CN211916462U - Flexible gel grinding wheel machining platform - Google Patents
Flexible gel grinding wheel machining platform Download PDFInfo
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- CN211916462U CN211916462U CN201922398710.5U CN201922398710U CN211916462U CN 211916462 U CN211916462 U CN 211916462U CN 201922398710 U CN201922398710 U CN 201922398710U CN 211916462 U CN211916462 U CN 211916462U
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Abstract
A flexible gel grinding wheel machining platform comprises a six-degree-of-freedom industrial robot, a polishing workbench, a flexible gel grinding wheel, an air pump and an information system, wherein the polishing workbench is used for placing and clamping workpieces and performing laser three-dimensional scanning on the workpieces; the flexible gel grinding wheel comprises a flexible gel grinding wheel head, a gel grinding wheel body and a flexible gel grinding wheel head, wherein the gel grinding wheel body is used for driving the flexible gel grinding wheel head to move along the axial direction of the flexible gel grinding wheel body; the inner slip ring side of the current collection slip ring is fixedly connected with a grinding wheel body, the other side of the current collection slip ring is fixedly connected with a coupler, and the outer slip ring is fixedly connected with a servo motor shell; the outer layer of the flexible gel grinding wheel head is bonded with the grinding particle layer to form a flexible gel grinding wheel head which can be attached to the surface to be processed of the workpiece; the working end of the gel grinding wheel body is provided with a flexible gel grinding wheel head, and the inner cylindrical piston pull rod drives the flexible gel grinding wheel head to deform along the axial direction.
Description
Technical Field
The utility model relates to a flexible gel emery wheel processing platform.
Background
The finishing of the free surface of a workpiece is always a processing difficulty, the polishing method for the surface body is mainly applied to a plane at present, and the fluid mixing processing method is mostly adopted for the workpiece with a complex surface shape, namely, the abrasive is added into air flow or liquid to polish the surface to be processed. The method has the advantages of high processing cost, complex operation, single material removal mode, incomplete processing, low processing efficiency and insufficient quality of the processed surface. Therefore, a flexible gel grinding wheel processing platform and a processing method which are combined by multiple processing modes, suitable for different working conditions and parts and capable of actively profiling a processing surface are urgently needed to be designed. Therefore, the design of a flexible gel grinding wheel machining platform is particularly necessary.
Disclosure of Invention
The utility model discloses it is low to solve current traditional processing platform machining efficiency, and is difficult to the problem that is suitable for irregular free curved surface, has provided a flexible gel emery wheel processing platform, can realize accomplishing high-efficient, high-quality polishing work to the initiative profile modeling of work piece machined surface.
The utility model provides a flexible gel emery wheel processing platform which characterized in that: the method comprises the following steps: the device comprises a six-degree-of-freedom industrial robot 1, a polishing workbench 2 for placing and clamping workpieces and performing laser three-dimensional scanning on the workpieces, a flexible gel grinding wheel 3 for polishing the complex surfaces of the workpieces, an air pump 4 and an information system 5, wherein the flexible gel grinding wheel 3 is arranged at the movable end of the six-degree-of-freedom industrial robot;
the nozzle of the air pump 4 is aligned with the workpiece, the temperature is reduced when the flexible gel grinding wheel 3 polishes the surface of the workpiece, and the residual adhesive material on the surface of the workpiece is removed after the polishing work is finished;
the information system 5 comprises a control cabinet 51 and a computer module 52 which are in signal connection with the six-degree-of-freedom industrial robot 1, the flexible gel grinding wheel 3 and the three-dimensional laser profile scanner device 23 and control the work piece clamping device 22 and the flexible gel grinding wheel 3 to work so as to process the work piece.
The bottom of the six-degree-of-freedom industrial robot is fixedly connected to the ground beside the polishing workbench, the movable end of the six-degree-of-freedom industrial robot is fixedly connected with a servo motor 11, a rotating main shaft 111 of the servo motor 11 is fixedly connected with a coupler 12, a first mounting hole 121 for mounting a flexible gel grinding wheel is formed in the coupler 12, a second mounting hole 112 for mounting an outer sliding ring is formed in the shell of the servo motor 11, and the movable area of the movable end of the six-degree-of-freedom industrial robot covers the processing area of the polishing workbench.
