CN109366302A - One kind being suitable for the mach submissive system of processing of robot - Google Patents
One kind being suitable for the mach submissive system of processing of robot Download PDFInfo
- Publication number
- CN109366302A CN109366302A CN201811508973.0A CN201811508973A CN109366302A CN 109366302 A CN109366302 A CN 109366302A CN 201811508973 A CN201811508973 A CN 201811508973A CN 109366302 A CN109366302 A CN 109366302A
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- Prior art keywords
- robot
- processing
- mach
- knife handle
- submissive
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/28—Equipment for preventing backlash
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention relates to one kind to be suitable for the mach submissive system of processing of robot, belongs to industrial robot grinding field.It includes: industrial robot, high-speed electric main shaft, Force control system, floating polishing knife bar, robot control cabinet, main control cabinet that the one kind, which being suitable for the mach submissive system of processing of robot,.Industrial robot can feed back the stress in milling and polishing process with submissive system of processing in the system, and adjust robot motion's pose；Robot drives high-speed electric main shaft to do spatial movement by quick change；High-speed electric main shaft can automatic clamping float polishing knife bar, main control cabinet by robot control cabinet control industrial robot, high-speed electric main shaft, Force control system, float polish knife bar.Improve mach processing quality；Float polishing knife bar system combination study of robotic force control system, reduces the error of Force control system, improves Robot Force-Feedback range and degree of regulation, realizes the flexibility processing of robot milling, grinding process.
Description
Technical field
The present invention relates to a kind of floating cutter arbor systems for robot polishing, belong to industrial robot grinding neck
Domain.
Background technique
In manufacturing field, there are numerous parts to need to be post-processed after welding, casting, molding or processing, including milling,
Polishing, polishing and deburring.Such as engine cylinder body, cylinder cap, gear box casing, the automotive hub of automobile industry；General industry
Bathroom hardware；The engine blade of aviation and energy industry, turbo blade；Laptop, tablet computer, the hand of 3C industry
Machine etc..
Since lathe is limited by space and price, most domestic workpiece deburring operation at present mostly uses greatly hand
Work, or hand-held pneumatic is used, electric tool carries out milling, polishing, grinding, and the modes such as file carry out deburring, are easy to lead
The problems such as cause product defect rate rises, inefficiency, the product surface after processing is coarse uneven.And the noise and powder of polishing
Dirt is to manually there is very big health hazard.
With the increasingly maturation of Industrial Robot Technology and industry, producer begins to use robot to install electric and pneumatic work
Tool carries out automation polishing.Compared with handwork, robot polishing can effectively improve production efficiency, reduce cost, improve and produce
Product yield, but due to mechanical arm rigidity, the other factors such as position error are electronic using robotic gripper, pneumatic product polishing
Situations such as being easy to appear breaking when for irregular contour processing or workpiece damaged.And traditional casting is clear
Reason technology uses position control principle, and because needing to determine robot operating path as accurately as possible, programing work is complicated and consumes
When.Traditional technology is true and not fully up to expectations although theoretically can get constant grinding and polishing quality, after processing
Often front and back quality is different for casting, and tolerance is different, it is difficult to obtain stable technological effect.
With the development for putting forth effort control technology, robot pose is adjusted by force control.But it is more complicated for shape,
Workpiece surface quality is poor, processing when tool it is different from the angle of workpiece in the case where, be limited to feed back from power control to robot
Pose regulating time is longer, and error is larger, is still unable to satisfy actual processing request.
Summary of the invention
In view of the above drawbacks of the prior art, provided by the invention a kind of suitable for mach submissive processing system of robot
System, mainly in current robot machining process, cannot achieve robot compensate in time cutter track error, power control range it is small,
The problem of influencing milling, grinding accuracy, proposes a kind of completely new submissive system of processing of robot, robot can be adjusted in time
Cutter track error is saved, rigid collision is avoided, improves polishing quality and efficiency.
In order to achieve the above object, the invention provides the following technical scheme:
It includes: robot, tool quick change end, power control system that one kind, which being suitable for the mach submissive system of processing of robot,
System, high-speed electric main shaft, knife handle, floating cutter arbor, mill, the robot connect high speed with Force control system by tool quick change end
Electro spindle, high-speed electric main shaft one end are equipped with knife handle, and knife handle connects mill by floating cutter arbor.
