CN111390693A - Weld scar polishing equipment and weld scar polishing method - Google Patents
Weld scar polishing equipment and weld scar polishing method Download PDFInfo
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- CN111390693A CN111390693A CN202010362656.3A CN202010362656A CN111390693A CN 111390693 A CN111390693 A CN 111390693A CN 202010362656 A CN202010362656 A CN 202010362656A CN 111390693 A CN111390693 A CN 111390693A
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- polishing
- joint manipulator
- crater
- target workpiece
- form information
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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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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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
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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
Abstract
The invention discloses a crater polishing device and a crater polishing method, wherein the device comprises: a multi-joint manipulator; the polishing head device is arranged on the multi-joint manipulator and used for polishing a target workpiece; the 3D scanning device is arranged on the polishing head device and is used for acquiring 3D form information of the target workpiece; the multi-joint manipulator collects 3D form information of a target workpiece through a preset motion track, the track pose of the multi-joint manipulator and the polishing pose of the polishing head device are obtained according to the 3D form information, and the multi-joint manipulator carries the polishing head device to polish the target workpiece according to the track pose. The crater polishing equipment disclosed by the invention has the advantages that 3D form information of a target workpiece is collected to accurately position and measure a product, and the 3D form information is fed back to the multi-joint manipulator to control the polishing head device to polish, so that stable and efficient automatic polishing is realized, manual polishing is avoided, the polishing quality is favorably controlled, and the working efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of crater polishing, in particular to crater polishing equipment and a crater polishing method.
Background
The metal materials are widely spliced by using a welding process, a crater is generated at a welding seam after welding, and the crater form is changed due to the angle and the depth of a welding gun and the change of the current and the voltage of the welding gun in the welding process. To facilitate the post-processing, for example: the shapes of the craters need to be regularized in the processes of painting, electroplating and the like and after-welding treatment. The current regulation treatment of the craters basically depends on polishing after welding, and the craters are polished into a regulated form. The traditional crater polishing is mainly realized by manually holding a polisher, and controlling the polishing track of a polishing head of the polisher by hands, so that the purpose of polishing the crater is achieved. In the polishing process, polishing is carried out while observing by workers, and the craters meet the regular requirement through polishing and observing for many times. However, the polishing process not only consumes large physical strength, but also the effect of manual polishing depends on the technique and experience of operators to a great extent, so that the depth of the trace polished by the craters is unstable, the polishing efficiency is low, and the polishing quality is poor and the working efficiency is low.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, the present invention provides a crater polishing apparatus and a crater polishing method, so as to solve the problems of large physical consumption, poor polishing quality and low working efficiency of the conventional crater polishing.
The technical scheme of the invention is as follows:
a crater grinding apparatus, the apparatus comprising:
a multi-joint manipulator;
the polishing head device is arranged on the multi-joint manipulator and is used for polishing a target workpiece; and
the 3D scanning device is arranged on the grinding head device and is used for acquiring 3D form information of the target workpiece;
the multi-joint manipulator acquires 3D form information of the target workpiece through a preset motion track, acquires a track pose of the multi-joint manipulator and polishing parameters of the polishing head device according to the 3D form information, acquires the polishing pose of the polishing device according to the acquired polishing parameters, and carries the polishing head device to polish the target workpiece according to the track pose;
and after one-time polishing is finished, the multi-joint manipulator collects the 3D form information of the target workpiece again to detect whether the polished crater meets the polishing regularity requirement, and if not, the track pose of the multi-joint manipulator and the polishing pose of the polishing head are adjusted according to the 3D form information of the target workpiece obtained again, and the next polishing operation is carried out.
The grinding head device comprises a grinding head and a connecting plate, wherein the grinding head is arranged on the connecting plate, and the connecting plate is connected with the multi-joint manipulator.
According to a further arrangement of the invention, the 3D scanning device comprises a 3D sensor and a protective component, the 3D sensor is arranged on the protective component, and the protective component is arranged on the connecting plate.
According to a further arrangement of the present invention, the connecting plate includes a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are arranged perpendicularly; the polishing head is arranged on the first connecting portion, and the protection assembly is arranged on the second connecting portion.
