CN112388474A - Workpiece polishing system and method based on 2D vision camera - Google Patents
Workpiece polishing system and method based on 2D vision camera Download PDFInfo
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- CN112388474A CN112388474A CN202011139369.2A CN202011139369A CN112388474A CN 112388474 A CN112388474 A CN 112388474A CN 202011139369 A CN202011139369 A CN 202011139369A CN 112388474 A CN112388474 A CN 112388474A
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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
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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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
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a workpiece polishing system based on a 2D vision camera, which comprises a feeding trolley, a discharging trolley, a first conveying guide rail, a second conveying guide rail, a conveying robot, a polishing robot and a polishing platform, wherein the feeding trolley is placed on the first conveying guide rail, the discharging trolley is placed on the second conveying guide rail, the first conveying guide rail is arranged on one side of the second conveying guide rail, the conveying robot, the polishing robot and the polishing platform are all placed between the first conveying guide rail and the second conveying guide rail, the polishing robot and the conveying robot are placed on two sides of the polishing platform, the polishing robot comprises a first robot arm and polishing equipment, the polishing equipment is arranged at the top end of the first robot arm, the polishing equipment is provided with the 2D vision camera, and the 2D vision camera is connected with an external industrial personal computer. The workpiece polishing system based on the 2D vision camera solves the problem that an automatic polishing mode of an original polishing device is poor in universality.
Description
Technical Field
The invention relates to the field of workpiece polishing, in particular to a workpiece polishing system and method based on a 2D vision camera.
Background
Along with the product diversification and the manual polishing efficiency of the small plane components in the manufacturing industry are insufficient, the polishing quality is different, the labor cost is gradually improved, and the automatic polishing product is in the forefront. At present, workpiece polishing devices on the market polish polishing templates corresponding to workpieces in advance for automatic polishing of the workpieces, and then polish the workpieces to be polished according to polishing tracks in the polishing templates, so that the purpose of automatic polishing is achieved. However, the same type of polishing template in the process of polishing a workpiece of the conventional workpiece polishing device can only be used for one product, the universality is poor, the number of products corresponding to the polishing template in the market is small, a lot of products needing polishing are used less or are not common, so that the corresponding polishing template cannot be found, and the polishing track cannot be changed in real time according to the shape of the polished workpiece when the workpiece is polished by adopting the fixed polishing template.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the present invention is to provide a workpiece polishing system based on a 2D vision camera, which can solve the problems that the existing polishing device only can be used for one product with the same polishing template in the process of polishing a workpiece, the universality is poor, products corresponding to the polishing template in the market are few, and many products to be polished are used less or are not common, so that the corresponding polishing template cannot be found.
The invention also aims to provide a workpiece polishing method based on a 2D vision camera, which can solve the problems that the existing polishing device only aims at one product in the workpiece polishing process, the universality is poor, products corresponding to the polishing template in the market are fewer, and a lot of products needing polishing are used less or are not common, so that the corresponding polishing template cannot be found.
One of the purposes of the invention is realized by adopting the following technical scheme:
a workpiece polishing system based on a 2D vision camera comprises a feeding trolley, a discharging trolley, a first conveying guide rail, a second conveying guide rail, a conveying robot, a polishing robot and a polishing platform, the feeding trolley is arranged on the first conveying guide rail, the discharging trolley is arranged on the second conveying guide rail, the first conveying guide rail is arranged on one side of the second conveying guide rail, the transportation robot, the grinding robot and the grinding platform are all placed between the first conveying guide rail and the second conveying guide rail, the polishing robot and the transportation robot are arranged at two sides of the polishing platform, the polishing robot comprises a first robot arm and polishing equipment, the polishing equipment is mounted at the top end of the first machine arm, a 2D vision camera is mounted on the polishing equipment, and the 2D vision camera is connected with an external industrial personal computer;
a workpiece to be polished is placed on the feeding trolley, the feeding trolley moves on the first conveying guide rail to the position of the conveying robot, the conveying robot grabs the workpiece to be polished on the feeding trolley and places the workpiece to be polished on the polishing platform, a 2D vision camera on the polishing robot collects an image of the workpiece to be polished on the polishing platform, the 2D vision camera sends the image of the workpiece to be polished to an external industrial personal computer for profile extraction processing to obtain the profile data of the workpiece to be polished, the external industrial personal computer obtains the spatial motion gesture of the robot according to the profile data of the workpiece to be polished, generates a polishing track coordinate according to the spatial motion gesture of the robot, sends the polishing track coordinate to the polishing robot, and the polishing robot polishes the workpiece to be polished according to the polishing track coordinate, and the conveying robot grabs the polished workpiece to be polished to the discharging trolley, and the discharging trolley transports the polished workpiece to be polished out on the second conveying guide rail.
