CN110524382A - A kind of full-automatic sanding work station and polishing process - Google Patents
A kind of full-automatic sanding work station and polishing process Download PDFInfo
- Publication number
- CN110524382A CN110524382A CN201910748694.XA CN201910748694A CN110524382A CN 110524382 A CN110524382 A CN 110524382A CN 201910748694 A CN201910748694 A CN 201910748694A CN 110524382 A CN110524382 A CN 110524382A
- Authority
- CN
- China
- Prior art keywords
- work station
- full
- workpiece
- sanding
- polishing
- 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.)
- Pending
Links
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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- 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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of full-automatic sanding work station and polishing process.Including Sanding Room (3), it is characterized in that, workpiece placement station (1) is provided in the Sanding Room (3), the side of the workpiece placement station (1) is provided in vision inspection apparatus (9) Sanding Room (3) and is additionally provided with milling robot (2), the milling robot (2) is connected with the fast removable disk of fixture (6), the fast removable disk of fixture (6) is connected with a relocation mechanism (10), the floating structure (10) connects a knife handle (11), the knife handle (11) drives its movement by a motor (12), a tool magazine (13) are additionally provided in the Sanding Room (3), polishing knife (14) with knife handle (11) cooperation is installed in the tool magazine (13).
Description
Technical field
The present invention relates to a kind of full-automatic sanding work station and polishing process, belong to automatic production technical field.
Background technique
Aluminium alloy polishing is a kind of processing technology of surface reduction material, very widely used.Conventional polishing scheme
Using manual polishing, production efficiency is low, and the duty cycle is long, and precision is not high, and product homogeneity is poor.Especially polishing scene
Noise and dust pollution are especially big to the injury of worker.
Since the characteristic of material causes the shape coincidence in aluminum alloy junction component very poor in some aluminum alloy junction components,
And common power control milling tools can no longer meet the deflection of aluminum alloy junction component, need one kind that can distinguish automatically each
A aluminum alloy junction component needs to automatically adjust the technique of offset in the uncontrollable middle robot of deflection, to invent in real time
Power control feedback+photography technology acquisition work station.
It can be realized high efficiency, high quality based on the sanding and polishing machine people acquired with real-time force control feedback+photography technology
Automation polishing, be substitute manual polishing effective solution.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of full-automatic sanding work station and polishing sides
Method.
The present invention is achieved through the following technical solutions:
A kind of full-automatic sanding work station, including Sanding Room (3), the Sanding Room (3) is interior to be provided with workpiece placement station (1), institute
The side for stating workpiece placement station (1), which is provided in vision inspection apparatus (9) Sanding Room (3), is additionally provided with milling robot
(2), the milling robot (2) is connected with the fast removable disk of fixture (6), and the fast removable disk of fixture (6) is connected with a relocation mechanism
(10), floating structure (10) connection one knife handle (11), the knife handle (11) drives its movement by a motor (12), described
It is additionally provided with a tool magazine (13) in Sanding Room (3), the polishing knife (14) with knife handle (11) cooperation is installed in the tool magazine (13).
A kind of full-automatic sanding work station, the vision inspection apparatus (9) is connected with control device (8), described
Signal control milling robot (2) that control device (8) is fed back according to vision inspection apparatus (9).
A kind of full-automatic sanding work station, the tool magazine (13) include power mechanism (14), the power mechanism
(14) it is connected with a cutter holding tray (16) by a connecting rod (15), the power mechanism (14) drives the connecting rod (15)
It rotates, is connected with multiple polishing knives (14) on the cutter holding tray (16).
A kind of full-automatic sanding work station, the relocation mechanism include guiding chuck (17), the guiding chuck
(17) card slot is offered on, a motor mount (18) is provided with the corresponding fastener of card slot (19), and the guiding chuck (17) is even
It is connected to cylinder pin boss body (20), the cylinder pin boss body (20) offers channel, and a cylinder pin (21) is located in the channel, institute
Stating cylinder pin (21) can move in the channel, and the cylinder pin (21) is against the motor mount (18).
A kind of full-automatic sanding work station, the Sanding Room (3) are totally enclosed type.
A kind of full-automatic sanding work station, the Sanding Room (3) have ventilation opening and air blowing dust cover.
The ground of a kind of full-automatic sanding work station, the Sanding Room (3) has zinc-plated grid screen.
A kind of full-automatic sanding work station, the vision inspection apparatus (9) are 3-D scanning camera.
