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Planning polishing method for curved surface of special-shaped stone based on robot

A robot and curved surface technology, applied in the direction of grinding/polishing equipment, grinding machines, metal processing equipment, etc., can solve the problems that the robot polishing system is difficult to realize and the planning trajectory is single, so as to reduce the harm of noise and dust to people and improve The effect of high overall quality and processing efficiency

Active Publication Date: 2020-05-08
HUAQIAO UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The material of the workpiece targeted by the existing technology is relatively homogeneous, the shape is relatively simple, and the planned trajectory is relatively single
Due to the changeable shape of the surface of the special-shaped stone, when polishing it, it is necessary to obtain a good polishing effect and to make the polishing process efficient, which is difficult to achieve with the robot polishing system in the prior art

Method used

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  • Planning polishing method for curved surface of special-shaped stone based on robot
  • Planning polishing method for curved surface of special-shaped stone based on robot
  • Planning polishing method for curved surface of special-shaped stone based on robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] (1) Choose a flexible polishing disc with a suitable degree of hardness, such as figure 1 As shown, the flexible substrate of the flexible polishing disc has a Shore hardness of 45HSA, a diameter of 100mm and a thickness of 20mm, and is cylindrical. The surface of the flexible polishing disc is semi-consolidated with a diamond abrasive of W40 grain size through a gel. ;

[0029] (2) Prepare as figure 2 The polishing workpiece shown includes a base and a surface to be polished. The base is cubic, the surface to be polished is provided on the top surface thereof, and the surface to be polished is a partial side wall of a cone. The top angle of the cone is 50°, the length of the generatrix is ​​223mm, and the radius of the bottom circle is 100mm. The uppermost generatrix of the cone where this part of the side wall is located is parallel to the upper surface of the base, and the uppermost generatrix is ​​connected to the base. The distance between the top surface of the seat...

Embodiment 2

[0034] Steps (1) to (4) are the same as in Example 1

[0035] (5) According to Image 6 The surface characteristics of the surface of the special-shaped stone to be polished are partitioned: by observing the changes in the surface morphology, the surface of the special-shaped stone to be polished is divided into the front area, the back area, the middle area, the middle area and the middle area. Zone 3 and Zone 4;

[0036] (6) The front area and the back area are relatively flat, and the soft characteristics of the flexible polishing disc can be used to fit together, and the trajectory planning is carried out according to the plane. To ensure full coverage of the area, the distance between the tracks is about one-third of the diameter of the flexible polishing disc d=30mm; Import the surface of the special-shaped stone to be polished into the three-dimensional modeling software Rhino to generate a curvature cloud map, and take 10 points at each area where the curvature cloud map sh...

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Abstract

The invention discloses a planning polishing method for a curved surface of special-shaped stone based on a robot. By establishing a full-fitting polishing model, the polishing area of the curved surface of the special-shaped stone is fully covered, and the polishing efficiency is also improved. The special-shaped stone can be polished and subjected to trajectory planning in a division mode, and the uniformity of the polishing quality of all the areas can be well guaranteed, which greatly helps to improve the overall quality of the special-shaped stone. Automated polishing is achieved by a mechanical arm, traditional manual polishing is replaced, workers are isolated from the processing environment, and the harm of noise and dust to people during polishing can be reduced. The polishing quality of all the polishing parts can be unified through automated polishing, the processing efficiency is high, and the cost is low.

Description

Technical field [0001] The invention belongs to the technical field of stone polishing, and specifically relates to a robot-based method for planning the polishing trajectory of a special-shaped stone curved surface. Background technique [0002] Stone products often give people a sense of returning to nature. To reflect the texture of stone, the last step of polishing is particularly important. For flat stone products, there are now more mature processing techniques, while for special-shaped stones, such as common sculptures such as people or animals, roman columns and railing posts, and large curved construction products such as curved plates and arches, they basically rely on The polisher polished by hand. Manual polishing has low yield, low efficiency, and high labor intensity. For the same model, each worker has different polishing effects. Workers who have just entered the job need to train for a long time to achieve proficient polishing skills. In addition, due to the ha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B24B1/00B24B19/22
CPCB24B1/00B24B19/22
Inventor 陆静申云杨磊黄身桂崔长彩徐西鹏
Owner HUAQIAO UNIVERSITY
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