WO2022142163A1 - 用于石材抛光的机器人抛光*** - Google Patents

用于石材抛光的机器人抛光*** Download PDF

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Publication number
WO2022142163A1
WO2022142163A1 PCT/CN2021/100119 CN2021100119W WO2022142163A1 WO 2022142163 A1 WO2022142163 A1 WO 2022142163A1 CN 2021100119 W CN2021100119 W CN 2021100119W WO 2022142163 A1 WO2022142163 A1 WO 2022142163A1
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WIPO (PCT)
Prior art keywords
polishing
robot
motor
cooling water
turntable
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PCT/CN2021/100119
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English (en)
French (fr)
Inventor
陆静
申云
杨磊
崔长彩
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华侨大学
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Publication of WO2022142163A1 publication Critical patent/WO2022142163A1/zh

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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
    • B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
    • B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
    • 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
    • B24B41/06—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
    • 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
    • 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
    • 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
    • B24B55/02—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant
    • B24B55/03—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant designed as a complete equipment for feeding or clarifying coolant

Definitions

  • the invention relates to polishing equipment, in particular to a robot polishing system for stone polishing.
  • the present invention provides a robot polishing system for stone polishing, which overcomes the shortcomings of the grinding and polishing robots in the background art.
  • a robot polishing system for stone polishing including:
  • Robot equipment including a six-axis serial robot and a robot control system, the six-axis serial robot is mounted on a base and has a manipulator, and the robot control system is connected to the six-axis serial robot;
  • the polishing mechanism includes a motor clamping device, a driving motor, a polishing disc and a cooling water device; the driving motor is attached to the end of the manipulator through the motor clamping device, and the driving motor main shaft is connected to the polishing disc by driving, so as to drive the polishing disc to rotate through the driving motor ;
  • the cooling water device includes a cooling water supply mechanism and a water spray pipe, the cooling water supply mechanism and the first end of the water spray pipe can be connected together and connected to the end of the manipulator or the motor clamping device; the robot The control system is also connected to the drive motor and the cooling water supply; and
  • the worktable mechanism includes a circular turntable, a turntable motor and a fixture, the turntable motor is attached to the base, the circular turntable can rotate relative to the base, and the turntable motor is connected to the circular turntable to drive the circular turntable to rotate through the turntable motor,
  • the fixture is mounted on the circular turntable for clamping the workpiece to be polished, and the second end of the water spray pipe faces the fixture; the circular turntable drives the rotation of the workpiece to be polished and the drive motor drives the rotation of the polishing disc to polish the to-be-polished workpiece artifact.
  • the polishing mechanism further includes a connecting plate, the connecting plate is fixedly mounted on the main shaft of the driving motor, and the polishing plate is a flexible polishing plate and is fixedly mounted on the connecting plate.
  • the motor clamping device includes a flange plate and a locking device, the locking device locks the driving motor, and the locking device is locked to the end of the manipulator through the flange plate.
  • the cooling water supply mechanism is fixed to the motor locking device by bolts, and the cooling water switch and the water output are controlled by the robot control system.
  • the fixture includes at least two L-shaped parts, the L-shaped parts are locked on the circular turntable by bolts, and the locked L-shaped parts clamp the workpiece to be polished.
  • the diameter of the circular turntable is 400mm-2000mm, and the circular turntable is provided with a T-shaped slot, and the L-shaped tool is slidably connected to the T-shaped slot;
  • the polishing disc is cylindrical, and the polishing The cylindrical diameter of the optical disc is 80mm-120mm, and the thickness is 10mm-20mm.
  • a control unit is integrated in the robot control system, and the control unit is connected with the driving motor and the cooling water supply mechanism to control at least the rotational speed of the driving motor and the cooling water switch.
  • the polishing disc is cylindrical, the polishing disc includes a flexible substrate and a polishing coating at least coated on the end face of the flexible substrate, and the Shore hardness of the flexible substrate is 30HSA-50HSA.
  • the robot polishing system for stone polishing includes a six-axis serial robot, a polishing mechanism and a worktable mechanism.
  • the robot control system connects the six-axis serial robot to control the movement of the manipulator to the workpiece to be polished, and drives the polishing disc to rotate through the drive motor, which is driven by the turntable motor.
  • the circular turntable rotates, and the two rotations cooperate to achieve polishing, with high polishing accuracy and high efficiency;
  • the cooling water supply mechanism and the water spray pipe are attached to the end of the manipulator or the motor clamping device, and the second end of the water spray pipe faces the fixture, which can be cooled to be polished
  • the workpiece, the alignment is accurate, and the cooling effect is good.
