阅读说明：本技术 一种基于复杂曲面特征划分的模具自动打磨方法 (Automatic mold polishing method based on complex curved surface feature division ) 是由 洪鹰 周宇 肖聚亮 王国栋 张春洋 郑乾健 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种基于复杂曲面特征划分的模具自动打磨方法,设凹曲面曲率为负,凸曲面曲率为正,将模具表面根据主曲率值划分为多个表面类别；由模具表面类别匹配打磨工具,来构建打磨机器人的工具库；根据模具表面形状、工具库及打磨工艺制订打磨路径；根据打磨路径、工具库及打磨工艺编制自动打磨程序；将自动打磨程序下载至打磨机器人并启动打磨机器人进行自动打磨。本发明通过对汽车连杆等复杂表面模具、打磨工具以及材料去除模型的分析,控制打磨机器人实现对汽车连杆等复杂表面模具的多工具恒材料去除的打磨抛光,提高汽车连杆等复杂表面模具的生产质量与生产效率,大大减少汽车连杆等复杂表面模具打磨抛光耗费的时间与成本。(The invention discloses an automatic grinding method for a mold based on complex curved surface characteristic division, which comprises the steps of setting the curvature of a concave curved surface as negative and the curvature of a convex curved surface as positive, and dividing the surface of the mold into a plurality of surface categories according to a main curvature value; constructing a tool library of the polishing robot by matching the types of the surfaces of the molds with the polishing tools; preparing a polishing path according to the surface shape of the mold, the tool library and the polishing process; an automatic polishing program is compiled according to the polishing path, the tool library and the polishing process; and downloading the automatic polishing program to the polishing robot and starting the polishing robot to perform automatic polishing. According to the invention, through the analysis of the complex surface molds such as the automobile connecting rod, the grinding tool and the material removal model, the grinding robot is controlled to realize the grinding and polishing of the complex surface molds such as the automobile connecting rod with constant material removal of multiple molds, the production quality and the production efficiency of the complex surface molds such as the automobile connecting rod are improved, and the time and the cost consumed by the grinding and polishing of the complex surface molds such as the automobile connecting rod are greatly reduced.)

1. An automatic grinding method for a mold based on complex curved surface characteristic division is characterized in that the curvature of a concave curved surface is set as negative, the curvature of a convex curved surface is set as positive, and the surface of the mold is divided into a plurality of surface categories according to a main curvature value; constructing a tool library of the polishing robot by matching the types of the surfaces of the molds with the polishing tools; preparing a polishing path according to the surface shape of the mold, the tool library and the polishing process; an automatic polishing program is compiled according to the polishing path, the tool library and the polishing process; and downloading the automatic polishing program to the polishing robot and starting the polishing robot to perform automatic polishing.

2. The automatic grinding method for the mold divided based on the complex curved surface feature as claimed in claim 1, characterized by comprising the following steps:

the method comprises the following steps: dividing the surface of the mold into three major classes of a plane, a convex curved surface and a concave curved surface according to the three-dimensional model of the mold, and further dividing the concave curved surface and the convex curved surface into a plurality of minor classes of concave curved surfaces and convex curved surfaces according to the main curvature of the curved surfaces;

step two: correspondingly selecting a proper polishing tool according to the classification of the surface of the mold divided in the step one; editing a comparison table of the type of the surface of the mold and the type of the grinding tool;

step three: according to the comparison table, the grinding tools are developed into a grinding tool library for automatic grinding according to the mesh number required by different grinding and polishing stages;

step four: generating a polishing tool path polished by multiple tools by combining the three-dimensional model of the mold and the material removal model with the configured polishing tool library;

step five: optimizing technological parameters in the grinding and polishing process, and optimizing the distance between grinding and polishing paths;

step six: according to the rule that the curvature of a polishing tool is from large to small when a mold is polished, writing an automatic polishing program of a polishing robot, and writing the program into a polishing robot controller;

step seven: and starting the grinding robot to grind and polish the mold.

