Composite organic glass surface grinding device

Abstract

The invention provides a composite organic glass surface grinding device, and belongs to the technical field of grinding devices. The invention comprises: a frame; the three-degree-of-freedom mechanical arm is connected to the rack in a sliding manner; the flexible force control grinding device is arranged at the output end of the three-degree-of-freedom mechanical arm and used for grinding the surface of the composite organic glass; the glass fixing clamp device is arranged on the mounting table of the rack and is used for fixing the composite organic glass; and the power distribution and gas circuit control module is arranged on the rack, is electrically connected with the three-degree-of-freedom mechanical arm and the flexible force control grinding device, and is in gas connection with the glass fixing clamp device. The composite organic glass surface grinding device can efficiently and stably conduct composite organic glass surface grinding operation.

Description

Technical Field

[0001] The invention relates to the technical field of grinding devices, in particular to a composite organic glass surface grinding device. Background Art

[0002] High-strength composite organic glass has high transparency and high mechanical strength. Due to its excellent performance, it has a wide range of applications and can even be used in aircraft windshields, portholes and other occasions with high use requirements. However, in order to meet various use requirements, such as reducing air resistance, it is designed to be an extremely complex curved surface. At this time, after the composite organic glass is bonded through multiple layers, the thermal stress caused by the uneven temperature field causes many small pits to appear between the glass and the outer surface; in addition, the glass bonding cannot be completely consistent, resulting in defects such as uneven glass thickness. At present, it is mainly achieved through repeated manual grinding and polishing to meet high-standard use requirements. Therefore, it is of great significance to design and manufacture efficient and reasonable glass grinding equipment. At present, manual grinding and polishing of the outer surface of composite organic glass has the following difficulties:

[0003] (1) Manual work is prone to fatigue and has low production efficiency. The acceptance standard for the outer surface of complex composite organic glass is the mapping line method, which has extremely high requirements for the uniformity of glass thickness and surface smoothness. The amount of manual single-time coarse-grained to fine-grained sandpaper grinding is difficult to exceed 0.1mm in a single working day, while the maximum thickness difference of composite organic glass is usually around 0.3-0.4mm. After rough grinding, polishing and other processes, the processing time of the smallest size glass is no less than one week.

[0004] (2) The surface of composite organic glass is complicated, and the operation is random during manual grinding, and the grinding allowance is difficult to control. In addition, it is necessary to frequently change sandpaper of different coarseness and fineness for grinding in this process before mapping and inspection can be carried out. This reciprocating process further reduces production efficiency.

[0005] (3) The grinding operation of the outer surface of composite organic glass is very likely to generate dust, and even requires workers to work with water. The working environment is poor and it is easy to threaten the safety and health of the employees themselves.

[0006] In summary, the surface grinding process in the production of complex curved composite plexiglass has the disadvantages of extremely low efficiency, uncontrollable single grinding allowance, and poor working environment.

[0007] Therefore, it is of great practical significance to develop a composite organic glass surface grinding device to further promote the intelligent production of complex curved composite organic glass. Summary of the invention

[0008] In view of this, in order to solve the technical problems in the prior art that the surface grinding process in the production process of complex curved composite organic glass has extremely low efficiency and uncontrollable single grinding allowance, the present invention provides a composite organic glass surface grinding device that can perform composite organic glass surface grinding operations efficiently and stably.

[0009] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0010] A composite organic glass surface grinding device, comprising:

[0011] frame;

[0012] A three-degree-of-freedom mechanical arm, which is slidably connected to the frame;

[0013] A flexible force-controlled grinding device, which is arranged at the output end of the three-degree-of-freedom mechanical arm and is used for grinding the surface of the composite organic glass;

[0014] A glass fixing fixture device, which is arranged on the mounting platform of the frame and is used to fix the composite organic glass;

[0015] A power distribution and air circuit control module is arranged on the frame and is electrically connected to the three-degree-of-freedom mechanical arm and the flexible force-controlled grinding device, and is pneumatically connected to the glass fixing fixture device.

[0016] In order to solve the technical problems in the prior art that the grinding operation of the outer surface of composite organic glass is very likely to generate dust, and even requires workers to work with water, resulting in a poor working environment and easily threatening the safety and health of employees themselves, preferably, it also includes a waste collection area arranged under the mounting table and used to collect waste, and the waste collection area is connected to the drain hole on the mounting table.

[0017] Preferably, the frame includes a glass suction cup fixed middle plate, a mechanical arm carrying upper frame, a gas partition straight-through quick connector, a gas connector mounting plate and a lower frame;

[0018] The glass suction cup fixing middle plate is arranged between the lower frame and the mechanical arm carrying upper frame, and is used to install the glass fixing fixture device, and is provided with the drainage hole;

[0019] The mechanical arm carrying upper frame is fixed to the upper rear end of the glass suction cup fixing middle plate and is slidably connected to the three-degree-of-freedom mechanical arm;

[0020] A plurality of gas baffle direct quick connectors, one end of which is fixed to the gas connector mounting plate for gas communication with the vacuum suction cup of the glass fixing fixture device, and the other end is connected to an external air pipe for blowing away the sewage retained on the workbench after the composite organic glass grinding operation;

[0021] The air joint mounting plate is fixed to the outer side of the glass suction cup fixing middle plate, and is used to prevent sewage from flowing out during water-carrying operations;

[0022] The lower frame is arranged at the lower end of the glass suction cup fixing middle plate, and is used for installing and fixing the waste collection area and the power distribution and gas circuit control module.