The polishing workbench comprises a workbench base 21, a workpiece clamping device 22 and a three-dimensional laser profile scanner device 23, wherein the workpiece clamping device 22 and the three-dimensional laser profile scanner device 23 are both installed on the workbench base 21, and the workpiece clamping device 22 is arranged beside the three-dimensional laser profile scanner device.
The flexible gel grinding wheel 3 comprises a flexible gel grinding wheel head 33, a gel grinding wheel body 32 moving along the axial direction of the flexible gel grinding wheel head, a flexible gel grinding wheel head 33 used for processing a workpiece, and an intermediate device current collecting slip ring 31 used for fixedly connecting the gel grinding wheel body 32 and the servo motor 11. The inner slip ring 312 side of the collector slip ring 31 is fixedly connected with the grinding wheel body 32, the other side is fixedly connected with the coupling 12, and the outer slip ring 311 is fixedly connected with the shell of the servo motor 11; the outer layer of the flexible gel grinding wheel head is bonded with the grinding particle layer 334 to form the flexible gel grinding wheel head which can be attached to the surface to be processed of the workpiece.
The working end of the gel grinding wheel body 32 is provided with a flexible gel grinding wheel head 33, the inner cylindrical piston pull rod 324 drives the flexible gel grinding wheel head 33 to deform along the axial direction, and the bottom end of the flexible gel grinding wheel head is fixedly connected with the current collecting slip ring 31, so that the first lead wire 322 can rotate synchronously. The gel grinding wheel body 32 further comprises a grinding wheel shell 320, a cylindrical piston pull rod 324 and a gel unit array, a first threaded hole 3121 fixedly connected with the current collecting slip ring 31 is formed in the bottom end of the gel grinding wheel body 32, and a first through hole 321 is formed in the middle of the grinding wheel shell 320. An axial through hole 323 for receiving a cylindrical piston rod 324 is provided in the grinding wheel body 32.
The gel unit array comprises a plurality of axial cylindrical hole shells 328 axially arranged in the grinding wheel shell 320, and a gel unit 329 is arranged in each axial cylindrical hole shell 328;
the upper end of the gel unit 329 is provided with a cylindrical piston pull rod 324, the electrified gel unit 329 drives the cylindrical piston pull rod 324, and the movable cylindrical piston pull rod 324 enables the elastic sleeve film 332 to generate form change, so that the surface of a complex workpiece is polished. The gel unit 329 comprises a plurality of layers of transparent elastic PVC gel films 3291, metal electrodes are arranged between the PVC gel films 3291, and the metal electrodes comprise an anode plate 3292 and a cathode plate 3293.
The gel unit 329 is provided with a first lead 322 for connecting the control cabinet 51 and a power supply, the first lead 322 passes through a second through hole 327 on the axial cylindrical hole shell 328 and a first through hole 321 on the grinding wheel shell 320, and then passes through a second threaded hole 314 on the outer slip ring 311 from the outside of the grinding wheel shell 320, the part of the first lead 322 passing through the outer slip ring 311 is called a second lead 315, and the second lead 315 is a control end of the flexible gel grinding wheel.
The flexible gel grinding wheel head 33 comprises an elastic sleeve film 332, a flexible polishing cloth 333, an abrasive layer 334 and a clamping band 331. When the elastic sleeve film 332 is pulled by the cylindrical piston pull rod 324, the elastic sleeve film deforms, so that the abrasive particle layer 334 is actively attached to the processing surface of the workpiece;
the elastic sleeve 332 is mounted on the gel mortar body 32 by means of a clamp 331 and ensures sealing and is fixedly connected to the hemispherical support 325 on the cylindrical piston rod 324.
One side of the polishing cloth 333 is fixed to the elastic covering film and changes with the deformation of the elastic covering film 332, and the other side is bonded to the abrasive layer 334 through an adhesive.
The abrasive layer 334 is fixed to the flexible polishing cloth 333 by an adhesive.
The axes of the flexible gel grinding wheel head 33, the gel grinding wheel body 32 and the current collecting slip ring 31 are overlapped.
The axial direction refers to the axial direction of the flexible gel grinding wheel head 33, the gel grinding wheel body 32, and the current collecting slip ring 31.
