CN106863124B - A kind of automatically grinding system based on robot - Google Patents
A kind of automatically grinding system based on robot Download PDFInfo
- Publication number
- CN106863124B CN106863124B CN201710132472.6A CN201710132472A CN106863124B CN 106863124 B CN106863124 B CN 106863124B CN 201710132472 A CN201710132472 A CN 201710132472A CN 106863124 B CN106863124 B CN 106863124B
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- China
- Prior art keywords
- robot
- profiling
- grinding wheel
- chiba
- product
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The automatically grinding system based on robot that the invention discloses a kind of, including sander, it further include the robot for being located at sander rear, the side of robot is equipped with feed device, sander is equipped with shaft, shaft is equipped at least two profiling Chiba grinding wheels, and the end of robot is equipped with the negative suction fixture of profiling.Due to being equipped with multiple anti-shape Chiba grinding wheels in shaft, so can allow each grinding wheel only be responsible for product a part, the Chiba grinding wheel for being responsible for polishing corner is only polished corner, and the Chiba grinding wheel of polish plane or large curved surface is responsible for polishing plane and large curved surface specially, this can allow the abrasion that each grinding wheel can be whole, its shape integrally becomes smaller, and the shape of profiling will not change, and such robot only needs to carry out simple position compensation and can be achieved with continuously polishing.The present invention is used for the polishing of product.
Description
Technical field
The automatically grinding system based on robot that the present invention relates to a kind of.
Background technique
Although present artificial intelligence robot is made comparable maturation, it is often to the fine polishing of product at that time
It is accomplished manually.Especially polishing grinding process in the grinding process can not since the sized flap wheel for polishing is softer
It is lost disconnectedly, and product often has plane, curved surface and corner, causes when polishing corner, part can occur for the part of sized flap wheel
The variation of shape, this results in existing intelligent robot to be difficult to adapt to sized flap wheel complicated and changeable so automatically.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of automatically grinding system based on robot.
The solution that the present invention solves its technical problem is:
A kind of automatically grinding system based on robot, including sander, further include the robot for being located at sander rear,
The side of robot is equipped with feed device, and sander is equipped with shaft, and shaft is equipped at least two profiling Chiba grinding wheels, machine
The end of device people is equipped with the negative suction fixture of profiling.
It is as above-mentioned technical proposal that further feed device includes conveyer belt, and the two sides of conveyer belt are equipped with guide part,
Guide part is equipped with multiple cylindrical rollers being vertically arranged along the conveying direction of conveyer belt.
It is as above-mentioned technical proposal further, the end of conveyer belt is set there are three pneumatic pushing block, and described three pneumatically push away
Block is respectively provided at the left side, right side, front side of conveyer belt.
It is as above-mentioned technical proposal further, oriented conveyer belt center is all provided on the pneumatic pushing block of left and right side
The postposition jacking block for passing in and out conveyer belt that line stretches out, postposition jacking block are opposite with the pneumatic pushing block position of front side.
The beneficial effects of the present invention are: a kind of automatically grinding system based on robot, including sander, it further include being located at
The robot at sander rear, the side of robot are equipped with feed device, and sander is equipped with shaft, and shaft is equipped at least two
A profiling Chiba grinding wheel, the end of robot are equipped with the negative suction fixture of profiling.It is beaten due to being equipped with multiple anti-shape Chiba in shaft
Emery wheel, it is possible to allow each grinding wheel to be only responsible for a part of product, the Chiba grinding wheel for being responsible for polishing corner, which is only polished, to be turned
Angle, and the Chiba grinding wheel of polish plane or large curved surface is responsible for polishing plane and large curved surface specially, this can allow each grinding wheel
Abrasion that can be whole, shape integrally becomes smaller, and the shape of profiling will not change, and such robot only needs to carry out
Simple position compensation can be achieved with continuously polishing.The present invention is used for the polishing of product.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described.Obviously, described attached drawing is a part of the embodiments of the present invention, rather than is all implemented
Example, those skilled in the art without creative efforts, can also be obtained according to these attached drawings other designs
Scheme and attached drawing.
