A multi-station intelligent fluid flexible polishing system and method

Abstract

This invention discloses a multi-station intelligent fluid flexible polishing system, comprising an industrial robot, an insulating clamp, a workpiece, a six-dimensional force sensor, a liquid conveying device, a polishing media circulation device, a DC power supply, a conductive slip ring, a polishing media storage tank, a temperature control device, a humidity control device, a stirring device, and a control system. 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 media storage tank stores polishing media, and one end of the liquid conveying device is immersed in the polishing media storage tank. This invention achieves polishing through oxide film formation and adaptive flexible abrasive removal of the oxide film. By combining feedback to adjust the workpiece posture, polishing media conveying linear speed, and processing voltage of the industrial robot, polishing media circulation device, and DC power supply, constant force, high efficiency, and high quality polishing of complex surface parts is achieved.

Description

Technical Field

[0001] This invention relates to the technical field of robotic polishing, and more particularly to a multi-station intelligent fluid flexible polishing system and method. Background Technology

[0002] Polishing, as the final step in ultra-precision machining, directly impacts the final performance of parts. Despite the advanced state of ultra-precision machining technology today, polishing complex surfaces remains a global challenge. Currently, polishing complex surfaces in my country is still primarily done manually, which suffers from high labor intensity, low efficiency, and inconsistent processing quality.

[0003] Patent application number 202111329646.0, entitled "Intelligent Polishing System for Complex Curved Transparent Parts by Robot," designs a flexible workpiece positioning device and a pneumatic motor device. This achieves flexible workpiece clamping and timely, quantitative supply of polishing paste via the motor center, enabling polishing of surfaces with large curvatures. However, material removal mainly relies on the rotational motion of the polishing head and workpiece controlled by the robot. Due to the different linear velocities at different radii of the polishing head, the surface uniformity after processing is poor, and the system is not suitable for polishing large batches of complex-shaped parts. Patent application number 202310421417.4, entitled "Belt Polishing and Grinding Robot," designs a triangular belt polishing device. Driven by an industrial robot, the triangular belt polishing device includes a debris recovery system, effectively preventing secondary damage to the processed surface from debris. However, using a triangular belt as the polishing head greatly limits the types of workpieces that can be processed, and the belt needs to wear out quickly and be replaced frequently, thus affecting processing efficiency. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

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

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

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a multi-station intelligent fluid flexible polishing system, comprising an industrial robot, an insulating clamp, a workpiece, a six-dimensional force sensor, a 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. 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 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, humidity control device, and stirring device are disposed 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 embodiment of the multi-station intelligent fluid flexible polishing system of the present invention, the six-dimensional force sensor collects polishing force signals in real time, the control system analyzes the force signals and sends adjustment commands to the system, and the industrial robot, polishing media circulation device and DC power supply adjust the workpiece posture, polishing media conveying linear speed and voltage according to the commands to achieve constant force polishing of the workpiece.

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

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

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

[0012] As a preferred embodiment of the multi-station intelligent fluid flexible polishing system of 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, thereby regulating the removal rate of the oxide film to achieve a balance between oxide film generation and removal.

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

[0014] Step 1: Determine the number of industrial robots based on the polishing requirements and place them at different locations in the polishing media circulation device;

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

[0016] Step 3: Pour the polishing media into the polishing media storage tank, turn on the stirring device, and set the temperature of the temperature control device and the humidity of the humidity control device to keep the polishing media in optimal condition.

[0017] Step 4: Plan the polishing path, set the force threshold, set the linear speed of the liquid conveying device and the polishing media circulation device, and set the processing voltage of the DC power supply. Then, input the control code into each actuator system.

[0018] Step 5: The industrial robot drives the workpiece to move along a predetermined trajectory. The polishing medium circulates and flows. When the workpiece surface comes into contact with the polishing medium, an electrochemical oxidation effect occurs to generate an oxide film. The oxide film is then removed by an adaptive flexible abrasive generated due to the shear thickening effect.

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

[0020] Step 7: By coordinating and controlling each actuator, the workpiece is polished repeatedly in a cycle, ultimately achieving constant force, high efficiency, and high quality polishing.

[0021] The beneficial effects of this invention are:

[0022] (1) The multi-station intelligent fluid flexible polishing system and method of the present invention effectively integrates a polishing medium circulation device, a polishing medium storage device and a liquid delivery device to realize the recycling of polishing medium, and uses a temperature control device, a humidity control device and a stirring device to ensure the optimal performance of polishing medium, thereby effectively reducing polishing costs.

[0023] (2) The multi-station intelligent fluid flexible polishing system and method of the present invention can adjust the number of industrial robots according to the polishing requirements. One or more sets of industrial robots are placed at different positions of the polishing medium circulation device to achieve efficient collaborative polishing at multiple stations.

[0024] (3) The multi-station intelligent fluid flexible polishing system and method of the present invention uses an intelligent fluid as the polishing medium, which can generate an adaptive flexible abrasive according to the shape of the contact area of ​​the workpiece, and the polishing workpiece is not limited by the shape of the workpiece.

[0025] (4) The multi-station intelligent fluid flexible polishing system and method of the present invention uses a six-dimensional force sensor to collect polishing force signals in real time, the control system analyzes the force signals and sends adjustment commands 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 commands to achieve constant force polishing of the workpiece and improve the uniformity of the polished surface. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

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

[0028] Figure 2 This is a schematic diagram showing the relative motion between the workpiece and the polishing medium. Detailed Implementation

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the 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 phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0032] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0033] Reference Figure 1 - Figure 2 A multi-station intelligent fluid flexible polishing system is provided, including an industrial robot 1, an insulating clamp 3, a workpiece 2, a six-dimensional force sensor 4, a 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 liquid conveying device 5 is used for liquid conveying. One end of the feeding 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, humidity control device 11 and stirring device 12 are set 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 liquid feeding 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 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 polishing requirements. One or more industrial robots can be placed at different positions of the polishing media circulation device 6 to achieve efficient collaborative polishing at multiple workstations.

[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 regulate the temperature and humidity of the polishing medium respectively, and the stirring device 12 fully mixes the components in the polishing medium.

[0037] The polishing medium is a mixture of dispersion medium, dispersed phase, abrasive particles, electrolyte and additives. It is an intelligent fluid polishing medium with a composite effect of "electrochemical oxidation" and "shear thickening". The voltage of DC power supply 7 can regulate the formation rate and thickness of oxide film in the processing area. The flow rate of polishing medium can be set to regulate the removal rate of oxide film, so as to achieve a balance between oxide film formation and removal.

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

[0039] Step 1: Determine the number of industrial robots based on the polishing requirements and place them at different positions in the polishing media circulation device 6;

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

[0041] Step 3: Pour 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 in optimal condition.

[0042] Step 4: Plan the polishing path, set the force threshold, set the linear speed of the liquid conveying device 5 and the polishing media circulation device 6, and the processing voltage of the DC power supply 7, and then input the control code into each actuator system respectively.

[0043] Step 5: Industrial robot 1 drives the workpiece to move along a predetermined trajectory. The polishing medium circulates and flows. The surface of workpiece 2 comes into contact with the polishing medium and an electrochemical oxidation effect occurs to generate an oxide film. The oxide film is then removed by an adaptive flexible abrasive generated by the shear thickening effect.

[0044] Step 6: Use the six-dimensional force sensor 4 to collect the polishing force signal in real time. If the collected force signal exceeds or is less than the set force threshold, the control system 13 sends adjustment instructions to each execution device system. 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 voltage according to the instructions until the polishing force is at the set threshold, so as to achieve constant force polishing of the workpiece.

[0045] Step 7: By coordinating and controlling each actuator, the workpiece is polished repeatedly in a cycle, ultimately achieving constant force, high efficiency, and high quality polishing.

[0046] Detailed implementation method: combined with Figure 1 and Figure 2 The steps for multi-station intelligent fluid flexible polishing in this embodiment are as follows:

[0047] Step 1: Based on the polishing requirements, determine the number of industrial robots 1 to be 2, and place them in symmetrical positions of the polishing media circulation device 6;

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

[0049] Step 3: Pour 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 optimal performance.

[0050] Step 4: Plan the polishing path, set the force threshold to 0.7N, set the linear speed of the liquid conveying device 5 and the polishing media 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: Industrial robot 1 drives workpiece 2 to move along a predetermined trajectory. Polishing medium 14 circulates. When the surface of workpiece 2 comes into contact with polishing medium 14, an electrochemical oxidation effect occurs to generate an oxide film. The oxide film is then removed by an adaptive flexible abrasive generated by shear thickening effect.

[0052] Step Six: The polishing force signal is collected in real time using the six-dimensional force sensor 4. If the collected force signal exceeds or is less than the set 0.7N, the control system 7 sends adjustment instructions to each execution device system. The industrial robot 1, the polishing medium circulation device 6, and the DC power supply 7 adjust the workpiece 2 posture, the conveying line speed of the polishing medium 14, and the processing voltage according to the instructions until the polishing force is at the set threshold, so as to achieve constant force polishing of the workpiece 2.

[0053] Step 7: By coordinating and controlling each actuator, the workpiece is polished repeatedly in a cycle, ultimately achieving constant force, high efficiency, and high quality polishing.

[0054] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A multi-station intelligent fluid flexible polishing system, characterized in that, The system includes an industrial robot (1), an insulating clamp (3), a workpiece (2), a six-dimensional force sensor (4), a liquid conveying device (5), a polishing media circulation device (6), a DC power supply (7), a conductive slip ring (8), a polishing media 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), and the insulating clamp (3) is installed at the end of the six-dimensional force sensor (4). The workpiece (2) is... The insulating clamp (3) holds the polishing medium stored in the polishing medium storage tank (9). One end of the 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), humidity control device (11) and stirring device (12) are set in the polishing medium storage tank (9). 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). 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. 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. The number of industrial robots (1) can be adjusted according to polishing requirements. One or more industrial robots are placed at different positions of the polishing medium circulation device (6) to achieve efficient collaborative polishing at multiple workstations. During the polishing process, the polishing medium is recycled through the polishing medium circulation device (6). The temperature control device (10) and humidity control device (11) regulate the temperature and humidity of the polishing medium respectively. The stirring device (12) fully mixes the components in the polishing medium.

2. The multi-station intelligent fluid flexible polishing system according to claim 1, characterized in that: The polishing medium is a mixture of dispersion medium, dispersed phase, abrasive particles, electrolyte and additives, and is a smart fluid polishing medium with a composite effect of "electrochemical oxidation" and "shear thickening".

3. The multi-station intelligent fluid flexible polishing system according to claim 2, characterized in that: The voltage of the DC power supply (7) can regulate the formation rate and thickness of the oxide film in the processing area, and set the flow rate of the polishing medium, thereby regulating the removal rate of the oxide film and achieving a balance between oxide film formation and removal.

4. The multi-station intelligent fluid flexible polishing system according to claim 3, characterized in that: The method of the multi-station intelligent fluid flexible polishing system includes the following steps: Step 1: Determine the number of industrial robots according to the polishing requirements and place them at different positions on the polishing media circulation device (6); Step 2: Clamp the workpiece (2) on the insulating fixture (3) to complete the clamping of the workpiece (2); 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 in optimal condition; Step 4: Plan the polishing path, set the force threshold, set the linear speed of the 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; Step 5: The industrial robot (1) drives the workpiece to move along a predetermined trajectory. The polishing medium circulates and flows. The surface of the workpiece (2) comes into contact with the polishing medium and an electrochemical oxidation effect occurs to generate an oxide film. The oxide film is then removed by the adaptive flexible abrasive generated by the shear thickening effect. Step 6: Use the six-dimensional force sensor (4) to collect the polishing force signal in real time. If the collected force signal exceeds or is less than the set force threshold, the control system (13) sends adjustment instructions to each execution device system. The industrial robot (1), polishing medium circulation device (6) and DC power supply (7) adjust the workpiece posture, polishing medium transmission line speed and voltage according to the instructions until the polishing force is the set threshold, so as to achieve constant force polishing of the workpiece. Step 7: By coordinating and controlling each actuator, the workpiece is polished repeatedly in a cycle, ultimately achieving constant force, high efficiency, and high quality polishing.

Images