Preferably, a disc 211 for mounting the workpiece holding device 22 and a mounting groove 212 for mounting the three-dimensional laser profile scanner device 23 are arranged on the top end surface of the workbench base 21, the workpiece holding device 22 is fixedly mounted on the disc 211, and the three-dimensional laser profile scanner device is fixedly mounted in the mounting groove 212;
the workpiece clamping device 22 comprises a clamping table 221 and a limit screw 222, wherein the clamping table 221 is fixedly mounted on the disc, the upper end surface of the clamping table 221 serves as a clamping surface for fixing the workpiece, a plurality of radial grooves 223 are uniformly formed in the clamping surface of the clamping table 221 from outside to inside along the radial direction, and each radial groove is provided with the limit screw 222 capable of being locked with the radial groove.
Preferably, the three-dimensional laser profile scanner device 23 includes a bracket 231, a laser light source 232, a fixing screw 233 and a third wire 234, the bracket 231 is mounted in a mounting groove on the workbench base 21 through the fixing screw, the light source is fixedly mounted on the bracket 231, and the third wire 234 is connected to the control cabinet 51.
Preferably, the information system 5 comprises a control cabinet 51 and a computer module 52, wherein the control cabinet comprises a data acquisition module and a data processing module. The three-dimensional laser profile scanner device is electrically connected with a signal input end of a data acquisition module, a signal output end of the data acquisition module is connected with a signal input end of a computer module, a signal output end of the computer module is electrically connected with a signal input end of a data processing module, and a signal output end of the data processing module is respectively in signal connection or electrical connection with a control end of the six-degree-of-freedom industrial robot, a control end of the flexible gel grinding wheel, a control end of the three-dimensional laser profile scanner device and an air pump control end, so that the control over the processing track, the processing speed, the processing position and the form of the six-degree-of-freedom industrial robot and the flexible gel grinding wheel and the on-off control over the three-dimensional laser profile scanner.
The utility model discloses a theory of operation lies in: the utility model discloses a main work function lies in realizing that the gel emery wheel treats the initiative profile modeling of processing work piece irregular surface, accomplishes stable, high-efficient, high-quality polishing work.
The six-degree-of-freedom industrial robot controls the flexible gel grinding wheel at the tail end to process the surface of the workpiece. Because the flexible gel grinding wheel is provided with the gel unit array, the shortened distance of the gel unit can be controlled through the strength of the voltage signal, so that the shape of the abrasive particle layer attached to the head of the gel grinding wheel is adjusted, and the processing adaptability to different workpiece surfaces is improved.
The beneficial effects of the utility model reside in that: the utility model discloses a combine six degree of freedom industrial robot and flexible gel emery wheel to the high adaptability in surface of the processing work piece of different characteristics, can realize the processing to complicated surface. The computer is connected with the control cabinet, and the control cabinet controls the processing time, the processing speed, the processing track and the gel grinding wheel of the processing equipment along with the shape and the position of the processing track, so that the stable operation of the whole processing process is realized.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
FIG. 2a is a schematic diagram of a flexible gel grinding wheel fastening motor.
FIG. 2b is a partial cross-sectional view of the flexible gel grinding wheel fastening motor.
Fig. 3 is a schematic view of the flexible gel grinding wheel of the present invention. Fig. 4 is an internal structure view of the flexible gel grinding wheel of the present invention.
Fig. 5 is an axial sectional view of the flexible gel grinding wheel of the present invention.
Fig. 6 is a schematic diagram of the deformation of the gel unit of the flexible gel grinding wheel of the present invention.
Fig. 7 is a gel arrangement schematic diagram of the flexible gel grinding wheel of the present invention.
Fig. 8a and 8b are schematic diagrams of the flexible gel grinding wheel according to the present invention.
Fig. 9 is a front view of the inventive table.
Fig. 10 is a top view of the inventive table.
Fig. 11 is a flow chart of the overall system operation of the present invention.