  • the cooling water supply mechanism is fixed to the motor locking device by bolts, and the cooling water switch and the water output are controlled by the robot control system, which is convenient for control.
  • the cooling water faces the workpiece to be polished with high accuracy.
  • the locked L-shaped tool clamps the workpiece to be polished, and the locking is firm, stable and reliable.
  • FIG. 1 is a schematic perspective view of a robotic polishing system according to a specific embodiment.
  • FIG. 2 is a schematic perspective view of a robotic device according to a specific embodiment.
  • the robot polishing system for stone polishing includes a base 1, a robotic device 2, a polishing mechanism 3 and a table mechanism 4.
  • the robotic device 2 includes a six-axis serial robot 21 and a robot control system 22 .
  • the six-axis serial robot 21 is attached to the base 1 and has a manipulator 211
  • the robot control system 22 is connected to the six-axis serial robot 21 to control the movement of the manipulator 211 . to the position corresponding to the workpiece to be polished.
  • the polishing mechanism 3 includes a motor clamping device 31, a driving motor 32, a polishing disc 33 and a cooling water device 34;
  • the driving motor 32 is attached to the end of the manipulator 211 through the motor clamping device 31, and the driving motor 32 is connected to the polishing disc by a spindle drive 33, to drive the polishing disc 33 to rotate through the driving motor 32;
  • the cooling water device 34 includes a cooling water supply mechanism and a water spray pipe 341, and the cooling water supply mechanism and the first end of the water spray pipe 341 can be connected to each other.
  • the second end of the water spray pipe 341 faces the fixture 43 to spray water to the belt polishing piece to achieve cooling;
  • the robot control system 22 is also connected to the drive motor 32 and the cooling water supply mechanism.
  • the worktable mechanism 4 includes a circular turntable 41 , a turntable motor 42 and a clamp 43 , the turntable motor 42 is attached to the base 1 , the circular turntable 41 can rotate relative to the base 1 , and the turntable motor 42 is drivingly connected to the circular turntable 41
  • the fixture 43 is attached to the circular turntable 41 for clamping the workpiece to be polished; the circular turntable 41 drives the workpiece to be polished to rotate and the drive motor drives the polishing disc 33 to rotate to rotate. Polishing the workpiece to be polished, double rotation realizes polishing, improving polishing efficiency and precision.
  • the robot control system 22 is integrated with a control unit, which connects the six-axis serial robot 21, the drive motor 32 and the cooling water supply mechanism to at least control the movement of the robot arm 211, the rotational speed of the drive motor 32, the cooling water switch, and the amount of water.
  • the polishing mechanism 3 further includes a connecting plate 35, which is fixedly mounted on the main shaft of the driving motor 32.
  • the polishing plate 33 is a flexible polishing disk and is fixedly mounted on the connecting plate 35.
  • the above structure can improve the connection strength.
  • the motor clamping device 31 includes a flange plate and a locking device, the locking device locks the driving motor 32, and the locking device is locked on the end of the manipulator 211 through the flange plate.
  • the specific structure is as follows: the locking device is a holding device , lock the clamping device to the flange with screws, and lock the flange to the manipulator with screws.
  • the fixture 43 includes at least two L-shaped parts, the L-shaped parts are locked on the circular turntable 41 by bolts, and the workpiece to be polished is clamped by the locked L-shaped parts.
  • the circular turntable is provided with a T-shaped slot, and the L-shaped tool is slidably connected to the T-shaped slot. The position of the bolt can be adjusted when the bolt is loosened, and the sliding can be restricted by locking after adjustment.
  • the diameter of the turntable is 400mm to 2000mm.
  • the polishing disc 33 is cylindrical, and the cylindrical diameter of the polishing disc 33 is 80 mm to 120 mm and the thickness is 10 mm to 20 mm; the polishing disc includes a flexible substrate and a polishing paint coated at least on the end surface of the flexible substrate.
  • the hardness is 30HSA ⁇ 50HSA, and the use of the flexible polishing disc can improve the polishing accuracy.
  • the six-axis serial robot 22 is also connected to the PC terminal, and the CAM code is written through the PC terminal, and then transmitted to the robot control system to realize the control of the robot.
  • the invention discloses a robot polishing system for stone polishing, including a base, a robot device, a polishing mechanism and a worktable mechanism.
  • the robotic device includes a six-axis serial robot and a robot control system.
  • the polishing mechanism includes a motor clamping device, a driving motor, a polishing disc and a cooling water device; the driving motor is attached to the end of the manipulator through the motor clamping device, and the polishing disc is driven to rotate by the driving motor;
  • the cooling water device includes a cooling water supply mechanism and a water spray pipe, the cooling water supply mechanism and the water spray pipe are mounted on the motor holding device.
  • the worktable mechanism includes a circular turntable, a turntable motor and a fixture, the turntable motor is attached to the base, the circular turntable is driven to rotate by the turntable motor, and the fixture is mounted on the circular turntable; the workpiece to be polished is driven by the circular turntable
  • the rotating and driving motor drives the rotation of the polishing disc to polish the workpiece to be polished. It has the following advantages: high polishing precision, high efficiency, and industrial practicability.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

