Curved surface polishing device

Abstract

The utility model provides a curved surface polishing device which is provided with a first platform and a second platform, the first platform and the second platform are oppositely arranged, and the first platform and the second platform are fixedly connected based on at least three sets of hinge assemblies. A grinding wheel driving part and an external controller are arranged on the surface, close to the first platform, of the second platform, the external controller is arranged above the grinding wheel driving part, at least three laser induction sensors and a grinding wheel are arranged on the surface, away from the first platform, of the second platform, and the laser induction sensors are arranged around the grinding wheel. Further, the ground curved surface can be sensed in real time based on the dot matrix laser induction sensor, the controller controls stretching and retracting of the hinge assembly in an online closed-loop mode, self-adaptive adjustment of the curved surface contact angle is guaranteed, and the problems that machining is difficult and quality is poor for different positions and different curvatures of the curved surface in a traditional grinding mode are solved; and meanwhile, universality of multiple machining occasions is achieved, and the machining precision is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of rail transit vehicles and automobile parts processing, in particular to a curved surface grinding device. Background Art

[0002] During the manufacturing process of rail transit vehicles and automobiles, a large number of curved surface parts need to be polished to reduce surface burrs. Curved surface parts include large parts of rail transit vehicle side walls (arcs), driver's cabs and masks, automobile doors, crankshafts, engine covers, cylinder blocks, etc.; with the development of the economy and the innovation of industrial technology, the polishing method of curved surface workpieces has changed from traditional manual polishing to robot automatic polishing, and the end of the polishing robot manipulator and the polishing tool are rigidly connected by a flange.

[0003] Among existing technologies, most current robotic automated polishing processes offer high efficiency but poor results. The current robotic polishing process involves marking polishing points on the target workpiece that represent the entire curved path, performing path planning based on these marked polishing points, and then using specific motion and control instructions to instruct the robot actuator to perform the polishing along the polishing path. However, the current robotic polishing process largely ignores changes in curvature, fails to identify polishing points or surface normals, and as a result, the polishing tool cannot be precisely aligned with the workpiece, resulting in uneven polishing thickness and poor polishing surface accuracy. Utility Model Content

[0004] The purpose of the present utility model is to solve at least one of the technical problems existing in the prior art, and to provide a curved surface grinding device, which can sense the surface of the grinding curved surface in real time based on a dot matrix laser sensing sensor, and the controller controls the extension and retraction of the telescopic rod in an online closed-loop manner, thereby ensuring the adaptive adjustment of the contact angle of the curved surface, thereby improving the problems of difficult processing and poor quality of different curvatures of the curved surface at different positions under the traditional grinding method, and at the same time has the versatility of multiple processing occasions, thereby improving the processing accuracy.

[0005] To achieve the above objectives, the present invention provides a curved surface grinding device, comprising:

[0006] First platform;

[0007] The second platform is arranged opposite to the first platform and fixedly connected to the second platform based on at least three sets of hinge assemblies;

[0008] A grinding wheel drive and an external controller are provided on a surface of the second platform close to the first platform, and the external controller is provided above the grinding wheel drive. At least three laser sensors and a grinding wheel are provided on a surface of the second platform away from the first platform, and the laser sensors are provided around the grinding wheel.

[0009] Among them, the grinding wheel is used to grind the workpiece to be processed, the laser sensing sensor is used to obtain the distance between the laser sensing sensor and the surface of the workpiece to be processed, and the external controller is used to calculate the normal information of the curved surface area to be ground on the workpiece to be processed based on the distance obtained by each laser sensing sensor, and control the hinge assembly to adjust the angle of the grinding wheel according to the normal information so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground.

[0010] Preferably, four sets of hinge components are provided between the first platform and the second platform, and four laser sensing sensors are provided on the surface of the second platform away from the first platform.

[0011] Preferably, the hinge assembly includes an upper Hooke's hinge mounting seat, and the upper Hooke's hinge mounting seat is fixedly connected to the first platform.

[0012] Preferably, the hinge assembly further comprises an upper Hooke's hinge, which is connected to the upper Hooke's hinge mounting seat.

[0013] Preferably, the hinge assembly further comprises a lower Hooke's hinge mounting seat, which is fixedly connected to the second platform.

[0014] Preferably, the hinge assembly further comprises a lower Hooke's hinge, which is fixedly connected to the lower Hooke's hinge mounting seat.

