CN110340783A - A kind of more grinding head passive compliance grinding devices and method - Google Patents
A kind of more grinding head passive compliance grinding devices and method Download PDFInfo
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- CN110340783A CN110340783A CN201910652040.7A CN201910652040A CN110340783A CN 110340783 A CN110340783 A CN 110340783A CN 201910652040 A CN201910652040 A CN 201910652040A CN 110340783 A CN110340783 A CN 110340783A
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- 239000004744 fabric Substances 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 9
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- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 238000009423 ventilation Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000004886 head movement Effects 0.000 claims description 2
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Classifications
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- 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
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
-
- 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
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
-
- 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
- B24B27/0092—Grinding attachments for lathes or the like
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The invention discloses a kind of more grinding head passive compliance grinding devices, mainly include multiple submissive grinding heads and respective support mechanism, and the radians such as circumferential are arranged in flanged joint mechanism.Submissive grinding head has the freedom degree of both direction, swings the curvature that pose is limited to corresponding supporting mechanism and practical work piece, can be controlled separately, also linkage controls.Flange connection is provided with polishing head controller, for realizing multiple submissive grinding head start and stop and Pose Control, realizes submissive grinding head and the adjustment of work surface contact force.Submissive grinding head of the invention is biased to pose can carry out quick response according to complicated finished surface curvature situation, and realization is seamless applying, reaches the efficient high-precision polishing of workpiece.
Description
Technical field
The present invention relates to machine components manufacture field more particularly to a kind of passive compliance grinding devices of more grinding heads, use
It is processed in large complicated carved part.
Background technique
In the fields such as aerospace, automobile, rail traffic, ship, product surface and dynamical system part are mostly multiple
Miscellaneous curved surface, these curved surfaces cannot be made up of elementary analytic surface, and have the local crownings such as ribs, therefore complex-curved height
Imitating high quality processing is always to manufacture problem both at home and abroad.
Grinding at present mainly has a biggish advantage in simple geometric shape part field, such as part is outer
Circle grinding, internal grinding and flat surface grinding etc..But complex-curved grinding is finished, traditional equipment for grinding and technique
Method lacks flexibility, and adaptability is poor, and time-consuming, costly for modification technique, and the country is still ground using manual mostly
The mode of mill, manual mode is easy to get greatly to human injury, and occupational disease, labor intensity height, low efficiency, grinding and polishing surplus be uneven, part
Surface conformance is influenced very big by worker's skills involved in the labour.
The present invention specifically addresses the above problems, are cooperated using multiple grinding heads and realize the processing of each region, mentioned
High processing efficiency；The constant force control for also realizing different machining locus simultaneously, improves the consistency of processing, the technique for meeting its processing
It is required that.
Summary of the invention
The technical problem to be solved in the present invention is that adaptation machined surface can not be adjusted flexibly for grinding head in the prior art
The defect of type provides a kind of more grinding head passive compliance grinding devices.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of more grinding head passive compliance grinding devices, which is characterized in that including multiple submissive grinding heads and respective support
Mechanism, the radians such as circumferential are arranged in a flanged joint mechanism, and the submissive grinding head has the freedom degree of both direction, pendulum
Dynamic pose is limited to the curvature of corresponding supporting mechanism and practical work piece, is provided with grinding head control in the flanged joint mechanism
Device, the polishing head controller is for controlling multiple submissive grinding head movements.
Connect above-mentioned technical proposal, wherein the submissive grinding head, including two-way cylinder, universal joint and pneumatic grinding head, institute
It states and is connected between two-way cylinder and the pneumatic grinding head by universal joint, the two-way cylinder is fixed on the flanged joint machine
On structure, it is respectively arranged with pressure sensor inside two-way cylinder both ends, laser displacement sensing is provided on the push rod of two-way cylinder
Device, is provided with equally distributed ventilation hole on the pneumatic grinding head and there are corresponding gas circuit, and end is equipped with round sand
Paper or polishing cloth；
The polishing head support mechanism, including upper bracket, adjustment disk and lower bracket, the upper bracket and the lower bracket
Between by adjustment disk connection, the multiple mounting holes of circumference spaced set on the adjustment disk, on the lower bracket
It is provided with the limit hole that pose is swung for limiting pneumatic grinding head；
The flange connection is provided with and installs the multiple submissive grinding head and the polishing head support mechanism
Mounting hole, be additionally provided with polishing the gentle road control solenoid valve of head controller, the polishing head controller is according to the sensing
Device signal controls solenoid valve and provides power for flexible grinding head.
