Titanium alloy part polishing device and polishing method

Abstract

The present application relates to a kind of titanium alloy parts polishing equipment and polishing method, including industrial robot;Polishing end tool;The polishing end tool is connected with the execution end of the industrial robot, the industrial robot drives the polishing end tool to move randomly in workspace, and the polishing end tool is used to polish titanium alloy parts;Polishing work platform;The polishing work platform is used to fix titanium alloy parts, and cooperate with the polishing end tool movement and polish titanium alloy parts;Automatic sandpaper replacement module;The automatic sandpaper replacement module is replaced with new sandpaper with the polishing end tool cooperation and the waste sandpaper on the polishing end tool;Electric control system;The electric control system is electrically connected with the industrial robot, the polishing end tool, the polishing work platform and the automatic sandpaper replacement module, and the action of each component is controlled as a whole.The present application realizes automatic polishing to titanium alloy parts, improves production efficiency.

Description

Technical Field

[0001] This invention relates to the field of mechanical parts processing equipment, and in particular to a grinding equipment and grinding method for titanium alloy parts. Background Technology

[0002] Titanium alloys are alloys made of titanium and other metals, and are commonly used to manufacture compressor components for aircraft engines, as well as structural components for rockets, missiles, and high-speed aircraft.

[0003] Titanium alloys, an important metallic material developed in the 1950s, are widely used due to their high strength, low density, good mechanical properties, and excellent toughness and corrosion resistance. However, titanium alloys have poor processing performance and are difficult to machine, especially during hot working. They readily absorb impurities such as hydrogen, oxygen, nitrogen, and carbon, leading to damage to their mechanical properties. Furthermore, titanium alloys have poor wear resistance, and the production and grinding processes are complex. With continuous industrial development, titanium alloys are increasingly used in high-requirement products in the industrial field. For the grinding and processing of this complex material, there is a lack of specialized grinding equipment and mature, usable grinding methods, resulting in inconsistent grinding effects. Continuous practice and experimentation are necessary. The trend of titanium alloys in industrial automation is also growing, making the rapid grinding and processing of titanium alloy parts an inevitable trend.

[0004] Therefore, those skilled in the art are dedicated to developing a grinding equipment and method for titanium alloy parts, which can automatically grind titanium alloy parts and improve production efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a grinding equipment and grinding method for titanium alloy parts, so as to realize automatic grinding of titanium alloy parts and improve production efficiency.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a titanium alloy parts grinding equipment, characterized in that: it includes an industrial robot;

[0007] A grinding end tool; the grinding end tool is connected to the execution end of the industrial robot, the industrial robot drives the grinding end tool to move arbitrarily within the workspace, and the grinding end tool is used to grind titanium alloy parts;

[0008] A grinding work platform; the grinding work platform is used to fix titanium alloy parts and to grind titanium alloy parts in conjunction with the movement of the grinding end tool;

[0009] Automatic sandpaper changing module; the automatic sandpaper changing module works with the grinding end tool to replace the old sandpaper on the grinding end tool with new sandpaper;

[0010] The electrical control system is electrically connected to the industrial robot, the grinding end tool, the grinding work platform, and the automatic sandpaper changing module, and controls the actions of each component as a whole.

[0011] The beneficial effects of this invention are: the electronic control system controls the industrial robot, the grinding end tool, the grinding work platform and the automatic sandpaper changing module to automatically grind and shape titanium alloy parts, and can realize single machine or multi-machine series operation, thereby improving grinding efficiency.

[0012] Based on the above technical solution, the present invention can be further improved as follows.

[0013] Furthermore, the grinding end tool includes a robot mounting flange, which is connected to the execution end of the industrial robot. A force-controlled floating device is installed at the other end of the robot mounting flange, and the force-controlled floating device is also connected to a concentric grinding machine and an eccentric grinding machine.

[0014] The concentric grinding machine and the eccentric grinding machine are arranged opposite to each other, and both the concentric grinding machine and the eccentric grinding machine are equipped with grinding discs at their output ends. The grinding discs are coated with sandpaper. The force-controlled floating device is used to control the contact force exerted by the concentric grinding machine and the eccentric grinding machine on the titanium alloy parts.

