then the I-shaped block 91 is extruded by the pull rod on the spring pull rod 95, and then the I-shaped block 91 is rotated on the moving member 71 located at the rear end, so that the laser 93 is flush with the moving member 71, and the distance between the moving members 71 can be quickly adjusted.

Thirdly, the method comprises the following steps: when the angle between the square parts 23 needs to be adjusted, the double-end screw rod 72 rotates under the pressure of the rotary disc 73 through manual adjustment of the rotary disc 73, at this time, the moving parts 71 on the two sides move relatively, meanwhile, the sliding rod 22 rotates along the arc-shaped groove, the sliding rod 22 moves along the sliding groove opening on the vertical seat 76, then, the angle sensor between the two square parts 23 is transmitted to the numerical control system through signals, when the angle on the numerical control system is suitable for a set value, the adjusting screw rod 77 is manually rotated until the vertical seat 76 is in a horizontal state, then, the adjusting rotary disc 78 rotates until the U-shaped part 75 moves towards the right end, and at this time, the extrusion spring 74 enters a compression state, so that the U-shaped part 75 is extruded on the arc-shaped seat 21.

Fourthly: by starting the driving machine, the connected driving roller 82 is rotated, and under the action of the driving transmission belt 83, the other driving roller 82 is driven to rotate, so that the driving rollers 84 on two sides are driven to rotate in the same direction, the front driving roller 84 and the rear driving roller 84 rotate clockwise, the rotating block 85 on the rear side pulls the concave plate 28 to move backwards, the rotating block 85 on the front side drives the concave plate 28 to move backwards, and in the process that the driving rollers 84 rotate for a circle, the concave plate 28 can move forwards and backwards once, so that the workpiece can be swung to move linearly to form a curved surface.

Fifthly, roughly grinding the workpiece by the robot 4 through the rough grinding machine 5, grinding a larger burr, when the rough grinding is finished, enabling the compensation grinding component 6 to be in contact with the workpiece by the robot 4, driving the first driven rollers 623 at two sides to rotate under the action of the first transmission belt 624 after the angle motor 621 is started, enabling the top grinding part 66 to rotate, then driving the second driven rollers 625 and the side grinding parts 64 to rotate under the action of the second transmission belt 626, enabling the side grinding parts 64 at two sides to rotate, enabling the force generated by grinding the top grinding part 66 and the side grinding parts 64 in contact with the workpiece to feed back to the multi-dimensional force sensor 61, enabling the multi-dimensional force sensor 61 to transmit the data of the force to the numerical control system, then starting the robot 4 to compensate grinding component 6 upwards to the workpiece again by the compensation grinding component 6 by the numerical control system, starting the driving part to drive the torsion gear 611 to rotate finely according to the curved surface condition of the workpiece, then driving the gear teeth end 612 to drive the T63 and the rotating plate 631 connected with the top grinding part 66 to rotate, and adjusting the contact area of the top grinding parts 64 according to the curved surface of the workpiece to be beneficial to the improvement of the curved surface of the top grinding parts 64.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides an error intelligent compensation system polishes based on multisensory fuses, includes base (1), its characterized in that: the top of the base (1) is provided with a supporting sliding assembly (2) for supporting a workpiece, the supporting sliding assembly (2) comprises a supporting unit and a sliding unit, the supporting sliding assembly (2) is provided with a limiting assembly (3) for limiting the workpiece, the right side of the base (1) is provided with a robot (4), the right end of the robot (4) is provided with a numerical control system, the left side of the top of the robot (4) is provided with a rough grinding machine (5), the right side of the top of the robot (4) is provided with a compensating grinding assembly (6), the top of the base (1) is provided with an adjusting assembly (7) for adjusting the distance of the supporting unit, the supporting sliding assembly (2) is provided with a swinging assembly (8) for driving the sliding unit to swing back and forth, and the base (1) is provided with a measuring assembly (9) for measuring the distance between the bottom surface of the base (1) and the topmost surface of the workpiece;

