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CN-121973057-A - Automatic polishing equipment and polishing method for PU (polyurethane) of skylight glass

CN121973057ACN 121973057 ACN121973057 ACN 121973057ACN-121973057-A

Abstract

The invention discloses automatic polishing equipment and method for skylight glass PU, and belongs to the field of automobile part processing. The equipment comprises a main body frame, a sliding feeding device, a positioning tool, a robot polishing device, a grinding head detection device, a chip processing device, a safety protection and control unit, a polishing head assembly, an electric spindle, a floating force control device and the like, wherein the chip processing unit has dust collection and grinding head cooling functions. The method completes circulation through parameter presetting, feeding positioning, sliding feeding, automatic polishing and discharging. The invention combines the accurate track and floating force control of the robot, realizes man-machine separation operation, integrates chip treatment, can store a multi-type polishing program, solves the problems of low manual polishing efficiency, poor quality and serious pollution, has stable polishing quality and strong suitability, and is suitable for large-scale automatic polishing production of PU layers of skylight glass.

Inventors

  • WEN WEI
  • ZHU MEILIANG

Assignees

  • 上海秀卓自动化设备有限公司

Dates

Publication Date
20260505
Application Date
20260402

Claims (10)

  1. 1. The automatic polishing equipment for the skylight glass PU is characterized by comprising an equipment main body frame (1), and a sliding feeding unit (2), a positioning tool unit (3), a robot polishing unit (4), a grinding head detection unit (5), a chip processing unit (6), a safety protection unit (7) and a control unit (8) which are integrally arranged on the equipment main body frame (1); The equipment main body frame (1) is formed by splicing Q235 carbon structure steel welding pieces and industrial aluminum profiles, and a hidden pipeline cable channel is arranged on the inner side of the frame; The sliding feeding unit (2) comprises a sliding driving mechanism (21) and a sliding transmission mechanism (22), wherein the sliding driving mechanism (21) consists of a servo motor (211), a speed reducer (212), a transmission shaft (213) and a synchronous pulley (214), and the sliding transmission mechanism (22) consists of the synchronous pulley (214), a synchronous belt (221) and a linear guide rail (222) and is used for driving the positioning tool unit (3) to slide in a reciprocating manner; The positioning tool unit (3) comprises a product positioning tool (31), and a profiling structure (311) which is accurately matched with the contour of the skylight glass is arranged on the surface of the product positioning tool (31); The robot polishing unit (4) comprises a robot (41), a polishing head assembly (42) and a floating force control controller (43), wherein the polishing head assembly (42) consists of an electric spindle (421), a grinding head (422), a floating force control device (423), a hairbrush (424) and an ion nozzle (425); The grinding head detection unit (5) is a displacement ruler relative measurement mechanism (51) and is used for detecting the axial size of the grinding head (422) and feeding back and calibrating; The debris treatment unit (6) comprises a dust collection assembly, a dust remover (61), a vacuum pipeline and a brush cleaning grinding head cooling assembly, wherein the dust collection assembly is integrated with the grinding head assembly (42), and the brush cleaning grinding head cooling assembly comprises a high-pressure blowing nozzle and a debris collecting tank; the safety protection unit (7) comprises a safety grating (71) and an air cylinder driving type lifting door (72), and the lifting door (72) is arranged between a picking and placing part position at the front side of the equipment and a working position at the rear side of the equipment; The control unit (8) comprises an industrial touch screen (81) and a controller (82) and is used for setting parameters, controlling the units to cooperatively act and storing a polishing track program.
  2. 2. The automated polishing apparatus for a sunroof glass PU according to claim 1, wherein the floating force control device (423) is configured to cooperate with a floating force control controller (43) to automatically adjust polishing pressure to control polishing depth, and the polishing pressure threshold value is set to be in the range of 0.3-0.8MPa.
  3. 3. The automatic polishing equipment for the skylight glass PU of claim 1 is characterized in that the rotating speed adjusting range of the electric spindle (421) is 3000-20000rpm, the power is 2.2kW, the working voltage of the ion nozzle (425) is 220V, the static eliminating efficiency is more than or equal to 95%, and the static eliminating efficiency is used for eliminating chip static to improve the collecting efficiency.
  4. 4. The automatic polishing equipment for the skylight glass PU of claim 1, wherein the dust remover (61) is a pulse cloth bag type dust remover, the treatment air quantity is 500m < 3 >/h, the dust remover is communicated with the dust collection assembly in a sealing way through a vacuum pipeline, and the blowing pressure of a high-pressure blowing nozzle of the brush cleaning grinding head cooling assembly is 0.5MPa.
