CN208246586U - One kind is about servo force control polishing workbench - Google Patents
One kind is about servo force control polishing workbench Download PDFInfo
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- CN208246586U CN208246586U CN201820674785.4U CN201820674785U CN208246586U CN 208246586 U CN208246586 U CN 208246586U CN 201820674785 U CN201820674785 U CN 201820674785U CN 208246586 U CN208246586 U CN 208246586U
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Abstract
The utility model relates to be based on a kind of robot handheld grinding workpieces and polishing field, more specifically, it is one kind about servo force control polishing workbench, milling robot carries out workpiece grabbing, floating polishing motor structure is arranged in front of milling robot, the polishing motor mounting base of floating polishing motor structure is connect by rack-and-pinion with servo motor driving device, profiling emery wheel is mounted on the motor shaft of polishing motor, when servo motor driving device output torque, polishing motor mounting base is moved along the linear guide being mounted in polishing motor rack, imitative type fixture draws product using I/O signal control vacuum generator and completes feeding.By way of power control, guarantees that the pressure between workpiece and grinding tool is constant and controllable, improve production efficiency and quality, expand the scope of application of polishing workbench.
Description
Technical field
The utility model relates to be based on a kind of robot handheld grinding workpieces and polishing field, more specifically, it is one
Kind is about servo force control polishing workbench.
Background technique
Rubbing down is in order to reduce the roughness of workpiece surface, to obtain bright, flat surface processing technology.Rubbing down
When, it dumps and presses to workpiece, generate certain contact pressure with workpiece surface, by the high speed rotation dumped, make abrasive material to workpiece
Surface generates rolling and micro cutting, to obtain bright finished surface.During the polishing process, if contact pressure is less than normal,
Workpiece surface flaw or defect can not completely be removed；If contact pressure is bigger than normal, grinding is easy to cause excessively, to workpiece and mill
Tool damages, therefore the contact pressure between workpiece of dumping is the key that polishing process.
The prior art:
The rubbing down working end of traditional polissoir mostly uses rigid connection, and polishing motor mechanism is fixed, entire throwing
Grinding system is simultaneously not charged with pressure controlling device therefore is easy to appear following problems during the grinding process:
(1) grinding tool is after a period of time of polishing, it may occur that abrasion causes the contact surface of grinding tool and workpiece to reduce and even divides
From；
(2) different with the size and surface machining status of a collection of workpiece, there are mismachining tolerances；
(3) there are deviations during installation and clamp for robot and frock clamp；
(4) above-mentioned factor will cause workpiece and grinding points and there is offset during rubbing down, make polishing point on workpiece by
Power is uneven and contact pressure between workpiece and grinding tool is non-constant, causes rubbing down ineffective；
(5) contact pressure of grinding tool and workpiece is led to by controlling at a distance between manual adjustment polishing motor and workpiece
It crosses not ensuring that of adjusting in this way to dump with whether the contact pressure of workpiece is suitable, it needs the personnel adjusted to have warp abundant
When testing, and replacing different workpiece, adjusting is re-started again, is unfavorable for the production of high efficiency, high quality；
(6) for the workpiece of complex surface, traditional polissoir since polishing motor is fixed, be unable to adjust automatically dump with
Distance between workpiece causes grinding tool that can not adapt to processing facial contour according to the surface profile adjust automatically of workpiece, reduces throwing
The scope of application of light device；
(7) it by installing spring in grinding tool mechanism, is adjusted between grinding tool and workpiece using the reseting elasticity of spring
Pressure.This regulative mode is only that the reset of mechanical spring is leaned on to adjust, it adjusts rubbing down pressure limit and practical rubbing down process
In actual pressure be ignorant, therefore not can guarantee the effect and precision of rubbing down；
(8) using cylinder-driven and electric Proportion valve control output pressure size control, and can be under pressure it is excessive
When active pressure release it is sluggish: within 0.5%, during the grinding process, it may appear that mend because electric Proportion valve sensitivity is in 0.2kPa
It repays and to be obedient to process surface pressing value difference different.
Summary of the invention
The utility model for above there are problem, provide a kind of robot and the cooperation of floating polishing motor structure it is more tacit,
The better polishing workbench of grinding effect.
To solve the above-mentioned problems, the utility model uses following technical scheme: a kind of to make about servo force console keyboard grinder
Platform, including milling robot, floating polishing motor structure, the milling robot carry out workpiece grabbing, the floating polishing
Motor structure is arranged in front of milling robot, the polishing motor mounting base of the floating polishing motor structure by rack-and-pinion with
Servo motor driving device connection, profiling emery wheel are mounted on the motor shaft of polishing motor, and servo motor driving device output is turned round
When square, polishing motor mounting base is moved along the linear guide being mounted in polishing motor rack.
Further, the milling robot is six-DOF robot, and imitative type fixture is mounted on milling robot end
Flange on.
Further, the imitative type fixture draws product using I/O signal control vacuum generator and completes feeding.
Further, equipped with for measuring the distance between milling robot photoelectricity in front of the polishing motor mounting base
Sensor, photoelectric sensor are electrically connected with the realization of PLC master control cabinet.
Further, the floating polishing motor structure is provided with the device of Pneumatic Transmission and the control of pneumatic proportional valve is imitated
Shape emery wheel is realized according to workpiece surface situation and is floated.
Further, the vacuum generator connects pneumatic device control cabinet 3；It is total that the milling robot 1 connects PLC
Control cabinet 4, settable multiple and different torque and different speed on the touch screen of PLC master control cabinet.
Further, the floating polishing motor structure realizes the servo electricity under location control mode by PLC control system
The accurate positioning of machine actuating device, analog output module FX3U-4DA realize servo motor driving device under torque control model
Direct torque and speed control, the actual value that Analog input mModule FX3U-4AD receives current motor torque feed back to PLC control
System processed, real electrical machinery torque closed-loop control, Y003 realizes the switching between station-keeping mode and torque mode.
The utility model has the advantages that this power control polishing workbench further improves polishing quality, guarantees work
Pressure between part and grinding tool is constant and controllable, improves production efficiency and quality, expands the scope of application of polishing workbench.
Compared to traditional rubbing down equipment, the grinding tool rate of wear mitigates in this polishing system, and milling robot single after stepping, is polished forward
The more traditional grinding apparatus of piece count has raising by a relatively large margin.For the workpiece that some surfaces are slightly complicated, the utility model can
Realize grinding tool according to workpiece surface situation floating by the adjusting of the device of Pneumatic Transmission and pneumatic proportional valve control
It is dynamic, guarantee that the polishing pressure between workpiece and grinding tool is constant.
Detailed description of the invention
It, below will be in embodiment technical description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Required attached drawing is briefly described.
Attached drawing 1 is the utility model grinding and polishing workbench schematic diagram.
Attached drawing 2 is the utility model floating polishing motor structure schematic diagram.
Attached drawing 3 is the utility model floating polishing motor structure partial schematic diagram.
Attached drawing 4 is the workpiece schematic diagram that embodiment needs to polish.
Attached drawing 5 is the utility model main circuit diagram.
Attached drawing 6 is the utility model control section electrical schematic diagram.
Attached drawing 7 is the utility model major electrical components.
Attached drawing 8 is the main I O assignment table of the utility model.
Specific embodiment
Further detailed description, but the reality of the utility model are made to the utility model below with reference to examples and drawings
It is without being limited thereto to apply example.
As shown in attached drawing 1-4, the servo motor driving device 24 of the utility model patent drives polishing motor mounting base 28
On rack-and-pinion 23 realize that polishing motor mounting base 28 is connect by rack-and-pinion 23 with servo motor driving device 24, it is imitative
Shape emery wheel 21 is mounted on polishing motor 22, when 24 output torque of servo motor driving device, 28 edge of polishing motor mounting base
Be mounted on linear guide 27 in polishing motor rack 25 and move.During the grinding process, this polishing workbench passes through PLC system
Control servo motor driving device 24 exports the motive force that different torques give polishing motor, when workpiece 5 and the contact pressure dumped
When power increases, servo motor driving device 24 reduces current reduction output torque, reduces motive force；When contact pressure is reduced,
It drives servo motor driving device 24 and increases current reduction output torque, motive force is increased, by this device, it can be achieved that workpiece and mill
Pressure remained steady between tool.When polishing starts, the driving motor of floating polishing motor structure 2 is in mode position, cooperates photoelectricity
Sensor 26, is controlled by PLC, is zeroed and is moved to position of readiness, and after milling robot is in place, PLC controls servo motor and drives
Dynamic device is switched to torque mode, makes floating polishing motor structure integrally by assigned direction, and constant speed, constant pressure is transported
It is dynamic.During the grinding process, robot can answer the electrodeless adjustment of same workpiece different location difference polishing pressure, and grinding effect is big
Amplitude is promoted, and promotes grinding efficiency.The vacuum generator that pneumatic device control cabinet 3 is used to control sander people 1 is realized to workpiece 5
Pick-and-place；The main function of PLC master control cabinet 4: 1) it, controls floating polishing motor structure driving servo motor, is allowed to whole by specified
Direction, constant speed, constant pressure are moved；2), settable multiple and different torque and different speed on the touchscreen,
Using different torque and speed when realizing the polishing different position of workpiece, robot needs to change in polishing workpiece different location
It needs first to send out when torque output after an information receives signal to PLC, PLC and can call pre-set torque and speed
Degree.
The course of work of the utility model is as follows:
(1) three-dimensional model diagram is made according to workpiece, bruting process is emulated using simulation software；Using off-line programing
Software sets the motion profile of milling robot 1, can clamp workpiece 5 by track after so that sander people 1 is worked and move to
It polishes correct position；
(2) milling robot 1 drives imitative 11 feeding of type fixture, imitates type fixture 11 and uses the I/O signal of robot control system
It controls vacuum generator and draws product completion feeding；
(3) milling robot 1 is six-DOF robot, and imitative type fixture 11 is mounted on the method for the end of milling robot 1
On orchid 12；
(4) floating polishing motor structure 2 is arranged in 1 front of milling robot, and profiling emery wheel 21 is mounted on polishing motor 22
On motor shaft；
(5) before polishing starts, driving motor is in mode position, cooperates photoelectric sensor 26, is controlled, returned by PLC
Zero and it is moved to position of readiness, after milling robot 1 is in place, PLC control servo motor driving device 24 is switched to torque mould
Formula (≤200ms) makes polishing motor integrally can be by assigned direction, and constant speed, constant pressure is moved, and makes workpiece and mill
Tool is in contact and generates certain constant pressure；
(6) after polishing starts, in order to improve grinding effect and quality, different workpiece due to material and processing dimension not
One, the contact pressure between workpiece and grinding tool should be controlled.This polishing workbench controls driving servo electricity by PLC system
Machine actuating device 24 exports the motive force that different torques give polishing motor 22, when the contact pressure of workpiece 5 and profiling emery wheel 21
When increase, servo motor driving device 24 reduces current reduction output torque, reduces motive force；When contact pressure is reduced, watch
It takes motor driver 24 and increases current reduction output torque, increase motive force；This control may insure that workpiece 5 and profiling are ground
It is able to maintain good contact between wheel 21, and contact pressure is constant, reduces the incomplete possibility of polishing.
(7) milling robot 1 and its PLC control system drive workpiece 5 to realize large-scale various postures and movement, together
When use off-line programming software and robot control system, in conjunction with grinding workpieces track needs and polishing motor mechanism combine point
Not carry out circular arc edged surface, side, the grinding process of the different process of bottom surface.Meanwhile milling robot 1 passes through its PLC control system
System realizes that imitative type emery wheel 21 grinds the automatic compensation that losing quantity carries out trajectory parameters according to the quantity of production workpiece 5.
Compared to traditional rubbing down equipment, the grinding tool rate of wear mitigates in this polishing system, and milling robot single walks forward
Into rear, the polishing more traditional grinding apparatus of piece count has raising by a relatively large margin.For the workpiece that some surfaces are slightly complicated, this reality
It can be controlled by the device of Pneumatic Transmission and the adjusting of pneumatic proportional valve with novel, allow grinding tool according to workpiece surface feelings
Condition, which is realized, floats, and guarantees that the polishing pressure between workpiece and grinding tool is constant.
The utility model control system explanation:
As viewed in figures 5-8, the utility model is real using the position pulse function built in Mitsubishi FX3U-32MT/ES-A PLC
The accurate positioning of servo motor under existing location control mode, analog output module FX3U-4DA are realized under torque control model
(0- ± 10V is to just for servo motor direct torque (0- ± 8V voltage corresponds to the positive negative direction torque capacity of motor 0-) and speed control
Motor 0- rated speed), the actual value that Analog input mModule FX3U-4AD receives current motor torque feeds back to PLC, practical
The closed-loop control of motor torque, Y003 realize the switching (switching time≤200ms) before station-keeping mode and torque mode.
