CN110877271A - Full-automatic intelligent device and method for flexibly polishing large curved surface workpiece - Google Patents
Full-automatic intelligent device and method for flexibly polishing large curved surface workpiece Download PDFInfo
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- CN110877271A CN110877271A CN201911257681.9A CN201911257681A CN110877271A CN 110877271 A CN110877271 A CN 110877271A CN 201911257681 A CN201911257681 A CN 201911257681A CN 110877271 A CN110877271 A CN 110877271A
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- polishing
- curved surface
- control cabinet
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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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
- 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
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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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses full-automatic intelligent equipment for flexibly polishing a large curved surface workpiece and a method thereof. The problems of unstable polishing quality, low efficiency, high labor intensity, poor adaptability to product size deviation and the like caused by traditional manual polishing are solved. The invention can realize long effective working stroke of the equipment, is flexible and convenient to operate integrally, and has the functions of self-adapting to a curved surface, integrating dust removal and visual inspection.
Description
Technical Field
The invention relates to polishing equipment, in particular to full-automatic intelligent equipment and a method thereof for flexibly polishing a large curved surface workpiece.
Background
At present, with the continuous development of science and technology, the surface of large-scale complicated curved surface work piece (such as aircraft, submarine, boats and ships, screw, wind-powered electricity generation blade etc.) is polished, need cut, polish, processes such as polishing, because the structure of curved surface work piece is great with the planar workpiece difference, the adaptability that ordinary planar workpiece processing equipment processed curved surface work piece is poor, prior art generally utilizes the mode of artifical polishing to go on, the quality of polishing is unstable, the uniformity is poor, it is long consuming time to polish, efficiency is extremely low, and polish and belong to labour intensive operation, intensity of labour is big, the cost of labor is high, hand-held type grinding tool, the area of polishing is little, need often to change abrasive paper, the dust can't concentrate the collection, the volume of airborne floating dust is big, easily cause health diseases such as pneumoconiosis.
The existing semi-automatic polishing equipment cannot realize self-adaptive curved surface polishing, and when one small area is polished, the mobile equipment needs to be manually operated, so that the polishing quality is unstable, and the efficiency is very low. Some grinding equipment adopt the rack + linear guide's removal scheme as the 7 th axle of robot guide mode, have that investment cost is high, effective working stroke is short, occupation space is big, workshop overall arrangement is injectd etc. shortcoming.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide the full-automatic intelligent equipment for flexibly polishing the large-scale curved surface workpiece, and the equipment has the advantages of long effective working stroke, flexible and convenient overall operation, small occupied space and the like. Wherein grinding device has self-adaptation curved surface, integrated dust removal and visual inspection's function.
In order to achieve the purpose, the invention adopts the following technical scheme:
the device comprises at least one group of workpiece positioning tools, six-axis robots, a polishing device, a robot control cabinet, a system control cabinet, a driving device, a cable drag chain and a lifting platform, wherein the two workpiece positioning tools are used for positioning a curved surface workpiece, the driving device is provided with the robot control cabinet and the system control cabinet, the control output end of the system control cabinet is respectively connected with the control input end of the lifting platform and the control input end of the robot control cabinet, the output end of the robot control cabinet is connected with the input end of the six-axis robot, and the six-axis robot is connected with the polishing device through a mounting flange.
Specifically, the polishing device can dynamically adjust the position and the posture in real time to follow the curved surface of the large workpiece for polishing.
Specifically, the grinding device is provided with an air knife and a vision sensor.
Specifically, the polishing device is provided with a dust suction interface and is connected with dust removal equipment through a dust suction hose.
Specifically, the driving device guides the workpiece to automatically travel along the outer contour of the curved workpiece in an electromagnetic, magnetic stripe, two-dimensional code or laser navigation mode.
Specifically, the driving device is an omnidirectional driving vehicle AGV.
A method for flexibly polishing a large curved surface workpiece comprises the following steps:
A) firstly, mounting the large-scale curved surface workpiece on a corresponding positioning tool;
B) determining appearance characteristic parameters of the large-scale curved surface workpiece, such as length, width, curvature and the like;
C) determining the effective polishing stroke of the polishing apparatus, the total number of stations N for polishing in different regions can be calculated
D) The driving device moves to the ith station under the guidance of navigation, the polishing robot on the driving device moves to a preset position to polish until the region is polished and detected to be qualified, the driving device moves to the (i + 1) th station to polish again, and the polishing is finished when the polishing is repeated in a circulating mode until all polishing stations N are polished and detected to be qualified.
Compared with the prior art, the invention has the following beneficial effects:
the invention adopts the principle of posture error dynamic compensation to meet the requirement of self-adapting curved surface profile, can obviously improve the adaptability of the polishing equipment to polishing the surface of a large-scale curved surface workpiece, improves the polishing quality and the polishing efficiency, has flexible operation and movement, occupies small space and is easy to popularize and use.
Drawings
FIG. 1 is a schematic view of the working of an apparatus for flexible polishing of a large curved surface workpiece according to the present invention;
FIG. 2 is a schematic structural diagram of an apparatus for flexibly polishing a large curved surface workpiece according to the present invention;
FIG. 3 is a schematic flow chart of a method for flexibly polishing a large curved surface workpiece according to the present invention;
in the figure: 1-six axis robot; 2-grinding device; 3-dust removing equipment; 4-a robot control cabinet; 5-a system control cabinet; 6-omnidirectionally driving the AGV; 7-cable drag chain; 8-dust suction hose; 9-a lifting platform; 10-complex curved surface workpiece; 11/12-workpiece positioning tool.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1 and 2, the device comprises at least one group of workpiece positioning tools, a six-axis robot, a polishing device, a robot control cabinet, a system control cabinet, a driving device, a cable drag chain and a lifting platform, wherein the two workpiece positioning tools are used for positioning a curved workpiece, the positioning driving device is provided with the robot control cabinet and the system control cabinet, the control output end of the system control cabinet is respectively connected with the control input end of the lifting platform and the control input end of the robot control cabinet, the output end of the robot control cabinet is connected with the input end of the six-axis robot, and the mounting flange of the six-axis robot is connected with the polishing device.
The six-axis robot that lift platform multiplicable is at the motion stroke of vertical direction, consequently, six polishing robot installs on the omnidirectional drive AGV dolly that has raising and lowering functions, can improve the use flexibility of equipment of polishing and increase the space and can reach the stroke.
The polishing robot adopts a pose error dynamic compensation principle, can control the posture of the polishing device in real time, and achieves the function of self-adapting to the contour of the curved surface.
The polishing device is provided with the air knife and the visual sensor, and the generated strong air curtain can quickly blow off residual dust on the polished surface, so that a large amount of manual ash removal time is saved; meanwhile, a vision sensor is arranged, the quality of the polished surface profile is automatically detected according to the different factors such as the shape, the edge, the color, the brightness, the area and the like of the polished surface, and the method has the characteristics of rapidness, stability and full-area detection; and a surface pattern database of qualified products and unqualified products is established, so that the function of intelligently identifying and judging whether the polished surface is qualified or not is achieved.
The polishing device is provided with a dust suction interface and is connected with the dust removal equipment through a dust suction hose, so that a large amount of dust generated after polishing can be collected in a centralized manner, and the workshop operation environment is improved.
The driving device guides the curved surface workpiece to automatically walk along the outer contour of the curved surface workpiece in an electromagnetic, magnetic stripe, two-dimensional code or laser navigation mode, the motion track does not need to be manually interfered, and the full-automatic grinding function without human control can be realized.
The driving device is an omnidirectional driving vehicle.
As shown in fig. 3, a method for flexibly polishing a large curved surface workpiece includes the following steps:
A) firstly, mounting the large-scale curved surface workpiece on a corresponding positioning tool;
B) determining appearance characteristic parameters of the large-scale curved surface workpiece, such as length, width, curvature and the like;
C) determining the effective polishing stroke of the polishing apparatus, the total number of stations N for polishing in different regions can be calculated
D) The driving device moves to the ith station under the guidance of navigation, the polishing robot on the driving device moves to a preset position to polish until the region is polished and detected to be qualified, the driving device moves to the (i + 1) th station to polish again, and the polishing is finished when the polishing is repeated in a circulating mode until all polishing stations N are polished and detected to be qualified.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides a carry out full-automatic smart machine that flexibility was polished to large-scale curved surface work piece, includes at least a set of work piece location frock, its characterized in that: still include six robots, grinding device, robot control cabinet, system control cabinet, drive arrangement, cable tow chain and lift platform, two work piece location frock is used for fixing a position the curved surface work piece last robot control cabinet and the system control cabinet of being provided with of drive arrangement, the control output of system control cabinet respectively with lift platform's control input with the control input of robot control cabinet connects, the output of robot control cabinet with the input of six robots is connected, six robots pass through mounting flange with grinding device connects.
2. The full-automatic intelligent device for flexibly polishing the large-scale curved surface workpiece according to claim 1, wherein the device comprises: the polishing device can dynamically adjust the position and the posture in real time to follow the curved surface of the large workpiece for polishing.
3. The full-automatic intelligent device for flexibly polishing the large-scale curved surface workpiece according to claim 1 or 2, wherein the device comprises: the grinding device is provided with an air knife and a vision sensor.
4. The full-automatic intelligent device for flexibly polishing the large-scale curved surface workpiece according to claim 1 or 2, wherein the device comprises: the polishing device is provided with a dust collection interface and is connected with dust removal equipment through a dust collection hose.
5. The full-automatic intelligent device for flexibly polishing the large-scale curved surface workpiece according to claim 1, wherein the device comprises: the driving device guides the workpiece to automatically travel along the outer contour of the curved workpiece in an electromagnetic, magnetic stripe, two-dimensional code or laser navigation mode.
6. The full-automatic intelligent device for flexibly polishing the large-scale curved surface workpiece according to claim 1 or 5, wherein the device comprises: the driving device is an omnidirectional driving vehicle.
7. A method for flexibly polishing a large curved surface workpiece uses the intelligent equipment as claimed in any one of claims 1-6, and is characterized in that:
the method comprises the following steps:
A) firstly, mounting the large-scale curved surface workpiece on a corresponding positioning tool;
B) determining appearance characteristic parameters of the large-scale curved surface workpiece, such as length, width, curvature and the like;
C) determining the effective polishing stroke of the polishing equipment, and calculating the total station number N of the regional polishing;
D) the driving device moves to the ith station under the guidance of navigation, the polishing robot on the driving device moves to a preset position to polish until the region is polished and detected to be qualified, the driving device moves to the (i + 1) th station to polish again, and the polishing is finished when the polishing is repeated in a circulating mode until all polishing stations N are polished and detected to be qualified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911257681.9A CN110877271A (en) | 2019-12-10 | 2019-12-10 | Full-automatic intelligent device and method for flexibly polishing large curved surface workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911257681.9A CN110877271A (en) | 2019-12-10 | 2019-12-10 | Full-automatic intelligent device and method for flexibly polishing large curved surface workpiece |
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| Publication Number | Publication Date |
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| CN110877271A true CN110877271A (en) | 2020-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911257681.9A Pending CN110877271A (en) | 2019-12-10 | 2019-12-10 | Full-automatic intelligent device and method for flexibly polishing large curved surface workpiece |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111531413A (en) * | 2020-05-11 | 2020-08-14 | 无锡中车时代智能装备有限公司 | Wind power blade multi-robot collaborative polishing system and method |
| CN111975577A (en) * | 2020-07-24 | 2020-11-24 | 上海发那科机器人有限公司 | Robot-held multi-workpiece synchronous polishing method |
| CN112571185A (en) * | 2020-12-07 | 2021-03-30 | 李朝阳 | Intelligent floor grinding machine for building construction |
| CN113414773A (en) * | 2021-05-24 | 2021-09-21 | 广东中发罗庚智能装备制造有限公司 | Polishing control method and system of polishing robot |
| CN113601259A (en) * | 2021-04-23 | 2021-11-05 | 中材科技（邯郸）风电叶片有限公司 | Automatic flash cutting machine and control method thereof |
| CN113751231A (en) * | 2021-07-09 | 2021-12-07 | 清华大学 | Super-large space spraying equipment and spraying method for ship segmental non-structural surface |
| CN114083375A (en) * | 2021-11-23 | 2022-02-25 | 重庆凯宝机器人股份有限公司 | Robot system of polishing |
| CN116652390A (en) * | 2023-07-28 | 2023-08-29 | 中国人民解放军空军工程大学 | In-situ repair laser removal polishing method and device for aviation composite material structure |
-
2019
- 2019-12-10 CN CN201911257681.9A patent/CN110877271A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111531413A (en) * | 2020-05-11 | 2020-08-14 | 无锡中车时代智能装备有限公司 | Wind power blade multi-robot collaborative polishing system and method |
| CN111975577A (en) * | 2020-07-24 | 2020-11-24 | 上海发那科机器人有限公司 | Robot-held multi-workpiece synchronous polishing method |
| CN112571185A (en) * | 2020-12-07 | 2021-03-30 | 李朝阳 | Intelligent floor grinding machine for building construction |
| CN113601259A (en) * | 2021-04-23 | 2021-11-05 | 中材科技（邯郸）风电叶片有限公司 | Automatic flash cutting machine and control method thereof |
| CN113414773A (en) * | 2021-05-24 | 2021-09-21 | 广东中发罗庚智能装备制造有限公司 | Polishing control method and system of polishing robot |
| CN113751231A (en) * | 2021-07-09 | 2021-12-07 | 清华大学 | Super-large space spraying equipment and spraying method for ship segmental non-structural surface |
| CN114083375A (en) * | 2021-11-23 | 2022-02-25 | 重庆凯宝机器人股份有限公司 | Robot system of polishing |
| CN116652390A (en) * | 2023-07-28 | 2023-08-29 | 中国人民解放军空军工程大学 | In-situ repair laser removal polishing method and device for aviation composite material structure |
| CN116652390B (en) * | 2023-07-28 | 2023-10-20 | 中国人民解放军空军工程大学 | In-situ repair laser removal polishing method and device for aviation composite material structure |
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