  5. 5. The automatic polishing equipment for the skylight glass PU according to claim 1, wherein the sliding speed adjusting range of the sliding feeding unit (2) is 0.1-0.3m/s, the positioning precision is +/-0.03 mm, and the robot (41) is a six-axis industrial robot, and the repeated positioning precision is +/-0.02 mm.
  6. 6. The automatic polishing equipment for the skylight glass PU according to claim 1 is characterized in that the control unit (8) can store at least 50 groups of polishing track programs of skylight glass of different types, and the measuring precision of a displacement ruler of the grinding head detection unit (5) relative to the measuring mechanism (51) is +/-0.01 mm, and the measuring range is 0-12mm.
  7. 7. An automated polishing method for a sunroof glass PU, characterized in that the automated polishing apparatus for a sunroof glass PU according to any one of claims 1 to 6 comprises the following steps: The method comprises the following steps of S1, parameter presetting, namely selecting a polishing track program corresponding to the type of skylight glass through a touch screen (81), setting polishing parameters such as polishing rotating speed, floating force control pressure threshold value, dust removal wind speed and the like, automatically detecting the axial size of a grinding head (422) by a grinding head detection unit (5), and feeding back detection data to a controller (82) to carry out polishing track compensation calibration; S2, feeding and positioning, namely vacuum adsorbing the skylight glass through a lifting appliance, stably placing the skylight glass on a product positioning tool (31) at a pick-and-place part position at the front side of equipment, and realizing the accurate positioning and supporting of the skylight glass through a profiling structure (311); s3, sliding feeding, namely pressing a device starting button, driving a servo motor (211) of a sliding feeding unit (2), driving a positioning tool unit (3) to precisely slide to a working position at the rear side of the device along a linear guide rail (222) through a transmission shaft (213), a synchronous pulley (214) and a synchronous belt (221), automatically falling down and closing a lifting door (72) in place to form a closed polishing space, and enabling a safety grating (71) to enter a working state; S4, automatic polishing, namely, a controller (82) sends out an instruction, a robot (41) moves according to a preset polishing track, an electric spindle (421) drives a grinding head (422) to rotate at a high speed according to a set rotating speed, a floating force control device (423) senses polishing pressure in real time, polishing depth is automatically adjusted through a floating force control controller (43) to ensure uniform polishing of a PU layer, in the polishing process, a dust remover (61) continuously generates negative pressure, polishing scraps are sucked in real time through a dust collecting assembly and a vacuum pipeline, an ion nozzle (425) is synchronously started to remove scraps static electricity, the scraps collecting efficiency is improved, a hairbrush (424) cleans the polishing surface of glass in real time, a high-pressure blowing nozzle of a hairbrush cleaning grinding head cooling assembly blows air to the grinding head (422) to cool, and scraps falling down on a hairbrush (424) are collected in a scraps collecting groove; And S5, finishing polishing and blanking, namely returning to an initial position after a robot (41) finishes polishing a preset track, closing a chip processing unit after a delay of a few seconds, ensuring that after residual chips are fully collected, automatically lifting and opening a lifting door (72), driving a positioning tool unit (3) to slide to a piece taking and placing position at the front side of equipment by a sliding feeding unit (2), taking away polished skylight glass by an operator, finishing a single polishing cycle, and waiting for next feeding by the equipment.
  8. 8. The method for automatically polishing a skylight glass PU according to claim 7, wherein in the step S1, the floating force control pressure threshold value is set to be 0.3-0.8MPa, and when the grinding head detection unit (5) detects that the axial dimension of the grinding head (422) deviates from the standard dimension, the controller (82) automatically compensates the polishing track of the robot (41) with the compensation precision of +/-0.01 mm.
  9. 9. The method of claim 7, wherein in the step S4, the working rotation speed of the electric spindle (421) is 3000-20000rpm, the dust remover (61) continuously generates negative pressure at a processing air volume of 500m3/h, and the high-pressure air blowing nozzle of the brush cleaning grinding head cooling assembly continuously blows air at a pressure of 0.5 MPa.
  10. 10. The automatic polishing method for the PU of the skylight glass, as set forth in claim 7, is characterized in that the method can realize 24 hours of uninterrupted polishing operation, the polishing period of the PU layer of the single piece of skylight glass is 2-3 minutes, and the polishing uniformity reaches the standard rate of more than or equal to 99 percent.

