CN208713672U - A kind of constant force grinding device - Google Patents
A kind of constant force grinding device Download PDFInfo
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- CN208713672U CN208713672U CN201821238046.7U CN201821238046U CN208713672U CN 208713672 U CN208713672 U CN 208713672U CN 201821238046 U CN201821238046 U CN 201821238046U CN 208713672 U CN208713672 U CN 208713672U
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- grinding
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- constant force
- servo motor
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Abstract
The utility model discloses a kind of constant force grinding devices, including Six-DOF industrial robot, floating grinder, one-dimensional force snesor, data acquisition device, constant force device and controller；Floating grinding table constant revolution on floating grinder, Six-DOF industrial robot end clamp workpiece to be ground, and workpiece to be ground is ground on floating grinding table；One-dimensional force snesor is equipped on the downside of floating grinder, the one-dimensional force snesor is connected by data acquisition device with controller；Constant force device includes servo motor and linear motion mould group, and linear motion mould group is driven by servo motor, and servo motor is controlled by controller.The utility model can realize the control of intelligent constant force, to improving the productivity of polishing grinding, ensure product consistency, improve worker's working condition, save the cost etc. and have good effect.
Description
Technical field
The utility model relates to robot constant force grinding control engineering field, in particular to a kind of machines based on floating table
People's constant force grinding device.
Background technique
Polishing grinding is the most basic procedure of machining, and cost accounts for the 30% of totle drilling cost.Usual industry is ground
Mill polishing operation is completed by manual operation, and operation labor intensity is big, and working efficiency is low, and operating environment is very poor.As population is red
The factors such as disappearance, the requirement that product cost reduces and product quality improves of benefit, market is for grinding and polishing machine Man's Demands
It is more strong.Using grinding and polishing machine people for improving polishing quality and product glossiness, guaranteeing that its consistency, raising produce
Rate improves worker's working condition etc. with good effect.
Robot grinding mainly faces the problems such as system stiffness is poor, abrasive power control is difficult, and robot grinding system is more at present
Abrasive power is measured using six-dimension force sensor, signal processing is more complicated, and controller mostly uses traditional control method (traditional PI D
Controller, power/position mixing control etc.), system self-regulation section scarce capacity.
Utility model content
The shortcomings that the purpose of the utility model is to overcome the prior arts and deficiency, provide a kind of constant force grinding device, this
Device can realize that abrasive power variation is steady in process of lapping, has many advantages, such as to improve workpiece surface quality and improves processing efficiency.
The purpose of this utility model is realized by the following technical solution: a kind of constant force grinding device, including six degree of freedom
Industrial robot, floating grinder, one-dimensional force snesor, data acquisition device, constant force device and controller；
Floating grinding table constant revolution on floating grinder, Six-DOF industrial robot end clamp work to be ground
Part, workpiece to be ground are ground on floating grinding table；One-dimensional force snesor is equipped on the downside of floating grinder, the one dimension force passes
Sensor is connected by data acquisition device with controller, and constant force device includes servo motor and linear motion mould group, linear motion
Mould group is driven by servo motor, and servo motor is controlled by controller.The utility model grinding device can solve existing robot
The uncontrollable problem of abrasive power in process of lapping may be implemented ground by the cooperation of one-dimensional force snesor and constant force device
Abrasive power variation is steady in journey, improves grinding quality.
Preferably, the linear motion mould group includes ball screw, limiting device and moving slide block etc.；Ball screw and friendship
The output shaft of flow servo motor is connected by shaft coupling, and moving slide block is fixedly connected with floating grinding table.The mould group that moves along a straight line can
Convert rotational motion into linear motion.
Preferably, the one-dimensional force snesor is installed between grinding motor rack and the moving slide block for the mould group that moves along a straight line,
It can regard as rigid connection.
Further, the constant force grinding device includes one group of movable pulley, and wirerope one end on movable pulley connects weight
Block, other end connection grinding motor rack make choosing for one-dimensional force snesor to balance the weight of grinding motor and motor rack
Range is smaller, and precision is higher.
Preferably, at the controller be equipped with human-computer interaction module, including input paramete information and control signal keyboard,
Externally show the display of the numerical value of current unit state and acquisition.
The utility model compared with prior art, is had the following advantages and beneficial effects:
The utility model use one-dimensional force snesor, facilitate simplify data processing, to improve polishing grinding productivity,
It ensures product consistency, improve worker's working condition, save the cost etc. with good effect.
Detailed description of the invention
Fig. 1 is a kind of constant force grinding device structure chart of the utility model.
Fig. 2 is a kind of constant force grinding device partial enlarged view of the utility model.
Wherein: 1-industrial robot, 2-workpiece, 3-AC servo motors, 4-floating grinding tables, 5-one dimension forces pass
Sensor, 6-linear motion mould groups, 7-shaft couplings, 8-ball screws, 9-limiting devices, 10-moving slide blocks, 12-steel wires
Rope, 14-grinding motor racks, 15-grinding motors.
Specific embodiment
In order to better understand the technical solution of the utility model, the utility model is described in detail with reference to the accompanying drawing and provides
Embodiment, however, the embodiments of the present invention are not limited thereto.
