CN113561017B - Manipulator composite polishing tool for thin-wall parts - Google Patents
Manipulator composite polishing tool for thin-wall parts Download PDFInfo
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- CN113561017B CN113561017B CN202110818058.7A CN202110818058A CN113561017B CN 113561017 B CN113561017 B CN 113561017B CN 202110818058 A CN202110818058 A CN 202110818058A CN 113561017 B CN113561017 B CN 113561017B
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- wall part
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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
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
- B24B1/005—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes using a magnetic polishing agent
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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
- B24B31/00—Machines or devices designed for polishing or abrading surfaces on work by means of tumbling apparatus or other apparatus in which the work and/or the abrasive material is loose; Accessories therefor
- B24B31/10—Machines or devices designed for polishing or abrading surfaces on work by means of tumbling apparatus or other apparatus in which the work and/or the abrasive material is loose; Accessories therefor involving other means for tumbling of work
- B24B31/112—Machines or devices designed for polishing or abrading surfaces on work by means of tumbling apparatus or other apparatus in which the work and/or the abrasive material is loose; Accessories therefor involving other means for tumbling of work using magnetically consolidated grinding powder, moved relatively to the workpiece under the influence of pressure
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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
- B24B47/00—Drives or gearings; Equipment therefor
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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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
- B24B49/003—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 acoustic 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
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
Abstract
The invention provides a manipulator composite grinding tool for thin-wall parts, which belongs to the field of grinding and polishing and is characterized by comprising the following components in parts by weight: the bracket is used for connecting the manipulator; the base is arranged on the bracket in a liftable manner; the polishing device is arranged on the base and is provided with a polishing part for polishing the thin-wall part from one side of the thin-wall part; the magnetic grinding device is arranged on the base and is provided with a rotatable magnet component arranged on one side of the thin-wall part and magnetic abrasive particles arranged on the other side of the thin-wall part, and the magnetic abrasive particles are matched with the rotatable magnet component and are used for grinding the other side of the thin-wall part; and the control device is used for controlling the double-sided polishing of the polishing device and the magnetic grinding device. The grinding tool disclosed by the invention not only reduces the normal pressure on the thin-wall part and the stress deformation in the grinding process, but also reduces the design difficulty and the manufacturing cost of the thin-wall part clamp and improves the process efficiency.
Description
Technical Field
The invention belongs to the field of grinding and polishing, and particularly relates to a manipulator composite grinding tool for thin-walled parts.
Background
The thin-wall part is widely applied to the fields of aerospace and the like, such as frameworks, skins, blades and the like of airplanes, and has the advantages of light weight, high specific strength, good mechanical property and the like. However, the application object of the thin-wall part has a large size, a complex structure, poor rigidity and high precision requirement, and high-quality processing on the thin-wall part is a bottleneck and a great concern in the industry all the time. In order to overcome the problem of the manufacturing process of thin-wall parts, expert and scholars in related fields at home and abroad are devoted to developing related research works. In particular, certain progress is made in the aspect of automatic flexible manufacturing technology, and the technologies of flexible clamping, flexible processing, flexible assembly and the like are broken through in succession and are verified by engineering practice. However, most thin-wall parts are basically polished by manual operation, and the polishing machine is low in production efficiency, poor in working environment, high in labor intensity and unstable in surface quality. Particularly, for the curved surface with a complex structure, due to the reasons of contact collision, local energy accumulation, poor curved surface adaptability and the like, the existing manual operation method is easy to cause the phenomenon of pits or excessive grinding on the surface of the workpiece, so that the requirement of processing quality is difficult to meet, and the service life of the workpiece is seriously influenced.
With the development of industrial automation technology, industrial robots (manipulators) are widely applied to the manufacturing fields of aerospace, automobiles, medical treatment, energy sources and the like, and are a very mature technology. The robotized automatic grinding process using a robot as an implement is gradually becoming a new trend in modern manufacturing. Although industrial robots are currently used for grinding and polishing and deburring, these end-effector mechanisms are of various types and are designed for specific products. Therefore, there is a need for the feasibility and need of developing robot-oriented automated cleaning and abrading tools and devices with the technology.
The conventional manipulator thin-wall polishing is generally provided with a constant force control device in an actuating mechanism, and the constant control of the normal pressure of a workpiece is realized through real-time feedback and adjustment, so that the polishing vibration of the manipulator is reduced; and the compensation of the motion route error of the tail end of the manipulator is realized by combining a floating structure of the polishing sheet device. The floating direction of the current floating device is mainly linear floating and swinging. The linear floating generally uses an air cylinder as an actuator, the stretching and contracting movement of the air cylinder is realized through the control of an electromagnetic valve, and the movement, the tail end posture and the air pressure value in the air cylinder of the grinding device are mainly considered. The floating principle of the swing main shaft mainly comprises two structures of a pneumatic piston and an air bag: the pneumatic piston structure uses pneumatic pistons which are circumferentially arranged, and the floating of the polishing device is controlled by adjusting the air pressure value of each piston; the air bag floats by fixing the polishing tail end on the spherical center bearing, and the air bag circular ring is added at the fixed end and the floating end of the floating device to realize the swinging of the polishing device and absorb the workpiece flutter energy caused by polishing, thereby improving the polishing quality of the workpiece. The floating device of the air bag structure is a relatively complete and mature technology of the current products, and is widely applied by virtue of lower price and simple and easy-to-maintain structure.
It is thus clear that its structural design of present unsteady grinding device is simple, convenient operation, and the foundry goods is applied to mostly, and rigidity such as welding piece is strong, and on the structure processing of easy fixed, can solve the unsmooth problem of polishing through the method of floating to the reaction force that produces when polishing mechanism polishes realizes the buffering, and the protection manipulator can not receive too big load.
However, when a thin-wall part is polished, due to the complex structure, poor rigidity and high requirement on controlling the wall thickness in the polishing process, the polishing quality of the existing floating polishing device is difficult to ensure. On one hand, the floating of the polishing device is not easy to control, and the polishing quality precision is not good due to the fact that the polishing piece is subjected to over polishing or under polishing when meeting a special-shaped structure in the polishing process; on the other hand, the floating grinding device has hysteresis error, and the normal pressure acting on the thin-wall part easily causes the processing deformation of the workpiece.
Disclosure of Invention
In order to solve the problems, the invention provides a manipulator composite polishing tool for a thin-wall part, which is used for polishing the double surfaces of the thin-wall part, and adopts the following technical scheme:
the invention provides a manipulator composite grinding tool for thin-wall parts, which is characterized by comprising the following components: the bracket is used for connecting a manipulator; the base is arranged on the bracket in a liftable way; the polishing device is arranged on the base and is provided with a polishing part for polishing the thin-wall part from one side of the thin-wall part; the magnetic grinding device is provided with a rotatable magnet assembly which is positioned on one side of the thin-wall part and is arranged on the base and magnetic abrasive particles which are positioned on the other side of the thin-wall part, and the magnetic abrasive particles are matched with the rotatable magnet assembly and are used for grinding the other side of the thin-wall part; and the control device is used for controlling the double-sided polishing of the polishing device and the magnetic grinding device.
The manipulator composite polishing tool for the thin-wall part, provided by the invention, can also have the characteristics that the control device comprises a laser ranging head, an ultrasonic probe, a switching assembly and a controller, the laser ranging head and the ultrasonic probe are connected with the switching assembly, the polishing device and the magnetic grinding device are electrically connected with the controller, the controller controls the switching assembly to enable the laser ranging head and the ultrasonic probe to work alternately, and the controller controls the polishing device and the magnetic grinding device to polish according to the results of the laser ranging head and the ultrasonic probe.
The manipulator composite polishing tool for the thin-wall part, provided by the invention, can also have the characteristics that the switching component is provided with a push rod, a push rod motor, a push rod sliding block and a probe fixing base, one end of the push rod is connected with the push rod motor, the other end of the push rod is fixed on the push rod sliding block, the push rod motor is used for driving the push rod sliding block to enable the probe fixing base to be switched to a wall thickness measuring position from a polishing distance measuring position, the polishing distance measuring position is the position of the probe fixing base when a laser distance measuring head is positioned on the axis of the push rod, the wall thickness measuring position is the position of the probe fixing base when an ultrasonic probe is positioned on the axis of the push rod, the push rod sliding block is provided with a guide surface forming an included angle of 45 degrees with the axis of the push rod motor, one end of the probe fixing base is provided with an inclined surface matched with the guide surface, the other end of the probe fixing base is connected to a polishing device through a spring, the laser distance measuring head and the ultrasonic probe are respectively arranged on the probe fixing base, and the push rod motor drives the push rod sliding block to lift to enable the probe fixing base to move transversely.
The manipulator composite grinding tool for the thin-wall part, provided by the invention, can also have the characteristics that the grinding device is provided with a first fixed base, a first gear and a first grinding motor, the grinding part is arranged on the first fixed base, and the first grinding motor drives the first fixed base to rotate through the first gear.
The manipulator composite grinding tool for the thin-wall part, provided by the invention, can also have the characteristic that one end, close to the thin-wall part, of the first fixing base is provided with a through hole, and the through hole is used for discharging waste residues generated in grinding through high pressure.
The manipulator composite grinding tool for the thin-wall part, provided by the invention, can also have the characteristics that the magnet assembly is provided with an N-pole annular magnet, an S-pole annular magnet, a second fixed base, a second gear and a second grinding motor, the N-pole annular magnet and the S-pole annular magnet are coaxially arranged on the second fixed base and sleeved on the first fixed base, and the second grinding motor drives the second fixed base to rotate through the second gear.
The manipulator composite polishing tool for the thin-walled workpiece provided by the invention can also have the characteristics that the lifting device is provided with a lifting motor, a lead screw and a displacement slide block, the lifting motor is electrically connected with the controller, the lead screw is in transmission connection with the lifting motor, the displacement slide block is sleeved on the lead screw and is connected with the base, and the lifting motor drives the lead screw to enable the displacement slide block to lift along the extending direction of the lead screw.
The manipulator composite grinding tool for the thin-walled workpiece provided by the invention can also have the characteristic that the magnetic grinding device is also provided with an abrasive particle box, and the abrasive particle box is provided with an abrasive particle supplementing opening for supplementing magnetic abrasive particles.
The manipulator composite grinding tool for the thin-wall part, provided by the invention, also has the characteristic that the support is provided with an accommodating cavity for mounting the lifting device, and the opening of the accommodating cavity is provided with an organ protective cover which is driven by the lifting motor to stretch along with the lifting of the displacement slide block so as to seal the opening.
Action and Effect of the invention
According to the manipulator composite grinding tool for the thin-wall part, a double-sided composite grinding mode combining magnetic abrasive particle grinding and grinding sheet grinding is adopted, namely the outer side of the thin-wall part is ground by the grinding sheet, the inner side of the thin-wall part is ground by the magnetic abrasive particles, opposite normal pressure can be applied to two sides of the thin-wall part at the same time, and double-sided grinding is carried out on the thin-wall part, so that the normal pressure on the thin-wall part is reduced, the stress deformation in the grinding process is reduced, the design difficulty and the manufacturing cost of a clamp of the thin-wall part are reduced, and the process efficiency is improved. In addition, the double-side grinding of the grinding tool adopts a reverse grinding mode, so that the vibration excitation of dynamic grinding force to the mechanical arm in the grinding process can be offset, and the vibration of the mechanical arm is reduced. Therefore, the polishing tool solves the problem that the normal pressure acting on a thin-wall part is easy to generate the processing deformation of the workpiece due to the hysteresis error of the existing floating polishing device, and can be applied to polishing and grinding of thin-wall curved parts such as aerospace, automobiles, ships and the like.
Meanwhile, the manipulator composite grinding tool for the thin-wall part adopts the laser measuring and lifting device to realize constant-quantity grinding of the thin-wall part. Implementation based on laser range finder detects and the feedback, and adjustment elevator motor output displacement realizes the adjustment of the distance of polishing, the invariable of the volume of guarantee polishing to the error of effectual compensation route interpolation avoids appearing the excessive phenomenon of polishing or oweing to polish of special-shaped structure, improves the quality precision of polishing.
Drawings
FIG. 1 is an isometric view of a robotic composite grinding tool for thin-walled parts in an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a robotic composite grinding tool for thin-wall parts in an embodiment of the present invention;
FIG. 3 is a first state view of an ultrasonic probe of an embodiment of the present invention in a wall thickness measuring position for a robotic composite grinding tool for thin-walled parts;
FIG. 4 is a second state diagram of the ultrasonic probe when the robotic composite grinding tool for thin-walled parts in an embodiment of the invention is in a wall thickness measuring position.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
< example >
The embodiment provides a manipulator composite grinding tool 100 for a thin-wall part, which is used for carrying out double-side grinding on the thin-wall part 200.
FIG. 1 is an isometric view of a robotic composite grinding tool for thin-walled parts in an embodiment of the present invention; FIG. 2 is a cross-sectional view of a robotic composite grinding tool for thin-wall parts in an embodiment of the present invention.
As shown in fig. 1 and 2, the composite sanding tool 100 includes: the device comprises a support 1, a base 2, a grinding device 3, a magnetic grinding device 4, a control device 5, a lifting device 6 and an organ protection cover 7.
The base 2 is arranged on the bracket 1 in a liftable mode, and the base 2 is provided with a grinding device 3 and a magnetic grinding device 4.
The polishing device 3 is provided on the base 2, and has a polishing portion 31, a first fixing base 32, a first gear 33, and a first polishing motor 34. The first grinding motor 34 is provided on the base 2 through a first grinding motor holder 35. The first grinding motor 34 drives the first stationary base 32 to rotate through the first gear 33. Grinding part 31 sets up on first unable adjustment base 32 for the piece of polishing, through the rotating contact friction, realizes polishing one side of thin wall part 200. One end of the first fixing base 32 close to the thin-wall part 200 is provided with a through hole, that is, a hole is formed in the bottom side wall of the first fixing base 32 for discharging waste residues generated in the grinding process through high pressure.
The magnetic grinding device 4 is provided on the base 2, and has a magnet assembly 41, magnetic abrasive grains 42, and an abrasive grain bin 43. The magnet assembly 41 is located at one side of the thin-walled part 200 and is rotatably disposed at the outer periphery of the first fixing base 32 of the grinding device 3. Magnetic abrasive particles 42 are located on the other side of thin-walled part 200, and magnetic abrasive particles 42 cooperate with rotating magnet assembly 41 to grind the other side of thin-walled part 200. The bottom of the abrasive grain bin 43 has a grain replenishment port that allows for the replenishment of magnetic abrasive grains 42 in real time during the grinding process.
The magnet assembly 41 has an N-pole ring magnet 412, an S-pole ring magnet 413, a second stationary base 414, a second gear 415, and a second grinding motor 416. The second grinding motor 416 is disposed on the base 2 through a second grinding motor bracket 417. The second grinding motor 416 drives the second stationary base 414 to rotate through the second gear 415. The N-pole ring magnet 412 and the S-pole ring magnet 413 are coaxially disposed on the second fixing base 414 and are sleeved on the first fixing base 32. When the second fixing base 414 rotates, the N-pole ring magnet 412 and the S-pole ring magnet 413 rotate simultaneously. The two opposite magnetic poles, i.e. the N-pole ring magnet 412 and the S-pole ring magnet 413, form magnetic lines penetrating through the thin-wall part 200 and in the abrasive grain bin 43, and drive the magnetic abrasive grains 42 to move, so that the magnetic grinding device 4 can grind the other side of the thin-wall part 200.
The control device 5 has a laser distance measuring head 51, an ultrasonic probe 52, a switching assembly 53 and a controller (not shown in the figure), and the control device 5 is used for controlling the polishing device 3 and the magnetic polishing device 4 to perform double-side polishing. The laser ranging head 51 and the ultrasonic probe 52 are connected to a switching unit 53. The switching assembly 53, the polishing device 3 and the magnetic polishing device 4 are electrically connected to a controller (not shown). The controller (not shown) can make the laser distance measuring head 51 and the ultrasonic probe 52 work alternately by controlling the switching component 53, and the controller (not shown) can control the polishing device 3 and the magnetic polishing device 4 to polish according to the results of the laser distance measuring head 51 and the ultrasonic probe 52.
FIG. 3 is a first state view of an ultrasonic probe of an embodiment of the present invention in a wall thickness measuring position for a robotic composite grinding tool for thin-walled parts; FIG. 4 is a second state diagram of the ultrasonic probe when the robotic composite grinding tool for thin-walled parts in an embodiment of the invention is in a wall thickness measuring position.
As shown in FIG. 3, when the composite sanding tool 100 is in the wall thickness measuring position, the ultrasonic probe 52 is coaxial with the first stationary base 32; as shown in fig. 4, when the composite grinding tool 100 is in the wall thickness measuring position, the ultrasonic probe 52 is brought into contact with the thin-walled part 200, thereby measuring the thickness of the thin-walled part 200.
As shown in fig. 3 and 4, the switching assembly 53 has a push rod 531, a push rod motor 532, a push rod slider 533 and a probe fixing base 534. One end of the push rod 531 is connected to the push rod motor 532, and the other end is fixed to the push rod slider 533. The probe fixing base 534 is provided with a laser ranging head 51 and an ultrasonic probe 52, respectively. The push rod slider 533 has a guide surface that forms an angle of 45 ° with the axis of the push rod motor 532. One end of the probe fixing base 534 has an inclined surface which is matched with the guide surface, and the other end is connected to the polishing device 3 through a spring.
The push rod motor 532 drives the push rod 531 to lift, so that the probe fixing base 534 moves transversely, and the probe fixing base 534 is switched to a wall thickness measuring position from a grinding distance measuring position. The polishing distance measuring position is the position of the probe fixing base 534 when the laser distance measuring head 51 is located on the axis of the push rod 531, and the wall thickness measuring position is the position of the probe fixing base 534 when the ultrasonic probe 52 is located on the axis of the push rod. Specifically, as shown in fig. 3, when the thickness of the thin-walled part 200 needs to be detected, the controller (not shown) controls the push rod motor 532 to push the push rod 531 out, so as to drive the push rod slider 533 to be pushed out, at this time, the guide surface of the push rod slider 533 is separated from the inclined surface at one end of the probe fixing seat 534, the probe fixing seat 534 is forced to move laterally, the spring between the probe fixing seat 534 and the first fixing base 32 is compressed, and when the ultrasonic probe 52 on the probe fixing seat 534 is located on the axis of the push rod, the process of moving the probe fixing seat 534 laterally ends. As shown in fig. 4, the push rod motor 532 continues to push the push rod 531 to move downwards until the ultrasonic probe 52 contacts the thin-walled part 200, and the thickness of the thin-walled part is measured.
The lifting device 6 is provided on the stand 1, and includes a lifting motor 61, a lead screw 62, and a shift slider 63. The lifting motor 61 is electrically connected with a controller (not shown in the figure), the lead screw 62 is in transmission connection with the lifting motor 61, and the displacement slide block 63 is sleeved on the lead screw 62 and is connected with the base 2. The lifting motor 61 drives the lead screw 62 to rotate through the coupling 64, so that the shift slider 63 is lifted and lowered in the direction in which the lead screw 62 extends, thereby keeping the grinding tool 100 at a stable distance from the thin-walled part 200.
One end of the organ protective cover 7 is connected with the base 2, the other end of the organ protective cover is fixed on the support 1, and when the lifting device 6 drives the base 2 to lift, the organ protective cover 7 stretches along with the lifting of the base 2, so that the mouth of the cavity can be sealed.
The working process of the sanding tool 100 is as follows:
when the thin-wall part 200 is ground, the thin-wall part 200 is placed between the grinding part 31 and the magnetic abrasive grains 42, the probe fixing seat 534 is located at a grinding distance measuring position, the laser distance measuring head 51 is located on the axis of the push rod 531, and the laser distance measuring head 51 is coaxial with the first fixing base 32 and is aligned to the ground position. During the grinding process, the laser distance measuring head 51 monitors the distance to the thin-wall part 200 in real time, and a controller (not shown in the figure) controls the lifting device 6 to lift according to the monitoring result, so that the grinding distance is adjusted.
When polishing is stopped, the control device 5 switches the probe fixing seat 534 to the wall thickness measuring position through the switching component 53, so that the ultrasonic probe 52 is located on the axis of the push rod 531 and coaxial with the first fixing seat 32, and the specific working process is as follows: as shown in fig. 3, the push rod motor 532 pushes out the push rod 531, and then drives the push rod slider 533 to push out, so that the probe fixing base 534 moves to the right, and when the ultrasonic probe 52 moves to be coaxial with the first fixing base 32, the transverse stroke of the probe fixing base 534 is finished; as shown in fig. 4, the push rod motor 532 continues to drive the push rod 531 to move until the ultrasonic probe 52 contacts the thin-walled part 200, and the thickness of the thin-walled part 200 is measured. After the thickness is measured, the push rod motor 532 returns, the ultrasonic probe 52 returns to the original position under the action of the spring, that is, the probe fixing base 534 returns to the polishing distance measuring position under the action of the spring, and at the moment, the laser distance measuring head 51 is coaxial with the first fixing base 32 and is aligned to the polished position.
Effects and effects of the embodiments
According to the manipulator composite grinding tool for the thin-wall part, a double-sided composite grinding mode combining magnetic abrasive particle grinding and grinding sheet grinding is adopted, namely the outer side of the thin-wall part is ground by the grinding sheet, the inner side of the thin-wall part is ground by the magnetic abrasive particles, normal pressure can be applied to two sides of the thin-wall part at the same time, and double-sided grinding is carried out on the thin-wall part, so that the normal pressure on the thin-wall part is reduced, the stress deformation in the grinding process is reduced, the design difficulty and the manufacturing cost of a thin-wall part clamp are reduced, and the process efficiency is improved. In addition, the double-side grinding of the grinding tool adopts a reverse grinding mode, so that the vibration excitation of dynamic grinding force to the mechanical arm in the grinding process can be counteracted, and the vibration of the mechanical arm is reduced. Therefore, the polishing tool solves the problem that the normal pressure acting on a thin-wall part is easy to generate the processing deformation of the workpiece due to the hysteresis error of the existing floating polishing device, and can be applied to polishing and grinding of thin-wall curved parts such as aerospace, automobiles, ships and the like.
In addition, the manipulator composite grinding tool for the thin-wall part of the embodiment adopts a laser measuring and lifting device to realize constant-quantity grinding of the thin-wall part. Based on implementation detection and feedback of the laser range finder, the adjustment of the polishing distance is realized by adjusting the output displacement of the lifting motor, the constant of the polishing amount is ensured, and therefore the error of interpolation of an effective compensation route is avoided, the excessive polishing or under-polishing phenomenon of a special-shaped structure is avoided, and the polishing quality precision is improved.
In addition, the drive mode of grinding device and magnetism grinder among the compound burnisher of manipulator for thin wall spare of this embodiment adopts double gear drive design, and a set of gear drives the rotatory outside of realizing of head of polishing and polishes, and a set of gear drives the rotation of permanent magnet and drives the grinding of magnetism grit, corresponds different motors respectively and carries out speed control, has more the flexibility.
In addition, the manipulator composite grinding tool for the thin-wall part is provided with the telescopic dust hood, the telescopic sealing principle is utilized, the first fixing base is provided with the through hole, and the parts such as the laser distance measurement and the like in the grinding tool are designed to be subjected to high-pressure dust removal, so that the service life and the reliability of the expensive parts such as the laser and the like are further improved.
In addition, in the manipulator composite grinding tool for thin-walled workpieces of the embodiment, the grinding thickness can be detected on line through the control device. Switching laser rangefinder and thickness detection on line through push rod motor and slider structure promptly, the guarantee is at the central point position at laser rangefinder head when polishing in-process range finding, and laser rangefinder head skew when the wall thickness detects, ultrasonic transducer contact thin wall part surface is aimed at to the push rod.
In addition, in order to ensure that sufficient magnetic abrasive particles participate in polishing of the workpiece in the manipulator composite polishing tool for the thin-wall part, an abrasive particle supplement port is reserved at the bottom of the magnetic abrasive particle bin, and the magnetic abrasive particles can be supplemented in real time according to needs in the machining process.
The above-described embodiments are merely illustrative of specific embodiments of the present invention, and the present invention is not limited to the description of the above-described embodiments.
Claims (7)
1. The utility model provides a compound burnisher of manipulator for thin wall spare for carry out two-sided polishing to the thin wall part, its characterized in that includes:
the bracket is used for connecting the mechanical arm;
the base is arranged on the bracket in a liftable manner;
the polishing device is arranged on the base and is provided with a polishing part for polishing the thin-wall part from one side of the thin-wall part;
the magnetic grinding device is provided with a rotatable magnet assembly which is positioned on one side of the thin-wall part and is arranged on the base and magnetic abrasive particles which are positioned on the other side of the thin-wall part, the magnetic abrasive particles are matched with the rotating magnet assembly to grind the other side of the thin-wall part, the magnet assembly is provided with an N-pole annular magnet, an S-pole annular magnet, a second fixed base, a second gear and a second grinding motor,
the N-pole annular magnet and the S-pole annular magnet are coaxially arranged on the second fixed base and sleeved on the polishing device,
the second grinding motor drives the second fixed base to rotate through the second gear; and
the control device is used for controlling the grinding device and the magnetic grinding device to carry out double-sided grinding, and is provided with a laser ranging head, an ultrasonic probe, a switching component and a controller,
the laser ranging head and the ultrasonic probe are both connected with the switching component,
the switching component, the polishing device and the magnetic grinding device are all electrically connected with the controller,
the controller controls the switching component to enable the laser ranging head and the ultrasonic probe to work alternately,
and the controller controls the polishing device and the magnetic grinding device to polish according to the results of the laser ranging head and the ultrasonic probe.
2. The robotic composite grinding tool for thin-walled parts according to claim 1, wherein:
wherein the switching component is provided with a push rod, a push rod motor, a push rod sliding block and a probe fixing base,
one end of the push rod is connected with the push rod motor, the other end of the push rod is fixed on the push rod sliding block,
the push rod motor is used for driving the push rod sliding block to enable the probe fixing base to be switched from a polishing distance measuring position to a wall thickness measuring position,
the grinding distance measuring position is the position of the probe fixing base when the laser distance measuring head is positioned on the axis of the push rod,
the wall thickness measuring position is the position of the probe fixing base when the ultrasonic probe is positioned on the axis of the push rod,
the push rod sliding block is provided with a guide surface which forms an included angle of 45 degrees with the axis of the push rod motor,
one end of the probe fixing base is provided with an inclined plane matched with the guide surface, the other end of the probe fixing base is connected to the polishing device through a spring,
the laser distance measuring head and the ultrasonic probe are respectively arranged on the probe fixing base,
the push rod motor drives the push rod sliding block to lift, so that the probe fixing base moves transversely.
3. The robotic composite grinding tool for thin-walled parts of claim 1, wherein:
wherein the grinding device is provided with a first fixed base, a first gear and a first grinding motor,
the polishing part is arranged on the first fixed base,
the first grinding motor drives the first fixing base to rotate through the first gear.
4. The robotic composite grinding tool for thin-walled parts according to claim 3, wherein:
wherein, one end of the first fixed base close to the thin-wall part is provided with a through hole,
the through hole is used for discharging waste residues generated in polishing through high pressure.
5. The robotic composite grinding tool for thin-walled parts according to claim 1, further comprising:
a lifting device which is provided with a lifting motor, a lead screw and a displacement slide block,
the lifting motor is electrically connected with the controller,
the lead screw is in transmission connection with the lifting motor,
the displacement slide block is sleeved on the screw rod and is connected with the base,
the lifting motor drives the lead screw to enable the displacement slide block to lift along the extending direction of the lead screw.
6. The robotic composite grinding tool for thin-walled parts of claim 1, wherein:
wherein the magnetic grinding device is also provided with an abrasive grain bin,
the abrasive grain bin is provided with an abrasive grain supplementing opening used for supplementing the magnetic abrasive grains.
7. The robotic composite grinding tool for thin-walled parts of claim 5, wherein:
wherein the bracket is provided with an accommodating cavity for installing the lifting device,
an organ protective cover is arranged at the cavity opening of the accommodating cavity,
one end of the organ protection cover is connected with the base,
the organ protective cover stretches along with the lifting of the base under the driving of the lifting motor, and can seal the cavity opening.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110818058.7A CN113561017B (en) | 2021-07-20 | 2021-07-20 | Manipulator composite polishing tool for thin-wall parts |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110818058.7A CN113561017B (en) | 2021-07-20 | 2021-07-20 | Manipulator composite polishing tool for thin-wall parts |
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| CN113561017A CN113561017A (en) | 2021-10-29 |
| CN113561017B true CN113561017B (en) | 2023-02-03 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002210648A (en) * | 2001-01-15 | 2002-07-30 | Japan Science & Technology Corp | Machining method of magnetic material, and its device |
| CN202985324U (en) * | 2013-01-08 | 2013-06-12 | 辽宁科技大学 | Magnetic grinding machine for punching special-shaped sheet edges for deburring |
| CN203464916U (en) * | 2013-08-23 | 2014-03-05 | 北京航星机器制造有限公司 | System for detecting geometric dimension of narrow inner cavity |
| CN205734183U (en) * | 2016-06-24 | 2016-11-30 | 辽宁科技大学 | A kind of hand-held bend pipe inner surface buffing machine based on magnetic finishing |
| CN107253123B (en) * | 2017-06-30 | 2018-10-23 | 东北大学 | A kind of two-sided polishing arm apparatus for large-scale marine propeller of polishing |
| CN109623656B (en) * | 2018-11-12 | 2021-05-11 | 南京航空航天大学 | Mobile double-robot cooperative polishing device and method based on thickness online detection |
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