阅读说明：本技术 一种浮动感知打磨头装置、恒力打磨方法 (Floating sensing polishing head device and constant-force polishing method ) 是由 萧剑斌 于 2019-12-25 设计创作，主要内容包括：本发明提供了一种浮动感知打磨头装置、恒力打磨方法,浮动感知打磨头装置包括打磨头架体、打磨机、双向浮动组件、浮动感知组件、控制器；双向浮动组件包括上固定连接板、正向驱动器、反向驱动器、下浮动连接板,上固定连接板设在打磨头架体上,下浮动连接板设在正向驱动器与反向驱动器的驱动末端,打磨机固定在下浮动连接板上；浮动感知组件包括称重传感器、位置传感器,浮动感知组件包括称重传感器、位置传感器,称重传感器用于探测打磨机的重量信号,位置传感器用于探测打磨机的位置信号,控制器能够同时判断重量信号与位置信号以实时调整反向驱动器所输出的驱动力。本发明能够产生恒定的打磨压力,实现打磨过程完全自动化,以提高打磨均匀性。(The invention provides a floating sensing polishing head device and a constant force polishing method, wherein the floating sensing polishing head device comprises a polishing head frame body, a polishing machine, a bidirectional floating assembly, a floating sensing assembly and a controller; the bidirectional floating assembly comprises an upper fixed connecting plate, a forward driver, a reverse driver and a lower floating connecting plate, the upper fixed connecting plate is arranged on the polishing head frame body, the lower floating connecting plate is arranged at the driving tail ends of the forward driver and the reverse driver, and the polishing machine is fixed on the lower floating connecting plate; the floating sensing assembly comprises a weighing sensor and a position sensor, the floating sensing assembly comprises the weighing sensor and the position sensor, the weighing sensor is used for detecting a weight signal of the grinding machine, the position sensor is used for detecting a position signal of the grinding machine, and the controller can simultaneously judge the driving force output by the weight signal and the position signal in real time through adjusting the reverse driver. The invention can generate constant polishing pressure, and realize full automation of the polishing process so as to improve polishing uniformity.)

1. A floating perception polishing head device is characterized by comprising a polishing head frame body, a polishing machine, a bidirectional floating assembly, a floating perception assembly and a controller;

the polishing head frame is arranged at the execution tail end of the manipulator and can synchronously switch polishing positions along with the preset polishing track of the manipulator;

the bidirectional floating assembly comprises an upper fixed connecting plate, a forward driver and a reverse driver which are installed on the upper fixed connecting plate, and a lower floating connecting plate, the upper fixed connecting plate is arranged on the grinding head frame body, the lower floating connecting plate is arranged at the driving tail ends of the forward driver and the reverse driver, and the grinding machine is fixed on the lower floating connecting plate and can float along with the driving force output by the forward driver and the reverse driver;

the floating sensing assembly comprises a weighing sensor and a position sensor, the weighing sensor and the position sensor are respectively connected with the controller, the weighing sensor is used for detecting a weight signal of the grinding machine and transmitting the weight signal to the controller, the weighing sensor is installed at the driving end of the reverse driver, the position sensor is used for detecting a position signal of the grinding machine and transmitting the position signal to the controller, the position sensor is installed on the upper fixed connecting plate, and the controller can simultaneously judge the weight signal and the position signal so as to adjust the driving force output by the reverse driver in real time.

2. The floating sensing sanding head device of claim 1 wherein the forward drive is a linear drive and the reverse drive is a linear drive and the directions of the driving forces output by the forward drive and the reverse drive are collinear.

3. The floating sensing sanding head device of claim 2 wherein the sander comprises a sander body and a circular connecting seat, the sander body being mounted on the lower floating attachment plate through the circular connecting seat.

4. The floating sensing sanding head device of claim 3 wherein the drive end of the forward drive is connected to the lower floating attachment plate by a first floating joint and the drive end of the reverse drive is connected to the lower floating attachment plate by a second floating joint, and the first floating joint and the second floating joint are centered on the circular attachment base.