Fig. 1 is stereoscopic schematic diagram of the invention；
Fig. 2 is the partial enlargement diagram of conveying end of tape of the invention；
Fig. 3 is pilot construction schematic diagram of the invention；
Fig. 4 is the schematic top plan view of sander of the invention；
Fig. 5 is that geometry of the invention calculates schematic diagram；
Fig. 6 is that another geometry of the invention calculates schematic diagram.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.In addition, be previously mentioned in text
All connection/connection relationships not singly refer to that component directly connects, and referring to can be added deduct according to specific implementation situation by adding
Few couple auxiliary, to form more preferably coupling structure.Each technical characteristic in the present invention, in the premise of not conflicting conflict
Under can be with combination of interactions.
Referring to figs. 1 to Fig. 6, this is the embodiment of the present invention, specifically:
A kind of automatically grinding system based on robot, including sander, further include the robot for being located at sander rear,
The side of robot is equipped with feed device, and sander is equipped with shaft, and shaft is equipped at least two profiling Chiba grinding wheels, machine
The end of device people is equipped with the negative suction fixture of profiling.Due to being equipped with multiple anti-shape Chiba grinding wheels in shaft, it is possible to allow each
Grinding wheel is only responsible for a part of product, and the Chiba grinding wheel for being responsible for polishing corner is only polished corner, and polish plane or yeast
The Chiba grinding wheel in face is responsible for polishing plane and large curved surface specially, this can allow the abrasion that each grinding wheel can be whole, outside
Shape integrally becomes smaller, and the shape of profiling will not change, and such robot only needs to carry out simple position compensation energy
Realize continuous polishing.The artificial six-joint robot of machine that the present embodiment uses.The origin of the operating coordinates of six-joint robot walks
Into, and step distance is gradually increased, the step distance is Ck。CkStepping be loaded in robot program and realize.
In order to allow product that can be automatically transported to the crawl position of robot, feed device includes conveyer belt 1, is produced to reduce
The transporting resistance of product, the two sides of conveyer belt 1 are equipped with guide part, and it is multiple vertical that guide part is equipped with along the conveying direction of conveyer belt 1
The cylindrical roller 2 of setting.All cylindrical rollers 2 are each provided on roller stand, and the two sides of conveyer belt 1 are equipped with roller stand.
In order to allow product that can be precisely positioned to the crawl position of robot, the end of conveyer belt 1 sets that there are three pneumatic
Pushing block, described three pneumatic pushing blocks are respectively provided at the left side, right side, front side of conveyer belt 1.
After be all provided with that oriented belt centerline stretches out on the pneumatic pushing block of left and right side passes in and out conveyer belt
Top set block, postposition jacking block is opposite with the pneumatic pushing block position of front side, and postposition jacking block is profiling jacking block, can not thus advise to some
Product then carries out positioning efficiently and accurately.
The automatically grinding system of the present embodiment works in this way, includes the following steps:
A) profiling Chiba grinding wheel is made, is then fitted on the polishing motor in front of robot；
B) the front and back operating coordinates of robot are A at this time, and product is put into profiling Chiba grinding wheel and is beaten by robot
Mill；
C) robot grabs another product, and the operating coordinates of robot move forward Ck, B coordinate is reached, wherein k is machine
The serial number of device people crawl product；
D) the product product that step c) grabs is put into profiling Chiba grinding wheel and polishes by robot；
E) step c) and step d) are repeated, wherein CkValue become larger as the diameter of profiling Chiba grinding wheel becomes smaller.
The loss of profiling Chiba grinding wheel, the mobile essence of the operating coordinates are compensated by the movement of operating coordinates
For the amount of feeding, and the amount of movement C of operating coordinateskIt is to increase as the radius of profiling Chiba grinding wheel becomes smaller, so can allow
The case where each product sanding and polishing, is than more consistent.