[0023] Preferably, the three-degree-of-freedom robotic arm includes an XY-axis module connector, a first magnetic grating head mounting column, a heavy-duty universal ball, an anti-torque middle slide, a middle slide support column, an anti-torque U-shaped part, a robotic arm mounting plate, a first magnetic grating distance sensor, a first sliding linear module and motor, a first linear slide, a second sliding linear module and motor, a second magnetic grating distance sensor mounting plate, a YZ-axis module connector, a second magnetic grating distance sensor, a second magnetic grating head mounting column, a Z-axis linear telescopic device and a second linear slide;

[0024] The mechanical arm mounting plate is arranged at the top of the mechanical arm supporting upper frame and is used for mounting the three-degree-of-freedom mechanical arm;

[0025] The anti-torque U-shaped member is arranged at one end of the top end of the robot arm mounting plate away from the Z-axis linear telescopic device;

[0026] The anti-torque middle slide plate is arranged in the middle of the anti-torque U-shaped member;

[0027] A plurality of the middle slide support columns are arranged on the rear side between the mechanical arm mounting plate and the anti-torque middle slide, and are used to support the anti-torque middle slide;

[0028] The first magnetic grating distance measuring sensor is arranged on the mechanical arm mounting plate and is located in front of the middle slide supporting column;

[0029] The first sliding linear module and the motor are arranged on the other side of the robot arm mounting plate and are electrically connected to the power distribution and air circuit control module;

[0030] The first linear slide is slidably connected to the first sliding linear module and the motor;

[0031] The XY axis module connector is arranged on the first linear slide;

[0032] The first magnetic grating head mounting column is arranged on the lower surface of the XY axis module connector and is connected to the magnetic grating head of the first magnetic grating distance measuring sensor, so as to feedback the position coordinates of the first linear slide;

[0033] The heavy-duty universal ball is arranged at one end of the XY-axis module connector and is located between the anti-torque middle slide plate and the anti-torque U-shaped member;

[0034] The second sliding linear module and the motor are arranged at the other end of the XY axis module connector;

[0035] The second magnetic grating distance sensor mounting plate is arranged on the back of the second sliding linear module and the motor, and is used to fix the second magnetic grating distance sensor;

[0036] The second linear slide is slidably connected to the second sliding linear module and the linear module in the motor;

[0037] The YZ axis module connector is arranged on the front side of the second linear slide;

[0038] The Z-axis linear telescopic device is arranged on the front side of the YZ-axis module connector, and its output end is connected to the flexible force-controlled grinding device;

[0039] The second magnetic grating head mounting column is arranged on the rear side of the YZ axis module connector and is connected to the magnetic grating head of the second magnetic grating distance measuring sensor for feeding back the position information of the second linear slide.

[0040] Preferably, the flexible force-controlled grinding device comprises:

[0041] The Z-axis is connected to the positive pressure plate and is arranged at the output end of the three-degree-of-freedom mechanical arm;

[0042] Rubber shock absorbers are arranged at the four corners of the lower end surface of the Z-axis connecting positive pressure plate;

[0043] A U-shaped back pressure plate, arranged at the lower end of the rubber shock absorber;

[0044] A pressure sensor is disposed between the Z-axis positive pressure plate and the U-shaped back pressure plate, and is used to feedback the pressure generated by the Z-axis linear telescopic device;

[0045] A joint motor, arranged on one side of the U-shaped back pressure plate, for driving the flip connector;

[0046] A flip follower bearing is arranged on the other side of the U-shaped back pressure plate;

[0047] A flip connector is arranged in the U-shaped back pressure plate, and is respectively connected to the joint motor and the flip follower bearing on both sides, and is driven by the joint motor to adjust the angle;

[0048] A flange type linear bearing is nested in the flip connector;

[0049] A telescopic optical axis is nested in the flange type linear bearing and is capable of axial movement;

[0050] A spring upper baffle, arranged on the lower surface of the flip connector;

[0051] The upper baffle plate of the telescopic optical axis and the lower baffle plate of the telescopic optical axis are respectively arranged at the upper and lower ends of the telescopic optical axis;

[0052] A spring is sleeved on the outer surface of the telescopic optical axis and is located between the upper baffle plate of the spring and the lower baffle plate of the telescopic optical axis, and completes the collection and calculation of the grinding positive pressure by cooperating with the first magnetostrictive displacement sensor;

[0053] A first connecting copper column is arranged between the lower baffle plate of the telescopic optical axis and the movable end of the first hinge;

[0054] A first hinge, a fixed end of which is connected to the grinding drive end connector;

[0055] A grinding drive end connector, the upper surface of which is fixed with the fixed end of the first hinge;

[0056] A grinding drive rotating platform, which is arranged at the other end of the grinding drive connecting piece relative to the joint motor, and is used to balance the overall center of gravity of the flexible force-controlled grinding device;

[0057] A driving connection flange, one side of which is connected to the grinding driving rotating platform and is driven to rotate by the grinding driving rotating platform;

[0058] A second magnetostrictive displacement sensor is symmetrically fixed to the front and rear sides of the grinding drive connector, used for actively measuring the distance and driven by the joint motor;

[0059] A quick-release end connector, arranged on a side of the grinding drive end connector away from the grinding drive rotating platform;

[0060] A grinding follower bearing is nested in the mounting hole of the quick-release end connector and fixed with a bearing flange;

[0061] A follower-connecting stepped shaft is matched and fixed with the grinding follower bearing;

[0062] A grinding roller and a sandpaper strip, one side of which is connected to the flange of the follower-connecting stepped shaft;

[0063] Auxiliary pressure wheel support plates are symmetrically arranged between the grinding drive end connector and the quick-release connector;

[0064] An auxiliary pressing wheel, arranged on the auxiliary pressing wheel supporting plate;

[0065] The right-angle ball head telescopic connecting rod is arranged between the grinding drive end connecting piece, the quick-release connecting piece and the auxiliary pressure wheel supporting plate.

