CN108284360A - A kind of polishing grinding workpieces system of processing - Google Patents
A kind of polishing grinding workpieces system of processing Download PDFInfo
- Publication number
- CN108284360A CN108284360A CN201711493287.6A CN201711493287A CN108284360A CN 108284360 A CN108284360 A CN 108284360A CN 201711493287 A CN201711493287 A CN 201711493287A CN 108284360 A CN108284360 A CN 108284360A
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- CN
- China
- Prior art keywords
- polishing
- former material
- workpiece
- feeding robot
- control unit
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/16—Single-purpose machines or devices for grinding end-faces, e.g. of gauges, rollers, nuts, piston rings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0069—Other grinding machines or devices with means for feeding the work-pieces to the grinding tool, e.g. turntables, transfer means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The present invention provides a kind of polishing grinding workpieces system of processing applied to robotic technology field,The polishing grinding workpieces system of processing can scan the visual scanning platform (5) of the placement pose data for the polishing workpiece former material (4) placed close to feeding robot (1) close to the setting of feeding robot (1) position,Visual scanning platform (5) is connect with control unit (6),Polishing machine tool (3) is positioned close to feeding robot (2) position,Conveyer (8) is also set up close to feeding robot (2) position,Feeding robot (1) and feeding robot (2) are connect with control unit (6) respectively,Polishing grinding workpieces system of processing of the present invention,It can realize the automatic identification of polishing workpiece,It arranges,Arrangement,Realize polishing workpiece automatic loading/unloading and transport,Full automation,It reduces artificial,Improve casting workpiece grinding efficiency,Precision,Reduce personnel labor intensity.
Description
Technical field
The invention belongs to robotic technology fields, are to be related to a kind of polishing grinding workpieces system of processing more specifically.
Background technology
Casting workpiece is polishing workpiece former material after the casting, generally needs to carry out grinding and buffing, workpiece of polishing
Former material forms casting workpiece finished product (finished workpart) after polishing is processed, and is needed to zero before being polished using professional equipment
Component is arranged, is arranged, is positioned, and is also required to carry out loading and unloading in bruting process.Although bruting process has passed through sander
Bed realizes automation polishing, but casting workpiece loading and unloading and the most of use of arrangement process are accomplished manually.However, casting workpiece
Often structure is complex, heavier-weight, and big using manual sorting and loading and unloading labor intensity, efficiency is low.Use professed machine
Structure arrange and loading and unloading need in advance that workpiece is neatly packed again, and is equipped with professional tooling fixture, it is difficult to it realizes, and
Cost is higher.To sum up, the existing defect of casting workpiece polishing in the prior art：(1) casting workpiece is complicated, it is difficult to arrange
Row positioning, the prior art rely primarily on manually in polishing workpiece loading and unloading process；(2) even if existing using automation equipment certainly
Dynamic loading and unloading, but need to be equipped with professional tooling fixture, cost increases；(3) even if being equipped with professional tooling fixture, but machinery zero
Part structure needs to constantly update, and old tooling can not adapt to new component structural feature, and often producing a kind of new parts just needs
It corresponds to and manufactures new frock clamp, it is difficult to meet enterprise's polytypic production；(4) during replacing frock clamp, production equipment
It needs to stop work, causes production loss.
Invention content
The technical problem to be solved by the present invention is to：In view of the deficiencies of the prior art, it is simple in structure to provide one kind, it can
Integrate the polishing grinding workpieces system of processing of visual identity, workpiece transmission and robot charge, the polishing workpiece
Polishing system of processing can realize automatic identification, arrangement, arrangement, realization polishing workpiece automatic loading/unloading and the fortune of polishing workpiece
Defeated, full automation reduces manually, to improve casting workpiece grinding efficiency, precision, reduces intensity of workers, have
Effect solves defect existing in the prior art.
Solve the problems, such as that techniques discussed above, the technical solution that the present invention takes are：
The present invention is a kind of polishing grinding workpieces system of processing, and the polishing grinding workpieces system of processing includes feeding
Robot, feeding robot, polishing machine tool, close to feeding robot position, setting can be scanned puts close to feeding robot
The visual scanning platform of the placement pose data for the polishing workpiece former material set, visual scanning platform are connect with control unit, polishing machine tool
It is positioned close to feeding robot position, finished workpart is processed into the polishing machine tool workpiece former material polishing that is configured to will to polish
Structure, also set up conveyer close to feeding robot position, feeding robot and feeding robot connect with control unit respectively
It connects.
The polishing grinding workpieces system of processing further includes workpiece former material turntable, and work former material turntable includes pedestal,
Motor is installed, motor is connect with rotating disc, and rotating disc is horizontal positioned, multiple former material locating pieces is arranged on rotating disc, often on pedestal
Multiple former material location holes are set on a former material locating piece, and motor is connect with control unit.
The close feeding robot position also sets up the workpiece material frame that can place polishing workpiece former material, feeder
Device people is configured to for the polishing workpiece former material crawl in workpiece material frame to be placed into the one of a former material locating piece of rotating disc
Structure in a former material location hole.
It is former that the feeding robot is configured to the polishing workpiece in the former material location hole that will be placed on rotating disc
Material crawl is placed into the structure in polishing machine tool, and feeding robot is also configured to that polishing machine tool can be polished to what processing was formed
Finished workpart is placed into the structure on conveyer from crawl in polishing machine tool, and the conveyer is connect with control unit.
Camera support is installed on the scan table table top of the visual scanning platform, mounting industrial camera on camera support, work
Industry camera is configured to the structure of the placement pose data for the polishing workpiece former material that shooting is placed on scan table table top, work
The control module of industry camera is configured to the polishing workpiece former material being placed on scan table table top for taking industrial camera
Placement pose data be sent to the structure of control unit.
The control unit is arranged to place pose data point reuse feeding machine according to the polishing workpiece former material of reception
The position of the moving arm end clamp I of people, to control the polishing workpiece on the crawl scan table table top of moving arm end clamp I
Former material is placed into the structure of workpiece former material turntable.
The big magnechuck of feeding, former material clamping jaw, control are set in the moving arm end clamp I of the feeding robot
When the moving arm end clamp I of component controls feeding robot captures polishing workpiece former material to visual scanning platform from workpiece material frame,
Control unit is configured to the structure that the control big magnechuck of feeding is adsorbed in polishing workpiece former material to be captured, control
Component is configured to the structure that control former material clamping jaw is clamped in polishing workpiece former material to be captured.
The small magnechuck of feeding, control unit control are also set up in the moving arm end clamp I of the feeding robot
When the moving arm end clamp I of feeding robot is captured from work former material turntable in polishing workpiece former material to polishing machine tool, control
Component processed is configured to the control small magnechuck of feeding and is adsorbed on the structure waited in crawl polishing workpiece former material.
The feeding robot includes moving arm end clamp II, and moving arm end clamp II includes that two activities are pressed from both sides
Tight component II, control unit are arranged to the structure of two II opening and closing of movable clamping component of control.
The feeding robot includes moving arm end clamp II, and blanking electromagnetism, which is arranged, in moving arm end clamp II inhales
Disk, blanking magnechuck include multiple, and control unit can control blanking magnechuck break-make.
Technical solution using the present invention can obtain advantageous effect below：
Polishing grinding workpieces system of processing of the present invention can be in workpiece (casting workpiece) polishing operation of polishing
Workpiece former material pose automatic identification of the polishing workpiece in feeding process is realized, to realize feeding robot according to control unit
The frequency of part setting carries out accurate feeding, while under realizing that discharging robot carries out accurately according to the frequency that control unit set
Material.In the system of the present invention, the polishing workpiece former material placed on visual scanning platform is carried out using high-resolution industrial camera
Shooting is analyzed by the processing of image, obtains the attitude information of polishing workpiece, realizes polishing workpiece former material pose data
Acquisition, and according to the pose data of acquisition, feeding robot accurately adjusts position, realizes to each polishing workpiece former material
Crawl, is then placed on workpiece former material turntable, and workpiece former material turntable is rotated according to the frequency that control unit is set, often
Rotation is primary, and a former material locating piece on feeding robot alignment pieces former material turntable, feeding robot is according to setting
Frequency and position, crawl polishing workpiece former material and be placed into polishing machine tool, it is former in polishing machine tool air exercise grinder part
After finished workpart being formed after material polishing, the feeding robot grabbing workpiece finished product out of polishing machine tool again, and finished workpart is placed
Onto the conveyer belt of conveyer, the conveyer of control unit control at this time starts, and to carry out finished workpart conveying, conveys generator terminal
Head is workpiece sincerity storage region, carries out finished workpart storage or entrucking conveying.And the pose for grinder part former material of fighting each other is swept
It when retouching confirmation, is realized by vision algorithm, can multiple polishing workpiece former materials (5) are identified and be positioned simultaneously, identified
Positioning time is less than 1.5s, to improve the requirement that identification location efficiency meets system production beat.According to polishing workpiece former material
Structure feature judges its orientation in vision algorithm, to not only determine the spatial position of polishing workpiece former material, and
And correct gripping surface (using workpiece end face rounded face of polishing as clamping face) information can be obtained, it is carried out convenient for feeding robot
Workpiece former material of polishing crawl, judging nicety rate 100%.The present invention is a kind of polishing grinding workpieces system of processing, structure letter
It is single, visual identity, workpiece transmission and robot charge, the polishing grinding workpieces system of processing energy can be integrated
Enough automatic identifications for realizing polishing workpiece, arrangement, arrangement, realization polishing workpiece automatic loading/unloading and transport, full automation,
Artificial, raising casting workpiece grinding efficiency, precision are reduced, intensity of workers is reduced, effectively solves to deposit in the prior art
Defect.
Description of the drawings
Brief description is made to the content expressed by each attached drawing of this specification and the label in figure below：
Fig. 1 is the overall structure diagram of polishing grinding workpieces system of processing of the present invention；
Fig. 2 is the structural schematic diagram of the visual scanning platform of polishing grinding workpieces system of processing of the present invention；
Fig. 3 is the structural schematic diagram of the workpiece former material turntable of polishing grinding workpieces system of processing of the present invention；
Fig. 4 is the structural schematic diagram of the feeding robot of polishing grinding workpieces system of processing of the present invention；
Fig. 5 is the structural schematic diagram of the feeding robot of polishing grinding workpieces system of processing of the present invention；
Attached drawing acceptance of the bid, which is remembered, is respectively：1, feeding robot；2, feeding robot；3, polishing machine tool；4, polishing workpiece is former
Material；5, visual scanning platform；6, control unit；7, finished workpart；8, conveyer belt；9, workpiece former material turntable；10, pedestal；11、
Motor；12, rotating disc；13, former material locating piece；14, former material location hole；15, workpiece material frame；16, moving arm end clamp II；
17, scan table table top；18, camera support；19, industrial camera；20, moving arm end clamp I；21, the big magnechuck of feeding；
22, former material clamping jaw；23, the small magnechuck of feeding；24, blanking magnechuck.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, each structure for example involved to the specific implementation mode of the present invention
Mutual alignment and connection relation, the effect of each section and operation principle between the shape of part, construction, each section etc. are made into one
The detailed description of step：
As shown in attached drawing 1- attached drawings 4, the present invention is a kind of polishing grinding workpieces system of processing, and the polishing workpiece is beaten
Mill system of processing includes feeding robot 1, feeding robot 2, polishing machine tool 3, and close to 1 position of feeding robot, setting can
Scan the visual scanning platform 5 of the placement pose data for the polishing workpiece former material 4 placed close to feeding robot 1, visual scanning
Platform 5 is connect with control unit 6, and polishing machine tool 3 is positioned close to 2 position of feeding robot, polishing machine tool 3 be configured to by
The structure of finished workpart 7 is processed into 4 polishing of polishing workpiece former material, and conveyer 8, feeding are also set up close to 2 position of feeding robot
Robot 1 and feeding robot 2 are connect with control unit 6 respectively.It, can be in workpiece (casting workpiece) polishing operation of polishing
Workpiece former material pose automatic identification of the polishing workpiece in feeding process is realized, to realize feeding robot according to control unit
The frequency of part setting carries out accurate feeding, while under realizing that discharging robot carries out accurately according to the frequency that control unit set
Material.In the system of the present invention, the polishing workpiece former material placed on visual scanning platform is carried out using high-resolution industrial camera
Shooting is analyzed by the processing of image, obtains the attitude information of polishing workpiece, realizes polishing workpiece former material pose data
Acquisition, and according to the pose data of acquisition, feeding robot accurately adjusts position, realizes to each polishing workpiece former material
Crawl, is then placed on workpiece former material turntable, and workpiece former material turntable is rotated according to the frequency that control unit is set, often
Rotation is primary, and a former material locating piece on feeding robot alignment pieces former material turntable, feeding robot is according to setting
Frequency and position, crawl polishing workpiece former material, and be placed into polishing machine tool, in polishing machine tool air exercise grinder part former material
After finished workpart being formed after polishing, the feeding robot grabbing workpiece finished product out of polishing machine tool again, and finished workpart is placed into
On the conveyer belt of conveyer, the conveyer of control unit control at this time starts, to carry out finished workpart conveying, conveyer end
For workpiece sincerity storage region, finished workpart storage or entrucking conveying are carried out.And the pose for grinder part former material of fighting each other is scanned
It when confirmation, is realized by vision algorithm, so as to which multiple polishing workpiece former materials (5) are identified and are positioned simultaneously, is known
Other positioning time is less than 1.5s, to improve the requirement that identification location efficiency meets system production beat.According to polishing workpiece former material
Structure feature, its orientation is judged in vision algorithm, to not only determine polishing workpiece former material spatial position,
And correct gripping surface (using workpiece end face rounded face of polishing as clamping face) information can be obtained, convenient for feeding robot into
Row polishing workpiece former material crawl, judging nicety rate 100%.The present invention is a kind of polishing grinding workpieces system of processing, structure letter
It is single, visual identity, workpiece transmission and robot charge, the polishing grinding workpieces system of processing energy can be integrated
Enough automatic identifications for realizing polishing workpiece, arrangement, arrangement, realization polishing workpiece automatic loading/unloading and transport, full automation,
It reduces manually, to improve casting workpiece grinding efficiency, precision, reduces intensity of workers, effectively solve the prior art
Present in defect.
The polishing grinding workpieces system of processing further includes workpiece former material turntable 9, and work former material turntable 9 includes bottom
Seat 10 installs motor 11 on pedestal 10, and motor 11 is connect with rotating disc 12, and rotating disc 12 is horizontally arranged, and is arranged on rotating disc 12
Multiple former material locating pieces 13, multiple former material location holes 14 are arranged on each former material locating piece 13, and motor 11 connects with control unit 6
It connects.Above structure, rotation rhythm and the feeding robot and feeding robot of the rotatable lamella of workpiece former material turntable 9 coordinate, on
After material robot crawl polishing workpiece former material piles a former material locating piece 13 on rotating disc, control unit passes through motor control
90 degree of turn disc processed, at this point, feeding robot can place polishing workpiece on another adjacent former material locating piece 13
Former material, and feeding robot can capture polishing workpiece former material from a former material locating piece 13 on rotating disc and be placed into polishing
In lathe, after feeding robot takes whole polishing workpiece former materials on a former material locating piece 13 on rotating disc, at this time on
After material robot just piles another former material locating piece 13 on rotating disc, control unit controls turn disc at this time, makes
The upper material position of one empty former material positioning block alignment feeding robot, and a full former material positions block alignment feeding robot
Lower material position, realize grinding workpieces and loading and unloading rhythm cooperation.
1 position of close feeding robot also sets up the workpiece material frame 15 that can place polishing workpiece former material 4, feeding
The former material that robot 1 is configured to the crawl of polishing workpiece former material 4 in workpiece material frame 15 being placed into rotating disc 12 is determined
Structure in one former material location hole 14 of position block 13.The polishing workpiece former material that transport comes can be placed in workpiece material frame, at this time
The random placement of polishing workpiece former material in workpiece material frame, then passes through beating in feeding robot successively grabbing workpiece material frame
Grinder part former material is placed on visual scanning platform, and after the scanning of visual scanning platform, the pose data for workpiece former material of polishing are clapped
According to scanning, it is then transmitted to control unit, control unit determines the polishing workpiece former material spatial position according to pose signal, then
Control unit controls feeding robot and adjusts position, can accurately capture the suitable of the polishing workpiece former material on visual scanning platform
Then polishing workpiece former material crawl is placed into a former material location hole 14 of a former material locating piece 13 by gripping surface, more
Secondary repeated work, after placing a full former material locating piece 13, turn disc starts to place another former material locating piece 13, real
The repetition operation free of discontinuities of existing feeding, batch complete polishing grinding workpieces processing.
The feeding robot 2 is configured to the polishing in the former material location hole 14 that will be placed on rotating disc 12
Workpiece former material 4 captures the structure being placed into polishing machine tool 3, and feeding robot 2 is also configured to that polishing machine tool 3 can be polished
It processes the finished workpart 7 formed and is placed into the structure on conveyer 8, the conveyer 8 and control from crawl in polishing machine tool 3
Component 6 processed connects.The rhythm that feeding robot is set according to control unit captures the polishing on each former material locating piece 13 successively
Workpiece former material is placed into polishing machine tool, and after the polishing workpiece former material polishes and to form finished workpart, control unit is further according to control
The rhythm grabbing workpiece finished product of component settings processed is placed on the conveyer belt of conveyer, and conveyer is set according to control unit
Rhythm conveying workpieces finished product stores position to workpiece, completes a polishing grinding workpieces manufacturing procedure, and repeated work can give birth in batches
Production.
Camera support 18 is installed, mounting industrial on camera support 18 on the scan table table top 17 of the visual scanning platform 5
Camera 19, industrial camera 19 are configured to the placement pose for the polishing workpiece former material 4 that shooting is placed on scan table table top 17
The structure of data, the control module of industrial camera 19 are configured to be placed on scan table platform by what industrial camera 19 took
The placement pose data of polishing workpiece former material 4 on face 17 are sent to the structure of control unit 6.Above structure, camera support are real
Existing installation of the industrial camera on scan table table top, and after industrial camera installation, entire scan table table top can be covered, to sweeping
It retouches the polishing workpiece former material placed on platform table top and carries out batch scanning, obtain former material pose data, and pass to control unit,
Control unit realizes the accurate crawl of air exercise grinder part former material further according to former material pose data, adjustment feeding robot position.
The algorithm of vision system progress workpiece scanning of the present invention, principle, process are as follows：It is passed by three-dimensional ligament structure light
Sensor, (1) needs the coordinate relationship between structured light sensor and robot to demarcate, to obtain structured light sensor
Relative to the transformation matrix between robot basis coordinates system.(2) structured light sensor obtains material frame by way of laser scanning
The point cloud data of interior workpiece.(3) point cloud data is handled, including filtering, denoising.(4) to the workpiece point cloud data of acquisition
Feature assessment is carried out, identifies characteristic feature (5) Model registration, the workpiece features that point cloud data is analyzed and workpiece mathematics
The aspect of model is matched, and is calculated workpiece pose (6) and is calculated current optimal solution.It is most suitable for by the way that the analysis of pose integrity degree is current
The workpiece of crawl, (7) coordinate transform.The workpiece of most suitable crawl is passed through into transformation relative to the pose in structured light sensor
(8) communicate in matrix conversion to robot coordinate system, and the pose for the workpiece being calculated is passed to robot by Ethernet
Controller (control unit), such control unit obtain accurate pose data.
The control unit 6 is arranged to place pose data point reuse feeder according to the polishing workpiece former material 4 of reception
The position of the moving arm end clamp I 20 of device people 1 captures to control moving arm end clamp I 20 on scan table table top 17
Polishing workpiece former material 4 is placed into the structure of workpiece former material turntable 9.The moving arm end clamp I 20 of feeding robot 1 is used for
Crawl polishing workpiece former material.It is used to grip the fixture of object in the prior art, is used equally in the system of the present invention, and fixture
Automatic opening and closing are controlled by control unit.
The big magnechuck 21 of feeding, former material clamping jaw are set in the moving arm end clamp I 20 of the feeding robot 1
22, the moving arm end clamp I 20 that control unit 6 controls feeding robot 1 captures polishing workpiece former material 4 from workpiece material frame 15
When to visual scanning platform 5, control unit 6 is configured to the big magnechuck of control feeding 21 and is adsorbed on polishing work to be captured
Structure in part former material 4, control unit 6 are configured to control former material clamping jaw 22 and are clamped in polishing workpiece former material 4 to be captured
On structure.Above structure, when feeding robot captures polishing workpiece former material from workpiece material frame, the big magnechuck of feeding 21
It is adsorbed on former material gripping surface, and former material clamping jaw 22 simultaneously clamps on former material, and former material is avoided to be fallen in capturing moving process, improves
Reliability.And it is used to grip the clamping jaw of object in the prior art, it is used equally in the system of the present invention, clamping jaw passes through control unit
Part controls automatic opening and closing.
The small magnechuck 23 of feeding, control unit are also set up in the moving arm end clamp I 20 of the feeding robot 1
The moving arm end clamp I 20 that part 6 controls feeding robot 1 capture workpiece former material 4 of polishing to beating from work former material turntable 9
When in grinding machine tool 3, control unit 6 is configured to the small magnechuck of control feeding 23 and is adsorbed on wait for crawl polishing workpiece former material 4
On structure.Above structure, the small magnechuck of feeding can individually be drawn and catch small-sized former material, can also be with the big electromagnetism of feeding
Sucker coordinates, and carries out former material crawl together, improves former material and captures reliability, avoids falling.
The feeding robot 2 includes moving arm end clamp II 16, and blanking electricity is arranged in moving arm end clamp II 16
Magnetic-disc 24, blanking magnechuck include multiple, and control unit can control 24 break-make of blanking magnechuck, so as to inhale
Attached grabbing workpiece, and workpiece can be put down, realize the blanking and conveying of workpiece.
System of the present invention, working frequency are determined that feeding robot is needed by feeding robot and feeding robot
It is continuous to realize that polishing workpiece former material crawl is placed into polishing machine tool, and from the workpiece after crawl polishing processing in polishing machine tool at
Product are placed on conveyer, and feeding robot is used to be placed into visual scanning platform from workpiece material frame grabbing workpiece former material, and
And workpiece former material is accurately grabbed from visual scanning platform on workpiece former material turntable, workpiece former material turntable and feeder
The rhythm of device people and feeding robot coordinates.In view of robot is for artificial, speed is fast, can be continuous for a long time
The factors such as operating, the loading and unloading beat of final whole system can well beyond current artificial loading blanking beat, and with beat
Grinding machine tool beat matches.
Illustrative description is carried out to the present invention above in conjunction with attached drawing, it is clear that concrete implementation of the present invention is not by upper
The limitation of mode is stated, if the various improvement of inventive concept and technical scheme of the present invention progress are used, or not improved general
The design and technical solution of the present invention directly applies to other occasions, is within the scope of the invention.
Claims (9)
1. a kind of polishing grinding workpieces system of processing, it is characterised in that：The polishing grinding workpieces system of processing includes feeding
Robot (1), feeding robot (2), polishing machine tool (3), close to feeding robot (1) position, setting can be scanned close to upper
Expect robot (1) place polishing workpiece former material (4) placement pose data visual scanning platform (5), visual scanning platform (5) with
Control unit (6) connects, and polishing machine tool (3) is positioned close to feeding robot (2) position, and polishing machine tool (3) is configured to
The workpiece former material (4) that will polish, which is polished, is processed into the structure of finished workpart (7), and conveying is also set up close to feeding robot (2) position
Machine (8), feeding robot (1) and feeding robot (2) are connect with control unit (6) respectively.
2. polishing grinding workpieces system of processing according to claim 1, it is characterised in that：The polishing grinding workpieces add
Work system further includes workpiece former material turntable (9), and work former material turntable (9) includes pedestal (10), and pedestal installs motor on (10)
(11), motor (11) is connect with rotating disc (12), and rotating disc (12) is horizontal positioned, and multiple former material positioning are arranged on rotating disc (12)
Multiple former material location holes (14) are arranged on each former material locating piece (13) in block (13), and motor (11) is connect with control unit (6).
3. polishing grinding workpieces system of processing according to claim 1 or 2, it is characterised in that：The close feeder
Device people (1) position also sets up the workpiece material frame (15) that can place polishing workpiece former material (4), and feeding robot (1) is arranged to
Enough polishing workpiece former material (4) crawls by workpiece material frame (15) are placed into a former material locating piece (13) of rotating disc (12)
Structure in one former material location hole (14).
4. polishing grinding workpieces system of processing according to claim 2, it is characterised in that：The feeding robot (2)
Polishing workpiece former material (4) crawl being configured in the former material location hole (14) that will be placed on rotating disc (12), which is placed into, beats
Structure in grinding machine tool (3), feeding robot (2) be also configured to can by polishing machine tool (3) polish processing formed workpiece at
Product (7) crawl from polishing machine tool (3) is placed into the structure on conveyer (8), the conveyer (8) and control unit (6)
Connection.
5. polishing grinding workpieces system of processing according to claim 1 or 2, it is characterised in that：The visual scanning platform
(5) camera support (18) is installed on scan table table top (17), mounting industrial camera (19) on camera support (18), industrial camera
(19) it is configured to the knot of the placement pose data for the polishing workpiece former material (4) that shooting is placed on scan table table top (17)
Structure, the control module of industrial camera (19) are configured to be placed on scan table table top (17) by what industrial camera (19) took
On the placement pose data of polishing workpiece former material (4) be sent to the structures of control unit (6).
6. polishing grinding workpieces system of processing according to claim 5, it is characterised in that：Control unit (6) is arranged to
The moving arm end clamp I (20) of pose data point reuse feeding robot (1) is placed according to the polishing workpiece former material (4) of reception
Position is placed into work to control the polishing workpiece former material (4) on moving arm end clamp I (20) crawl scan table table top (17)
The structure of part former material turntable (9).
7. grinding workpieces system of processing of polishing according to claim 1 or 5, it is characterised in that：The shifting of feeding robot (1)
The big magnechuck of feeding (21), former material clamping jaw (22) are set in swing arm end clamp I (20), and control unit (6) controls feeder
The moving arm end clamp I (20) of device people (1) captures polishing workpiece former material (4) to visual scanning platform (5) from workpiece material frame (15)
When, control unit (6) is configured to the control big magnechuck of feeding (21) and is adsorbed in polishing workpiece former material (4) to be captured
Structure, control unit (6) be configured to control former material clamping jaw (22) be clamped in polishing workpiece former material (4) to be captured
Structure.
8. grinding workpieces system of processing of polishing according to claim 1 or 5, it is characterised in that：The feeding robot
(1) the small magnechuck of feeding (23) is also set up in moving arm end clamp I (20), control unit (6) controls feeding robot
(1) moving arm end clamp I (20) is captured from work former material turntable (9) in polishing workpiece former material (4) to polishing machine tool (3)
When, control unit (6) is configured to the control small magnechuck of feeding (23) and is adsorbed on wait in crawl polishing workpiece former material (4)
Structure.
9. polishing grinding workpieces system of processing according to claim 1 or 2, it is characterised in that：Feeding robot (2) includes
Moving arm end clamp II (16), setting blanking magnechuck (24), blanking magnechuck in moving arm end clamp II (16)
(24) include multiple, control unit (6) is configured to the structure of control blanking magnechuck (24) break-make.
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| CN109158896A (en) * | 2018-11-15 | 2019-01-08 | 四川铭利达科技有限公司 | A kind of heavy section new energy automobile fitting high thermal conductivity radiator automatic processing apparatus |
| CN109648459A (en) * | 2019-02-28 | 2019-04-19 | 广州哲野超硬材料磨削技术有限公司 | Autogenous mill |
| CN110238733A (en) * | 2019-05-23 | 2019-09-17 | 芜湖舜富精密压铸科技有限公司 | Vision double-station deburring work station |
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| 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 |
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| CN114871117A (en) * | 2022-04-29 | 2022-08-09 | 茂名职业技术学院 | Automatic production line for sorting and polishing parts and automatic sorting and polishing method |
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| CN114871117A (en) * | 2022-04-29 | 2022-08-09 | 茂名职业技术学院 | Automatic production line for sorting and polishing parts and automatic sorting and polishing method |
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