The radius of profiling Chiba grinding wheel is Rk, profiling Chiba grinding wheel contacts the chord length to be formed with product and is D and is fixed
Value, CkMeet following relationship:
；
As k=1, Ck=0, R0 are the initial radium of profiling Chiba grinding wheel.
Referring to figure 5 and figure 6, it allows profiling Chiba grinding wheel and workpiece to contact the chord length D to be formed and remains certain value.Profiling thousand
Leaf grinding wheel is after workpiece of having polished, and radial dimension becomes smaller profiling Chiba grinding wheel due to loss, and radius R0 becomes R1(figure
5).Assuming that ground effect is consistent every time, the reduced abrasive material quantity of corresponding loss every time is also consistent.Section is pressed in emery wheel abrasive material
In the case that product is uniformly distributed, the reduced sectional area of loss is also consistent every time.
If the reduced sectional area of loss is every time, have:
；
Generally, if the radius of profiling Chiba grinding wheel becomes after kth time polishing, distance from the chord to the centre becomes, (Fig. 6)
Have:
；
；
；
Had according to geometrical relationship:
；
Kth time polishing is relative to kth -1 time amount of feeding CkThe difference for distance from the chord to the centre of as polishing twice:
；
That is, C2~CkThe uniform grinding of product to 1 ~ k of serial number, polishing can be realized by meeting above-mentioned relation formula.
In actual production process, C2It is determined such that and selects different C2Value allows robot to carry out step b) and arrives
Step e), as a certain C2It is worth corresponding C2To CkWhen the product produced meets the requirements, the C2Value determines.Usually,
Assuming that a profiling Chiba grinding wheel is capable of processing 500 products, it is only necessary to preceding 50 products are examined, therefore k can be set as 50, and
In the actual production process, by iterating to calculate out the C of 2 ~ 500 productskValue is then loaded into the program of driving robot
?.Certainly, this technical process can also be calculated automatically by program.
In order to avoid the concentrated wear of profiling Chiba grinding wheel, the same product is caused to process unevenly, the present embodiment
Profiling Chiba grinding wheel make in this way: each big face of product is distinguished with turning, is distinguished for big face and turning
Make the profiling Chiba grinding wheel of profiling.
To avoid concentrated wear, robot in this way polishes to product: being beaten with profiling Chiba corresponding with big face
The big face of emery wheel polishing, with profiling Chiba grinding wheel corresponding with turning polishing turning.
Better embodiment of the invention is illustrated above, but the present invention is not limited to the embodiment,
Those skilled in the art can also make various equivalent modifications or replacement on the premise of without prejudice to spirit of the invention, this
Equivalent variation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (4)
1. a kind of automatically grinding system based on robot, including sander, it is characterised in that: further include being located at sander rear
Robot, the side of robot is equipped with feed device, and sander is equipped with shaft, and shaft is equipped at least two profiling Chiba
Grinding wheel, the end of robot are equipped with the negative suction fixture of profiling；
The automatically grinding system works in this way, includes the following steps:
A) profiling Chiba grinding wheel is made, is then fitted on the polishing motor in front of robot；
B) the front and back operating coordinates of robot are A at this time, and product is put into profiling Chiba grinding wheel and polishes by robot；
C) robot grabs another product, and the operating coordinates of robot move forward Ck, reach B coordinate, and wherein k is robot
Grab the serial number of product；
D) the step c) product grabbed is put into profiling Chiba grinding wheel and polishes by robot；
E) step c) and step d) is repeated, wherein the value of Ck becomes larger as the diameter of profiling Chiba grinding wheel becomes smaller；
The radius of profiling Chiba grinding wheel is Rk, profiling Chiba grinding wheel contacts the chord length to be formed with product and is D and is definite value, Ck
Meet following relationship:
C1=0, R0 are the initial radium of profiling Chiba grinding wheel；
C2~CkProduct to 1~k of serial number can be realized by meeting above-mentioned relation formula；
C2It is determined such that and selects different C2Value allows robot to carry out step b) to step e), as a certain C2It is worth corresponding C2
To CkWhen the product produced meets the requirements, the C2Value determines.