[0015] The beneficial effect of adopting the above-mentioned further solution is that the industrial robot drives the grinding end tool to move arbitrarily within the workspace, thereby enabling the grinding end tool to grind titanium alloy parts from all directions. Furthermore, the contact force and grinding force of the grinding disc acting on the titanium alloy parts are controlled by the force-controlled floating device to prevent over-grinding. Depending on the properties of titanium alloy, a concentric grinding machine or an eccentric grinding machine can be selected to grind the titanium alloy parts, further ensuring the grinding quality.

[0016] Furthermore, both the concentric grinder and the eccentric grinder are equipped with waterproof covers located on the upper side of the grinding disc;

[0017] The bottom of the force-controlled floating device is also equipped with a tool coordinate calibration tip.

[0018] The beneficial effects of adopting the above-mentioned further solutions are that during the grinding process, the cooling system adds coolant to cool the titanium alloy parts or the grinding disc, preventing high-temperature deformation. The waterproof cover effectively prevents coolant or cutting fluid from splashing into other areas during the cooling process, causing contamination or short circuits. The tool coordinate calibration tip is used for tool calibration at the end of the grinding process. During the working time or debugging of the end tool, positioning and calibration are required using the tool coordinate calibration tip to ensure grinding quality.

[0019] Furthermore, the grinding work platform includes a grinding fixture for mounting titanium alloy parts clamps. The grinding fixture is connected to a rotating shaft, which extends out of the bottom of the grinding water tank and is connected to a rotating shaft motor and a reducer module. The rotation of the rotating shaft motor and the reducer module drives the grinding fixture to rotate.

[0020] The bottom of the polishing tank is equipped with a first drain valve, and the rotating shaft is fitted with a waterproof cover and a dustproof cover.

[0021] The advantages of adopting the above-mentioned further solutions are that the grinding fixture is used to fix the titanium alloy parts, and different fixtures can be selected according to different titanium alloy parts to improve versatility; under the action of the rotary shaft motor and reducer module, the grinding fixture can achieve different speeds and directions to cooperate with the grinding end tool, thereby ensuring the grinding quality of the titanium alloy parts; the waterproof cover and dust cover installed on the outside of the rotary shaft can effectively protect the rotary shaft and prevent dust or moisture from entering the rotating parts and causing corrosion.

[0022] Furthermore, the automatic sandpaper changing module includes a mounting plate, on which multiple sandpaper storage compartments are mounted. Each sandpaper storage compartment has a sandpaper guide port at its opening, and a telescopic cylinder is mounted at the bottom of the sandpaper storage compartment.

[0023] The mounting plate is equipped with a detection sensor for detecting whether thick sandpaper has been torn off or stuck on, and the mounting plate is provided with detection vents for sandpaper with poor surface permeability that has been torn off or stuck on.

[0024] The mounting plate is also equipped with a sandpaper pry clip, which is used to insert into the sandpaper and clamp and tear it.

[0025] The beneficial effects of adopting the above-mentioned further solution are that the telescopic cylinder continuously pushes the sandpaper in the sandpaper storage chamber upwards, thereby ensuring that the sandpaper quickly adheres to the grinding disc through the sandpaper guide port; the detection sensor is used to detect whether the thick sandpaper has been torn off and whether it has been firmly re-adhered; the detection air hole is used to detect whether the sandpaper with poor surface permeability has been torn off and new sandpaper has been re-adhered, keeping the sandpaper replacement accurate and preventing deviations; since the sandpaper is firmly adhered to the grinding disc, when replacing the sandpaper, the sandpaper clamp needs to be inserted into the sandpaper to clamp it before tearing it off, ensuring the sandpaper adhesion quality, and thus ensuring the grinding quality of titanium alloy parts.

[0026] Furthermore, the electrical control system includes a robot cabinet for controlling the movements of the industrial robot, and the robot cabinet is electrically connected to a control cabinet for controlling the force-controlled floating device and the rotary shaft motor and reducer module;

[0027] The control cabinet is also equipped with a pressure detection device and a control solenoid valve.

[0028] The beneficial effect of adopting the above-mentioned further solution is that all moving parts and detection parts in the grinding equipment are centrally controlled and coordinated through the robot electrical cabinet and control cabinet, and run step by step according to the set steps to efficiently complete the grinding of titanium alloy parts.

[0029] Furthermore, it also includes a cooling water circulation system, which includes a water tank. A water pump driven by a water pumping motor sequentially pumps the cooling water in the water tank to a primary filter and a secondary filter before delivering it to the grinding water tank. The grinding water tank is connected to the water tank through a return water pipe.

[0030] A second drain valve is also installed at the bottom of the water tank.

[0031] The beneficial effect of adopting the above-mentioned further solution is that the cooling water circulation system is used to provide coolant or cutting fluid to the titanium alloy parts being polished, preventing damage to the titanium alloy parts themselves caused by the high temperature generated during polishing. In addition, the coolant is circulated into the primary and secondary filters by the water pump to filter out impurities, thereby ensuring the cooling quality.

[0032] Furthermore, it also includes a frame, which comprises multiple profile frames fixedly connected. The side wall of the frame is provided with an emergency stop switch, an external control button, a loading window and a unloading window. The unloading window is equipped with a safety light curtain and a control box.

[0033] The upper side of the frame is equipped with a three-color light and a heat dissipation vent.

[0034] The advantages of adopting the above-mentioned further solutions are that the safety light curtain prevents personal injury caused by operators not operating in accordance with the requirements, and the operation box, emergency stop switch and external control buttons facilitate operation by operators outside the frame, and the working status is displayed by three-color lights.

[0035] Furthermore, a support module is also installed inside the frame. The support module includes a load-bearing base plate installed on the load-bearing beam. The bottom of the load-bearing beam is also equipped with foot support seats, heavy-duty feet, and heavy-duty rollers.

[0036] The beneficial effects of adopting the above-mentioned further solution are that the electronic control system, automatic sandpaper changing module, industrial robot, etc. are all installed on the support module and supported by the foot support base and heavy-duty feet. At the same time, the foot support base and heavy-duty feet can also facilitate the adjustment of the height of the support module, and the heavy-duty rollers can facilitate the overall movement of the grinding equipment.

[0037] A grinding method, using the titanium alloy parts grinding equipment described above, is characterized by comprising the following steps:

[0038] 1) After calibrating the industrial robot and inserting the industrial parameters into the program, import the program into the industrial robot controller;

[0039] 2) Process matching: Select sandpaper and grinding machine according to the type of titanium alloy, set the grinding speed and grinding pressure, and plan the movement path of the grinding machine;

[0040] 3) Place titanium alloy components;

[0041] 4) Start the grinding equipment to grind. Grinding is carried out according to the matching process and the offline program. When grinding the rounded corners, the surface contact is switched to the line contact, and the grinding force needs to be changed to ensure uniform grinding.

[0042] The grinding force can be monitored in real time and communicated directly with the industrial robot. When grinding different positions on titanium alloy parts, the changes in the fluctuation of each point can be detected.

[0043] 5) Test. If the test is passed, the titanium alloy parts are output. If the test fails, return to step 4).

[0044] Step 4) also includes replacing the sandpaper.

[0045] The beneficial effect of adopting the above-mentioned further solution is that by pre-setting technical parameters, selecting appropriate consumables according to the characteristics of titanium alloys, and setting the grinding path before grinding, the grinding efficiency is high and the labor intensity of operators is low. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of a specific embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of the end-grinding tool structure according to a specific embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the grinding work platform structure according to a specific embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the automatic sandpaper changing module structure according to a specific embodiment of the present invention;

[0050] Figure 5 This is a schematic diagram of the structural electronic control system of a specific embodiment of the present invention;

[0051] Figure 6 This is a schematic diagram of a cooling water circulation system according to a specific embodiment of the present invention;

[0052] Figure 7 This is a schematic diagram of the frame structure according to a specific embodiment of the present invention;

[0053] Figure 8 This is a schematic diagram of the support module structure according to a specific embodiment of the present invention;

[0054] Figure 9This is a schematic diagram of the process flow of the polishing method of the present invention.

[0055] The attached diagram lists the components represented by each number as follows:

[0056] 100. Support module; 200. Grinding work platform; 300. Grinding end tool; 400. Automatic sandpaper changing module; 500. Electrical control system; 600. Frame; 700. Industrial robot; 800. Cooling water circulation system;

[0057] 101. Heavy-duty feet; 102. Foot support base; 103. Load-bearing base plate; 104. Load-bearing beam; 105. Heavy-duty rollers;

[0058] 201. Support frame; 202. Grinding water tank; 203. Rotary shaft; 204. Grinding jig; 205. First drain valve; 206. Rotary shaft motor and reducer module;

[0059] 301. Robot mounting flange; 302. Force-controlled floating device; 303. Waterproof cover; 304. Grinding disc; 305. Concentric grinder; 306. Tool coordinate calibration tip; 307. Eccentric grinder;

