CN102632458A - Soft fixed grain air-pressure grinding wheel optical-finishing system with damage detection - Google Patents
Soft fixed grain air-pressure grinding wheel optical-finishing system with damage detection Download PDFInfo
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- CN102632458A CN102632458A CN2012101165816A CN201210116581A CN102632458A CN 102632458 A CN102632458 A CN 102632458A CN 2012101165816 A CN2012101165816 A CN 2012101165816A CN 201210116581 A CN201210116581 A CN 201210116581A CN 102632458 A CN102632458 A CN 102632458A
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- 238000001514 detection method Methods 0.000 title claims abstract 3
- 238000005520 cutting process Methods 0.000 claims abstract description 15
- 230000003287 optical effect Effects 0.000 claims abstract description 10
- 239000006061 abrasive grain Substances 0.000 claims description 2
- 229910001651 emery Inorganic materials 0.000 description 88
- 238000003754 machining Methods 0.000 description 20
- 238000000034 method Methods 0.000 description 14
- 238000005498 polishing Methods 0.000 description 13
- 230000001771 impaired effect Effects 0.000 description 10
- 239000002245 particle Substances 0.000 description 10
- 230000007423 decrease Effects 0.000 description 7
- 238000007405 data analysis Methods 0.000 description 6
- 238000005070 sampling Methods 0.000 description 6
- 238000004458 analytical method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000007517 polishing process Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000000386 athletic effect Effects 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 229920000642 polymer Polymers 0.000 description 2
- 238000011112 process operation Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000011236 particulate material Substances 0.000 description 1
- 229920005596 polymer binder Polymers 0.000 description 1
- 239000002491 polymer binding agent Substances 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a soft fixed grain air-pressure grinding wheel optical-finishing system with damage detection. The optical-finishing system comprises a processing platform for placing a workpiece to be processed and an air-pressure grinding wheel for optically finishing the workpiece. A support on the processing platform is provided with a laser scanner for recording the outline data of the air-pressure grinding wheel; the laser scanner comprises a motor scanning device for adjusting a scanning area, an optical system, a laser and a flat mirror; the data output end of the optical system of the laser scanner is connected with a data processing module; both the output end of the data processing module and the command signal input end of the motor scanning device are connected with a computer; a surface outline modeling of the workpiece and a locus of the air-pressure grinding wheel are pre-stored in the computer; the computer is connected with a robot through a control cabinet; the robot is provided with a mechanical arm with three degrees of freedom; and the air-pressure grinding wheel is arranged on the mechanical arm. The computer compares the real-time outline data of the air-pressure grinding wheel with the initial outline data of the grinding wheel to judge whether the air-pressure grinding wheel is damaged excessively; and if so, the computer changes the posture of the mechanical arm through the control cabinet so as to change the cutting posture of the air-pressure grinding wheel.
Description
Technical field
The present invention relates to soft fixed grain air pressure emery wheel Precision Machining field.
Background technology
For the processing of conventional molds polishing; Because the complexity of free form surface; Restricted the enforcement of process automation, most of processing has to use manual operations, and working (machining) efficiency is extremely low; Making to account for more than 40% of total time spent of Mould Machining process time, is that mould is made one of major technique bottleneck.The laser reinforcing mould not only has the complexity of free form surface; Also run into new problems such as high rigidity, high-wearing feature and local nonhomogeneous hardness simultaneously; Make polishing processing difficult more; Even adopt manual operations, there is not suitable instrument can be used for the effective and accurate polishing cutting of high rigidity, high-wearing feature free form surface at present yet.This problem does not still have effective workaround, and lacks deep research.To a laser reinforcing mould polishing process technology difficult problem, a kind of novel polishing machining tool is proposed---soft fixed grain air pressure emery wheel.Wherein the air pressure emery wheel is a hollow hemisphere that is made up of rubber matrix; And through the soft fixed one deck of high polymer binder certain thickness abrasive particle is arranged on its surface; Its surperficial flexibility can be passed through hollow hemisphere air pressure inside On-line Control, and can be used with robot easily.
Finding in the process at present; Air pressure emery wheel and processing work surface is angled process for a long time after, its abrasive particle concretion abrasive wheel surface is easy to generate local the mistake and decreases the district, its characteristic shows as abrasive particle cured layer uneven thickness; The abrasive grain cutting effect weakens, and cutting force is difficult to aspects such as control.And through research back finding, if the abrasive particle contact probability is close can guarantee the wheel face cutting time, then can guarantees the abrasive particulate material removal effect and realize that cutting force is controlled, and through detecting wheel face machining deformation situation, can guarantee that then the abrasive particle contact probability is close.