the support unit includes four arc seats (21), four arc seat (21) all set up on base (1) and distribute the rectangle array and set up, be provided with slide bar (22) between arc seat (21) at both ends around being located, it is connected with square piece (23) to rotate between the opposite side of slide bar (22), support column (24) are all installed at both ends about the middle part of base (1), install dead lever (25) between support column (24), the one end rotation of arc seat (21) is kept away from in square piece (23) is connected on dead lever (25), the slip unit sets up on the middle part of square piece (23), the slip unit includes slider (26) of sliding connection on square piece (23), both ends all rotate about slider (26) and are connected with backup pad (27), every group concave template (28) are installed to the top of backup pad (27).

2. The intelligent grinding error compensation system based on multi-sensor fusion as recited in claim 1, wherein: spacing subassembly (3) include two stopper (31), two symmetric distribution is on concave type board (28) around the bottom of stopper (31), two a pair of nut section of thick bamboo (32) is all installed on the back of the body of back of stopper (31), the equal threaded connection in both ends has screw rod (33) around concave type board (28), the looks remote site threaded connection of screw rod (33) is inboard at nut section of thick bamboo (32), the back of the body end rotation of screw rod (33) is worn to establish behind concave type board (28) and is installed driven gear (34), the meshing is connected with driving gear (35) between driven gear (34), install between front and back driving gear (35) and rotate drive lever (36) of being connected in concave type board (28) inboard, L type groove has been seted up to the inboard of concave type board (28), the mid-mounting of drive lever (36) has first bevel gear (37) at L type groove horizontal end inboard, the middle part of concave type board (28) transversely installs driving motor (38), the second cone gear (39) of being connected with first bevel gear (37) meshing is installed to the output of driving motor (38).

3. The intelligent grinding error compensation system based on multi-sensor fusion as claimed in claim 2, wherein: the inboard of concave mould board (28) and the bottom symmetry that is located stopper (31) have seted up the through-hole, slider (311) are installed after passing the through-hole through the connecting rod in the bottom of stopper (31), slide rail plate (312) with slider (311) sliding connection are installed to the bottom of concave mould board (28), voussoir (313) are all installed to the opposite face of stopper (31), the rubber pad is installed in the outside of voussoir (313).

4. The intelligent grinding error compensation system based on multi-sensor fusion as claimed in claim 1, wherein: the compensation grinding component (6) comprises a multidimensional force sensor (61), the multidimensional force sensor (61) is installed at the right end of the robot (4), a fixed block (62) is installed at the bottom end of the multidimensional force sensor (61), T-shaped parts (63) which are inclined are arranged at the front end and the rear end of the fixed block (62), two rotating plates (631) are connected to the left end and the right end of the fixed block (62) in a rotating mode, the rotating plates (631) at the front end and the rear end are installed at the horizontal end of the T-shaped parts (63), one end of the fixed block (62) is far away from the two rotating plates (631) at the front end and the rear end in a rotating mode and connected with a side grinding part (64), a connecting seat (65) is installed at the bottom end of the fixed block (62) in a symmetrical mode, a top grinding part (66) is connected to the rotating mode between the connecting seat (65) in a rotating mode, an angle motor (621) is installed at the front end of the fixed block (62), an active roller (622) is installed at the output end of the angle motor (621), the left end of the connecting seat (65) is installed with a first passive roller (631) in a first passive roller (623) and a second roller (623) is installed at the left end of the first passive roller (623) and the second roller (624) in a passive roller (625), and a second roller (623) in a second passive roller (624) in a driven belt (624) and connected with a driven roller (624) in a driven roller (624), the length of the second driven roller (625) positioned at the front end is smaller than that of the second driven roller (625) positioned at the rear end, the second transmission belts (626) are respectively arranged on the outer sides of the driving roller (622) positioned on the right side and the two second driven rollers (625) in transmission connection, and the second transmission belts (626) positioned at the front end are arranged on the left side of the second transmission belts (626) positioned at the rear end.