Wherein, the floating cutter arbor includes: knife bar shell, and knife handle connecting rod, ball spline is female, constant force spring, hubcap,
Splined shaft, cutter connecting rod, screw, check washer, anti-back jackscrew, the knife bar shell lower section are equipped with knife handle connecting rod and pass through
Knife handle connecting rod is fixed in knife bar shell by anti-back jackscrew, has splined shaft between knife handle connecting rod front end and ball spline mother,
Knife handle connecting rod front end surrounding is provided with constant force spring, and the cutter connecting rod is connected to ball spline mother one end, and hubcap will
Ball spline mother is fixed in knife bar shell, hubcap, and screw locks hubcap and knife bar shell, between screw and hubcap
Equipped with check washer.
Wherein, the knife handle of the high-speed electric main shaft automatic clamping with floating cutter arbor.
Wherein, the robot drives electro spindle to do spatial movement by quick change.
Wherein, the robot can feed back the stress in bruting process with Force control system, and adjust machine
People's motion pose.
Wherein, it is connected through a screw thread between the mill and knife handle, is connected through a screw thread between mill, knife handle, milling cutter, the milling
Knife is mounted on floating cutter arbor.
Wherein, strong control sensor is installed, power control sensor and robot pass through flanged joint on the Force control system.
Floating cutter arbor system suitable for robot polishing mainly includes industrial robot, high-speed electric main shaft, power control system
System, float polishing knife bar, robot control cabinet, main control cabinet.Robot fights each other honed with Force control system in the system
Stress in journey can be fed back, and adjust robot motion's pose；Robot drives electro spindle to do spatial movement by quick change；
Electro spindle can knife handle of the automatic clamping with floating cutter arbor；It is connected through a screw thread between milling cutter, mill and knife handle.
Floating cutter arbor part is main are as follows: high speed rotation and can generate axial floating, can effectively be pasted by axial floating effect
Workpiece surface is closed, guarantees processing effect.Its primary structure includes: splined shaft, spline mother, knife bar shell, knife handle connecting rod, tool
Connecting rod, compressed spring, end cover.Design feature: compact-sized, dynamic balancing effect is good, applicability is wide, self-made tool connection
Axial floating is generated while bar is applicable to a variety of cutters, ball spline structure can realize high-speed rotation, it is not limited to be hung down
Histogram can be according to adding man-hour requirement to realize that various pressure forces, sealing cover effectively solve to beat by o circle sealing means to stress, spring
Fine dusts enter shell damage slide construction in bull ring border.
The beneficial effects of the present invention are: one kind provided by the invention is suitable for the mach submissive system of processing of robot,
By combining Robot Force control and floating cutter arbor structure and control system, a kind of mach machine of suitable robot is formed
The submissive system of processing of people realizes robot in machining industry, and especially complex-curved plus industry Flexible Manufacture breaches biography
The limitation of system force control improves the disadvantages of adjustment of robot pose is slow, feedback accuracy is poor, force feedback range is small, can have
Effect avoids the damage of cutter and workpiece, can quickly compensate cutter track error during complex-curved and retrofit, improve processing
Precision and efficiency.
For further understanding of the features and technical contents of the present invention, it please refers to below in connection with of the invention detailed
Illustrate and attached drawing, however, the drawings only provide reference and explanation, is not intended to limit the present invention.
Detailed description of the invention
With reference to the accompanying drawing, by the way that detailed description of specific embodiments of the present invention, technical solution of the present invention will be made
And other beneficial effects are apparent.
Fig. 1 is a kind of structural schematic diagram suitable for the mach submissive system of processing of robot of the present invention.
Fig. 2 is a kind of structure chart of the floating cutter arbor suitable for the mach submissive system of processing of robot of the present invention
Specific embodiment
Further to illustrate technological means and its effect adopted by the present invention, below in conjunction with preferred implementation of the invention
Example and its attached drawing are described in detail.
Please refer to Fig. 1, Fig. 2, it includes: that robot 1, tool are fast that one kind, which being suitable for the mach submissive system of processing of robot,
End 2, Force control system 3, high-speed electric main shaft 4, knife handle 5, floating cutter arbor 6, mill 7 are changed, the robot 1 passes through tool quick change end
2 and Force control system 3 connect high-speed electric main shaft 4,4 one end of high-speed electric main shaft is equipped with knife handle 5, and knife handle 5 is connected by floating cutter arbor 6
Connect mill 7.
