CN108907905A - A kind of robot sanding and polishing method and device for automotive hub casting mold - Google Patents
A kind of robot sanding and polishing method and device for automotive hub casting mold Download PDFInfo
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- CN108907905A CN108907905A CN201810891261.5A CN201810891261A CN108907905A CN 108907905 A CN108907905 A CN 108907905A CN 201810891261 A CN201810891261 A CN 201810891261A CN 108907905 A CN108907905 A CN 108907905A
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- hub casting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/20—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding dies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
本发明公开了一种用于汽车轮毂铸造模具的机器人打磨抛光方法及装置，包括工业机器人、末端抛光装置、轮毂铸造模具、气动轮毂夹具、带分度的旋转工作台、液压升降台，上位机与工业机器人连接，通过抛光软件操作机器人抛光动作，机器人控制柜上的变频器控制机器人末端的末端抛光装置，末端抛光装置中的电主轴旋转，带动抛光刀具抛光轮毂下模，液压升降台设置在带分度的旋转工作台下方，轮毂铸造模具、气动轮毂夹具设置在带分度的旋转工作台上，抛光刀具和电主轴通过末端快换装置连接在工业机器人第六关节的法兰盘上。本发明机器人打磨抛光方法及装置可以达到提高轮毂模具曲面型腔抛光效率，降低轮毂模具表面粗糙度的目的。
The invention discloses a robot grinding and polishing method and device for automobile hub casting moulds, including an industrial robot, an end polishing device, a hub casting mold, a pneumatic hub clamp, a rotating workbench with an index, a hydraulic lifting platform, and a host computer Connect with the industrial robot and operate the polishing action of the robot through the polishing software. The frequency converter on the robot control cabinet controls the end polishing device at the end of the robot. The electric spindle in the end polishing device rotates to drive the polishing tool to polish the lower die of the wheel hub. The hydraulic lifting table is set on the belt. Below the indexed rotary table, the hub casting mold and pneumatic hub fixture are set on the indexed rotary table. The polishing tool and the electric spindle are connected to the flange of the sixth joint of the industrial robot through the end quick change device. The robot grinding and polishing method and device of the present invention can achieve the purpose of improving the polishing efficiency of the curved surface cavity of the wheel hub mold and reducing the surface roughness of the wheel hub mold.
Description
Technical field
The invention belongs to be machined sanding and polishing technical field more particularly to a kind of for automotive hub casting mold
Robot sanding and polishing method and device.
Background technique
In mould manufacturing industry, 65% mold cavity is curved surface, and wherein free form surface accounts for 40%.Free form surface makes mould
Lamps structure is more compact, alleviates the weight of mold, while improving the service life of mold.Currently, Machining Automobile Wheel Hub Mould city
Field has good prospects, but the polishing of wheel hub grinding tool is mainly also to rely on and is accomplished manually, so the technology of worker and proficiency will be big
It is big to influence quality of finish.In addition, the factors such as mold materials, heat treatment mode, initial surface state, polishing tool material are to polishing
Quality all has an impact.It is directed to the uniformity of polished surface quality, being mingled in material, stomata and polished piece surface are hard
The inhomogeneities of degree and characteristic difference generate large effect to the inhomogeneities of polished surface.The forming process hair of hub mold
Base needs by roughing, heat treatment, CNC finishing, frustrates flash and polishing grinding processing by hand.There is labor for hand polish
The disadvantages of fatigue resistance is big, low efficiency, time-consuming, processing quality is unstable, thus using industrial robot polishing hub mold by
To extensive concern.
Currently, casting curved surface, after milling process, surface would generally leave very deep tool marks, especially for curve-surface cavity zero
Part milling.Abrasive surface quality directly determines the surface quality and service life of its product, so after milling process, it is necessary to
It polishes.Traditional grinding tool manual polishing, mold cavity polishing are generally divided into three process, are rough polishing respectively, and half essence is thrown and essence
It throws.Rough polishing generally carries out the tool marks that manual polishing leaves milling cutter first and removes.Half finishing polish, it is generally lesser using granularity
Sand paper is ground, and the polishing of curved surface part is directed to, and manual polishing needs to realize using soft waddy micro- when using sand paper
Measure Even Grinding.It is needed during finishing polish using abrasive pastes are arrived, in order to realize that mirror effect generally uses two steps to be ground.