Labeled as: the six-degree-of-freedom industrial robot comprises a six-degree-of-freedom industrial robot 1, a servo motor 11 and a coupler 12;
a rotating main shaft 111, a second mounting hole 112;
a first mounting hole 121;
a polishing workbench 2, a workbench base 21, a workpiece clamping device 22, a three-dimensional laser profile scanner device 23;
a disc 211, a mounting groove 212;
a clamping table 221, a limit screw 222, a radial groove 223;
a bracket 231, a laser light source 232, a fixing screw 233 and a third lead 234;
the flexible gel grinding wheel 3, the collector slip ring 31, the gel grinding wheel body 32 and the flexible gel grinding wheel head 33;
the device comprises a grinding wheel shell 320, a first through hole 321, a first lead wire 322, an axial through hole 323, a cylindrical piston pull rod 324, a hemispherical support body 325, a first threaded hole 326, a second through hole 327, an axial cylindrical hole shell 328 and a gel unit 329;
a hoop 331, an elastic mantle 332, a flexible polishing cloth 333 and an abrasive layer 334;
a PVC gel film 3291, an anode plate 3292, a cathode plate 3293;
an air pump 4, an air pump hose 41, a pump body 42, a hose nozzle 43;
Detailed Description
The present invention will be further explained with reference to the accompanying drawings
A flexible gel emery wheel processing platform, include: the device comprises a six-degree-of-freedom industrial robot 1, a polishing workbench 2 for placing and clamping workpieces and performing laser three-dimensional scanning on the workpieces, a flexible gel grinding wheel 3 for polishing the complex surfaces of the workpieces, an air pump 4 and an information system 5, wherein the flexible gel grinding wheel 3 is arranged at the movable end of the six-degree-of-freedom industrial robot;
the nozzle of the air pump 4 is aligned with the workpiece, the temperature is reduced when the flexible gel grinding wheel 3 polishes the surface of the workpiece, and the residual adhesive material on the surface of the workpiece is removed after the polishing work is finished;
the information system 5 comprises a control cabinet 51 and a computer module 52 which are in signal connection with the six-degree-of-freedom industrial robot 1, the flexible gel grinding wheel 3 and the three-dimensional laser profile scanner device 23 and are used for controlling the work piece clamping device 22 and the flexible gel grinding wheel 3 to work so as to process the work piece.
The bottom of the six-degree-of-freedom industrial robot is fixedly connected to the ground beside a polishing workbench, the movable end of the six-degree-of-freedom industrial robot is fixedly connected with a servo motor 11, a rotating main shaft 111 of the servo motor 11 is fixedly connected with a coupler 12, a first mounting hole 121 for mounting a flexible gel grinding wheel is formed in the coupler 12, a second mounting hole 112 for mounting an outer sliding ring is formed in the shell of the servo motor 11, and the movable area of the movable end of the six-degree-of-freedom industrial robot covers the processing area of the polishing workbench.
The polishing workbench comprises a workbench base 21, a workpiece clamping device 22 and a three-dimensional laser profile scanner device 23, wherein the workpiece clamping device 22 and the three-dimensional laser profile scanner device 23 are both installed on the workbench base 21, and the workpiece clamping device 22 is arranged beside the three-dimensional laser profile scanner device.
The top end face of the workbench base 21 is provided with a disc 211 for mounting the workpiece clamping device 22 and a mounting groove 212 for mounting the three-dimensional laser profile scanner device, the disc 211 is fixedly provided with the workpiece clamping device 22, and the three-dimensional laser profile scanner device is fixedly arranged in the mounting groove 212.
The workpiece clamping device 22 comprises a clamping table 221 and a limit screw 222, the clamping table 221 is fixedly mounted on the disc, the upper end face of the clamping table 221 serves as a clamping face for fixing the workpiece, a plurality of radial grooves 223 are uniformly formed in the clamping face of the clamping table 221 from outside to inside along the radial direction, and each radial groove is provided with the limit screw 222 capable of being locked with the radial groove.
The three-dimensional laser profile scanner device 23 comprises a support 231, a laser light source 232, a fixing screw 233 and a third lead 234, wherein the support 231 is installed in an installation groove on the workbench base 21 through the fixing screw, the light source is fixedly installed on the support 231, and the third lead 234 is connected with the control cabinet 51.
The flexible gel grinding wheel 3 comprises a flexible gel grinding wheel head 33, a gel grinding wheel body 32, a flexible gel grinding wheel head 33 and a current collecting slip ring 31, wherein the flexible gel grinding wheel head 33 is used for driving the flexible gel grinding wheel head 33 to move along the axial direction of the flexible gel grinding wheel body, the flexible gel grinding wheel head 33 is used for machining a workpiece, and the current collecting slip ring 31 is used for fixedly connecting the gel grinding wheel body 32 and an intermediate device. The inner slip ring 312 side of the collector slip ring 31 is fixedly connected with the grinding wheel body 32, the other side is fixedly connected with the coupling 12, and the outer slip ring 311 is fixedly connected with the shell of the servo motor 11; the outer layer of the flexible gel grinding wheel head is bonded with the grinding particle layer 334, and the two layers form the flexible gel grinding wheel head which can be attached to the surface to be processed of the workpiece.