Wherein, the floating cutter arbor 6 includes: knife bar shell 8, knife handle connecting rod 9, ball spline mother 10, constant force spring 11,
Hubcap 12, splined shaft 13, cutter connecting rod 14, screw 15, check washer 16, anti-back jackscrew 17,8 lower section of knife bar shell
Knife handle connecting rod 9 is installed knife handle connecting rod 9 is fixed in knife bar shell 8 by anti-back jackscrew 17,9 front end of knife handle connecting rod
There is splined shaft 13 between ball spline mother 10,9 front end surrounding of knife handle connecting rod is provided with constant force spring 11, the cutter connection
Bar 14 is connected to female 10 one end of ball spline, and ball spline mother 10 is fixed in knife bar shell 8 by hubcap 12, and screw 15 is by axis
End cap 12 and knife bar shell 8 are locked, and check washer 16 is equipped between screw 15 and hubcap 12.
Further, the knife handle 5 of 4 automatic clamping of high-speed electric main shaft with floating cutter arbor 6.
Further, the robot 1 drives high-speed electric main shaft 4 to do spatial movement by quick change.
Further, the robot 1 can feed back the stress in bruting process with Force control system 3, and adjust
1 motion pose of robot.
Further, it is connected through a screw thread between the mill 7 and knife handle 5, is connected through a screw thread between mill 7, knife handle 8, milling cutter,
The milling cutter is mounted on floating cutter arbor 6.
By flanged joint, robot 1 drives high-speed electric main shaft 4 to do by fast replacing device for power control sensor and robot 1
Spatial movement, electro spindle 4 can automatically grab knife handle 5, and knife handle 5 clamps floating cutter arbor 6 by clip spring structure, and knife bar 5 and mill 7 are logical
Cross threaded connection.
While floating cutter arbor 6 can produce high speed rotation, compression constant force spring 11 generates axial floating, and keeps constant pressure
Power.
Before bruting process, the constant force spring 11 for being suitble to knife bar is selected according to process requirement.In bruting process, cutterhead is close to
Workpiece surface movement, 4 high speed rotation of electro spindle, cutterhead are ground workpiece, are mutated smaller or cutter track variation ratio encountering workpiece configurations
When larger, and 1 speed of service of robot it is relatively high when, generation is compressed axially knife bar 5 simultaneously atwirl,
Shape deviation is compensated rapidly and polishing power is kept to meet technique requirement.Under conditions of shape is mutated clearly, knife bar 5 floats
Amount can only eliminate part deviation, and at this moment robot 1 reduces movement velocity, and the force snesor feedback stress of Force control system 3 is excessive,
The variation of 1 pose of robot guarantees that cutter is bonded default cutter track, and polishing power is kept not change.It is by controlling 1 power of robot
System 3 and 6 structure of floating cutter arbor combine composition robot polishing floating cutter arbor system, greatly improve 1 power change perceived of robot
Range and precision, thus solve the problems, such as robot 1 polish it is complex-curved during technological effect it is bad.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. one kind be suitable for the mach submissive system of processing of robot characterized by comprising robot, tool quick change end,
Force control system, high-speed electric main shaft, knife handle, floating cutter arbor, mill, the robot pass through tool quick change end and Force control system
High-speed electric main shaft is connected, high-speed electric main shaft one end is equipped with knife handle, and knife handle connects mill by floating cutter arbor.
2. according to claim 1 a kind of suitable for the mach submissive system of processing of robot, which is characterized in that described
Floating cutter arbor includes: knife bar shell, and knife handle connecting rod, ball spline is female, constant force spring, hubcap, splined shaft, cutter connection
Bar, screw, check washer, anti-back jackscrew, the knife bar shell lower section are equipped with knife handle connecting rod and pass through anti-back jackscrew for knife handle
Connecting rod is fixed in knife bar shell, has splined shaft, knife handle connecting rod front end between knife handle connecting rod front end and ball spline mother
Surrounding is provided with constant force spring, and the cutter connecting rod is connected to ball spline mother one end, and hubcap fixes ball spline mother
In knife bar shell, hubcap, screw locks hubcap and knife bar shell, and check washer is equipped between screw and hubcap.
3. according to claim 1 a kind of suitable for the mach submissive system of processing of robot, which is characterized in that described
Knife handle of the high-speed electric main shaft automatic clamping with floating cutter arbor.
4. according to claim 1 a kind of suitable for the mach submissive system of processing of robot, which is characterized in that described
Robot drives electro spindle to do spatial movement by quick change.
5. according to claim 1 a kind of suitable for the mach submissive system of processing of robot, which is characterized in that described
Robot can feed back the stress in bruting process with Force control system, and adjust robot motion's pose.