The roughness grade of mirror finish is divided into level Four, finally measures to check whether to realize expected standard grade.Substitution
After artificial manual grinding polishing, hub mold curve-surface cavity polishing efficiency is low, and the high problem of hub mold surface roughness is badly in need of
It solves.
Summary of the invention
It polishes and throws the technical problem to be solved by the invention is to provide a kind of robot for automotive hub casting mold
Light method and device.
The technical solution adopted by the present invention to solve the technical problems is：It provides a kind of for automotive hub casting mold
Robot sanding and polishing method, this approach includes the following steps, step 1, carries out rough polishing using spherical emery wheel grinding-head, cutter turns
Fast range is selected for 1500r/min~3500r/min；Feed rate range is in 4.69mm/s~7.81mm/s；Track line-spacing
Range is in 0.5mm~0.9mm.
Step 2 carries out half essence using Spring grinding head and throws, and the cutter range of speeds is 5000r/min~8000r/min；Contact
Pressure range of choice is between 2N~5N；Line-spacing range of choice is between 0.2mm~0.5mm, and feed rate range is in 3.13mm/
Between s~5.47mm/s.
Step 3, using wool bistrique cooperation abrasive pastes polished, the cutter range of speeds be 7000r/min~
10000r/min；Contact pressure range is 2N~5N；Line-spacing range is 0.4mm~0.7mm, and feed rate range is 4.69mm/s
~7.03mm/s.
According to the above technical scheme, Spring grinding head is spherical shaped elastomeric bistrique, and wool bistrique is spherical wool bistrique.For wheel hub
The complex-curved polishing of mold, if being difficult to avoid interference with problem using column polishing tool or disc type polishing tool, so adopting
Use spherical mounted point.
The present invention also provides a kind of polished based on the robot according to claim 1 for automotive hub casting mold to throw
Electro-optical device, which is characterized in that including pedestal, robot control cabinet, host computer, frequency converter, industrial robot, end polishing dress
It sets, wheel hub casting mould, pneumatic Hub fixture, the rotary table with indexing, hydraulic elevator platform, industrial robot, robot
Control cabinet, hydraulic elevator platform are fixed on the base, and host computer is connect with industrial robot, are operated robot by polishing software and are thrown
Light acts, the end burnishing device of the Frequency Converter Control robot end on robot control cabinet, the electricity in the burnishing device of end
Main shaft rotation drives polishing tool to polish wheel hub lower die, and hydraulic elevator platform is arranged in below the rotary table with indexing, wheel hub
Casting mould, pneumatic Hub fixture are arranged on the rotary table with indexing, and polishing tool and electro spindle pass through end quick change
Device is connected on the ring flange in the 6th joint of industrial robot.
According to the above technical scheme, for 3 polishing process of specific hub mold of the invention, the present invention devises robot
End burnishing device.In order to reduce the frequent tool changing of 3 procedures, each tool changing robot will re-scale establishment of coordinate system workpiece
The small connection with robot basis coordinates system of coordinate, and tool changing will affect polishing precision and polishing efficiency, the present invention devise end
Cabinet.It further include end cabinet in the burnishing device of end, end cabinet is used with the 6th joint flange of robot and is threadedly coupled, end
End cabinet is square, guarantees that each face installation cutter length is identical, 3 procedures is avoided to process markers position fixing system.Tail end box
Pressure sensor is installed in internal portion, is guaranteed that polishing force is constant and is used cloche immediately ahead of the cabinet of end to improve quality of finish,
Three of them side is separately connected end fast replacing device, electro spindle, polishing tool (grinding wheel, Spring grinding head, wool bistrique).
According to the above technical scheme, the polishing tool on three sides is respectively spherical emery wheel grinding-head, spherical shaped elastomeric bistrique, ball
Shape wool bistrique.