The working end of the gel grinding wheel body 32 is provided with a flexible gel grinding wheel head 33, and the inner cylindrical piston pull rod 324 is used for driving the flexible gel grinding wheel head 33 to deform along the axial direction; the bottom end of the first lead wire is fixedly connected with a slip ring 31 for realizing the synchronous rotation of the first lead wire 322. The gel grinding wheel body 32 further comprises a grinding wheel shell 320, a cylindrical piston pull rod 324 and a gel unit array, a first threaded hole 3121 fixedly connected with the current collecting slip ring 31 is formed in the bottom end of the gel grinding wheel body 32, and a first through hole 321 is formed in the middle of the grinding wheel shell 320. An axial through hole 323 for receiving a cylindrical piston rod 324 is provided in the grinding wheel body 32.
The grinding wheel housing 320 mainly plays a role in protecting an internal structure, supporting, and the like.
The gel unit array comprises a plurality of axial cylindrical hole shells 328 axially arranged in the grinding wheel shell 320, and a gel unit 329 is arranged in each axial cylindrical hole shell 328;
the gel unit 329 is an intelligent actuator that causes deformation of the gel matrix induced by electrostatic attraction between the positive anode positrons and the negative electrons in the gel via the application electrodes. The upper end of the gel unit 329 is provided with a cylindrical piston pull rod 324, the electrified gel unit 329 drives the cylindrical piston pull rod 324, and the movable cylindrical piston pull rod 324 enables the elastic sleeve film 332 to generate form change, so that the surface of a complex workpiece can be polished. The gel unit 329 comprises a plurality of layers of transparent elastic PVC gel films 3291, metal electrodes are arranged between the PVC gel films 3291, and the metal electrodes comprise an anode plate 3292 and a cathode plate 3293.
The PVC gel film 3291 is polyvinyl Chloride (Poly Vinyl Chloride) gel (polymerization degree of 3200), and the plasticizer is DBA (Dibutyl Adipate). Mixing PVC powder with DBA at a certain ratio (weight ratio of 1:4), and mixing with tetrahydrofuran-Tetrahydrofuran (THF) solution, and co-injecting the above mixture into a culture dish, and evaporating THF at room temperature to form a light flexible transparent elastic PVC gel film. The PVC gel film 3291 is an electroactive polymer, and electrodes are applied to both sides of the polymer, so that the PVC gel is deformed by the negative electrons in the anode and nearby gel under the induction of Maxwell force. Electrodes are applied to two sides of the gel unit, and the gel unit can have axial shortening amount by controlling the input voltage of the electrodes, wherein the shortening amount is controlled by the strength of the electrified voltage. Based on the above characteristics of the PVC gel, in order to provide the gel with more ideal mechanical effects, the cathode plate 3293 may be designed in the inner layer of the gel film 3291, and the anode plate 3292 may be designed in the upper and lower layers of the PVC gel film 3291, and arranged in multiple layers. The anode plate 3292 and the cathode plate 3293 are flexible conductive electrodes, such as graphene film electrodes, metal film electrodes and the like, and the thickness of the flexible conductive electrodes ranges from several micrometers to hundreds of micrometers.
The collector slip ring 31 is a modular product, can be used in any electromechanical system which requires continuous rotation and needs to transmit power and signals from a fixed position to a rotating position, can simplify the system structure, and avoids the sprain of a lead in the rotation process. The slip ring 31 includes an inner slip ring 312 and an outer slip ring 311. When polishing, one end of the inner sliding ring 312 is fixedly connected to the coupler 12 through the fixing device 121, and the other end is connected to the gel emery wheel body 32 through the first threaded hole 326, so that synchronous rotation of the three is realized. The outer slip ring remains relatively stationary and is fixedly connected with the automatic equipment rack. The main effect of current collection sliding ring is feasible the utility model discloses one section flexible gel emery wheel of following of required wire is rotated, and another section then remains static, solves the utility model discloses a circular telegram difficult problem.
The gel unit 329 is provided with a first lead 322 for connecting the control cabinet 51 and a power supply, the first lead 322 passes through a second through hole 327 on the axial cylindrical hole shell 328 and a first through hole 321 on the grinding wheel shell 320, and then passes through a second threaded hole 314 on the outer slip ring 311 from the outside of the grinding wheel shell 320, the part of the first lead 322 passing through the outer slip ring 311 is called a second lead 315, and the second lead 315 is a control end of the flexible gel grinding wheel.