Description

Automatic polishing equipment and polishing method for PU (polyurethane) of skylight glass Technical Field The invention relates to the technical field of automobile part processing, in particular to automatic polishing equipment and polishing method for skylight glass PU. Background In the large-scale production process of the automobile skylight, the polishing of the PU foaming layer at the edge of the skylight glass is a key pretreatment procedure, the polishing precision and uniformity of the PU layer directly determine the assembly precision of the skylight glass and the whole automobile body, and meanwhile, the installation tightness and the waterproof performance of the skylight are affected, so that the automobile skylight is one of core procedures of automobile skylight production. At present, the polishing procedure of the PU layer of the skylight glass in the industry still generally adopts the traditional processing mode of manually holding a polishing tool, and part of attempted automatic polishing equipment is also universal polishing equipment, and the polishing characteristics and the product characteristics of the PU layer of the skylight glass are not subjected to specialized design, so that a plurality of technical defects which are difficult to solve exist, and the polishing procedure is specifically expressed as follows: 1. The production efficiency is extremely low, manual polishing is required by operators, polishing track and speed are completely dependent on experience and proficiency of operators, polishing period of single-piece skylight glass is 8-12 minutes, continuous operation cannot be realized, high productivity requirements of an automatic production line of the automobile skylight are difficult to match, track suitability of general automatic polishing equipment is poor, debugging time is long, and actual production efficiency is improved only. 2. The polishing quality consistency is poor, when the polishing is performed manually, the hand strength and the polishing angle of an operator are easy to deviate due to fatigue and operation habit, so that the PU layer is not polished uniformly, the polishing depth exceeds the standard or is not polished in place, the problems of poor sealing, overlarge assembly gap and the like are easy to occur during subsequent assembly, the general automatic polishing equipment lacks an accurate force control mechanism, the polishing pressure cannot be automatically adjusted according to a glass curved surface, and the problem of low polishing depth control precision is also caused. 3. The labor intensity and the occupational health risk are high, an operator needs to hold a high-speed polishing tool for a long time, the same polishing action is repeated, the labor intensity is high, a large amount of PU chips generated in the polishing process are not concentrated in a collecting device, the chips fly in a production workshop, the environment of the workshop is polluted, and the chips can be inhaled by the operator to harm the health of a respiratory system. 4. The automobile skylight glass has various curvatures and dimensions, operators need to be familiar with the product profile again when manually polishing and replacing the product model, the polishing mode is adjusted, the adaptation efficiency is low, the fixture of the universal automatic polishing equipment has no special profiling structure, the positioning accuracy is low, the polishing program memory quantity is small, and the debugging is complex when replacing the product. 5. The device has low practicality and safety, the universal automatic polishing device is not provided with a special chip treatment and grinding head cooling structure, the grinding head is easy to overheat and abrade, the service life is short, chips are not thoroughly collected, and meanwhile, the device is lack of a perfect safety protection structure, so that safety accidents such as chip splashing, mechanical collision and the like are easy to occur in the polishing process. Therefore, development of a special automatic polishing device and a matched polishing method designed for polishing characteristics of a PU layer of the skylight glass is needed, the problems of low efficiency, poor quality, serious pollution and other pain points of the existing processing mode are solved, and efficient, accurate, environment-friendly and safe operation of polishing the PU layer of the skylight glass is realized. Disclosure of Invention Aiming at the technical defects of low efficiency, poor quality consistency, serious pollution, insufficient suitability and the like of the existing skylight glass PU layer polishing mode, the invention provides automatic polishing equipment and polishing method for skylight glass PU, which combines the precise track control and floating force control technology of a robot through modularized and integrated structural design, automatic and high-precision polishing of the PU laye