A kind of polishing process, using the polishing work station, including the following steps:
Workpiece to be polished is placed on workpiece placement station (1) by step 1), and six initial joints are generated using workpiece 3D model
Robot polishing track program；It is polished according to initial polishing track program into workpiece；
The workpiece that initial buff is completed is again placed on workpiece placement station (1) by step 2), is completed according to having polished
Workpiece carry out the final milling robot of teaching (2) path program, after the completion of teaching, pass through vision inspection apparatus (9) clap
According to sampling, the picture after sampling carries out data processing and generates complete track program, and is transmitted back to six articulated robots as most
Whole track program.
A kind of polishing process, the workpiece placement station (1) are twin shaft positioner, can carry out the overturning in multiple faces,
Cooperation vision inspection apparatus (9) is taken pictures sampling.
Advantageous effects of the invention:
This work station can be very good to solve since the deflection of aluminum alloy junction component caused workpiece in forming process is larger
The variation of the position of caused polishing can solve and injure workpiece caused by relying solely on floating milling tools deformation uptake deficiency
Ontology does not at all remove burr.
Fixture fast removable disk is installed on Robot Force control unit, automatic tool changer tool is had on floating milling tools, it can
It is cut with automatically selecting suitable cutter, vision inspection apparatus is installed above polishing workpiece placement station, can be incited somebody to action
The polishing path that the generation 3-D image and the image of original polishing of existing workpiece compare, and have Software Create new, by machine
Device people realizes the implementation in existing polishing path.Robot control cabinet, electric cabinet be mounted on totally-enclosed Sanding Room mounting platform it
On, totally-enclosed dust-proof processing is done by metal plate.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of robot Yu relocation mechanism junction.
Fig. 3 is the structural schematic diagram of relocation mechanism.
Fig. 4 is the structural schematic diagram of annular tool magazine.
In figure: 1, workpiece placement station, 2, robot, 3, Sanding Room, 5, Robot Force control unit, 6, the fast removable disk of fixture, 7,
Electric cabinet, 8, robot control cabinet, 9, vision inspection apparatus, 10, relocation mechanism, 11, knife handle, 12, motor, 13, tool magazine, 14,
Power mechanism, 15, connecting rod, 16, cutter holding tray, 17, guiding chuck.18, motor mount, 19, fastener, 20, cylinder pin
Shell.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown, a kind of full-automatic sanding work station of the invention, including Sanding Room (3), the Sanding Room (3) is interior to be set
It is equipped with workpiece placement station (1), the side of the workpiece placement station (1) is provided in vision inspection apparatus (9) Sanding Room (3)
It is additionally provided with milling robot (2), the milling robot (2) is connected with the fast removable disk of fixture (6), the fast removable disk of fixture (6)
It is connected with a relocation mechanism (10), the floating structure (10) connects a knife handle (11), and the knife handle (11) passes through a motor
(12) it drives its movement, is additionally provided with a tool magazine (13) in the Sanding Room (3), is equipped in the tool magazine (13) and knife handle
(11) the polishing knife (14) cooperated.
Further, the vision inspection apparatus (9) is connected with control device (8), and the control device (8) is according to view
Feel that the signal of detection device (9) feedback controls milling robot (2).
It is described
Further, the tool magazine (13) includes power mechanism (14), and the power mechanism (14) passes through a connecting rod (15)
It is connected with a cutter holding tray (16), the power mechanism (14) drives connecting rod (15) rotation, the cutter holding tray
(16) multiple polishing knives (14) are connected on.
Further, the relocation mechanism includes guiding chuck (17), offers card slot on the guiding chuck (17),
One motor mount (18) is provided with the corresponding fastener of card slot (19), and the guiding chuck (17) is connected with cylinder pin boss body
(20), the cylinder pin boss body (20) offers channel, and a cylinder pin (21) is located in the channel, and the cylinder pin (21) can
It is moved in the channel, the cylinder pin (21) is against the motor mount (18).
Further, the Sanding Room (3) is totally enclosed type.
The Sanding Room (3) has ventilation opening and air blowing dust cover.
The ground of the Sanding Room (3) has zinc-plated grid screen.
The vision inspection apparatus (9) is 3-D scanning camera.
A kind of polishing process, using the polishing work station, including the following steps:
Workpiece to be polished is placed on workpiece placement station (1) by step 1), and six initial joints are generated using workpiece 3D model
Robot polishing track program；It is polished according to initial polishing track program into workpiece；
The workpiece that initial buff is completed is again placed on workpiece placement station (1) by step 2), is completed according to having polished
Workpiece carry out the final milling robot of teaching (2) path program, after the completion of teaching, pass through vision inspection apparatus (9) clap
According to sampling, the picture after sampling carries out data processing and generates complete track program, and is transmitted back to six articulated robots as most
Whole track program.
A kind of polishing process, the workpiece placement station (1) are twin shaft positioner, can carry out the overturning in multiple faces,
Cooperation vision inspection apparatus (9) is taken pictures sampling.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of full-automatic sanding work station, including Sanding Room (3), characterized in that be provided with workpiece in the Sanding Room (3) and put
It sets platform (1), the side of the workpiece placement station (1) is provided with to be additionally provided in vision inspection apparatus (9) Sanding Room (3) and beat
It grinds robot (2), the milling robot (2) is connected with the fast removable disk of fixture (6), and it is floating that the fast removable disk of fixture (6) is connected with one
Motivation structure (10), the floating structure (10) connect a knife handle (11), and the knife handle (11) drives its fortune by a motor (12)
It is dynamic, it is additionally provided with a tool magazine (13) in the Sanding Room (3), the polishing with knife handle (11) cooperation is installed in the tool magazine (13)
Knife (14).
2. a kind of full-automatic sanding work station according to claim 1, characterized in that the vision inspection apparatus (9) is even
It is connected to control device (8), the control device (8) controls milling robot according to the signal that vision inspection apparatus (9) is fed back
(2).
3. a kind of full-automatic sanding work station according to claim 1, characterized in that the tool magazine (13) includes engine
Structure (14), the power mechanism (14) are connected with a cutter holding tray (16), the power mechanism by a connecting rod (15)
(14) connecting rod (15) rotation is driven, is connected with multiple polishing knives (14) on the cutter holding tray (16).
4. a kind of full-automatic sanding work station according to claim 1, characterized in that the relocation mechanism includes guide card
Disk (17) offers card slot on the guiding chuck (17), and a motor mount (18) is provided with the corresponding fastener of card slot (19),
The guiding chuck (17) is connected with cylinder pin boss body (20), and the cylinder pin boss body (20) offers channel, a cylinder pin
(21) it is located in the channel, the cylinder pin (21) can move in the channel, and the cylinder pin (21) is against the electricity
Machine mounting base (18).
5. a kind of full-automatic sanding work station according to claim 1, characterized in that the Sanding Room (3) is totally-enclosed
Formula.
6. a kind of full-automatic sanding work station according to claim 5, characterized in that the Sanding Room (3) has ventilation
Mouth and air blowing dust cover.
7. a kind of full-automatic sanding work station according to claim 5, characterized in that the ground mask of the Sanding Room (3)
There is zinc-plated grid screen.
8. a kind of full-automatic sanding work station according to claim 5, characterized in that the vision inspection apparatus (9) is
3-D scanning camera.
9. a kind of polishing process utilizes polishing work station described in claim 1-8 any one claim, characterized in that
Including the following steps:
Workpiece to be polished is placed on workpiece placement station (1) by step 1), and six initial joints are generated using workpiece 3D model
Robot polishing track program；It is polished according to initial polishing track program into workpiece；
The workpiece that initial buff is completed is again placed on workpiece placement station (1) by step 2), is completed according to having polished
Workpiece carry out the final milling robot of teaching (2) path program, after the completion of teaching, pass through vision inspection apparatus (9) clap
According to sampling, the picture after sampling carries out data processing and generates complete track program, and is transmitted back to six articulated robots as most
Whole track program.