一种用于石材抛光的机器人抛光***，包括基座（1）、机器人设备（2）、抛光机构（3）和工作台机构（4）；机器人设备（2）包括六轴串联机器人（21）和机器人控制***（22）；抛光机构（3）包括电机夹持装置（31）、驱动电机（32）、抛光盘（33）和冷却水装置（34）；工作台机构（4）包括圆形转台（41）、转台电机（42）和夹具（43）；通过圆形转台（41）带动工件的转动及驱动电机（32）带动抛光盘（33）的转动以抛光工件。抛光***的抛光精度高、效率高。

Description

用于石材抛光的机器人抛光*** 技术领域
本发明涉及抛光设备，尤其涉及一种用于石材抛光的机器人抛光***。
背景技术
现有石材抛光，因石材为不规则工件，故一般采用人工抛光方式。人工抛光方式存在有如下不足：费时费力，抛光效率低，成本高；抛光精度低，成品率有待提高。针对上述不足，有人提出机器抛光设备，如CN111687837A的一种打磨抛光机器人及其控制方法，其中打磨抛光机器人包括机械臂、集线盒、打磨工具、旋转电机以及连接板；所述机械臂上部一侧固定安装用于线路集中收纳的集线盒，机械臂下端固定安装有连接板，所述连接板上固定安装有旋转电机，所述旋转电机的下端输出轴固定安装有打磨工具；所述机器人与控制终端之间通过无线路由器建立网络控制信号连接。该抛光虽能实现机器抛光，但其一，抛光效率、精度有待提高，其二，针对不规则的石材工件，抛光难度大。
发明内容
本发明提供了用于石材抛光的机器人抛光***，其克服了背景技术中打磨抛光机器人所存在的不足。
本发明解决其技术问题的所采用的技术方案是：用于石材抛光的机器人抛光***，包括：
基座；
机器人设备，包括六轴串联机器人和机器人控制***，该六轴串联机器人装接在基座上且具有机械手，该机器人控制***连接六轴串联机器人；
抛光机构，包括电机夹持装置、驱动电机、抛光盘和冷却水装置；该驱动电机通过电机夹持装置装接在机械手末端，该驱动电机主轴传动连接抛光盘，以通过驱动电机带动抛光盘转动；该冷却水装置包括冷却水供应机构和喷水管，该冷却水供应机构和喷水管第一端能相接通地装接在一起且装接在机械手末端或电机夹持装置；该机器人控制***还连接驱动电机和冷却水供应机构；及
工作台机构，包括圆形转台、转台电机和夹具，该转台电机装接在基座，该圆形转台能相对基座转动且转台电机传动连接圆形转台以通过转台电机带动圆形转台转动，该夹具装接在圆形转台上以用于夹接待抛光工件，该喷水管第二端朝向夹具；通过圆形转台带动待抛光工件的转动及驱动电机带动抛光盘的转动以抛光该待抛光工件。
一实施例之中：该抛光机构还包括连接盘，该连接盘固装在驱动电机主轴，该抛光盘为柔性抛光盘且固装在连接盘。
一实施例之中：该电机夹持装置包括法兰盘和锁紧装置，锁紧装置锁紧驱动电机，锁紧装置通过法兰盘锁接在机械手末端。
一实施例之中：该冷却水供应机构通过螺栓固定于电机锁紧装置，通过机器人控制***控制冷却水开关及出水量。
一实施例之中：该夹具包括至少两个L形具件，L形具件通过螺栓锁紧于圆形转台上，锁紧的L形具件夹紧待抛光工件。
一实施例之中：该圆形转台直径为400mm～2000mm，且圆形转台上设T字形卡槽，该L形具件滑接在T字形卡槽；该抛光盘为圆柱形，且该抛光 盘圆柱形的直径为80mm～120mm，厚度为10mm～20mm。
一实施例之中：该机器人控制***内集成有控制单元，该控制单元连接驱动电机和冷却水供应机构以至少控制驱动电机转速及冷却水开关。
一实施例之中：该抛光盘为圆柱形，该抛光盘包括柔性基体和至少涂覆在柔性基体端面的抛光涂料，该柔性基体邵氏硬度为30HSA～50HSA。
本技术方案与背景技术相比，它具有如下优点：
用于石材抛光的机器人抛光***包括六轴串联机器人、抛光机构和工作台机构，机器人控制***连接六轴串联机器人以控制机械手运动至待抛光工件，通过驱动电机带动抛光盘转动，通过转台电机带动圆形转台转动，两转动配合实现抛光，抛光精度高、效率高；冷却水供应机构和喷水管装接在机械手末端或电机夹持装置，喷水管第二端朝向夹具，能冷却待抛光工件，对准准确，冷却效果佳。