3. The automatic grinding method for the mold divided based on the complex curved surface features as claimed in claim 2, wherein in the first step, the concave and convex curved surfaces are divided into 5-10 kinds of concave curved surfaces and 5-10 kinds of convex curved surfaces according to the main curvature of the curved surfaces.

4. The automatic grinding method for the mold divided based on the complex curved surface features as claimed in claim 2, wherein in the third step, the method for developing the grinding tools into the grinding tool library for automatic grinding according to the mesh number required by different grinding and polishing stages is as follows: according to different grinding and polishing stages from rough grinding to fine polishing, the grinding tools are sequentially expanded from 80 meshes to 1000 meshes.

5. The automatic grinding method for dies divided based on complex curved surface features as claimed in claim 2, wherein in the fourth step, various grinding tools are combined with corresponding tool paths of multiple die curved surfaces to form an integral die grinding path.

6. The automatic grinding method for the mold divided based on the complex curved surface features as claimed in claim 2, wherein in the fifth step, the optimized process parameters comprise a grinding contact force of a tool workpiece, a spindle rotation speed, a feed speed and a grinding tool inclination angle.

7. The automatic grinding method for the mold divided based on the complex curved surface features as claimed in claim 2, wherein in the fifth step, the method for optimizing the process parameters in the grinding and polishing process comprises:

establishing a tool workpiece contact area model and a tool workpiece contact area pressure distribution model by a tool workpiece geometric model, a tool workpiece polishing contact force and a polishing tool inclination angle; establishing a tool workpiece contact area surface linear velocity distribution model by a tool workpiece geometric model, a tool workpiece contact area model and a spindle rotating speed; establishing a material removal model by using a tool workpiece contact area model, a tool workpiece contact area pressure distribution model and a tool workpiece contact area surface linear velocity distribution model; and optimizing the technological parameters and the grinding tool path distance in the grinding and polishing process through the material removal curve in the material removal model.

8. The automatic grinding method for the mold divided based on the complex curved surface features as claimed in claim 7, wherein the method for optimizing the grinding path distance comprises the following steps: the distance between the continuous grinding paths of the grinding tools of the same type on the curved surfaces of the connecting rod mould of single or multiple types is optimized; and the grinding path intervals of the grinding path junctions of different types of grinding tools on the curved surfaces of the connecting rod molds are optimized.

9. The automatic grinding method for the mold divided based on the complex curved surface features as claimed in claim 1, wherein the principal curvature of the grinding tool is 1.005-1.01 times of the principal curvature of the curved surface of the mold.

10. The automatic grinding method for the mold divided based on the complex curved surface features as claimed in claim 1, wherein one grinding tool is matched with a plurality of classes of the curved surfaces of the mold.

Technical Field

The invention relates to a grinding and polishing method for an automobile connecting rod mold, in particular to an automatic mold grinding method based on complex curved surface characteristic division.

Background

At present, for the die machining of complex free-form surface workpieces, the main means adopted is manual grinding, and the manual grinding and polishing have the defects of unstable grinding and polishing quality, poor consistency, low efficiency, harsh working environment and the like, so that the manufacturing level of the whole industry is influenced.

Its surface of car connecting rod mould is more complicated usually, uses single kind grinding tool can meet car connecting rod mould part corner polishing that can not be fine usually, perhaps leads to the inefficiency of polishing because the grinding tool undersize, the task of polishing of completion mould that can not be fine, and adopts multiple grinding tool to carry out polishing of mould can produce the inconsistent problem of different grinding tool juncture connecting rod mould surface material removal volume again usually. The automatic grinding method for the automobile connecting rod mould is adopted to realize grinding and polishing of the automobile connecting rod mould by multi-tool constant material removal and automatic grinding and polishing of the automobile connecting rod mould, so that the production quality and the production efficiency of the automobile connecting rod mould are improved, the time consumed by grinding and polishing of the automobile connecting rod mould is greatly reduced, the working environment of workers is improved, the automatic production level of grinding and polishing of the automobile connecting rod mould is improved, and the like.