[0015] Preferably, the hinge assembly further comprises a telescopic rod, one end of the telescopic rod is hinged to the upper Hooke's hinge, and the other end of the telescopic rod is hinged to the lower Hooke's hinge.

[0016] Preferably, a linear motor driver is provided in the telescopic rod, and the linear motor driver is used to drive the telescopic rod to extend or compress.

[0017] Preferably, a plurality of first mounting protrusions adapted to the hinge assembly are provided on the edge of the first platform, and the first mounting protrusions are fixedly connected to the upper Hooke's hinge mounting seat.

[0018] Preferably, a plurality of second mounting protrusions adapted to the hinge assembly are provided on the edge of the second platform, and the second mounting protrusions are fixedly connected to the lower Hooke's hinge mounting seat.

[0019] According to a curved surface grinding device of an embodiment of the present invention, there are at least the following beneficial effects: a first platform and a second platform are provided, the first platform and the second platform are arranged relative to each other, and the first platform and the second platform are fixedly connected based on at least three sets of hinge components; a grinding wheel driving part and an external controller are provided on the surface of the second platform close to the first platform, and the external controller is arranged above the grinding wheel driving part; at least three laser sensing sensors and a grinding wheel are provided on the surface of the second platform away from the first platform, and the laser sensing sensors are arranged around the grinding wheel; wherein the grinding wheel is used to grind the workpiece to be processed, and the laser sensing sensor is used to obtain the laser sensing sensor data. The distance between the sensor and the surface of the workpiece to be processed is calculated by the external controller, which is used to calculate the normal information of the curved surface area to be ground on the workpiece to be processed according to the distance obtained by each laser sensing sensor, and control the hinge assembly to adjust the angle of the grinding wheel according to the normal information, so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground, and then the surface of the grinding surface can be sensed in real time based on the dot matrix laser sensing sensor. The controller controls the extension and retraction of the telescopic rod in an online closed-loop manner, which ensures the adaptive adjustment of the contact angle of the curved surface, improves the problems of difficult processing and poor quality of curved surfaces at different positions and curvatures under traditional grinding methods, and at the same time has the versatility of multiple processing occasions, thereby improving the processing accuracy.

[0020] Other features and advantages of the present invention will be described in the following description and will become apparent in part from the description. The purpose and other advantages of the present invention can be achieved and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0023] Figure 1 A schematic structural diagram of a curved surface polishing device provided in Example 1 of the present invention;

[0024] Figure 2 for Figure 1 Schematic diagram of the structure of the mid-curve surface grinding device during forward grinding;

[0025] Figure 3 for Figure 1 Schematic diagram of the structure of the mid-curve surface grinding device during lateral grinding.

[0026] Figure numerals: first platform 10, first mounting protrusion 11, second platform 20, grinding wheel drive 21, external controller 22, laser sensing sensor 23, grinding wheel 24, second mounting protrusion 25, hinge assembly 30, upper Hooke's hinge mounting seat 31, upper Hooke's hinge 32, telescopic rod 33, lower Hooke's hinge 34, lower Hooke's hinge mounting seat 35, workpiece to be processed 40. DETAILED DESCRIPTION

[0027] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0028] In the description of the present invention, if the first and second are described only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features, it should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0030] Among existing technologies, most current robotic automated polishing processes offer high efficiency but poor results. The current robotic polishing process involves marking polishing points on the target workpiece that represent the entire curved path, performing path planning based on these marked polishing points, and then using specific motion and control instructions to instruct the robot actuator to perform the polishing along the polishing path. However, the current robotic polishing process largely ignores changes in curvature, fails to identify polishing points or surface normals, and as a result, the polishing tool cannot be precisely aligned with the workpiece, resulting in uneven polishing thickness and poor polishing surface accuracy.

[0031] Based on this, a first platform and a second platform are provided, the first platform and the second platform are arranged relative to each other, and the first platform and the second platform are fixedly connected based on at least three sets of hinge components; a grinding wheel driving part and an external controller are provided on the surface of the second platform close to the first platform, and the external controller is arranged above the grinding wheel driving part; at least three laser sensing sensors and a grinding wheel are provided on the surface of the second platform away from the first platform, and the laser sensing sensors are arranged around the grinding wheel; wherein the grinding wheel is used to grind the workpiece to be processed, and the laser sensing sensor is used to obtain the distance between the laser sensing sensor and the surface of the workpiece to be processed The external controller is used to calculate the normal information of the curved surface area to be ground on the workpiece to be processed according to the distance obtained by each laser sensing sensor, and control the hinge assembly to adjust the angle of the grinding wheel according to the normal information, so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground, and then the surface of the polished curved surface can be sensed in real time based on the dot matrix laser sensing sensor. The controller controls the extension and contraction of the hinge assembly in an online closed-loop manner, ensuring the adaptive adjustment of the contact angle of the curved surface, improving the problems of difficult processing and poor quality of curved surfaces at different positions and curvatures under traditional grinding methods, and at the same time having the versatility of multiple processing occasions, thereby improving the processing accuracy.