10. a kind of polishing process according to claim 9, characterized in that the workpiece placement station (1) is twin shaft displacement
Machine, can carry out the overturning in multiple faces, and cooperation vision inspection apparatus (9) is taken pictures sampling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910748694.XA CN110524382A (en) | 2019-08-14 | 2019-08-14 | A kind of full-automatic sanding work station and polishing process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910748694.XA CN110524382A (en) | 2019-08-14 | 2019-08-14 | A kind of full-automatic sanding work station and polishing process |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110524382A true CN110524382A (en) | 2019-12-03 |
Family
ID=68663259
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910748694.XA Pending CN110524382A (en) | 2019-08-14 | 2019-08-14 | A kind of full-automatic sanding work station and polishing process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110524382A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098205A (en) * | 2020-02-05 | 2020-05-05 | 厦门翟湾电脑有限公司 | Liquid crystal display mar grinding processing apparatus |
| CN111168401A (en) * | 2019-12-20 | 2020-05-19 | 芜湖舜富精密压铸科技有限公司 | Intelligent deburring, polishing and cleaning equipment |
| CN111318928A (en) * | 2020-02-28 | 2020-06-23 | 上海发那科机器人有限公司 | Hub polishing device based on three-dimensional scanner and operation method thereof |
| CN111673196A (en) * | 2020-05-28 | 2020-09-18 | 青岛力鼎自动化设备有限公司 | Shell deburring system and method |
| CN111730457A (en) * | 2020-06-28 | 2020-10-02 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Robot workstation based on unsteady constant force grinding tool |
| CN112894377A (en) * | 2021-01-15 | 2021-06-04 | 廊坊市亿创科技有限公司 | Flexible polishing system of robot with instrument automatic switch-over function |
| CN113211231A (en) * | 2021-05-13 | 2021-08-06 | 苏州迪宏人工智能科技有限公司 | Grinding production method and system capable of automatically identifying cast iron blank and control system thereof |
| CN114012557A (en) * | 2021-10-14 | 2022-02-08 | 上海发那科机器人有限公司 | Carbon-carbon composite material revolving body polishing measurement compensation system and use method |
| CN114043325A (en) * | 2021-10-14 | 2022-02-15 | 上海发那科机器人有限公司 | Carbon-carbon composite material rotary body robot polishing workstation |
| CN114346805A (en) * | 2022-01-19 | 2022-04-15 | 宁夏巨能机器人股份有限公司 | Deburring machining center |
| CN114643510A (en) * | 2022-02-23 | 2022-06-21 | 深圳远荣智能制造股份有限公司 | Self-adaptive polishing device and method |
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| JPH02185361A (en) * | 1989-01-13 | 1990-07-19 | Suzuki Motor Co Ltd | Automatic grinding device |
| CN103934750A (en) * | 2014-05-08 | 2014-07-23 | 北人机器人***（苏州）有限公司 | Flexible grinding mechanism |
| CN106041948A (en) * | 2016-06-13 | 2016-10-26 | 哈尔滨工大智慧工厂有限公司 | Robot deburring system and method through visual inspection |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168401A (en) * | 2019-12-20 | 2020-05-19 | 芜湖舜富精密压铸科技有限公司 | Intelligent deburring, polishing and cleaning equipment |
| CN111098205A (en) * | 2020-02-05 | 2020-05-05 | 厦门翟湾电脑有限公司 | Liquid crystal display mar grinding processing apparatus |
| CN111098205B (en) * | 2020-02-05 | 2020-10-27 | 滁州盛诺电子科技有限公司 | Liquid crystal display mar grinding processing apparatus |
| CN111318928A (en) * | 2020-02-28 | 2020-06-23 | 上海发那科机器人有限公司 | Hub polishing device based on three-dimensional scanner and operation method thereof |
| CN111673196A (en) * | 2020-05-28 | 2020-09-18 | 青岛力鼎自动化设备有限公司 | Shell deburring system and method |
| CN111730457A (en) * | 2020-06-28 | 2020-10-02 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Robot workstation based on unsteady constant force grinding tool |
| CN112894377A (en) * | 2021-01-15 | 2021-06-04 | 廊坊市亿创科技有限公司 | Flexible polishing system of robot with instrument automatic switch-over function |
| CN113211231A (en) * | 2021-05-13 | 2021-08-06 | 苏州迪宏人工智能科技有限公司 | Grinding production method and system capable of automatically identifying cast iron blank and control system thereof |
| CN114012557A (en) * | 2021-10-14 | 2022-02-08 | 上海发那科机器人有限公司 | Carbon-carbon composite material revolving body polishing measurement compensation system and use method |
| CN114043325A (en) * | 2021-10-14 | 2022-02-15 | 上海发那科机器人有限公司 | Carbon-carbon composite material rotary body robot polishing workstation |
| CN114346805A (en) * | 2022-01-19 | 2022-04-15 | 宁夏巨能机器人股份有限公司 | Deburring machining center |
| CN114643510A (en) * | 2022-02-23 | 2022-06-21 | 深圳远荣智能制造股份有限公司 | Self-adaptive polishing device and method |
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Application publication date: 20191203 |