This patent has designed and a kind ofly can detect the profile of the air pressure emery wheel that adds man-hour in real time, thereby avoid the local damage phenomenon of crossing with the soft fixed grain air pressure emery wheel polishing system that visit to decrease detects, and increases emery wheel service life, guarantees machining accuracy, improves working (machining) efficiency.
Summary of the invention
The present invention will solve prior art and in soft fixed grain air pressure emery wheel process, occur the local deficiency of decreasing phenomenon of crossing easily; The present invention has designed a kind of with the soft fixed grain air pressure emery wheel polishing system that visit to decrease detects, with realize online spy decrease with adjustment in real time to improve machining accuracy and working (machining) efficiency.
The soft fixed grain air pressure emery wheel polishing system that band visit to decrease detects; Comprise the processing platform that is used to place workpiece to be processed, the air pressure emery wheel that is used for described workpiece is carried out polishing processing; It is characterized in that: the support on the described processing platform is provided with the laser scanner of the outline data that is used to write down the air pressure emery wheel; Described laser scanner comprises the motor scanning means, optical system, laser instrument, the level crossing that are used to adjust scanning area; The data output end of the optical system of described laser scanner connects data processing module, and the command signal input of the output of described data processing module and described motor scanning means all is connected computer; Described computer prestores the surface profile modeling of said workpiece, the track of described air pressure emery wheel; Described computer connects robot through switch board; Described robot is provided with the mechanical arm of Three Degree Of Freedom, and described air pressure emery wheel is housed on the described mechanical arm; Described computer is through the data of more real-time air pressure emery wheel outline data with initial emery wheel profile; Judge whether described air pressure emery wheel the damage phenomenon occurred; When judging that there was damage in described air pressure emery wheel; Then change the attitude of described mechanical arm, change the cutting attitude of described air pressure emery wheel through switch board.
Mainly comprise wheel face spy damage module and machining module.Said machining module can be carried out trajectory planning through surface of the work is carried out modeling mainly by computer control, and can carry out real-time online adjustment motion state according to the contour signal of gathering.Computer realizes that through connecting switch board switch board mainly provides operation scheme to ROBOT CONTROL, can also can realize manually control through control panel by controlling personnel by computer realization automation control.Switch board will be controlled order and reach robot, and robot mainly is made up of the mechanical arm with Three Degree Of Freedom, and air pressure emery wheel burnishing device is installed on the mechanical arm, precisely control to realize air pressure emery wheel running orbit.
Said wheel face is visited the damage module and is mainly realized through the three-dimensional laser profile scan; On processing platform; A fixed support is installed, is used to support laser scanner, make it aim at the rotating circular disk central area; Make that working as the air pressure emery wheel is carrying out in the polishing process workpiece, its outer surface can be exposed to the laser radiation zone fully.At stiff end the motor scanning means is installed, the motor scanning means is adjusted the laser instrument emitted light beams through the position of adjustment level crossing, thus the zone of control laser scanning.
The contour signal that records is gathered through data acquisition module, according to design requirement adjustment sampling rate.
Signal after adopting is reached data processing module, carry out data analysis, subsequently analysis result is sent to computer.Computer based realizes the machining state control to emery wheel in the athletic posture that the result adjusts mechanical arm.
Operation principle of the present invention is: workpiece to be processed is installed on the turntable; At first through workpiece to be processed is carried out three-dimensional modeling; And its contour feature is saved in the middle of the computer; Computer is set the mechanical arm running orbit, and in this process, is remained emery wheel appearance side in the same direction according to its surface finishing demand.And the track program after will planning is sent to switch board, and the servomotor operation in the switch board control mechanical arm makes the air pressure emery wheel set the track operation at surface of the work according to original surface of the work profile.
Start the three-dimensional laser tester; Open the motor scanning means; Through moving of control plane mirror, realize control laser scanning zone at air pressure emery wheel machining area, and pass through the trajectory planning path of Computer Storage; Through computer control motor scanning means, make the laser scanning zone remain at the emery wheel outer surface.
Optical system receives initial wheel face scanning profile through laser reflection back, through data acquisition module, is sent to data analysis module, and data analysis module is saved to it in nonvolatile storage, as initial data.Here need to prove; The profile that adopts the back to preserve not is an emery wheel overall picture profile; Because emery wheel is in impaired process; Therefore only have the impaired characteristic of annular region, whether impaired in analyzing its process, the some vertical SPL of uniform distances that only needs the outer table skeleton of sampling emery wheel is as the sampling benchmark.