Embodiment 1
As shown in Figs. 1-2, a kind of constant force grinding device, including it is Six-DOF industrial robot 1, floating grinder, one-dimensional
Force snesor 5, data acquisition device, constant force device and controller；
Floating grinding table constant revolution on floating grinder, Six-DOF industrial robot end clamp workpiece to be ground
2, workpiece to be ground is ground on floating grinding table 4；One-dimensional force snesor is equipped on the downside of floating grinder, the one dimension force passes
Sensor is connected by data acquisition device with controller, and constant force device includes AC servo motor 3 and the mould group 6 that moves along a straight line, directly
Line moves mould group and is driven by servo motor 3 to adjust the relative position of workpiece to be ground Yu floating grinding table, and servo motor is by controlling
Device control processed.The utility model grinding device can solve the uncontrollable problem of abrasive power in existing robot process of lapping, lead to
The cooperation for crossing one-dimensional force snesor and constant force device may be implemented abrasive power variation in process of lapping and steadily, improve grinding quality.
Human-computer interaction module is equipped at controller.By human-computer interaction module, can be arranged on the controller desired abrasive power,
Display and storage grinding force signal and servo motor pulse signal are arranged the sampling period, start and stop control system operation；Control
The software of molding block includes Real time capable module and non real-time module, and finishing man-machine interaction function, acquisition input signal, sending number are defeated
Signal and establishment control algolithm program out, the input signal includes pressure sensor input signal and digital input signals.
The mould group that moves along a straight line includes ball screw 8, limiting device 9 and moving slide block 10 etc.；Ball screw and AC servo
The output shaft of motor is connected by shaft coupling 7, and moving slide block is fixedly connected with floating grinding table.Linear motion mould group can will rotate
Movement is converted to linear motion.Servo motor pulsed quantity is converted sliding block linear motion amount by the mould group that moves along a straight line, and passes through adjusting
The position of grinding table is realized in the control pulse of servo motor.
One-dimensional force snesor is installed between grinding motor rack 14 and the moving slide block for the mould group that moves along a straight line, and it is rigid for can regarding as
Property connection.Meanwhile with one group of movable pulley, 12 one end of wirerope on movable pulley connects pouring weight, other end connection grinding motor
Frame makes the optional taken amount Cheng Geng little of one-dimensional force snesor, precision is more to balance the weight of grinding motor 15 and motor rack
It is high.
Human-computer interaction module is equipped at controller.By setting keyboard input paramete information and control signal, pass through setting
Display externally shows the numerical value of current unit state and acquisition.
Above-described embodiment is the preferable embodiment of the present embodiment, but the embodiments of the present invention is not by above-mentioned reality
Apply the limitation of example, it is made under other any spiritual essence and principles without departing from the utility model change, modification, substitution,
Combination simplifies, and should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (4)
1. a kind of constant force grinding device, it is characterised in that: passed including Six-DOF industrial robot, floating grinder, one dimension force
Sensor, data acquisition device, constant force device and controller；
Floating grinding table constant revolution on floating grinder, Six-DOF industrial robot end clamp workpiece to be ground, to
Grinding work-piece is ground on floating grinding table；One-dimensional force snesor, the one-dimensional force snesor are equipped on the downside of floating grinder
It is connected by data acquisition device with controller；Constant force device includes servo motor and linear motion mould group, and move along a straight line mould group
It is driven by servo motor, servo motor is controlled by controller.
2. constant force grinding device according to claim 1, it is characterised in that: the linear motion mould group includes ball wire
Bar, limiting device and moving slide block；
The both ends of ball screw are arranged in limiting device, and moving slide block slides on ball screw；Ball screw and servo motor
Output shaft pass through shaft coupling connect；Moving slide block is fixedly connected with floating grinding table.
3. constant force grinding device according to claim 1, it is characterised in that: the one-dimensional force snesor is installed on grinding electricity
Between rack and the moving slide block for the mould group that moves along a straight line.
4. constant force grinding device according to claim 3, it is characterised in that: the steel including one group of movable pulley, on movable pulley
Cord one end connects pouring weight, other end connection grinding motor rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821238046.7U CN208713672U (en) | 2018-08-02 | 2018-08-02 | A kind of constant force grinding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821238046.7U CN208713672U (en) | 2018-08-02 | 2018-08-02 | A kind of constant force grinding device |
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| CN208713672U true CN208713672U (en) | 2019-04-09 |
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| CN201821238046.7U Active CN208713672U (en) | 2018-08-02 | 2018-08-02 | A kind of constant force grinding device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125779A (en) * | 2019-06-28 | 2019-08-16 | 常州工学院 | Flexible constant pressure polishing numerical control device at the top of cylinder block casting |
| 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 |
| CN113894699A (en) * | 2021-11-03 | 2022-01-07 | 上海赛卡精密机械有限公司 | Polishing device and polishing method |
| CN115338736A (en) * | 2021-12-09 | 2022-11-15 | 上海爱仕达机器人有限公司 | Constant-force automatic grinding and polishing machine |
-
2018
- 2018-08-02 CN CN201821238046.7U patent/CN208713672U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125779A (en) * | 2019-06-28 | 2019-08-16 | 常州工学院 | Flexible constant pressure polishing numerical control device at the top of cylinder block casting |
| 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 |
| CN113894699A (en) * | 2021-11-03 | 2022-01-07 | 上海赛卡精密机械有限公司 | Polishing device and polishing method |
| CN115338736A (en) * | 2021-12-09 | 2022-11-15 | 上海爱仕达机器人有限公司 | Constant-force automatic grinding and polishing machine |
| CN115338736B (en) * | 2021-12-09 | 2024-02-27 | 上海爱仕达机器人有限公司 | Constant force automatic polishing machine |
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