Disclosure of Invention

The invention provides an automatic die polishing method based on complex curved surface feature division for solving the technical problems in the prior art.

The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows: a mould automatic polishing method based on complex curved surface characteristic division is provided, the curvature of a concave curved surface is set as negative, the curvature of a convex curved surface is set as positive, and the surface of a mould is divided into a plurality of surface categories according to a main curvature value; constructing a tool library of the polishing robot by matching the types of the surfaces of the molds with the polishing tools; preparing a polishing path according to the surface shape of the mold, the tool library and the polishing process; an automatic polishing program is compiled according to the polishing path, the tool library and the polishing process; and downloading the automatic polishing program to the polishing robot and starting the polishing robot to perform automatic polishing.

Further, the method comprises the steps of:

the method comprises the following steps: dividing the surface of the mold into three major classes of a plane, a convex curved surface and a concave curved surface according to the three-dimensional model of the mold, and further dividing the concave curved surface and the convex curved surface into a plurality of minor classes of concave curved surfaces and convex curved surfaces according to the main curvature of the curved surfaces;

step two: correspondingly selecting a proper polishing tool according to the classification of the surface of the mold divided in the step one; editing a comparison table of the type of the surface of the mold and the type of the grinding tool;

step three: according to the comparison table, the grinding tools are developed into a grinding tool library for automatic grinding according to the mesh number required by different grinding and polishing stages;

step four: generating a polishing tool path polished by multiple tools by combining the three-dimensional model of the mold and the material removal model with the configured polishing tool library;

step five: optimizing technological parameters in the grinding and polishing process, and optimizing the distance between grinding and polishing paths;

step six: according to the rule that the curvature of a polishing tool is from large to small when a mold is polished, writing an automatic polishing program of a polishing robot, and writing the program into a polishing robot controller;

step seven: and starting the grinding robot to grind and polish the mold.

Further, in the first step, the concave and convex curved surfaces are divided into 5-10 types of concave curved surfaces and 5-10 types of convex curved surfaces according to the main curvature of the curved surfaces.

Further, the method for developing the grinding tool into the grinding tool library for automatic grinding according to the mesh number required by different grinding and polishing stages comprises the following steps: according to different grinding and polishing stages from rough grinding to fine polishing, the grinding tools are sequentially expanded from 80 meshes to 1000 meshes.

Furthermore, various grinding tools and corresponding tool paths of various mould curved surfaces are combined to form an integral mould grinding path.

Further, in the fifth step, the optimized process parameters comprise a grinding contact force of the tool workpiece, a rotating speed of the spindle, a feeding speed and a grinding tool inclination angle.

Further, in the fifth step, the method for optimizing the process parameters in the polishing process comprises:

establishing a tool workpiece contact area model and a tool workpiece contact area pressure distribution model by a tool workpiece geometric model, a tool workpiece polishing contact force and a polishing tool inclination angle; establishing a tool workpiece contact area surface linear velocity distribution model by a tool workpiece geometric model, a tool workpiece contact area model and a spindle rotating speed; establishing a material removal model by using a tool workpiece contact area model, a tool workpiece contact area pressure distribution model and a tool workpiece contact area surface linear velocity distribution model; and optimizing the technological parameters and the grinding tool path distance in the grinding and polishing process through the material removal curve in the material removal model.

Further, the method for optimizing the distance between the grinding cutter paths comprises the following steps: the distance between the continuous grinding paths of the grinding tools of the same type on the curved surfaces of the connecting rod mould of single or multiple types is optimized; and the grinding path intervals of the grinding path junctions of different types of grinding tools on the curved surfaces of the connecting rod molds are optimized.

Furthermore, the main curvature of the polishing tool is 1.005-1.01 times of the main curvature of the curved surface of the die.

Further, an abrading tool matches multiple classes of mold surfaces.

The invention has the advantages and positive effects that: compared with manual grinding and polishing, the invention controls the grinding robot to realize the grinding and polishing of the complex surface molds such as the automobile connecting rod and the like by analyzing the complex surface molds such as the automobile connecting rod and the like, the grinding tool and the material removal model, thereby improving the production quality and the production efficiency of the complex surface molds such as the automobile connecting rod and the like by removing the constant material of the multiple molds, greatly reducing the time and the cost consumed by the grinding and polishing of the complex surface molds such as the automobile connecting rod and the like, improving the working environment of workers and improving the automatic production level of the grinding and polishing of the complex surface molds such as the automobile connecting rod and the like.

Drawings

FIG. 1 is a schematic diagram of a mold for polishing an automobile connecting rod by using the automatic mold polishing method based on complex curved surface feature division.

FIG. 2 is a work flow diagram of the automatic mold polishing method based on complex curved surface feature partitioning according to the present invention.

In the figure: 1. a five-degree-of-freedom hybrid robot body; 2. an automobile connecting rod mold; 3. an automobile connecting rod mold positioning platform;

4. a grinding tool changing rack; 5. robot control cabinet.

Detailed Description

For further understanding of the contents, features and effects of the present invention, the following embodiments are enumerated in conjunction with the accompanying drawings, and the following detailed description is given:

referring to fig. 1 to 2, an automatic polishing method for a mold based on complex curved surface feature division is provided, wherein the curvature of a concave curved surface is negative, the curvature of a convex curved surface is positive, and the surface of the mold is divided into a plurality of surface categories according to a main curvature value; constructing a tool library of the polishing robot by matching the types of the surfaces of the molds with the polishing tools; preparing a polishing path according to the surface shape of the mold, the tool library and the polishing process; an automatic polishing program is compiled according to the polishing path, the tool library and the polishing process; and downloading the automatic polishing program to the polishing robot and starting the polishing robot to perform automatic polishing.

Preferably, the method may comprise the steps of:

the method comprises the following steps: dividing the surface of the mold into three major classes of a plane, a convex curved surface and a concave curved surface according to the three-dimensional model of the mold, and further dividing the concave curved surface and the convex curved surface into a plurality of minor classes of concave curved surfaces and convex curved surfaces according to the main curvature of the curved surfaces;

step two: correspondingly selecting a proper polishing tool according to the classification of the surface of the mold divided in the step one; editing a comparison table of the type of the surface of the mold and the type of the grinding tool;

step three: according to the comparison table, the grinding tools are developed into a grinding tool library for automatic grinding according to the mesh number required by different grinding and polishing stages;

step four: generating a polishing tool path polished by multiple tools by combining the three-dimensional model of the mold and the material removal model with the configured polishing tool library;

step five: optimizing technological parameters in the grinding and polishing process, and optimizing the distance between grinding and polishing paths;

step six: according to the rule that the curvature of a polishing tool is from large to small when a mold is polished, writing an automatic polishing program of a polishing robot, and writing the program into a polishing robot controller;

step seven: and starting the grinding robot to grind and polish the mold.

Preferably, in the first step, the concave and convex curved surfaces can be divided into 5-10 types of concave curved surfaces and 5-10 types of convex curved surfaces according to the main curvature of the curved surface.

Preferably, in step three, the method for developing the grinding tool into the grinding tool library for automatic grinding according to the required mesh number of different grinding and polishing stages can be as follows: according to different grinding and polishing stages from rough grinding to fine polishing, the grinding tools are sequentially expanded from 80 meshes to 1000 meshes.

Preferably, in the fourth step, various grinding tools and corresponding tool paths of various die curved surfaces can be combined to form an integral die grinding path.

Preferably, in step five, the optimized process parameters may include tool workpiece grinding contact force, spindle rotation speed, feed speed and grinding tool inclination.

Preferably, in step five, the method for optimizing the process parameters in the polishing process may include:

establishing a tool workpiece contact area model and a tool workpiece contact area pressure distribution model by a tool workpiece geometric model, a tool workpiece polishing contact force and a polishing tool inclination angle; establishing a tool workpiece contact area surface linear velocity distribution model by a tool workpiece geometric model, a tool workpiece contact area model and a spindle rotating speed; establishing a material removal model by using a tool workpiece contact area model, a tool workpiece contact area pressure distribution model and a tool workpiece contact area surface linear velocity distribution model; and optimizing the technological parameters and the grinding tool path distance in the grinding and polishing process through the material removal curve in the material removal model.

Preferably, the method for optimizing the grinding path distance may include: the distance between the continuous grinding paths of the grinding tools of the same type on the curved surfaces of the connecting rod mould of single or multiple types is optimized; and the grinding path intervals of the grinding path junctions of different types of grinding tools on the curved surfaces of the connecting rod molds are optimized.

Preferably, the principal curvature of the grinding tool can be 1.005-1.01 times of the principal curvature of the curved surface of the die.

Preferably, an abrading tool can match multiple classes of mold surfaces.

The working process and working principle of the present invention are further illustrated by a preferred embodiment of the present invention as follows:

by adopting the automatic die polishing method based on the complex curved surface characteristic division, the polishing robot selects a series-parallel robot with the characteristics and advantages of a series robot and a parallel robot, such as a five-degree-of-freedom series-parallel robot; and grinding and polishing the automobile connecting rod mold 2.

As shown in fig. 1 and 2, the automatic grinding method for the mold based on the complex curved surface feature division of the present invention comprises the following steps:

step A: classifying the surface of the automobile connecting rod mold 2 to be polished specifically according to a three-dimensional model of the automobile connecting rod mold 2, firstly dividing the mold surface into three categories, namely a plane, a convex curved surface and a concave curved surface, refining and classifying the convex curved surface and the concave curved surface according to the main curvature of the curved surface, and counting and arranging the surfaces;

and B: according to a material removal model influenced by the curvature change of the complex curved surface of the connecting rod mold, selecting a polishing tool with a proper geometric type according to the result of counting and arranging the geometric types of the surface of the automobile connecting rod mold 2 in the step one, and counting and arranging the polishing tool;

and C: b, according to the results of statistics and arrangement of the geometric types of the grinding tools in the step B, the tools are expanded into a grinding tool library for automatic grinding according to the mesh number required by different grinding and polishing stages;

step D: according to the steps A to C, combining the three-dimensional model of the automobile connecting rod mold 2, process arrangement of surface material removal amount of the mold at different grinding and polishing stages and a material removal model, and combining a configured grinding tool library to generate a grinding and polishing tool path of the multi-tool automobile connecting rod mold;

step E: optimizing and allocating process parameters (including tool workpiece grinding contact force, spindle rotation speed, feed speed, grinding tool inclination angle and the like) in the grinding and polishing process, and optimizing the distance between grinding paths so as to obtain the grinding and polishing effect of the surface of the connecting rod mold with constant material removal rate;

step F: according to the steps, grinding and polishing the automobile connecting rod molds one by one according to the sequence of the curvatures of the grinding tools from large to small, programming a robot control program by a computer, and storing the program into the five-degree-of-freedom hybrid robot control cabinet 5;

step G: and starting the five-freedom-degree series-parallel robot, and finishing the automatic grinding and polishing task of the automobile connecting rod mold 2 by the five-freedom-degree series-parallel robot according to a specified program. In the process of the automobile connecting rod mold 2, the automobile connecting rod mold 2 is positioned and clamped by the automobile connecting rod mold positioning platform 3. When the grinding tool needs to be replaced, the tail end of the five-freedom-degree series-parallel robot body 1 moves to the position above the grinding tool replacing frame 4, and then the electric spindle on the five-freedom-degree series-parallel robot body 1 is used for achieving automatic tool changing.

The above-mentioned embodiments are only for illustrating the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to carry out the same, and the present invention shall not be limited to the embodiments, i.e. the equivalent changes or modifications made within the spirit of the present invention shall fall within the scope of the present invention.