2. a kind of automatically grinding system based on robot according to claim 1, it is characterised in that: feed device includes
Conveyer belt (1), the two sides of conveyer belt (1) are equipped with guide part, and it is multiple vertical that guide part is equipped with along the conveying direction of conveyer belt (1)
The cylindrical roller (2) of setting.
3. a kind of automatically grinding system based on robot according to claim 2, it is characterised in that: conveyer belt (1)
End is set there are three pneumatic pushing block, and described three pneumatic pushing blocks are respectively provided at the left side, right side, front side of conveyer belt (1).
4. a kind of automatically grinding system based on robot according to claim 3, it is characterised in that: left and right side
Pneumatic pushing block on be all provided with the postposition jacking block for passing in and out conveyer belt that oriented belt centerline is stretched out, postposition jacking block and front side
Pneumatic pushing block position it is opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710132472.6A CN106863124B (en) | 2017-03-07 | 2017-03-07 | A kind of automatically grinding system based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710132472.6A CN106863124B (en) | 2017-03-07 | 2017-03-07 | A kind of automatically grinding system based on robot |
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| Publication Number | Publication Date |
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| CN106863124A CN106863124A (en) | 2017-06-20 |
| CN106863124B true CN106863124B (en) | 2019-01-15 |
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| CN201710132472.6A Active CN106863124B (en) | 2017-03-07 | 2017-03-07 | A kind of automatically grinding system based on robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107263255A (en) * | 2017-08-02 | 2017-10-20 | 无锡中车时代智能装备有限公司 | Large-scale blade class workpiece robot collaboration polishing system and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003103378A (en) * | 2002-09-25 | 2003-04-08 | Kyokutoh Co Ltd | Welding robot for spot welding |
| CN202963291U (en) * | 2012-11-09 | 2013-06-05 | 东莞市容辰制罐有限公司 | Metal can automatic stamping production line |
| CN203359466U (en) * | 2013-07-23 | 2013-12-25 | 无锡日联科技有限公司 | Battery detection device |
| CN204565834U (en) * | 2015-04-28 | 2015-08-19 | 厦门嘉柯德自动化科技有限公司 | A kind of robot automatically grinding system |
| CN106393155A (en) * | 2016-09-23 | 2017-02-15 | 佛山华数机器人有限公司 | Universal fixture for industrial robot |
| CN206567999U (en) * | 2017-03-07 | 2017-10-20 | 佛山华数机器人有限公司 | A kind of automatically grinding system based on robot |
-
2017
- 2017-03-07 CN CN201710132472.6A patent/CN106863124B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003103378A (en) * | 2002-09-25 | 2003-04-08 | Kyokutoh Co Ltd | Welding robot for spot welding |
| CN202963291U (en) * | 2012-11-09 | 2013-06-05 | 东莞市容辰制罐有限公司 | Metal can automatic stamping production line |
| CN203359466U (en) * | 2013-07-23 | 2013-12-25 | 无锡日联科技有限公司 | Battery detection device |
| CN204565834U (en) * | 2015-04-28 | 2015-08-19 | 厦门嘉柯德自动化科技有限公司 | A kind of robot automatically grinding system |
| CN106393155A (en) * | 2016-09-23 | 2017-02-15 | 佛山华数机器人有限公司 | Universal fixture for industrial robot |
| CN206567999U (en) * | 2017-03-07 | 2017-10-20 | 佛山华数机器人有限公司 | A kind of automatically grinding system based on robot |
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| Publication number | Publication date |
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| CN106863124A (en) | 2017-06-20 |
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