[0032] Therefore, the embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0033] like Figures 1 to 3 As shown, Figure 1 This is a schematic structural diagram of a curved surface grinding device provided by an embodiment of the present invention. Figure 2 for Figure 1 Schematic diagram of the structure of the mid-curve surface grinding device during forward grinding. Figure 3 for Figure 1 Schematic diagram of the structure of a mid-curved surface grinding device during lateral grinding. An embodiment of the present invention provides a curved surface grinding device, comprising a first platform 10 and a second platform 20. The first platform 10 and the second platform 20 are arranged opposite each other and fixedly connected by at least three hinge assemblies 30. A grinding wheel driver 21 and an external controller 22 are provided on the surface of the second platform 20 close to the first platform 10. The external controller 22 is arranged above the grinding wheel driver 21. At least three laser sensors 23 and a grinding wheel 24 are provided on the surface of the second platform 20 away from the first platform 10. The laser sensors 23 are arranged around the grinding wheel 24.

[0034] Among them, the grinding wheel 24 is used to grind the workpiece to be processed 40, the laser sensing sensor 23 is used to obtain the distance between the laser sensing sensor 23 and the surface of the workpiece to be processed 40, and the external controller 22 is used to calculate the normal information of the curved surface area to be ground on the workpiece to be processed 40 according to the distance obtained by each laser sensing sensor 23, and control the hinge assembly 30 to adjust the angle of the grinding wheel 24 according to the normal information so that the normal of the grinding wheel 24 coincides with the normal of the curved surface area to be ground.

[0035] It should be noted that the hinge assembly 30 includes an upper Hooke's hinge mounting seat 31, an upper Hooke's hinge 32, a lower Hooke's hinge 34 and a lower Hooke's hinge mounting seat 35. The upper Hooke's hinge mounting seat 31 is fixedly connected to the first platform 10, the upper Hooke's hinge 32 is connected to the upper Hooke's hinge mounting seat 31, the lower Hooke's hinge mounting seat 35 is fixedly connected to the second platform 20, and the lower Hooke's hinge 34 is fixedly connected to the lower Hooke's hinge mounting seat 35.

[0036] In addition, the hinge assembly further includes a telescopic rod 33 , one end of the telescopic rod 33 is hinged to the upper Hooke's hinge 32 , and the other end of the telescopic rod 33 is hinged to the lower Hooke's hinge 34 .

[0037] Optionally, a linear motor drive (not shown) is provided in the telescopic rod 33, which is used to drive the extension or compression of the telescopic rod 33, thereby adjusting the grinding posture, and one end of the telescopic rod 33 is hinged to the upper Hooke's hinge 32, and the other end of the telescopic rod 33 is hinged to the lower Hooke's hinge 34.

[0038] Optionally, in this embodiment, the first platform 10 is the upper platform, the upper platform is connected to the end of the robot, the second platform 20 is the lower platform, the first platform 10 and the second platform 20 are provided with four groups of hinge assemblies 30, and four laser sensing sensors 23 are provided on the surface of the second platform 20 away from the first platform 10. The four groups of hinge assemblies 30 are arranged at the edge positions of the two platforms, and the hinge assembly 30 can change its length by extending and retracting the middle telescopic rod 33; four laser sensing sensors 23 are provided on the lower platform, and the four laser sensing sensors 23 are arranged around the grinding wheel 24. The four laser sensing sensors 23 are used to perform active dot matrix data measurement, and measure the distance from the surface of the workpiece 40 to be processed below in real time.

[0039] Optionally, the workpiece 40 to be processed can be a large part of the side wall of a rail transit vehicle (arc part), a driver's cab and a mask, or a car door, a crankshaft, an engine cover, a cylinder block, etc., which is not specifically limited in this application.

[0040] Furthermore, it should be noted that the external controller 22 can identify the parameter combination of four sets of laser sensing sensors and obtain the normal direction of the curved surface of the workpiece to be processed, thereby sensing the contact state between the grinding wheel 24 and the curved surface of the workpiece to be processed; the external controller 22 drives the telescopic rod 33 to extend and retract to adjust the posture of the grinding wheel 24, thereby ensuring the grinding direction of the grinding wheel 24 in contact with the curved workpiece, thereby ensuring the quality and accuracy of the polished surface.

[0041] Optionally, in this embodiment, the edge of the first platform 10 is provided with a plurality of first mounting protrusions 11 that are compatible with the hinge assembly 30, and the upper Hooke's hinge mounting seat 31 is fixedly connected to the first mounting protrusion 11, for example, it can be fixedly connected by bolts, and the edge of the second platform 20 is provided with a plurality of second mounting protrusions 25 that are compatible with the hinge assembly 30, and the lower Hooke's hinge mounting seat 35 is fixedly connected to the second mounting protrusion 25.

[0042] The curved surface polishing device provided by the present invention breaks through the limitations of traditional rigid contact polishing applications. It can sense the surface of the polished curved surface in real time based on a dot matrix laser sensing sensor. The controller controls the extension and retraction of the telescopic rod in an online closed-loop manner, ensuring adaptive adjustment of the curved surface contact angle. It improves the problems of difficult processing and poor quality of surfaces with different curvatures at different positions under traditional polishing methods. At the same time, it has the versatility to multiple processing occasions and improves the processing accuracy.

[0043] It should be understood that in the present invention, "at least one (item)" refers to one or more, and "plurality" refers to two or more. "And / or" is used to describe the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0044] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A curved surface grinding device, characterized in that: include: First platform; a second platform, wherein the first platform and the second platform are arranged opposite to each other, and the first platform and the second platform are fixedly connected based on at least three sets of hinge assemblies; A grinding wheel driver and an external controller are provided on a surface of the second platform close to the first platform, and the external controller is provided above the grinding wheel driver. At least three laser sensors and a grinding wheel are provided on a surface of the second platform away from the first platform, and the laser sensors are provided around the grinding wheel. In which, the grinding wheel is used to grind the workpiece to be processed, the laser sensing sensor is used to obtain the distance between the laser sensing sensor and the surface of the workpiece to be processed, and the external controller is used to calculate the normal information of the curved surface area to be ground on the workpiece to be processed based on the distance obtained by each laser sensing sensor, and control the hinge assembly to adjust the angle of the grinding wheel according to the normal information so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground.

2. The curved surface grinding device according to claim 1, characterized in that: Four groups of hinge components are provided between the first platform and the second platform, and four laser sensing sensors are provided on a surface of the second platform away from the first platform.

3. The curved surface grinding device according to claim 1, characterized in that: The hinge assembly includes an upper Hooke's hinge mounting seat, and the upper Hooke's hinge mounting seat is fixedly connected to the first platform.

4. The curved surface grinding device according to claim 3, characterized in that: The hinge assembly further includes an upper Hooke's hinge connected to the upper Hooke's hinge mounting seat.

5. The curved surface grinding device according to claim 4, characterized in that: The hinge assembly further includes a lower Hooke's hinge mounting seat, which is fixedly connected to the second platform.

6. The curved surface grinding device according to claim 5, characterized in that: The hinge assembly further includes a lower Hooke's hinge, which is fixedly connected to the lower Hooke's hinge mounting seat.

7. The curved surface grinding device according to claim 6, characterized in that: The hinge assembly further comprises a telescopic rod, one end of which is hinged to the upper Hooke's hinge, and the other end of which is hinged to the lower Hooke's hinge.

8. The curved surface grinding device according to claim 7, characterized in that: A linear motor driver is provided in the telescopic rod, and the linear motor driver is used to drive the telescopic rod to extend or compress.

9. The curved surface grinding device according to claim 6, characterized in that: A plurality of first mounting protrusions adapted to the hinge assembly are provided on the edge of the first platform, and the first mounting protrusions are fixedly connected to the upper Hooke's hinge mounting seat.

10. The curved surface grinding device according to claim 6, characterized in that: A plurality of second mounting protrusions adapted to the hinge assembly are provided on the edge of the second platform, and the second mounting protrusions are fixedly connected to the lower Hooke's hinge mounting seat.

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