CN105643636A - Robot polishing device - Google Patents
Robot polishing device Download PDFInfo
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- CN105643636A CN105643636A CN201610229217.9A CN201610229217A CN105643636A CN 105643636 A CN105643636 A CN 105643636A CN 201610229217 A CN201610229217 A CN 201610229217A CN 105643636 A CN105643636 A CN 105643636A
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- workpiece
- robot
- polishing
- sanding apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a robot polishing device. The robot polishing device comprises a feeding device, a vision device, a feeding/blanking robot, a polisher robot, a polishing platform, a classified conveying device and a control system, wherein the feeding device is used for conveying a work-piece to a working region of the vision device; the vision device acquires position information and outline information of the work-piece and conveys the position information and the outline information to the control system; the control system controls the feeding/blanking robot to place the work-piece on the polishing platform according to the position information, controls the polisher robot to polish the work-piece according to the outline information, and controls the feeding/blanking robot to move the polished work-piece to the classified conveying device; the classified conveying device classifies and outputs the polished work-piece. The robot polishing device disclosed by the invention is easy to control, and capable of realizing high-intelligent automatic polishing, high in production efficiency, and capable of guaranteeing the polishing quality and improving the production efficiency.
Description
Technical field
The present invention relates to field of machining, be specifically related to a kind of robot sanding apparatus.
Background technology
At present, the polishing industry automation level in field of machining is not high, and having quite a few polishing operation is by having been manually done by skilled worker; Particularly the polishing operation at the edge of the free margins of boats and ships miniature workpiece is mainly by manually having polished by limit piece by piece.
The operating type of manual grinding generally requires repeatedly polishing, labor intensity is big, efficiency is low, and the quality of polishing can not be guaranteed, and steel waste also can be caused serious; It addition, manual grinding noise is big, the dust that polishing produces seriously damages the physical and mental health of workman.
Summary of the invention
In order to overcome the shortcoming and defect existed in manual grinding operating type in prior art, the present invention provides a kind of robot sanding apparatus, and this robot sanding apparatus is easily controllable, intelligent and automatization is high, production efficiency is high.
To achieve these goals, a kind of robot provided by the invention sanding apparatus, including feed arrangement, sighting device, loading and unloading robot, milling robot, polishing platform, classification conveyer device and control system;
Workpiece is delivered in the working region of described sighting device by described feed arrangement; Described sighting device obtains positional information and the profile information of described workpiece, and described positional information and profile information flow to described control system; Described control system controls described loading and unloading robot according to described positional information and is positioned on described polishing platform by described workpiece, according to described profile information control described milling robot described workpiece is polished, and control described loading and unloading robot by polishing after workpiece move to described classification conveyer device; Workpiece after polishing is classified and exports by described classification conveyer device.
In above-mentioned robot sanding apparatus, described control system is located in cabinet, is additionally provided with the button and display that are connected with control system outside described cabinet.
In above-mentioned robot sanding apparatus, described feed arrangement includes charging transport column, charging pipeline and feed tray, described workpiece is positioned at described feed tray, and described feed tray is positioned at the top of described charging pipeline, and described charging pipeline is installed on the upper end of described charging transport column.
In above-mentioned robot sanding apparatus, described feed arrangement includes charging waggon and feed tray, and described workpiece is positioned at described feed tray, and described feed tray is positioned at the top of described charging waggon.
In above-mentioned robot sanding apparatus, described sighting device includes:
It is fixed on floor or the first base in described loading and unloading robot;
It is fixedly mounted on the support on described first base;
Fixedly mount on the bracket, in order to scan the described workpiece in described sighting device working region, thus obtaining described positional information and the video camera of described profile information.
In above-mentioned robot sanding apparatus, described loading and unloading robot includes:
It is fixed on the second base on floor;
It is movably arranged on described second base and the first armshaft of angle can be adjusted in real time;
It is flexibly connected and can adjust in real time described second armshaft of angle with described first armshaft;
It is flexibly connected and can adjust in real time the compound handgrip of angle with described second armshaft.
In above-mentioned robot sanding apparatus, described compound handgrip is movably installed with the first magnechuck;
Described control system controls described loading and unloading robot according to described positional information and adjusts the position coordinates of described compound handgrip, and the position according to described profile information control described compound handgrip described first magnechuck of adjustment, so that described compound handgrip picks up the workpiece of diverse location and shape in described feed tray.
In above-mentioned robot sanding apparatus, the number of described first magnechuck is multiple.
In above-mentioned robot sanding apparatus, described compound handgrip is provided with the first force transducer;
Described first force transducer obtains the electromagnetic attraction that the first magnechuck described in when described compound handgrip picks up described workpiece produces, and described electromagnetic attraction flows to described control system; Described control system is the input current of the first magnechuck according to the size adjustment of described electromagnetic attraction, so that the electromagnetic attraction that described first magnechuck produces can reach the requirement of the described workpiece of described compound handgrip pickup Different Weight.
In above-mentioned robot sanding apparatus, described milling robot includes:
It is fixed on the 3rd base on floor;
It is movably arranged on described 3rd base and can adjust in real time the 3rd armshaft of angle;
It is flexibly connected with described 3rd armshaft and the 4th armshaft of angle can be adjusted in real time;
It is flexibly connected with described 4th armshaft and the grinding clamp of angle can be adjusted in real time;
The polisher being flexibly connected with described grinding clamp and can rotate relative to described grinding clamp;
Described control system determines sharpened edge and the technique for grinding of described workpiece according to described profile information, and generates polishing track.
In above-mentioned robot sanding apparatus, described grinding clamp is provided with visual system;
Described visual system obtains positional information and the profile information of the described workpiece being positioned on described polishing platform, and described positional information and profile information flow to described control system; Described control system determines the initial polishing point of described workpiece according to described positional information and profile information, and described workpiece is polished by described milling robot according to described polishing track.
In above-mentioned robot sanding apparatus, described grinding clamp is provided with the second force transducer, and described second force transducer regulates the polishing speed of described polisher according to the polishing power that described technique for grinding and described workpiece are subject to.
In above-mentioned robot sanding apparatus, described grinding clamp is provided with laser detector, and the workpiece after polishing is carried out effect detection according to described polishing track by described laser detector.
In above-mentioned robot sanding apparatus, described polishing platform includes polishing funnel, is polished flat platen, magnetic absorbing system, waste material box;
Described polishing funnel openings upwards, described workpiece be positioned over described in be polished flat on platen, described in be polished flat platen and be positioned at the chamber of described polishing funnel;
Described magnetic absorbing system is polished flat in platen described in being installed on, the upper surface of described magnetic absorbing system and the described upper surface flush being polished flat platen, and described magnetic absorbing system is in order to fixing described workpiece;
Described waste material box is positioned at the lower section of described polishing funnel, and the waste material that described workpiece is produced by described polishing funnel imports described waste material box.
In above-mentioned robot sanding apparatus, described magnetic absorbing system includes magnechuck groove and the second magnechuck being movably installed in described magnechuck groove;
Described control system controls described polishing platform according to described profile information and adjusts the position of described second magnechuck, so that differently contoured described workpiece fixed by described polishing platform.
In above-mentioned robot sanding apparatus, the number of described second magnechuck is multiple.
In above-mentioned robot sanding apparatus, described classification conveyer device includes pipeline, elastic module, landing plate, finished product material frame;
Described elastic module and described landing plate are positioned at the not homonymy of described pipeline, and described finished product material frame is positioned at the lower section of described landing plate;
Workpiece is classified by described classification conveyer device according to the profile information of the workpiece after polishing, sorted workpiece is delivered to corresponding position by described pipeline, this sorted workpiece is produced a lateral thrust by corresponding described elastic module, makes sorted workpiece fall to described finished product material frame along described landing plate.
In above-mentioned robot sanding apparatus, described feed arrangement combines with described classification conveyer device, to form a workpiece pipeline; Described workpiece is first delivered in the working region of described sighting device by described workpiece pipeline, and described milling robot is to after described grinding workpieces, and the workpiece after polishing is classified and exports by described workpiece pipeline.
A kind of robot sanding apparatus that technique scheme provides, control Installed System Memory and contain off-line programing data base, control system gets positional information and the profile information of workpiece, contrasts with the positional information prestored in off-line programing data base and profile information; Comparing result according to positional information, control system controls loading and unloading robot and adopts suitable Grasp Modes that workpiece is captured; Comparing result according to profile information, control system determines the suitable sharpened edge of workpiece and technique for grinding, generates the polishing track being suitable for workpiece, and controls milling robot and with suitable polishing track and technique for grinding, workpiece is polished. The robot sanding apparatus of the present invention can meet the polishing operation requirement of multiple differently contoured workpiece, and the robot sanding apparatus production efficiency making the present invention is high.
Further, the workpiece after polishing can be carried out effect detection according to polishing track by the laser detector robot sanding apparatus of the present invention installed, it is ensured that the polishing quality of robot sanding apparatus;
The button arranged on cabinet and display can make staff that the work process controlling system is controlled, it is achieved human-computer interaction function.
Further, the first force transducer can detect the grasp force of compound handgrip in real time, so that controlling system by analyzing the grasp force of compound handgrip, controls the grasp force that the output of compound handgrip is suitable;
Second force transducer can detect the polishing power that workpiece is subject in real time, controls system polishing power suffered by workpiece and the polishing speed of technique for grinding adjustment polisher.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of the robot sanding apparatus of the present invention;
Fig. 2 is the structural representation of the feed arrangement of the robot sanding apparatus of the present invention;
Fig. 3 is the structural representation of the sighting device of the robot sanding apparatus of the present invention;
Fig. 4 is the structural representation of the loading and unloading robot of the robot sanding apparatus of the present invention;
Fig. 5 is the structural representation of the polishing platform of the robot sanding apparatus of the present invention;
Fig. 6 is the structural representation of the milling robot of the robot sanding apparatus of the present invention;
Fig. 7 is the structural representation of the classification conveyer device of the robot sanding apparatus of the present invention;
Fig. 8 is the structural representation of the electrical control cubicles of the robot sanding apparatus of the present invention.
Wherein, 1, feed arrangement; 2, sighting device; 3, loading and unloading robot; 4, milling robot; 5, polishing platform; 6, classification conveyer device; 7, electrical control cubicles;
11, charging transport column; 12, charging pipeline; 13, feed tray;
21, video camera; 22, support; 23, the first base;
31, the second base; 32, the first armshaft; 33, the second armshaft; 34, compound handgrip; 35, the first magnechuck; 36, the first force transducer;
41, the 3rd base; 42, the 3rd armshaft; 43, the 4th armshaft; 44, grinding clamp; 45, polishing emery wheel; 46, polisher; 47, laser detector;
51, polishing funnel; 52, it is polished flat platen; 53, the second magnechuck; 54, magnechuck groove; 55, polishing important actor; 56, waste material box;
61, pipeline; 62, elastic module; 63, classification transport column; 64, landing plate; 65, finished product material frame;
71, cabinet; 72, button; 73, display.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail. Following example are used for illustrating the present invention, but are not limited to the scope of the present invention.
As it is shown in figure 1, a kind of robot sanding apparatus of the present invention, including feed arrangement 1, sighting device 2, loading and unloading robot 3, milling robot 4, polishing platform 5, classification conveyer device 6 and control system, control system is located in electrical control cubicles 7.
As shown in Figure 2, feed arrangement 1 includes charging transport column 11, charging pipeline 12, feed tray 13, workpiece is put in feed tray 13, feed tray 13 is positioned at the top of charging pipeline 12, charging pipeline 12 is installed on the upper end of charging transport column 11, and feed tray 13 is delivered in the working region of sighting device 2 by charging pipeline 12;
The feed conveying device of charging transport column 11 and charging pipeline 12 composition can also replace with charging waggon.
As it is shown on figure 3, sighting device 2 includes video camera 21, support the 22, first base 23; Sighting device 2 can be fixed on floor, it is also possible to is fixed in loading and unloading robot 3, it is preferred to is fixed on floor;
First base 23 can rotary motion, support 22 be stand upside down L-type, the end of support 22 is fixed on the first base 23, and the front end of support 22 is provided with video camera 21, and video camera 21 can change its scanning area flexibly under the turning effort of the first base 23;
Video camera 21 scans the multiple workpiece in feed tray 13, and to obtain positional information and the profile information of workpiece, the profile information of workpiece is transferred to the control system in electrical control cubicles 7 by sighting device 2;
The profile information prestored in the profile information of workpiece and off-line programing data base is contrasted by control system, to choose a complete workpiece of contour shape; Positional information and the profile information of this workpiece are flowed to loading and unloading robot 3 by control system.
As shown in Figure 4, loading and unloading robot 3 includes second base the 31, first armshaft the 32, second armshaft 33, compound handgrip 34; Second base 31 is fixed on floor, and the first armshaft 32 is movably installed on the second base 31, and the bottom of the first armshaft 32 is provided with 270 degree of axles that rotate in a circumferential direction, and makes the first armshaft 32 can rotate in horizontal plane relative to the second base 31; The bottom of the first armshaft 32 is provided with 135 degree of vertical rotating shafts, makes the first armshaft 32 can rotate in perpendicular relative to the second base 31; Second armshaft 33 is flexibly connected with the first armshaft 32, and the second armshaft 33 can rotate relative to the first armshaft 32; Compound handgrip 34 is installed in second armshaft 33 end activity, and compound handgrip 34 can rotate in the plane being perpendicular to the second armshaft 33; Control system adjusts the position coordinates of the compound handgrip 34 of loading and unloading robot 3 end according to the positional information of workpiece, to capture the workpiece of diverse location and angle in feed tray 13.
Being movably installed with the first magnechuck 35 on compound handgrip 34, the number of the first magnechuck 35 is multiple, it is possible to be 5,7,9, it is preferred to 7; 1 the first magnechuck 35 is installed on the middle position of compound handgrip 34, and remaining the first magnechuck 35 is symmetrically distributed in the both sides of compound handgrip 34; The relative position that control system does small distance according to the first magnechuck 35 of profile information adjustment compound handgrip 34 both sides of workpiece moves, to pick up the workpiece of differently contoured shape.
Being also equipped with the first force transducer 36 on compound handgrip 34, the first force transducer 36 is installed near the first magnechuck 35; First force transducer 36 detect the workpiece that grabbed by compound handgrip 34 by force information, by the stress information conveyance of this workpiece to control system; The control system input current being regulated the first magnechuck 35 by force information according to this workpiece, to change the electromagnetic attraction of the first magnechuck 35, meets the job requirements that compound handgrip 34 captures the workpiece of Different Weight.
3 workpiece of loading and unloading robot crawl out from feed tray 13, are put on polishing platform 5.
As it is shown in figure 5, polishing platform 5 includes polishing funnel 51, is polished flat platen 52, magnetic absorbing system, polishing important actor 55, waste material box 56; Polishing funnel 51 opening upwards, workpiece is placed on and is polished flat on platen 52, it is polished flat platen 52 and is positioned at the chamber of polishing funnel 51, polishing funnel 51 is installed on the upper end of polishing important actor 55, magnetic absorbing system is installed on and is polished flat in platen 52, the upper surface of magnetic absorbing system and the upper surface flush being polished flat platen 52; Waste material box 56 is positioned at the lower section of polishing funnel 51, and the waste material that workpiece is produced by polishing funnel 51 imports in waste material box 56.
Magnetic absorbing system includes magnechuck groove 54 and the second magnechuck 53 being installed in magnechuck groove 54; The number of the second magnechuck 53 is multiple, it is possible to be 5,7 or 9, it is preferred to 7; 1 the second magnechuck 53 is fixedly installed in the central authorities of magnechuck groove 54, and other the second magnechuck 53 is movably installed in the both sides in magnechuck groove 54;Control system adjusts the relative position of the second magnechuck 53 of magnechuck groove 54 both sides according to the profile information of workpiece, can fix the job requirement of the workpiece of differently contoured shape with satisfied polishing platform 5.
As shown in Figure 6, milling robot 4 includes the 3rd base the 41, the 3rd armshaft the 42, the 4th armshaft 43, grinding clamp 44, polisher 46;
3rd base 41 is fixed on floor, and the 3rd armshaft 42 is movably installed on the 3rd base 41, and the 3rd armshaft 42 bottom is provided with 270 degree of axles that rotate in a circumferential direction, and makes the 3rd armshaft 42 can rotate in horizontal plane relative to the 3rd base 41; The bottom of the 3rd armshaft 42 is provided with 120 degree of vertical rotating shafts, makes the 3rd armshaft 42 can rotate in perpendicular relative to the 3rd base 41; 4th armshaft 43 is flexibly connected with the 3rd armshaft 42,4th armshaft 43 can rotate relative to the 3rd armshaft 42, the end of the 4th armshaft 43 is flexibly connected with grinding clamp 44, grinding clamp 44 rotates relative to the 4th armshaft 43, grinding clamp 44 is flexibly connected polisher 46, and polisher 46 is provided with polishing emery wheel 45.
The profile information prestored in profile information and the off-line programing data base of the workpiece on polishing platform 5 is contrasted by control system, by analyzing comparing result, control system determines that workpiece needs edge and the technique for grinding of polishing, and generating polishing track, control system controls milling robot 4 and carries out polishing operation.
The one side of grinding clamp 44 is also equipped with visual system, this visual system can recognize that the attitude being positioned over the workpiece being polished flat on platen 52, and this attitude information is flowed to control system, control system determines the initial polishing point of workpiece according to attitude information and polishing track;
Grinding clamp 44 is also equipped with laser detector 47, and the polishing effect of workpiece is detected by laser detector 47 under the guiding of polishing track;
Grinding clamp 44 is also equipped with the second force transducer, and the second force transducer can detect the polishing power that workpiece is subject in real time, controls system polishing power suffered by workpiece and technique for grinding, regulates the polishing speed of polisher 46.
As it is shown in fig. 7, classification conveyer device 6 includes pipeline 61, elastic module 62, classification transport column 63, landing plate 64, finished product material frame 65; Elastic module 62 and landing plate 64 are positioned at the not homonymy of pipeline 61, and finished product material frame 65 is positioned at the lower section of landing plate 64;
Loading and unloading robot 3 is from being polished flat platen 52 and picking up on the pipeline 61 of classification conveyer device 6 by the workpiece after polishing; This workpiece is classified by classification conveyer device 6 according to the profile of the workpiece after polishing, sorted workpiece is delivered to corresponding position by pipeline 61 under power system drives, this workpiece is produced a lateral thrust by corresponding elastic module 62, makes this workpiece fall to finished product material frame along landing plate 64.
Feed arrangement 1 can combine with classification conveyer device 6, to form a workpiece pipeline; Workpiece is first delivered in the working region of sighting device 2 by workpiece pipeline, and milling robot 4 is to after grinding workpieces, and the workpiece after polishing is classified and exports by workpiece pipeline.
As shown in Figure 8, electrical control cubicles 7 includes button 72, display 73, the control system that is arranged in electrical control cubicles 7; Button 72 and display 73 are arranged on cabinet 71, and are connected with controlling system;
Edge that the groundwork of control system includes gathering the positional information of workpiece and profile information, determine workpiece needs polishes and technique for grinding, generation polish track, off-line programing data base is managed;Control system can be controlled by button 72 and display 73.
To sum up, a kind of robot provided by the present invention polishing platform, controlling Installed System Memory and contain off-line programing data base, control system gets positional information and the profile information of workpiece, contrasts with the positional information prestored in off-line programing data base and profile information; Comparing result according to positional information, control system controls loading and unloading robot 3 and adopts suitable Grasp Modes that workpiece is captured; Comparing result according to profile information, control system determines the sharpened edge and technique for grinding that workpiece is suitable, generate the polishing track being suitable for workpiece, and control milling robot and with suitable polishing track and technique for grinding, workpiece is polished, the robot sanding apparatus of the present invention can meet the polishing operation requirement of multiple differently contoured workpiece, and the robot sanding apparatus production efficiency making the present invention is high.
Further, the workpiece after polishing can be carried out effect detection according to polishing track by the laser detector robot sanding apparatus of the present invention installed, it is ensured that the polishing quality of robot sanding apparatus;
The button arranged on cabinet and display can make staff that the work process controlling system is controlled, it is achieved human-computer interaction function.
Further, the first force transducer can detect the grasp force of compound handgrip in real time, so that controlling system by analyzing the grasp force of compound handgrip, controls the grasp force that the output of compound handgrip is suitable;
Second force transducer can detect the polishing power that workpiece is subject in real time, then controls system polishing power suffered by workpiece and the polishing speed of technique for grinding adjustment polisher.
Below it is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the technology of the present invention principle; can also making some improvement and replacement, these improve and replace and also should be regarded as protection scope of the present invention.
Claims (18)
1. a robot sanding apparatus, it is characterised in that include feed arrangement, sighting device, loading and unloading robot, milling robot, polishing platform, classification conveyer device and control system;
Workpiece is delivered in the working region of described sighting device by described feed arrangement; Described sighting device obtains positional information and the profile information of described workpiece, and described positional information and profile information flow to described control system; Described control system controls described loading and unloading robot according to described positional information and is positioned on described polishing platform by described workpiece, according to described profile information control described milling robot described workpiece is polished, and control described loading and unloading robot by polishing after workpiece move to described classification conveyer device; Workpiece after polishing is classified and exports by described classification conveyer device.
2. robot as claimed in claim 1 sanding apparatus, it is characterised in that described control system is located in cabinet, is additionally provided with the button and display that are connected with control system outside described cabinet.
3. robot as claimed in claim 1 sanding apparatus, it is characterized in that, described feed arrangement includes charging transport column, charging pipeline and feed tray, described workpiece is positioned at described feed tray, described feed tray is positioned at the top of described charging pipeline, and described charging pipeline is installed on the upper end of described charging transport column.
4. robot as claimed in claim 1 sanding apparatus, it is characterised in that described feed arrangement includes charging waggon and feed tray, and described workpiece is positioned at described feed tray, and described feed tray is positioned at the top of described charging waggon.
5. robot as claimed in claim 1 sanding apparatus, it is characterised in that described sighting device includes:
It is fixed on floor or the first base in described loading and unloading robot;
It is fixedly mounted on the support on described first base;
Fixedly mount on the bracket, in order to scan the described workpiece in described sighting device working region, thus obtaining described positional information and the video camera of described profile information.
6. robot as claimed in claim 1 sanding apparatus, it is characterised in that described loading and unloading robot includes:
It is fixed on the second base on floor;
It is movably arranged on described second base and the first armshaft of angle can be adjusted in real time;
It is flexibly connected and can adjust in real time described second armshaft of angle with described first armshaft;
It is flexibly connected and can adjust in real time the compound handgrip of angle with described second armshaft.
7. robot as claimed in claim 6 sanding apparatus, it is characterised in that described compound handgrip is movably installed with the first magnechuck;
Described control system controls described loading and unloading robot according to described positional information and adjusts the position coordinates of described compound handgrip, and the position according to described profile information control described compound handgrip described first magnechuck of adjustment, so that described compound handgrip picks up the workpiece of diverse location and shape in described feed tray.
8. robot as claimed in claim 7 sanding apparatus, it is characterised in that the number of described first magnechuck is multiple.
9. robot as claimed in claim 7 sanding apparatus, it is characterised in that described compound handgrip is provided with the first force transducer;
Described first force transducer obtains the electromagnetic attraction that the first magnechuck described in when described compound handgrip picks up described workpiece produces, and described electromagnetic attraction flows to described control system; Described control system is the input current of the first magnechuck according to the size adjustment of described electromagnetic attraction, so that the electromagnetic attraction that described first magnechuck produces can reach the requirement of the described workpiece of described compound handgrip pickup Different Weight.
10. robot as claimed in claim 1 sanding apparatus, it is characterised in that described milling robot includes:
It is fixed on the 3rd base on floor;
It is movably arranged on described 3rd base and can adjust in real time the 3rd armshaft of angle;
It is flexibly connected with described 3rd armshaft and the 4th armshaft of angle can be adjusted in real time;
It is flexibly connected with described 4th armshaft and the grinding clamp of angle can be adjusted in real time;
The polisher being flexibly connected with described grinding clamp and can rotate relative to described grinding clamp;
Described control system determines sharpened edge and the technique for grinding of described workpiece according to described profile information, and generates polishing track.
11. robot as claimed in claim 10 sanding apparatus, it is characterised in that described grinding clamp is provided with visual system;
Described visual system obtains positional information and the profile information of the described workpiece being positioned on described polishing platform, and described positional information and profile information flow to described control system; Described control system determines the initial polishing point of described workpiece according to described positional information and profile information, controls described milling robot and according to described polishing track, described workpiece is polished.
12. robot as claimed in claim 10 sanding apparatus, it is characterised in that described grinding clamp is provided with the second force transducer, described second force transducer regulates the polishing speed of described polisher according to the polishing power that described technique for grinding and described workpiece are subject to.
13. robot as claimed in claim 10 sanding apparatus, it is characterised in that described grinding clamp is provided with laser detector, the workpiece after polishing is carried out effect detection according to described polishing track by described laser detector.
14. robot as claimed in claim 1 sanding apparatus, it is characterised in that described polishing platform includes polishing funnel, is polished flat platen, magnetic absorbing system, waste material box;
Described polishing funnel openings upwards, described workpiece be positioned over described in be polished flat on platen, described in be polished flat platen and be positioned at the chamber of described polishing funnel;
Described magnetic absorbing system is polished flat in platen described in being installed on, the upper surface of described magnetic absorbing system and the described upper surface flush being polished flat platen, and described magnetic absorbing system is in order to fixing described workpiece;
Described waste material box is positioned at the lower section of described polishing funnel, and the waste material that described workpiece is produced by described polishing funnel imports described waste material box.
15. robot as claimed in claim 14 sanding apparatus, it is characterised in that described magnetic absorbing system includes magnechuck groove and the second magnechuck being movably installed in described magnechuck groove;
Described control system controls described polishing platform according to described profile information and adjusts the position of described second magnechuck, so that differently contoured described workpiece fixed by described polishing platform.
16. robot as claimed in claim 15 sanding apparatus, it is characterised in that the number of described second magnechuck is multiple.
17. robot as claimed in claim 1 sanding apparatus, it is characterised in that described classification conveyer device includes pipeline, elastic module, landing plate, finished product material frame;
Described elastic module and described landing plate are positioned at the not homonymy of described pipeline, and described finished product material frame is positioned at the lower section of described landing plate;
Workpiece is classified by described classification conveyer device according to the workpiece profile information after polishing, sorted workpiece is delivered to corresponding position by described pipeline, the workpiece of this classification is produced a lateral thrust by corresponding described elastic module, makes sorted workpiece fall to described finished product material frame along described landing plate.
18. robot as claimed in claim 1 sanding apparatus, it is characterised in that described feed arrangement and the combination of described classification conveyer device, to form a workpiece pipeline; Described workpiece is first delivered in the working region of described sighting device by described workpiece pipeline, and described milling robot is to after described grinding workpieces, and the workpiece after polishing is classified and exports by described workpiece pipeline.
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| CN201610229217.9A CN105643636B (en) | 2016-04-13 | 2016-04-13 | A kind of robot sanding apparatus |
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| CN201610229217.9A CN105643636B (en) | 2016-04-13 | 2016-04-13 | A kind of robot sanding apparatus |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002969A (en) * | 2016-06-13 | 2016-10-12 | 哈尔滨工大智慧工厂有限公司 | Rectangular coordinate robot system for automatic feeding and discharging of AOI detection |
| CN106695483A (en) * | 2017-02-09 | 2017-05-24 | 泉州市科恩智能装备技术研究院有限公司 | Precise positioning and polishing device of firefighting spearhead |
| CN107102374A (en) * | 2017-04-28 | 2017-08-29 | 达特电子（上海）有限公司 | Tray detecting device |
| CN108284360A (en) * | 2017-12-30 | 2018-07-17 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of polishing grinding workpieces system of processing |
| CN108326853A (en) * | 2018-01-17 | 2018-07-27 | 广东工业大学 | A kind of milling robot system |
| CN109015642A (en) * | 2018-08-16 | 2018-12-18 | 苏州市运泰利自动化设备有限公司 | Loading and unloading control method and system |
| CN109454501A (en) * | 2018-10-19 | 2019-03-12 | 江苏智测计量技术有限公司 | A kind of lathe on-line monitoring system |
| CN110421436A (en) * | 2019-08-29 | 2019-11-08 | 四川智能创新铸造有限公司 | The removal system of robot machining steel-casting increasing meat and riser root |
| CN111922578A (en) * | 2020-05-29 | 2020-11-13 | 西安航天精密机电研究所 | System and method for accurately installing and welding electrode needle and bridge band of sealing body guided by vision |
| CN112659139A (en) * | 2020-12-08 | 2021-04-16 | 蓝点触控(北京)科技有限公司 | Robot polishing method, robot polishing device and robot polishing system |
| CN113414768A (en) * | 2021-07-13 | 2021-09-21 | 江南造船(集团)有限责任公司 | Chamfering system for free edge of part and control method thereof |
| CN114905515A (en) * | 2022-05-26 | 2022-08-16 | 无锡斯帝尔科技有限公司 | Robot control method and system based on flexible perception neural network |
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| CN106002969A (en) * | 2016-06-13 | 2016-10-12 | 哈尔滨工大智慧工厂有限公司 | Rectangular coordinate robot system for automatic feeding and discharging of AOI detection |
| CN106695483A (en) * | 2017-02-09 | 2017-05-24 | 泉州市科恩智能装备技术研究院有限公司 | Precise positioning and polishing device of firefighting spearhead |
| CN106695483B (en) * | 2017-02-09 | 2018-12-21 | 泉州市科恩智能装备技术研究院有限公司 | The precise positioning grinding device of fire-fighting pipette tips |
| CN107102374A (en) * | 2017-04-28 | 2017-08-29 | 达特电子（上海）有限公司 | Tray detecting device |
| CN108284360A (en) * | 2017-12-30 | 2018-07-17 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of polishing grinding workpieces system of processing |
| CN108326853B (en) * | 2018-01-17 | 2021-08-24 | 广东工业大学 | Polishing robot system |
| CN108326853A (en) * | 2018-01-17 | 2018-07-27 | 广东工业大学 | A kind of milling robot system |
| CN109015642A (en) * | 2018-08-16 | 2018-12-18 | 苏州市运泰利自动化设备有限公司 | Loading and unloading control method and system |
| CN109454501A (en) * | 2018-10-19 | 2019-03-12 | 江苏智测计量技术有限公司 | A kind of lathe on-line monitoring system |
| CN110421436A (en) * | 2019-08-29 | 2019-11-08 | 四川智能创新铸造有限公司 | The removal system of robot machining steel-casting increasing meat and riser root |
| CN111922578A (en) * | 2020-05-29 | 2020-11-13 | 西安航天精密机电研究所 | System and method for accurately installing and welding electrode needle and bridge band of sealing body guided by vision |
| CN111922578B (en) * | 2020-05-29 | 2022-05-13 | 西安航天精密机电研究所 | System and method for accurately installing and welding electrode pin and bridge strap of seal body guided by vision |
| CN112659139A (en) * | 2020-12-08 | 2021-04-16 | 蓝点触控(北京)科技有限公司 | Robot polishing method, robot polishing device and robot polishing system |
| CN112659139B (en) * | 2020-12-08 | 2024-05-17 | 蓝点触控(北京)科技有限公司 | Robot polishing method, robot polishing device and robot polishing system |
| CN113414768A (en) * | 2021-07-13 | 2021-09-21 | 江南造船(集团)有限责任公司 | Chamfering system for free edge of part and control method thereof |
| CN114905515A (en) * | 2022-05-26 | 2022-08-16 | 无锡斯帝尔科技有限公司 | Robot control method and system based on flexible perception neural network |
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