5. The floating perception sanding head device of claim 4, further comprising a dual rail assembly for providing guidance to the sander, the dual rail assembly comprising a first rail, a second rail, a first slider, a second slider, a first floating equalizer plate, and a second floating equalizer plate, wherein the first rail and the second rail are fixed to the upper fixed attachment plate, both of which are disposed along the direction of the driving force output by the forward drive and the reverse drive, and are separated on either side of the first floating joint and the second floating joint, the first slider is slidably disposed on the first rail, and the first floating equalizer plate is fixed to the first slider and is fixedly attached to the lower floating attachment plate; the second sliding block is arranged on the second sliding rail in a sliding mode, and the second floating balance plate is fixed on the second sliding block and fixedly connected with the lower floating connecting plate.

6. The floating perception sanding head arrangement of claim 1, wherein the sander is a servo motor sander in control communication with the controller.

7. The floating sensing sanding head device of claim 1 further comprising a dust exhaust conduit acting on the sander, an outlet end of the dust exhaust conduit being secured to the sanding head frame, an inlet end of the dust exhaust conduit being secured to the lower floating attachment plate and located to one side of a sanding sheet in the sander.

8. The floating sensing sanding head device of claim 1 wherein the sanding head frame body defines a flange configuration for connection to an actuating end of a robotic arm.

9. A floating perception constant force polishing method is characterized by comprising a polisher, a frame body, a forward driver, a reverse driver, a weighing sensor, a position sensor and a controller, wherein the polisher is arranged at the driving tail end of a manipulator through the frame body, the polisher is arranged at the driving tail ends of the forward driver and the reverse driver, and the polishing method comprises the following steps:

setting a polishing track of the tail end of the manipulator in a polishing process;

measuring and acquiring a current coordinate position signal of the polisher on a polishing track through a position sensor, converting the current coordinate position signal into a first electric signal and transmitting the first electric signal to a controller;

measuring and acquiring a weight signal of the grinding machine through a weighing sensor, converting the weight signal into a second electric signal and transmitting the second electric signal to a controller;

the controller judges and processes the first electric signal and the second electric signal at the same time, and converts and outputs a first output signal to the reverse driver and a second output signal to the forward driver;

wherein the reverse drive provides a force to the sander based on the first output signal to completely counteract the weight of the sander; the positive driver provides acting force to the grinding machine according to the second output signal so as to generate grinding pressure on the surface of the workpiece to be ground.

10. The floating sensing constant force sanding method of claim 1, wherein the forward drive is a linear drive, and the force F1 provided by the forward drive is a set constant value, i.e., the sanding pressure; the counter drive is a linear drive providing a force F2 which is a component of the sander's gravity in its axial direction.

Technical Field

The invention relates to the technical field of polishing, in particular to a floating sensing polishing head device capable of generating constant polishing pressure and a constant-force polishing method.

Background

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a floating sensing polishing head device and a constant-force polishing method, which can generate constant polishing pressure, realize full automation of a polishing process and improve polishing uniformity.

The invention provides a floating sensing polishing head device, which comprises a polishing head frame body, a polishing machine, a bidirectional floating assembly, a floating sensing assembly and a controller, wherein the polishing head frame body is provided with a plurality of polishing heads;

the polishing head frame is arranged at the execution tail end of the manipulator and can synchronously switch polishing positions along with the preset polishing track of the manipulator;

the bidirectional floating assembly comprises an upper fixed connecting plate, a forward driver and a reverse driver which are arranged on the upper fixed connecting plate, and a lower floating connecting plate, wherein the upper fixed connecting plate is arranged on the grinding head frame body;

the floating sensing assembly comprises a weighing sensor and a position sensor, the weighing sensor and the position sensor are respectively connected with the controller, the weighing sensor is used for detecting a weight signal of the grinding machine and transmitting the weight signal to the controller, the weighing sensor is installed at the driving end of the reverse driver, the position sensor is used for detecting a position signal of the grinding machine and transmitting the position signal to the controller, the position sensor is installed on the upper fixing connecting plate, and the controller can simultaneously judge the weight signal and the position signal so as to adjust the driving force output by the reverse driver in real time.