The better embodiment of the utility model is illustrated above, but the utility model be not limited to it is described
Embodiment, those skilled in the art can also make various equivalent changes without departing from the spirit of the present invention
It changes or replaces, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.
Claims (7)
1. one kind is about servo force control polishing workbench, it is characterised in that: including milling robot, floating polishing motor structure, institute
The milling robot stated carries out workpiece grabbing, and the floating polishing motor structure is arranged in front of milling robot, and described is floating
The polishing motor mounting base of dynamic polishing motor structure is connect by rack-and-pinion with servo motor driving device, and profiling emery wheel is mounted on
On the motor shaft of polishing motor, when servo motor driving device output torque, polishing motor mounting base is along being mounted on polishing electricity
Linear guide movement in machine rack.
2. one kind according to claim 1 is about servo force control polishing workbench, it is characterised in that: the polishing machine
Artificial six-DOF robot, imitative type fixture are mounted on the flange of milling robot end.
3. one kind according to claim 2 is about servo force control polishing workbench, it is characterised in that: the imitative type fixture
Product, which is drawn, using I/O signal control vacuum generator completes feeding.
4. one kind according to claim 1 or 2 is about servo force control polishing workbench, it is characterised in that: the polishing
Equipped with total with PLC for measuring the distance between milling robot photoelectric sensor, photoelectric sensor in front of motor mount
It controls cabinet and realizes electrical connection.
5. one kind according to claim 1 or 2 is about servo force control polishing workbench, it is characterised in that: the floating
Polishing motor structure is provided with the device of Pneumatic Transmission and the control profiling emery wheel of pneumatic proportional valve according to workpiece surface situation reality
Now float.
6. one kind according to claim 3 is about servo force control polishing workbench, it is characterised in that: the vacuum occurs
Device connects pneumatic device control cabinet；The milling robot connects PLC master control cabinet, settable on the touch screen of PLC master control cabinet
Multiple and different torques and different speed.
7. one kind according to claim 1 or 2 is about servo force control polishing workbench, it is characterised in that: the floating
Polishing motor structure realizes the accurate positioning of the servo motor driving device under location control mode, simulation by PLC control system
It measures output module FX3U-4DA and realizes servo motor driving device direct torque and speed control under torque control model, analog quantity
The actual value that input module FX3U-4AD receives current motor torque feeds back to the closed loop of PLC control system, real electrical machinery torque
Control, Y003 realize the switching between station-keeping mode and torque mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820674785.4U CN208246586U (en) | 2018-05-05 | 2018-05-05 | One kind is about servo force control polishing workbench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820674785.4U CN208246586U (en) | 2018-05-05 | 2018-05-05 | One kind is about servo force control polishing workbench |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208246586U true CN208246586U (en) | 2018-12-18 |
Family
ID=64634780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820674785.4U Active CN208246586U (en) | 2018-05-05 | 2018-05-05 | One kind is about servo force control polishing workbench |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807734A (en) * | 2019-03-19 | 2019-05-28 | 王承辉 | Automatically grinding polishing machine |
| CN110153850A (en) * | 2019-05-29 | 2019-08-23 | 南京涵铭置智能科技有限公司 | A kind of deburring intelligent robot and its working method |
| CN110465862A (en) * | 2019-08-25 | 2019-11-19 | 山东理工大学 | A kind of complex-curved power control height of automation cuts low pressure grinding attachment and its processing method |
-
2018
- 2018-05-05 CN CN201820674785.4U patent/CN208246586U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807734A (en) * | 2019-03-19 | 2019-05-28 | 王承辉 | Automatically grinding polishing machine |
| CN109807734B (en) * | 2019-03-19 | 2024-02-23 | 王承辉 | Automatic polishing machine |
| CN110153850A (en) * | 2019-05-29 | 2019-08-23 | 南京涵铭置智能科技有限公司 | A kind of deburring intelligent robot and its working method |
| CN110465862A (en) * | 2019-08-25 | 2019-11-19 | 山东理工大学 | A kind of complex-curved power control height of automation cuts low pressure grinding attachment and its processing method |
| CN110465862B (en) * | 2019-08-25 | 2021-05-04 | 山东理工大学 | Automatic complex curved surface force control high-shear low-pressure grinding device and machining method thereof |
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