Above-mentioned technical proposal is connect, the polishing head support mechanism is identical as the submissive grinding head number, a grinding head
Installing mechanism corresponds to a submissive grinding head.
Above-mentioned technical proposal is connect, the submissive grinding head further includes work gas circuit, the working condition of the submissive grinding head
It is controlled by the polishing head controller.
Above-mentioned technical proposal is connect, the universal joint in the submissive grinding head is jaw joint.
Above-mentioned technical proposal is connect, which further includes visual sensor, is connect with the polishing head controller, is obtained to be added
The pose of work workpiece face type and pneumatic grinding head.
Above-mentioned technical proposal is connect, the connecting flange structure is directly installed on robot and executes on end or lathe.
A kind of more grinding head passive compliance polishing control methods are provided, comprising the following steps:
S1: it according to the process requirements of workpiece to be polished, determines submissive grinding head number, and is installed in flanged joint mechanism
Good corresponding submissive grinding head and polishing head support mechanism adjust the adjustment disk of each polishing head support mechanism, adjust each
The reverses direction of pneumatic grinding head；
S2: installing round sand paper or polishing cloth according to process requirements on pneumatic grinding head, installs round sand paper and is used for
Polishing, installation polishing cloth is for polishing；
S3: starting grinding device calibration mode carries out gravity compensation, and calibration result is stored to polishing head controller
In；
S4: switching to force control mode, determines specific gravity according to the posture of the result of S3 calibration and submissive grinding head
Offset sets contact force in conjunction with the normal force in processing request, determines that dynamic adjusts pneumatic grinding head according to sensor information
Terminal position is bonded pneumatic grinding head and work surface even closer；
S5: starting pneumatic grinding head and start to polish, and head controller real-time reception sensor information of polishing simultaneously adjusts two-way gas
Cylinder pressure keeps pneumatic grinding head and face shape to be processed with the contact of optimum contact power；
S6: the workpiece face type that polishing head controller is obtained according to visual sensor determines the work of each submissive grinding head
State realizes being switched fast for different sides type polishing.
Connect above-mentioned technical proposal, the S3 the following steps are included:
S31: on the basis of selected a grinding head, and multiple and different positions is chosen；
S32: polishing head controller, which controls two-way cylinder, makes pneumatic grinding head at each position and the position workpiece surface
Tangent, polishing head controller obtains submissive grinding head sensor information；
S33: polishing head controller calculates calibration knot according to the multiple groups sensor informations of multiple and different positions of acquisition
Fruit, and result is stored in controller, complete calibration.
Above-mentioned technical proposal is connect, the sensor information includes the pressure that two-way cylinder both ends internal pressure sensor obtains
It is worth, the pose data for the grinding head that the value and visual sensor of laser displacement sensor obtain on two-way cylinder push-rod.
The beneficial effect comprise that: a kind of more grinding head passive compliance grinding devices provided by the invention pass through
Equal radians arrange multiple submissive grinding heads and corresponding supporting mechanism in flanged joint mechanism, and each submissive grinding head can be independent
It controls and it is limited by the curvature of corresponding polishing head support mechanism and practical work piece and swing pose, realize multiple submissive grinding heads
Independent assortment, realizes the adjustment of submissive grinding head and work surface contact force.Submissive grinding head of the invention is biased to pose can
To carry out quick response according to complicated finished surface curvature situation, realization is seamless applying, reaches the efficient high-precision polishing of workpiece.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the structure chart of three submissive grinding head embodiments of the invention；
Fig. 2 is submissive grinding head structure chart of the invention；
Fig. 3 is the structure chart of polishing head supporting structure of the invention；
Fig. 4 is grinding device control method flow chart of the present invention；
Fig. 5 is the schematic diagram of the submissive grinding head adaptation Machining of Curved Surface face type of the present invention；
Fig. 6 is the schematic diagram of the submissive grinding head fit plane machined surface type of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
As shown in Figure 1, the present invention provides a kind of more grinding head passive compliance grinding devices, as most preferred embodiment, including
Flange connection 1, three submissive grinding head 2 and three polishing head support mechanisms 3, flanged joint mechanism 1 is circumferential to be set at 120 °
Three submissive grinding heads 2 and three polishing head support mechanisms 3 are set, polishing head support mechanism 3 is used to limit the pendulum of submissive grinding head 2
Dynamic pose.It is provided with polishing head controller 11 on flange connection 1 and is moved for controlling multiple submissive grinding heads 2, including beats
The adjustment of pose in bistrique start and stop and bruting process.Each submissive grinding head 2 can be controlled separately, and also linkage controls, tool
There are two the freedom degrees in direction, swing the curvature that pose is limited to corresponding supporting mechanism and practical work piece.
As shown in Fig. 2, submissive grinding head 2, including two-way cylinder 21, universal joint 22 and pneumatic grinding head 23, two-way cylinder
21 and pneumatic grinding head 23 by universal joint 22, two-way cylinder 21 is fixed in flanged joint mechanism 1, in two-way 21 both ends of cylinder
Portion is respectively arranged with pressure sensor 24, and laser displacement sensor 25, pneumatic grinding head are provided on the push rod of two-way cylinder 21
Equally distributed ventilation hole is provided on 23 and there are corresponding gas circuit, end is equipped with round sand paper or polishing cloth 4.If
The purpose of setting ventilation hole and gas circuit is for external dust exhaust apparatus, it can be achieved that the aspiration of negative pressure function of the dust generated for polishing.
As shown in Figure 1, polishing head controller 11 moves pneumatic grinding head 23 along the Z-direction of diagram by controlling two-way cylinder 21.
As shown in figure 3, polishing head support mechanism 3, including upper bracket 31, adjustment disk 32 and lower bracket 33, upper bracket 31
It is fixed by bolts on adjustment disk 32 between lower bracket 33 by adjusting the connection of disk 32, bracket 31 and lower bracket 33,
The multiple mounting holes of circumference spaced set on disk 32 are adjusted, limit hole is provided on lower bracket 33 for limiting pneumatic grinding head 23
Swing pose.As shown in Figure 1, the push rod of two-way cylinder 21 pushes pneumatic grinding head 23, pneumatic grinding head 23 by universal joint 22
It is overturn under the effect of workpiece surface shape along X/Y plane, so that pneumatic grinding head 23 be enable more preferably to be bonded workpiece surface.
Flange connection 1 is provided with the multiple submissive grinding head 2 and the multiple polishing head support mechanism 3
Mounting hole, be additionally provided with polishing head controller 11 and gas circuit control solenoid valve, polishing head controller 11 is believed according to sensor
Number control solenoid valve is that flexible grinding head 2 provides power.
Further, as shown in Figure 1, polishing head support mechanism 3 is identical as described 2 numbers of submissive grinding head, a polishing
The corresponding submissive grinding head 2 of head installing mechanism 3.
Further, submissive grinding head 2 further includes work gas circuit, and the working condition of submissive grinding head 2 is by the grinding head
Controller 11 controls.
Further, the universal joint 22 in submissive grinding head 2 is jaw joint.
Further, the device also visual sensor is connect, for obtaining workpiece to be processed face with polishing head controller 11
The pose of type and pneumatic grinding head 23.
Further, connecting flange structure 1 is directly installed on robot and executes on end or lathe.
As shown in figure 4, the present invention provides a kind of more grinding head passive compliance polishing control methods, comprising the following steps:
S1: according to the process requirements of workpiece to be polished, determining submissive grinding head number, and install submissive grinding head, adjusts
The adjustment disk of whole each polishing head support mechanism, adjusts the reverses direction of each pneumatic grinding head；
S2: installing round sand paper or polishing cloth according to process requirements on pneumatic grinding head, installs round sand paper and is used for
Polishing, installation polishing cloth is for polishing；
S3: starting grinding device calibration mode, mainly progress gravity compensation, and calibration result is stored to grinding head control
In device processed；
S4: switching to force control mode, determines specific gravity according to the posture of the result of S3 calibration and submissive grinding head
Offset sets contact force in conjunction with the normal force in processing request, determines that dynamic adjusts pneumatic grinding head according to sensor information
Terminal position is bonded pneumatic grinding head and work surface even closer.
S5: starting pneumatic grinding head and start to polish, and head controller real-time reception sensor information of polishing simultaneously adjusts two-way gas
Cylinder pressure keeps pneumatic grinding head and face shape to be processed with the contact of optimum contact power.
S6: the workpiece face type that polishing head controller is obtained according to visual sensor determines the work of each submissive grinding head
State realizes being switched fast for different sides type.As shown in figure 5, using three according to Curvature varying for the curved surface area of large area
A pneumatic grinding head different positions and pose fitting polishing surface, improves grinding efficiency while improving grinding accuracy；For work in Fig. 5
One grinding head can be placed on protrusion opposite, two sides can be realized while polishing by the center protrusion part of part.It is right shown in Fig. 6
In long and narrow plane, only need to start the work of one or two grinding heads, it is energy saving；For the plane domain of large area,
Using three pneumatic same pose fitting polishing surfaces of grinding head, grinding efficiency is improved.
Further, as a kind of preferred embodiment, the S3 the following steps are included:
S31: on the basis of selected a grinding head, and four different positions are chosen；
S32: polishing head controller, which controls two-way cylinder, makes pneumatic grinding head at each position and the position workpiece surface
Tangent, polishing head controller obtains submissive grinding head sensor information；
S33: polishing head controller calculates calibration knot according to four groups of sensor informations of four different locations of acquisition
Fruit, and result is stored in controller, complete calibration.
Further, the sensor information includes the pressure value that two-way cylinder both ends internal pressure sensor obtains, double
The pose data for the grinding head that the value and visual sensor of laser displacement sensor obtain on cylinder push-rod.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of more grinding head passive compliance grinding devices, which is characterized in that including multiple submissive grinding heads and respective support machine
Structure, the radians such as circumferential are arranged in a flanged joint mechanism, and the submissive grinding head has the freedom degree of both direction, swings
Pose is limited to the curvature of corresponding supporting mechanism and practical work piece, is provided with grinding head control in the flanged joint mechanism
Device, the polishing head controller is for controlling multiple submissive grinding head movements.
2. more grinding head passive compliance grinding devices according to claim 1, which is characterized in that wherein:
The submissive grinding head, including two-way cylinder, universal joint and pneumatic grinding head, the two-way cylinder and the pneumatic polishing
It is connected between head by universal joint, the two-way cylinder is fixed in the flanged joint mechanism, two-way cylinder both ends inner part
It is not provided with pressure sensor, laser displacement sensor is provided on the push rod of two-way cylinder, is arranged on the pneumatic grinding head
There is equally distributed ventilation hole and there are corresponding gas circuit, end is equipped with round sand paper or polishing cloth；
The polishing head support mechanism, including upper bracket, adjustment disk and lower bracket, between the upper bracket and the lower bracket
It is connected by the adjustment disk, the multiple mounting holes of circumference spaced set on the adjustment disk, is provided on the lower bracket
The limit hole of pose is swung for limiting pneumatic grinding head；
The flange connection is provided with the mounting hole for installing the multiple submissive grinding head and the supporting mechanism,
It is additionally provided with the polishing gentle road control solenoid valve of head controller, the polishing head controller is controlled according to the sensor signal
Solenoid valve provides power for flexible grinding head.
3. more grinding head passive compliance grinding devices according to claim 1, which is characterized in that the grinding head supports machine
Structure is identical as the submissive grinding head number, the corresponding submissive grinding head of a grinding head installing mechanism.
4. more grinding head passive compliance grinding devices according to claim 1, which is characterized in that the submissive grinding head is also
Including the gas circuit that works, the working condition of the submissive grinding head is controlled by the polishing head controller.
5. more grinding head passive compliance grinding devices according to claim 1, which is characterized in that in the submissive grinding head
Universal joint be jaw joint.
6. more grinding head passive compliance grinding devices according to any one of claims 1-5, which is characterized in that the device
Further include visual sensor, connect with the polishing head controller, obtains the pose of workpiece to be processed face type and pneumatic grinding head.
7. more grinding head passive compliance grinding devices according to any one of claims 1-5, which is characterized in that the company
Acting flange structure is directly installed on robot and executes on end or lathe.
