Multi-station intelligent fluid flexible polishing system and method

Abstract

The invention discloses a multi-station intelligent fluid flexible polishing system which comprises an industrial robot, an insulating clamp, a workpiece, a six-dimensional force sensor, a liquid feeding conveying device, a polishing medium circulating device, a direct-current power source, a conductive sliding ring, a polishing medium storage tank, a temperature control device, a humidity control device, a stirring device and a control system. The industrial robot is fixedly connected with the six-dimensional force sensor, the insulating clamp is installed at the tail end of the six-dimensional force sensor, a workpiece is clamped by the insulating clamp, a polishing medium is stored in the polishing medium storage tank, and one end of the liquid feeding conveying device is immersed in the polishing medium storage tank. According to the constant-force high-efficiency high-quality polishing device, polishing is achieved by generating the oxidation film and removing the oxidation film through the self-adaptive flexible grinding tool, the workpiece poses of the industrial robot, the polishing medium circulating device and the direct-current power source, the polishing medium conveying linear speed and the machining voltage are adjusted in combination with feedback, and constant-force high-efficiency high-quality polishing of parts with complex profiles is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robot polishing, and in particular to a multi-station intelligent fluid flexible polishing system and method. Background Art

[0002] Polishing technology is the last step of ultra-precision machining, and its machining quality directly affects the final performance of parts. Today, with the highly developed ultra-precision machining technology, the polishing of complex surfaces is still a global problem. At present, the polishing of complex surfaces in my country is still mainly done by hand, which has problems such as high labor intensity, low efficiency, and unstable machining quality.

[0003] Application number 202111329646.0, patent "A robot intelligent polishing system for transparent parts with complex surfaces" designs a flexible positioning device for workpieces and a pneumatic motor device, which realizes flexible clamping of workpieces and timed and quantitative supply of grinding paste through the motor center, and can complete the polishing of large curvature surfaces, but material removal mainly depends on the rotational motion of the polishing head and the workpiece controlled by the robot. Due to the different linear speeds at different radii of the polishing head, the surface uniformity after processing is poor, and the system is not suitable for polishing large quantities of complex surface parts. Application number 202310421417.4, patent "Abrasive belt polishing and grinding robot" designs a triangular abrasive belt polishing device, and because it is driven by an industrial robot, the triangular abrasive belt polishing device is equipped with a debris recovery system, which can effectively avoid secondary damage to the processed surface by debris, but using a triangular abrasive belt as a polishing head has great limitations on the surface of the workpiece that can be processed, and the abrasive belt needs to wear quickly and be replaced frequently, which affects the processing efficiency. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the problems existing in the above-mentioned existing multi-station intelligent fluid flexible polishing system and method, the present invention is proposed.

[0006] Therefore, the purpose of the present invention is to provide a multi-station intelligent fluid flexible polishing system and method, in which the various actuators between the polishing systems are effectively integrated, and an intelligent fluid polishing medium with a composite effect of "electrochemical oxidation" and "shear thickening" is used to achieve polishing by generating an oxide film and removing the oxide film with an adaptive flexible abrasive. The workpiece posture, polishing medium transmission linear speed and processing voltage of the industrial robot, polishing medium circulation device and DC power supply are adjusted in combination with feedback to achieve constant force, high efficiency and high quality polishing of complex surface parts.

[0007] To solve the above technical problems, the present invention provides the following technical solutions: a multi-station intelligent fluid flexible polishing system, comprising an industrial robot, an insulating clamp, a workpiece, a six-dimensional force sensor, an upper liquid conveying device, a polishing medium circulation device, a DC power supply, a conductive slip ring, a polishing medium storage tank, a temperature control device, a humidity control device, a stirring device and a control system, wherein the industrial robot is fixedly connected to the six-dimensional force sensor, the insulating clamp is installed at the end of the six-dimensional force sensor, the workpiece is clamped by the insulating clamp, the polishing medium storage tank stores polishing medium, one end of the upper liquid conveying device is immersed in the polishing medium storage tank, and the other end is connected to the polishing medium circulation device, the temperature control device, the humidity control device and the stirring device are arranged in the polishing medium storage tank, the anode of the DC power supply is connected to the workpiece through a wire, and the cathode of the DC power supply is connected to the polishing medium circulation device through a conductive slip ring.