System begins to carry out the normal process operation.Emery wheel is processed according to the track of prior setting, and trajectory path is stored to computer, and computer control motor scanning means makes 3 D laser scanning profile scope concentrate on the main stationary point in the air pressure emery wheel Precision Machining process.Before precise finishing is carried out on the high rigidity surface; Need the air pressure emery wheel is tried out profile scan; Write down the main outline data of emery wheel on some stationary points as the self-identifying primary data, mainly refer to emery wheel appearance contour curvature data here, and be stored in the middle of the computer.When emery wheel begins to add man-hour, spatial digitizer is the emery wheel outline data on the above-mentioned stationary point of real time record, and data are sent to computer, and computer carries out curvature analysis through the data to real-time collection, judges whether the air pressure emery wheel existed the damage phenomenon.When judging that there was damage in emery wheel, then change the attitude of mechanical arm through switch board, make the cutting attitude of emery wheel change.Because it is impaired that emery wheel impaired characteristic in process generally shows as in the sphere annular contact zone abrasive particle and high polymer cemented dose, makes the emery wheel contour curvature change.Therefore can through with the initial profile curvature data as standard, the cutting attitude of adjusting emery wheel is in real time avoided the generation of this situation, finally reaches the high-efficient cutting effect of abrasive particle.
Beneficial effect of the present invention is: to the local damage phenomenon of crossing of the wheel face abrasive particle that exists in the soft fixed grain air pressure of the hemispherical emery wheel precision machining method, designed a kind of with visiting the soft fixed grain air pressure emery wheel polishing system that detects of decreasing; Adopt three-dimensional laser scanner that air pressure emery wheel contour curvature is gathered in real time, computer as visiting the damage standard, and is controlled the contact attitude of air pressure emery wheel through real-time adjustment manipulator motion with curvature, produces thereby avoid emery wheel to cross the damage phenomenon.The service life that this scheme has improved soft fixed grain air pressure emery wheel on the one hand well; Also promote the service efficiency of soft fixed grain on the other hand effectively.Bring into play its technical advantage and application potential in the mold polish field for this polishing technology and establish important foundation.
Description of drawings
Fig. 1 is an overall structure sketch map of the present invention.
Fig. 2 is that air pressure emery wheel contour curvature of the present invention detects sketch map.
Fig. 3 is a total system operational flow diagram of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
The soft fixed grain air pressure emery wheel polishing system that band visit to decrease detects; Comprise the processing platform that is used to place workpiece to be processed, the air pressure emery wheel that is used for described workpiece is carried out polishing processing; It is characterized in that: the support on the described processing platform is provided with the laser scanner of the outline data that is used to write down the air pressure emery wheel; Described laser scanner comprises the motor scanning means, optical system, laser instrument, the level crossing that are used to adjust scanning area; The data output end of the optical system of described laser scanner connects data processing module, and the command signal input of the output of described data processing module and described motor scanning means all is connected computer; Described computer prestores the surface profile modeling of said workpiece, the track of described air pressure emery wheel; Described computer connects robot through switch board; Described robot is provided with the mechanical arm of Three Degree Of Freedom, and described air pressure emery wheel is housed on the described mechanical arm; Described computer is through the data of more real-time air pressure emery wheel outline data with initial emery wheel profile; Judge whether described air pressure emery wheel the damage phenomenon occurred; When judging that there was damage in described air pressure emery wheel; Then change the attitude of described mechanical arm, change the cutting attitude of described air pressure emery wheel through switch board.
Be divided into wheel face on the technical pattern of the present invention and visit damage module 2 and machining module 1.Said machining module can be carried out trajectory planning through surface of the work is carried out modeling mainly by computer 201, and can carry out real-time online adjustment motion state according to the emery wheel contour signal of gathering 204.Computer 201 is through connecting the control that switch board 12 is realized robot 13, and switch board 12 mainly provides operation scheme, can realize automation control by computer 201, also can realize manually control through control panel by controlling personnel.Switch board 12 will be controlled order and reach robot 13, and robot 13 mainly is made up of the mechanical arm with Three Degree Of Freedom, and air pressure emery wheel burnishing device 16 is installed on the mechanical arm, precisely control to realize air pressure emery wheel running orbit.
Said wheel face is visited damage module 2 and is mainly realized through the three-dimensional laser profile scan; On processing platform 14; A fixed support 207 is installed, is used to support laser scanner 19, make it aim at rotating circular disk 15 central areas; Make that working as air pressure emery wheel 17 is carrying out in the polishing process workpiece 18, its outer surface can be exposed to the laser radiation zone fully.At stiff end motor scanning means 208 is installed, motor scanning means 208 is adjusted the light velocity of laser instrument 210 emissions through the position of adjustment level crossing 211, thus the zone of control laser scanning.
The emery wheel contour signal 204 that records is gathered through data acquisition 203 modules, according to design requirement adjustment sampling rate.
Signal after adopting is reached data processing module 202, carry out data analysis, subsequently analysis result is sent to computer 201.Computer is realized the machining state control to emery wheel 17 according to the athletic posture that the result adjusts mechanical arm 13.