6. according to claim 1 a kind of suitable for the mach submissive system of processing of robot, which is characterized in that described
It is connected through a screw thread between mill and knife handle, is connected through a screw thread between mill, knife handle, milling cutter, the milling cutter is mounted on floating cutter arbor
On.
7. according to claim 1 a kind of suitable for the mach submissive system of processing of robot, which is characterized in that described
Strong control sensor is installed, power control sensor and robot pass through flanged joint on Force control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811508973.0A CN109366302A (en) | 2018-12-11 | 2018-12-11 | One kind being suitable for the mach submissive system of processing of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811508973.0A CN109366302A (en) | 2018-12-11 | 2018-12-11 | One kind being suitable for the mach submissive system of processing of robot |
Publications (1)
| Publication Number | Publication Date |
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| CN109366302A true CN109366302A (en) | 2019-02-22 |
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|---|---|---|---|
| CN201811508973.0A Pending CN109366302A (en) | 2018-12-11 | 2018-12-11 | One kind being suitable for the mach submissive system of processing of robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111823095A (en) * | 2020-07-03 | 2020-10-27 | 福州国化智能技术有限公司 | Flexible surface treatment system for train squatting pan and toilet |
| CN111906664A (en) * | 2020-09-07 | 2020-11-10 | 华中科技大学无锡研究院 | Robot is polishing end effector under water and robot system of polishing under water |
| CN112318294A (en) * | 2020-11-23 | 2021-02-05 | 中机中联工程有限公司 | Controllable torque floating main shaft and control method |
| CN113021158A (en) * | 2019-12-09 | 2021-06-25 | 中国科学院大连化学物理研究所 | Axial floating polishing device for tail end of industrial robot |
| CN113263398A (en) * | 2021-06-30 | 2021-08-17 | 华中科技大学无锡研究院 | Active force control servo grinding device |
| CN113385900A (en) * | 2021-06-30 | 2021-09-14 | 华中科技大学 | Measurement-milling-deburring-grinding-polishing integrated casing machining device and method |
| CN114211315A (en) * | 2021-12-14 | 2022-03-22 | 上海汉虹精密机械有限公司 | High-speed constant-force floating quartz crucible chamfering grinding wheel device |
| CN114346814A (en) * | 2021-12-29 | 2022-04-15 | 昆山路得威自动化设备有限公司 | Three-station deburring machine |
| CN115256089A (en) * | 2022-06-28 | 2022-11-01 | 河北光兴半导体技术有限公司 | Device and method for realizing fine grinding and polishing through torque control |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021158A (en) * | 2019-12-09 | 2021-06-25 | 中国科学院大连化学物理研究所 | Axial floating polishing device for tail end of industrial robot |
| CN113021158B (en) * | 2019-12-09 | 2022-03-08 | 中国科学院大连化学物理研究所 | An axial floating polishing device for the end of an industrial robot |
| CN111823095A (en) * | 2020-07-03 | 2020-10-27 | 福州国化智能技术有限公司 | Flexible surface treatment system for train squatting pan and toilet |
| CN111906664A (en) * | 2020-09-07 | 2020-11-10 | 华中科技大学无锡研究院 | Robot is polishing end effector under water and robot system of polishing under water |
| CN112318294A (en) * | 2020-11-23 | 2021-02-05 | 中机中联工程有限公司 | Controllable torque floating main shaft and control method |
| CN112318294B (en) * | 2020-11-23 | 2024-09-13 | 中机中联工程有限公司 | Moment-controllable floating main shaft and control method |
| CN113263398A (en) * | 2021-06-30 | 2021-08-17 | 华中科技大学无锡研究院 | Active force control servo grinding device |
| CN113385900A (en) * | 2021-06-30 | 2021-09-14 | 华中科技大学 | Measurement-milling-deburring-grinding-polishing integrated casing machining device and method |
| CN113385900B (en) * | 2021-06-30 | 2022-07-12 | 华中科技大学 | Measurement-milling-deburring-grinding-polishing integrated casing machining device and method |
| CN114211315A (en) * | 2021-12-14 | 2022-03-22 | 上海汉虹精密机械有限公司 | High-speed constant-force floating quartz crucible chamfering grinding wheel device |
| CN114346814A (en) * | 2021-12-29 | 2022-04-15 | 昆山路得威自动化设备有限公司 | Three-station deburring machine |
| CN115256089A (en) * | 2022-06-28 | 2022-11-01 | 河北光兴半导体技术有限公司 | Device and method for realizing fine grinding and polishing through torque control |
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