冷却水供应机构通过螺栓固定于电机锁紧装置，通过机器人控制***控制冷却水开关及出水量，便于控制，冷却水朝下待抛光工件，朝向精度高。
锁紧的L形具件夹紧待抛光工件，锁接牢固稳定可靠。
附图说明
下面结合附图和具体实施方式对本发明作进一步说明。
图1是具体实施方式的机器人抛光***的立体示意图。
图2是具体实施方式的机器人设备的立体示意图。
具体实施方式
请查阅图1和图2，用于石材抛光的机器人抛光***，包括基座1、机器人设备2、抛光机构3和工作台机构4。该机器人设备2包括六轴串联机器人21和机器人控制***22，该六轴串联机器人21装接在基座1上且具有机械手211，该机器人控制***22连接六轴串联机器人21以控制机械手211运动至对应待抛光工件的所处位置。该抛光机构3包括电机夹持装置31、驱动电机32、抛光盘33和冷却水装置34；该驱动电机32通过电机夹持装置31装接在机械手211末端，该驱动电机32主轴传动连接抛光盘33，以通过驱动电机32带动抛光盘33转动；该冷却水装置34包括冷却水供应机构和喷水管341，该冷却水供应机构和喷水管341第一端能相接通地装接在一起且装接在电机夹持装置31，该喷水管341第二端朝向夹具43以向带抛光件喷水实现冷却；该机器人控制***22还连接驱动电机32和冷却水供应机构。该工作台机构4包括圆形转台41、转台电机42和夹具43，该转台电机42装接在基座1，该圆形转台41能相对基座1转动且转台电机42传动连接圆形转台41以通过转台电机42带动圆形转台41转动，该夹具43装接在圆形转台41上以用于夹接待抛光工件；通过圆形转台41带动待抛光工件转动及驱动电机带动抛光盘33转动以抛光该待抛光工件，双转动实现抛光，提升抛光效率和精度。
该机器人控制***22内集成有控制单元，该控制单元连接六轴串联机器人21、驱动电机32和冷却水供应机构以至少控制机器手211运动、驱动电机32转速及冷却水开关、水量。
该抛光机构3还包括连接盘35，该连接盘35固装在驱动电机32主轴，该抛光盘33为柔性抛光盘且固装在连接盘35，采用上述结构能提升连接强度。该电机夹持装置31包括法兰盘和锁紧装置，锁紧装置锁紧驱动电机32，锁紧装置通过法兰盘锁接在机械手211末端，具体结构如：该锁紧装置为抱紧装置，通过螺钉将抱紧装置锁接在法兰盘，通过螺钉将法兰盘锁接在机械手。
该夹具43包括至少两个L形具件，L形具件通过螺栓锁紧于圆形转台41上，通过锁紧的L形具件夹紧待抛光工件。具体结构中：圆形转台上设T字形卡槽，L形具件滑接在T字形卡槽，螺栓松开则能调节其所处位置，调节到位后锁紧则能限制滑动；且该圆形转台直径为400mm～2000mm。
该抛光盘33为圆柱形，且该抛光盘33圆柱形的直径为80mm～120mm，厚度为10mm～20mm；该抛光盘包括柔性基体和至少涂覆在柔性基体端面的抛光涂料，该柔性基体邵氏硬度为30HSA～50HSA，采用该柔性抛光盘能提升抛光精度。
该六轴串联机器人22还连接PC端，通过PC端编写CAM代码，再将其传输至机器人控制***实现对机器人的控制。
以上所述，仅为本发明较佳实施例而已，故不能依此限定本发明实施的范围，即依本发明专利范围及说明书内容所作的等效变化与修饰，皆应仍属本发明涵盖的范围内。
工业实用性
本发明公开了用于石材抛光的机器人抛光***，包括基座、机器人设备、抛光机构和工作台机构。该机器人设备包括六轴串联机器人和机器人控制***。该抛光机构包括电机夹持装置、驱动电机、抛光盘和冷 却水装置；该驱动电机通过电机夹持装置装接在机械手末端，通过驱动电机带动抛光盘转动；该冷却水装置包括冷却水供应机构和喷水管，该冷却水供应机构和喷水管装接在电机夹持装置。该工作台机构包括圆形转台、转台电机和夹具，该转台电机装接在基座，通过转台电机带动圆形转台转动，该夹具装接在圆形转台上；通过圆形转台带动待抛光工件的转动及驱动电机带动抛光盘的转动以抛光该待抛光工件。它具有如下优点：抛光精度高、效率高,具有工业实用性。