The course of work of the present invention is: workpiece to be processed 18 is installed on the turntable 15; At first through workpiece to be processed 18 is carried out three-dimensional modeling 205; And its contour feature is saved in the middle of the computer 201; Computer 201 is set up mechanical arm 13 running orbits according to its surface finishing demand, and in this process, remains emery wheel appearance side in the same direction.And the track program after will planning is sent to switch board 12, and the servomotor operation in the switch board 12 control mechanical arms makes air pressure emery wheel 17 set the track operation on workpiece 18 surfaces according to original surface of the work profile.
Start three-dimensional laser tester 19; Open motor scanning means 208; Through moving of control plane mirror 211, realize control laser scanning zone at air pressure emery wheel 17 machining areas, and pass through the trajectory planning path of computer 201 storages; Through computer 201 control motor scanning means 208, make the laser scanning zone remain at emery wheel outer surface 205.
System begins to carry out the normal process operation.Emery wheel 17 is processed according to the track of prior setting; And trajectory path is stored to computer 201; Computer 201 control motor scanning means 208 make three-dimensional laser appearance 19 scanning profile scopes concentrate on the main stationary point in the air pressure emery wheel Precision Machining process.Before precise finishing is carried out on high rigidity surface 18; Need air pressure emery wheel 17 is tried out profile scan; Write down the main outline data of emery wheel on some stationary points as the self-identifying primary data, mainly refer to emery wheel appearance contour curvature data here, and be stored in the middle of the computer 201.When emery wheel 17 begins to add man-hour; Spatial digitizer 19 is with the emery wheel outline data on the above-mentioned stationary point of real time record; And data are sent to computer 201, computer carries out curvature analysis through the data to real-time collection, judges whether the air pressure emery wheel existed the damage phenomenon.When judging that there was damage in emery wheel, then change the attitude of mechanical arm 13 through switch board, make the cutting attitude of emery wheel 17 change.Because it is impaired that emery wheel impaired characteristic in process generally shows as in the sphere annular contact zone 206 abrasive particle and high polymer cemented dose, makes the emery wheel contour curvature change.Therefore can through with the initial profile curvature data as standard, the cutting attitude of adjusting emery wheel is in real time avoided the generation of this situation, finally reaches the high-efficient cutting effect of abrasive particle.Accompanying drawing 3 has been explained the flow process of whole system operation.
The said content of this specification embodiment only is enumerating inventive concept institute's way of realization; The concrete form that protection scope of the present invention should only not be confined to embodiment to be stated, protection scope of the present invention reaches in those skilled in the art according to the thinkable equivalent technologies means of technical conceive of the present invention.
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| CN2012101165816A CN102632458A (en) | 2012-04-19 | 2012-04-19 | Soft fixed grain air-pressure grinding wheel optical-finishing system with damage detection |
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| CN2012101165816A CN102632458A (en) | 2012-04-19 | 2012-04-19 | Soft fixed grain air-pressure grinding wheel optical-finishing system with damage detection |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108581794A (en) * | 2018-04-02 | 2018-09-28 | 浙江工业大学 | Atmospheric plasma sprays the profile-followed burnishing device of assist gas pressure grinding wheel and method |
| CN109396976A (en) * | 2018-12-21 | 2019-03-01 | 广东豪特曼智能机器有限公司 | A kind of periphery grinding machine |
| CN111015484A (en) * | 2019-12-27 | 2020-04-17 | 浙江工业大学 | Flexible gel grinding wheel machining platform and machining method |
| US11293751B2 (en) | 2019-09-24 | 2022-04-05 | Honda Motor Co., Ltd. | Profile inspection system for verifying relative position of vehicle component objects and manufacturing cell including same |
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2012
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| US20050159840A1 (en) * | 2004-01-16 | 2005-07-21 | Wen-Jong Lin | System for surface finishing a workpiece |
| CN101434054A (en) * | 2008-12-20 | 2009-05-20 | 厦门大学 | Processing method for realizing error compensation of abrasion wheel |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108581794A (en) * | 2018-04-02 | 2018-09-28 | 浙江工业大学 | Atmospheric plasma sprays the profile-followed burnishing device of assist gas pressure grinding wheel and method |
| CN109396976A (en) * | 2018-12-21 | 2019-03-01 | 广东豪特曼智能机器有限公司 | A kind of periphery grinding machine |
| US11293751B2 (en) | 2019-09-24 | 2022-04-05 | Honda Motor Co., Ltd. | Profile inspection system for verifying relative position of vehicle component objects and manufacturing cell including same |
| CN111015484A (en) * | 2019-12-27 | 2020-04-17 | 浙江工业大学 | Flexible gel grinding wheel machining platform and machining method |
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Application publication date: 20120815 |