Further, the equipment of polishing includes support, polisher and milling cutter, the support is fixed first machine arm top, the polisher with milling cutter is fixed respectively on the support, the polisher with milling cutter is located the support both sides, the 2D vision camera is fixed one side of polisher.
Further, force sensors are mounted on the grinding machine and the milling cutter.
Further, the transport robot comprises a second robot arm and a robot gripper, and the robot gripper is fixed to the top end of the second robot arm.
Furthermore, an electromagnet is arranged on the robot gripper and used for sucking a workpiece to be polished.
Further, still install infrared sensor on the robot gripper, infrared sensor is used for discerning the work piece of waiting to polish on the feeding dolly.
Furthermore, the polishing machine further comprises a polishing fence, wherein the polishing platform, the transportation robot and the polishing robot are externally provided with the polishing fence, and the polishing platform, the transportation robot and the polishing robot are all positioned inside the polishing fence.
The second purpose of the invention is realized by adopting the following technical scheme:
the workpiece polishing method based on the 2D vision camera is applied to the workpiece polishing system based on the 2D vision camera in the application, and comprises the following steps:
placing workpieces, namely controlling the conveying robot to grab the workpieces to be polished on the feeding trolley onto a polishing platform for placing;
acquiring an image, and acquiring an image of a workpiece to be polished of the workpiece to be polished on a polishing platform by using a 2D vision camera;
contour extraction, namely sending the image of the workpiece to be polished to an external industrial personal computer by a 2D vision camera for contour extraction processing to obtain contour data of the appearance of the workpiece to be polished;
generating a polishing track coordinate, obtaining a robot space motion attitude by an external industrial personal computer according to the outline data of the workpiece to be polished, and generating the polishing track coordinate according to the robot space motion attitude;
and polishing the workpiece, wherein an external industrial personal computer sends the polishing track coordinate to the polishing robot, and the polishing robot polishes the workpiece to be polished according to the polishing track coordinate.
Further, the generating of the grinding track coordinate specifically includes: the external industrial personal computer divides the outline data of the workpiece to be polished into track point locations through edge thinning processing, calculates the normal vector corresponding to the track point location and the workpiece to be polished according to the track point locations, converts the normal vector corresponding to the workpiece to be polished into a robot space motion attitude, the robot space motion attitude comprises X-axis motion data, Y-axis motion data, Z-axis motion data and Z-axis motion rotation attitude data, and generates polishing track coordinates of the polishing robot according to the X-axis motion data, the Y-axis motion data, the Z-axis motion data and the Z-axis motion rotation attitude data.
And further, whether the workpiece to be polished needs to be turned over is judged according to a preset polishing rule, if yes, the workpiece is returned to the execution step to be placed, if not, the conveying robot grabs the polished workpiece to be polished onto the discharging trolley, and the discharging trolley transports the polished workpiece to be polished out on the second conveying guide rail.
Compared with the prior art, the invention has the beneficial effects that: work piece system of polishing based on 2D vision camera in this application, including the feeding dolly, ejection of compact dolly, first transport guide rail, second transport guide rail, the haulage robot, the polishing robot, the platform of polishing, the feeding dolly is placed on first transport guide rail, ejection of compact dolly is placed on second transport guide rail, first transport guide rail is in second transport guide rail one side, the haulage robot, polishing robot and polishing platform all place between first transport guide rail and second transport guide rail, polishing robot and transport robot place in the platform both sides of polishing, the polishing robot includes first robot arm, the equipment of polishing is installed on first robot arm top, install the 2D vision camera on the equipment of polishing, the 2D vision camera is connected with outside industrial computer. The method comprises the steps of collecting an image of a workpiece to be polished on a polishing platform through a 2D vision camera on a polishing robot, sending the image of the workpiece to be polished to an external industrial personal computer through the 2D vision camera for contour extraction processing to obtain contour data of the workpiece to be polished, obtaining a spatial motion attitude of the robot through the external industrial personal computer according to the contour data of the workpiece to be polished, generate comparatively accurate orbit coordinate of polishing according to the robot space motion gesture, whole process is according to the orbit coordinate of polishing that the work piece of waiting to polish generated in real time, makes the product of every single needs polishing can both obtain comparatively accurate estimation coordinate of polishing, need not to use fixed template of polishing, has overcome the poor problem of commonality in the original automatic mode of polishing, makes every work piece of waiting to polish can both match to correspond comparatively accurate orbit of polishing, has improved the precision that the work piece was polished.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of a 2D vision camera based workpiece polishing system of the present invention;
FIG. 2 is a schematic structural diagram of a transport robot in the workpiece polishing system based on a 2D vision camera according to the present invention;
FIG. 3 is a schematic diagram of a polishing robot in the workpiece polishing system based on a 2D vision camera according to the present invention;
fig. 4 is a schematic flow chart of the workpiece polishing method based on the 2D vision camera according to the present invention.
In the figure: 1. a feeding trolley; 2. a discharging trolley; 3. a first conveying guide rail; 4. a second conveying guide rail; 5. a transport robot; 51. a second robot arm; 52. a robot gripper; 521. an electromagnet; 6. a polishing robot; 61. a first robot arm; 62. polishing equipment; 621. a support; 622. milling cutters; 623. a sander; 624. a 2D vision camera; 7. polishing the platform; 8. and (5) polishing the fence.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
As shown in fig. 1-3, the workpiece polishing system based on the 2D vision camera in the present application includes a feeding cart 1, a discharging cart 2, a first conveying rail 3, a second conveying rail 4, a transporting robot 5, a polishing robot 6, and a polishing platform 7, wherein the feeding cart 1 is placed on the first conveying rail 3, the discharging cart 2 is placed on the second conveying rail 4, the first conveying rail 3 is on one side of the second conveying rail 4, the transporting robot 5, the polishing robot 6, and the polishing platform 7 are all placed between the first conveying rail 3 and the second conveying rail 4, the polishing robot 6 and the transporting robot 5 are placed on two sides of the polishing platform 7, the polishing robot 6 includes a first robot arm 61 and a polishing device 62, the polishing device 62 is installed on the top end of the first robot arm 61, the polishing device 62 is installed with the 2D vision camera 624, the 2D vision camera 624 is connected with an external industrial personal computer by wire, still be provided with the data switch between industrial computer and the 2D vision camera 624, the image transmission that will gather through the data switch will be gathered to 2D vision camera 624 and is sent to outside industrial computer. The 2D vision camera 624 is essentially a separate video camera. Grinding device 62 includes support 621, polisher 623 and milling cutter 622, and support 621 fixes on first machine arm 61 top, and polisher 623 and milling cutter 622 are fixed on support 621 respectively, and polisher 623 and milling cutter 622 are located support 621 both sides, and 2D vision camera 624 fixes on one side of polisher 623. Force sensors are mounted on the grinding machine 623 and the milling cutter 622, the force sensors on the milling cutter 622 are used for adjusting the milling force of the milling cutter 622, the grinding angle can be smooth, and the flatness of the chamfer and the protection of the grinding tool are not prone to overload. The force sensor on the polisher 623 is used to adjust the polishing force.
The transport robot 5 in the present application includes a second robot arm 51 and a robot gripper 52, and the robot gripper 52 is fixed to a top end of the second robot arm 51. The robot gripper 52 is provided with an electromagnet 521, and the electromagnet 521 is used for sucking a workpiece to be polished. The robot gripper 52 is also provided with an infrared sensor, the infrared sensor is used for identifying a workpiece to be polished on the feeding trolley 1, and when the infrared sensor identifies the workpiece to be polished on the feeding trolley 1, the electromagnet 521 on the robot gripper 52 absorbs the workpiece to be polished. In order to prevent the polishing debris in the polishing process from splashing and hurting people, a polishing fence 8 is further arranged in the embodiment, the polishing fence 8 is arranged outside the polishing platform 7, the transportation robot 5 and the polishing robot 6, and the polishing platform 7, the transportation robot 5 and the polishing robot 6 are all located inside the polishing fence 8.
The process of polishing the workpiece to be polished is as follows: a workpiece to be polished is placed on a feeding trolley 1, the feeding trolley 1 moves on a first conveying guide rail 3 to the position of a transport robot 5, the transport robot 5 grabs the workpiece to be polished on the feeding trolley 1 and places the workpiece to be polished on a polishing platform 7, a 2D vision camera 624 on the polishing robot 6 collects the image of the workpiece to be polished on the polishing platform 7, the image of the workpiece to be polished is sent to an external industrial personal computer by the 2D vision camera 624 for contour extraction processing to obtain the contour data of the workpiece to be polished, the external industrial personal computer obtains the spatial motion gesture of the robot according to the contour data of the workpiece to be polished, generates a polishing track coordinate according to the spatial motion gesture of the robot, sends the polishing track coordinate to the polishing robot 6, and the polishing robot 6 polishes the workpiece to be polished according to the polishing track coordinate, the transport robot 5 grabs the workpiece to be polished, which is polished on the polishing platform 7, onto the discharge trolley 2, and the discharge trolley 2 transports the workpiece to be polished, which is polished, out on the second conveying guide rail 4. In this embodiment, the feeding trolley and the discharging trolley adopt a running form of train rails and are installed on the guide rails. Two feeding trolleys and two discharging trolleys are arranged in the device, the action sequence of the feeding trolleys is consistent with that of the discharging trolleys, and the feeding trolleys and the discharging trolleys reciprocate in sequence to finish feeding and discharging actions.
As shown in fig. 4, the present application further provides a workpiece polishing method based on a 2D vision camera, which is applied to the workpiece polishing system based on a 2D vision camera, and specifically includes the following steps:
and (4) placing the workpieces, and controlling the conveying robot to grab the workpieces to be polished on the feeding trolley onto the polishing platform for placing.
The image acquisition device is used for acquiring an image of a workpiece to be polished of the workpiece to be polished on the polishing platform by the 2D vision camera.
And contour extraction, namely sending the image of the workpiece to be polished to an external industrial personal computer by a 2D vision camera for contour extraction processing to obtain the contour data of the workpiece to be polished.
And generating a polishing track coordinate, obtaining a robot space motion attitude by an external industrial personal computer according to the outline data of the workpiece to be polished, and generating the polishing track coordinate according to the robot space motion attitude. The method specifically comprises the following steps: the external industrial personal computer divides the outline data of the workpiece to be polished into track point locations through edge thinning processing, calculates the normal vector corresponding to the track point location and the workpiece to be polished according to the track point locations, converts the normal vector corresponding to the workpiece to be polished into a robot space motion attitude, the robot space motion attitude comprises X-axis motion data, Y-axis motion data, Z-axis motion data and Z-axis motion rotation attitude data, and generates polishing track coordinates of the polishing robot according to the X-axis motion data, the Y-axis motion data, the Z-axis motion data and the Z-axis motion rotation attitude data. In the embodiment, the Z-axis motion data can be vertically offset according to a force sensor on the grinding machine, when the grinding force of the grinding machine is too large, the Z-axis height can be lifted upwards to reduce the grinding force, and when the grinding force of the grinding machine is too small, the Z-axis height can be lowered to increase the grinding force; the Z-axis movement rotation attitude data can rotate according to the normal vector corresponding to the workpiece to be polished, and the polisher is guaranteed to polish the workpiece inwards along the opposite direction of the normal vector of the edge of the workpiece all the time in the polishing process of the robot.
And polishing the workpiece, wherein an external industrial personal computer sends the polishing track coordinate to the polishing robot, and the polishing robot polishes the workpiece to be polished according to the polishing track coordinate.
Judging whether the workpiece to be polished needs to be turned over or not according to a preset polishing rule, if so, returning to the step of executing the step of placing the workpiece, if not, grabbing the polished workpiece to be polished onto the discharging trolley by the transport robot, and transporting the polished workpiece to be polished out by the discharging trolley on the second conveying guide rail.
Work piece system of polishing based on 2D vision camera in this application, including the feeding dolly, ejection of compact dolly, first transport guide rail, second transport guide rail, the haulage robot, the polishing robot, the platform of polishing, the feeding dolly is placed on first transport guide rail, ejection of compact dolly is placed on second transport guide rail, first transport guide rail is in second transport guide rail one side, the haulage robot, polishing robot and polishing platform all place between first transport guide rail and second transport guide rail, polishing robot and transport robot place in the platform both sides of polishing, the polishing robot includes first robot arm, the equipment of polishing is installed on first robot arm top, install the 2D vision camera on the equipment of polishing, the 2D vision camera is connected with outside industrial computer. The method comprises the steps of collecting an image of a workpiece to be polished on a polishing platform through a 2D vision camera on a polishing robot, sending the image of the workpiece to be polished to an external industrial personal computer through the 2D vision camera for contour extraction processing to obtain contour data of the workpiece to be polished, obtaining a spatial motion attitude of the robot through the external industrial personal computer according to the contour data of the workpiece to be polished, generate comparatively accurate orbit coordinate of polishing according to the robot space motion gesture, whole process is according to the orbit coordinate of polishing that the work piece of waiting to polish generated in real time, make every single product that needs to polish can both obtain comparatively accurate estimation coordinate of polishing, need not to use fixed template of polishing, overcome the poor problem of commonality in original grinding device's the automatic mode of polishing, make every work piece of waiting to polish can both match the orbit of polishing that corresponds comparatively accurately, improved the precision that the work piece was polished.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. Work piece system of polishing based on 2D vision camera, its characterized in that: the automatic polishing machine comprises a feeding trolley, a discharging trolley, a first conveying guide rail, a second conveying guide rail, a conveying robot, a polishing robot and a polishing platform, wherein the feeding trolley is placed on the first conveying guide rail, the discharging trolley is placed on the second conveying guide rail, the first conveying guide rail is arranged on one side of the second conveying guide rail, the conveying robot, the polishing robot and the polishing platform are all placed between the first conveying guide rail and the second conveying guide rail, the polishing robot and the conveying robot are placed on two sides of the polishing platform, the polishing robot comprises a first robot arm and polishing equipment, the polishing equipment is installed at the top end of the first robot arm, a 2D vision camera is installed on the polishing equipment, and the 2D vision camera is connected with the outside of an industrial personal computer;
a workpiece to be polished is placed on the feeding trolley, the feeding trolley moves on the first conveying guide rail to the position of the conveying robot, the conveying robot grabs the workpiece to be polished on the feeding trolley and places the workpiece to be polished on the polishing platform, a 2D vision camera on the polishing robot collects an image of the workpiece to be polished on the polishing platform, the 2D vision camera sends the image of the workpiece to be polished to an external industrial personal computer for profile extraction processing to obtain the profile data of the workpiece to be polished, the external industrial personal computer obtains the spatial motion gesture of the robot according to the profile data of the workpiece to be polished, generates a polishing track coordinate according to the spatial motion gesture of the robot, sends the polishing track coordinate to the polishing robot, and the polishing robot polishes the workpiece to be polished according to the polishing track coordinate, and the conveying robot grabs the polished workpiece to be polished to the discharging trolley, and the discharging trolley transports the polished workpiece to be polished out on the second conveying guide rail.
2. The 2D vision camera-based workpiece polishing system of claim 1, wherein: the equipment of polishing includes support, polisher and milling cutter, the support is fixed first machine arm top, the polisher with milling cutter fixes respectively on the support, the polisher with milling cutter is located the support both sides, the 2D vision camera is fixed one side of polisher.
3. The 2D vision camera-based workpiece polishing system of claim 2, wherein: and force sensors are arranged on the grinding machine and the milling cutter.
4. The 2D vision camera-based workpiece polishing system of claim 1, wherein: the transportation robot comprises a second robot arm and a robot gripper, and the robot gripper is fixed to the top end of the second robot arm.
5. The 2D vision camera-based workpiece polishing system of claim 4, wherein: the robot gripper is provided with an electromagnet, and the electromagnet is used for sucking a workpiece to be polished.
6. The 2D vision camera-based workpiece polishing system of claim 5, wherein: the robot gripper is further provided with an infrared sensor, and the infrared sensor is used for identifying a workpiece to be polished on the feeding trolley.
7. The 2D vision camera-based workpiece polishing system of claim 1, wherein: the automatic polishing machine is characterized by further comprising a polishing fence, wherein the polishing platform, the transportation robot and the polishing robot are externally provided with the polishing fence, and the polishing platform, the transportation robot and the polishing robot are all located inside the polishing fence.
8. The workpiece grinding method based on the 2D vision camera is applied to the workpiece grinding system based on the 2D vision camera in any one of claims 1 to 7, and is characterized in that: the method comprises the following steps:
placing workpieces, namely controlling the conveying robot to grab the workpieces to be polished on the feeding trolley onto a polishing platform for placing;
acquiring an image, and acquiring an image of a workpiece to be polished of the workpiece to be polished on a polishing platform by using a 2D vision camera;
contour extraction, namely sending the image of the workpiece to be polished to an external industrial personal computer by a 2D vision camera for contour extraction processing to obtain contour data of the appearance of the workpiece to be polished;
generating a polishing track coordinate, obtaining a robot space motion attitude by an external industrial personal computer according to the outline data of the workpiece to be polished, and generating the polishing track coordinate according to the robot space motion attitude;
and polishing the workpiece, wherein an external industrial personal computer sends the polishing track coordinate to the polishing robot, and the polishing robot polishes the workpiece to be polished according to the polishing track coordinate.
9. The method of claim 8, wherein the method comprises: the generation of the grinding track coordinate specifically comprises the following steps: the external industrial personal computer divides the outline data of the workpiece to be polished into track point locations through edge thinning processing, calculates the normal vector corresponding to the track point location and the workpiece to be polished according to the track point locations, converts the normal vector corresponding to the workpiece to be polished into a robot space motion attitude, the robot space motion attitude comprises X-axis motion data, Y-axis motion data, Z-axis motion data and Z-axis motion rotation attitude data, and generates polishing track coordinates of the polishing robot according to the X-axis motion data, the Y-axis motion data, the Z-axis motion data and the Z-axis motion rotation attitude data.
10. The method of claim 8, wherein the method comprises: the automatic polishing machine is characterized by further comprising a step of judging whether the workpiece to be polished needs to be turned over or not according to a preset polishing rule, if so, returning to the step of executing the step of placing the workpiece, if not, grabbing the polished workpiece to be polished onto the discharging trolley by the conveying robot, and transporting the polished workpiece to be polished out of the discharging trolley by the discharging trolley on the second conveying guide rail.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011139369.2A CN112388474A (en) | 2020-10-22 | 2020-10-22 | Workpiece polishing system and method based on 2D vision camera |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011139369.2A CN112388474A (en) | 2020-10-22 | 2020-10-22 | Workpiece polishing system and method based on 2D vision camera |
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| CN112388474A true CN112388474A (en) | 2021-02-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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- 2020-10-22 CN CN202011139369.2A patent/CN112388474A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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