[0066] Preferably, the quick-release end connector is fixed to a side of the grinding drive end connector away from the grinding drive rotating platform by a butterfly quick-release bolt.

[0067] Preferably, the other side of the driving connection flange is in a triangular shape.

[0068] Preferably, the other side of the grinding roller and the sandpaper strip is in a triangular shape.

[0069] Preferably, the glass fixing fixture device comprises:

[0070] A first magnetic seat, which is adsorbed on the upper surface of the glass suction cup fixing middle plate;

[0071] A second hinge, one end of which is disposed on the first magnetic base;

[0072] An angle-adjustable A-arm, one end of which is connected to the other end of the second hinge;

[0073] A second connecting copper column is fixed to the other end of the angle adjustment A arm;

[0074] A vacuum suction cup, which is mechanically connected to the second connecting copper column and is gas-connected to the gas partition straight-through quick connector;

[0075] An angle adjustment B arm, one end of which is hinged to the angle adjustment A arm;

[0076] The second magnetic base is connected and fixed to the angle adjustment B arm through a third hinge.

[0077] Preferably, the angle adjustment B arm and the angle adjustment A arm are hingedly connected via hinged hole bolts.

[0078] The present invention has the following beneficial effects compared with the prior art:

[0079] The composite organic glass surface grinding device provided by the present invention adjusts the posture of the flexible force-controlled grinding device at all times through a three-degree-of-freedom mechanical arm and completes trajectory coverage, effectively solving the difficulties of complex blade surfaces and inaccurate grinding allowance control. On the other hand, by establishing a quick-release device, it further facilitates the replacement of sandpaper force during operation, and directionally collects sewage from water-containing operations, greatly improving the working environment, greatly improving glass grinding efficiency, and indirectly reducing various operational risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 A perspective view of the present invention;

[0081] Figure 2 It is the structural diagram of the three-degree-of-freedom robotic arm;

[0082] Figure 3 It is a structural diagram of the flexible force-controlled grinding device;

[0083] Figure 4It is a structural diagram of the glass fixing fixture device;

[0084] In the figure: 1. Frame, 11. Glass suction cup fixed middle plate, 12. Robotic arm carrying upper frame, 13. Gas partition straight through quick connector, 14. Gas connector mounting plate, 15. Lower frame, 2. Waste collection area, 3. Power distribution and gas circuit control module, 4. Three-degree-of-freedom robot arm, 41. XY axis module connector, 42. First magnetic grid head mounting column, 43. Heavy-duty universal ball, 44. Anti-torque middle slide, 45. Middle slide support column, 46. Anti-torque U-shaped part, 47. Robotic arm mounting plate, 48. First magnetic grid distance sensor , 49. First sliding linear module and motor, 410. First linear slide, 411. Second sliding linear module and motor, 412. Second magnetic grating distance sensor mounting plate, 413. YZ axis module connector, 414. Second magnetic grating distance sensor, 415. Second magnetic grating head mounting column, 416. Z axis linear telescopic device, 417. Second linear slide, 5. Flexible force control grinding device, 51. Z axis connection positive pressure plate, 52. Pressure sensor, 53. Rubber shock absorber, 54. Telescopic optical axis upper baffle, 55 .First magnetostrictive displacement sensor, 56. Telescopic optical axis, 57. Flange linear bearing, 58. Flip connector, 59. Joint motor, 510. U-shaped back pressure plate, 511. Spring upper baffle, 512. Spring, 513. Telescopic optical axis lower baffle, 514. First connecting copper column, 515. First hinge, 516. Flip follower bearing, 517. Grinding drive rotating platform, 518. Grinding drive end connector, 519. Drive connector flange, 520. Second magnetostrictive displacement sensor, 521. Grinding roller and sandpaper strip, 522. Butterfly quick-release bolt, 523. Auxiliary pressure wheel, 524. Right-angle ball head telescopic connecting rod, 525. Auxiliary pressure wheel support plate, 526. Follow-up connecting stepped shaft, 527. Grinding follow-up bearing, 528. Quick-release end connecting piece, 6. Glass fixing fixture, 61. First magnetic seat, 62. Second hinge, 63. Angle adjustment A arm, 64. Reamed hole bolt, 65. Vacuum suction cup, 66. Second connecting copper column, 67. Angle adjustment B arm, 68. Third hinge, 69. Second magnetic seat. DETAILED DESCRIPTION

[0085] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0086] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0087] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0088] In the present invention, the power distribution and gas circuit control module 3 refers to the motor controller and gas circuit control valve and other original components, such as: T-type ball valve used in the gas circuit, gas source multi-way connector, etc. In the present invention, the above-mentioned original components are uniformly named as the power distribution and gas circuit control module 3, which is known to those skilled in the art.

[0089] The first sliding linear module and motor 49 refers to the sliding linear module and the motor used to drive the original part thereon to slide along it;

[0090] The second sliding linear module and motor 411 refers to the sliding linear module and the motor used to drive the original part thereon to slide along it;

[0091] The grinding roller and the sandpaper strip 521 refer to the grinding roller and the sandpaper strip used in conjunction with the grinding roller, which are collectively referred to as the grinding roller and the sandpaper strip 521 herein.

[0092] like Figure 1-4 As shown, the present invention provides a composite organic glass surface grinding device, including a frame 1, a power distribution and air circuit control module 3, a three-degree-of-freedom mechanical arm 4, a flexible force-controlled grinding device 5, and a glass fixing fixture device 6;

[0093] Among them, a mounting platform is arranged on the frame 1, which is arranged at the middle height of the device and is externally arranged on one side, so as to provide convenience for manual disassembly of the glass;

[0094] The power distribution and gas circuit control module 3 is arranged at the front lower part of the mounting platform of the frame 1, and is electrically connected to the three-degree-of-freedom mechanical arm 4 and the flexible force-controlled grinding device 5, and is gas-connected to the glass fixing fixture device 6;

[0095] A three-degree-of-freedom mechanical arm 4 is disposed at the upper end of the frame 1 and is used for force regulation and trajectory control of the actuator;

[0096] The flexible force-controlled grinding device 5 is arranged at the output end of the three-degree-of-freedom mechanical arm 4, and is used for grinding the surface of the composite organic glass;

[0097] The glass fixing fixture device 6 is directly arranged on the upper surface of the mounting platform to stably fix the composite organic glass.

[0098] In the present invention, in order to solve the technical problem that the grinding operation of the outer surface of the composite organic glass is very likely to generate dust, and even requires the workers to work with water, resulting in a poor working environment and easily threatening the safety and health of the employees themselves, it is preferred that it also includes a waste collection area 2 arranged under the mounting table and used to collect waste, and the waste collection area 2 is connected to the drain hole on the mounting table.

[0099] In the present invention, the frame 1 includes: a glass suction cup fixing middle plate 11, a mechanical arm carrying upper frame 12, a gas partition straight-through quick connector 13, a gas connector mounting plate 14, and a lower frame 15;

[0100] Among them, the glass suction cup fixing middle plate 11 is directly fixed between the lower frame 15 and the mechanical arm carrying upper frame 12, used for directly installing the glass fixing fixture device 6, and is provided with the drainage hole;

[0101] The mechanical arm carrying upper frame 12 is fixed to the upper rear end of the glass suction cup fixing middle plate 11, and is used to be directly connected to the three-degree-of-freedom mechanical arm 4;

[0102] The air joint mounting plate 14 is fixed to the outer side of the glass suction cup fixing middle plate 11 to prevent sewage from flowing out during water-carrying operations;

[0103] One end of a plurality of gas baffle direct quick connectors 13 is fixed to the gas connector mounting plate 14 by bolts, and can be used to gas-connect the vacuum suction cup 65 of the glass fixing fixture device 6, and the other end is directly connected to the external air pipe to blow away the sewage retained on the workbench after the glass grinding operation;

[0104] The lower frame 15 is directly fixed to the lower end of the glass suction cup fixing middle plate 11, and the waste collection area 2 and the power distribution and gas circuit control module 3 can be installed and fixed in the middle.

[0105] In the present invention, the three-degree-of-freedom robot arm 4 mainly includes: an XY axis module connector 41, a first magnetic grid head mounting column 42, a heavy-duty universal ball 43, an anti-torque middle slide 44, a middle slide support column 45, an anti-torque U-shaped part 46, a robot arm mounting plate 47, a first magnetic grid distance sensor 48, a first sliding linear module and a motor 49, a first linear slide 410, a second sliding linear module and a motor 411, a second magnetic grid distance sensor mounting plate 412, a YZ axis module connector 413, a second magnetic grid distance sensor 414, a second magnetic grid head mounting column 415, a Z axis linear telescopic device 416, and a second linear slide 417;

[0106] The robot arm mounting plate 47 is directly fixed to the top of the robot arm carrying upper frame 12 and is used to install the three-degree-of-freedom robot arm 4;

[0107] The anti-torque U-shaped member 46 is fixed to the top of the robot arm mounting plate 47 away from the side of the Z-axis linear telescopic device 416 by bolt connection;

[0108] The anti-torque middle slide plate 44 is installed in the middle of the anti-torque U-shaped member 46;

[0109] A plurality of middle slide support columns 45 are installed between the mechanical arm mounting plate 47 and the anti-torque middle slide 44 on the rear side by bolt connection, playing the role of supporting the anti-torque middle slide 44;

[0110] The first magnetic grid distance sensor 48 is installed on the mechanical arm mounting plate 47 by bolt connection and is located in front of the middle slide support column 45 to prevent difficulties in line arrangement;

[0111] The first sliding linear module and the motor 49 are installed on the other side of the robot arm mounting plate 47 by bolt connection, and are electrically connected to the power distribution and gas circuit control module 3;

[0112] The first linear slide 410 is slidably connected to the first sliding linear module and the sliding linear module in the motor 49, and moves linearly along the sliding linear module;

[0113] The XY axis module connector 41 is fixed on the first linear slide 410 by bolt connection;

[0114] The first magnetic grating head mounting column 42 is provided on the lower surface of the XY axis module connector 41 by bolt connection, and is directly connected to the magnetic grating head of the first magnetic grating distance measuring sensor 48, so that it can provide high-precision feedback of the position coordinates of the first linear slide 410;

[0115] The heavy-duty universal ball 43 is installed at one end of the XY-axis module connector 41 by bolt connection, and is located between the anti-torque middle slide plate 44 and the anti-torque U-shaped member 46, so as to reduce the overturning moment of the cantilever part such as the flexible force-controlled grinding device 5;

[0116] The second sliding linear module and motor 411 are installed on the other end of the XY axis module connector 41 by bolt connection;

[0117] The second magnetic grating distance sensor mounting plate 412 is mounted on the back of the second sliding linear module and the motor 411 to fix the second magnetic grating distance sensor 414;

[0118] The second linear slide 417 can slide on the second sliding linear module and the second sliding linear module in the motor 411;

[0119] The YZ axis module connector 413 is fixed to the front side of the second linear slide 417 by bolt connection;

[0120] The Z-axis linear telescopic device 416 is provided on the front side of the YZ-axis module connector 413 by bolt connection, and the output end is directly connected to the flexible force-controlled grinding device 5;

[0121] The second magnetic grating head mounting column 415 is directly mounted on the rear side of the YZ axis module connector 413, and is connected to the magnetic grating head of the second magnetic grating distance sensor 414, and feeds back the position information of the second linear slide 417;

[0122] In the present invention, the flexible force-controlled grinding device 5 includes: a Z-axis connection positive pressure plate 51, a pressure sensor 52, a rubber shock absorber 53, a telescopic optical axis upper baffle 54, a first magnetostrictive displacement sensor 55, a telescopic optical axis 56, a flange linear bearing 57, a flip connection piece 58, a joint motor 59, a U-shaped back pressure plate 510, a spring upper baffle 511, a spring 512, a telescopic optical axis lower baffle 513, a first connecting copper column 514, a first hinge 515, a flip follower end bearing 516, a grinding drive rotating platform 517, a grinding drive end connection piece 518, a drive connection flange 519, a second magnetostrictive displacement sensor 520, a grinding roller and a sandpaper strip 521, an auxiliary pressure wheel 523, a right-angle ball head telescopic connecting rod 524, an auxiliary pressure wheel support plate 525, a follower connection stepped shaft 526, a grinding follower bearing 527, and a quick-release end connection piece 528;

[0123] Wherein, the Z-axis connection positive pressure plate 51 is directly fixed to the output end of the three-degree-of-freedom mechanical arm 4 by bolt connection;

[0124] The rubber shock absorbers 52 are evenly fixed to the four corners of the lower end surface of the Z-axis positive pressure plate 51, and can be slightly compressed;

[0125] The U-shaped back pressure plate 510 is connected to the lower end of the rubber shock absorber 52 by bolts;

[0126] The pressure sensor 53 is disposed between the Z-axis positive pressure plate 51 and the U-shaped back pressure plate 510 to provide feedback on the pressure generated by the Z-axis linear telescopic device 416;

[0127] The joint motor 59 is connected to one side of the U-shaped back pressure plate 510 by bolts, and is used to drive the flip connector 58;

[0128] The flip follower bearing 516 is nested on the other side of the U-shaped back pressure plate 520;

[0129] The flip connector 58 is disposed on the U-shaped back pressure plate 510, and the two sides are respectively connected to the joint motor 59 and the flip follower bearing 516, and is driven by the joint motor 59 to adjust the angle;

[0130] Two flange type linear bearings 57 are connected and nested in the flip connector 58 by bolts;

[0131] The telescopic optical axis 56 is also nested in the flange type linear bearing 57 and can move axially;

[0132] The spring upper baffle 511 is disposed on the lower surface of the flip connector 58 to prevent the spring 512 from causing friction damage to the flip connector 58;

[0133] The telescopic optical axis upper baffle 54 and the telescopic optical axis lower baffle 513 are respectively arranged at the upper and lower ends of the telescopic optical axis 56 to play a role of limiting protection;

[0134] The spring 512 is sleeved on the outer surface of the telescopic optical axis 56 and is located between the spring upper baffle 511 and the telescopic optical axis lower baffle 513, and completes the collection and calculation of the grinding positive pressure by cooperating with the first magnetostrictive displacement sensor 55;

[0135] The first connecting copper column 514 is connected between the lower baffle plate 513 of the telescopic optical axis and the first hinge movable end 515 by bolt connection;

[0136] The fixed end of the first hinge 515 is connected to the grinding drive end connector 518 by bolts;

[0137] The upper surface of the grinding drive end connector 518 is symmetrically fixed to the fixed end of the first hinge 515 by bolt connection. Since the two telescopic optical axes 56 have different lengths, they can be passively adjusted to adapt to the tangent direction of the grinding axis to improve the grinding accuracy.

[0138] The grinding drive rotating platform 517 is directly mounted on the other end of the grinding drive connecting piece 518 relative to the joint motor 59 to balance the overall center of gravity of the flexible force-controlled grinding device 5;

[0139] One side of the driving connection flange 519 is bolted to the grinding driving rotating platform 517 and is driven to rotate thereby;

[0140] The second magnetostrictive displacement sensor 520 is symmetrically fixed to the front and rear sides of the grinding drive connector 518, and is driven by the joint motor 59 to make the distance equal by actively measuring the distance, thereby completing the active adjustment of the normal direction of the grinding axis and further improving the grinding accuracy.

[0141] The quick-release end connector 528 is fixed to the side of the grinding drive end connector away from the grinding drive rotating platform 517;

[0142] The grinding follower bearing 527 is nested in the mounting hole of the quick-release end connector 528 and fixed by the bearing flange;

[0143] The follower-connecting stepped shaft 526 is matched and fixed with the grinding follower bearing 527;

[0144] One side of the grinding roller and the sandpaper strip 521 is bolted and fixed to the flange of the follower connecting stepped shaft 526. In the actual working process, in order to facilitate the replacement of grinding rollers and sandpaper strips 521 of different grain sizes by employees, it is only necessary to unscrew the butterfly quick-release bolt 522 and replace the entire follower end and the sandpaper grinding roller together. During installation, it is only necessary to match the other side of the driving connecting flange 519 with the second side of the grinding roller and the sandpaper strip 521 (the triangle described below), and tighten the butterfly quick-release bolt 522. It is also unnecessary to disassemble the relevant cables.

[0145] The auxiliary pressure wheel support plate 525 is symmetrically arranged between the grinding drive end connector 518 and the quick-release connector 528;

[0146] The auxiliary pressing wheel 523 is fixed to the auxiliary pressing wheel supporting plate 525 by bolts;

[0147] The right-angle ball head telescopic connecting rod 524 is arranged between the grinding drive end connector 518, the quick-release connector 528 and the auxiliary pressure wheel support plate 525 to prevent the contact pressure of the auxiliary pressure wheel 523 from generating a large torque.

[0148] In the present invention, the glass fixing fixture 6 mainly includes: a first magnetic seat 61, a second hinge 62, an angle adjustment A arm 63, a vacuum suction cup 65, a second connecting copper column 66, an angle adjustment B arm 67, a third hinge 68, and a second magnetic seat 69;

[0149] Wherein, the first magnetic seat 61 is adsorbed on the upper surface of the glass suction cup fixing middle plate 11;

[0150] One end of the second hinge 62 is fixed to the first magnetic base 61 by bolt connection;

[0151] One end of the angle adjustment A arm 63 is connected to the other end of the second hinge 62 by bolts;

[0152] The second connecting copper column 66 is fixed to the other end of the angle adjustment A arm 63, and the position of the suction cup 65 can be further adjusted by changing the length of the second connecting copper column 66;

[0153] The vacuum suction cup 65 is mechanically connected to the second connecting copper column 66 by bolts, and is gas-connected to the gas partition straight-through quick connector 13;

[0154] Angle adjustment B arm 67, one end of which is hinged to the angle adjustment A63 arm;

[0155] The second magnetic base 69 is connected and fixed to the angle adjustment arm B67 through the third hinge 68.

[0156] In the present invention, the quick-release end connector 528 is fixed to a side of the grinding drive end connector 518 away from the grinding drive rotating platform 517 through a butterfly-shaped quick-release bolt 522 .

[0157] In the present invention, the other side of the driving connection flange 519 is in a triangular shape.

[0158] In the present invention, the other side of the grinding roller and the sandpaper strip 521 is quasi-triangular.

[0159] In the present invention, the angle adjustment B arm 67 is hinged to the angle adjustment A arm 63 via a hinged hole bolt 64 .

[0160] The first hinge 515, the second hinge 62 and the third hinge 68 improved in the present invention are all triple hinges.

[0161] The working principle of the present invention is as follows:

[0162] The composite organic glass surface grinding operation begins by manually adjusting the number of glass fixing fixtures 6 according to the glass size.

[0163] Then, by changing the distance between the first magnetic base 61 and the second magnetic base 69, adjusting the angle of the angle-adjusting A arm 63 in each fixing fixture 6, and replacing the appropriate length of the second connecting copper column 66, the curved surface of different types of glass can be adapted.

[0164] Due to the limited glass models, the above adjustments only need to be made for the first time when the device is initialized.

[0165] Then, the switches of the first magnetic base 61 and the second magnetic base 69 are turned on to complete the fixation of each vacuum suction cup 65 .

[0166] Then, the vacuum valve of the vacuum suction cup 65 is opened (the vacuum valve can be arranged in the power distribution and gas circuit control module 3, or can be arranged outside the device, such as at the output end of a vacuum pump), and the vacuum suction cup 65 sucks the composite organic glass tightly to complete the glass installation.

[0167] Then the three-degree-of-freedom robotic arm 4 adjusts the posture of the flexible force-controlled grinding device 5 so that it is facing the composite organic glass grinding area. Then the three-degree-of-freedom robotic arm 4 makes the auxiliary pressure wheel 523 of the flexible force-controlled grinding device 5 just fit the composite organic glass grinding area. At this time, the second magnetostrictive displacement sensor 520, which is symmetrically arranged in the front and back in the center of the grinding drive end connector 518, can stably be tangent to the grinding work area through equidistant measurement and control. Then the grinding drive rotating platform 517 starts to work, and through the output end of the driving connecting flange 519, it further drives the grinding roller and the sandpaper strip 521 to rotate, and the grinding operation starts.

[0168] Then, the three-degree-of-freedom robot arm 4 controls the trajectory of the flexible force-controlled grinding device 5 to grind the outer surface of the glass as a whole. However, the moving speed of the grinding roller and the grinding roller in the sandpaper strip 521 is slowed down relative to the thicker area, and the rotation speed of the grinding roller is regulated to complete a larger margin grinding operation on the thicker part of the glass. In this process, the second magnetostrictive sensor 520 continuously adjusts the tangency of the flexible force-controlled grinding device 5 with its working area through equidistant measurement and control.

[0169] After the coarser-grained grinding is completed, the staff loosens the butterfly-shaped quick-release bolt 522, replaces the entire follower end (follower-connecting stepped shaft 526, grinding follower bearing 527, quick-release end connector 528), grinding roller and sandpaper strip 521 together, and quickly installs the grinding roller of the required grain size for the next step, and tightens the butterfly-shaped quick-release bolt 522 to complete the replacement of different grinding rollers and sandpaper strips 521.

[0170] Then the three-degree-of-freedom robotic arm 4 readjusts the posture of the flexible force-controlled grinding device 5 and repeats the above steps to continue the glass outer surface grinding operation.

[0171] Until the glass is ground to the point where it is ready for manual polishing, the vacuum valve is closed, the glass is removed, and re-tested. The worker then inputs the corresponding coordinates of the unqualified areas and their thickness allowance into the machine for the thicker areas.

[0172] Repeat the above steps, fix the glass, etc., and perform the outer surface grinding operation of the composite organic glass again.

[0173] The above is only a preferred specific implementation manner of the present invention; but the protection scope of the present invention is not limited thereto; any technician familiar with the technical field within the technical scope disclosed by the present invention; any equivalent replacement or change based on the technical solution and improved concept of the present invention shall be covered by the protection scope of the present invention.

Claims

1. A composite organic glass surface grinding device, characterized in that: include: frame; A three-degree-of-freedom mechanical arm, which is slidably connected to the frame; A flexible force-controlled grinding device, which is arranged at the output end of the three-degree-of-freedom mechanical arm and is used for grinding the surface of the composite organic glass; A glass fixing fixture device, which is arranged on the mounting platform of the frame and is used to fix the composite organic glass; A power distribution and air circuit control module is arranged on the frame and is electrically connected to the three-degree-of-freedom mechanical arm and the flexible force-controlled grinding device, and is pneumatically connected to the glass fixing fixture device.

2. A composite organic glass surface grinding device according to claim 1, characterized in that: It also includes a waste collection area which is arranged below the installation platform and is used to collect waste, and the waste collection area is connected to the drainage hole on the installation platform.

3. A composite organic glass surface grinding device according to claim 2, characterized in that: The frame includes a glass suction cup fixed middle plate, a mechanical arm carrying upper frame, a gas partition straight-through quick connector, a gas connector mounting plate and a lower frame; The glass suction cup fixing middle plate is arranged between the lower frame and the mechanical arm bearing upper frame, and is used for installing the glass fixing fixture device, and is provided with the drainage hole. The mechanical arm carrying upper frame is fixed to the upper rear end of the glass suction cup fixing middle plate and is slidably connected to the three-degree-of-freedom mechanical arm; A plurality of gas baffle direct quick connectors, one end of which is fixed to the gas connector mounting plate for gas communication with the vacuum suction cup of the glass fixing fixture device, and the other end is connected to an external air pipe for blowing away the sewage retained on the workbench after the composite organic glass grinding operation; The air joint mounting plate is fixed to the outer side of the glass suction cup fixing middle plate, and is used to prevent sewage from flowing out during water-carrying operations; The lower frame is arranged at the lower end of the glass suction cup fixing middle plate, and is used for installing and fixing the waste collection area and the power distribution and gas circuit control module.

4. A composite organic glass surface grinding device according to claim 3, characterized in that: The three-degree-of-freedom robotic arm includes an XY-axis module connector, a first magnetic grating head mounting column, a heavy-duty universal ball, an anti-torque middle slide, a middle slide support column, an anti-torque U-shaped part, a robotic arm mounting plate, a first magnetic grating distance sensor, a first sliding linear module and a motor, a first linear slide, a second sliding linear module and a motor, a second magnetic grating distance sensor mounting plate, a YZ-axis module connector, a second magnetic grating distance sensor, a second magnetic grating head mounting column, a Z-axis linear telescopic device, and a second linear slide; The mechanical arm mounting plate is arranged at the top of the mechanical arm supporting upper frame and is used for mounting the three-degree-of-freedom mechanical arm; The anti-torque U-shaped member is arranged at one end of the top end of the robot arm mounting plate away from the Z-axis linear telescopic device; The anti-torque middle slide plate is arranged in the middle of the anti-torque U-shaped member; A plurality of the middle slide support columns are arranged on the rear side between the mechanical arm mounting plate and the anti-torque middle slide, and are used to support the anti-torque middle slide; The first magnetic grating distance measuring sensor is arranged on the mechanical arm mounting plate and is located in front of the middle slide supporting column; The first sliding linear module and the motor are arranged on the other side of the robot arm mounting plate and are electrically connected to the power distribution and air circuit control module; The first linear slide is slidably connected to the first sliding linear module and the motor; The XY axis module connector is arranged on the first linear slide; The first magnetic grating head mounting column is arranged on the lower surface of the XY axis module connector and is connected to the magnetic grating head of the first magnetic grating distance measuring sensor, so as to feedback the position coordinates of the first linear slide; The heavy-duty universal ball is arranged at one end of the XY-axis module connector and is located between the anti-torque middle slide plate and the anti-torque U-shaped member; The second sliding linear module and the motor are disposed at the other end of the XY axis module connector 41; The second magnetic grating distance sensor mounting plate is arranged on the back of the second sliding linear module and the motor, and is used to fix the second magnetic grating distance sensor; The second linear slide is slidably connected to the second sliding linear module and the linear module in the motor; The YZ axis module connector is arranged on the front side of the second linear slide; The Z-axis linear telescopic device is arranged on the front side of the YZ-axis module connector, and its output end is connected to the flexible force-controlled grinding device; The second magnetic grating head mounting column is arranged on the rear side of the YZ axis module connector and is connected to the magnetic grating head of the second magnetic grating distance measuring sensor for feeding back the position information of the second linear slide.

5. A composite organic glass surface grinding device according to claim 4, characterized in that: The flexible force-controlled grinding device comprises: The Z-axis is connected to the positive pressure plate and is arranged at the output end of the three-degree-of-freedom mechanical arm; Rubber shock absorbers are arranged at the four corners of the lower end surface of the Z-axis connecting positive pressure plate; A U-shaped back pressure plate, arranged at the lower end of the rubber shock absorber; A pressure sensor is disposed between the Z-axis positive pressure plate and the U-shaped back pressure plate, and is used to feedback the pressure generated by the Z-axis linear telescopic device; A joint motor, arranged on one side of the U-shaped back pressure plate, for driving the flip connector; A flip follower bearing is arranged on the other side of the U-shaped back pressure plate; A flip connector is arranged in the U-shaped back pressure plate, and is respectively connected to the joint motor and the flip follower bearing on both sides, and is driven by the joint motor to adjust the angle; A flange type linear bearing is nested in the flip connector; A telescopic optical axis is nested in the flange type linear bearing and is capable of axial movement; A spring upper baffle, arranged on the lower surface of the flip connector; The upper baffle plate of the telescopic optical axis and the lower baffle plate of the telescopic optical axis are respectively arranged at the upper and lower ends of the telescopic optical axis; A spring is sleeved on the outer surface of the telescopic optical axis and is located between the upper baffle plate of the spring and the lower baffle plate of the telescopic optical axis, and completes the collection and calculation of the grinding positive pressure by cooperating with the first magnetostrictive displacement sensor; A first connecting copper column is arranged between the lower baffle plate of the telescopic optical axis and the movable end of the first hinge; A first hinge, a fixed end of which is connected to the grinding drive end connector; A grinding drive end connector, the upper surface of which is fixed with the fixed end of the first hinge; A grinding drive rotating platform, which is arranged at the other end of the grinding drive connecting piece relative to the joint motor, and is used to balance the overall center of gravity of the flexible force-controlled grinding device; A driving connection flange, one side of which is connected to the grinding driving rotating platform and driven to rotate thereby; A second magnetostrictive displacement sensor is symmetrically fixed to the front and rear sides of the grinding drive connector, used for actively measuring the distance and driven by the joint motor; A quick-release end connector, arranged on a side of the grinding drive end connector away from the grinding drive rotating platform; A grinding follower bearing is nested in the mounting hole of the quick-release end connector and fixed with a bearing flange; A follower-connecting stepped shaft is matched and fixed with the grinding follower bearing; A grinding roller and a sandpaper strip, one side of which is connected to the flange of the follower-connecting stepped shaft; Auxiliary pressure wheel support plates are symmetrically arranged between the grinding drive end connector and the quick-release connector; An auxiliary pressing wheel, arranged on the auxiliary pressing wheel supporting plate; The right-angle ball head telescopic connecting rod is arranged between the grinding drive end connecting piece, the quick-release connecting piece and the auxiliary pressure wheel supporting plate.

6. A composite organic glass surface grinding device according to claim 5, characterized in that: The quick-release end connector is fixed to a side of the grinding drive end connector away from the grinding drive rotating platform through a butterfly-shaped quick-release bolt.

7. The composite organic glass surface grinding device according to claim 5, characterized in that: The other side of the driving connection flange is in a triangular shape.

8. The composite organic glass surface grinding device according to claim 5, characterized in that: The other side of the grinding roller and the sandpaper strip is quasi-triangular.

9. The composite organic glass surface grinding device according to claim 3, characterized in that: The glass fixing fixture device comprises: A first magnetic seat, which is adsorbed on the upper surface of the glass suction cup fixing middle plate; A second hinge, one end of which is disposed on the first magnetic base; An angle-adjustable A-arm, one end of which is connected to the other end of the second hinge; A second connecting copper column is fixed to the other end of the angle adjustment A arm; A vacuum suction cup, which is mechanically connected to the second connecting copper column and is gas-connected to the gas partition through quick connector 13; An angle adjustment B arm, one end of which is hinged to the angle adjustment A arm; The second magnetic base is connected and fixed to the angle adjustment B arm through a third hinge.

10. The composite organic glass surface grinding device according to claim 9, characterized in that: The angle adjustment B arm and the angle adjustment A arm are hingedly connected via hinged hole bolts.

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