5. The intelligent grinding error compensation system based on multi-sensor fusion according to claim 4, the method is characterized in that: be located both ends just correspond the vertical end of T type spare (63) around fixed block (62) and seted up the L notch, round notch has been seted up to the bottom of fixed block (62), and round notch and L notch are linked together, gear tooth end (612) are installed to the relative end of T type spare (63), the wrench movement gear (611) of gear tooth end (612) meshing at both ends around with are installed to the inboard of fixed block (62), the mid-mounting of fixed block (62) has the driving piece of drive wrench movement gear (611) rotary motion.

6. The intelligent grinding error compensation system based on multi-sensor fusion as recited in claim 1, wherein: adjusting part (7) are including moving member (71), arc seat (21) bottom that is located both ends around all installs on moving member (71), the top of base (1) is connected with moving member (71) through sliding rail connection, the top of base (1) is rotated through the bearing frame and is connected with double lead screw (72), and both ends all are at the middle part threaded connection of moving member (71) around double lead screw (72), the rear end of double lead screw (72) rotates and wears to establish behind moving member (71) and install carousel (73), the arc wall has been seted up to arc seat (21) inboard at front and back both ends, both ends slide about slide bar (22) and wear to establish in the arc wall, the spring groove has been seted up to the left end of slide bar (22), the left end of slide bar (22) just installs extrusion spring (74) at the spring inslot, both ends slide about slide bar (22) are equipped with U type spare (75), the back of face of arc seat (21) hugs closely sliding connection on U type spare (75) through sliding rail connection, the U type spare (75) that is located the right-hand member go up screw thread is connected with adjustment carousel (78), and adjustment carousel (21) one end (78) and adjustment carousel (78) one end.

7. The intelligent grinding error compensation system based on multi-sensor fusion as claimed in claim 6, wherein: the left end of slide bar (22) wears to establish behind U type spare (75) and sliding connection has perpendicular seat (76), the side that perpendicular seat (76) are close to arc seat (21) is seted up and is convenient for the spacing gliding sliding groove mouth of slide bar (22), the top of base (1) just corresponds the below rotation of perpendicular seat and is connected with accommodate the lead screw (77), and the middle part threaded connection of the outside of accommodate the lead screw (77) at perpendicular seat (76).

8. The intelligent grinding error compensation system based on multi-sensor fusion as claimed in claim 1 or 6, wherein: swing subassembly (8) include two drive seats (81), two drive seat (81) are all installed on arc seat (21) that are located the left end, and the driving machine is installed on the top of drive seat (81) that are located the rear end, the driving groove has been seted up to the opposite face of drive seat (81), and all installs drive running roller (82) in the driving groove, the outside transmission of drive running roller (82) is connected with drive belt (83), the output of driving machine and wherein be located the drive running roller (82) fixed connection of rear side, the right-hand member of drive running roller (82) is worn to establish behind drive seat (81) and is installed drive runner (84) through the connecting rod rotation, it is connected with turning block (85) to rotate between drive runner (84) opposite side, and the one end of turning block (85) rotates through the pivot and connects on concave plate (28).

9. The intelligent grinding error compensation system based on multi-sensor fusion as claimed in claim 1, wherein: be located the left end seted up on support column (24) and rotated the groove, the top of base (1) just is rotating the inslot rotation and being connected with I-shaped piece (91), the middle part sliding connection of I-shaped piece (91) has T type piece (92), laser instrument (93) are installed at the top of T type piece (92), cassette (94) are installed to the bottom of T type piece (92) and the side of keeping away from I-shaped piece (91), spring pull rod (95) are installed to the inboard of cassette (94), and the pull rod in spring pull rod (95) slides and wears to establish behind cassette (94) and extrude on I-shaped piece (91).