In the above technical solution of the present invention, the bidirectional floating assembly is provided with a forward driver and a reverse driver, which are respectively used for generating a force and a grinding pressure capable of counteracting the grinding machine part, so as to control the grinding pressure to be constant.

The weight signal of the sander detected by the weighing sensor includes the weight of the sander itself and the weight of the sander mounting structure.

Furthermore, the floating sensing assembly acquires weight and position information through a weighing sensor and a position sensor respectively according to a motion sensing technology, on one hand, acting force is formed to offset the influence generated by the gravity of the grinding machine, on the other hand, constant pressing force is formed, and the surface to be ground is uniformly ground.

Compared with a polishing mode in the background technology, the polishing device in the scheme has the advantages that the polishing device changes according to the outline shape of a workpiece to be polished, the dynamic polishing process is realized, in addition, only rough teaching needs to be carried out on the polishing track of the robot in the polishing process, the controller can realize automatic contact force adjustment on the polishing positions of all positions of the vehicle body, and the constant pressing force on all polishing surfaces is ensured.

Wherein, the adjustment of automatic contact force also can directly acquire according to weighing sensor's measured value, especially at the in-process of polishing, the polisher and automobile body contact back can form certain effort, and at this moment, weighing sensor's numerical value also can produce certain floating, surpasss the numerical value that the controller set for after, the position of polisher can be adjusted in coordination to the controller to make it remain throughout with wait to polish the cooperation position of work piece (automobile body), guarantee to all polish the surperficial pressure power invariable.

According to another embodiment of the present invention, the forward driver is a linear driver, the reverse driver is a linear driver, and the directions of the driving forces output by the forward driver and the reverse driver are collinear, wherein both the forward driver and the reverse driver can adopt air cylinders.

According to another embodiment of the invention, the sander comprises a sander body and a circular connecting seat, wherein the sander body is mounted on the lower floating connecting plate through the circular connecting seat so as to ensure that the forward driver and the reverse driver act on the central area of the sander as much as possible, and further ensure the stability of the structure.

According to another embodiment of the invention, the driving end of the forward driver is connected with the lower floating connecting plate through a first floating joint, the driving end of the reverse driver is connected with the lower floating connecting plate through a second floating joint, and the first floating joint and the second floating joint are located in the center of the circular connecting seat.

The first floating joint and the second floating joint are arranged to eliminate the defect of insufficient thrust caused by the eccentric phenomenon between a driven body (a lower connecting plate) and a driving shaft.

According to another specific embodiment of the invention, the double-slide rail assembly for guiding the sander further comprises a first slide rail, a second slide rail, a first slider, a second slider, a first floating balance plate and a second floating balance plate, wherein the first slide rail and the second slide rail are fixed on the upper fixed connecting plate, the first slide rail and the second slide rail are both arranged along the direction of the driving force output by the forward driver and the reverse driver and are respectively arranged on two sides of the first floating joint and the second floating joint, the first slider is slidably arranged on the first slide rail, and the first floating balance plate is fixed on the first slider and is fixedly connected with the lower floating connecting plate; the second slider slides and sets up on the second slide rail, and the floating balance plate of second is fixed on the second slider to it and floating connection board between fixed connection down.

This scheme adopts two slide rail set spares, can keep forward driver, reverse driver driven synchronism, uniformity and the homogeneity of atress, and through the low friction slip of two slide rails, the whole invariable of process of polishing pressure of further guaranteeing to polish avoids appearing the local effort of polishing too big, the polishing surface defect that the undersize brought, and the homogeneity of polishing is good.

According to another embodiment of the invention, the sander is a servo-electric sander, which is in control connection with the controller.

According to another embodiment of the invention, the sander further comprises a dust exhaust duct for the sander, an outlet end of the dust exhaust duct being fixed to the sander head frame, and an inlet end of the dust exhaust duct being fixed to the lower floating attachment plate and located on one side of the sanding sheet in the sander.

Wherein, part of the dust exhaust pipeline can be a hose to adapt to the floating phenomenon of the sander.

According to another embodiment of the invention, the grinding head frame body is provided with a flange structure for connection to the actuating end of the robot arm.

A second object of the present invention is to provide a floating sensing constant force polishing method, including a polisher, a frame, a forward driver and a backward driver on the frame, a load cell, a position sensor and a controller, wherein the polisher is mounted on a driving end of a robot arm through the frame, and the polisher is located on a driving end of the forward driver and the backward driver, the polishing method including the steps of:

setting a polishing track of the tail end of the manipulator in a polishing process;

measuring and acquiring a current coordinate position signal of the polisher on a polishing track through a position sensor, converting the current coordinate position signal into a first electric signal and transmitting the first electric signal to a controller;

measuring and acquiring a weight signal of the grinding machine through a weighing sensor, converting the weight signal into a second electric signal and transmitting the second electric signal to a controller;

the controller judges and processes the first electric signal and the second electric signal at the same time, and converts and outputs a first output signal to the reverse driver and a second output signal to the forward driver;

wherein the reverse drive provides a force to the sander based on the first output signal to completely counteract the weight of the sander; the positive driver provides acting force to the grinding machine according to the second output signal so as to generate grinding pressure on the surface of the workpiece to be ground.

According to the technical scheme, the current coordinate position signal of the polisher on the polishing track is obtained through the position sensor, the weight signal of the polisher is obtained through the weighing sensor, the controller performs comprehensive calculation at different polishing positions to respectively control the output acting forces of the forward driver and the reverse driver, on one hand, the gravity of the polisher can be counteracted, on the other hand, a constant pressing force is formed, the surface to be polished is uniformly polished, and the polishing uniformity is better.

The output acting force of the reverse driver is changed at different positions, so that the grinding machine can be ensured to be in the optimal stress state to form constant pressing force and ensure grinding precision.

Wherein, the position sensor can adopt a gyroscope.

According to another specific embodiment of the invention, the forward driver is a linear driver, and the acting force F1 provided by the forward driver is a set constant value, namely the grinding pressure; the counter drive is a linear drive and the force F2 provided by the counter drive is a component of the sander's weight in its axial direction.

The invention has the following beneficial effects:

the floating perception polishing head device is a dynamic polishing process through a sensor perception technology, changes according to the outline shape of a workpiece to be polished, and can automatically adjust the contact force of polishing positions of a vehicle body by a controller only by roughly teaching the polishing track of a robot in the polishing process, so that the constant pressing force of all polishing surfaces is ensured.

In addition, set up double-slide rail set spare, when can effectively offset forward driver, reverse driver output effort and produce the change, overall structure's stability, through double-slide rail set spare's low friction slip, improve the homogeneity of atress, further guarantee the invariant of whole process of polishing pressure, avoid appearing the local effort of polishing too big, the polishing surface defect that the undersize brought, the homogeneity of polishing is good.

In addition, the dust exhaust pipeline is arranged, dust in the polishing process is absorbed and exhausted in time, and the cleanliness is high.

Further, the sander of the present invention is used as a servo motor sander, preferably as a circular sanding sheet. Use circular polishing piece to need not to change abrasive paper, can not lead to the interrupt of production, be particularly useful for the different areas of door frame, laminating welding slag that can be better is regional, and the specially adapted bent angle, fillet occasion, it is efficient to polish, and the homogeneity of polishing is strong.

According to the floating perception constant force polishing method, a current coordinate position signal of the polishing device on a polishing track is obtained through the position sensor, a weight signal of the polishing device is obtained through the weighing sensor, the controller performs comprehensive calculation at different polishing positions to respectively control output acting forces of the forward driver and the reverse driver, on one hand, the gravity of the polishing device can be offset, on the other hand, a constant pressing force (acting force output by the forward driver) is formed, a surface to be polished is uniformly polished, and the polishing uniformity is better.

The present invention will be described in further detail with reference to the accompanying drawings.

Drawings

FIG. 1 is a front elevational view of the floating sensing sanding head apparatus of the present invention;

FIG. 2 is a right side elevational view of the floating sensing sanding head apparatus of the present invention;

fig. 3 is a left side view of the floating sensing sanding head apparatus of the present invention.

Detailed Description