According to the above technical scheme, end fast replacing device, which is divided into, is fixedly connected with disk and is flexibly connected disk two parts, using taper
Connection, it is inside to react on polishing tool for polishing force when polishing, can compress nose cone and conical bore, have in this way
Feasibility.It is fixedly connected with disk to be fixed on the 6th joint flange of robot, is flexibly connected disk and is connected with electro spindle, be fixedly connected with disk
With taper head, it is flexibly connected the tapered hole of dribbling, the two taper is identical.Fast replacing device of the present invention uses Morse's taper, selects
Larger-size conical bore.The 6th joint flange of robot is used with end equipment and is threadedly coupled, end equipment and polishing tool
Equally it is threadedly coupled, and the disk that is fixedly connected of end equipment then uses the cooperation realization center of taper fixed with disk is flexibly connected
Position, then it is circumferentially positioned by the cooperation realization of pin, so that guarantee accurately positions and firm clamping.For different buffers
There are 3 circle threaded holes in tool, the end face for being flexibly connected disk, there is different installation dimensions, can select installation spiral shell appropriate according to demand
Pit, fixed polishing tool.
According to the above technical scheme, hydraulic elevator platform, motor, transmission system, support column, Robot calibration block, wheel hub casting
Mold, pneumatic Hub fixture, the rotary table with indexing form hub mold sanding and polishing workbench, centered on hub mold
Five equal parts are symmetrical, and the rotary table with indexing for placing mold can be rotated with 72 °, and the rotary table with indexing is equipped with and grinds
Cream nozzle is ground, spherical wool bistrique is cooperated to carry out smart throwing, transmission system is driven by a motor Worm Wheel System, to drive band point
The rotary table of degree rotates.Because casting hub grinding tool is very heavy, so mold is lifted to needs using hydraulic elevator platform
Height to be conducive to robot polish.Different model hub mold belongs to large scale, heavy workpiece, and general fixture cannot expire
The clamping of sufficient hub mold devises a kind of five cylinder positioning clamping devices thus；The device can automatically determine hub mold
Position clamps, and has enough chucking powers, guarantees the stabilization of hub mold when robot polishing.The present invention can be according to difference
The position of the hub mold adjustment cylinder of size, it is automatic to unclamp and clamp.
According to the above technical scheme, robot is often line-of-sight course with scaling method, and line-of-sight course needs apparent and cusp and two
Item mutually perpendicular seamed edge needs a cusp as coordinate origin when using 6 methods.Due to hub mold surface one
As without apparent seamed edge and cusp, therefore when using 6 methods and 3 points of calibration, there are biggish errors.For hub mold
Problem is demarcated, the present invention devises a kind of wheel hub calibrating block.The invention also includes wheel hub calibrating block, lower end is cylindrical body, with wheel
Hub centre bore interference fit, upper end is square, can be demarcated with square cusp and mutually perpendicular seamed edge.
It according to the above technical scheme, further include dust cover, powder absorption machine, pedestal surrounding installs dust excluding hood, prevents casting from throwing
The dust that light generates sets off an explosion or causes damages to staff's body.It is equipped with powder outside dust cover and absorbs machine.It will throw
The powder that light generates all is absorbed inside the box of bottom by suction pipe.
