CN110340783B - Passive compliant polishing device and method with multiple polishing heads - Google Patents
Passive compliant polishing device and method with multiple polishing heads Download PDFInfo
- Publication number
- CN110340783B CN110340783B CN201910652040.7A CN201910652040A CN110340783B CN 110340783 B CN110340783 B CN 110340783B CN 201910652040 A CN201910652040 A CN 201910652040A CN 110340783 B CN110340783 B CN 110340783B
- Authority
- CN
- China
- Prior art keywords
- polishing
- polishing head
- pneumatic
- head
- heads
- Prior art date
- 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.)
- Active
Links
- 238000005498 polishing Methods 0.000 title claims abstract description 231
- 238000000034 method Methods 0.000 title claims description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000002457 bidirectional effect Effects 0.000 claims description 29
- 244000137852 Petrea volubilis Species 0.000 claims description 9
- 239000004744 fabric Substances 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 2
- 230000007306 turnover Effects 0.000 claims 1
- 238000003754 machining Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 208000028571 Occupational disease Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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
- 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
Landscapes
- 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 passive flexible polishing device with multiple polishing heads, which mainly comprises a plurality of flexible polishing heads and corresponding supporting mechanisms, wherein the flexible polishing heads are circumferentially arranged on a flange connecting mechanism in equal radian. The flexible polishing head has two degrees of freedom, and the swing pose is limited by the corresponding supporting mechanism and the curvature of the actual workpiece, and can be controlled independently or in a linkage way. The flange connection structure is provided with a polishing head controller for realizing the start and stop and pose control of a plurality of compliant polishing heads and realizing the adjustment of the contact force between the compliant polishing heads and the surface to be processed. The deflection pose of the flexible polishing head can be responded quickly according to the complex curvature condition of the processing surface, seamless joint is realized, and efficient and high-precision polishing of a workpiece is achieved.
Description
Technical Field
The invention relates to the field of machining of mechanical parts, in particular to a passive flexible grinding device with multiple grinding heads, which is used for machining large-scale complex curved surface parts.
Background
In the fields of aerospace, automobiles, rail transit, ships and the like, most of product surfaces and power system parts are complex curved surfaces, the curved surfaces cannot be formed by elementary analysis, and local protrusions such as reinforcing ribs are arranged, so that the efficient high-quality processing of the complex curved surfaces is always a difficult problem in domestic and foreign manufacturing.
Currently, grinding has great advantages in the field of parts with simple geometric shapes, such as external circle grinding, internal circle grinding, plane grinding and the like. However, for grinding finish machining of complex curved surfaces, the traditional grinding equipment and process method are lack of flexibility, poor in adaptability, long in modification process time and high in cost, and most of China still adopts a manual grinding mode, so that occupational diseases are easily obtained due to the manual mode, labor intensity is high, efficiency is low, grinding and polishing allowance is uneven, and surface consistency of parts is greatly affected by technical proficiency of workers.
The invention aims to solve the problems, and utilizes the mutual matching of a plurality of polishing heads to realize the processing of each area, thereby improving the processing efficiency; meanwhile, constant force control of different processing tracks is realized, processing consistency is improved, and processing process requirements are met.
Disclosure of Invention
The invention aims to solve the technical problem that the adaptive machining surface type cannot be flexibly adjusted by the polishing head in the prior art, and provides a passive flexible polishing device with multiple polishing heads.
The technical scheme adopted for solving the technical problems is as follows:
The passive gentle and agreeable grinding device of many polishing heads is characterized by comprising a plurality of gentle and agreeable polishing heads and corresponding supporting mechanisms, wherein the peripheral equal radian of the soft and agreeable polishing heads is arranged on a flange connecting mechanism, the soft and agreeable polishing heads have two directions of freedom, the swing pose is limited by the curvatures of the corresponding supporting mechanisms and actual workpieces, a polishing head controller is arranged on the flange connecting mechanism, and the polishing head controller is used for controlling the motion of the soft and agreeable polishing heads.
The technical scheme is that the flexible polishing head comprises a bidirectional cylinder, a universal joint and a pneumatic polishing head, wherein the bidirectional cylinder is connected with the pneumatic polishing head through the universal joint, the bidirectional cylinder is fixed on the flange connecting mechanism, pressure sensors are respectively arranged in two ends of the bidirectional cylinder, laser displacement sensors are arranged on push rods of the bidirectional cylinder, uniformly distributed vent holes are formed in the pneumatic polishing head, corresponding air channels are reserved in the pneumatic polishing head, and round sand paper or polishing cloth is arranged at the tail end of the pneumatic polishing head;
The polishing head supporting mechanism comprises an upper bracket, an adjusting disc and a lower bracket, wherein the upper bracket is connected with the lower bracket through the adjusting disc, a plurality of mounting holes are formed in the circumference of the adjusting disc at equal intervals, and a limiting hole for limiting the swing pose of the pneumatic polishing head is formed in the lower bracket;
The flange connection structure is provided with mounting holes for mounting the plurality of flexible polishing heads and the polishing head supporting mechanism, and is also provided with a polishing head controller and an electromagnetic valve for air path control, and the polishing head controller controls the electromagnetic valve to provide power for the flexible polishing head according to the sensor signals.
By adopting the technical scheme, the number of the polishing head supporting mechanisms is the same as that of the flexible polishing heads, and one polishing head mounting mechanism corresponds to one flexible polishing head.
By adopting the technical scheme, the flexible polishing head further comprises a working gas circuit, and the working state of the flexible polishing head is controlled by the polishing head controller.
According to the technical scheme, the universal joint in the flexible polishing head is a cross-shaft type constant-speed universal joint.
By adopting the technical scheme, the device further comprises a visual sensor which is connected with the polishing head controller to obtain the surface shape of the workpiece to be processed and the pose of the pneumatic polishing head.
According to the technical scheme, the connecting flange structure is directly arranged at the execution end of the robot or on the machine tool.
The passive flexible polishing control method for the multiple polishing heads comprises the following steps:
S1: determining the number of the flexible polishing heads according to the processing requirements of workpieces to be polished, installing corresponding flexible polishing heads and polishing head supporting mechanisms on the flange connecting mechanism, adjusting the adjusting discs of each polishing head supporting mechanism, and adjusting the overturning direction of each pneumatic polishing head;
s2: according to the processing requirement, circular sand paper or polishing cloth is arranged on the pneumatic polishing head, the circular sand paper is arranged for polishing, and the polishing cloth is arranged for polishing;
S3: starting a calibration mode of the polishing device, performing gravity compensation, and storing a calibration result into a polishing head controller;
S4: switching to a force control mode, determining a specific gravity compensation value according to the S3 calibration result and the gesture of the flexible polishing head, setting a contact force by combining the normal force in the processing requirement, and determining the position of the tail end of the pneumatic polishing head according to the sensor information to enable the pneumatic polishing head to be tightly attached to the surface to be processed;
s5: starting a pneumatic polishing head to start polishing, receiving sensor information in real time by a polishing head controller, adjusting the pressure of a bidirectional cylinder, and keeping the pneumatic polishing head and the surface to be processed in contact with each other with optimal contact force;
S6: the polishing head controller determines the working state of each flexible polishing head according to the surface type of the workpiece obtained by the visual sensor, and realizes the quick switching of polishing of different surface types.
With the above technical solution, the step S3 includes the following steps:
S31: selecting one polishing head as a reference, and selecting a plurality of different positions;
S32: the polishing head controller controls the bidirectional air cylinder to enable the pneumatic polishing head to be tangent with the surface of the workpiece at each position, and the polishing head controller obtains the sensor information of the flexible polishing head;
S33: and the polishing head controller calculates a calibration result according to the acquired multiple groups of sensor information at different positions, and stores the result in the controller to finish calibration.
By adopting the technical scheme, the sensor information comprises pressure values obtained by the pressure sensors in the two ends of the bidirectional cylinder, values of the laser displacement sensors on the push rod of the bidirectional cylinder and pose data of the polishing head obtained by the visual sensor.
The invention has the beneficial effects that: according to the passive flexible polishing device with the multiple polishing heads, the multiple flexible polishing heads and the corresponding supporting mechanisms are arranged on the flange connection mechanism in an equal radian mode, each flexible polishing head can be controlled independently, the swing pose of each flexible polishing head is limited by the corresponding polishing head supporting mechanism and the curvature of an actual workpiece, free combination of the multiple flexible polishing heads is achieved, and adjustment of contact force between the flexible polishing heads and a surface to be processed is achieved. The deflection pose of the flexible polishing head can be responded quickly according to the complex curvature condition of the processing surface, seamless joint is realized, and efficient and high-precision polishing of a workpiece is achieved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a block diagram of three compliant sanding head embodiments of the present invention;
FIG. 2 is a block diagram of a compliant polishing head of the present invention;
FIG. 3 is a block diagram of a sanding head support structure of the present invention;
FIG. 4 is a flow chart of a method of controlling the polishing apparatus of the present invention;
FIG. 5 is a schematic view of a compliant sanding head of the present invention conforming to a curved machined surface pattern;
FIG. 6 is a schematic view of a compliant sanding head of the present invention conforming to a planar working surface.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the invention provides a passive flexible polishing device with multiple polishing heads, which comprises a flange connection structure 1, three flexible polishing heads 2 and three polishing head supporting mechanisms 3, wherein the flange connection structure 1 is circumferentially provided with the three flexible polishing heads 2 and the three polishing head supporting mechanisms 3 at an angle of 120 degrees, and the polishing head supporting mechanisms 3 are used for limiting the swing pose of the flexible polishing heads 2. The flange connection structure 1 is provided with a polishing head controller 11 for controlling the movement of a plurality of compliant polishing heads 2, including the start and stop of the polishing heads and the adjustment of the pose in the polishing process. Each compliant sanding head 2 can be controlled individually or in linkage, and has two degrees of freedom, and the swinging pose is limited by the curvature of the corresponding supporting mechanism and the actual workpiece.
As shown in fig. 2, the compliant polishing head 2 comprises a bidirectional cylinder 21, a universal joint 22 and a pneumatic polishing head 23, wherein the bidirectional cylinder 21 and the pneumatic polishing head 23 are fixed on the flange connection mechanism 1 through the universal joint 22, pressure sensors 24 are respectively arranged in two ends of the bidirectional cylinder 21, a laser displacement sensor 25 is arranged on a push rod of the bidirectional cylinder 21, uniformly distributed ventilation holes are formed in the pneumatic polishing head 23, corresponding air passages are reserved, and round sand paper or polishing cloth 4 is arranged at the tail end of the pneumatic polishing head. The purpose of the vent holes and the air paths is to externally connect a dust collection device, so that a negative pressure dust collection function for dust generated by polishing can be realized. As shown in fig. 1, the sanding head controller 11 moves the pneumatic sanding head 23 in the illustrated Z direction by controlling the bi-directional cylinder 21.
As shown in fig. 3, the polishing head supporting mechanism 3 comprises an upper bracket 31, an adjusting disc 32 and a lower bracket 33, wherein the upper bracket 31 and the lower bracket 33 are connected through the adjusting disc 32, the bracket 31 and the lower bracket 33 are fixed on the adjusting disc 32 through bolts, a plurality of mounting holes are formed in the circumference of the adjusting disc 32 at equal intervals, and limit holes are formed in the lower bracket 33 and used for limiting the swing pose of the pneumatic polishing head 23. As shown in fig. 1, the push rod of the bidirectional cylinder 21 pushes the pneumatic polishing head 23 through the universal joint 22, and the pneumatic polishing head 23 is turned over along the XY plane under the action of the shape of the surface of the workpiece, so that the pneumatic polishing head 23 can be better attached to the surface of the workpiece.
The flange connection structure 1 is provided with a plurality of flexible polishing heads 2 and mounting holes of the polishing head supporting mechanisms 3, and is also provided with a polishing head controller 11 and an air path control electromagnetic valve, wherein the polishing head controller 11 controls the electromagnetic valve to provide power for the flexible polishing head 2 according to sensor signals.
Further, as shown in fig. 1, the number of the polishing head supporting mechanisms 3 is the same as that of the compliant polishing heads 2, and one polishing head mounting mechanism 3 corresponds to one compliant polishing head 2.
Further, the compliant polishing head 2 further comprises a working air path, and the working state of the compliant polishing head 2 is controlled by the polishing head controller 11.
Further, the universal joint 22 in the compliant sanding head 2 is a cross-type constant velocity universal joint.
Further, the device is also provided with a visual sensor which is connected with the polishing head controller 11 and is used for acquiring the surface shape of the workpiece to be processed and the pose of the pneumatic polishing head 23.
Further, the connection flange structure 1 is directly mounted on the robot execution end or the machine tool.
As shown in fig. 4, the invention provides a passive flexible polishing control method for a multi-polishing head, which comprises the following steps:
s1: determining the number of the flexible polishing heads according to the processing requirements of workpieces to be polished, installing flexible polishing heads, adjusting the adjusting discs of each polishing head supporting mechanism, and adjusting the turning direction of each pneumatic polishing head;
s2: according to the processing requirement, circular sand paper or polishing cloth is arranged on the pneumatic polishing head, the circular sand paper is arranged for polishing, and the polishing cloth is arranged for polishing;
S3: starting a calibration mode of the polishing device, mainly performing gravity compensation, and storing a calibration result into a polishing head controller;
S4: and switching to a force control mode, determining a specific gravity compensation value according to the S3 calibration result and the gesture of the flexible polishing head, setting a contact force by combining the normal force in the processing requirement, and determining the position of the tail end of the pneumatic polishing head according to the sensor information to enable the pneumatic polishing head to be tightly attached to the surface to be processed.
S5: starting the pneumatic polishing head to start polishing, receiving sensor information in real time by a polishing head controller, adjusting the pressure of a bidirectional cylinder, and keeping the pneumatic polishing head and the surface to be processed in contact with each other with the optimal contact force.
S6: the polishing head controller determines the working state of each flexible polishing head according to the surface type of the workpiece obtained by the visual sensor, and realizes the rapid switching of different surface types. As shown in fig. 5, for a large-area curved surface area, three pneumatic polishing heads are adopted to attach to a polishing surface according to curvature change in different poses, so that polishing precision is improved, and polishing efficiency is improved at the same time; for the middle raised portion of the workpiece in fig. 5, one sanding head may be placed opposite the raised portion, i.e., simultaneous sanding of both sides may be achieved. As shown in fig. 6, for the long and narrow plane, only one or two polishing heads need to be started to work, so that energy sources are saved; for a large-area plane area, three pneumatic polishing heads are adopted to attach to a polishing surface in the same pose, so that polishing efficiency is improved.
Further, as a preferred embodiment, the step S3 includes the following steps:
s31: selecting one polishing head as a reference, and selecting four different positions;
S32: the polishing head controller controls the bidirectional air cylinder to enable the pneumatic polishing head to be tangent with the surface of the workpiece at each position, and the polishing head controller obtains the sensor information of the flexible polishing head;
S33: and the polishing head controller calculates a calibration result according to the acquired four groups of sensor information at four different positions, and stores the result in the controller to finish the calibration.
Further, the sensor information comprises pressure values obtained by pressure sensors in two ends of the bidirectional cylinder, values of a laser displacement sensor on a push rod of the bidirectional cylinder and pose data of a polishing head obtained by a visual sensor.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (7)
1. The passive flexible polishing device with the multiple polishing heads is characterized by comprising a plurality of flexible polishing heads and corresponding polishing head supporting mechanisms, wherein the flexible polishing heads are circumferentially arranged on a flange connecting mechanism in equal radian, the flexible polishing heads have two directions of freedom, the swing pose is limited by the corresponding polishing head supporting mechanisms and the curvature of an actual workpiece, and a polishing head controller is arranged on the flange connecting mechanism and is used for controlling the movement of the plurality of flexible polishing heads;
The flexible polishing head comprises a bidirectional cylinder and a pneumatic polishing head, pressure sensors are respectively arranged in two ends of the bidirectional cylinder, and a laser displacement sensor is arranged on a push rod of the bidirectional cylinder; the push rod of the bidirectional cylinder pushes the pneumatic polishing head through the universal joint, and the pneumatic polishing head can turn over along the XY plane under the action of the shape of the surface of the workpiece, so that the pneumatic polishing head can be better attached to the surface of the workpiece;
The bidirectional cylinder is connected with the pneumatic polishing head through a universal joint, the bidirectional cylinder is fixed on the flange connecting mechanism, the pneumatic polishing head is provided with uniformly distributed vent holes and corresponding air channels, and the tail end of the pneumatic polishing head is provided with round sand paper or polishing cloth;
The polishing head supporting mechanism comprises an upper bracket, an adjusting disc and a lower bracket, wherein the upper bracket is connected with the lower bracket through the adjusting disc, a plurality of mounting holes are formed in the circumference of the adjusting disc at equal intervals, and a limiting hole for limiting the swing pose of the pneumatic polishing head is formed in the lower bracket;
The flange connecting mechanism is provided with mounting holes for mounting the plurality of flexible polishing heads and the polishing head supporting mechanism, and is also provided with a polishing head controller and an electromagnetic valve for air path control, wherein the polishing head controller controls the electromagnetic valve to provide power for the flexible polishing heads according to sensor signals;
When the polishing device is in a calibration mode, mainly performing gravity compensation, and storing a calibration result into a polishing head controller; specifically selecting a polishing head as a reference, and selecting four different positions; the polishing head controller controls the bidirectional air cylinder to enable the pneumatic polishing head to be tangent with the surface of the workpiece at each position, and the polishing head controller obtains the sensor information of the flexible polishing head; the polishing head controller calculates a calibration result according to the acquired four groups of sensor information at four different positions, and stores the result in the controller to finish calibration;
When the polishing device is switched to a force control mode, a specific gravity compensation value is determined according to a calibration result and the gesture of the flexible polishing head, a contact force is set in combination with a normal force in a processing requirement, and the tail end position of the pneumatic polishing head is dynamically adjusted according to sensor information, so that the pneumatic polishing head is tightly attached to a surface to be processed; when the pneumatic polishing head is started to start polishing, the polishing head controller receives sensor information in real time and adjusts the pressure of the bidirectional cylinder, and the pneumatic polishing head is kept in contact with the surface to be processed with optimal contact force; the sensor information comprises pressure values obtained by pressure sensors in two ends of the bidirectional cylinder, values of a laser displacement sensor on a push rod of the bidirectional cylinder and pose data of a polishing head obtained by a visual sensor.
2. The passive compliant grinding apparatus of claim 1 wherein the number of said grinding head support mechanisms is the same as the number of compliant grinding heads, one corresponding to each compliant grinding head.
3. The passive compliant grinding apparatus of claim 1 wherein said compliant grinding head further comprises an operating air path, the operating state of said compliant grinding head being controlled by said grinding head controller.
4. The passive compliant grinding apparatus of claim 1 wherein the universal joint in the compliant grinding head is a cross-type constant velocity universal joint.
5. The passive compliant grinding apparatus defined in any one of claims 1-4 wherein the vision sensor is connected to the grinding head controller to obtain the face type of the workpiece to be machined and the pose of the pneumatic grinding head.
6. A multi-sanding head passive compliant sanding device according to any one of claims 1-4 wherein said flange attachment mechanism is mounted directly on a robotic actuation tip or machine.
7. A method for controlling passive compliant grinding of multiple grinding heads, characterized in that the method is based on the passive compliant grinding device of multiple grinding heads according to claim 1, comprising the following steps:
S1: determining the number of the flexible polishing heads according to the processing requirements of workpieces to be polished, installing corresponding flexible polishing heads and polishing head supporting mechanisms on the flange connecting mechanism, adjusting the adjusting discs of each polishing head supporting mechanism, and adjusting the overturning direction of each pneumatic polishing head;
s2: according to the processing requirement, circular sand paper or polishing cloth is arranged on the pneumatic polishing head, the circular sand paper is arranged for polishing, and the polishing cloth is arranged for polishing;
S3: starting a calibration mode of the polishing device, performing gravity compensation, and storing a calibration result into a polishing head controller;
S4: switching to a force control mode, determining a specific gravity compensation value according to the S3 calibration result and the gesture of the flexible polishing head, setting a contact force by combining the normal force in the processing requirement, and dynamically adjusting the tail end position of the pneumatic polishing head according to the sensor information so as to enable the pneumatic polishing head to be tightly attached to the surface to be processed;
s5: starting a pneumatic polishing head to start polishing, receiving sensor information in real time by a polishing head controller, adjusting the pressure of a bidirectional cylinder, and keeping the pneumatic polishing head and the surface to be processed in contact with each other with optimal contact force;
S6: the polishing head controller determines the working state of each flexible polishing head according to the surface type of the workpiece obtained by the visual sensor, and realizes the quick switching of polishing of different surface types.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910652040.7A CN110340783B (en) | 2019-07-15 | 2019-07-15 | Passive compliant polishing device and method with multiple polishing heads |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910652040.7A CN110340783B (en) | 2019-07-15 | 2019-07-15 | Passive compliant polishing device and method with multiple polishing heads |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110340783A CN110340783A (en) | 2019-10-18 |
| CN110340783B true CN110340783B (en) | 2024-06-11 |
Family
ID=68179331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910652040.7A Active CN110340783B (en) | 2019-07-15 | 2019-07-15 | Passive compliant polishing device and method with multiple polishing heads |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110340783B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112139944B (en) * | 2020-09-25 | 2021-09-17 | 安徽新境界自动化技术有限公司 | Flexible grinding device of two robotic arm robots |
| CN114453984B (en) * | 2020-11-10 | 2023-06-13 | 宝山钢铁股份有限公司 | Control method of polishing mechanism for cold-rolled strip steel |
| 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 |
| 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 |
| CN113921208B (en) * | 2021-09-30 | 2022-11-29 | 萍乡市汇能电气有限公司 | Ceramic suspension type cylinder head insulator spinning forming production line |
| CN114012532B (en) * | 2021-10-26 | 2022-09-20 | 成都飞机工业（集团）有限责任公司 | Multi-feature automatic polishing device and method for pipe parts |
| 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 |
| CN114523366B (en) * | 2022-04-21 | 2022-07-15 | 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 |
| 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 |
| CN115446708B (en) * | 2022-09-05 | 2023-08-15 | 常州康华机电科技有限公司 | Multi-head handheld sander structure |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0006083D0 (en) * | 1999-03-25 | 2000-05-03 | Ford Global Tech Inc | Method and tooling for automated wet and dry sanding of a vehicle surface |
| CN203875732U (en) * | 2014-06-19 | 2014-10-15 | 中国民航大学 | Flexible grinding and polishing mechanism |
| CN105500147A (en) * | 2015-12-14 | 2016-04-20 | 中国科学院沈阳自动化研究所 | Polishing method of portal lifting robot based on force control |
| CN205415218U (en) * | 2015-12-22 | 2016-08-03 | 中航工业南航（深圳）测控技术有限公司 | Self -adaptation polisher |
| 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 |
| CN108044463A (en) * | 2017-11-13 | 2018-05-18 | 华中科技大学 | A kind of one-dimensional variable force grinding and polishing apparatus and control method for integrating main passive compliance |
| CN207564267U (en) * | 2017-11-15 | 2018-07-03 | 金翰阳科技（大连）股份有限公司 | Floating type workpiece polishing mechanism and milling robot |
| CN108908395A (en) * | 2018-06-26 | 2018-11-30 | 湘潭大学 | A kind of multi-direction passive smoothing device for Robot Force control |
| CN109290948A (en) * | 2018-11-20 | 2019-02-01 | 重庆敏特汽车零部件有限公司 | A kind of floating grinding head and equipment |
| CN109396675A (en) * | 2018-10-10 | 2019-03-01 | 广东精智能制造有限公司 | A kind of kitchen ventilator shell automatic welding polishing production line |
| CN109590853A (en) * | 2019-01-07 | 2019-04-09 | 河北工业大学 | A kind of large-scale curved Pneumatic flexible grinding device |
| CN210757001U (en) * | 2019-07-15 | 2020-06-16 | 武汉数字化设计与制造创新中心有限公司 | Passive gentle and agreeable grinding device of head of polishing more |
-
2019
- 2019-07-15 CN CN201910652040.7A patent/CN110340783B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0006083D0 (en) * | 1999-03-25 | 2000-05-03 | Ford Global Tech Inc | Method and tooling for automated wet and dry sanding of a vehicle surface |
| CN203875732U (en) * | 2014-06-19 | 2014-10-15 | 中国民航大学 | Flexible grinding and polishing mechanism |
| CN105500147A (en) * | 2015-12-14 | 2016-04-20 | 中国科学院沈阳自动化研究所 | Polishing method of portal lifting robot based on force control |
| CN205415218U (en) * | 2015-12-22 | 2016-08-03 | 中航工业南航（深圳）测控技术有限公司 | Self -adaptation polisher |
| 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 |
| CN108044463A (en) * | 2017-11-13 | 2018-05-18 | 华中科技大学 | A kind of one-dimensional variable force grinding and polishing apparatus and control method for integrating main passive compliance |
| CN207564267U (en) * | 2017-11-15 | 2018-07-03 | 金翰阳科技（大连）股份有限公司 | Floating type workpiece polishing mechanism and milling robot |
| CN108908395A (en) * | 2018-06-26 | 2018-11-30 | 湘潭大学 | A kind of multi-direction passive smoothing device for Robot Force control |
| CN109396675A (en) * | 2018-10-10 | 2019-03-01 | 广东精智能制造有限公司 | A kind of kitchen ventilator shell automatic welding polishing production line |
| CN109290948A (en) * | 2018-11-20 | 2019-02-01 | 重庆敏特汽车零部件有限公司 | A kind of floating grinding head and equipment |
| CN109590853A (en) * | 2019-01-07 | 2019-04-09 | 河北工业大学 | A kind of large-scale curved Pneumatic flexible grinding device |
| CN210757001U (en) * | 2019-07-15 | 2020-06-16 | 武汉数字化设计与制造创新中心有限公司 | Passive gentle and agreeable grinding device of head of polishing more |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110340783A (en) | 2019-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110340783B (en) | Passive compliant polishing device and method with multiple polishing heads | |
| CN210452170U (en) | Flexible intelligent polishing system of robot based on six-dimensional force sensor | |
| KR101744962B1 (en) | System for processing wood member using multi-articulated robot | |
| CN111558870B (en) | Robot intelligent polishing system and method for composite material component of airplane body | |
| US6301525B1 (en) | System and method for controlling a robot | |
| US10144048B2 (en) | High stiffness and high access forming tool for incremental sheet forming | |
| CN104625676A (en) | Shaft hole assembly industrial robot system and working method thereof | |
| CN208880499U (en) | It is a kind of for installing the constant force actuator of grinding head | |
| CN109318120B (en) | Constant-force polishing head mechanism | |
| CN102179746A (en) | Pneumatic grinding wheel-based robot finish-machining system | |
| CN110948305A (en) | Passive smooth polishing robot for plane workpiece | |
| US11931896B2 (en) | Robot system for controlling load of machine depending on tool wear and method for controlling load of machine using the same | |
| CN109927028A (en) | A kind of force-location mix control method of power man-controlled mobile robot polishing processing | |
| CN106826492B (en) | A kind of multistation grinding device | |
| CN111390722A (en) | Intelligent polishing device based on force control and vision technology | |
| US12017315B2 (en) | Machining device for controlling tool position considering tool wear and method for controlling tool position using the same | |
| CN210757001U (en) | Passive gentle and agreeable grinding device of head of polishing more | |
| CN110509309B (en) | Wrist joint of grinding and polishing robot | |
| US11312015B2 (en) | System and method for controlling the contact pressure applied by an articulated robotic arm to a working surface | |
| US20230103159A1 (en) | A High-Precision Mobile Robot Management and Scheduling System | |
| CN114083420B (en) | Intelligent robot polishing system for complex curved surface transparent part | |
| CN111015484A (en) | Flexible gel grinding wheel machining platform and machining method | |
| CN215240868U (en) | Robot system for working on inner surface and outer surface of large-sized shell part | |
| CN109605248A (en) | A kind of white body flexibility detection fixing platform | |
| CN104070404A (en) | Full-automatic intelligent cardan universal joint processing manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |