CN103995934A - Automatic polishing method and device - Google Patents
Automatic polishing method and device Download PDFInfo
- Publication number
- CN103995934A CN103995934A CN201410219424.7A CN201410219424A CN103995934A CN 103995934 A CN103995934 A CN 103995934A CN 201410219424 A CN201410219424 A CN 201410219424A CN 103995934 A CN103995934 A CN 103995934A
- Authority
- CN
- China
- Prior art keywords
- surface region
- workpiece
- plane surface
- plane
- polishing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention provides an automatic polishing method which comprises the steps of determining a 3D image of a workpiece to be polished, generating the polishing path of the workpiece according to the 3D image, and polishing the workpiece according to the polishing path. According to the method, automatic polishing is achieved on the irregular workpiece by means of the polishing path generated according to the 3D image, production efficiency is improved, human intervention is not needed during polishing, and as a result, the whole polishing process can be conducted in a totally sealed space, labor is liberated, and the working environment is improved.
Description
Technical field
Present invention relates in general to digital control processing field, specifically, relate to a kind of implementation method and device of automatically grinding.
Background technology
Technique for grinding is the process procedure that must do in processing work process, at present, concerning flat work pieces, due to the well-regulated shape of flat work pieces tool and structure, therefore, when practical application, can realize mechanization polishing, and for three-dimensional workpiece, due to three-dimensional workpiece structure and shape matching complexity, machine cannot be predicted its structure and shape, and machine can only process according to predetermined path, thereby cannot realize by mechanization, polishes and replaces manual polishing completely.Particularly, current, in the process that three-dimensional workpiece is polished, conventionally utilize operator's the judgement of eyes and the sense of touch of hand and machine to carry out information interaction, thereby dynamically adjust path and pressure according to the shape of object, until visual satisfied polishing demand.This polishing process can complete polishing task to a certain extent.
Yet, because machine cannot be made intelligent decision (sense of touch that comprises surface and hand) by eyes and experience as operator, and then cannot dynamically adjust path and pressure according to the shape of object.Therefore, for three-dimensional workpiece, machine cannot substitute people's intelligent recognition function, thereby cannot realize efficient mechanization polishing.In addition, in bruting process, can produce a large amount of polishing dusts, a large amount of polishing dusts enters in air can pollute working environment, thereby can cause operator's the health problems such as pneumoconiosis.Although some processing factories can utilize polishing dust remover to improve working environment, cleaner can not fundamentally improve working environment.
For the problem in correlation technique, effective solution is not yet proposed at present.
Summary of the invention
For cannot realize the problem of efficient mechanization polishing and polishing contamination by dust working environment in above prior art for three-dimensional workpiece, the invention provides implementation method and the device of a kind of automatically grinding that can address the above problem.
The implementation method that the invention provides a kind of automatically grinding, comprising: determine the 3D rendering for the treatment of buffing work-piece; According to 3D rendering, generate the polishing path of workpiece; And according to polishing path, workpiece is polished.
Wherein, when definite 3D rendering until buffing work-piece, can be according to a plurality of images of workpiece, the 3D rendering of reconstruct workpiece, wherein, a plurality of images comprise the image of workpiece diverse location.
Wherein, when definite 3D rendering until buffing work-piece, can gather in advance a plurality of images of workpiece.
Wherein, one or more faces of 3D rendering comprise image housing and one or more on-plane surfaces region; And, according to 3D rendering, while generating the polishing path of workpiece, can, according to image housing and one or more on-plane surfaces region, generate the polishing path of workpiece.
Wherein, according to image housing and a plurality of on-plane surfaces region, while generating the polishing path of workpiece, for image housing and on-plane surface region determining reference position, wherein, reference position is as determining the spacing between image housing and on-plane surface region and the object of reference of determining the spacing between adjacent on-plane surface region; According to reference position, determine the spacing between image housing and on-plane surface region and determine the spacing between adjacent on-plane surface region; According to the spacing between the spacing between image housing and on-plane surface region and definite adjacent on-plane surface region, determine the plane domain between image housing and on-plane surface region; And according to the polishing path of plane domain and on-plane surface region generation workpiece.
Wherein, the spacing between the spacing between image housing and on-plane surface region and/or adjacent on-plane surface region is constant or represents by function expression, and wherein, in function expression, variable is the size of image housing.
Wherein, when polishing, can analyze the plane domain between image housing and on-plane surface region and/or on-plane surface region, determine the camber in plane domain and/or on-plane surface region; And the polishing amount of determining plane domain and/or on-plane surface region according to camber.
According to a further aspect in the invention, provide a kind of implement device of automatically grinding, image processing module, for determining the 3D rendering for the treatment of buffing work-piece; Path generation module, for according to 3D rendering, generates the polishing path of workpiece; And sanding apparatus, for according to polishing path, workpiece is polished.
Wherein, when the 3D rendering of determining until buffing work-piece, described image processing module is for according to a plurality of images of described workpiece, the 3D rendering of workpiece described in reconstruct, and wherein, described a plurality of images comprise the image of described workpiece diverse location.
Wherein, the implement device of automatically grinding also comprises: image capture module, can be used for gathering in advance described a plurality of images of described workpiece.
Wherein, one or more faces of 3D rendering comprise image housing and one or more on-plane surfaces region; And according to 3D rendering, while generating the polishing path of workpiece, path generation module can, according to image housing and one or more on-plane surfaces region, generate the polishing path of workpiece.
Image processing module further comprises object of reference determination module, spacing determination module and region determination module, wherein, object of reference determination module, be used to image housing and on-plane surface region to determine reference position, wherein, reference position is as determining the spacing between image housing and on-plane surface region and the object of reference of determining the spacing between adjacent on-plane surface region; Spacing determination module, for according to reference position, determines the spacing between image housing and on-plane surface region and determines the spacing between adjacent on-plane surface region; Region determination module, for according to the spacing between the spacing between image housing and on-plane surface region and definite adjacent on-plane surface region, determines the plane domain between image housing and on-plane surface region; And path generation module, for generate the polishing path of workpiece according to plane domain and on-plane surface region.
Wherein, the spacing between the spacing between image housing and on-plane surface region and/or adjacent on-plane surface region is constant or represents by function expression, and wherein, in function expression, variable is the size of image housing.
Path generation module further comprises camber determination module and polishing amount determination module, wherein, camber determination module, for when polishing, plane domain between image housing and on-plane surface region and/or on-plane surface region are analyzed, determined the camber in plane domain and/or on-plane surface region; And polishing amount determination module, for determine the polishing amount in plane domain and/or on-plane surface region according to camber.
The present invention is by utilizing the polishing path generating according to 3D rendering, irregular workpiece is realized to automatically grinding, improved production efficiency, and in bruting process without human intervention, so whole bruting process can be carried out in complete totally enclosed space, therefore liberate labour, improved working environment.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is according to the process flow diagram of the implementation method of the automatically grinding of exemplary embodiment of the present invention;
Fig. 2 is according to the particular flow sheet of the step in the generation polishing path of exemplary embodiment of the present invention;
Fig. 3 is according to the block diagram of the implement device of the automatically grinding of exemplary embodiment of the present invention;
Fig. 4 A is according to the front view of the implement device of the automatically grinding of exemplary embodiment of the present invention;
Fig. 4 B is according to the right view of the implement device of the automatically grinding of exemplary embodiment of the present invention; And
Fig. 5 is the schematic diagram for the treatment of buffed surface with two on-plane surface regions according to exemplary embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, the every other embodiment that those of ordinary skills obtain, belongs to the scope of protection of the invention.
Fig. 1 is according to the process flow diagram of the implementation method of the automatically grinding of exemplary embodiment of the present invention.
As shown in Figure 1, the implementation method 100 of automatically grinding, comprising:
In step 102, determine the 3D rendering for the treatment of buffing work-piece;
In step 104, according to 3D rendering, generate the polishing path of workpiece; And
In step 106, according to polishing path, workpiece is polished.
By utilizing the polishing path generating according to 3D rendering; irregular workpiece is realized to automatically grinding; improved production efficiency; and in bruting process without human intervention; for example, so whole bruting process can be carried out in complete totally enclosed space (, grinding chamber), therefore liberated labour; improved working environment, protection operator's health.
Hereinafter with reference to Fig. 1, Fig. 2 and Fig. 4 A and Fig. 4 B, the implementation method of automatically grinding is described in detail.
Wherein, determine and treat that the 3D rendering of buffing work-piece comprises: according to a plurality of images of workpiece, the 3D rendering of reconstruct workpiece, wherein, a plurality of images comprise the image of workpiece diverse location.
Wherein, determine and treat that the 3D rendering of buffing work-piece also comprises: the multiple image that gathers in advance workpiece.Particularly, by being arranged on a plurality of cameras at diverse location place, take the multiple image for the treatment of buffing work-piece.As shown in Figure 4 A and 4 B shown in FIG., camera is arranged on the bight place of end face in the space (for example, Sanding Room 400) of sealing.In another embodiment, camera is arranged on each position on the space four edges of sealing.In other embodiments, camera is arranged on any different position in the space of sealing, can take the different images for the treatment of buffing work-piece.In addition, the quantity of camera is even number, such as 2,4,6 or more.Conventionally, the quantity of camera is more, and the image of shooting is just more, and the 3D rendering of reconstruct is just more accurate.
In addition, also in the space of sealing, a projector is set, with by Grid Projection to the surface of workpiece, thereby can improve the precision of 3D rendering.
Wherein, hereinafter with reference to Fig. 2, to according to 3D rendering, the polishing path that generates workpiece is described in detail.
First, treat that buffing work-piece comprises flat work pieces and three-dimensional workpiece.The implementation method of this automatically grinding can be applied to flat work pieces.Three-dimensional workpiece comprises regular workpiece and irregular workpiece, wherein, rule workpiece is to treat that buffed surface is the three-dimensional workpiece of plane, and irregular workpiece is to treat in buffed surface, to have one or more on-plane surfaces, that is projection and/or the recessed three-dimensional workpiece of one or more, with a place or part, many places.For regular workpiece, by camera, take each face, then each face is numbered, and generates machining path according to numbering.For example, cube workpiece is regular workpiece, the front of cube workpiece is numbered to S1, the left side is numbered to S2, the back side is numbered to S3, end face is numbered to S4, the left side is numbered to S5 and bottom surface is numbered to S6, therefore, the polishing path of this cube workpiece is: S1-S2-S3-S4-S5-S6.Alternatively, this cube workpiece can have other machining paths different from above-described machining path.
Wherein, for irregular workpiece, in generating the process of machining path, when when buffed surface is plane, the step that generates polishing path is identical with cube workpiece, here, repeats no more.When treating that buffed surface is on-plane surface,, there is local projection and/or when recessed, this on-plane surface is cut apart, that is, this on-plane surface is divided into plane domain and one or more on-plane surfaces region, wherein, plane domain is the flat site in on-plane surface, but not plane domain is in on-plane surface, to have projection and/or recessed region.Plane domain and one or more on-plane surfaces region are carried out to part numbering, thereby generate this nonplanar polishing path according to numbering.In addition, when convexity or concavity are when larger, in order to improve polishing precision, this on-plane surface region is further segmented, and using the smooth part in this on-plane surface region as plane domain, (claim again plane subregion), and as on-plane surface region, (claim on-plane surface subregion) using the remainder in this on-plane surface region.Therefore, can improve polishing precision by this on-plane surface region is further segmented, until on-plane surface region (, on-plane surface subregion) be that plane or the camber that meets customer requirement (claim again, smoothness) till, in other words, carry out repeatedly polishing, till reaching the smoothness of expectation.For example, for example, hand carved door and with forming cutter lines door, generally want polishing to secondary, just can be effective at least one times.The implementation method of automatically grinding is generated to polishing path with reference to Fig. 2 by following steps.
Fig. 2 is according to the particular flow sheet of the step in the generation polishing path of exemplary embodiment of the present invention.One or more faces of 3D rendering comprise image housing and one or more on-plane surfaces region.Wherein, the projection and/or the recessed region that in on-plane surface, have are called to on-plane surface region.Therefore, when when buffed surface is on-plane surface, according to 3D rendering, the polishing path that generates workpiece comprises: according to image housing and one or more on-plane surfaces region, generate the polishing path of workpiece.
Particularly, according to image housing and one or more on-plane surfaces region, the step 200 in the polishing path of generation workpiece is further comprising the steps:
In step 202, for image housing and on-plane surface region determining reference position, wherein, reference position is as determining spacing between image housing and on-plane surface region and the object of reference of the spacing between definite adjacent on-plane surface region;
In step 204, according to reference position, determine the spacing between image housing and on-plane surface region and determine the spacing between adjacent on-plane surface region;
In step 206, according to the spacing between the spacing between image housing and on-plane surface region and definite adjacent on-plane surface region, determine the plane domain between image housing and on-plane surface region; And
In step 208, according to the polishing path of plane domain and on-plane surface region generation workpiece.
In addition, the spacing between the spacing between image housing and on-plane surface region and/or adjacent on-plane surface region is constant or represents by function expression, and wherein, in function expression, variable is the size of image housing.
In addition, the step 200 in the polishing path of generation workpiece also comprises: the plane domain between image housing and on-plane surface region and/or on-plane surface region are analyzed, determined the camber in plane domain and/or on-plane surface region; And
According to camber, determine the polishing amount in plane domain and/or on-plane surface region.Particularly, along with on-plane surface region convexity increases, suitably reduce polishing amount, on the contrary, the concavity increase along with on-plane surface region, suitably increases polishing amount.
Particularly, in the present invention, each figure (comprising image housing and on-plane surface region) can surround frame (the geometric form frame forming near outermost end points according to image) with a rectangle and determine its position completely, once rectangle surrounds frame location positioning, the position of figure can be determined.And placement strategy is also mainly set for this rectangle encirclement frame, rectangle surrounds center line, right margin, coboundary, the center line of Y-direction, the lower boundary that the basic reference bit of frame is equipped with left margin, directions X.And be directed to nonocclusive curve, can be using the starting point of curve and terminal as with reference to position.In the present invention, when determining the position in on-plane surface region, can specify rectangle with other adjacent on-plane surface regions to surround the distance of edge circle (or center line) or with the distance of image housing for each border (or center line).Here said distance can be fixed numbers (for example, the concrete number such as 50mm, 100mm), also can (for example represent with calculation expression, $ DL/2, represent that this distance is half of the outer frame length of figure), IF expression is empty, adopts fixed numbers, IF expression non-NULL, must adopt the result of calculation of expression formula as the distance of alignment.The core of determining polishing path for determine treat the on-plane surface region on buffed surface position, camber and polishing amount (, the polishing granularity of grinding head), in other words, the core in definite polishing path is treated position, the camber in the on-plane surface region on buffed surface for basis and is determined the surface area in on-plane surface region, and then according to this surface area, determines the number of times of polishing.
Fig. 5 is the schematic diagram for the treatment of buffed surface with two on-plane surface regions according to exemplary embodiment of the present invention.Below, with reference to Fig. 5, for the on-plane surface wherein with two on-plane surface regions, to generating the step of machining path, be described in detail.Treat that buffed surface 500 has two on-plane surface regions 502 and 504.
Wherein, the rectangle for the treatment of buffed surface 500 surrounds center line, right margin, coboundary, the center line of Y-direction, the lower boundary that the basic reference bit of frame is equipped with left margin, directions X.First, this is treated to buffed surface is numbered, the plane domain between image housing and on-plane surface region be numbered S1, on-plane surface region 502 is S2, but not plane domain 504 is S3.Particularly, can according to the plane domain between image housing and on-plane surface region, generate the polishing path of S1, according to on-plane surface region 502 and 504, generate respectively polishing path S2 and S3.That is to say, this treats that the polishing path of buffed surface is S1-S2-S3.When if the camber in on-plane surface region 502 is larger, can further segment it, wherein the housing in on-plane surface region is as image housing, and flat is wherein as plane domain, and local crowning and/or recessed region is wherein on-plane surface region.Thereby this on-plane surface region 502 is further generated to polishing path.Can repeatedly divide on-plane surface region, until meet polishing accuracy requirement.
In addition, can also analyze to the region between image housing and on-plane surface region and/or on-plane surface region the camber in definite area and/or on-plane surface region.Then, according to according to the polishing amount in camber definite area and/or on-plane surface region.In addition, when the convexity in on-plane surface region is large, suitably reduce polishing amount, and when the concavity in on-plane surface region is large, can suitably increase polishing amount.
Fig. 3 is according to the block diagram of the implement device of the automatically grinding of exemplary embodiment of the present invention.
As shown in Figure 3, the implement device 300 of automatically grinding comprises:
Image processing module 302, for determining the 3D rendering for the treatment of buffing work-piece;
Path generation module 304, for according to 3D rendering, generates the polishing path of workpiece; And
Sanding apparatus 306, for according to polishing path, polishes to workpiece.
Wherein, when the 3D rendering of determining until buffing work-piece, described image processing module 302 is for according to a plurality of images of described workpiece, the 3D rendering of workpiece described in reconstruct, and wherein, described a plurality of images comprise the image of described workpiece diverse location.
Wherein, the implement device of automatically grinding also comprises: image capture module, can be used for gathering in advance described a plurality of images of described workpiece.
Wherein, one or more faces of 3D rendering comprise image housing and one or more on-plane surfaces region; And according to 3D rendering, while generating the polishing path of workpiece, path generation module can, according to image housing and one or more on-plane surfaces region, generate the polishing path of workpiece.
Image processing module 302 further comprises object of reference determination module, spacing determination module and region determination module, wherein, object of reference determination module, be used to image housing and on-plane surface region to determine reference position, wherein, reference position is as determining the spacing between image housing and on-plane surface region and the object of reference of determining the spacing between adjacent on-plane surface region; Spacing determination module, for according to reference position, determines the spacing between image housing and on-plane surface region and determines the spacing between adjacent on-plane surface region; Region determination module, for according to the spacing between the spacing between image housing and on-plane surface region and definite adjacent on-plane surface region, determines the plane domain between image housing and on-plane surface region; And path generation module 306, for generate the polishing path of workpiece according to plane domain and on-plane surface region.
Wherein, the spacing between the spacing between image housing and on-plane surface region and/or adjacent on-plane surface region is constant or represents by function expression, and wherein, in function expression, variable is the size of image housing.
Path generation module 306 further comprises camber determination module and polishing amount determination module, wherein, camber determination module, for when polishing, plane domain between image housing and on-plane surface region and/or on-plane surface region are analyzed, determined the camber in plane domain and/or on-plane surface region; And polishing amount determination module, for determine the polishing amount in plane domain and/or on-plane surface region according to camber.
The present invention is by utilizing the polishing path generating according to 3D rendering; irregular workpiece is realized to automatically grinding; improved production efficiency; and in bruting process without human intervention; so whole bruting process can be carried out in complete totally enclosed space; liberated labour, improved working environment, protection operator's health.And according to the segmentation for the treatment of buffed surface to irregular workpiece, for the buffed surface for the treatment of with recessed and/or convex domain, generate many strips polishing path, when realizing the automatically grinding to irregular workpiece, can also improve whole irregular grinding workpieces precision.
In an example, as shown in Figure 4 A and 4 B shown in FIG., apparatus of the present invention are by an XYZ+AC axle CNC (Computer numerical control) machine system, this CNC machine system comprises: Sanding Room 400, head 402, grinding head 404 and crossbeam 406, wherein, two or four cameras 410 with 3D recognition function are installed at the drift angle place of Sanding Room 400, thereby can obtain in real time the 3d shape of workpiece 408, then use CAD and CAM path technique and sensor technology, intelligence generates polishing path, thereby realizes intelligence polishing.Particularly, 1, utilize dual camera to carry out visual identity, gather image and enter controller.2, processor carries out 3D reduction, obtains the 3D figure (hexahedron) of workpiece; 3, generate polishing path; 4, control the work of CNC machine, utilize six axles to control the automatic turning of realizing workpiece, five axle polishings.5, after polishing finishes, vision is identified again, is polished again in the position that can not meet the demands.Alternatively, replace five axle CNC machine systems, can utilize six axle CNC machine systems or seven axle CNC machine systems.
Utilize implementation method and the device of the automatically grinding of embodiments of the invention, simple, reliable, cost is low; Do not need CAD drawing and 3D to draw, satisfying personalized polishing demand; Can replace manually, realize automatic loading/unloading and control; Can realize the intelligence polishing of non-fixed form etc., can realize the robotization of polishing, can increase substantially efficiency, without manual polishing, thereby can realize green, environmental protection, protection health and reduce costs, raise labour efficiency.
Discuss the parts of some embodiment above, made those of ordinary skills' various aspects that the present invention may be better understood.It will be understood by those skilled in the art that can with the present invention, as basis, design or change at an easy rate other for reach with here the identical object of the embodiment that introduces and/or realize processing and the structure of same advantage.Those of ordinary skills also should be appreciated that this equivalent constructions does not deviate from the spirit and scope of the present invention, and in the situation that not deviating from the spirit and scope of the present invention, can carry out multiple variation, replacement and change.
Claims (10)
1. an implementation method for automatically grinding, is characterized in that, comprising:
Determine the 3D rendering for the treatment of buffing work-piece;
According to described 3D rendering, generate the polishing path of described workpiece; And
According to described polishing path, described workpiece is polished.
2. implementation method according to claim 1, is characterized in that, determines and treats that the 3D rendering of buffing work-piece comprises:
According to a plurality of images of described workpiece, the 3D rendering of workpiece described in reconstruct,
Wherein, described a plurality of image comprises the image of described workpiece diverse location.
3. implementation method according to claim 2, is characterized in that, determines and treats that the 3D rendering of buffing work-piece also comprises:
Gather in advance described a plurality of images of described workpiece.
4. implementation method according to claim 1, is characterized in that, one or more faces of described 3D rendering comprise image housing and one or more on-plane surfaces region;
And according to described 3D rendering, the polishing path that generates described workpiece comprises:
According to described image housing and described one or more on-plane surfaces region, generate the polishing path of described workpiece.
5. implementation method according to claim 4, is characterized in that, according to described image housing and described a plurality of on-plane surfaces region, the polishing path that generates described workpiece comprises:
For described image housing and described on-plane surface region determining reference position, wherein, described reference position is as determining spacing between described image housing and described on-plane surface region and the object of reference of the spacing between definite adjacent on-plane surface region;
According to described reference position, determine the spacing between described image housing and described on-plane surface region and determine the spacing between adjacent on-plane surface region;
According to the spacing between the spacing between described image housing and described on-plane surface region and definite adjacent on-plane surface region, determine the plane domain between described image housing and described on-plane surface region; And
According to described plane domain and described on-plane surface region, generate the polishing path of described workpiece.
6. implementation method according to claim 5, it is characterized in that, spacing and/or the spacing between adjacent on-plane surface region between described image housing and described on-plane surface region are constant or represent by function expression, wherein, in described function expression, variable is the size of described image housing.
7. implementation method according to claim 4, is characterized in that, further comprises:
Plane domain between described image housing and described on-plane surface region and/or described on-plane surface region are analyzed, determined the camber in described plane domain and/or described on-plane surface region; And
According to described camber, determine the polishing amount in described plane domain and/or described on-plane surface region.
8. an implement device for automatically grinding, is characterized in that,
Image processing module, for determining the 3D rendering for the treatment of buffing work-piece;
Path generation module, for according to described 3D rendering, generates the polishing path of described workpiece; And
Sanding apparatus, for according to described polishing path, polishes to described workpiece.
9. implement device according to claim 8, is characterized in that, when definite 3D rendering until buffing work-piece, described image processing module is used for according to a plurality of images of described workpiece, the 3D rendering of workpiece described in reconstruct, wherein, described a plurality of images comprise the image of described workpiece diverse location.
10. implementation method according to claim 9, is characterized in that, also comprises:
Image capture module, for gathering in advance described a plurality of images of described workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410219424.7A CN103995934B (en) | 2014-05-22 | 2014-05-22 | The implementation method and device of automatically grinding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410219424.7A CN103995934B (en) | 2014-05-22 | 2014-05-22 | The implementation method and device of automatically grinding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103995934A true CN103995934A (en) | 2014-08-20 |
| CN103995934B CN103995934B (en) | 2018-04-17 |
Family
ID=51310098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410219424.7A Expired - Fee Related CN103995934B (en) | 2014-05-22 | 2014-05-22 | The implementation method and device of automatically grinding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103995934B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798927A (en) * | 2016-05-23 | 2016-07-27 | 广东工业大学 | Crucible defect grinding processing method based on image and processing system with crucible defect grinding processing method based on image |
| CN106004203A (en) * | 2016-05-23 | 2016-10-12 | 广东工业大学 | Hole decorating plate machining method based on gray levels and machining system applying hole decorating plate machining method based on gray levels |
| CN107671672A (en) * | 2017-11-03 | 2018-02-09 | 天津市三木森电炉股份有限公司 | A kind of small-sized casting grinding machine and its intelligent management system |
| CN107891017A (en) * | 2017-11-08 | 2018-04-10 | 深圳市汯沐科技有限公司 | A kind of method for cleaning irregular columnar object surface |
| CN107976201A (en) * | 2017-10-09 | 2018-05-01 | 汪腊新 | A kind of method that machining path is automatically generated based on face battle array 3D cameras |
| CN108177028A (en) * | 2017-12-27 | 2018-06-19 | 广东省智能制造研究所 | Ceramic grinding technique |
| CN110181402A (en) * | 2019-07-18 | 2019-08-30 | 佛山市高明金石建材有限公司 | A kind of floating grinding device and method for grinding |
| CN111203766A (en) * | 2020-04-20 | 2020-05-29 | 广东博智林机器人有限公司 | Wall surface polishing path planning method, device, equipment and medium |
| CN111468991A (en) * | 2020-04-30 | 2020-07-31 | 重庆见芒信息技术咨询服务有限公司 | Path planning method and system of grinding and polishing robot based on curved surface repair |
| CN111906788A (en) * | 2020-08-12 | 2020-11-10 | 湖北民族大学 | Bathroom intelligent polishing system based on machine vision and polishing method thereof |
| CN112139860A (en) * | 2020-09-22 | 2020-12-29 | 佳奕筱安(上海)机器人科技有限公司 | Flexible track output method based on power-controlled robot polishing and implementation device thereof |
| CN115239792A (en) * | 2022-09-20 | 2022-10-25 | 成都唐源电气股份有限公司 | Representative profile generation method for rail grinding |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050240302A1 (en) * | 2004-04-23 | 2005-10-27 | Eastman Kodak Company | Method for machine tool and profilometer coordinate registration |
| CN102689238A (en) * | 2011-02-24 | 2012-09-26 | 苹果公司 | Smart automation of robotic surface finishing |
| CN103365252A (en) * | 2013-08-07 | 2013-10-23 | 北京铭隆世纪科技有限公司 | Implementation method and device for numerical control machining graphic modeling |
-
2014
- 2014-05-22 CN CN201410219424.7A patent/CN103995934B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050240302A1 (en) * | 2004-04-23 | 2005-10-27 | Eastman Kodak Company | Method for machine tool and profilometer coordinate registration |
| CN102689238A (en) * | 2011-02-24 | 2012-09-26 | 苹果公司 | Smart automation of robotic surface finishing |
| CN103365252A (en) * | 2013-08-07 | 2013-10-23 | 北京铭隆世纪科技有限公司 | Implementation method and device for numerical control machining graphic modeling |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004203A (en) * | 2016-05-23 | 2016-10-12 | 广东工业大学 | Hole decorating plate machining method based on gray levels and machining system applying hole decorating plate machining method based on gray levels |
| CN105798927B (en) * | 2016-05-23 | 2017-02-08 | 广东工业大学 | Crucible defect grinding processing method based on image and processing system with crucible defect grinding processing method based on image |
| CN106004203B (en) * | 2016-05-23 | 2017-02-22 | 广东工业大学 | Hole decorating plate machining method based on gray levels and machining system applying hole decorating plate machining method based on gray levels |
| CN105798927A (en) * | 2016-05-23 | 2016-07-27 | 广东工业大学 | Crucible defect grinding processing method based on image and processing system with crucible defect grinding processing method based on image |
| CN107976201A (en) * | 2017-10-09 | 2018-05-01 | 汪腊新 | A kind of method that machining path is automatically generated based on face battle array 3D cameras |
| CN107671672A (en) * | 2017-11-03 | 2018-02-09 | 天津市三木森电炉股份有限公司 | A kind of small-sized casting grinding machine and its intelligent management system |
| CN107891017B (en) * | 2017-11-08 | 2020-11-06 | 深圳市汯沐科技有限公司 | Method for cleaning surface of irregular columnar object |
| CN107891017A (en) * | 2017-11-08 | 2018-04-10 | 深圳市汯沐科技有限公司 | A kind of method for cleaning irregular columnar object surface |
| CN108177028A (en) * | 2017-12-27 | 2018-06-19 | 广东省智能制造研究所 | Ceramic grinding technique |
| CN110181402A (en) * | 2019-07-18 | 2019-08-30 | 佛山市高明金石建材有限公司 | A kind of floating grinding device and method for grinding |
| CN111203766A (en) * | 2020-04-20 | 2020-05-29 | 广东博智林机器人有限公司 | Wall surface polishing path planning method, device, equipment and medium |
| CN111203766B (en) * | 2020-04-20 | 2020-08-14 | 广东博智林机器人有限公司 | Wall surface polishing path planning method, device, equipment and medium |
| CN111468991A (en) * | 2020-04-30 | 2020-07-31 | 重庆见芒信息技术咨询服务有限公司 | Path planning method and system of grinding and polishing robot based on curved surface repair |
| CN111468991B (en) * | 2020-04-30 | 2021-05-11 | 重庆见芒信息技术咨询服务有限公司 | Path planning method and system of grinding and polishing robot based on curved surface repair |
| CN111906788A (en) * | 2020-08-12 | 2020-11-10 | 湖北民族大学 | Bathroom intelligent polishing system based on machine vision and polishing method thereof |
| CN111906788B (en) * | 2020-08-12 | 2021-09-14 | 湖北民族大学 | Bathroom intelligent polishing system based on machine vision and polishing method thereof |
| CN112139860A (en) * | 2020-09-22 | 2020-12-29 | 佳奕筱安(上海)机器人科技有限公司 | Flexible track output method based on power-controlled robot polishing and implementation device thereof |
| CN115239792A (en) * | 2022-09-20 | 2022-10-25 | 成都唐源电气股份有限公司 | Representative profile generation method for rail grinding |
| CN115239792B (en) * | 2022-09-20 | 2022-12-30 | 成都唐源电气股份有限公司 | Representative profile generation method for rail grinding |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103995934B (en) | 2018-04-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103995934A (en) | Automatic polishing method and device | |
| CN106041946B (en) | Image-processing-based robot polishing production method and production system applying same | |
| CN111240269B (en) | Method and system for implementing sensor-based safety features for robotic units | |
| US20150328773A1 (en) | Robot Program Generation For Robotic Processes | |
| CN110153567A (en) | A kind of laser cutting system based on image recognition | |
| CN109079802B (en) | Correct the teaching apparatus of the robot of the track of robot | |
| CN104126157A (en) | Interference check device and numerical control device | |
| JP6043234B2 (en) | Numerical controller | |
| US20200401105A1 (en) | Agent-based slicing | |
| CN104412188A (en) | A method for programming an industrial robot in a virtual environment | |
| CN110171000A (en) | Bevel cutting method, device and control equipment | |
| CN109833003B (en) | Sweeping robot and method for dividing region thereof | |
| EP3316058A2 (en) | Tool-path planning method | |
| CN109035241A (en) | A kind of sole processing method and system | |
| CN102540976B (en) | Entity-based milling simulating method for efficiently extracting cutting angle range | |
| CN107507177A (en) | Processing of robots object localization method and device based on 3-D scanning | |
| CN117226855B (en) | Weld polishing track planning method based on three-dimensional point cloud | |
| JPH0531659A (en) | Burr removing method and device thereof | |
| CN111435400A (en) | Part repairing method and device and 3D printer | |
| CN105538097A (en) | Furniture surface grinding process based on full-automatic robot grinding production line | |
| CN103065306B (en) | The disposal route of graph data and device | |
| CN116274170B (en) | Control method, system and related device of laser cleaning equipment | |
| CN117182713A (en) | Curved surface model polishing method | |
| TW201521940A (en) | Fixture, system and method for processing double contour | |
| US9411331B2 (en) | Automatic programming device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 101313 Beijing city Shunyi District fuqianjie Sui Li Sui Zhen Tai Road No. 2 Applicant after: Wisdom craftsman (Beijing) Technology Co., Ltd. Address before: 101300 Beijing city Shunyi District fuqianjie Sui Li Sui Zhen Tai Road No. 2 Applicant before: Beijing Minglong Century Technology Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180417 Termination date: 20200522 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |