WO2019037512A1 - Automatic grinding system and method - Google Patents

Automatic grinding system and method Download PDF

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Publication number
WO2019037512A1
WO2019037512A1 PCT/CN2018/090052 CN2018090052W WO2019037512A1 WO 2019037512 A1 WO2019037512 A1 WO 2019037512A1 CN 2018090052 W CN2018090052 W CN 2018090052W WO 2019037512 A1 WO2019037512 A1 WO 2019037512A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
robot
automatic grinding
disposed
water
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PCT/CN2018/090052
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French (fr)
Chinese (zh)
Inventor
屈升国
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昆山汉鼎精密金属有限公司
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Publication of WO2019037512A1 publication Critical patent/WO2019037512A1/en

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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
    • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
    • B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
    • 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
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
    • 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
    • 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
    • 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

Definitions

  • the present disclosure relates to the field of metal surface grinding, for example, to an automated grinding system and method for magnesium alloy grinding refinement.
  • the burrs around the magnesium alloy and the surface are generally removed in advance, and the surface of the magnesium alloy is ground and trimmed to make the surface smooth, which is convenient for subsequent processing.
  • magnesium alloy dust is often generated during the grinding process of magnesium alloy, floating in the air, affecting the health of the processing personnel.
  • the melting point of magnesium alloy is low.
  • the density of magnesium dust floating in the air is high, it is easy to cause dust explosion, which is a serious threat to production safety.
  • the present disclosure provides an automatic grinding system and method capable of removing the generated magnesium dust in time during the magnesium alloy grinding process.
  • An automatic grinding system comprising:
  • a robot comprising a wrist, the wrist comprising a first end, a second end, and a third end;
  • a clamp disposed on the first end, the clamp being configured to grip the workpiece
  • the wrist portion is freely rotatable, and is configured to rotate at least one of the jig, the water spray device and the grinding device in a processing position by rotating a predetermined angle;
  • a first electromagnetic water valve disposed on the robot
  • polishing table and a fixture, the fixture being placed on the polishing table
  • suction cup disposed on the jig, the suction cup being configured to adsorb and fix the workpiece
  • a cleaning device is disposed around the polishing table.
  • the jig is in line with the wrist of the robot, and the water spray device and the grinding device are respectively disposed on two sides of the jig and perpendicular thereto.
  • the automatic grinding system further includes a positioning table, two limiting blocks and a cylinder, the two limiting blocks are perpendicular to each other, the cylinder is opposite to the limiting block, and the two A limit block and a cylinder are disposed on the positioning table.
  • the automatic grinding system further includes a side push block disposed at the movable end of the cylinder.
  • the automatic grinding system further includes an inductor disposed at a water inlet end of the water spray device, the inductor being configured to detect a water flow.
  • the water spray device includes a rotatable spray head.
  • the cleaning device comprises a porous pipe, the porous pipe is provided with a second electromagnetic water valve, and the second electromagnetic water valve is arranged to control the porous pipe to spray water outward and clean the grinding table. around.
  • the automatic grinding system further includes a discharge bin configured to store the workpiece.
  • An automatic grinding method based on the automatic grinding system of any of the above, comprising:
  • the robot grips the workpiece, and places the workpiece at the positioning table for positioning;
  • the robot grips the workpiece, and places the workpiece on the fixture of the polishing table to be fixed and fixed;
  • the cleaning device sprays water to clean the periphery of the polishing table.
  • the automatic grinding system and method of the present disclosure solves the problem that the magnesium alloy workpiece generates a large amount of magnesium dust suspended in the air and has an explosion hazard in the air, and the whole process is performed in an automated manner, thereby improving the efficiency.
  • FIG. 1 is a schematic diagram showing a first working state of an automatic grinding system provided by an embodiment.
  • FIG. 2 is a schematic diagram showing a second working state of an automatic grinding system provided by another embodiment.
  • FIG. 3 is a schematic diagram showing a third working state of the automatic grinding system provided by another embodiment.
  • FIG. 4 is a schematic diagram showing a fourth working state of an automatic grinding system provided by another embodiment.
  • FIG. 5 is a schematic diagram showing a fifth working state of the automatic grinding system provided by another embodiment.
  • FIG. 6 is a schematic enlarged view of a portion of a robot of an automatic grinding system provided by another embodiment.
  • FIG. 7 is a flow chart of an automatic grinding method provided by another embodiment.
  • FIG. 6 is a schematic enlarged view of a portion of a robot of an automatic grinding system according to another embodiment
  • FIG. 1 is a schematic view showing a first working state of an automatic grinding system according to an embodiment. .
  • the automated grinding system of the present disclosure includes:
  • the manipulator 10, the wrist portion 14 of the manipulator 10 is provided with three end portions, the first end portion is provided with a clamp 11 for gripping the workpiece 100, and the second end portion is provided with a water spray device 12, the third end
  • the grinding device 13 is mounted on the upper portion; the wrist portion 14 of the robot can be freely rotated; when the wrist portion 14 of the robot 10 is rotated by a certain angle, one of the jig 11, the water spray device 12 and the grinding device 13 is respectively in the processing position.
  • the robot 10 is also provided with a first electromagnetic water valve 61 (see Fig. 1).
  • the polishing table 40 is provided with a jig 41 on the polishing table 40, and the jig 41 is provided with a suction cup 42 (see FIG. 1).
  • the suction cup 42 is used for adsorbing and fixing the workpiece 100.
  • the polishing table 40 is further provided with a cleaning device 50. After the polishing is completed, the cleaning device 50 sprays water to clean the dust around the polishing table 40.
  • the clamp 11 is on the same line as the wrist 14 of the robot 10, and the water spray device 12 and the grinding device 13 are respectively disposed on both sides of the clamp 11 and perpendicular thereto.
  • the automatic grinding system further includes a positioning table 30.
  • the positioning table 30 is provided with two first cylinders 31 and second cylinders 32 disposed perpendicularly to each other.
  • the first cylinder 31 and the second cylinder 32 are simultaneously pushed inward until the workpiece 100 is restrained.
  • the movable ends of the first cylinder 31 and the second cylinder 32 are each provided with a side pushing block 33 which is arranged to push the side of the workpiece 100.
  • the water inlet end of the water spray device 12 is further provided with a sensor 51 for detecting water flow (see FIG. 1).
  • a sensor 51 for detecting water flow see FIG. 1.
  • the robot 10 stops the operation after the sensor transmits a signal.
  • the water spray device 12 is a rotatable spray head to increase the area of the spray water.
  • the cleaning device 50 is a porous pipe, and the porous pipe is provided with a second electromagnetic water valve 62 (see FIG. 1).
  • the porous pipe can spray water to the inside and clean the periphery of the polishing table 40.
  • the automatic grinding system further includes a discharge bin 20, and the discharge bin 20 stores the workpiece 100.
  • the first electromagnetic water valve 61, the second electromagnetic water valve 62, the sensor, and the robot 10 are all connected with an electrical signal box (not shown).
  • the automatic grinding method of this embodiment includes: S110-S150.
  • the robot 10 grips the workpiece 100, and places the workpiece 100 at the positioning table 30 for positioning.
  • the robot 10 grips the workpiece 100, and the workpiece 100 is placed on the jig 41 of the polishing table 40 to be fixed and fixed.
  • the wrist portion 14 of the robot 10 is rotated to cause the water spray device 12 to spray water on the workpiece 100.
  • the wrist portion 14 of the robot 10 is rotated to cause the polishing device 13 to polish the workpiece 100.
  • the cleaning device 50 sprays water to clean the periphery of the polishing table 40.
  • FIG. 1 to FIG. 5 are schematic diagrams showing the first to fifth working states of the automatic grinding system of the present disclosure, wherein FIG. 7 illustrates the automatic grinding method of the present disclosure. flow chart.
  • the robot 10 extends into the discharge bin 20, and the jig 11 grips the workpiece 100 from the discharge bin 20, and the robot 10 places the workpiece 100 at the positioning area of the positioning table 30.
  • the first cylinder 31 projects with the movable end of the second cylinder 32 until the side push block pushes the workpiece 100 side, and the workpiece 100 is positioned.
  • the robot 10 transfers the positioned workpiece 100 to the jig 41 on the polishing table 40, at which time the suction cup 42 opens to attract the workpiece 100.
  • the wrist portion 14 of the robot 10 is rotated to position the water spray device 12 downward at the processing position.
  • the first electromagnetic water valve 61 on the robot 10 is opened after the signal is obtained.
  • the sensor 51 senses whether there is water in the water pipe. If there is water, the pause signal is converted into an operation signal, and the water spray device 12 starts to grind the workpiece 100. Spray water on the part.
  • the water spray time is set by the controller when the water is sprayed, and the workpiece 100 is ground after the water spray is completed.
  • the wrist portion 14 of the robot 10 is rotated to position the polishing device 13 downward at the processing position to grind the workpiece 100. If the water suddenly stops during the grinding process, the sensor 51 does not sense the water flow, the robot 10 receives the signal, and the grinding device 13 stops the grinding. After the grinding is completed, the first electromagnetic water valve 61 on the robot 10 is closed, and the suction cup 42 on the jig 41 stops the adsorption of the workpiece 100.
  • the second electromagnetic water valve 62 is opened, and the porous pipe ejects a water flow to clean the periphery of the polishing table 40, and the cleaning time can be 5 seconds.
  • the robot 10 grips the finished product 100 to the specified position.
  • the automatic grinding system and method provided by the above embodiments continuously spray water on the magnesium alloy workpiece during the grinding process of the magnesium alloy workpiece, so that the magnesium dust generated during the grinding process can be discharged with water in time. Therefore, the problem that the magnesium alloy workpiece generates a large amount of magnesium dust suspended in the air and has an explosion hazard in the air is solved, and the whole process is performed in an automated manner, thereby improving the efficiency.
  • the automatic grinding system and method provided by the present disclosure solves the problem that a magnesium alloy workpiece generates a large amount of magnesium dust during grinding and has an explosion hazard in the air, and the whole process is performed in an automated manner, thereby improving efficiency.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Grinding-Machine Dressing And Accessory Apparatuses (AREA)
  • Mechanical Treatment Of Semiconductor (AREA)

Abstract

An automatic grinding system, comprising: a mechanical arm (10) comprising a wrist (14), the wrist (14) comprising a first end, a second end, and a third end; a clamp (11) provided on the first end and configured to clamp a workpiece (100); a water injector (12) provided on the second end; a grinding device (13) provided on the third end, the wrist (14) being capable of rotating freely and configured to rotate by a preset angle so that at least one of the clamp (11), the water injector (12) and the grinding device (13) is located at a processing position; a first electromagnetic water valve (61) provided on the mechanical arm (10); a grinding platform (40); a jig (41) placed on the grinding platform (40); and a chuck (42) provided on the jig (41) and configured to absorb and fix the workpiece (100).

Description

自动研磨***及方法Automatic grinding system and method 技术领域Technical field
本公开涉及金属表面研磨领域，例如涉及一种用于镁合金研磨精修的自动研磨***及方法。The present disclosure relates to the field of metal surface grinding, for example, to an automated grinding system and method for magnesium alloy grinding refinement.
背景技术Background technique
在镁合金产品的制作过程中，一般要提前去除镁合金四周及表面的毛边，并对镁合金的表面进行研磨修整，使得表面光滑，利于后续的加工。In the production process of magnesium alloy products, the burrs around the magnesium alloy and the surface are generally removed in advance, and the surface of the magnesium alloy is ground and trimmed to make the surface smooth, which is convenient for subsequent processing.
现阶段，镁合金研磨过程中经常产生大量的镁合金粉尘，漂浮在空气中，影响加工人员的健康。镁合金熔点较低，当漂浮在空气中的镁粉尘密度较大时，极易引发粉尘***，对生产安全是一个严重的威胁。At this stage, a large amount of magnesium alloy dust is often generated during the grinding process of magnesium alloy, floating in the air, affecting the health of the processing personnel. The melting point of magnesium alloy is low. When the density of magnesium dust floating in the air is high, it is easy to cause dust explosion, which is a serious threat to production safety.
发明内容Summary of the invention
本公开提供了一种自动研磨***及方法，能够在镁合金研磨过程中及时清除产生的镁粉尘。The present disclosure provides an automatic grinding system and method capable of removing the generated magnesium dust in time during the magnesium alloy grinding process.
一种自动研磨***，包括：An automatic grinding system comprising:
机械手，所述机械手包括腕部，所述腕部包括第一端部、第二端部以及第三端部；a robot, the robot comprising a wrist, the wrist comprising a first end, a second end, and a third end;
夹具，设置在第一端部上，所述夹具设置为夹取工件；a clamp disposed on the first end, the clamp being configured to grip the workpiece;
喷水装置，设置在第二端部上；a water spray device disposed on the second end;
研磨装置，设置在第三端部上；其中，所述腕部可以自由转动，设置为通过转动一预设角度使所述夹具、喷水装置以及研磨装置中至少之一处于加工位置；a grinding device disposed on the third end; wherein the wrist portion is freely rotatable, and is configured to rotate at least one of the jig, the water spray device and the grinding device in a processing position by rotating a predetermined angle;
第一电磁水阀，设置在所述机械手上；a first electromagnetic water valve disposed on the robot;
研磨台和治具，所述治具放置在所述研磨台上；a polishing table and a fixture, the fixture being placed on the polishing table;
吸盘，设置在所述治具上，所述吸盘设置为吸附固定所述工件；以及a suction cup disposed on the jig, the suction cup being configured to adsorb and fix the workpiece;
清洗装置，围绕所述研磨台设置。A cleaning device is disposed around the polishing table.
在一实施例中，所述夹具与所述机械手的腕部在同一直线上，所述喷水装置和所述研磨装置分别设置在所述夹具的两侧且与之垂直。In an embodiment, the jig is in line with the wrist of the robot, and the water spray device and the grinding device are respectively disposed on two sides of the jig and perpendicular thereto.
在一实施例中，上述自动研磨***还包括定位桌，两个限位块以及气缸， 所述两个限位块相互垂直，所述气缸与所述限位块位置相对，且所述两个限位块以及气缸都设置在所述定位桌上。In an embodiment, the automatic grinding system further includes a positioning table, two limiting blocks and a cylinder, the two limiting blocks are perpendicular to each other, the cylinder is opposite to the limiting block, and the two A limit block and a cylinder are disposed on the positioning table.
在一实施例中，上述自动研磨***还包括侧推块，设置在所述气缸的活动端。In an embodiment, the automatic grinding system further includes a side push block disposed at the movable end of the cylinder.
在一实施例中，上述自动研磨***还包括感应器，设置在所述喷水装置的进水端，所述感应器设置为检测水流。In an embodiment, the automatic grinding system further includes an inductor disposed at a water inlet end of the water spray device, the inductor being configured to detect a water flow.
在一实施例中，所述喷水装置包括可旋转的喷头。In an embodiment, the water spray device includes a rotatable spray head.
在一实施例中，所述清洗装置包括多孔管道，所述多孔管道上设置有第二电磁水阀，第二电磁水阀设置为控制所述多孔管道向外喷水并清洗所述研磨台的周围。In an embodiment, the cleaning device comprises a porous pipe, the porous pipe is provided with a second electromagnetic water valve, and the second electromagnetic water valve is arranged to control the porous pipe to spray water outward and clean the grinding table. around.
在一实施例中，上述自动研磨***还包括放料箱，所述放料箱设置为储放所述工件。In an embodiment, the automatic grinding system further includes a discharge bin configured to store the workpiece.
一种自动研磨方法，基于上述任意一项所述的自动研磨***，包括：An automatic grinding method, based on the automatic grinding system of any of the above, comprising:
所述机械手夹取所述工件，将所述工件放置在所述定位桌处进行定位；The robot grips the workpiece, and places the workpiece at the positioning table for positioning;
所述机械手夹取所述工件，将所述工件摆放在所述研磨台的治具上吸附固定；The robot grips the workpiece, and places the workpiece on the fixture of the polishing table to be fixed and fixed;
所述机械手的腕部转动，使所述喷水装置对所述工件喷水；Rotating the wrist of the robot to cause the water spray device to spray water on the workpiece;
所述机械手的腕部转动，使所述研磨装置对所述工件进行研磨；以及Rotating the wrist of the robot to cause the grinding device to grind the workpiece;
所述清洗装置喷水清洗所述研磨台周围。The cleaning device sprays water to clean the periphery of the polishing table.
本公开的自动研磨***及方法解决了镁合金工件在研磨中产生大量镁粉尘悬浮在空气中有***隐患的问题，同时整个过程以自动化的方式进行，由此提升了效率。The automatic grinding system and method of the present disclosure solves the problem that the magnesium alloy workpiece generates a large amount of magnesium dust suspended in the air and has an explosion hazard in the air, and the whole process is performed in an automated manner, thereby improving the efficiency.
附图说明DRAWINGS
图1绘示为一实施例提供的自动研磨***第一工作状态的示意图。FIG. 1 is a schematic diagram showing a first working state of an automatic grinding system provided by an embodiment.
图2绘示为另一实施例提供的自动研磨***第二工作状态的示意图。2 is a schematic diagram showing a second working state of an automatic grinding system provided by another embodiment.
图3绘示为另一实施例提供的自动研磨***第三工作状态的示意图。FIG. 3 is a schematic diagram showing a third working state of the automatic grinding system provided by another embodiment.
图4绘示为另一实施例提供的自动研磨***第四工作状态的示意图。4 is a schematic diagram showing a fourth working state of an automatic grinding system provided by another embodiment.
图5绘示为另一实施例提供的自动研磨***第五工作状态的示意图。FIG. 5 is a schematic diagram showing a fifth working state of the automatic grinding system provided by another embodiment.
图6绘示为另一实施例提供的自动研磨***的机械手部分放大示意图。6 is a schematic enlarged view of a portion of a robot of an automatic grinding system provided by another embodiment.
图7绘示为另一实施例提供的自动研磨方法的流程图。FIG. 7 is a flow chart of an automatic grinding method provided by another embodiment.
具体实施方式Detailed ways
请参阅图6及图1所示，其中图6绘示为另一实施例提供的自动研磨***的机械手部分放大示意图，图1绘示为一实施例提供的自动研磨***第一工作状态的示意图。Referring to FIG. 6 and FIG. 1 , FIG. 6 is a schematic enlarged view of a portion of a robot of an automatic grinding system according to another embodiment, and FIG. 1 is a schematic view showing a first working state of an automatic grinding system according to an embodiment. .
本公开的自动研磨***包括：The automated grinding system of the present disclosure includes:
机械手10，机械手10的腕部14上设置有三个端部，第一端部上装设有夹具11，所述夹具可以夹取工件100，第二端部上装设有喷水装置12，第三端部上装设有研磨装置13；所述机械手的腕部14可以自由转动；机械手10的腕部14转动一定的角度时，分别使得夹具11、喷水装置12以及研磨装置13中之一处于加工位置；机械手10上还设置有第一电磁水阀61(参见图1)。The manipulator 10, the wrist portion 14 of the manipulator 10 is provided with three end portions, the first end portion is provided with a clamp 11 for gripping the workpiece 100, and the second end portion is provided with a water spray device 12, the third end The grinding device 13 is mounted on the upper portion; the wrist portion 14 of the robot can be freely rotated; when the wrist portion 14 of the robot 10 is rotated by a certain angle, one of the jig 11, the water spray device 12 and the grinding device 13 is respectively in the processing position. The robot 10 is also provided with a first electromagnetic water valve 61 (see Fig. 1).
研磨台40，研磨台40上放置有治具41，治具41上设有吸盘42(参见图1)，吸盘42用于吸附固定工件100；研磨台40的周围还设置有清洗装置50，在研磨完成后清洗装置50喷水清洗研磨台40的周围的粉尘。The polishing table 40 is provided with a jig 41 on the polishing table 40, and the jig 41 is provided with a suction cup 42 (see FIG. 1). The suction cup 42 is used for adsorbing and fixing the workpiece 100. The polishing table 40 is further provided with a cleaning device 50. After the polishing is completed, the cleaning device 50 sprays water to clean the dust around the polishing table 40.
可选的，夹具11与机械手10的腕部14在同一直线上，喷水装置12和研磨装置13分别设置在夹具11的两侧且与之垂直。Optionally, the clamp 11 is on the same line as the wrist 14 of the robot 10, and the water spray device 12 and the grinding device 13 are respectively disposed on both sides of the clamp 11 and perpendicular thereto.
可选的，所述自动研磨***还包括定位桌30，定位桌30上设置有两个相互垂直设置的第一气缸31和第二气缸32。将工件100放在定位桌30上时，所述第一气缸31和第二气缸32同时向内侧推，直至工件100被限位为止。Optionally, the automatic grinding system further includes a positioning table 30. The positioning table 30 is provided with two first cylinders 31 and second cylinders 32 disposed perpendicularly to each other. When the workpiece 100 is placed on the positioning table 30, the first cylinder 31 and the second cylinder 32 are simultaneously pushed inward until the workpiece 100 is restrained.
可选的，参见图1，第一气缸31和第二气缸32的活动端上均设置有侧推块33，侧推块33设置为推动工件100的侧面。Alternatively, referring to FIG. 1, the movable ends of the first cylinder 31 and the second cylinder 32 are each provided with a side pushing block 33 which is arranged to push the side of the workpiece 100.
可选的，喷水装置12的进水端还设置有检测水流的感应器51(参见图1)，当检测到没有水流时，感应器传递信号后，机械手10会停止作业。Optionally, the water inlet end of the water spray device 12 is further provided with a sensor 51 for detecting water flow (see FIG. 1). When no water flow is detected, the robot 10 stops the operation after the sensor transmits a signal.
可选的，喷水装置12为可旋转的喷头，以增大喷水的面积。Optionally, the water spray device 12 is a rotatable spray head to increase the area of the spray water.
可选的，清洗装置50为多孔管道，多孔管道上设有第二电磁水阀62(参见图1)，多孔管道可以向内侧喷水并清洗研磨台40的周围。Optionally, the cleaning device 50 is a porous pipe, and the porous pipe is provided with a second electromagnetic water valve 62 (see FIG. 1). The porous pipe can spray water to the inside and clean the periphery of the polishing table 40.
可选的，自动研磨***还包括放料箱20，放料箱20储放工件100。Optionally, the automatic grinding system further includes a discharge bin 20, and the discharge bin 20 stores the workpiece 100.
其中，所述第一电磁水阀61、第二电磁水阀62、传感器、机械手10均与电器信号箱(图未示)信号连接。The first electromagnetic water valve 61, the second electromagnetic water valve 62, the sensor, and the robot 10 are all connected with an electrical signal box (not shown).
本实施例的自动研磨方法包括：S110-S150。The automatic grinding method of this embodiment includes: S110-S150.
S110中，机械手10夹取所述工件100，将所述工件100放置在定位桌30处进行定位。In S110, the robot 10 grips the workpiece 100, and places the workpiece 100 at the positioning table 30 for positioning.
S120中，机械手10夹取所述工件100，将所述工件100摆放在研磨台40的治具41上吸附固定。In S120, the robot 10 grips the workpiece 100, and the workpiece 100 is placed on the jig 41 of the polishing table 40 to be fixed and fixed.
S130中，机械手10的腕部14转动，使喷水装置12对工件100喷水。S140中，机械手10的腕部14转动，使研磨装置13对工件100进行研磨。以及In S130, the wrist portion 14 of the robot 10 is rotated to cause the water spray device 12 to spray water on the workpiece 100. In S140, the wrist portion 14 of the robot 10 is rotated to cause the polishing device 13 to polish the workpiece 100. as well as
S150中，清洗装置50喷水清洗研磨台40周围。In S150, the cleaning device 50 sprays water to clean the periphery of the polishing table 40.
下面给出使用本公开自动研磨***的一实施例。An embodiment of using the automated polishing system of the present disclosure is given below.
请结合图1至图5并结合图7所示，其中图1至图5绘示为本公开自动研磨***第一至第五工作状态的示意图，其中图7绘示为本公开自动研磨方法的流程图。Please refer to FIG. 1 to FIG. 5 and FIG. 7 , wherein FIG. 1 to FIG. 5 are schematic diagrams showing the first to fifth working states of the automatic grinding system of the present disclosure, wherein FIG. 7 illustrates the automatic grinding method of the present disclosure. flow chart.
机械手10伸入放料箱20，夹具11从放料箱20中夹取工件100，机械手10将工件100放置在定位桌30的定位区域处。第一气缸31与第二气缸32的活动端一起伸出，直至侧推块将工件100侧推不动为止，工件100定位完成。The robot 10 extends into the discharge bin 20, and the jig 11 grips the workpiece 100 from the discharge bin 20, and the robot 10 places the workpiece 100 at the positioning area of the positioning table 30. The first cylinder 31 projects with the movable end of the second cylinder 32 until the side push block pushes the workpiece 100 side, and the workpiece 100 is positioned.
机械手10将定位后的工件100转移到研磨台40上的治具41处，此时吸盘42打开吸附住工件100。确认工件100摆放位置正确且被吸附牢固后，机械手10的腕部14转动，使喷水装置12朝下位于加工位置。机械手10上的第一电磁水阀61获得信号后打开，此时感应器51感应到水管中是否有水，如果有水，暂停信号转变为工作信号，喷水装置12开始对工件100的待研磨部位喷水。喷水时通过控制器设定喷水时间，喷水完成后对工件100进行研磨。The robot 10 transfers the positioned workpiece 100 to the jig 41 on the polishing table 40, at which time the suction cup 42 opens to attract the workpiece 100. After confirming that the workpiece 100 is placed in the correct position and is firmly attracted, the wrist portion 14 of the robot 10 is rotated to position the water spray device 12 downward at the processing position. The first electromagnetic water valve 61 on the robot 10 is opened after the signal is obtained. At this time, the sensor 51 senses whether there is water in the water pipe. If there is water, the pause signal is converted into an operation signal, and the water spray device 12 starts to grind the workpiece 100. Spray water on the part. The water spray time is set by the controller when the water is sprayed, and the workpiece 100 is ground after the water spray is completed.
机械手10的腕部14转动，使研磨装置13朝下位于加工位置，对工件100进行研磨。如果在研磨过程中突然停水，感应器51感应不到水流，机械手10接收到信号，研磨装置13停止研磨。研磨完成后，机械手10上的第一电磁水阀61关闭，治具41上的吸盘42停止对工件100的吸附。The wrist portion 14 of the robot 10 is rotated to position the polishing device 13 downward at the processing position to grind the workpiece 100. If the water suddenly stops during the grinding process, the sensor 51 does not sense the water flow, the robot 10 receives the signal, and the grinding device 13 stops the grinding. After the grinding is completed, the first electromagnetic water valve 61 on the robot 10 is closed, and the suction cup 42 on the jig 41 stops the adsorption of the workpiece 100.
第二电磁水阀62打开，多孔管道喷出水流，清洗研磨台40的周围，清洗时间可以为5秒钟。机械手10夹取研磨完成后的产品100放到指定处。The second electromagnetic water valve 62 is opened, and the porous pipe ejects a water flow to clean the periphery of the polishing table 40, and the cleaning time can be 5 seconds. The robot 10 grips the finished product 100 to the specified position.
上述实施例提供的自动研磨***及方法，在镁合金工件研磨过程中不断对镁合金工件喷水，使得研磨过程中产生的镁粉尘能够及时随水排出。由此，解决了镁合金工件在研磨中产生大量镁粉尘悬浮在空气中有***隐患的问题，同时整个过程以自动化的方式进行，由此提升了效率。The automatic grinding system and method provided by the above embodiments continuously spray water on the magnesium alloy workpiece during the grinding process of the magnesium alloy workpiece, so that the magnesium dust generated during the grinding process can be discharged with water in time. Therefore, the problem that the magnesium alloy workpiece generates a large amount of magnesium dust suspended in the air and has an explosion hazard in the air is solved, and the whole process is performed in an automated manner, thereby improving the efficiency.
工业实用性Industrial applicability
本公开提供的自动研磨***及方法解决了镁合金工件在研磨中产生大量镁 粉尘悬浮在空气中有***隐患的问题，同时整个过程以自动化的方式进行，由此提升了效率。The automatic grinding system and method provided by the present disclosure solves the problem that a magnesium alloy workpiece generates a large amount of magnesium dust during grinding and has an explosion hazard in the air, and the whole process is performed in an automated manner, thereby improving efficiency.

Claims (9)

  1. 一种自动研磨***，包括：An automatic grinding system comprising:
    机械手，所述机械手包括腕部，所述腕部包括第一端部、第二端部以及第三端部；a robot, the robot comprising a wrist, the wrist comprising a first end, a second end, and a third end;
    夹具，设置在第一端部上，所述夹具设置为夹取工件；a clamp disposed on the first end, the clamp being configured to grip the workpiece;
    喷水装置，设置在第二端部上；a water spray device disposed on the second end;
    研磨装置，设置在第三端部上；其中，所述腕部可以自由转动，设置为通过转动一预设角度使所述夹具、喷水装置以及研磨装置中至少之一处于加工位置；a grinding device disposed on the third end; wherein the wrist portion is freely rotatable, and is configured to rotate at least one of the jig, the water spray device and the grinding device in a processing position by rotating a predetermined angle;
    第一电磁水阀，设置在所述机械手上；a first electromagnetic water valve disposed on the robot;
    研磨台和治具，所述治具放置在所述研磨台上；a polishing table and a fixture, the fixture being placed on the polishing table;
    吸盘，设置在所述治具上，所述吸盘设置为吸附固定所述工件；以及a suction cup disposed on the jig, the suction cup being configured to adsorb and fix the workpiece;
    清洗装置，围绕所述研磨台设置。A cleaning device is disposed around the polishing table.
  2. 根据权利要求1所述的自动研磨***，其中，所述夹具与所述机械手的腕部在同一直线上，所述喷水装置和所述研磨装置分别设置在所述夹具的两侧且与之垂直。The automatic grinding system according to claim 1, wherein the jig is in line with a wrist of the robot, and the water spray device and the grinding device are respectively disposed on both sides of the jig and vertical.
  3. 根据权利要求1所述的自动研磨***，还包括定位桌，两个限位块以及气缸，所述两个限位块相互垂直，所述气缸与所述限位块位置相对，且所述两个限位块以及气缸都设置在所述定位桌上。The automatic grinding system according to claim 1, further comprising a positioning table, two limiting blocks and a cylinder, the two limiting blocks being perpendicular to each other, the cylinder being opposite to the limiting block, and the two A limit block and a cylinder are disposed on the positioning table.
  4. 根据权利要求3所述的自动研磨***，还包括侧推块，设置在所述气缸的活动端。The automatic grinding system of claim 3 further comprising a side push block disposed at the movable end of the cylinder.
  5. 根据权利要求1所述的自动研磨***，还包括感应器，设置在所述喷水装置的进水端，所述感应器设置为检测水流。The automatic grinding system according to claim 1, further comprising an inductor disposed at a water inlet end of the water spray device, the inductor being configured to detect a water flow.
  6. 根据权利要求5所述的自动研磨***，其中，所述喷水装置包括可旋转的喷头。The automatic grinding system of claim 5 wherein said water spray device comprises a rotatable spray head.
  7. 根据权利要求1所述的自动研磨***，其中，所述清洗装置包括多孔管道，所述多孔管道上设置有第二电磁水阀，第二电磁水阀设置为控制所述多孔管道向外喷水并清洗所述研磨台的周围。The automatic grinding system according to claim 1, wherein said cleaning means comprises a porous pipe, said porous pipe is provided with a second electromagnetic water valve, and said second electromagnetic water valve is arranged to control said porous pipe to be sprayed outward And cleaning the periphery of the polishing table.
  8. 根据权利要求1所述的自动研磨***，还包括放料箱，所述放料箱设置为储放所述工件。The automatic grinding system of claim 1 further comprising a discharge bin configured to store the workpiece.
  9. 一种自动研磨方法，基于权利要求1至9中任意一项所述的自动研磨***，包括：An automatic grinding method, based on the automatic grinding system of any one of claims 1 to 9, comprising:
    所述机械手夹取所述工件，将所述工件放置在所述定位桌处进行定位；The robot grips the workpiece, and places the workpiece at the positioning table for positioning;
    所述机械手夹取所述工件，将所述工件摆放在所述研磨台的治具上吸附固定；The robot grips the workpiece, and places the workpiece on the fixture of the polishing table to be fixed and fixed;
    所述机械手的腕部转动，使所述喷水装置对所述工件喷水；Rotating the wrist of the robot to cause the water spray device to spray water on the workpiece;
    所述机械手的腕部转动，使所述研磨装置对所述工件进行研磨；以及Rotating the wrist of the robot to cause the grinding device to grind the workpiece;
    所述清洗装置喷水清洗所述研磨台周围。The cleaning device sprays water to clean the periphery of the polishing table.
PCT/CN2018/090052 2017-08-25 2018-06-06 Automatic grinding system and method WO2019037512A1 (en)

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