The beneficial effect comprise that：The robot sanding and polishing of automotive hub casting mold is used for using the present invention
Method and device, after the polishing for completing three process, hub mold surface can achieve superfinishing fine polishing even mirror effect, complete
The processing request of full up foot Die & Mold Manufacturing Companies.The present invention devises robot end's square cabinet, realizes three process
Rapid changing knife solves the problems, such as that the frequent tool changing of current multi-process reduces polishing precision and polishing efficiency.Also pass through cabinet and machine
The fast replacing device of device people end, is connected using taper, solves the quick change of end cabinet and robot.The wheel hub that the present invention designs
Calibrating block, infrastructure cost is low, practical easy to operate, can solve the problem of hub mold processing of robots calibration.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is the hub mold polishing flow process figure based on industrial robot in the embodiment of the present invention；
Fig. 2 is the overall structure diagram of the embodiment of the present invention；
Fig. 3 is more grinding head end flexible polishing schematic devices in the embodiment of the present invention；
Fig. 4 is robot end's fast replacing device in the embodiment of the present invention；
Fig. 5 is fast replacing device installation diagram in the embodiment of the present invention；
Fig. 6 is that disk top view is flexibly connected in the embodiment of the present invention；
Fig. 7 is wheel hub casting mould in the embodiment of the present invention；
Fig. 8 is hub mold sanding and polishing workbench in the embodiment of the present invention；
1, pedestal 2, robot control cabinet 3, host computer 4, frequency converter 5, industrial robot 6, end burnishing device 7, wheel hub
Casting mould 8, pneumatic Hub fixture 9, the rotary table 10 with indexing, support column 11, abrasive pastes nozzle 12, hydraulic elevator platform
13, dust cover 14, powder absorb machine 15, elastic ball bistrique 16, electro spindle 17, are flexibly connected disk 18, are fixedly connected with disk 19, ball
Shape wool bistrique 20, soket head cap screw 21, force snesor 22, translucent cover 23, spherical emery wheel grinding-head 24, end cabinet 25, machine
The 6th joint flange 26 of people, is threadedly coupled 28, pin connection 29, motor 30, transmission system 31, wheel hub at the 5th joint 27 of robot
Calibrating block 171 is flexibly connected disk connecting hole 172, pin hole 173, conehead 181, is fixedly connected with disk mounting hole 182, tapered hole.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
In the embodiment of the present invention, hub mold grinding and polishing process needle such as Fig. 1.Since preceding working procedure is Milling Process, deposit
In more apparent tool marks, quickly to remove obvious tool marks, the first procedure carries out rough polishing using spherical emery wheel grinding-head；Second operation work
The surface texture effectively and smoothly left after the processing of removal emery wheel grinding-head using Spring grinding head, realizes that half essence is thrown；Last one
Process, wool bistrique cooperate abrasive pastes, reach superfinishing fine polishing even mirror effect.By trajectory planning, off-line data is used
Generator software obtains wheel hub grinding tool polishing locus, and the line space for adjusting track will affect quality of finish and efficiency.
Specific method includes the following steps that step 1 carries out rough polishing, the selection of the cutter range of speeds using spherical emery wheel grinding-head
For 1500r/min~3500r/min；Feed rate range is in 4.69mm/s~7.81mm/s；Track line-spacing range is in 0.5mm
~0.9mm；Cutter revolving speed is excessive easily to cause bite to increase, unsuitable excessively high.Step 2 carries out half essence using Spring grinding head and throws,
The cutter range of speeds is 5000r/min~8000r/min；Contact pressure range of choice is between 2N~5N；Line-spacing range of choice
Between 0.2mm~0.5mm, feed rate range is between 3.13mm/s~5.47mm/s；Step 3 is matched using wool bistrique
It closes abrasive pastes to be polished, the cutter range of speeds is 7000r/min~10000r/min；Contact pressure range is 2N~5N；Row
It is 0.4mm~0.7mm away from range, feed rate range is 4.69mm/s~7.03mm/s.It can be appropriate when wool selection line-spacing
Choosing is greatly to improve polishing efficiency.
In one embodiment of the present of invention, hub mold burnishing device overall structure such as Fig. 2, including：1, pedestal, 2, machine
People's control cabinet, 3, host computer, 4, frequency converter, 5, industrial robot, 6, end burnishing device, 7, wheel hub casting mould, 8, pneumatic
Hub fixture, 9, the rotary table with indexing, 10, support column, 11, abrasive pastes nozzle, 12, hydraulic elevator platform, 13, dust-proof
Cover, 14, powder absorption machine.The industrial robot, robot control cabinet 2, hydraulic elevator platform 12 are placed on pedestal 1, pedestal 1 four
The dust that week installation dust excluding hood 13 prevents casting polishing from generating sets off an explosion or causes damages to staff's body.Dust cover
Outside has powder to absorb machine 14, and the powder that polishing is generated all is absorbed inside the box of bottom by suction pipe.Host computer 3 is placed
It in 13 outside of dust excluding hood, is connect with industrial robot 5, robot polishing action is operated by polishing software.Robot control cabinet 2
Accurate control robot trajectory places 16 high speed rotation of electro spindle that frequency converter 4 controls robot end thereon, drives elastic ball
Shape bistrique 15, spherical wool bistrique 19, spherical emery wheel grinding-head 23 polish wheel hub lower die.Elastic ball bistrique 15, spherical wool mill
First 19, spherical emery wheel grinding-head 23 and electro spindle 16 are connected to the ring flange in the 6th joint of industrial robot by end fast replacing device
On 25.