[0060] 401. Support column; 402. Telescopic cylinder; 403. Sandpaper storage compartment; 404. Detection sensor; 405. Sandpaper guide port; 406. Sandpaper air clamp; 407. Detection air hole; 408. Mounting plate;

[0061] 501. Robot electrical cabinet; 502. Control cabinet; 503. Air pressure detection device; 504. Control solenoid valve;

[0062] 601. Safety light curtain; 602. Control box; 603. Inspection door; 604. External control button; 605. Loading window; 606. Emergency stop switch; 607. Tri-color light; 608. Heat dissipation vent; 609. Profile frame; 610. Unloading window;

[0063] 801. Water tank support base; 802. Water tank; 803. Return water pipe; 804. Secondary filter; 805. Primary filter; 806. Water pump motor; 807. Second drain valve. Detailed Implementation

[0064] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0065] In the description of this invention, it should be understood that the terms "center," "length," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "inner," "outer," "circumferential," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the system or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0066] In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0067] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0068] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown, a titanium alloy parts grinding equipment can be used for grinding various parts, including but not limited to mobile phones, laptops, tablets, and other products in the 3C industry. It includes an industrial robot 700, with the appropriate robot selected according to the actual situation. In this embodiment, the industrial robot 700 can be a seven-axis linkage manipulator, capable of moving freely within the designed space.

[0069] Grinding end tool 300: The grinding end tool 300 is connected to the execution end of the industrial robot 700. The industrial robot 700 drives the grinding end tool 300 to move arbitrarily within the workspace, and the grinding end tool 300 is used to grind titanium alloy parts. In some embodiments, the grinding end tool 300 includes a robot mounting flange 301, which is connected to the execution end of the industrial robot 700. A force-controlled floating device 302 is installed at the other end of the robot mounting flange 301. The force-controlled floating device 302 is an active force control device. After setting a certain grinding force and grinding contact force, it maintains the set grinding force for the workpiece during the grinding process, and adjusts it in real time according to force feedback.

[0070] The force-controlled floating device 302 is also connected to a concentric grinding machine 305 and an eccentric grinding machine 307. In a specific embodiment, depending on the properties of the titanium alloy parts and their grinding requirements, the concentric grinding machine 305 can be a concentric motor or a pneumatic concentric grinding machine, while the eccentric grinding machine 307 can be an eccentric motor or a pneumatic eccentric grinding machine. The force-controlled floating device 302 is used to control the contact force exerted by the concentric grinding machine 305 and the eccentric grinding machine 307 on the titanium alloy parts. Specifically, the active force control provided by the force control floating device 302 acts on the workpiece through the coaxial motor 305 and the eccentric grinder 307. The coaxial grinder 305 and the eccentric grinder 307 are arranged opposite each other, and a grinding disc 304 is installed at the output end of both the coaxial grinder 305 and the eccentric grinder 307. The grinding disc 304 is fixedly installed on the coaxial grinder 305 or the eccentric grinder 307. Different types and sizes of grinding discs can be replaced according to the actual grinding needs, so as to be suitable for different titanium alloy parts and thus ensure the grinding quality.

[0071] Choose between a concentric grinder 305 or an eccentric grinder 307 for grinding, depending on the type of titanium alloy parts or the shape of their surface. All grinding discs 304 are coated with sandpaper, which is generally divided into fine and coarse sandpaper. Different types of sandpaper are selected based on the type of titanium alloy parts and the grinding precision required.

[0072] The bottom of the force-controlled floating device 302 is also equipped with a tool coordinate calibration tip 306. The tool coordinate calibration tip 306 is used for calibration of the grinding end tool 300. During the working time or debugging of the grinding end tool 300, it is necessary to perform positioning calibration through the tool coordinate calibration tip 306 to ensure its accurate travel path and thus guarantee grinding quality. Both the concentric grinder 305 and the eccentric grinder 307 are equipped with waterproof covers 303 located on the upper side of the grinding disc 304. During the grinding process, the cooling circulation system 800 adds coolant to cool the titanium alloy parts to prevent high-temperature deformation. The waterproof cover 303 can effectively prevent coolant or cutting fluid from splashing into other areas, especially the electrical control area, during the cooling process, causing pollution or short circuits.

[0073] like Figure 1 , Figure 3As shown, the system also includes a grinding work platform 200, which is used to fix titanium alloy parts and, in conjunction with the grinding end tool 300, moves to grind the titanium alloy parts. In a specific embodiment, the grinding work platform 200 includes a grinding fixture 204 for mounting titanium alloy parts clamps. Different clamps are selected and used to hold different titanium alloy parts, improving the versatility of the equipment. The grinding fixture 204 is connected to a rotating shaft 203, which is equipped with a waterproof cover and a dustproof cover. In another embodiment, the rotating shaft 203 is further protected against water and dust. The waterproof cover and dustproof cover installed on the rotating shaft 203 effectively protect the rotating shaft 203, preventing dust or moisture from entering the rotating parts and causing corrosion, thus reducing the service life of the rotating shaft 203 and its components. The rotating shaft 203 extends out of the bottom of the polishing water tank 202. The edge of the polishing water tank 202 can be made into an anti-splash structure to reduce coolant splashing. A first drain valve 205 is provided at the bottom of the polishing water tank 202. The first drain valve 205 is used to drain the coolant in the polishing water tank 202. The polishing water tank 202 is supported and installed on the support module 100 by the support frame 201.

[0074] The rotating shaft 203 is connected to the rotating shaft motor and reducer module 206. The rotating shaft motor and reducer module 206 rotates to drive the grinding tool 204 to rotate. In some embodiments, the rotating shaft motor and reducer module 206 includes a motor and a reducer. By controlling the motor and reducer, the rotating shaft can rotate forward and backward, as well as the rotation speed of the rotating shaft, so that it can cooperate with the grinding disc 304 on the grinding end tool 300 to grind the titanium alloy parts in different directions, thereby further improving the grinding quality.

[0075] like Figure 1 , Figure 4 As shown, it also includes an automatic sandpaper changing module 400, which works in conjunction with the grinding end tool 300 to replace the old sandpaper on the grinding end tool 300 with new sandpaper. In some embodiments, the automatic sandpaper changing module 400 includes a mounting plate 408, which is supported on the support module 100 by a support column 401. Multiple sandpaper storage compartments 403 are mounted on the mounting plate 408, which are used to store different types of sandpaper for selection according to different types of titanium alloy parts. The opening of each sandpaper storage compartment 403 is provided with a sandpaper guide opening 405, which arranges the sandpaper in a certain pattern. When the grinding disc 304 adheres the sandpaper, it cooperates with the sandpaper guide opening 405 to adhere the sandpaper to a designated position on the grinding disc 304, thereby ensuring the adhesion quality between the sandpaper and the grinding disc and facilitating subsequent grinding. A telescopic cylinder 402 is installed at the bottom of the sandpaper storage chamber 403. The output end of the telescopic cylinder 402 abuts against the sandpaper, pushing the sandpaper in the sandpaper storage chamber 403 to the sandpaper guide port 405, which facilitates the adhesion of the sanding disc 304.

[0076] A sandpaper pneumatic clamp 406 is also installed on the mounting plate 408. The sandpaper pneumatic clamp 406 is used to insert into the sandpaper and grip and tear it. Because the sandpaper is tightly bonded to the grinding disc 304, it is not easy to fall off. During the replacement process, the insert on the sandpaper pneumatic clamp 406 first extends between the sandpaper and the grinding disc 304. Then, the pneumatic fingers on the sandpaper pneumatic clamp 406 grip the sandpaper. The industrial robot 700 moves the power-controlled floating device 302 and the grinding disc, thereby tearing the sandpaper off the grinding disc 304. The sandpaper pneumatic clamp 406 then opens, and the sandpaper automatically falls into the waste sandpaper collection device at the bottom.

[0077] During sandpaper replacement, it is necessary to check whether the sandpaper has been torn off and whether the sandpaper has been properly bonded after being glued on. Specifically, for thick sandpaper, the mounting plate 408 is equipped with a detection sensor 404 to detect whether the thick sandpaper has been torn off or glued on. First, after the sandpaper is torn off, the grinding disc 304 moves close to the detection sensor 404 under the movement of the industrial robot 700 to check whether it has been torn off. If it is not detected that it has been torn off, the process returns to the previous step and the sandpaper is torn off again. If it is detected that it has been torn off, the grinding disc 304 moves to the sandpaper guide port 405 to glue on the new sandpaper. After gluing, it is also necessary to check whether the grinding disc 304 has glued on the sandpaper. If it is not detected that it has not been glued on, the gluing operation will be performed again.

[0078] For thin sandpaper, a different detection method is used. Specifically, the mounting plate 408 is provided with detection air holes 407 for sandpaper with poor surface permeability that has been torn off or stuck together. The detection air holes 407 allow air to pass through the sandpaper with poor surface permeability, and the air resistance is used to determine whether the sandpaper has been stuck or torn off.

[0079] like Figure 1 , Figure 5As shown, it also includes an electrical control system 500, which is electrically connected to the industrial robot 700, the grinding end tool 300, the grinding work platform 200, and the automatic sandpaper changing module 400, controlling the actions of each component as a whole. In a specific embodiment, the electrical control system 500 includes a robot cabinet 501 for controlling the actions of the industrial robot. The robot cabinet 501 is electrically connected to a control cabinet 502 for controlling the force-controlled floating device 302 and the rotary axis motor and reducer module 206. The control cabinet 502 is also equipped with an air pressure detection device 503 and a control solenoid valve 504. Alternatively, the force control system and the rotary axis control system can be integrated into the robot cabinet 501. The electrical control system 500 can be used to manually set the grinding pressure and contact force of the end force control system, as well as perform I / O configuration, and can also monitor changes in force and displacement in real time. The industrial robot 700 communicates with the central control system via a network. The force control system communicates with the robot via the Mudbus communication protocol. Grinding force and contact force can be set directly through the industrial robot 700. The rotary axis 203 can be configured as an external axis directly on the robot control system.

[0080] Example 1

[0081] like Figure 1 , Figure 6 As shown, it also includes a cooling water circulation system 800, which is mainly used to provide coolant or cutting fluid to the grinding work platform 200. In a specific embodiment, the cooling water circulation system 800 includes a water tank 802, and a second drain valve 807 is installed at the bottom of the water tank 802. The second drain valve 807 is used to drain the coolant completely when changing the coolant. A water pump 806 drives a water pump to pump the cooling water in the water tank 802 sequentially to a primary filter 805, a secondary filter 804, and then to the grinding water tank 202. The grinding water tank 202 is connected to the water tank 802 through a return water pipe 803. The filter mesh size of the filter element in the primary filter 805 must be smaller than that of the secondary filter, and the secondary filtration accuracy for grinding titanium alloy parts must not be lower than 10μm. The water tank 802 is supported on the support module 100 by a water tank support base 801, and movable rollers can be installed at the bottom of the water tank support base 801 to facilitate its movement when changing the coolant or cutting fluid.

[0082] For polishing products made of titanium alloy, diamond abrasive sandpaper should be used. The sandpaper surface should be hard, and the back should have a certain amount of cushioning. The type of sandpaper is generally selected based on the coarse, semi-fine, and fine grinding processes. The industrial robot 700 must operate at low speeds during polishing, and the polishing pressure should not be too high. The rotation speed of the 304 polishing disc will be set depending on whether it is concentric or eccentric; generally, the rotation speed for eccentric polishing is higher than that for concentric polishing. The next step after polishing the titanium alloy needs to be considered. In the 3C industry, the next step is usually mirror polishing, achieved through leather grinding. Therefore, the sandpaper marks after the last piece of sandpaper polishing should be shallow and appear shiny to the naked eye. Coolant or grinding fluid must be used during polishing; water can generally be used as a substitute. When supplying water, it is essential to maintain a continuous supply of water to the 304 polishing disc, and the water flow rate should not be too low. Too low a flow rate will result in more severe sandpaper wear and affect the polishing quality. The water pressure should also not be too high, as this will affect the variation in polishing force.

[0083] Example 2

[0084] like Figure 1 , Figure 7 As shown, the machine also includes a frame 600, which consists of multiple profile frames 609 fixedly connected to form a frame. Partitions are installed on the frames. An emergency stop switch 606 is installed on the side wall of the frame 600 to quickly stop the equipment in an emergency and prevent further damage. An external control button 604 allows operators to operate the machine from outside the frame. There are a loading window 605 and a unloading window 610. The loading window 605 uses a rodless cylinder and a linear guide rail for guidance and power. After grinding, the loading window 605 automatically opens; after the workpiece is manually clamped, the loading window 605 automatically closes when grinding is started. The unloading window 610 is equipped with a safety light curtain 601 and a control box 602. A three-color light 607 and a heat dissipation vent 608 are located on the upper side of the frame 600. The three-color light 607 provides corresponding prompts and facilitates the operator to promptly remove the processed titanium alloy parts for the next process. The rack 600 is also equipped with an inspection door 603, which allows maintenance personnel to enter for inspection and maintenance. The inspection door 603 is also equipped with a corresponding safety lock.

[0085] Example 3

[0086] like Figure 1 , Figure 8 As shown, a support module 100 is also installed inside the frame 600. Specifically, the support module 100 includes a load-bearing base plate 103 installed on the load-bearing beam 104. The load-bearing base plate 103 can be made of high-strength steel plate to increase the weight at the bottom and prevent the industrial robot 700 from shifting its position when it moves.

[0087] The bottom of the load-bearing beam 104 is also equipped with a foot support 102, a heavy-duty foot cup 101, and a heavy-duty roller 105. The foot support 102 and the heavy-duty foot cup 101 facilitate the adjustment of the height of the support module 100. The heavy-duty roller 105 can be a heavy-duty caster wheel, which facilitates the overall movement of the grinding equipment. To further reduce the swaying of the support module, the foot support 102 can be fixed with anchor bolts.

[0088] like Figure 9 As shown, a grinding method using the above-mentioned titanium alloy parts grinding equipment includes the following steps:

[0089] 1) Before grinding, calibrate the industrial robot, insert the industrial parameters into the program, and then import the program into the industrial robot controller.

[0090] 2) Process matching: Select sandpaper and grinding machine according to the type of titanium alloy, set the grinding speed and grinding pressure, and plan the grinding machine's travel path;

[0091] 3) The operator places the titanium alloy parts and triggers the industrial robot control command. The industrial robot moves along the set path. When the end grinding disc contacts the workpiece, the contact force is greater than the grinding force. Therefore, in the initial setting, appropriate compensation should be made according to the grinding force to reduce the contact force and prevent the workpiece from being over-grinded.

[0092] 4) Start the grinding equipment and begin grinding. Grinding is performed according to the matched process and offline program. When grinding rounded corners, switch from surface contact to line contact. To ensure consistent grinding results for rounded corners and straight edges, it is necessary to reduce the grinding force at the rounded corners. Increasing the grinding speed can also help avoid over-grinding. Furthermore, the grinding force needs to be adjusted to ensure uniform grinding. The grinding force can be monitored in real time and communicated directly with the industrial robot. Changes in the fluctuation amount at each point are detected during grinding on different locations on the titanium alloy parts.

[0093] When the sandpaper reaches its lifespan limit or when it needs to be replaced with sandpaper of a different grit, the control system will prompt the robot to replace the sandpaper. The lifespan of each type of sandpaper and the order in which they are used need to be determined during the initial process debugging. The number of times and the order in which each type of sandpaper is used are imported into the industrial robot teach pendant, and monitoring is achieved through program calls.

[0094] 5) Testing: Test the polished titanium alloy parts. If the test is successful, the titanium alloy parts are output. If the test fails, return to step 4) to continue polishing.

[0095] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A titanium alloy part finishing apparatus, characterized by: Industrial robot (700); Polishing end tool (300); the polishing end tool (300) is connected with the execution end of the industrial robot (700), the industrial robot (700) drives the polishing end tool (300) to move randomly in the working space, and the polishing end tool (300) is used for polishing titanium alloy parts; Polishing work platform (200); the polishing work platform (200) is used for fixing titanium alloy parts and polishing titanium alloy parts by moving in cooperation with the polishing end tool (300); Automatic sandpaper changing module (400); the automatic sandpaper changing module (400) is used for replacing the waste sandpaper on the polishing end tool (300) with new sandpaper in cooperation with the polishing end tool (300); Electric control system (500); the electric control system (500) is electrically connected with the industrial robot (700), the polishing end tool (300), the polishing work platform (200) and the automatic sandpaper changing module (400), and the whole controls the actions of the components; The automatic sandpaper changing module (400) comprises a mounting plate (408), a plurality of sandpaper storage bins (403) are installed on the mounting plate (408), a sandpaper guide opening (405) is arranged at the bin opening of the sandpaper storage bin (403), and a telescopic air cylinder (402) is installed at the bottom of the sandpaper storage bin (403); A detection sensor (404) for detecting that thick sandpaper has been torn off or has been adhered is installed on the mounting plate (408), and a detection air hole (407) for detecting that sandpaper with poor surface permeability has been torn off or has been adhered is arranged on the mounting plate (408); A sandpaper air clamp (406) is further installed on the mounting plate (408), and the sandpaper air clamp (406) is used for inserting into the sandpaper and clamping and tearing; The polishing end tool (300) comprises a robot mounting flange (301), the robot mounting flange (301) is connected with the execution end of the industrial robot (700), a force control floating device (302) is installed at the other end of the robot mounting flange (301), and a concentric polisher (305) and an eccentric polisher (307) are further connected with the force control floating device (302); The concentric polisher (305) and the eccentric polisher (307) are oppositely arranged, polishing discs (304) are installed at the output ends of the concentric polisher (305) and the eccentric polisher (307), sandpaper is adhered to the polishing discs (304), and the force control floating device (302) is used for controlling the contact force of the concentric polisher (305) and the eccentric polisher (307) on the titanium alloy parts.

2. The titanium alloy component finishing apparatus of claim 1, wherein: Waterproof covers (303) are installed on the concentric polisher (305) and the eccentric polisher (307) and located on the upper sides of the polishing discs (304); A tool coordinate calibration tip (306) is further installed at the bottom of the force control floating device (302).

3. The titanium alloy component finishing apparatus of claim 2, wherein: The polishing work platform (200) comprises a polishing jig (204) for mounting a titanium alloy part clamp, the polishing jig (204) is connected with a rotating shaft (203), the rotating shaft (203) extends out of the bottom of a polishing sink (202) and is connected with a rotating shaft motor and a speed reducer module (206), the rotating shaft motor and the speed reducer module (206) rotate to drive the polishing jig (204) to rotate; The bottom of the polishing sink (202) is provided with a first drain valve (205), and the rotating shaft (203) is externally provided with a waterproof cover and a dust cover.

4. The titanium alloy component finishing apparatus of claim 3, wherein: The electric control system (500) comprises a robot electric cabinet (501) for controlling the action of the industrial robot, and the robot electric cabinet (501) is electrically connected with a control cabinet (502) for controlling the force control floating device (302) and the rotating shaft motor and speed reducer module (206); The control cabinet (502) is further provided with an air pressure detection device (503) and a control electromagnetic valve (504).

5. The titanium alloy component finishing apparatus of claim 3, wherein: Further comprising a cooling water circulation system (800), the cooling water circulation system (800) comprises a water tank (802), a water pump driven by a water pumping motor pumps the cooling water in the water tank (802) to a first filter (805), a second filter (804) in sequence and then to the polishing sink (202), and the polishing sink (202) is communicated with the water tank (802) through a backwater pipe (803); The bottom of the water tank (802) is further provided with a second drain valve (807).

6. The titanium alloy component finishing apparatus of claim 5, wherein: Further comprising a rack (600), the rack (600) comprises a plurality of profile frames (609) fixedly connected, and the side wall of the rack (600) is provided with an emergency stop switch (606), an external control button (604), a feeding window (605) and a material taking window (610), and the material taking window (610) is provided with a safety grating (601) and a control box (602); The upper side of the rack (600) is provided with a three-color lamp (607) and a heat dissipation vent (608).

7. The titanium alloy component finishing apparatus of claim 6, wherein: The rack (600) is further provided with a support module (100) installed therein, the support module (100) comprises a load-bearing bottom plate (103) installed on a load-bearing beam (104), and the bottom of the load-bearing beam (104) is further provided with a foundation foot support seat (102), a heavy load foot cup (101) and a heavy load roller (105).

8. A polishing method using the titanium alloy component polishing apparatus according to any one of claims 1 to 7, characterized by The method comprises the following steps: 1) calibrate the industrial robot, insert the industrial parameters into the program, and then import the program into the industrial robot controller; 2) process matching, select sandpaper and a polishing machine according to the type of titanium alloy, set the polishing speed and polishing pressure, and plan the polishing machine movement path; 3) place the titanium alloy part; 4) start the polishing equipment to polish, and polish according to the matched process and the offline program, switch from surface contact to line contact when polishing the round corner, and need to change the polishing force to ensure uniform polishing; The polishing force can be monitored in real time, directly communicates with the industrial robot to feedback, detects the change of the floating amount of each point when polishing at different positions on the titanium alloy part; 5) testing, if the test is qualified, the titanium alloy part is output, if the test is unqualified, it returns to step 4); In step 4), the sandpaper is also replaced.

Images