The flexible gel grinding wheel head 33 comprises an elastic sleeve film 332, a flexible polishing cloth 333, an abrasive layer 334 and a clamping band 331. When the elastic sleeve film 332 is pulled by the cylindrical piston pull rod 324, the elastic sleeve film is deformed, so that the abrasive particle layer 334 is actively attached to the workpiece processing surface, and efficient automatic polishing work can be completed through fine adjustment.
The elastic sleeve 332 is mounted on the gel mortar body 32 by means of a clamp 331 and ensures sealing and is fixedly connected to the hemispherical support 325 on the cylindrical piston rod 324.
One side of the polishing cloth is attached to the elastic covering film for fixation and changes along with the deformation of the elastic covering film, and the other side is solidified with the abrasive layer 334 through the adhesive.
The abrasive layer 334 is fixed to the flexible polishing cloth 333 by an adhesive.
The axes of the flexible gel grinding wheel head 33, the gel grinding wheel body 32 and the current collecting slip ring 31 are overlapped.
The axial direction of the utility model refers to the axial direction of the flexible gel grinding wheel head 33, the gel grinding wheel body 32 and the current collecting slip ring 31.
The air pump 4 comprises an air pump hose 41, a pump body 42 and a hose nozzle 43. The method is used for cooling the workpiece in the machining process and removing the adhesive material on the surface of the workpiece after machining is finished.
The air pump hose 41 is fixedly connected with a hose nozzle 43 with a certain caliber, and the hose nozzle is arranged on a bracket on the polishing workbench, so that the hose nozzle can be adjusted to align with the surface to be processed to spray compressed air for cooling.
The information system 5 comprises a control cabinet 51 and a computer module 52, wherein the control cabinet comprises a data acquisition module and a data processing module. The three-dimensional laser profile scanner device is electrically connected with a signal input end of a data acquisition module, a signal output end of the data acquisition module is connected with a signal input end of a computer module, a signal output end of the computer module is electrically connected with a signal input end of a data processing module, and a signal output end of the data processing module is respectively in signal connection or electrical connection with a control end of the six-degree-of-freedom industrial robot, a control end of the flexible gel grinding wheel, a control end of the three-dimensional laser profile scanner device and an air pump control end, so that the control over the processing track, the processing speed, the processing position and the form of the six-degree-of-freedom industrial robot and the flexible gel grinding wheel and the on-off control over the three-dimensional laser profile scanner.
Before the polishing operation is started, the hemispherical support 325 is fixedly connected with the elastic mantle. When polishing, the optimal polishing state of the needed grinding wheel is obtained by performing pre-track simulation on the surface of a workpiece to be processed, the input voltage of the gel unit 329 is adjusted by adjusting the external control module, so that the gel units 329 at different positions of the gel unit array have corresponding shortening amounts, the cylindrical piston pull rods 324 at different positions have corresponding displacement along the axial direction due to the deformation of the gel units, the elastic sleeve membrane 332 is elastically deformed by transferring the gel units to the hemispherical support body 325, the state of the grinding wheel head 333 is changed, the grinding wheel layer 334 can be better attached to the surface to be processed, and efficient polishing is realized.
The method for processing the workpiece by utilizing the flexible gel grinding wheel processing platform comprises the following steps:
1) placing a workpiece to be processed in the center of a clamping surface of the clamping device, and adjusting a limit screw to clamp the workpiece to be processed;
2) mounting a flexible gel grinding wheel at a movable end of a six-degree-of-freedom industrial robot, and adjusting the position of the gel grinding wheel to be right above a workpiece to be processed;
3) firstly, performing three-dimensional modeling through a workpiece of a three-dimensional profile laser scanner device, storing profile characteristics of the workpiece into a computer, setting a running track of processing equipment by the computer according to the surface finishing requirement of the workpiece, and setting other parameters required by processing, including the optimal position, the deformation state and the processing time of the workpiece of a gel grinding wheel in the processing process;
4) starting the six-degree-of-freedom industrial robot through the control cabinet to process the workpiece, and performing active profiling processing on the flexible gel grinding wheel according to the preset parameters in the processing form most conforming to the surface of the workpiece;
5) starting an air pump, aligning a nozzle to the contact surface of the workpiece and the gel grinding wheel, and cooling in the machining process;
6) and after the set time of machining is reached, closing the control cabinet, taking down the machined workpiece, and removing the material on the surface of the workpiece through polishing cloth.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the invention should not be considered limited to the specific forms set forth in the embodiments but include equivalent technical means as would be recognized by those skilled in the art based on the inventive concept.