Robot end's burnishing device such as Fig. 3 of the present invention, including elastic ball bistrique 15, electro spindle 16, flexible connection disk
17, disk 18, spherical wool bistrique 19, soket head cap screw 20, force snesor 21, translucent cover 22, spherical emery wheel grinding-head are fixedly connected with
23, end cabinet 24.With the 6th joint flange 25 of robot using being threadedly coupled, end box house installing force passes end cabinet
Sensor 21 guarantees that polishing force is constant to improve quality of finish, and front uses translucent cover 22, and it is fast that three sides are separately connected end
Changing device, electro spindle 16, spherical polishing tool (emery wheel grinding-head 23, Spring grinding head 15, wool bistrique 19).
Robot end's fast replacing device such as Fig. 4 of the present invention is divided into and is fixedly connected with disk 18 and is flexibly connected 17 two parts of disk, adopts
It is connected with taper.It is fixedly connected with disk 18 to be fixed on the 6th joint flange 25 of robot, is flexibly connected disk 17 and 16 phase of electro spindle
Even.It is fixedly connected with the tapered head of dribbling, is flexibly connected the tapered hole of dribbling, the two taper is identical.
Fig. 5 is 4 fast replacing device installation diagram of attached drawing of the invention, and the 6th joint flange 25 of robot is adopted with end fast replacing device
It is threadedly coupled, end fast replacing device is same as polishing tool is threadedly coupled, and end fast replacing device is fixedly connected with disk 28
Centralized positioning is then realized using the cooperation of taper with disk 17 is flexibly connected, it is circumferentially positioned by pin cooperation realization, to guarantee essence
True positioning and firm clamping.
It is to be flexibly connected disk top view to be flexibly connected the end face of disk for different polishing tools if Fig. 6 is originally invention
There are 3 circle threaded holes, there is different installation dimensions, the fixed polishing tool of installation threaded hole appropriate can be selected according to demand.
As hub mold sanding and polishing workbench Fig. 8 of the invention by hydraulic elevator platform 12, motor 29, transmission system 30,
Support column 10, Robot calibration block 31, wheel hub casting mould 7, pneumatic Hub fixture 8, the rotary table 9 with indexing form.
It is symmetrical in five equal part of center if Fig. 7 is wheel hub lower die, it is desirable that the workbench for placing mold can be rotated with 72 °.Have on workbench 9
Abrasive pastes nozzle 11, cooperation wool bistrique carry out smart throwing.Transmission system 30 is driven by a motor Worm Wheel System, so that band is started building
Make the rotation of platform 9.Because casting hub grinding tool is very heavy, thus using hydraulic elevator platform 12 by mold be lifted to the height of needs from
And it is conducive to robot 5 and polishes.Different model hub mold belongs to large scale, heavy workpiece, and general fixture is not able to satisfy wheel hub
The clamping of mold devises a kind of five cylinder positioning clamping devices 7 thus, can automatically position hub mold and clamp, guarantee machine
The stabilization of hub mold when device people polishes.The present invention can adjust the position of cylinder according to different size of hub mold, automatically
It unclamps and clamps.
Problem is demarcated for hub mold, the present invention devises a kind of wheel hub calibrating block 31.31 lower end of calibrating block is circle
Cylinder is interference fitted with hub centre hole, and upper end is square, can be demarcated with square cusp and mutually perpendicular seamed edge.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (9)
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| CN201810891261.5A CN108907905A (en) | 2018-08-07 | 2018-08-07 | A kind of robot sanding and polishing method and device for automotive hub casting mold |
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| CN201810891261.5A CN108907905A (en) | 2018-08-07 | 2018-08-07 | A kind of robot sanding and polishing method and device for automotive hub casting mold |
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Application publication date: 20181130 |