CN111390722A - Intelligent polishing device based on force control and vision technology - Google Patents
Intelligent polishing device based on force control and vision technology Download PDFInfo
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- CN111390722A CN111390722A CN201910004114.6A CN201910004114A CN111390722A CN 111390722 A CN111390722 A CN 111390722A CN 201910004114 A CN201910004114 A CN 201910004114A CN 111390722 A CN111390722 A CN 111390722A
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- polishing
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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
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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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
- B24B27/0015—Hanging 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
- 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
- B24B49/16—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 taking regard of the load
- B24B49/165—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 taking regard of the load for grinding tyres
Abstract
The invention discloses an intelligent grinding device based on force control and vision technologies, and belongs to the technical field of automatic grinding and polishing equipment. The polishing device comprises a six-dimensional force sensor, an industrial vision assembly, a constant force actuator, a passive adjusting device, a connecting piece and a polishing assembly; the six-dimensional force sensor is fixed on the connecting piece; the connecting piece is provided with three through holes which are uniformly distributed on the circumference taking the six-dimensional force sensor as the center; the three through holes are used for fixing the polishing assemblies respectively; the polishing assembly comprises polishing heads, a passive adjusting device and a constant force actuator, and each polishing head is connected with the constant force actuator through the passive adjusting device; the industrial vision assembly is used for detecting whether a polishing obstacle exists in the polishing advancing direction in real time, and plays a role in avoiding the obstacle. The invention provides a high-efficiency intelligent grinding device based on force control and vision technology, which is high-efficiency, safe and good in grinding effect, for automatic grinding and polishing, and improves the automation and intelligence level in the grinding and polishing process.
Description
Technical Field
The invention relates to the technical field of automatic grinding and polishing equipment, in particular to an intelligent grinding device based on force control and vision technology.
Background
At present, the grinding and polishing method in China still mainly adopts manual grinding and manual polishing, not only has high labor intensity and low processing efficiency and has high requirement on the technical proficiency of workers, but also is a field of high occupational diseases of the workers. Therefore, the large application of the automatic grinding and polishing equipment is an important way for realizing mechanical person changing and promoting the technical transformation and upgrading of the traditional manufacturing industry.
The automatic grinding and polishing equipment mainly comprises a feeding system and a grinding and polishing head, wherein the feeding system comprises a joint robot, a right-angle robot, a parallel mechanism, a servo feeding system of a machine tool and the like, and is mature and reliable at present. The polishing head of polishing is comparatively crude at present, generally only has the actuating mechanism of burnishing and polishing, lacks reliable control system and sensing system, can't realize the constant force grinding, lacks the interactivity of interact, feedback with feed system, can't adjust in real time, causes present automatic burnishing and polishing equipment adaptation face narrower, can't deal with the various complex conditions that meet when burnishing and polishing.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an intelligent polishing device based on a force control and vision technology, wherein the device uses a constant force actuator to finish constant force floating grinding, senses the polishing condition through a force control and vision system, and feeds back the polishing condition to a feeding system to make real-time adjustment; the free switching of the operation of the single, double and three polishing heads can be adapted to occasions with different requirements while the polishing efficiency is improved by adopting three polishing heads which can freely stretch out and draw back, a passive adjusting device, a spongy cushion and the like.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an intelligent polishing device based on force control and vision technology comprises a six-dimensional force sensor, an industrial vision assembly, a constant force actuator, a passive adjusting device, a connecting piece and a polishing assembly; wherein: the connecting piece is plate-shaped structure, and six-dimensional force sensor is fixed in on the connecting piece, and six-dimensional force sensor is used for detecting the all-directional power value in space, F promptlyX、FY、FZ、TX、TY、TZ(ii) a The connecting piece is provided with three through holes which are uniformly distributed on the circumference taking the six-dimensional force sensor as the center; the three through holes are used for fixing the polishing assemblies respectively; the polishing assembly comprises polishing heads, a passive adjusting device and a constant force actuator, and each polishing head is connected with the constant force actuator through the passive adjusting device; the industrial vision component is a laser two-dimensional scanning sensor and is fixed on the connecting piece; in the polishing process, the industrial vision assembly is used for detecting whether polishing obstacles exist in the polishing advancing direction in real time, and the obstacle avoidance effect is achieved.
In the polishing heads, the overlapping rate is formed between every two adjacent polishing heads, so that the complete polishing of the overlapping positions is ensured.
The tail end of the constant force actuator is fixed at the position of the through hole in the connecting piece, the constant force actuator provides a constant polishing positive pressure (in the z direction) through air pressure control, polishing consistency is guaranteed, meanwhile, telescopic passive flexibility is provided in the z direction, the three polishing heads can be polished in a floating mode at the same time under the constant force, meanwhile, the constant force actuator can achieve online stretching, and when different polishing surfaces are processed, free switching of operation of the single polishing head, the double polishing head or the three polishing heads can be achieved.
The passive adjusting device comprises an upper end connecting piece, a double rotating shaft piece and a lower end connecting piece, the upper end connecting piece is connected with the front end of the actuator, and the lower end connecting piece is connected with the polishing head; the double rotating shaft parts are connected with the upper end connecting part and the lower end connecting part by adopting a plug screw to form a rotating shaft; the passive adjusting device provides passive flexibility of the two rotating shafts (the shaft a and the shaft b), appropriate damping is added on the two rotating shafts, the passive flexibility is adaptive to the angle within +/-6 degrees, and the three polishing heads can be attached to each other simultaneously when a large-curvature curve is polished.
The front end of the polishing head is provided with a spongy cushion which can provide certain flexibility for the polishing head so that the polishing head can be attached to the surface of an object to be polished.
The industrial vision component comprises an industrial camera and a semiconductor laser (linear structured light), light emitted by the semiconductor laser forms a plane light curtain through a lens, a contour line is formed on a polished object, and light reflected by the line triangle is collected by the industrial camera; the sectional pattern of the target object thus formed is analyzed and processed by a signal processor, and the length of the contour line is measured by the X-axis and the height of the contour line is measured by the Z-axis.
In the polishing process, interference of factors such as gravity and the like is eliminated, all directional forces are kept uniform, and a six-dimensional force sensor guides a feeding system (such as a joint robot, a numerical control machine tool and the like) to adjust the polishing posture in real time so as to ensure that three polishing heads are attached at the same time; if the grinding force exceeds a safety threshold, the six-dimensional force sensor can judge the grinding fault, so that the equipment is stopped.
The invention has the following advantages and beneficial effects:
(1) according to the intelligent polishing device based on the force control and vision technology, the polishing condition is sensed through the force control and vision system and fed back to the feeding system to be adjusted in real time, the coordination between the feeding system and the polishing head is ensured, the polishing surface effect is improved, and the intelligent polishing device is suitable for more complex conditions.
(2) According to the intelligent polishing device based on the force control and vision technology, the three polishing heads are distributed according to an equilateral triangle by taking the force sensor as the center. The force sensor is taken as the center, the mass distribution is more uniform, and the stress is reasonable; the force sensor is used as the center, the geometric distribution is uniform, and the control is easy to realize when the rotation is needed. Guarantee certain overlap rate between two bistriques, guarantee that the overlap joint position is polished perfectly, promote whole efficiency of polishing.
(3) The intelligent polishing device based on the force control and vision technology realizes free expansion of the three polishing heads while finishing constant force floating grinding by using the constant force actuator device, can finish free switching of single, double and three polishing head operation according to different occasions, and has wider application range.
(4) According to the intelligent polishing device based on the force control and vision technology, a certain passive flexibility is provided by adopting a passive adjusting device, a spongy cushion and the like, so that when a large-curvature curve is polished, three polishing heads can be attached at the same time, and the application range of the three polishing heads is enlarged.
Drawings
Fig. 1 is a general structural view of the present invention.
Fig. 2 is a schematic diagram of the distribution and overlapping area of three sanding heads.
Fig. 3 is a general composition diagram of the three sanding heads.
Fig. 4 is a structural view of a passive adjustment device.
Fig. 5 is a diagram of an industrial vision assembly.
In the figure: 1-six-dimensional force sensor, 2-connecting piece, 3-industrial vision component, 301-vision universal connecting piece, 302-industrial camera, 303-semiconductor laser, 4-constant force actuator, 5-passive adjusting device, 501-upper connecting piece, 502-double rotating shaft piece, 503-lower connecting piece and 6-polishing head with spongy cushion.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention relates to an intelligent polishing device based on force control and vision technology, which has a structure shown in figures 1-5. This grinding device includes: the device comprises a six-dimensional force sensor 1, an industrial vision component 3, a constant force actuator 4, a passive adjusting device 5, a connecting piece 2 and a polishing head 6 with a spongy cushion. The six-dimensional force sensor is fixed on the connecting piece and can detect a spatial omnidirectional force value, namely FX、FY、FZ、TX、TY、TZIn the polishing process, interference of factors such as gravity and the like is eliminated, all directional forces are kept uniform, the six-dimensional force sensor guides a feeding system (such as a joint robot, a numerical control machine tool and the like) to adjust the polishing posture in real time, the three polishing heads are ensured to be attached at the same time, and in addition, if the polishing force exceeds a safety threshold, the force sensor can judge the polishing fault, and the equipment is stopped; a constant-force actuator device is arranged on the frame,a constant polishing positive pressure (z direction) is provided through air pressure control, the polishing consistency is ensured, and meanwhile, a telescopic passive flexibility is provided in the z direction, so that the three polishing heads can simultaneously perform constant-force floating polishing; the passive adjusting device provides passive flexibility of the two rotating shafts (the shaft a and the shaft b), and the three polishing heads can be attached simultaneously when a large-curvature curve is polished; the spongy cushion at the front end of the polishing head can also provide certain flexibility to ensure the attachment; the industrial vision component mainly comprises an industrial camera 302 and a semiconductor laser (line structured light) 303, wherein the industrial camera 302 is connected with the semiconductor laser 303 through a vision universal connector 301; the light emitted by the semiconductor laser forms a plane light curtain through the lens, a contour line is formed on an object, and the light reflected by the line in a triangular mode is collected by the industrial camera. In the polishing process, the industrial vision assembly detects whether a polishing obstacle exists in the polishing advancing direction in real time, and the obstacle avoidance function is achieved; the constant force actuator can realize on-line expansion, and realize free switching of single, double and three polishing head operations when different surfaces are treated.
As shown in fig. 2, the three polishing heads are arranged in an equilateral triangle with the force sensor as the center, and a certain overlap ratio is ensured between every two polishing heads, so as to ensure that the lapping positions are polished completely. The force sensor is taken as the center, the mass distribution is more uniform, and the stress is reasonable; the force sensor is used as the center, the geometric distribution is uniform, and the control is easy to realize when the rotation is needed. Guarantee certain overlap rate between two bistriques, guarantee that the overlap joint position is polished perfectly, promote whole efficiency of polishing.
As shown in fig. 3, the three sanding heads are distributed, and the general structure of each sanding head comprises a constant force actuator 4, a passive adjusting device 5 and a sanding head 6 with a spongy cushion.
As shown in fig. 4, the passive adjusting device includes an upper end connecting piece 501, a dual-rotating shaft 502 and a lower end connecting piece 503, the upper end connecting piece is connected with the front end of the actuator, and the lower end connecting piece is connected with the polishing head; the double rotating shaft parts are connected with the upper end connecting part and the lower end connecting part by adopting a plug screw to form a rotating shaft; passive adjusting device provides the passive flexibility of two pivots (a axle, b axle), adds suitable damping in two pivots, and passive flexible adaptation angle is between 6, when guaranteeing to polish the big curvature curve, and three polishing heads can laminate simultaneously, and the foam-rubber cushion of polishing head front end can provide certain flexibility equally, guarantees to laminate.
As shown in fig. 5, the industrial vision component mainly includes a general visual connector 301, an industrial camera 302 and a semiconductor laser (line structured light) 303, wherein light emitted from the semiconductor laser forms a planar light curtain through a lens, and forms a contour line on an object, and light reflected from the line in a triangular shape is collected by the industrial camera. The section graph of the target object formed in the way is analyzed and processed by the signal processor, the length of the contour line is measured by an X axis, the height of the contour line is measured by a Z axis, and in the polishing process, the industrial vision assembly detects whether the polishing advancing direction has polishing obstacles in real time to play a role in avoiding the obstacles.
The working principle of the invention is as follows:
the efficient intelligent grinding device based on the force control and vision technology is arranged at the tail end of a feeding system (such as a joint robot, a numerical control machine tool and the like), and a six-dimensional force sensor can detect a spatial omnidirectional force value, namely FX、FY、FZ、TX、TY、TZIn addition, if the grinding force exceeds a safety threshold value, the force sensor can judge the grinding fault and stop the equipment.
The constant force actuator device provides a constant polishing positive pressure (z direction) through air pressure control, the polishing consistency is guaranteed, meanwhile, a telescopic passive flexibility is provided in the z direction, the three polishing heads are simultaneously polished in a constant force floating mode, the constant force actuator can achieve online stretching, and free switching of operations of the single polishing head, the double polishing head and the three polishing heads is achieved when different surfaces are processed.
Passive adjusting device provides the passive flexibility of two pivots (a axle, b axle), adds suitable damping in two pivots, and passive flexible adaptation angle is between 6, when guaranteeing to polish the big curvature curve, and three polishing heads can laminate simultaneously, and the foam-rubber cushion of polishing head front end can provide certain flexibility equally, guarantees to laminate.
The light emitted by the semiconductor laser of the industrial vision component passes through the lens to form a plane light curtain and forms a contour line on an object, and the light reflected by the line in a triangular mode is collected by the industrial camera. The section graph of the target object formed in the way is analyzed and processed by the signal processor, the length of the contour line is measured by an X axis, the height of the contour line is measured by a Z axis, and in the polishing process, the industrial vision assembly detects whether the polishing advancing direction has polishing obstacles in real time to play a role in avoiding the obstacles.
Claims (7)
1. The utility model provides an intelligence grinding device based on force control and vision technique which characterized in that: the polishing device comprises a six-dimensional force sensor, an industrial vision assembly, a constant force actuator, a passive adjusting device, a connecting piece and a polishing assembly; wherein: the connecting piece is of a plate-shaped structure, the six-dimensional force sensor is fixed on the connecting piece, and the six-dimensional force sensor is used for detecting a spatial omnidirectional force value;
the connecting piece is provided with three through holes which are uniformly distributed on the circumference taking the six-dimensional force sensor as the center; the three through holes are used for fixing the polishing assemblies respectively;
the polishing assembly comprises polishing heads, a passive adjusting device and a constant force actuator, and each polishing head is connected with the constant force actuator through the passive adjusting device;
the industrial vision component is a laser two-dimensional scanning sensor and is fixed on the connecting piece; in the polishing process, the industrial vision assembly is used for detecting whether polishing obstacles exist in the polishing advancing direction in real time, and the obstacle avoidance effect is achieved.
2. The intelligent grinding device based on force control and vision technology of claim 1, characterized in that: in the polishing heads, the overlapping rate is formed between every two adjacent polishing heads, so that the complete polishing of the overlapping positions is ensured.
3. The intelligent grinding device based on force control and vision technology of claim 1, characterized in that: the tail end of the constant force actuator is fixed at the position of the through hole in the connecting piece, the constant force actuator provides a constant polishing positive pressure (in the z direction) through air pressure control, polishing consistency is guaranteed, meanwhile, telescopic passive flexibility is provided in the z direction, the three polishing heads can be polished in a floating mode at the same time under the constant force, meanwhile, the constant force actuator can achieve online stretching, and when different polishing surfaces are processed, free switching of operation of the single polishing head, the double polishing head or the three polishing heads can be achieved.
4. The intelligent grinding device based on force control and vision technology of claim 1, characterized in that: the passive adjusting device comprises an upper end connecting piece, a double rotating shaft piece and a lower end connecting piece, the upper end connecting piece is connected with the front end of the actuator, and the lower end connecting piece is connected with the polishing head; the double rotating shaft parts are connected with the upper end connecting part and the lower end connecting part by adopting a plug screw to form a rotating shaft; the passive adjusting device provides passive flexibility of the two rotating shafts (the shaft a and the shaft b), appropriate damping is added on the two rotating shafts, the passive flexibility is adaptive to the angle within +/-6 degrees, and the three polishing heads can be attached to each other simultaneously when a large-curvature curve is polished.
5. The intelligent grinding device based on force control and vision technology of claim 1, characterized in that: the front end of the polishing head is provided with a spongy cushion which can provide flexibility for the polishing head so that the polishing head can be attached to the surface of an object to be polished.
6. The intelligent grinding device based on force control and vision technology of claim 1, characterized in that: the industrial vision component comprises an industrial camera and a semiconductor laser, light emitted by the semiconductor laser forms a plane light curtain through a lens, a contour line is formed on a polished object, and light reflected by the line in a triangular mode is collected by the industrial camera; the sectional pattern of the target object thus formed is analyzed and processed by a signal processor, and the length of the contour line is measured by the X-axis and the height of the contour line is measured by the Z-axis.
7. The intelligent grinding device based on force control and vision technology of claim 1, characterized in that: in the polishing process, interference of factors such as gravity and the like is eliminated, all direction forces are kept uniform, the feeding system is guided by the six-dimensional force sensor, the polishing posture is adjusted in real time, and the three polishing heads are ensured to be attached at the same time; if the grinding force exceeds a safety threshold, the six-dimensional force sensor can judge the grinding fault, so that the equipment is stopped.
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| CN201910004114.6A CN111390722B (en) | 2019-01-03 | 2019-01-03 | Intelligent polishing device based on force control and vision technology |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112571238A (en) * | 2020-12-03 | 2021-03-30 | 北京理工大学 | Special grinding and polishing composite grinding tool fast switching device for robot |
| CN114952623A (en) * | 2022-06-14 | 2022-08-30 | 上海铼钠克数控科技有限公司 | Control method for grinding operation of numerical control machine tool for actively controlling grinding force |
| CN115026696A (en) * | 2022-08-09 | 2022-09-09 | 苏州圣亚精密机械有限公司 | Novel polisher capable of automatically controlling grinding disc |
| CN115625571A (en) * | 2022-12-19 | 2023-01-20 | 江苏卓远半导体有限公司 | Monitoring method and system for diamond disk |
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