CN201998031U - Canvas polishing machine capable of keeping polishing force constant - Google Patents
Canvas polishing machine capable of keeping polishing force constant Download PDFInfo
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- CN201998031U CN201998031U CN2011200153865U CN201120015386U CN201998031U CN 201998031 U CN201998031 U CN 201998031U CN 2011200153865 U CN2011200153865 U CN 2011200153865U CN 201120015386 U CN201120015386 U CN 201120015386U CN 201998031 U CN201998031 U CN 201998031U
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- cloth
- polishing
- wheel
- throw
- servomotor
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Abstract
A canvas polishing machine capable of keeping polishing force constant comprises a body, a canvas polishing wheel, a driving motor and a servomotor, the body is connected with a base, the canvas polishing wheel is arranged on the body, the driving motor is connected with the canvas polishing wheel to drive the canvas polishing wheel to rotate, the servomotor is arranged on the base and connected with the body, and drives the body to radially and horizontally move to and fro along the canvas polishing wheel, the driving motor is connected with an inverter for controlling the driving motor, the servomotor is connected with a driver for controlling the servomotor, and both the inverter and the driver are connected with a PLC (programmable logic controller ) control system. The canvas polishing machine can keep polishing force constant, so that the surface of a product can be more reliably polished, and the design is scientific and advanced.
Description
Technical field
The utility model relates to the polishing field, more particularly relates to a kind of constant cloth of polishing force that keeps and throws machine.
Background technology
The material that the cloth of the machine of cloth throwing is at present thrown wheel is a cloth; comparatively soft; the polishing product is thrown the mutual dynamics that contacts of wheel with cloth and is difficult to hold; usually can because of polishing product and cloth throw connect between the wheel pressure position not to and cause polishing effect bad; concerning cloth is thrown technology; require the degree of accuracy of polishing higher; the polishing product is thrown contacting between wheel with cloth and is controlled bad a little; will cause the polishing of polishing product surface inhomogeneous; simultaneously along with cloth throwing wheel is more and more longer service time; its surface is owing to polishing makes the radius of polishing wheel reduce gradually; when polishing product space fixedly the time; along with the polishing wheel length difference of service time; the radius of polishing wheel is different and the polishing effect difference that causes polishing product is unfavorable for standardized production, if the polishing product outline that is used to process simultaneously is irregular; the displacement of adopting simple plant equipment to finish the polishing product is difficult, therefore a kind ofly can keep the constant cloth throwing machine of the polishing force particular importance that seems.
Summary of the invention
A kind of constant cloth of polishing force that keeps provided by the invention is thrown machine, and its purpose is to overcome existing cloth and throws machine can't to remain polishing force constant, and causes the bad shortcoming of polishing effect, thoroughly solves polishing product cloth and throws a difficult problem.
Technical scheme provided by the invention is as follows:
A kind of constant cloth of polishing force that keeps is thrown machine, comprises the body that is connected with base, is located at cloth on the body and throws wheel, throw wheel with cloth and is connected and drives cloth and throw the drive motors of wheel rotation, be located on the base and be connected with body and drive the servomotor that body moves forward and backward along cloth throwing wheel radial level; Described drive motors connects the frequency converter of this drive motors of control, and described servomotor connects the driver of this servomotor of control, and described frequency converter and driver all are connected with a PLC control system.
Comprise that also clamping polishing product makes the polishing product keep the robot of six-freedom degree, this robot is connected with above-mentioned PLC control system.
Described body top is provided with one and promotes to add automatically to polishing wheel the wax apparatus that adds of wax by cylinder.
Described servomotor connects one speed reducer, and this decelerator is connected with organism bottom by a screw mandrel.
Be connected by linear guides between described base and body.
Described base is provided with two parallel orbits, and described organism bottom is provided with the sliding portion suitable with above-mentioned track.
Described screw mandrel surface has screw thread, and described organism bottom is provided with and the suitable nut of above-mentioned screw mandrel thread surface.
By the above-mentioned description of this invention as can be known, compare, the invention has the advantages that with existing technology:
1, frequency converter, driver, robot is connected by bus with the PLC control system, PLC has realized the polishing force control of polishing product in different spatial (that is: different machined surfaces) with the real-time communication of robot control system, the PLC control system obtains the demand of the polishing force size of robot by bus, and obtain cloth by frequency converter and throw wheel drive motor real-time working electric current, obtain cloth by servomotor and throw wheel real-time working radius, and then obtain cloth and throw the real-time polishing force of wheel, the real-time polishing force of control system analysis, and control driver, making servomotor drive body moves forward and backward along cloth throwing wheel radial level, change cloth and throw the distance of taking turns and polishing between product, and then realize that polishing force is constant, this polishing machine design is novel, simple in structure, can make the polishing of polishing product surface more even simultaneously;
2, this cloth throwing machine has changed the machine of cloth throwing in the past along with more and more growing service time and making cloth throw the shortcoming that the wheel radius reduces to cause the polishing effect difference, under the situation of polishing fixed-site, throwing wheel by automatic adjustment cloth makes polishing force constant with the relative position that polishes product, to polish the product polishing evenly, be convenient to standardized production;
3, comprise that also clamping polishing product makes its robot that keeps six-freedom degree because this cloth is thrown machine, this robot can make the polishing product keep six-freedom degree, therefore each face of polishing product all can be polished evenly, and is convenient and practical;
4, along with industrial to improving constantly that polishing requires, the use that this cloth is thrown machine will get more and more, and have a extensive future.
Description of drawings
Fig. 1 is that cloth is thrown the machine front view.
Fig. 2 is the left view that cloth is thrown machine.
Fig. 3 is the right view that cloth is thrown machine.
Fig. 4 is the rearview that cloth is thrown machine.
Fig. 5 is the partially connected architecture schematic diagram of body, base, decelerator.
Fig. 6 is the structured flowchart that cloth is thrown machine.
The specific embodiment
A kind of method of controlling the constant polishing force of cloth throwing machine may further comprise the steps:
A, PLC control system are set the control parameter, start drive motors, make cloth throw wheel and rotate;
B, robot clamping polishing product connect the circumference that is pressed in cloth throwing wheel and polish, and keep;
C, PLC control system obtain cloth by frequency converter and throw wheel drive motor real-time working electric current, obtain cloth throwing wheel real-time working radius by servomotor;
D, PLC control system are according to the above-mentioned real-time working electric current that obtains, real-time working radius, draw cloth and throw the size of the real-time polishing force of wheel, when real-time polishing force when setting polishing force big or small, the PLC control system is sent signal, and the body that makes the drive of driver drives servomotor be connected with cloth throwing wheel is thrown the wheel radial level along cloth and moved backward; When real-time polishing force when setting polishing force, the PLC control system is sent signal, the driver drives servomotor is driven be connected with cloth to throw the body of wheel and throws the wheel radial level along cloth and move forward;
E, will polish product and change direction, repeating step b finishes until whole polishing to the operation of d.
With reference to figure 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6.A kind of constant cloth of polishing force that keeps is thrown machine, comprise the body 2 that is connected with base 1, be located at cloth on the body 2 and throw wheel 3, throw wheel 3 with cloth and is connected and drives cloth and throw the drive motors 4 of taking turns 3 rotations, be located at the servomotor 5 on the base 1, servomotor 5 connects one speed reducer 51, this decelerator 51 connects the screw mandrel 511 that a surface has screw thread, body 2 bottoms are provided with the nut 21 suitable with the screw thread of screw mandrel 511, by matching of leading screw 511 and nut 21, body 2 can move forward and backward; Base 1 is provided with two parallel orbits 11,12, and body 2 bottoms are provided with the sliding portion 22,23 suitable with track 11, with the suitable sliding portion 24,25 of track 12.Drive motors 4 connections one can be controlled the frequency converter 6 of drive motors 4, servomotor 5 connections one can be controlled the driver 7 of servomotor 5, frequency converter 6 and driver 7 are all by a PLC control system 8 controls, and this cloth is thrown machine and comprised that also clamping polishing product makes it keep the robot (not shown) of six-freedom degree.This robot is connected with PLC control system 8, and body 2 tops are provided with one can be to the Wax polishing device 9 of polishing wheel 3 automatic waxings, and this Wax polishing device 9 promotes control by cylinder 91.