Claims (4)
1. The utility model provides a flexible gel emery wheel processing platform which characterized in that: the method comprises the following steps: the device comprises a six-degree-of-freedom industrial robot (1), a polishing workbench (2) for placing and clamping workpieces and performing laser three-dimensional scanning on the workpieces, a flexible gel grinding wheel (3) for polishing the complex surfaces of the workpieces, an air pump (4) and an information system (5), wherein the flexible gel grinding wheel (3) is arranged at the movable end of the six-degree-of-freedom industrial robot;
a nozzle of the air pump (4) is aligned with the workpiece, the temperature is reduced when the flexible gel grinding wheel (3) polishes the surface of the workpiece, and the residual adhesive material on the surface of the workpiece is removed after the polishing work is finished;
the information system (5) comprises a control cabinet (51) and a computer module (52), is in signal connection with the six-degree-of-freedom industrial robot (1), the flexible gel grinding wheel (3) and the three-dimensional laser profile scanner device (23), and controls the work piece clamping device (22) and the flexible gel grinding wheel (3) to work so as to process the work piece;
the bottom of the six-degree-of-freedom industrial robot is fixedly connected to the ground beside a polishing workbench, the movable end of the six-degree-of-freedom industrial robot is fixedly connected with a servo motor (11), a rotating main shaft (111) of the servo motor (11) is fixedly connected with a coupler (12), a first mounting hole (121) for mounting a flexible gel grinding wheel is formed in the coupler (12), a second mounting hole (112) for mounting an outer sliding ring is formed in the shell of the servo motor (11), and the movable area of the movable end of the six-degree-of-freedom industrial robot covers the processing area of the polishing workbench;
the polishing workbench comprises a workbench base (21), a workpiece clamping device (22) and a three-dimensional laser profile scanner device (23), wherein the workpiece clamping device (22) and the three-dimensional laser profile scanner device (23) are both arranged on the workbench base (21), and the workpiece clamping device (22) is arranged beside the three-dimensional laser profile scanner device;
the flexible gel grinding wheel (3) comprises a flexible gel grinding wheel head (33) used for driving the flexible gel grinding wheel head, a gel grinding wheel body (32) moving along the axial direction of the flexible gel grinding wheel head, a flexible gel grinding wheel head (33) used for processing a workpiece, and a current collecting slip ring (31) of an intermediate device used for fixedly connecting the gel grinding wheel body (32) and the servo motor (11); the side of an inner slip ring (312) of the current collection slip ring (31) is fixedly connected with a grinding wheel body (32), the other side of the current collection slip ring is fixedly connected with a coupler (12), and an outer slip ring (311) is fixedly connected with a shell of a servo motor (11); the outer layer of the flexible gel grinding wheel head is bonded with an abrasive layer (334) to form the flexible gel grinding wheel head which can be attached to the surface to be processed of the workpiece;
a flexible gel grinding wheel head (33) is arranged at the working end of the gel grinding wheel body (32), an internal cylindrical piston pull rod (324) drives the flexible gel grinding wheel head (33) to deform along the axial direction, and the bottom end of the flexible gel grinding wheel head is fixedly connected with a current collecting slip ring (31) to realize the synchronous rotation of a first lead (322); the gel sand wheel body (32) further comprises a sand wheel shell (320), a cylindrical piston pull rod (324) and a gel unit array, a first threaded hole (3121) fixedly connected with the current collecting slip ring (31) is formed in the bottom end of the gel sand wheel body (32), and a first through hole (321) is formed in the middle of the sand wheel shell (320); an axial through hole (323) for accommodating a cylindrical piston pull rod (324) is formed in the grinding wheel body (32);
the gel unit array comprises a plurality of axial cylindrical hole shells (328) axially arranged in the grinding wheel shell (320), and a gel unit (329) is arranged in each axial cylindrical hole shell (328);
the upper end of the gel unit (329) is provided with a cylindrical piston pull rod (324), the electrified gel unit (329) drives the cylindrical piston pull rod (324), and the movable cylindrical piston pull rod (324) enables the elastic sleeve film (332) to generate form change, so that the surface of a complex workpiece is polished; the gel unit (329) comprises a plurality of layers of transparent elastic PVC gel films (3291), metal electrodes are arranged between the PVC gel films (3291), and each metal electrode comprises an anode plate (3292) and a cathode plate (3293);
