CN111360591A - Automatic flexible grinding and edging process method adopting abrasive belt compensation - Google Patents
Automatic flexible grinding and edging process method adopting abrasive belt compensation Download PDFInfo
- Publication number
- CN111360591A CN111360591A CN202010210130.3A CN202010210130A CN111360591A CN 111360591 A CN111360591 A CN 111360591A CN 202010210130 A CN202010210130 A CN 202010210130A CN 111360591 A CN111360591 A CN 111360591A
- Authority
- CN
- China
- Prior art keywords
- industrial robot
- abrasive belt
- grinding
- cutter
- edging
- 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
Images
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
- B24B3/00—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools
-
- 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 provides an automatic flexible polishing edging process method adopting abrasive belt compensation, which comprises the following steps: preparation work: mounting a pneumatic clamp on a robot flange, and connecting the robot flange to an industrial robot; putting a cutter to be polished into a pneumatic clamp; starting the abrasive belt machine to reach the process rotating speed corresponding to the current machining cutter; controlling the industrial robot to carry out calibration work of the workpiece coordinate and the tool coordinate through a control panel; the industrial robot carries out flexible polishing edging test on the abrasive belt machine, manual track teaching is carried out through a control panel, a set speed is preset, a pre-polishing effect is achieved by matching with the abrasive belt machine, the posture of the industrial robot is switched, and the other side of the cutter is switched to carry out polishing test; and automatically operating the industrial robot to sharpen and polish the cutter. The automatic flexible cutter grinding and edging process of the abrasive belt machine is adopted, so that the angle of the cutting edge can be well controlled, and the over-grinding phenomenon caused by other grinding modes is avoided.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an automatic flexible polishing edging process method adopting abrasive belt compensation.
Background
At present, cutter polishing and edging methods in the market are manual operation, a large amount of dust is generated during cutter polishing, and the lung of a human body is greatly damaged in a severe operation environment on site. Meanwhile, the mode of edging by manually adopting a grinding machine is adopted, the consistency of workpieces is difficult to ensure due to manual uncertainty and the hardness of the grinding machine, and the efficiency of manually grinding and edging is lower.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
Therefore, the invention aims to provide an automatic flexible grinding and edging process method adopting abrasive belt compensation.
In order to achieve the above object, an embodiment of the present invention provides an automated flexible sharpening process using belt compensation, including the following steps:
step S1, preparation: mounting a pneumatic clamp on a robot flange, and then connecting the robot flange to an industrial robot;
step S2, placing the cutter to be polished into the pneumatic clamp, and clamping and positioning;
step S3, starting the abrasive belt machine to reach the process rotating speed corresponding to the current processing cutter;
step S4, the industrial robot is controlled by the control panel to carry out calibration work of the workpiece coordinate and the tool coordinate;
step S5, the industrial robot conducts a flexible grinding and edging test on an abrasive belt machine, conducts manual track teaching through a control panel, presets a set speed, achieves a preset grinding effect in cooperation with the abrasive belt machine, completes switching of the posture of the industrial robot, and switches to the other side of a cutter to conduct a grinding test;
and step S6, after debugging is completed, automatically operating the industrial robot to perform tool edging and grinding.
Further, in the step S5, the industrial robot performs calibration work of the workpiece coordinates and the tool coordinates by using a three-point method and a four-point method.
Further, the industrial robot is a six-axis robot.
According to the automatic flexible grinding and edging process method adopting abrasive belt compensation, the automatic flexible cutter grinding and edging process of the abrasive belt machine is adopted. The invention is the innovation of the flexible control process for grinding and edging the cutter, the six-axis robot is matched with the pneumatic clamp to position the cutter, the consistency of the position of a workpiece is ensured, the robot moves according to a set track to ensure the track consistency of the grinding process, the cutter performs edging work on a grinding abrasive belt wheel, the angle of a cutting edge can be well controlled due to the flexibility of the abrasive belt wheel, the over-grinding phenomenon caused by other grinding modes is avoided, and the advantage is obvious compared with other grinding modes.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for automating a flexible sharpening process using belt compensation according to an embodiment of the present invention;
FIG. 2 is a schematic view of an industrial robot and grinder combination according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a control panel according to an embodiment of the invention.
Reference numerals: 1-grinding abrasive belt machine; 2, cutting tools; 3, a pneumatic clamp; 4-robot flange; 5-six-axis robot; 6-six axis robot control panel.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1, the automatic flexible grinding and edging process method using belt compensation according to the embodiment of the present invention includes the following steps:
step S1, preparation: the pneumatic clamp 3 is mounted on the robot flange 4 and the robot flange 4 is then attached to the industrial robot 5, as shown in fig. 2.
In an embodiment of the present invention, the industrial robot employs a six-axis robot.
And step S2, placing the tool 2 to be ground into the pneumatic clamp 3, and clamping and positioning.
And step S3, starting the abrasive belt machine 1 to reach the process rotating speed corresponding to the current machining tool 2.
It should be noted that the process rotation speeds corresponding to each tool are different, and need to be adjusted according to the type of the tool.
In step S4, the control panel 6 (shown in fig. 3) controls the industrial robot 5 to perform calibration of the workpiece coordinates and the tool coordinates.
Step S5, the industrial robot 5 conducts flexible polishing edging test on the abrasive belt machine 1, conducts manual track teaching through the control panel 6, presets a set speed, achieves a preset polishing effect in cooperation with an abrasive machine, completes switching of the postures of the industrial robot, and switches to the other side of the cutter to conduct polishing test.
That is, the speed adjustment and the tool sharpening trajectory teaching of the industrial robot 5 are generated through the control panel 6, and the six-axis robot 5 is operated to polish and sharpen the tool 2 on the belt sander 1.
Specifically, the industrial robot adopts a three-point method and a four-point method to calibrate the workpiece coordinate and the tool coordinate.
And step S6, after debugging is completed, automatically operating the industrial robot to perform tool edging and grinding.
Compared with a grinding machine, the grinding mode adopting the steps of the invention has better grinding flexibility and easier control of the quality of the blade.
According to the automatic flexible grinding and edging process method adopting abrasive belt compensation, the automatic flexible cutter grinding and edging process of the abrasive belt machine is adopted. The invention is the innovation of the flexible control process for grinding and edging the cutter, the six-axis robot is matched with the pneumatic clamp to position the cutter, the consistency of the position of a workpiece is ensured, the robot moves according to a set track to ensure the track consistency of the grinding process, the cutter performs edging work on a grinding abrasive belt wheel, the angle of a cutting edge can be well controlled due to the flexibility of the abrasive belt wheel, the over-grinding phenomenon caused by other grinding modes is avoided, and the advantage is obvious compared with other grinding modes.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. An automatic flexible grinding and edging process method adopting abrasive belt compensation is characterized by comprising the following steps:
step S1, preparation: mounting a pneumatic clamp on a robot flange, and then connecting the robot flange to an industrial robot;
step S2, placing the cutter to be polished into the pneumatic clamp, and clamping and positioning;
step S3, starting the abrasive belt machine to reach the process rotating speed corresponding to the current processing cutter;
step S4, the industrial robot is controlled by the control panel to carry out calibration work of the workpiece coordinate and the tool coordinate;
step S5, the industrial robot conducts a flexible grinding and edging test on an abrasive belt machine, conducts manual track teaching through a control panel, presets a set speed, achieves a preset grinding effect in cooperation with the abrasive belt machine, completes switching of the posture of the industrial robot, and switches to the other side of a cutter to conduct a grinding test;
and step S6, after debugging is completed, automatically operating the industrial robot to perform tool edging and grinding.
2. The automated flexible sanding edging process using belt compensation as claimed in claim 1, wherein in said step S5, said industrial robot performs calibration of workpiece coordinates and tool coordinates using a three-point method and a four-point method.
3. The automated flexible sanding edging process of claim 1 wherein said industrial robot is a six axis robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010210130.3A CN111360591A (en) | 2020-03-23 | 2020-03-23 | Automatic flexible grinding and edging process method adopting abrasive belt compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010210130.3A CN111360591A (en) | 2020-03-23 | 2020-03-23 | Automatic flexible grinding and edging process method adopting abrasive belt compensation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111360591A true CN111360591A (en) | 2020-07-03 |
Family
ID=71200763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010210130.3A Pending CN111360591A (en) | 2020-03-23 | 2020-03-23 | Automatic flexible grinding and edging process method adopting abrasive belt compensation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111360591A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692726A (en) * | 2020-12-30 | 2021-04-23 | 常州多博特机器人科技股份有限公司 | Casting grinding wheel compensation control method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002326150A (en) * | 2001-05-01 | 2002-11-12 | Hmy Ltd | Blade surface polishing device and polishing method using the same |
| CN204639869U (en) * | 2015-03-10 | 2015-09-16 | 安徽埃夫特智能装备有限公司 | A kind of robot sanding and polishing system |
| CN205111513U (en) * | 2015-09-02 | 2016-03-30 | 上海思客琦自动化工程有限公司 | Flexibility machine people device of polishing |
| CN205254778U (en) * | 2015-12-18 | 2016-05-25 | 武汉工程大学 | Burnishing and polishing robot workstation |
| CN206254004U (en) * | 2016-12-12 | 2017-06-16 | 武汉库柏特科技有限公司 | A kind of robot flexibility polishing system |
| CN107745307A (en) * | 2017-11-14 | 2018-03-02 | 佛山市新鹏机器人技术有限公司 | A kind of robot belt sander |
| CN109623514A (en) * | 2018-12-25 | 2019-04-16 | 珞石（北京）科技有限公司 | A kind of Stupalox automatic flexible polishing sharpening technology method and device |
-
2020
- 2020-03-23 CN CN202010210130.3A patent/CN111360591A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002326150A (en) * | 2001-05-01 | 2002-11-12 | Hmy Ltd | Blade surface polishing device and polishing method using the same |
| CN204639869U (en) * | 2015-03-10 | 2015-09-16 | 安徽埃夫特智能装备有限公司 | A kind of robot sanding and polishing system |
| CN205111513U (en) * | 2015-09-02 | 2016-03-30 | 上海思客琦自动化工程有限公司 | Flexibility machine people device of polishing |
| CN205254778U (en) * | 2015-12-18 | 2016-05-25 | 武汉工程大学 | Burnishing and polishing robot workstation |
| CN206254004U (en) * | 2016-12-12 | 2017-06-16 | 武汉库柏特科技有限公司 | A kind of robot flexibility polishing system |
| CN107745307A (en) * | 2017-11-14 | 2018-03-02 | 佛山市新鹏机器人技术有限公司 | A kind of robot belt sander |
| CN109623514A (en) * | 2018-12-25 | 2019-04-16 | 珞石（北京）科技有限公司 | A kind of Stupalox automatic flexible polishing sharpening technology method and device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692726A (en) * | 2020-12-30 | 2021-04-23 | 常州多博特机器人科技股份有限公司 | Casting grinding wheel compensation control method |
| CN112692726B (en) * | 2020-12-30 | 2021-10-26 | 常州多博特机器人科技股份有限公司 | Casting grinding wheel compensation control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108907905A (en) | A kind of robot sanding and polishing method and device for automotive hub casting mold | |
| JP5549330B2 (en) | Machining robot and its machining control method | |
| CN106181687A (en) | A kind of blisk system of processing and method | |
| CN205915138U (en) | Automatic grinding device | |
| CN111360591A (en) | Automatic flexible grinding and edging process method adopting abrasive belt compensation | |
| CN112975641B (en) | Wafer edge grinding method and device | |
| CN211589664U (en) | Grinding and polishing integrated device | |
| CN210756772U (en) | Manual cutter edging and polishing equipment based on high-precision multi-station machining process | |
| CN111266940A (en) | Double-side polishing and edging process method adopting automatic cutter of grinding machine | |
| CN111251083A (en) | Single-side grinding and edging process method adopting grinder to automatically grind cutter | |
| CN217914650U (en) | Automatic replacing device and polishing system for grinding head grinding tool | |
| CN208584352U (en) | A kind of sanding and polishing machine people | |
| CN110842714A (en) | Multifunctional grinding machine | |
| CN218110330U (en) | Automatic burnishing and polishing system of trim is cut to car water | |
| CN111659952B (en) | Casting polishing control system based on man-machine cooperation and control method thereof | |
| CN114310962A (en) | Intelligent robot communication control system and method suitable for polishing | |
| TWM621265U (en) | Dressing grinding wheel replacement structure for grinding machine | |
| CN202344362U (en) | Sapphire thinning machine | |
| Li et al. | A new design of flexible constant force grinding head and experimental verification | |
| CN219787845U (en) | All-in-one polishing device | |
| CN112496871A (en) | Compound grinding device and grinding method for part burrs | |
| CN218927315U (en) | Automatic polishing system of robot | |
| JPH11216670A (en) | Grinding wheel forming system and grinding wheel forming device | |
| CN213561685U (en) | Numerical control grinding machine for machining parts with multiple specifications | |
| CN215201259U (en) | Full-automatic grinding machine production line for vacuum cups |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200703 |
|
| RJ01 | Rejection of invention patent application after publication |