Above-mentioned frequency converter 6, driver 7, industrial robot and PLC control system 8 are connected by bus, and PLC control system 8 and robot control system real-time communication have realized the control of polishing product at the polishing force of different spatial (that is: different machined surfaces).
The course of work that above-mentioned cloth is thrown machine is as follows: the size of input control parameter in PLC control system 8 or robot control system, robot will polish product and cloth throwing wheel 3 connects pressure and maintenance, PLC control system 8 detects the real-time working electric current that cloth is thrown the drive motors 4 of wheel 3 by frequency converter 6, obtain cloth by servomotor 5 and throw wheel 3 real-time working radiuses, and then obtain the real-time polishing force that cloth is thrown wheel 3, PLC control system 8 is analyzed real-time polishing force, the real-time polishing force of throwing wheel 3 when cloth is when setting polishing force, PLC control system 8 is sent signal, make driver 7 drive servomotor 5, and by decelerator 51, screw mandrel 511, the cooperatively interacting of nut 21 drives and to be connected with cloth and to throw the body 2 of wheel 3 and throw wheel 3 radial levels along cloth and move backward; The real-time polishing force of throwing wheel 3 when cloth is when setting polishing force, PLC control system 8 is sent signal, make driver 7 drive servomotor 5, and drive by cooperatively interacting of decelerator 51, screw mandrel 511, nut 21 and to be connected with cloth and to throw the body 2 of wheel 3 and throw wheel 3 radial levels along cloth and move forward, when the real-time polishing force of cloth throwing wheel 3 equals to set polishing force, remain unchanged; Throw the relative position of wheel 3 and polishing product by changing cloth, and then the polishing force maintenance that cloth is thrown between wheel 3 and polishing product is constant, the Wax polishing device 9 on body 2 tops can regularly promote by cylinder 91 simultaneously, adds wax automatically to polishing wheel 3.Therefore this cloth is thrown machine and can be polished the size that needs are accurately controlled polishing force according to reality, can be better evenly with the polishing of polishing product surface, change the machine of cloth throwing in the past and made cloth throw the shortcoming that the wheel radius reduces to cause the polishing effect difference along with service time, be convenient to standardized production.
Drive motors 4 in the foregoing description not only can be located at outside the body 2, can also be located in the body 2, and the outward appearance that makes cloth throw machine looks more attractive in appearance.
Above-mentioned cloth throwing organizational security is held the constant principle of polishing force and is described below:
: on the grinding and polishing intersection point along the pressure of polishing wheel normal direction;
: on the grinding and polishing intersection point along the polishing tangential direction polishing force; N: cloth is thrown the angular speed of wheel; V: linear velocity on the grinding and polishing intersection point; T: grinding and polishing torque, polishing force
With the product apart from r of grinding and polishing point of contact to the cloth wheel center of circle.
Change the position of grinding and polishing point, promptly change cloth wheel center and the relative position that polishes product, this small change in location on normal direction will make normal pressure
Take place significantly to change, therefore polish Free Surface uniformly in order to obtain quality, when control tangential motion speed v is constant, must be to the polishing normal force
Control, to guarantee polishing force as far as possible
Constant.
Moment is the product that equals power and operating radius, that is: T=
* r
(radius is to be located at maximum cloth wheel radius
) locate to read a value and as maximum polishing force be
, according to the maximum polishing force of following formula be:
=
/
(1)
Equally, the polishing force in any radial location is: Ft=T/r(2)
Because the cloth turbin generator is an asynchronous motor, its torque T is magnetic flux Φ and rotor circulating current
Between interact and produce, that is: T=
Formula (2) can be rewritten as divided by formula (1):
Simultaneously the cloth turbin generator is to carry out speed governing by frequency converter under rated frequency, and this mode of speed regulation is to be the constancy achieving speed governing by the ratio that keeps voltage and frequency, that is: the frequency control way of permanent magnetic flux.Therefore, the Φ of following formula=
, formula is converted into:
The constant percentage value of=x%=(3)
Therefore (coding of this value is set in the respective coordinates position of robot by man-machine interface percentage value to be imported cloth throwing machine, call corresponding polishing force by robot), when the operating current of throwing the drive motors of wheel when cloth changes, rely on the control servomotor to regulate radius value, thereby reach the purpose of system's control.