a first lead (322) connected with the control cabinet (51) and a power supply is arranged on the gel unit (329), the first lead (322) passes through a second through hole (327) on the axial cylindrical hole shell (328) and a first through hole (321) on the grinding wheel shell (320), and then passes through a second threaded hole (314) on the outer sliding ring (311) from the outside of the grinding wheel shell (320), the part of the first lead (322) passing through the outer sliding ring (311) is called as a second lead (315), and the second lead (315) is a control end of the flexible gel grinding wheel;
the flexible gel grinding wheel head (33) comprises an elastic sleeve membrane (332), flexible polishing cloth (333), a grinding particle layer (334) and a clamping hoop (331); when the elastic sleeve film (332) is pulled by the cylindrical piston pull rod (324), the elastic sleeve film deforms, so that the abrasive grain layer (334) is actively attached to the processing surface of the workpiece;
the elastic sleeve membrane (332) is arranged on the gel sand wheel body (32) through a hoop (331) and ensures sealing and is fixedly connected with a hemispherical support body (325) on the cylindrical piston pull rod (324);
one surface of the polishing cloth (333) is attached to the elastic covering film for fixation and changes along with the deformation of the elastic covering film (332), and the other surface is solidified with an abrasive particle layer (334) through an adhesive;
the abrasive particle layer (334) is fixedly connected on the flexible polishing cloth (333) through an adhesive;
the axes of the flexible gel grinding wheel head (33), the gel grinding wheel body (32) and the current collection slip ring (31) are superposed;
the axial direction refers to the axial direction of the flexible gel grinding wheel head (33), the gel grinding wheel body (32) and the current collection slip ring (31).
2. The flexible gel grinding wheel machining platform of claim 1, wherein: a disc (211) for mounting a workpiece clamping device (22) and a mounting groove (212) for mounting a three-dimensional laser profile scanner device (23) are arranged on the top end face of the workbench base (21), the workpiece clamping device (22) is fixedly mounted on the disc (211), and the three-dimensional laser profile scanner device is fixedly mounted in the mounting groove (212);
the workpiece clamping device (22) comprises a clamping table (221) and a limiting screw (222), the clamping table (221) is fixedly arranged on the disc, the upper end face of the clamping table (221) serves as a clamping face for fixing a workpiece, a plurality of radial grooves (223) are uniformly formed in the clamping face of the clamping table (221) from outside to inside in the radial direction, and each radial groove is provided with the limiting screw (222) capable of being locked with the radial groove.
3. The flexible gel grinding wheel machining platform of claim 1, wherein: the three-dimensional laser profile scanner device (23) comprises a support (231), a laser light source (232), a fixing screw (233) and a third lead (234), wherein the support (231) is installed in an installation groove in the workbench base (21) through the fixing screw, the light source is fixedly installed on the support (231), and the third lead (234) is connected with the control cabinet (51).
4. The flexible gel grinding wheel machining platform of claim 1, wherein: the information system (5) comprises a control cabinet (51) and a computer module (52), wherein the control cabinet comprises a data acquisition module and a data processing module; the three-dimensional laser profile scanner device is electrically connected with a signal input end of a data acquisition module, a signal output end of the data acquisition module is connected with a signal input end of a computer module, a signal output end of the computer module is electrically connected with a signal input end of a data processing module, and a signal output end of the data processing module is respectively in signal connection or electrical connection with a control end of the six-degree-of-freedom industrial robot, a control end of the flexible gel grinding wheel, a control end of the three-dimensional laser profile scanner device and an air pump control end, so that the control over the processing track, the processing speed, the processing position and the form of the six-degree-of-freedom industrial robot and the flexible gel grinding wheel and the on-off control over the three-dimensional laser profile scanner.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922398710.5U CN211916462U (en) | 2019-12-27 | 2019-12-27 | Flexible gel grinding wheel machining platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111015484A (en) * | 2019-12-27 | 2020-04-17 | 浙江工业大学 | Flexible gel grinding wheel machining platform and machining method |
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| CN111015484A (en) * | 2019-12-27 | 2020-04-17 | 浙江工业大学 | Flexible gel grinding wheel machining platform and machining method |
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