CN108772765A - A kind of absorption movement polishing robot of large size Free-Form Surface Machining - Google Patents
A kind of absorption movement polishing robot of large size Free-Form Surface Machining Download PDFInfo
- Publication number
- CN108772765A CN108772765A CN201810315430.0A CN201810315430A CN108772765A CN 108772765 A CN108772765 A CN 108772765A CN 201810315430 A CN201810315430 A CN 201810315430A CN 108772765 A CN108772765 A CN 108772765A
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- China
- Prior art keywords
- polishing
- execution unit
- straight line
- slide unit
- form surface
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B24B27/00—Other grinding machines or devices
-
- 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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention provides a kind of absorption movement polishing robots of large-scale Free-Form Surface Machining, including mobile module, the second execution unit and polishing head；The polishing head includes polishing fixed frame and motor, and the polishing fixed frame is mounted on the second execution unit stretch rod；The motor is mounted on polishing fixed frame；The mobile module includes translation mechanism and elevating mechanism, can be moved with three dimensions；Second execution unit is installed on the mobile module.The present invention can provide one kind and can be processed, be had compared with high manufacturing accuracy and the relatively simple polishing robot of control with continuous moving.
Description
Technical field
The present invention relates to industrial robot apparatus field or automation polishing fields, more particularly to a kind of large-scale freely bent
The absorption movement polishing robot of face processing.
Background technology
In recent years, with the high speed development of the relevant technicals such as computer technology and modern control theory, in High-speed machining
The heart is that the Flexible Manufacture of representative is gradually improved, and has been achieved with free form surface automation processing.In order to reduce the manufacturing cost of curved surface,
Shorten the manufacturing cycle, in phase late 1980s, it is automatic that industrially developed country has just carried out free form surface Polishing machining in succession
The research work of change, widespread practice are the grinding and polishing device that will specially the design generations on numerically-controlled machine tool or industrial robot
The manual operations of temporary substitute people, develops the automatic grinding-polishing system based on numerically-controlled machine tool or industrial robot.
Currently, all kinds of polishing equipment are rarely applied to the Polishing machining of large-scale free form surface, such as to super-huge propeller
Surface and ship hull weld joint both side surface Polishing machining.For large-scale free form surface, grinding and polishing is substantially all
It is to hold polishing tool by worker to complete.On the one hand, manual Polishing machining is not only time-consuming, laborious, inefficiency；Another party
Face, the machining accuracy of curved surface rely on the experience level of worker, processing quality unstable completely, it is difficult to meet to large-scale free form surface
The processing request of low cost, short cycle and high quality.The method for breaking away from such predicament is the suitable automation essence of research and development
Whole processing new equipment, to realize the degree of automation of free form surface skin processing.Polishing is automated to meet large-scale free form surface
The needs of processing, there is an urgent need to develop a kind of at present automatic Polishing machining new technology and equipment based on brand-new technological thought, profit
It is exactly a kind of innovative processing method to carry out finished machined to large-scale free form surface with small-sized movable polishing robot, is broken
The tradition of large-scale free form surface is processed by large scale equipment.
It finds by prior art documents, application No. is 201410123106.0 Chinese patents to disclose one kind
Free form surface robot polishing system, the robot make milling tools high-speed rotation by the air motor of pneumatic main shaft, then by
Industrial robot drives milling tools to polish according to planning path.But it is pressed from both sides by industrial robot in the polishing system
Milling tools is held, the range of work is determined by the brachium of industrial robot, increases robot if working space is increased
Arm length can cause the deficiency of precision and rigidity again, therefore be poorly suitable for the automation Polishing machining of large-scale free form surface.
Application No. is the Chinese patents of 201610014074.X to disclose a kind of automatic polishing equipment of curved surface, and robot is projecting
On crane span structure, the movement of arbitrary point in plane is realized by crane span structure, and workbench, the robot are equipped in the lower section of robot body
Polishing tool is housed, which can realize automatic continuous polishing, solve automatic Polishing machining by processing part ruler on ontology
The problem of very little shape and processing stroke restrict, but this polishing equipment cannot adjust polishing tool in real time in grinding-and-polishing working
Posture, the variation of passive adaptation curved surface can only be carried out by elastic polished wheel, this undoubtedly reduces the processing essence of free form surface
Degree.
Application No. is 200710056092.5 Chinese patents to disclose a kind of small machine of large-scale curved surface self-grinding-and-polishing
People, the robot include walking module and polishing tool model, and the invention is using micro-robot in mold large size free form surface
On autonomous positioning planning, realize mini-plant to large-scale curved skin processing, but the robot when being moved on curved surface need
Real-time control is carried out to walking module, to ensure to want always consistent in different curved surface movement speeds, this is to entire system
The control of system brings prodigious difficulty.
Invention content
In response to the deficiencies in the existing technology, the present invention provides a kind of absorption of large-scale Free-Form Surface Machining to move polishing
Robot, provide one kind can continuous moving processing, have compared with high manufacturing accuracy and the relatively simple polishing robot of control.
The present invention achieves the above technical objects by the following technical means.
A kind of absorption movement polishing robot of large size Free-Form Surface Machining, including mobile module, the second execution unit and
Polishing head；The polishing head includes polishing fixed frame and motor, and the polishing fixed frame is mounted on the second execution unit stretch rod
On；The motor is mounted on polishing fixed frame；The mobile module includes translation mechanism and elevating mechanism, can be with three dimensions
It is mobile；Second execution unit is installed on the mobile module.
Further, the translation mechanism includes first straight line slide unit group and second straight line slide unit group, and the first straight line is slided
The slide unit of platform group is connect with the slide unit of second straight line slide unit group；The both ends of the first straight line slide unit group and second straight line slide unit group
Elevating mechanism is installed respectively.
Further, the elevating mechanism includes the first execution unit, fixedly connected part, sucker base and vacuum cup；Institute
The both ends for stating first straight line slide unit group and second straight line slide unit group are respectively equipped with fixedly connected part, first execution unit and institute
Fixedly connected part connection is stated, the sucker base is connect with the stretch rod of first execution unit, the vacuum cup and institute
State sucker base connection.
Further, first execution unit is antitorque cylinder；Second execution unit is low friction guide rod cylinder；Institute
It is magnetic coupling cylinder to state first straight line slide unit and second straight line slide unit.
Further, the polishing fixed frame includes polishing rack plate, polishing holder bottom plate, polishing holder and the first joint
Bearing；The polishing rack plate is connect with the second execution unit stretch rod, and the first joint is equipped in the polishing holder bottom plate
Bearing, the output end of the interior installation motor of first oscillating bearing；The polishing rack plate and polishing holder bottom plate it
Between pass through several polishing holders connect.
Further, further include angle regulator, several angle regulators are uniformly mounted on polishing fixed frame, use
Adjust the angle of the motor.
Further, the angle regulator includes third execution unit and second joint bearing, in the polishing holder
It is interference fit between the third execution unit shell and the second joint bearing equipped with second joint bearing, described the
Three execution units are connect with the motor case.
Further, further include displacement detector, institute's displacement sensing device is mounted on polishing holder.
Further, further include control system, the control system and displacement detector, the solenoid valve of third execution unit
Connection.
The beneficial effects of the present invention are：
1. the absorption movement polishing robot of large size Free-Form Surface Machining of the present invention, mobile module realize the machine
The movement of people and the continuous linear movement of polishing head, processing efficiency are improved.
2. the absorption movement polishing robot of large size Free-Form Surface Machining of the present invention, pass through displacement detector pair the
Three execution units carry out corresponding drive control, to constantly adjust the swing angle of motor so that polishing pressure is protected always
It holds in the normal direction of surface to be machined, and polishing pressure controllable, improves processing quality.
3. the absorption movement polishing robot of large size Free-Form Surface Machining of the present invention, is adsorbed on respectively by vacuum cup
On the curved surface of type, polishing tool can adaptive curved surface variation, slide unit only need to move at the uniform velocity, be reduced to moving mould
The control difficulty of block.
4. the absorption movement polishing robot of large size Free-Form Surface Machining of the present invention, the robot component part are most
For standard component and in optimum embodiment, robot carries out automation grinding-and-polishing working using pneumatic mode, simple in structure, whole weight
Amount is light, and cost is relatively low.
5. the absorption movement polishing robot of large size Free-Form Surface Machining of the present invention, by different path plannings and
Adjust corresponding control parameter, you can adapt to the Polishing machining of various large-scale free form surfaces, flexibility degree is high.
Description of the drawings
Fig. 1 is the general assembly drawing of the absorption mobile polishing robot of large-scale Free-Form Surface Machining of the present invention.
Fig. 2 is the graphics of mobile module of the present invention.
Fig. 3 is the graphics of polishing head of the present invention.
Fig. 4 is the sectional view of polishing head of the present invention.
In figure：
100- mobile modules；101- vacuum cups；102- sucker bases；The first execution units of 103-；104- is fixedly connected
Part；105- first straight line slide units；106- second straight line slide units；201- mounting brackets；The second execution units of 202-；210- polishings
Head；211- third execution units；212- laser displacement sensors；213- polishing holders；214- motors；The first joint shafts of 215-
It holds；216- second joint bearings；217- polishing rack plates.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously
It is without being limited thereto.
As shown in Figure 1, the absorption movement polishing robot of large size Free-Form Surface Machining of the present invention, including mobile mould
Block 100, the second execution unit 202 and polishing head 210；The polishing head 210 includes polishing fixed frame and motor 214, described to grind
Fixed frame is thrown to be mounted on 202 stretch rod of the second execution unit；The motor 214 is mounted on polishing fixed frame.
As shown in Fig. 2, the mobile module 100 includes translation mechanism and elevating mechanism, can be moved with three dimensions；It is described
Second execution unit 202 is installed by mounting bracket 201 on mobile module 100.The translation mechanism includes first straight line slide unit
Group 105 and second straight line slide unit group 106, the slide unit of first straight line slide unit group 105 are connect with 106 slide unit of second straight line slide unit group；
Elevating mechanism is installed at the both ends of the first straight line slide unit group 105 and second straight line slide unit group 106 respectively.The elevating mechanism packet
Include the first execution unit 103, fixedly connected part 104, sucker base 102 and vacuum cup 101；The first straight line slide unit group
105 and the both ends of second straight line slide unit group 106 be respectively equipped with fixedly connected part 104, first execution unit 103 with it is described solid
Determine the connection of connector 104, the sucker base 102 is connect with the stretch rod of first execution unit 103, the vacuum cup
101 connect with the sucker base 102.First execution unit 103 is antitorque cylinder, and cooperation vacuum cup is to reach more preferable
Damping effect；Second execution unit 202 is low friction guide rod cylinder, since the cylinder friction coefficient is low, convenient for obtaining
More accurate polishing pressure；The first straight line slide unit 105 and second straight line slide unit 106 are magnetic coupling cylinder.
The overall effect of movable part is：During polishing, by being driven to the first execution unit 103 so that second is straight
The sucker base of line slide unit 106 lifts, and the sucker base 102 of first straight line slide unit 105 is tight closely, is slided at this time to second straight line
Platform 106 is driven, and such slide unit will not move, and the guide rail on second straight line slide unit 106 realizes linear motion, wait for slide unit
Rail end is reached, then by implementing to drive to the first execution unit 103, the sucker base 102 of first straight line slide unit 105 is made to lift
Rise, the sucker base of second straight line slide unit 106 tightly closely, at this point, driven to second straight line slide unit 106, at this moment guide rail
It does not move, slide unit move along a straight line and can be located at any position on 106 guide rail of second straight line slide unit.I.e. by movement
Different execution units in module 100 implement corresponding drive control, and slide unit can be located at any position on machined surface.
As shown in Figure 3 and Figure 4, the polishing fixed frame includes polishing rack plate 217, polishing holder bottom plate, polishing branch
Frame 213 and the first oscillating bearing 215；The polishing rack plate 217 is connect with 202 stretch rod of the second execution unit, described to grind
It throws and is equipped with the first oscillating bearing 215 in holder bottom plate, the output end of the motor 214 is installed in first oscillating bearing 215；
It is connected by several polishing holders 213 between the polishing rack plate 217 and polishing holder bottom plate.Several angular adjustments
Device is uniformly mounted on polishing fixed frame, with the angle for adjusting the motor 214.The angle regulator includes that third executes
Unit 211 and second joint bearing 216, the polishing holder 213 is interior to be equipped with second joint bearing 216, and the third executes list
It is interference fit between first 211 shells and the second joint bearing 216, the third execution unit 211 and the motor 214
Cage connection.Institute's displacement sensing device be mounted on polishing holder 213 on, for measure surrounding surface to be machined it is vertical away from
From.Institute's displacement sensing device is laser displacement sensor 212.
Further include control system, the control system and the solenoid valve of displacement detector, third execution unit 211 connect
It connects.The overall effect of polishing part is：Laser displacement sensor 212 is used to measure the vertical range of current Working position curved surface,
The quantity of laser displacement sensor must not be less than three (can find out current surface to be machined by the vertical range of three points
Normal equation), corresponding control is then taken to third execution unit 211 by algorithm according to the data of laser displacement sensor
Ensure that the main shaft of motor 214 is always the normal direction of current Working position, it is ensured that polishing pressure is always perpendicular to processed
Surface；Again by carrying out drive control to the second execution unit 202, you can obtain more accurate polishing pressure.Third executes
Unit 211 is minitype cylinder.Due to installing the output end of the motor 214 in first oscillating bearing 215, motor
214 can make motor 214 swing certain angle by the adjustment of third execution unit 211.The control system of the present invention is not only
Angle regulator can be controlled, translation mechanism and elevating mechanism can also be controlled.
The present invention overall effect be：Mobile module 100 realizes the movement of robot, the continuous linear movement of polishing head
And the damping in process；Polishing module be used for provides more accurate polishing pressure, adjusting motor 214 rotating speed and
Ensure polishing pressure always perpendicular to surface to be machined, two module cooperative work, you can realize the company to large-scale free form surface
Continuous Polishing machining.
The first execution unit 103, the second execution unit 202, third execution unit 211 and motor 214 in the present invention can
Can also be Hydraulic Elements to be pneumatic element.It is preferably pneumatic element in legend.
The present invention efficiently solves in current free form surface automation polishing and is unable to Continuous maching large size free form surface, processing
The problem that quality is low and control is more difficult, realizes Continuous maching of the small-sized movable polishing robot to large-scale free form surface.
The embodiment is the preferred embodiments of the present invention, but present invention is not limited to the embodiments described above, not
Away from the present invention substantive content in the case of, those skilled in the art can make it is any it is conspicuously improved, replace
Or modification all belongs to the scope of protection of the present invention.
Claims (9)
1. a kind of absorption movement polishing robot of large size Free-Form Surface Machining, which is characterized in that including mobile module (100),
Second execution unit (202) and polishing head (210)；
The polishing head (210) includes polishing fixed frame and motor (214), and the polishing fixed frame is mounted on the second execution unit
(202) on stretch rod；The motor (214) is mounted on polishing fixed frame；
The mobile module (100) includes translation mechanism and elevating mechanism, can be moved with three dimensions；The mobile module
(100) the second execution unit (202) is installed on.
2. the absorption movement polishing robot of large size Free-Form Surface Machining according to claim 1, which is characterized in that described
Translation mechanism includes first straight line slide unit group (105) and second straight line slide unit group (106), the first straight line slide unit group (105)
Slide unit connect with the slide unit of second straight line slide unit group (106)；The first straight line slide unit group (105) and second straight line slide unit group
(106) both ends are installed by elevating mechanism respectively.
3. the absorption movement polishing robot of large size Free-Form Surface Machining according to claim 2, which is characterized in that described
Elevating mechanism includes the first execution unit (103), fixedly connected part (104), sucker base (102) and vacuum cup (101)；Institute
The both ends for stating first straight line slide unit group (105) and second straight line slide unit group (106) are respectively equipped with fixedly connected part (104), described
First execution unit (103) is connect with the fixedly connected part (104), and the sucker base (102) and described first executes list
The stretch rod connection of first (103), the vacuum cup (101) connect with the sucker base (102).
4. the absorption movement polishing robot of large size Free-Form Surface Machining according to claim 2, which is characterized in that described
First execution unit (103) is antitorque cylinder；Second execution unit (202) is low friction guide rod cylinder；Described first is straight
Line slide unit (105) and second straight line slide unit (106) are magnetic coupling cylinder.
5. moving polishing robot, feature according to the absorption of claim 1-4 any one of them large size Free-Form Surface Machinings
It is, the polishing fixed frame includes polishing rack plate (217), polishing holder bottom plate, polishing holder (213) and the first joint
Bearing (215)；The polishing rack plate (217) connect with the second execution unit (202) stretch rod, the polishing holder bottom plate
It is inside equipped with the first oscillating bearing (215), the output end of the motor (214) is installed in first oscillating bearing (215)；It is described
It is connected by several polishing holders (213) between polishing rack plate (217) and polishing holder bottom plate.
6. the absorption movement polishing robot of large size Free-Form Surface Machining according to claim 5, which is characterized in that also wrap
Angle regulator is included, several angle regulators are uniformly mounted on polishing fixed frame, for adjusting the motor (214)
Angle.
7. the absorption movement polishing robot of large size Free-Form Surface Machining according to claim 6, which is characterized in that described
Angle regulator includes third execution unit (211) and second joint bearing (216), is equipped in the polishing holder (213)
Second joint bearing (216) is interference between third execution unit (211) shell and the second joint bearing (216)
Cooperation, the third execution unit (211) and the motor (214) cage connection.
8. the absorption movement polishing robot of large size Free-Form Surface Machining according to claim 7, which is characterized in that also wrap
Displacement detector is included, institute's displacement sensing device is mounted on polishing holder (213).
9. the absorption movement polishing robot of large size Free-Form Surface Machining according to claim 8, which is characterized in that also wrap
Control system is included, the control system is connect with the solenoid valve of displacement detector, third execution unit (211).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810315430.0A CN108772765A (en) | 2018-04-10 | 2018-04-10 | A kind of absorption movement polishing robot of large size Free-Form Surface Machining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810315430.0A CN108772765A (en) | 2018-04-10 | 2018-04-10 | A kind of absorption movement polishing robot of large size Free-Form Surface Machining |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108772765A true CN108772765A (en) | 2018-11-09 |
Family
ID=64033605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810315430.0A Pending CN108772765A (en) | 2018-04-10 | 2018-04-10 | A kind of absorption movement polishing robot of large size Free-Form Surface Machining |
Country Status (1)
| Country | Link |
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| CN (1) | CN108772765A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746780A (en) * | 2019-01-31 | 2019-05-14 | 湘潭大学 | A kind of automatic abrasive machine being exclusively used in the finishing of equipment sheet metal surface |
| CN111872810A (en) * | 2020-08-03 | 2020-11-03 | 广东技术师范大学 | Grinding device is used in processing of robot shell |
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| US20170106924A1 (en) * | 2015-10-16 | 2017-04-20 | The Boeing Company | Walking Robot |
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| CN102990500A (en) * | 2012-12-26 | 2013-03-27 | 哈尔滨工业大学 | Magnetorheological polishing device with vertical shaft and tilting shaft with rotary table hung upside down |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746780A (en) * | 2019-01-31 | 2019-05-14 | 湘潭大学 | A kind of automatic abrasive machine being exclusively used in the finishing of equipment sheet metal surface |
| CN111872810A (en) * | 2020-08-03 | 2020-11-03 | 广东技术师范大学 | Grinding device is used in processing of robot shell |
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Application publication date: 20181109 |