In a further arrangement of the present invention, the shield assembly comprises:
the bottom of the shell is provided with an opening;
the protective switch door is arranged at the opening and is connected with the shell in a sliding manner;
and the air cylinder structure is arranged on two sides of the shell and connected with the protection switch door.
The protective switch door further comprises a limiting part, a blocking part and a sliding part, wherein the area of the blocking part is consistent with the opening area of the shell, the limiting part and the blocking part are vertically arranged and are connected with the cylinder structure, and the sliding part is positioned on two sides of the blocking part and is connected with the shell in a sliding mode.
The cylinder structure further comprises a cylinder and an installation block, wherein the installation block is arranged on the cylinder, and the installation block is fixedly connected with the limiting part.
The invention further provides that the mounting block comprises a first mounting part and a second mounting part, the first mounting part and the second mounting part are vertically arranged, the first mounting part is fixedly connected with the limiting part, and the second mounting part is positioned on the upper end surface of the cylinder.
According to the further arrangement of the invention, the side wall of the shell is provided with a mounting hole, and the 3D sensor penetrates through the opening to be contained in the shell and is fixedly connected with the shell through the mounting hole.
The invention also provides a crater polishing method, which is applied to the crater polishing equipment and comprises the following steps:
the multi-joint manipulator carrying 3D scanning device moves according to a preset motion track and collects 3D form information of a target workpiece;
calculating to obtain the track pose of the multi-joint manipulator and the polishing parameters of the polishing head device according to the 3D form information;
obtaining the polishing pose of the polishing device according to the obtained polishing parameters;
the multi-joint manipulator carries the polishing head device to polish the target workpiece according to the track pose;
the multi-joint manipulator carries the 3D scanning device to move according to a preset motion track and collects 3D form information of a target workpiece, and whether polished craters meet polishing regularity requirements is checked; if not, repeating the steps.
The invention provides a crater polishing device and a crater polishing method, wherein the device comprises: a multi-joint manipulator; the polishing head device is arranged on the multi-joint manipulator and is used for polishing a target workpiece; the 3D scanning device is arranged on the grinding head device and is used for acquiring 3D form information of the target workpiece; the multi-joint manipulator acquires 3D form information of the target workpiece through a preset motion track, acquires a track pose of the multi-joint manipulator and polishing parameters of the polishing head device according to the 3D form information, acquires the polishing pose of the polishing device according to the acquired polishing parameters, and carries the polishing head device to polish the target workpiece according to the track pose; and after one-time polishing is finished, the multi-joint manipulator collects the 3D form information of the target workpiece again to detect whether the polished crater meets the polishing regularity requirement, and if not, the track pose of the multi-joint manipulator and the polishing pose of the polishing head are adjusted according to the 3D form information of the target workpiece obtained again, and the next polishing operation is carried out. The crater polishing equipment disclosed by the invention has the advantages that 3D form information of a target workpiece is collected to accurately position and measure a product, and the 3D form information is fed back to the multi-joint manipulator to control the polishing head device to polish, so that stable and efficient automatic polishing is realized, manual polishing is avoided, the polishing quality is favorably controlled, and the working efficiency can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of the crater polishing apparatus according to the present invention.
Fig. 2 is a schematic view of the structure of the sanding head device of the present invention.
Fig. 3 is a partial structural schematic diagram of a 3D sensing device according to the present invention.
Fig. 4 is a partial structural schematic diagram of another angle of the 3D sensing device according to the present invention.
Fig. 5 is a schematic flow chart of the crater polishing method of the present invention.
The various symbols in the drawings: 1. a multi-joint manipulator; 11. a flange plate; 2. a sanding head device; 21. polishing head; 22. a connecting plate; 221. a first connection portion; 222. a second connecting portion; 3. a 3D scanning device; 31. a 3D sensor; 32. a guard assembly; 321. a housing; 3211. mounting holes; 322. a protective switch door; 3221. a limiting part; 3222. a barrier portion; 3223. a sliding part; 323. a cylinder structure; 3231. a cylinder; 3232. a first mounting portion; 3233. a second mounting portion; 324. a power supply trigger line interface; 325. a network cable interface; 326. a positive pressure gas source interface.
Detailed Description
The traditional crater polishing is mainly realized by manually holding a polisher, and controlling the polishing track of a polishing head of the polisher by hands, so that the purpose of polishing the crater is achieved. In the polishing process, polishing is carried out while observing by workers, and the craters are required to be polished and observed for multiple times to meet the regular requirement. However, manual sanding is labor intensive, and generates a lot of dust, which makes the work environment harsh. In addition, the manual polishing effect depends on the technique and experience of operators to a great extent, the depth of the polishing track of the crater is unstable, the polishing efficiency is low, and the quality control and the work efficiency improvement are not facilitated. At present, an automatic grinding device/system adopting a robot and vision guide exists in an existing manual replacing mode, vision is generally adopted for guiding a workpiece track once, the grinding form of craters cannot be guaranteed to be regular in the grinding process due to the fact that the workpiece track can only be guided, and grinding precision is controlled in a force feedback mode.
The invention provides a crater polishing device and a crater polishing method, which imitate a manual polishing mode and adopt a mode of observing multiple times and polishing for multiple times to approach gradually so as to meet the regular requirement of craters. In the invention, the workpiece is not damaged as long as a single grinding is carried out by adopting a proper feeding amount, and the regular requirements of the craters are gradually met by multiple times of grinding. Therefore, the invention has low requirements on the polishing process and is beneficial to large-scale popularization, thereby realizing real automatic scar polishing.
In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the embodiments and claims, the terms "a" and "an" can mean "one or more" unless the article is specifically limited.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 4, the present invention provides a preferred embodiment of a crater polishing apparatus.
As shown in fig. 1, the present invention provides a scar polishing device, which includes a multi-joint robot 1, a polishing head device 2, and a 3D scanning device 3. Specifically, the polishing head device 2 is arranged on the multi-joint manipulator 1 and used for polishing a target workpiece, the 3D scanning device 3 is arranged on the polishing head device 2 and used for acquiring 3D shape information of the target workpiece, and the multi-joint manipulator 1 is used for carrying the polishing head device 2 to move according to a set track. According to the invention, the multi-joint manipulator acquires 3D form information of the target workpiece through a preset motion track, obtains the track pose of the multi-joint manipulator 1 and the polishing parameters of the polishing head device 2 according to the 3D form information, obtains the polishing pose of the polishing head device 2 according to the obtained polishing parameters, and carries the polishing head device 2 to polish the target workpiece according to the track pose. After one-time polishing is finished, the multi-joint mechanical arm 1 collects the 3D form information of the target workpiece again to detect whether polished craters meet the polishing regulation requirement or not, if not, the track pose of the multi-joint mechanical arm and the polishing pose of the polishing head are adjusted according to the 3D form information of the target workpiece obtained again, and the next polishing operation is carried out. More specifically, the multi-joint manipulator 1 is a six-joint manipulator, a flange 11 is arranged at one end of the multi-joint manipulator 1, which is connected with the polishing head device 2, the polishing head device 2 is mounted on the multi-joint manipulator 1 through the flange 11, the multi-joint manipulator 1 can carry the polishing head device 2 to move along a preset movement track, and the polishing start and stop are controlled through the multi-joint manipulator 1. And because the 3D scanning device 3 is arranged on the polishing head device 2, the articulated manipulator 1 can also carry the 3D scanning device 3 to move on the preset motion track, and thus the articulated manipulator 1 can controllably realize the acquisition of 3D information and track polishing. Wherein the movement track is basically consistent with the trend of the crater on the target workpiece.
In the polishing process, the multi-joint manipulator 1 firstly collects the 3D form information of the target workpiece by the 3D scanning device 3 according to a preset motion track, and transmits the 3D form information collected by the 3D scanning device 3 to the vision computing system, the vision computing system calculates the track pose of the multi-joint manipulator polished each time according to the 3D form information obtained by transmission and the vision computing system calculates the track pose of the multi-joint manipulator polished each time according to preset polishing parameters, such as polishing feeding amount, polishing radius, polishing angle and the like, and transmits the track pose to the multi-joint manipulator and the polishing head. The multi-joint manipulator moves according to the track given out by the vision computing system, the multi-joint manipulator 1 adjusts the grinding pose of the grinding head device 2 according to the grinding parameters (such as grinding feeding depth/angle/radian and other information) given out by the vision computing system, and one-time grinding is executed. And then the multi-joint mechanical arm 1 carries the 3D scanning device 3 to move in a preset motion track to obtain the 3D form information of the current target workpiece and transmit the 3D form information to the vision computing system, the vision computing system detects the polished crater according to the 3D form information of the polished target workpiece, namely detects whether the polished crater meets the process size and process form requirements of the target workpiece, if so, the polished crater meets the polishing regulation requirement, and the polishing work is finished. If the current target workpiece does not meet the requirements of the process size and the process form of the target workpiece, the vision computing system calculates grinding parameters for the second grinding according to 3D form information (second 3D information acquisition) of the current target workpiece, calculates the grinding parameters according to the second acquired 3D information to obtain a track pose of the second grinding of the grinding head device 2, transmits the track pose of the second grinding to the multi-joint manipulator 1, the multi-joint manipulator 1 carries the grinding head device 2 to carry out the second grinding on the target workpiece according to the track pose of the second grinding, then carries the 3D scanning device 3 to move on a preset motion track through the multi-joint manipulator 1 to obtain the 3D form information of the current target workpiece and transmits the 3D form information to the vision computing system, and the vision computing system carries out the second grinding on the welding scar according to the 3D form information of the ground target workpiece And detecting, if the detection is qualified, finishing the polishing work, and otherwise, performing the polishing work for the third time. It should be noted that the vision computing system can process the 3D morphological information acquired by the 3D scanning device 3, for example, process and analyze image data acquired by the vision data sensor (3D scanning device 3), extract effective data information, perform computation according to algorithm logic through preset parameters, output a final result to the execution unit (multi-joint manipulator 1), plan a polishing path of the multi-joint manipulator 1, and adaptively adjust polishing parameters based on differences before and after polishing, so as to achieve better polishing effect and efficiency after polishing.
According to the technical scheme, in the grinding process, the multi-joint manipulator 1 firstly carries out 3D information acquisition on a target workpiece according to a specified posture on an edited track, the grinding pose and the grinding depth of the multi-joint manipulator 1 are planned according to vision computing system data after the acquisition, and the 3D sensor 31 recheck is completed after each grinding, namely, a mode of observing for many times and grinding for many times to approach gradually is adopted to meet the regulation requirement of craters. In the invention, the workpiece is not damaged as long as a single grinding is carried out by adopting a proper feeding amount, and the regular requirements of the craters are gradually met by multiple times of grinding. Therefore, the invention has low requirements on the polishing process and is beneficial to large-scale popularization, thereby realizing real automatic crater polishing, saving human resources, reducing dust generated in the polishing process, avoiding depending on the technology and experience of operators and being beneficial to quality control and improvement of working efficiency. Therefore, the invention can accurately position and measure the product by acquiring and processing the 3D information of the workpiece, and feed back and regulate the multi-joint manipulator 1 to polish, thereby realizing the automation of polishing, guiding and measuring, effectively improving the identification quality and efficiency and having the advantages of accuracy, rapidness, reliability and safety.
Referring to fig. 2, in a further implementation of an embodiment, the polishing head device 2 includes a polishing head 21 and a connecting plate 22, the polishing head 21 is disposed on the connecting plate 22, and the connecting plate 22 is connected to the multi-joint manipulator 1. Specifically, the connecting plate 22 is fixedly connected with the flange plate 11 on the multi-joint manipulator 1, and the polishing head 21 is connected with the multi-joint manipulator 1 through the connecting plate 22.
Referring to fig. 3 and 4, in a further implementation manner of an embodiment, the 3D scanning device 3 includes a 3D sensor 31 and a protection component 32, the 3D sensor 31 is disposed on the protection component 32, and the protection component 32 is disposed on the connection board 22. Specifically, the shield assembly 32 is also provided on the connection plate 22, and the 3D sensor 31 is provided on the shield assembly 32 so that the 3D sensor 31 moves along with the articulated robot 1.
Referring to fig. 1 and 2, in a further implementation of an embodiment, the connecting plate 22 includes a first connecting portion 221 and a second connecting portion 222, the first connecting portion 221 is perpendicular to the second connecting portion 222, the sanding head 21 is disposed on the first connecting portion 221, and the shielding assembly 32 is disposed on the second connecting portion 222. Specifically, the first connection portion 221 and the second connection portion 222 are integrally formed, the first connection portion 221 and the second connection portion 222 are vertically arranged at an angle of 90 °, the polishing head 21 is arranged on the first connection portion 221, and the protection assembly 32 is arranged on the second connection portion 222, that is, the 3D sensor 31 is arranged on the second connection portion 222, so that the 3D sensor 31 and the polishing head 21 move together with the multi-joint robot 1.
Referring to fig. 3, in a further embodiment of an embodiment, the shielding assembly 32 includes a housing 321, a shielding switch door 322, and a cylinder structure 323, and an opening is formed at the bottom of the housing 321. The protection switch door 322 is disposed at the opening and slidably connected to the housing 321, and the cylinder structures 323 are disposed on two sides of the housing 321 and connected to the protection switch door 322. Specifically, the cylinder structures 323 are provided with two sets, and are arranged on two sides of the housing 321 and connected to the protection switch door 322, wherein the two sets of cylinder structures 323 are the same, and the two sets of cylinder structures 323 extend out or retract simultaneously, so that the protection switch door 322 can close or open the opening of the housing 321, and the cylinder structures 323 are used to drive the protection switch door 322 to have a quick and stable effect, so that the protection switch door 322 can be opened or closed quickly and stably.
With reference to fig. 3, in a further implementation manner of an embodiment, the switch door 322 includes a position-limiting portion 3221, a blocking portion 3222, and a sliding portion 3223, an area of the blocking portion 3222 is the same as an area of an opening of the housing 321, the position-limiting portion 3221 is perpendicular to the blocking portion 3222 and is connected to the cylinder structure 323, and the sliding portion 3223 is located at two sides of the blocking portion 3222 and is connected to the housing 321 in a sliding manner. Specifically, the position-limiting portion 3221, the blocking portion 3222 and the sliding portion 3223 are integrally formed, a sliding groove adapted to the sliding portion 3223 is disposed on the housing 321, and the position-limiting portion 3221 is connected to the two sets of cylinder structures 323, so that the blocking portion 3222 can close or open the opening of the housing 321 under the driving of the cylinder structures 323, that is, the protection switch door 322 can be opened and closed in a drawer-type manner.
Referring to fig. 4, in a further implementation manner of an embodiment, the cylinder structure 323 includes a cylinder 3231 and a mounting block, the mounting block is disposed on the cylinder 3231, and the mounting block is fixedly connected to the position-limiting portion 3221. Specifically, the mounting block includes first installation portion 3232 and second installation portion 3233, first installation portion 3232 with second installation portion 3233 sets up perpendicularly, first installation portion 3232 with spacing portion 3221 fixed connection, second installation portion 3233 is located the up end of cylinder 3231. More specifically, first installation department 3232 with second installation department 3233 integrated into one piece, first installation department 3232 and all be provided with the screw hole on the second installation department 3233, first installation department 3232 with spacing portion 3221 fixed connection for it opens and shuts to be used for driving protection switch door 322, second installation department 3233 is located cylinder 3231's up end can have limiting displacement to protection switch door 322's moving direction, makes protection switch door 322 move on the horizontal direction. It is understood that, in one embodiment, the first mounting portion 3232 can also be connected to the position-limiting portion 3221 through the second mounting portion 3233, and can also be disposed on the upper end surface of the cylinder 3231 for fixing and limiting.
Referring to fig. 3, in a further implementation manner of an embodiment, a mounting hole 3211 is formed on a side wall of the casing 321, and the 3D sensor 31 is received in the casing 321 through the opening and is fixedly connected to the casing 321 through the mounting hole 3211. Specifically, the 3D sensor 31 can be received in the housing 321 through the opening, and after the 3D sensor 31 is placed in the housing 321, the 3D sensor 31 and the housing 321 are connected together by aligning the mounting hole 3211 on the housing 321, so as to complete the installation of the 3D sensor 31.
In specific implementation, the 3D sensor 31 is fixedly mounted on the housing 321 through screws, the two identical cylinders 3231 for driving the protection switch are respectively mounted on two sides of the housing 321 of the protection component 32, the protection switch door 322 is movably inserted into the open end of the protection device housing 321 in a bolt-drawer manner, and two sides of the protection switch door 322 are respectively fixed on the actuating ends (the first mounting portion 3232 or the second mounting portion 3233) of the two identical cylinders 3231. The multi-joint manipulator 1 (robot) can open and close the protection switch door 322 according to the needs acquired by the 3D sensor 31 by controlling the two sets of cylinder structures 323, so that the grinding head 21 is prevented from grinding dust during grinding operation and entering the 3D sensor 31, the 3D sensor 31 is exposed in the grinding dust, and the 3D sensor 31 is protected. It should be noted that, if the protective component 32 is not provided, the acquisition accuracy of the 3D sensor 31 may be affected, and even the acquisition of the 3D sensor 31 may be disabled.
Referring to fig. 4, in a further implementation manner of an embodiment, a network interface 325, a power trigger circuit interface 324, and a positive pressure gas source interface 326 are further disposed on the 3D sensor 31. The network cable interface 325 is used for feeding back acquired 3D form information to the vision computing system, the power supply trigger circuit interface 324 is used for triggering the 3D sensor 31 to work, and the positive pressure air source interface 326 is used for blowing air into the protection component 32, namely the shell 321, and blowing away dust entering the shell 321, so that the dust is prevented from affecting the normal work of the 3D sensor 31.
As shown in fig. 5, in an embodiment, the present invention further provides a crater polishing method applied to the crater polishing apparatus, including the steps of:
s1, the multi-joint manipulator carrying 3D scanning device moves according to a preset motion track and collects 3D form information of a target workpiece; the 3D form information of the target workpiece comprises information such as length, height and width of the target workpiece.
And S2, calculating the track pose of the multi-joint manipulator and the grinding parameters of the grinding head device according to the 3D form information.
S3, obtaining the polishing pose of the polishing device according to the obtained polishing parameters;
s4, the multi-joint manipulator carries the grinding head device to grind the target workpiece according to the track pose;
s5, carrying the 3D scanning device by the multi-joint manipulator to move according to a preset motion track and acquire 3D form information of a target workpiece, and checking whether the polished crater meets the polishing regulation requirement; if not, the steps in S1-S5 are repeated.
The crater polishing method is specifically described below with an example in which the crater polishing method is applied to a crater polishing apparatus. The method specifically comprises the following steps:
and S10, setting the polishing and arranging requirements of the craters and the motion trail of the multi-joint manipulator (robot). Wherein, the motion trail of the multi-joint manipulator is basically consistent with the trend of the crater.
S20, the multi-joint manipulator firstly carries out 3D shape information acquisition on the target workpiece according to the specified gesture (the preset pose) on the edited track, and the specific process comprises the following steps:
s201, opening the protection switch door in place by controlling cylinders of two identical 3D sensor protection assemblies. The initial position of the protection switch door of the protection assembly is the closed position.
S202, starting the 3D sensor, moving the multi-joint manipulator along a set track in a set posture, collecting 3D form information of a workpiece by the 3D sensor, closing a protection switch door of the 3D sensor after the 3D form information is collected by the 3D sensor according to a set route, and simultaneously transmitting the collected 3D form information to the vision computing system for processing.
And S30, the vision computing system calculates the track pose of the multi-joint manipulator polished each time according to the 3D form information obtained by transmission and preset polishing parameters, such as polishing feeding amount, polishing radius, polishing angle and the like, and transmits the track pose to the multi-joint manipulator and the polishing head.
S40, the multi-joint manipulator moves according to the track given by the vision computing system, the polishing head adjusts the polishing pose according to the polishing parameters (such as polishing feeding depth/angle/radian) given by the vision computing system, and one-time polishing is executed.
S50, repeating the steps S20 and S30, and detecting whether the polished craters meet the requirements of the product on the process size and the process form; if so, finishing the whole polishing work; if not, repeating the steps S10-S40 to polish again until the standard of the regular morphology of the crater is achieved.
It should be noted that, the crater grinding device cooperates with the 3D sensor to recheck many times, can be according to the parameter of the automatic adjustment polishing head of predetermined feed volume to the effect after polishing at every turn, also can adopt PID (proportion (proportionality), integral (integral), differential (derivative) control adjustment polishing parameter to polish according to the actual demand, thereby constantly revise the effect of polishing, and then realize more intelligent, stable, accurate, the automatic operation of polishing of efficient crater, be favorable to the control of quality and work efficiency's improvement.
In summary, the present invention provides a crater polishing apparatus and a crater polishing method, the apparatus includes: a multi-joint manipulator; the polishing head device is arranged on the multi-joint manipulator and is used for polishing a target workpiece; the 3D scanning device is arranged on the grinding head device and is used for acquiring 3D form information of the target workpiece; the multi-joint manipulator acquires 3D form information of the target workpiece through a preset motion track, acquires a track pose of the multi-joint manipulator and polishing parameters of the polishing head device according to the 3D form information, acquires the polishing pose of the polishing device according to the acquired polishing parameters, and carries the polishing head device to polish the target workpiece according to the track pose; and after one-time polishing is finished, the multi-joint manipulator collects the 3D form information of the target workpiece again to detect whether the polished crater meets the polishing regularity requirement, and if not, the track pose of the multi-joint manipulator and the polishing pose of the polishing head are adjusted according to the 3D form information of the target workpiece obtained again, and the next polishing operation is carried out. The crater polishing equipment disclosed by the invention has the advantages that 3D form information of a target workpiece is collected to accurately position and measure a product, and the 3D form information is fed back to the multi-joint manipulator to control the polishing head device to polish, so that stable and efficient automatic polishing is realized, manual polishing is avoided, the polishing quality is favorably controlled, and the working efficiency can be improved. In the invention, the 3D sensor is adopted to monitor the 3D shape of the crater and the polished crater besides track guidance, so that the control closed loop and the self-adaptive adjustment of multiple polishing-detection are realized, and the stable, intelligent and efficient automatic crater polishing is realized.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (10)
1. A crater grinding apparatus, comprising:
a multi-joint manipulator;
the polishing head device is arranged on the multi-joint manipulator and is used for polishing a target workpiece; and
the 3D scanning device is arranged on the grinding head device and is used for acquiring 3D form information of the target workpiece;
the multi-joint manipulator acquires 3D form information of the target workpiece through a preset motion track, acquires a track pose of the multi-joint manipulator and polishing parameters of the polishing head device according to the 3D form information, acquires the polishing pose of the polishing device according to the acquired polishing parameters, and carries the polishing head device to polish the target workpiece according to the track pose;
and after one-time polishing is finished, the multi-joint manipulator collects the 3D form information of the target workpiece again to detect whether the polished crater meets the polishing regularity requirement, and if not, the track pose of the multi-joint manipulator and the polishing pose of the polishing head are adjusted according to the 3D form information of the target workpiece obtained again, and the next polishing operation is carried out.
2. The crater grinding apparatus of claim 1, wherein the grinding head device comprises a grinding head and a connecting plate, the grinding head being disposed on the connecting plate, the connecting plate being connected to the multi-joint manipulator.
3. The crate grinding device according to claim 2, wherein the 3D scanning device comprises a 3D sensor and a guard assembly, the 3D sensor being disposed on the guard assembly, the guard assembly being disposed on the connection plate.
4. The crate grinding device of claim 3, wherein the connection plate comprises a first connection portion and a second connection portion, the first connection portion being disposed perpendicular to the second connection portion; the polishing head is arranged on the first connecting portion, and the protection assembly is arranged on the second connecting portion.
5. The crater grinding device according to claim 3, wherein the shielding assembly comprises:
the bottom of the shell is provided with an opening;
the protective switch door is arranged at the opening and is connected with the shell in a sliding manner;
and the air cylinder structure is arranged on two sides of the shell and connected with the protection switch door.
6. The crater grinding device as claimed in claim 5, wherein the protective switch door comprises a limiting portion, a blocking portion and a sliding portion, the area of the blocking portion is the same as the opening area of the housing, the limiting portion and the blocking portion are vertically arranged and are connected with the cylinder structure, and the sliding portion is located on two sides of the blocking portion and is connected with the housing in a sliding manner.
7. The crater grinding device according to claim 6, wherein the cylinder structure comprises a cylinder and a mounting block, the mounting block is disposed on the cylinder, and the mounting block is fixedly connected to the limiting portion.
8. The crater grinding device according to claim 7, wherein the mounting block comprises a first mounting portion and a second mounting portion, the first mounting portion is perpendicular to the second mounting portion, the first mounting portion is fixedly connected with the limiting portion, and the second mounting portion is located on the upper end face of the cylinder.
9. The crater grinding device as recited in claim 5, wherein a mounting hole is provided in a side wall of the housing, and the 3D sensor is received in the housing through the opening and is fixedly connected to the housing through the mounting hole.
10. A crater grinding method applied to the crater grinding apparatus according to any one of claims 1 to 9, comprising:
the multi-joint manipulator carrying 3D scanning device moves according to a preset motion track and collects 3D form information of a target workpiece;
calculating to obtain the track pose of the multi-joint manipulator and the polishing parameters of the polishing head device according to the 3D form information;
obtaining the polishing pose of the polishing device according to the obtained polishing parameters;
the multi-joint manipulator carries the polishing head device to polish the target workpiece according to the track pose;
the multi-joint manipulator carries the 3D scanning device to move according to a preset motion track and collects 3D form information of a target workpiece, and whether polished craters meet polishing regularity requirements is checked; if not, repeating the steps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010362656.3A CN111390693A (en) | 2020-04-30 | 2020-04-30 | Weld scar polishing equipment and weld scar polishing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010362656.3A CN111390693A (en) | 2020-04-30 | 2020-04-30 | Weld scar polishing equipment and weld scar polishing method |
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| CN111390693A true CN111390693A (en) | 2020-07-10 |
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| CN202010362656.3A Pending CN111390693A (en) | 2020-04-30 | 2020-04-30 | Weld scar polishing equipment and weld scar polishing method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993200A (en) * | 2020-08-17 | 2020-11-27 | 上海中车瑞伯德智能系统股份有限公司 | Welding seam identification and positioning method and device for welding seam polishing |
| CN112373184A (en) * | 2020-11-09 | 2021-02-19 | 深圳小佳科技有限公司 | Automatic transfer printing system and transfer printing method |
| CN113427383A (en) * | 2021-07-27 | 2021-09-24 | 成都市瑞研光科技有限公司 | Intelligent polishing machine |
| CN115582751A (en) * | 2022-12-05 | 2023-01-10 | 山东嘉明精密钣金有限公司 | Metal plate welding post-treatment process |
| CN115972010A (en) * | 2023-02-01 | 2023-04-18 | 中冶赛迪技术研究中心有限公司 | Galvanized sheet system of polishing |
-
2020
- 2020-04-30 CN CN202010362656.3A patent/CN111390693A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993200A (en) * | 2020-08-17 | 2020-11-27 | 上海中车瑞伯德智能系统股份有限公司 | Welding seam identification and positioning method and device for welding seam polishing |
| CN112373184A (en) * | 2020-11-09 | 2021-02-19 | 深圳小佳科技有限公司 | Automatic transfer printing system and transfer printing method |
| CN113427383A (en) * | 2021-07-27 | 2021-09-24 | 成都市瑞研光科技有限公司 | Intelligent polishing machine |
| CN115582751A (en) * | 2022-12-05 | 2023-01-10 | 山东嘉明精密钣金有限公司 | Metal plate welding post-treatment process |
| CN115582751B (en) * | 2022-12-05 | 2023-03-10 | 山东嘉明精密钣金有限公司 | Metal plate welding post-treatment process |
| CN115972010A (en) * | 2023-02-01 | 2023-04-18 | 中冶赛迪技术研究中心有限公司 | Galvanized sheet system of polishing |
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