Claims (8)

  1. 用于石材抛光的机器人抛光***，其特征在于：包括：
    基座；
    机器人设备，包括六轴串联机器人和机器人控制***，该六轴串联机器人装接在基座上且具有机械手，该机器人控制***连接六轴串联机器人；
    抛光机构，包括电机夹持装置、驱动电机、抛光盘和冷却水装置；该驱动电机通过电机夹持装置装接在机械手末端，该驱动电机主轴传动连接抛光盘，以通过驱动电机带动抛光盘转动；该冷却水装置包括冷却水供应机构和喷水管，该冷却水供应机构和喷水管第一端能相接通地装接在一起且装接在机械手末端或电机夹持装置；该机器人控制***还连接驱动电机和冷却水供应机构；及
    工作台机构，包括圆形转台、转台电机和夹具，该转台电机装接在基座，该圆形转台能相对基座转动且转台电机传动连接圆形转台以通过转台电机带动圆形转台转动，该夹具装接在圆形转台上以用于夹接待抛光工件，该喷水管第二端朝向夹具；
    通过圆形转台带动待抛光工件的转动及驱动电机带动抛光盘的转动以抛光该待抛光工件。
  2. 根据权利要求1所述的用于石材抛光的机器人抛光***，其特征在于：该抛光机构还包括连接盘，该连接盘固装在驱动电机主轴，该抛光盘为柔性抛光盘且固装在连接盘。
  3. 根据权利要求1所述的用于石材抛光的机器人抛光***，其特征在 于：该电机夹持装置包括法兰盘和锁紧装置，锁紧装置锁紧驱动电机，锁紧装置通过法兰盘锁接在机械手末端。
  4. 根据权利要求1所述的用于石材抛光的机器人抛光***，其特征在于：该冷却水供应机构通过螺栓固定于电机锁紧装置，通过机器人控制***控制冷却水开关及出水量。
  5. 根据权利要求1所述的用于石材抛光的机器人抛光***，其特征在于：该夹具包括至少两个L形具件，L形具件通过螺栓锁紧于圆形转台上，锁紧的L形具件夹紧待抛光工件。
  6. 根据权利要求5所述的用于石材抛光的机器人抛光***，其特征在于：该圆形转台直径为400mm～2000mm，且圆形转台上设T字形卡槽，该L形具件滑接在T字形卡槽；该抛光盘为圆柱形，且该抛光盘圆柱形的直径为80mm～120mm，厚度为10mm～20mm。
  7. 根据权利要求1所述的用于石材抛光的机器人抛光***，其特征在于：该机器人控制***内集成有控制单元，该控制单元连接驱动电机和冷却水供应机构以至少控制驱动电机转速及冷却水开关。
  8. 根据权利要求1所述的用于石材抛光的机器人抛光***，其特征在于：该抛光盘为圆柱形，该抛光盘包括柔性基体和至少涂覆在柔性基体端面的抛光涂料，该柔性基体邵氏硬度为30HSA～50HSA。
PCT/CN2021/100119 2020-12-29 2021-06-15 用于石材抛光的机器人抛光*** WO2022142163A1 (zh)

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