[0008] As a preferred solution of the multi-station intelligent fluid flexible polishing system described in the present invention, the six-dimensional force sensor collects the polishing force signal in real time, the control system analyzes the force signal and sends adjustment instructions to the system, and the industrial robot, polishing medium circulation device and DC power supply adjust the workpiece posture, polishing medium transmission line speed and voltage according to the instructions to achieve constant force polishing of the workpiece.

[0009] As a preferred solution of the multi-station intelligent fluid flexible polishing system described in the present invention, the number of industrial robots can be adjusted according to the polishing requirements, and one or more sets of industrial robots are placed at different positions of the polishing medium circulation device to achieve multi-station efficient collaborative polishing.

[0010] As a preferred solution of the multi-station intelligent fluid flexible polishing system described in the present invention, in which: during the polishing process, the polishing medium is recycled through a polishing medium circulation device, the temperature control device and the humidity control device respectively adjust the temperature and humidity of the polishing medium, and the stirring device fully mixes the components in the polishing medium.

[0011] As a preferred solution of the multi-station intelligent fluid flexible polishing system described in the present invention, the polishing medium is a mixture of a dispersion medium, a dispersed phase, abrasive particles, an electrolyte and additives, and is an intelligent fluid polishing medium with a composite effect of "electrochemical oxidation" and "shear thickening".

[0012] As a preferred solution of the multi-station intelligent fluid flexible polishing system described in the present invention, the voltage of the DC power supply regulates the generation rate and thickness of the oxide film in the processing area, and the flow rate of the polishing medium is set, which can regulate the removal rate of the oxide film to achieve a balance between the generation and removal of the oxide film.

[0013] As a preferred solution of the multi-station intelligent fluid flexible polishing system of the present invention, the method of the multi-station intelligent fluid flexible polishing system comprises the following steps:

[0014] Step 1: Determine the number of industrial robots according to polishing requirements and place them at different positions of the polishing medium circulation device;

[0015] Step 2: Clamp the workpiece on the insulating fixture to complete the clamping of the workpiece;

[0016] Step 3: inject the polishing medium into the polishing medium storage tank, turn on the stirring device, and set the temperature of the temperature control device and the humidity of the humidity control device respectively to keep the polishing medium at the best performance;

[0017] Step 4: Plan the polishing path, set the force threshold, set the transmission line speed of the upper liquid conveying device and the polishing medium circulation device and the processing voltage of the DC power supply, and then input the control code into each actuator system respectively;

[0018] Step 5: The industrial robot drives the workpiece to move along a predetermined trajectory, the polishing medium circulates, and the workpiece surface contacts the polishing medium to generate an electrochemical oxidation effect to form an oxide film, which is then removed by the adaptive flexible abrasive tool generated by the shear thickening effect;

[0019] Step 6: Use the six-dimensional force sensor to collect polishing force signals in real time. If the collected force signal exceeds the set force threshold or is less than the set force threshold, the control system sends adjustment instructions to each actuator system. The industrial robot, polishing medium circulation device and DC power supply adjust the workpiece posture, polishing medium transmission line speed and voltage according to the instructions until the polishing force reaches the set threshold, thereby achieving constant force polishing of the workpiece.

[0020] Step 7: Through joint control of each actuator, reciprocating polishing is performed to ultimately achieve constant force, high efficiency, and high quality polishing of the workpiece.

[0021] Beneficial effects of the present invention:

[0022] (1) The multi-station intelligent fluid flexible polishing system and method described in the present invention realizes the recycling of polishing media by effectively integrating a polishing medium circulation device, a polishing medium storage device and an upper liquid conveying device, and utilizes a temperature control device, a humidity control device and a stirring device to ensure the optimal performance of the polishing medium, thereby effectively reducing the polishing cost;

[0023] (2) In the multi-station intelligent fluid flexible polishing system and method described in the present invention, the number of industrial robots can be adjusted according to the polishing requirements, and one or more sets of industrial robots are placed at different positions of the polishing medium circulation device to achieve multi-station efficient collaborative polishing;

[0024] (3) A multi-station intelligent fluid flexible polishing system and method described in the present invention, wherein the polishing medium is an intelligent fluid, and an adaptive flexible abrasive tool can be generated according to the profile of the workpiece contact area, and the polishing workpiece is not limited by the shape of the workpiece;

[0025] (4) In the multi-station intelligent fluid flexible polishing system and method described in the present invention, a six-dimensional force sensor collects polishing force signals in real time, a control system analyzes the force signals and sends adjustment instructions to the system, and an industrial robot, a polishing medium circulation device and a DC power supply respectively adjust the workpiece posture, the polishing medium transmission line speed and the voltage according to the instructions, thereby achieving constant force polishing of the workpiece and improving the uniformity of the polished surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0027] Figure 1 It is a schematic diagram of the overall structure of a multi-station intelligent fluid flexible polishing system of the present invention.

[0028] Figure 2 It is a schematic diagram of the relative motion between the workpiece and the polishing medium. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0031] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0032] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0033] Reference Figure 1 - Figure 2 , provides a multi-station intelligent fluid flexible polishing system, including an industrial robot 1, an insulating clamp 3, a workpiece 2, a six-dimensional force sensor 4, an upper liquid conveying device 5, a polishing medium circulation device 6, a DC power supply 7, a conductive slip ring 8, a polishing medium storage tank 9, a temperature control device 10, a humidity control device 11, a stirring device 12 and a control system 13, the industrial robot 1 is fixedly connected to the six-dimensional force sensor 4, the insulating clamp 3 is installed at the end of the six-dimensional force sensor 4, the workpiece 2 is clamped by the insulating clamp 3, the polishing medium storage tank 9 stores polishing medium, and the upper liquid conveying device 5 is used to transfer the polishing medium to the polishing medium storage tank 9. One end of the conveying device 5 is immersed in the polishing medium storage tank 9, and the other end is connected to the polishing medium circulation device 6. The temperature control device 10, the humidity control device 11 and the stirring device 12 are arranged in the polishing medium storage tank 6. The anode of the DC power supply 7 is connected to the workpiece 2 through a wire, and the cathode of the DC power supply 7 is connected to the polishing medium circulation device 6 through a conductive slip ring 8. Specifically, the upper liquid conveying device 5, the polishing medium circulation device 6, the temperature control device 10, the humidity control device 11, the stirring device 12 and the control system 13 are all existing technology products, and their structures have not been improved.

[0034] Among them, the six-dimensional force sensor 4 collects the polishing force signal in real time, the control system 13 analyzes the force signal and sends adjustment instructions to the system, and the industrial robot 1, the polishing medium circulation device 6 and the DC power supply 7 adjust the workpiece posture, the polishing medium transmission line speed and the voltage according to the instructions to achieve constant force polishing of the workpiece.

[0035] Furthermore, the number of industrial robots 1 can be adjusted according to the polishing requirements, and one or more sets of industrial robots can be placed at different positions of the polishing medium circulation device 6 to achieve multi-station efficient collaborative polishing.

[0036] Specifically, during the polishing process, the polishing medium is recycled through the polishing medium circulation device 6, the temperature control device 10 and the humidity control device 11 respectively adjust the temperature and humidity of the polishing medium, and the stirring device 12 fully mixes the components in the polishing medium.

[0037] Among them, the polishing medium is a mixture of a dispersion medium, a dispersed phase, abrasives, electrolytes and additives. It is an intelligent fluid polishing medium with a composite effect of "electrochemical oxidation" and "shear thickening"; the voltage of the DC power supply 7 regulates the generation rate and thickness of the oxide film in the processing area, and sets the flow rate of the polishing medium, which can regulate the removal rate of the oxide film to achieve a balance between the generation and removal of the oxide film.

[0038] The method of the multi-station intelligent fluid flexible polishing system comprises the following steps:

[0039] Step 1: Determine the number of industrial robots according to polishing requirements and place them at different positions of the polishing medium circulation device 6;

[0040] Step 2: Clamp the workpiece 2 on the insulating fixture 3 to complete the clamping of the workpiece 2;

[0041] Step 3: inject the polishing medium into the polishing medium storage tank 9, turn on the stirring device 12, and set the temperature of the temperature control device 10 and the humidity of the humidity control device 11 respectively to keep the polishing medium at the best performance;

[0042] Step 4: Plan the polishing path, set the force threshold, set the transmission line speed of the upper liquid conveying device 5 and the polishing medium circulation device 6 and the processing voltage of the DC power supply 7, and then input the control code into each execution device system respectively;

[0043] Step 5: The industrial robot 1 drives the workpiece to move along a predetermined trajectory, the polishing medium circulates, and the surface of the workpiece 2 contacts the polishing medium to generate an oxide film through electrochemical oxidation, and then the oxide film is removed by the adaptive flexible abrasive tool generated by the shear thickening effect;

[0044] Step 6: Use the six-dimensional force sensor 4 to collect polishing force signals in real time. If the collected force signal exceeds the set force threshold or is less than the set force threshold, the control system 13 sends an adjustment instruction to each actuator system, and the industrial robot 1, the polishing medium circulation device 6 and the DC power supply 7 adjust the workpiece posture, the polishing medium transmission line speed and the voltage according to the instruction, until the polishing force reaches the set threshold, thereby realizing constant force polishing of the workpiece;

[0045] Step 7: Through joint control of each actuator, reciprocating polishing is performed to ultimately achieve constant force, high efficiency, and high quality polishing of the workpiece.

[0046] Specific implementation method: Combination Figure 1 and Figure 2 The steps of performing multi-station intelligent fluid flexible polishing in this embodiment are as follows:

[0047] Step 1: According to the polishing requirements, the number of industrial robots 1 is determined to be 2, and they are placed at symmetrical positions of the polishing medium circulation device 6;

[0048] Step 2: Clamp the workpiece 2 on the insulating fixture to complete the clamping of the workpiece 2;

[0049] Step 3: inject the polishing medium 14 into the polishing medium storage tank 9, turn on the stirring device 12, and set the temperature of the temperature control device 10 to 25° C. and the humidity of the humidity control device 11 to 50% respectively, so that the polishing medium 14 maintains the best performance;

[0050] Step 4: Plan the polishing path, set the force threshold to 0.7N, set the transmission line speed of the upper liquid conveying device 5 and the polishing medium circulation device 6 to 1.0m / s and the processing voltage of the DC power supply 7 to 3V, and then input the control code into each actuator system respectively;

[0051] Step 5: The industrial robot 1 drives the workpiece 2 to move along a predetermined trajectory, the polishing medium 14 circulates, and the surface of the workpiece 2 contacts the polishing medium 14 to generate an oxide film through electrochemical oxidation, and then the oxide film is removed by the adaptive flexible abrasive tool generated by the shear thickening effect;

[0052] Step 6: Use the six-dimensional force sensor 4 to collect polishing force signals in real time. If the collected force signal exceeds the set 0.7N or is less than the set 0.7N, the control system 7 sends adjustment instructions to each actuator system, and the industrial robot 1, the polishing medium circulation device 6 and the DC power supply 7 adjust the workpiece 2 posture, the polishing medium 14 transmission line speed and the processing voltage according to the instructions, until the polishing force reaches the set threshold, thereby achieving constant force polishing of the workpiece 2;

[0053] Step 7: Through joint control of each actuator, reciprocating polishing is performed to ultimately achieve constant force, high efficiency, and high quality polishing of the workpiece 2.

[0054] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multi-station intelligent fluid flexible polishing system, characterized in that: The invention comprises an industrial robot (1), an insulating fixture (3), a workpiece (2), a six-dimensional force sensor (4), an upper liquid conveying device (5), a polishing medium circulation device (6), a DC power supply (7), a conductive slip ring (8), a polishing medium storage tank (9), a temperature control device (10), a humidity control device (11), a stirring device (12) and a control system (13), wherein the industrial robot (1) is fixedly connected to the six-dimensional force sensor (4), the insulating fixture (3) is installed at the end of the six-dimensional force sensor (4), and the workpiece (2) is The workpiece (2) is clamped by an insulating clamp (3), the polishing medium storage tank (9) stores polishing medium, one end of the upper liquid conveying device (5) is immersed in the polishing medium storage tank (9), and the other end is connected to the polishing medium circulation device (6), the temperature control device (10), the humidity control device (11) and the stirring device (12) are arranged in the polishing medium storage tank (6), the anode of the DC power supply (7) is connected to the workpiece (2) through a wire, and the cathode of the DC power supply (7) is connected to the polishing medium circulation device (6) through a conductive slip ring (8).

2. The multi-station intelligent fluid flexible polishing system according to claim 1 is characterized in that: The six-dimensional force sensor (4) collects polishing force signals in real time, the control system (13) analyzes the force signals and sends adjustment instructions to the system, and the industrial robot (1), the polishing medium circulation device (6) and the DC power supply (7) respectively adjust the workpiece posture, the polishing medium transmission line speed and the voltage according to the instructions, thereby achieving constant force polishing of the workpiece.

3. The multi-station intelligent fluid flexible polishing system according to claim 2 is characterized in that: The number of the industrial robots (1) can be adjusted according to polishing requirements, and one or more sets of industrial robots can be placed at different positions of the polishing medium circulation device (6) to achieve multi-station efficient collaborative polishing.

4. The multi-station intelligent fluid flexible polishing system and method according to claim 3, characterized in that: During the polishing process, the polishing medium is recycled through the polishing medium circulation device (6), the temperature control device (10) and the humidity control device (11) respectively adjust the temperature and humidity of the polishing medium, and the stirring device (12) fully mixes the components in the polishing medium.

5. The multi-station intelligent fluid flexible polishing system according to claim 4 is characterized in that: The polishing medium is a mixture of a dispersion medium, a dispersion phase, abrasive particles, an electrolyte and an additive, and is an intelligent fluid polishing medium having a composite effect of "electrochemical oxidation" and "shear thickening".

6. The multi-station intelligent fluid flexible polishing system according to claim 5, characterized in that: The voltage of the DC power supply (7) regulates the generation rate and thickness of the oxide film in the processing area, and the flow rate of the polishing medium is set to regulate the removal rate of the oxide film so as to achieve a balance between the generation and removal of the oxide film.

7. The multi-station intelligent fluid flexible polishing system according to claim 5, characterized in that: The method of the multi-station intelligent fluid flexible polishing system comprises the following steps: Step 1: Determine the number of industrial robots according to polishing requirements and place them at different positions of the polishing medium circulation device (6); Step 2: Clamp the workpiece (2) on the insulating clamp (3) to complete the clamping of the workpiece (2); Step 3: injecting the polishing medium into the polishing medium storage tank (9), turning on the stirring device (12), and setting the temperature of the temperature control device (10) and the humidity of the humidity control device (11) respectively so that the polishing medium maintains optimal performance; Step 4: planning the polishing path, setting the force threshold, setting the transmission line speed of the upper liquid conveying device (5) and the polishing medium circulation device (6) and the processing voltage of the DC power supply (7), and then inputting the control code into each execution device system respectively; Step 5: the industrial robot (1) drives the workpiece to move along a predetermined trajectory, the polishing medium circulates, the surface of the workpiece (2) contacts the polishing medium, an electrochemical oxidation effect occurs, and an oxide film is formed, and then the oxide film is removed by an adaptive flexible abrasive tool generated by a shear thickening effect; Step 6: Use the six-dimensional force sensor (4) to collect polishing force signals in real time. If the collected force signal exceeds the set force threshold or is less than the set force threshold, the control system (13) sends adjustment instructions to each actuator system, and the industrial robot (1), the polishing medium circulation device (6) and the DC power supply (7) respectively adjust the workpiece posture, the polishing medium transmission line speed and the voltage according to the instructions until the polishing force reaches the set threshold, thereby achieving constant force polishing of the workpiece; Step 7: Through joint control of each actuator, reciprocating polishing is performed to ultimately achieve constant force, high efficiency, and high quality polishing of the workpiece.

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