The control method 8. a kind of more grinding head passive compliances are polished, which is characterized in that this method is based on described in claim 1
More grinding head passive compliance grinding devices, comprising the following steps:
S1: according to the process requirements of workpiece to be polished, determining submissive grinding head number, and installs in flanged joint mechanism pair
The submissive grinding head and polishing head support mechanism answered, adjust the adjustment disk of each polishing head support mechanism, adjust each pneumatic
The reverses direction of grinding head；
S2: installing round sand paper or polishing cloth according to process requirements on pneumatic grinding head, installs round sand paper and is used to polish,
Installation polishing cloth is for polishing；
S3: starting grinding device calibration mode carries out gravity compensation, and by calibration result storage into polishing head controller；
S4: switching to force control mode, determines specific gravity compensation according to the posture of the result of S3 calibration and submissive grinding head
Value sets contact force in conjunction with the normal force in processing request, determines that dynamic adjusts pneumatic grinding head end according to sensor information
Position is bonded pneumatic grinding head and work surface even closer；
S5: starting pneumatic grinding head and start to polish, and head controller real-time reception sensor information of polishing simultaneously adjusts two-way cylinder pressure
Power keeps pneumatic grinding head and face shape to be processed with the contact of optimum contact power；
S6: the workpiece face type that polishing head controller is obtained according to visual sensor determines the working condition of each submissive grinding head,
Realize being switched fast for different sides type polishing.
The control method 9. more grinding head passive compliances according to claim 8 are polished, which is characterized in that the S3 include with
Lower step:
S31: on the basis of selected a grinding head, and multiple and different positions is chosen；
S32: polishing head controller, which controls two-way cylinder, keeps pneumatic grinding head tangent with the position workpiece surface at each position,
Head controller of polishing obtains submissive grinding head sensor information；
S33: polishing head controller calculates calibration result according to the multiple groups sensor informations of multiple and different positions of acquisition, and
Result is stored in controller, calibration is completed.
The control method 10. more grinding head passive compliances according to claim 8 are polished, which is characterized in that the sensor
Information includes the pressure value that two-way cylinder both ends internal pressure sensor obtains, laser displacement sensor on two-way cylinder push-rod
The pose data for the grinding head that value and visual sensor obtain.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110814978A (en) * | 2019-10-17 | 2020-02-21 | 成都飞机工业（集团）有限责任公司 | Large-curvature profile self-adaptive high-efficiency polishing end effector |
| CN111113206A (en) * | 2020-01-13 | 2020-05-08 | 河北工业大学 | Novel polishing end device |
| CN112139944A (en) * | 2020-09-25 | 2020-12-29 | 安徽新境界自动化技术有限公司 | Flexible grinding device of two robotic arm robots |
| CN113021101A (en) * | 2021-04-26 | 2021-06-25 | 彼合彼方机器人(天津)有限公司 | Plane polishing device for mobile robot |
| CN113020029A (en) * | 2021-04-26 | 2021-06-25 | 彼合彼方机器人(天津)有限公司 | Metal plate surface cleaning device for mobile robot |
| CN113921208A (en) * | 2021-09-30 | 2022-01-11 | 萍乡市汇能电气有限公司 | Ceramic suspension type cylinder head insulator spinning forming production line |
| CN114012532A (en) * | 2021-10-26 | 2022-02-08 | 成都飞机工业（集团）有限责任公司 | Multi-feature automatic polishing device and method for pipe parts |
| CN114453984A (en) * | 2020-11-10 | 2022-05-10 | 宝山钢铁股份有限公司 | Polishing mechanism for cold-rolled strip steel and control method thereof |
| CN114523366A (en) * | 2022-04-21 | 2022-05-24 | 成都市鸿侠科技有限责任公司 | Burnishing machine is used in fine machining of aircraft wing flap slide rail |
| CN114619299A (en) * | 2022-03-23 | 2022-06-14 | 成都飞机工业（集团）有限责任公司 | Grinding device for outer cylindrical surface |
| CN115026696A (en) * | 2022-08-09 | 2022-09-09 | 苏州圣亚精密机械有限公司 | Novel polisher capable of automatically controlling grinding disc |
| CN115446708A (en) * | 2022-09-05 | 2022-12-09 | 常州康华机电科技有限公司 | Multi-head hand-held sander structure |
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| CN106112977A (en) * | 2016-07-21 | 2016-11-16 | 华中科技大学无锡研究院 | A kind of curved surface class workpiece submissive polishing Serial-Parallel Type robot technique platform |
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