Above-mentioned only is the specific embodiment of the present invention, but design concept of the present invention is not limited thereto, and allly utilizes this design that the present invention is carried out the change of unsubstantiality, all should belong to the behavior of invading protection domain of the present invention.
Claims (7)
1. one kind can keep the constant cloth of polishing force to throw machine, it is characterized in that: comprise the body that is connected with base, be located at cloth on the body and throw wheel, throw wheel with cloth and is connected and drives cloth and throw the drive motors of wheel rotation, be located on the base and be connected with body and drive the servomotor that body moves forward and backward along cloth throwing wheel radial level; Described drive motors connects the frequency converter of this drive motors of control, and described servomotor connects the driver of this servomotor of control, and described frequency converter and driver all are connected with a PLC control system.
2. a kind of constant cloth of polishing force that keeps according to claim 1 is thrown machine, it is characterized in that: comprise that also clamping polishing product makes the polishing product keep the robot of six-freedom degree, this robot is connected with above-mentioned PLC control system.
3. a kind of constant cloth of polishing force that keeps according to claim 1 and 2 is thrown machine, it is characterized in that: described body top is provided with one and promotes to add automatically to polishing wheel the wax apparatus that adds of wax by cylinder.
4. a kind of constant cloth of polishing force that keeps according to claim 1 is thrown machine, and it is characterized in that: described servomotor connects one speed reducer, and this decelerator is connected with organism bottom by a screw mandrel.
5. throw machines according to claim 1 or 4 described a kind of constant cloth of polishing force that keep, it is characterized in that: be connected by linear guides between described base and body.
6. a kind of constant cloth of polishing force that keeps according to claim 5 is thrown machine, and it is characterized in that: described base is provided with two parallel orbits, and described organism bottom is provided with the sliding portion suitable with above-mentioned track.
7. a kind of constant cloth of polishing force that keeps according to claim 4 is thrown machine, and it is characterized in that: described screw mandrel surface has screw thread, and described organism bottom is provided with and the suitable nut of above-mentioned screw mandrel thread surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200153865U CN201998031U (en) | 2011-01-19 | 2011-01-19 | Canvas polishing machine capable of keeping polishing force constant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200153865U CN201998031U (en) | 2011-01-19 | 2011-01-19 | Canvas polishing machine capable of keeping polishing force constant |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201998031U true CN201998031U (en) | 2011-10-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200153865U Expired - Fee Related CN201998031U (en) | 2011-01-19 | 2011-01-19 | Canvas polishing machine capable of keeping polishing force constant |
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| CN (1) | CN201998031U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102145473A (en) * | 2011-01-19 | 2011-08-10 | 福建长江工业有限公司 | Method and equipment for controlling constant polishing force of buffing machine |
| CN103639867A (en) * | 2013-12-06 | 2014-03-19 | 苏州逸美德自动化科技有限公司 | Robot polisher |
| CN105033829A (en) * | 2015-06-17 | 2015-11-11 | 陈幸 | Rapid-discharging polisher |
| CN106737196A (en) * | 2016-12-26 | 2017-05-31 | 广东博科数控机械有限公司 | A kind of constant pressure constant linear velocity polishing method of robot polishing machine |
-
2011
- 2011-01-19 CN CN2011200153865U patent/CN201998031U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102145473A (en) * | 2011-01-19 | 2011-08-10 | 福建长江工业有限公司 | Method and equipment for controlling constant polishing force of buffing machine |
| CN103639867A (en) * | 2013-12-06 | 2014-03-19 | 苏州逸美德自动化科技有限公司 | Robot polisher |
| CN105033829A (en) * | 2015-06-17 | 2015-11-11 | 陈幸 | Rapid-discharging polisher |
| CN106737196A (en) * | 2016-12-26 | 2017-05-31 | 广东博科数控机械有限公司 | A kind of constant pressure constant linear velocity polishing method of robot polishing machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111005 Termination date: 20190119 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |