Force control grinding system

Abstract

The invention discloses a force control grinding system. The force control grinding system comprises a mechanical arm, a grinding mechanism arranged at the tail end of the mechanical arm, a feeding mechanism, an abrasive paper replacing mechanism and a collecting box. The polishing mechanism comprises a plurality of force control devices arranged at the tail end of the mechanical arm, motors arranged on the force control devices and suction cups arranged on output shafts of the motors. The mechanical arm can drive the suction cup to move to the abrasive paper replacing mechanism and suck abrasive paper on the abrasive paper replacing mechanism. The mechanical arm can drive the suction cup to move to the feeding mechanism and grind a workpiece on the suction cup. The problems that according to an existing grinding device, the grinding efficiency is low, pressure control is not easy to conduct in the grinding process, and local over-grinding or under-grinding is prone to occurring are solved.

Description

Technical Field

[0001] The present invention relates to the field of automobile mold polishing, and in particular to a force-controlled polishing system. Background Art

[0002] Automotive panel dies are critical tooling in automotive manufacturing. The precision and finish of their mold surfaces directly determine the quality and appearance of stamped parts. During the manufacturing process, the mold develops a hardened layer and microcracks, leaving visible tool marks. These surface defects accelerate mold wear during the stamping process and can be transferred to the surface of the stamped part, affecting the product's appearance. Therefore, meticulous surface grinding and polishing are essential after machining and during maintenance. Existing grinding devices suffer from low grinding efficiency, difficulty controlling pressure during the grinding process, and a tendency to over- or under-grind localized areas. Summary of the Invention

[0003] The purpose of the present invention is to provide a force-controlled grinding system to solve the problems of existing grinding devices, such as low grinding efficiency, difficulty in pressure control during the grinding process, and easy occurrence of local over-grinding or under-grinding.

[0004] In order to achieve the above object, the present invention provides a force-controlled grinding system, which includes a robotic arm, a grinding mechanism provided at the end of the robotic arm, a feeding mechanism, a sandpaper replacement mechanism, and a collection box;

[0005] The grinding mechanism includes a plurality of force control devices arranged at the end of the robotic arm, a motor arranged on the force control device, and a suction cup arranged on the output shaft of the motor;

[0006] The robotic arm can drive the suction cup to move to the sandpaper replacement mechanism and absorb the sandpaper thereon;

[0007] The robotic arm can drive the suction cup to move to the loading mechanism and grind the workpiece thereon.

[0008] Preferably, the plurality of force control devices are arranged in different directions on a vertical plane.

[0009] Preferably, the grinding mechanism further comprises an adsorption rack arranged at the end of the robotic arm, and a plurality of workpiece adsorption plates are provided on the adsorption rack, so that the workpiece adsorption plates can take the workpiece claws on the loading mechanism into the collection box.

[0010] Preferably, the force control device includes a pressure sensor, and when the difference between the actual pressure read by the pressure sensor and the target pressure is greater than 5N, the force control device controls the robot arm to deflect along the Z-axis direction;

[0011] Here, target pressure = reference pressure + K × curvature change rate.

[0012] Preferably, the loading mechanism includes a bracket, and the bracket is provided with two groups of driving components in the vertical direction. A material table is provided on the driving components, so that the material table can approach or move away from the robotic arm in the horizontal plane.

[0013] Preferably, the driving assembly includes a driving motor arranged on the bracket, a lead screw lever connected to an output shaft of the driving motor, and a lead screw nut arranged on the lead screw lever;

[0014] The material platform is fixed on the lead screw nut.

[0015] Preferably, a sliding track is provided on the bracket, and the bottom of the material table is at least partially slidably engaged on the sliding track.

[0016] Preferably, the sandpaper replacement mechanism includes a frame, a plurality of sandpaper storage racks are provided on the frame, a push plate is provided in the sandpaper storage rack so as to slide up and down, a cylinder is provided on the frame, and a piston rod of the cylinder is connected to the push plate.

[0017] Preferably, a scraper mechanism is provided on the side of the frame.

[0018] Beneficial effect: The present invention provides a force-controlled grinding system, which includes a robotic arm, a grinding mechanism arranged at the end of the robotic arm, a loading mechanism, a sandpaper changing mechanism and a collection box; the grinding mechanism includes a plurality of force control devices arranged at the end of the robotic arm, a motor arranged on the force control device, and a suction cup arranged on the output shaft of the motor; the robotic arm can drive the suction cup to move to the sandpaper changing mechanism and adsorb the sandpaper thereon; the robotic arm can drive the suction cup to move to the loading mechanism and grind the workpiece thereon; during operation, the robotic arm can drive the suction cup to move to the sandpaper changing mechanism and adsorb the sandpaper thereon, different suction cups can adsorb different types of sandpaper, and the surface of the workpiece on the loading mechanism can be polished to different degrees through the displacement of the robotic arm, and the force control device on the robotic arm can adjust the pressure during the grinding process to avoid local over-grinding or under-grinding during the grinding process.

[0019] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 It is a structural diagram of the force-controlled grinding system provided by the present invention;

[0022] Figure 2 This is a structural diagram of the grinding mechanism in the force-controlled grinding system provided by the present invention;

[0023] Figure 3 This is a structural diagram of the sandpaper replacement mechanism in the force-controlled grinding system provided by the present invention;

[0024] Figure 4 It is a structural diagram of the feeding mechanism in the force-controlled grinding system provided by the present invention.

[0025] Description of Reference Numerals

[0026] 1-collection box; 2-robotic arm; 3-grinding mechanism; 4-loading mechanism; 5-sandpaper changing mechanism; 31-force control device; 32-motor; 33-suction cup; 34-adsorption rack; 41-bracket; 42-material table; 43-drive motor; 44-screw nut; 45-screw lever; 46-sliding track; 51-frame; 52-cylinder; 53-scraper mechanism; 54-push plate; 55-sandpaper storage rack. DETAILED DESCRIPTION

[0027] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0028] like Figure 1-4 As shown: The present invention provides a force-controlled grinding system, which includes a robotic arm 2, a grinding mechanism 3 provided at the end of the robotic arm 2, a feeding mechanism 4, a sandpaper changing mechanism 5, and a collection box 1; the grinding mechanism 3 includes multiple force control devices 31 provided at the end of the robotic arm 2, a motor 32 provided on the force control device 31, and a suction cup 33 provided on the output shaft of the motor 32; the robotic arm 2 is capable of driving the suction cup 33 to move to the sandpaper changing mechanism 5 and absorb the sandpaper thereon; the robotic arm 2 is capable of driving the suction cup 33 to move to the feeding mechanism 4 and grind the workpiece thereon. During operation, the robotic arm is capable of driving the suction cup to move to the sandpaper changing mechanism and absorb the sandpaper thereon. Different suction cups can absorb different types of sandpaper. Through the displacement of the robotic arm, the surface of the workpiece on the feeding mechanism can be polished to different degrees. The force control device on the robotic arm can adjust the pressure during the grinding process to avoid local over-grinding or under-grinding during the grinding process.

[0029] In a preferred embodiment of the present invention, in order to enable different types of sandpaper on multiple force control devices to be polished separately according to needs, the multiple force control devices 31 are arranged in different directions on the vertical plane.

[0030] In a preferred embodiment of the present invention, in order to be able to remove the workpiece after grinding from the loading mechanism for collection, the grinding mechanism 3 also includes an adsorption rack 34 arranged at the end of the robotic arm 2, and the adsorption rack 34 is provided with multiple workpiece adsorption plates, so that the workpiece adsorption plate can take the workpiece claw on the loading mechanism 4 into the collection box 1.

[0031] In a preferred embodiment of the present invention, in order to ensure pressure control during grinding and avoid local over-grinding or under-grinding, the force control device 31 includes a pressure sensor. When the difference between the actual pressure read by the pressure sensor and the target pressure is greater than 5N, the force control device 31 controls the robot arm 2 to deflect along the Z-axis direction.

[0032] Here, target pressure = reference pressure + K × curvature change rate.

[0033] In a preferred embodiment of the present invention, to facilitate loading, the loading mechanism 4 includes a bracket 41, and the bracket 41 is provided with two sets of drive components in the vertical direction. The drive components are provided with a material table 42, so that the material table 42 can be close to or away from the robot arm 2 in the horizontal plane. A positioning fixture can be provided on the material table. When one of the material tables is close to the robot arm for grinding, the other material table is away from the robot arm for loading. After the workpiece is polished and transferred, the loaded material table is moved to the robot arm for grinding, thereby shortening the loading time and improving the efficiency of the workpiece grinding operation.

[0034] In a preferred embodiment of the present invention, in order to effectively drive the displacement of the material platform, the driving assembly includes a driving motor 43 provided on the bracket 41, a screw lever 45 connected to the output shaft of the driving motor 43, and a screw nut 44 provided on the screw lever 45;

[0035] The material platform 42 is fixed on the screw nut 44 .

[0036] In a preferred embodiment of the present invention, in order to limit the displacement of the material table, a sliding track 46 is provided on the bracket 41 , and the bottom of the material table 42 is at least partially slidably engaged on the sliding track 46 .

[0037] In a preferred embodiment of the present invention, to facilitate the replacement of sandpaper, the sandpaper replacement mechanism 5 includes a frame 51, on which are disposed a plurality of sandpaper storage racks 55. A push plate 54 is slidably disposed within each of the sandpaper storage racks 55. A cylinder 52 is disposed on the frame 51, and a piston rod of the cylinder 52 is connected to the push plate 54. Sandpaper is stacked and placed on the push plate within the sandpaper storage rack 55. The sandpaper is attracted by the suction cups on the robotic arm, and the push plate can be displaced upward to push the sandpaper out of the sandpaper storage rack 55, facilitating the absorption of the sandpaper.

[0038] In a preferred embodiment of the present invention, a scraper mechanism 53 is provided on the side of the frame 51. When sandpaper needs to be unloaded, the suction cup is moved to the scraper mechanism, and the sandpaper on the suction cup is scraped off by contact with the scraper mechanism, so that new sandpaper can be re-adsorbed.

[0039] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the scope of protection of the present invention.

[0040] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0041] In addition, the various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A force-controlled grinding system, characterized in that: The force-controlled grinding system comprises a mechanical arm (2), a grinding mechanism (3) arranged at the end of the mechanical arm (2), a feeding mechanism (4), a sandpaper replacement mechanism (5) and a collection box (1); The grinding mechanism (3) comprises a plurality of force control devices (31) arranged at the end of the mechanical arm (2), a motor (32) arranged on the force control device (31), and a suction cup (33) arranged on the output shaft of the motor (32); The mechanical arm (2) can drive the suction cup (33) to move to the sandpaper replacement mechanism (5) and absorb the sandpaper thereon; The mechanical arm (2) can drive the suction cup (33) to move to the loading mechanism (4) and grind the workpiece thereon.

2. The force-controlled grinding system according to claim 1, characterized in that: The plurality of force control devices (31) are arranged in different directions on a vertical plane.

3. The force-controlled grinding system according to claim 1, characterized in that: The grinding mechanism (3) further comprises an adsorption rack (34) arranged at the end of the robotic arm (2), and a plurality of workpiece adsorption discs are arranged on the adsorption rack (34), so that the workpiece adsorption discs can take the workpiece claws on the feeding mechanism (4) into the collection box (1).

4. The force-controlled grinding system according to claim 1, characterized in that: The force control device (31) includes a pressure sensor. When the difference between the actual pressure read by the pressure sensor and the target pressure is greater than 5N, the force control device (31) controls the robot arm (2) to deflect along the Z-axis direction. Here, target pressure = reference pressure + K × curvature change rate.

5. The force-controlled grinding system according to claim 1, characterized in that: The loading mechanism (4) comprises a bracket (41), the bracket (41) being provided with two sets of driving components in a vertical direction, and a material platform (42) being provided on the driving components, so that the material platform (42) can be moved close to or away from the robotic arm (2) in a horizontal plane.

6. The force-controlled grinding system according to claim 5, characterized in that: The driving assembly comprises a driving motor (43) arranged on the bracket (41), a lead screw lever (45) connected to the output shaft of the driving motor (43), and a lead screw nut (44) arranged on the lead screw lever (45); The material platform (42) is fixed on the lead screw nut (44).

7. The force-controlled grinding system according to claim 6, characterized in that: The bracket (41) is provided with a sliding track (46), and the bottom of the material platform (42) is at least partially slidably engaged with the sliding track (46).

8. The force-controlled grinding system according to claim 7, characterized in that: The sandpaper replacement mechanism (5) comprises a frame (51), a plurality of sandpaper storage racks (55) are arranged on the frame (51), a push plate (54) is arranged in the sandpaper storage rack (55) so as to slide up and down, and a cylinder (52) is arranged on the frame (51), and a piston rod of the cylinder (52) is connected to the push plate (54).

9. The force-controlled grinding system according to claim 8, characterized in that: A scraper mechanism (53) is provided on the side of the frame (51).

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