CN112975673A - Deburring equipment and method for multiple robot arms - Google Patents
Deburring equipment and method for multiple robot arms Download PDFInfo
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- CN112975673A CN112975673A CN202110512670.1A CN202110512670A CN112975673A CN 112975673 A CN112975673 A CN 112975673A CN 202110512670 A CN202110512670 A CN 202110512670A CN 112975673 A CN112975673 A CN 112975673A
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- Prior art keywords
- rod
- supporting
- box
- plate
- rod piece
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/002—Machines or devices using grinding or polishing belts; Accessories therefor for grinding edges or bevels
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/008—Machines comprising two or more tools or having several working posts
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
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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
- B24B41/02—Frames; Beds; Carriages
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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
- B24B41/06—Work supports, e.g. adjustable steadies
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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
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/04—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by mechanical gearing only
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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
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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 belongs to the technical field of processing machinery, in particular to a multi-machine arm deburring device and a multi-machine arm deburring method, and aims at solving the problem that the efficiency is low because the existing rod piece polishing mode depends on manual operation, the invention provides a scheme which comprises a base, wherein a supporting cover and a driving motor are respectively and fixedly arranged at the top of the base, the driving motor is positioned in the supporting cover, an installation frame is fixedly arranged at the top of the supporting cover, an output shaft of the driving motor extends to the upper part of the supporting cover and is fixedly provided with a supporting plate, and the top of the supporting plate is clamped with a rod piece. Has good convenience.
Description
Technical Field
The invention relates to the technical field of processing machinery, in particular to a multi-robot-arm deburring device and method.
Background
After the rod piece is cast, the edge of the rod piece after the mould is opened often has the problems of flash, burrs and the like, the prior polishing modes still depend on manual operation, so the efficiency is low, the shape of the rod piece is special, a certain processing space is needed, and the processing effect of an independent deburring mechanism is not ideal, so the deburring equipment with multiple machine arms is provided for solving the problems.
Disclosure of Invention
Based on the technical problem that the efficiency is low due to the fact that a rod piece polishing mode is manual operation in the background technology, the invention provides deburring equipment with multiple robot arms.
The invention provides deburring equipment for a multi-machine arm, which comprises a base, wherein a support cover and a driving motor are respectively and fixedly arranged on the top of the base, the driving motor is positioned in the support cover, an installation frame is fixedly arranged on the top of the support cover, an output shaft of the driving motor extends to the upper part of the support cover and is fixedly provided with a support plate, a rod piece is clamped on the top of the support plate, a support ring is connected on the installation frame in a sliding manner, the support plate is in transmission connection with the support ring, a boosting electric push rod is fixedly arranged on the top of the support ring and is connected with a buffer box through a boosting transmission assembly, a detection rod is connected on the inner wall of the buffer box in a sliding manner, a moving arm is connected on the support ring through a machine arm support assembly, a polishing assembly is fixedly arranged at one end of the moving arm, the, the rod piece penetrates through the support ring. Preferably, the top fixed mounting of supporting disk has the card cover, and the bottom of member extend to in the card cover and closely laminate with the inner wall of card cover, the top fixed mounting of mounting bracket has the tight electric putter of clamp, the output shaft that presss from both sides tight electric putter extends to in the mounting bracket and swivelling joint has the locating plate, and the locating plate closely presss from both sides the dress with the top of member, utilizes the cooperation that presss from both sides tight electric putter and card cover, can realize pressing from both sides tight location to the member.
Preferably, the symmetry is rotated on the top inner wall of mounting bracket and is connected with two screws, and two screws all run through the support ring and all extend to the below of support ring, and two screws all with support ring threaded connection, the bottom fixed mounting of screw rod has drive gear, and the top fixed mounting of supporting disk has the ring gear, and two drive gear all are located the ring gear and all mesh mutually with the ring gear, utilize screw thread drive's form can drive the support ring and upwards remove to this can utilize and polish and take comprehensive pole piece to polish.
Preferably, pressure boost drive assembly includes tonifying qi case, push pedal, conveyer pipe and baffle-box, the top of support ring fixed mounting respectively has tonifying qi case and baffle-box, and the one end of probe rod extend to in the baffle-box and with the sealed sliding connection of inner wall of baffle-box, pressure boost electric putter's output shaft extends to in the tonifying qi case and fixed mounting has the push pedal, and the sealed sliding connection of inner wall of push pedal and tonifying qi case, fixed mounting has the conveyer pipe on one side inner wall of tonifying qi case, and the one end of conveyer pipe extend to in the baffle-box and with the sealed fixed connection of one side inner wall of baffle-box, and the form that utilizes pneumatic principle can make probe rod and member keep in close contact with to utilize pneumatic principle, can prevent that the pressure of probe rod is too big, damage the member.
Preferably, sealing sliding connection has the closing plate on the inner wall of baffle-box, and fixed mounting has the installation cover on the closing plate, the one end of gauge rod extend to in the installation cover and with the inner wall sliding connection of installation cover, fixed mounting has pressure sensor on the inner wall of one side of installation cover, and the one end and the pressure sensor active contact of gauge rod, pressure sensor and pressure boost electric putter electric connection utilize pressure sensor to monitor the pressure that the gauge rod received to this can conveniently carry out the pressure boost to the gauge rod, guarantees that the laminating pressure of polishing area and member is in stable condition all the time.
Preferably, the top fixed mounting of support ring has the limit box, and the other end of a plurality of travelling arms extends to limit box and fixed mounting has the slide, the inner wall sliding connection of slide and limit box, the cover is equipped with the reset spring who is located the limit box on the travelling arm, and reset spring's both ends respectively with one side inner wall of limit box and one side fixed connection of slide, utilize reset spring can conveniently drive the travelling arm and the probe rod carries out reverse reset.
Preferably, one side of one of the moving arms and one side of the detecting rod are fixedly provided with moving racks, the top of the support ring is rotatably connected with a rotating gear, the two moving racks are respectively positioned on two sides of the rotating gear and are meshed with the rotating gear, and the detecting rod and the moving arms can move in opposite directions by utilizing the matching transmission of the rotating gear and the two moving racks.
Preferably, the polishing assembly comprises a machine arm support frame fixedly mounted at one end of the moving arm, support shafts are rotatably connected to two sides of the machine arm support frame, the right end of the left support shaft penetrates through the machine arm support frame and is fixedly connected with the first support plate, and the left end of the right support shaft penetrates through the machine arm support frame and is fixedly connected with the second support plate;
the top of the first supporting plate is rotatably connected with a rotating shaft, and the top of the second supporting plate is fixedly provided with a polishing motor;
the output shaft of the polishing motor and the top end of the rotating shaft are both fixedly provided with driving rollers, and the two driving rollers are sleeved with the same polishing belt;
and the supporting shaft is sleeved with a torsion spring, and two ends of the torsion spring are respectively fixed on the outer surface of the machine arm supporting frame and the outer end of the supporting shaft.
Utilize the back shaft can make the area of polishing can the angle modulation, so can guarantee to polish the area and closely laminate with the member all the time.
The elastic support of the polishing belt can be realized by utilizing the torsion spring, so that the polishing belt is in a vertical state when not rotating.
The deburring method for the multiple machine arms comprises the deburring equipment for the multiple machine arms, and further comprises the following steps:
s1: firstly, inserting a rod piece to be polished into a clamping cover;
s2: the high-speed camera on the inner side of the mounting rack captures image information containing shape and position information of a rod piece to be polished and sends the image information to the data processor;
s3: the data processor controls the starting of the clamping electric push rod to drive the positioning plate to move downwards until the positioning plate is tightly clamped with the top of the rod piece, so that the rod piece is stably positioned;
s4: after the data processor receives image information of the rod piece with accurate positioning, the data processor controls the pressurizing electric push rod to be started to push the push plate to move, gas in the gas supplementing box is pushed into the buffer box through the conveying pipe, the detection rod is driven to move through the sealing plate until the detection rod is in close contact with the rod piece, and meanwhile, the polishing belt is also in close contact with the rod piece;
s5: after the data processor receives the image information of member and probe rod contact and the image information of member and the area contact of polishing, the data processor control starts the grinding motor, and the area of polishing carries out high-speed motion, and the member is polished, and the data processor control starts the computational formula of grinding motor and is:
wherein po represents the probability of starting the grinding motor, is greater than the threshold value, and is started, otherwise, the grinding motor is not started; x is the image information of the rod piece contacting with the detecting rod, y is the image information of the rod piece contacting with the polishing belt, and r is the image scratchThe number of the divided blocks is equal to or greater than the total number of the divided blocks,
characterizing local image feature confidence, and taking value range [0,1 ]]； 
Representing the confidence coefficient of the overall image characteristics, and the value range [0,1 ]]； 
Representing the features extracted using the twin network of contrast loss training,
representing feature extraction from a segmented image;
s6: the data processor controls the clamping electric push rod to stretch and retract so as to control the supporting ring to lift, and when the supporting ring lifts, the pressure detected by the pressure sensor changes;
s7: the data processor sends a control signal to the pressurizing electric push rod, so that the positions of the detection rod and the polishing belt are adjusted, the pressure of the polishing belt on the rod piece is adjusted, and the rod piece is polished everywhere.
The invention has the beneficial effects that:
1. according to the invention, firstly, a rod piece to be polished is inserted into the clamping cover, and then the clamping electric push rod can be started to drive the positioning plate to move downwards until the positioning plate is tightly clamped with the top of the rod piece, so that the rod piece can be stably positioned;
2. according to the invention, the pressurizing electric push rod is started to push the push plate to move, at the moment, gas in the gas supplementing box can be pushed into the buffer box through the conveying pipe, so that the detection rod can be driven to move through the sealing plate, when the detection rod moves, the moving arm can be driven to move under the transmission action of the two moving racks and the rotating gear, the moving arm and the detection rod move in the direction of mutual approaching until the detection rod is in close contact with the rod piece, and meanwhile, the polishing belt can also be in close contact with the rod piece;
3. according to the invention, when the grinding motor is started, the grinding belt can move at a high speed under the supporting transmission of the two transmission rollers, namely, the grinding belt can be used for rubbing the rod piece, and the first supporting plate and the second supporting plate are respectively arranged with the rotation of the machine arm supporting frame through the supporting shafts connected with the first supporting plate and the second supporting plate, so that the grinding belt can rotate along with the change of the shape of the rod piece, and the grinding belt can be always attached to the rod piece;
4. according to the invention, the driving motor is started to drive the supporting disc to rotate, at the moment, the rod piece can rotate, and when the supporting disc rotates, the toothed ring can be driven to rotate, so that under the transmission coordination of the two transmission gears, the two screw rods can synchronously rotate, at the moment, the supporting ring can be driven to upwards move, and when the supporting ring moves, the rod piece is in a rotating state, so that the rod piece can be polished by using the polishing belt;
5. according to the invention, the pressure sensor can detect the pressure of the detection rod on the rod piece, and the rod piece is of a structure with a small upper part and a large lower part, so that when the detection rod moves upwards, the pressure is reduced, the pressure sensed by the pressure sensor is reduced, at the moment, a working instruction is sent to the pressurizing electric push rod, the push plate is continuously pushed to move, so that air can be supplied to the buffer tank, the pressure of the detection rod and the rod piece is increased, and under the matching of the two movable racks and the rotating gear, the rod piece can be pressed and polished by the polishing belt at the moment with the same pressure.
6. According to the invention, three groups of grinding mechanisms are arranged, wherein a plurality of grinding belts are 400 meshes, 600 meshes and 800 meshes from top to bottom respectively, and the technical scheme is not limited to three groups of grinding mechanisms, and can be increased or decreased according to requirements, so that when a rod piece is ground, the rod piece can be ground for multiple times, and the rod piece can be guaranteed to be ground and formed at one time;
the invention can continuously and comprehensively polish the rod piece with the same pressure according to the shape of the rod piece, so that burrs on the rod piece can be removed.
Drawings
FIG. 1 is a front view of a multi-robot deburring apparatus according to the present invention;
FIG. 2 is a top view of a connecting structure of a pressurized electric push rod, a detection rod and a moving arm of the multi-robot deburring device of the present invention;
FIG. 3 is a three-dimensional view of a partial structure of a multi-robot deburring apparatus according to the present invention;
FIG. 4 is a front view of a connection structure of a polishing motor and a polishing belt of the multi-robot-arm deburring device according to the present invention;
FIG. 5 is a top view of a gear ring and two transmission gear connecting structures of the deburring device with multiple robot arms, which is provided by the invention;
FIG. 6 is a three-dimensional view of a cutting structure of a clamping cover of the deburring device with multiple robot arms, which is provided by the invention;
FIG. 7 is a schematic structural view of part A in FIG. 2 of a multi-robot deburring apparatus according to the present invention;
FIG. 8 is a schematic structural view of a portion B in FIG. 2 of the deburring apparatus with multiple robot arms according to the present invention;
FIG. 9 is a side view of the internal structure of a limit box of the multi-robot deburring device of the present invention;
fig. 10 is a system diagram of a multi-robot deburring method according to the present invention.
In the figure: the device comprises a base 1, a support cover 2, a driving motor 3, a mounting rack 4, a support ring 5, a clamping cover 6, a rod 7, an electric push rod 8 clamped, a positioning plate 9, a screw rod 10, a transmission gear 11, a toothed ring 12, a pressurizing electric push rod 13, a gas supplementing box 14, a push plate 15, a delivery pipe 16, a buffer box 17, a detection rod 18, a limit box 19, a movable arm 20, a fixed rod 21, a movable rack 22, a rotating gear 23, a machine arm support 24, a reset spring 25, a sealing plate 26, a mounting cover 27, a pressure sensor 28, a first support plate 29, a grinding motor 30, a rotating shaft 31, a driving roller 32, a grinding belt 33, a support shaft 34, a torsion spring 35, a sliding plate 36 and a second support plate.
Detailed Description
The present invention will be further illustrated with reference to the following specific examples.
Example 1
Referring to fig. 1 to 9, the embodiment provides a multi-robot arm deburring device, which includes a base 1, a support cover 2 and a driving motor 3 are respectively and fixedly mounted on the top of the base 1, the driving motor 3 is located in the support cover 2, a mounting bracket 4 is fixedly mounted on the top of the support cover 2, an output shaft of the driving motor 3 extends to the upper side of the support cover 2 and is fixedly mounted with a support plate, a rod member 7 is clamped on the top of the support plate, a support ring 5 is slidably connected onto the mounting bracket 4 and is in transmission connection with the support ring 5, a pressurizing electric push rod 13 is fixedly mounted on the top of the support ring 5, the pressurizing electric push rod 13 is connected with a buffer box 17 through a pressurizing transmission assembly, a detection rod 18 is slidably connected to the inner wall of the buffer box 17, a moving arm 20 is connected onto the support ring 5 through a robot arm support assembly, and a polishing, the detection rod 18 and the moving arm 20 are respectively arranged at two sides of the rod piece 7, the rod piece 7 penetrates through the support ring 5, the clamping cover 6 is fixedly arranged at the top of the support plate, the bottom end of the rod piece 7 extends into the clamping cover 6 and is tightly attached to the inner wall of the clamping cover 6, the clamping electric push rod 8 is fixedly arranged at the top of the mounting frame 4, an output shaft of the clamping electric push rod 8 extends into the mounting frame 4 and is rotatably connected with the positioning plate 9, the positioning plate 9 is tightly clamped with the top end of the rod piece 7, the clamping electric push rod 8 and the clamping cover 6 are matched to clamp and position the rod piece 7, two screw rods 10 are symmetrically and rotatably connected to the inner wall of the top of the mounting frame 4, the two screw rods 10 penetrate through the support ring 5 and extend to the lower part of the support ring 5, the two screw rods 10 are in threaded connection with the support ring, and the top fixed mounting of supporting disk has the ring gear 12, and two drive gear 11 all lie in ring gear 12 and all mesh mutually with ring gear 12, utilize screw drive's form can drive support ring 5 upwards to remove to this can utilize the comprehensive pole piece 7 of polishing area 33.
According to the invention, the rod 7 can be continuously and comprehensively polished under the same pressure according to the shape of the rod 7, so that burrs on the rod 7 can be removed.
In this embodiment, the pressurizing transmission assembly includes an air replenishing box 14, a push plate 15, a conveying pipe 16 and a buffer box 17, the top of the support ring 5 is fixedly provided with the air replenishing box 14 and the buffer box 17 respectively, one end of a detection rod 18 extends into the buffer box 17 and is in sealing sliding connection with the inner wall of the buffer box 17, an output shaft of the pressurizing electric push rod 13 extends into the air replenishing box 14 and is fixedly provided with the push plate 15, the push plate 15 is in sealing sliding connection with the inner wall of the air replenishing box 14, the conveying pipe 16 is fixedly provided on the inner wall of one side of the air replenishing box 14, one end of the conveying pipe 16 extends into the buffer box 17 and is in sealing fixed connection with the inner wall of one side of the buffer box 17, the detection rod 18 can be kept in close contact with the rod 7 by using the form of the pneumatic principle, and the pneumatic principle can prevent the rod 18 from being over-pressurized and damaging the rod 7, the inner wall of the buffer box 17 is, and the sealing plate 26 is fixedly provided with an installation cover 27, one end of the detection rod 18 extends into the installation cover 27 and is connected with the inner wall of the installation cover 27 in a sliding manner, the inner wall of one side of the installation cover 27 is fixedly provided with a pressure sensor 28, one end of the detection rod 18 is in movable contact with the pressure sensor 28, the pressure sensor 28 is electrically connected with the pressurization electric push rod 13, the pressure sensor 28 can be used for monitoring the pressure received by the detection rod 18, so that the detection rod 18 can be conveniently pressurized, the joint pressure between the grinding belt 33 and the rod 7 is always in a stable state, the robot arm support assembly comprises a limit box 19, a sliding plate 36 and a return spring 25, the top of the support ring 5 is fixedly provided with the limit box 19, the other ends of the plurality of movable arms 20 extend to the limit box 19 and are fixedly provided with the sliding plate 36, and the sliding plate 36 is connected with the inner wall, the movable arm 20 is sleeved with a return spring 25 positioned in the limit box 19, two ends of the return spring 25 are respectively fixedly connected with one side inner wall of the limit box 19 and one side of the sliding plate 36, the movable arm 20 and the detection rod 18 can be conveniently driven to reversely reset by the return spring 25, wherein a movable rack 22 is fixedly mounted on one side of the movable arm 20 and one side of the detection rod 18, the top of the support ring 5 is rotatably connected with a rotating gear 23, the two movable racks 22 are respectively positioned on two sides of the rotating gear 23 and are respectively meshed with the rotating gear 23, the detection rod 18 and the movable arm 20 can move oppositely by the matching transmission of the rotating gear 23 and the two movable racks 22, the polishing assembly comprises a machine arm support frame 24 fixedly mounted on one end of the movable arm 20, two sides of the machine arm support frame 24 are respectively and rotatably connected with support shafts 34, and the right end of the left support shaft 34 passes through the machine arm support frame 24 and is fixedly connected with a, the left end of the right supporting shaft 34 passes through the machine arm supporting frame 24 and is fixedly connected with a second supporting plate 37;
the top of the first supporting plate 29 is rotatably connected with a rotating shaft 31, and the top of the second supporting plate 37 is fixedly provided with a polishing motor 30;
the output shaft of the grinding motor 30 and the top end of the rotating shaft 31 are both fixedly provided with driving rollers 32, and the two driving rollers 32 are sleeved with the same grinding belt 33;
the torque spring 35 is sleeved on the supporting shaft 34, two ends of the torque spring 35 are respectively fixed on the outer surface of the machine arm supporting frame 24 and the outer end of the supporting shaft 34, the polishing belt 33 can be driven to rotate by starting the polishing motor 30, one side of the rod 7 can be polished, two supporting shafts 34 are symmetrically and rotatably connected on the machine arm supporting frame 24, one ends, close to each other, of the two supporting shafts 34 are respectively and fixedly connected with one ends, far away from each other, of the two supporting plates 29, the angle of the polishing belt 33 can be adjusted by using the supporting shafts 34, so that the polishing belt 33 can be guaranteed to be always tightly attached to the rod 7, the torque spring 35 positioned on the outer side of the machine arm supporting frame 24 is sleeved on the supporting shaft 34, two ends of the torque spring 35 are respectively and fixedly connected with the machine arm supporting frame 24 and the supporting shafts 34, and the elastic, when the polishing belt 33 is not rotated, the polishing belt is in a vertical state, and the moving arm 20 and the robot arm support frame 24 form a robot arm.
In this embodiment, the rod 7 to be polished is inserted into the card cover 6, then the clamping electric push rod 8 is started to drive the positioning plate 9 to move downwards until the positioning plate 9 is tightly clamped with the top of the rod 7, so as to stably position the rod 7, the push plate 15 is pushed to move by starting the pressurizing electric push rod 13, at this time, the gas in the gas supplementing box 14 can be pushed into the buffer box 17 through the delivery pipe 16, so that the detection rod 18 can be driven to move through the sealing plate 26, when the detection rod 18 moves, the moving arm 20 can be driven to move under the transmission action of the two moving racks 22 and the rotating gear 23, and the moving arm 20 and the detection rod 18 move in the direction of approaching each other until the detection rod 18 is tightly contacted with the rod 7, so that the pressurizing electric push rod 13 can indirectly drive the moving arm 20 and the detection rod 18 to approach or separate from each other, the pressurizing electric push rod 13 and the detecting rod 18 have an indirect transmission connection relationship, and the polishing belt 33 can also be in close contact with the rod 7, when the polishing motor 30 is started, the polishing belt 33 can move at high speed through the support transmission of the two transmission rollers 32, that is, the rod 7 can be rubbed by the polishing belt 33, and the first support plate 29 and the second support plate 37 are respectively rotatably arranged with the machine arm support frame 24 through the support shafts 34 connected with the first support plate and the second support plate 37, so that the polishing belt 33 can rotate along with the change of the shape of the rod 7, so that the polishing belt 33 can be always attached to the rod 7, the support plate is driven to rotate by starting the driving motor 3, at the moment, the rod 7 can rotate, and when the support plate rotates, the gear ring 12 can be driven to rotate, so under the transmission matching of the two transmission gears 11, the two screws 10 can be synchronously rotated, and the support ring 5 can be driven to move upwards at the moment, when the support ring 5 moves and the rod 7 rotates, the rod 7 can be ground by the grinding belt 33, the pressure sensor 28 can detect the pressure of the detection rod 18 on the rod 7, the rod 7 is in a structure with a small top and a large bottom, therefore, when the detecting rod 18 moves upwards, the pressure is reduced, so that the pressure sensed by the pressure sensor 28 is reduced, at this time, a working instruction is sent to the pressurization electric push rod 13 to continuously push the push plate 15 to move, so that air can be supplied to the buffer tank 17, the pressure of the detecting rod 18 and the rod 7 is increased, under the matching of the two moving racks 22 and the rotating gear 23, the grinding belt 33 can also realize the compression grinding of the rod 7 under the same pressure;
among the plurality of moving arms 20, one side of the moving arm 20 at the position opposite to the detection rod 18 is fixedly provided with a moving rack 22, and the other moving arms 20 are not provided with the moving rack 22;
and set up three grinding machanisms of group among this technical scheme, wherein a plurality of grinding belt top-down are 400 meshes, 600 meshes and 800 meshes respectively, and be more than only limited to three grinding machanisms of group among this technical scheme, can increase or reduce as required, when polishing to pole piece 7 with this, can polish 7 pole pieces many times simultaneously, consequently, can guarantee the shaping of polishing of pole piece 7 once, consequently, compare in traditional manual mode polishing, this technical scheme has realized full automation operation, so can improve work efficiency, good convenience has.
Example 2
As shown in fig. 10, a deburring method for multiple robot arms includes the deburring device for multiple robot arms, and further includes the following steps:
s1: firstly, a rod piece 7 to be polished is inserted into a clamping cover 6;
s2: a high-speed camera on the inner side of the mounting frame 4 captures image information containing shape and position information of the rod member 7 to be polished and sends the image information to a data processor;
s3: the data processor controls the starting of the clamping electric push rod 8 to drive the positioning plate 9 to move downwards until the positioning plate 9 is tightly clamped with the top of the rod piece 7, so that the rod piece 7 is stably positioned;
s4: after the data processor receives image information of the rod 7 with accurate positioning, the data processor controls to start the pressurizing electric push rod 13 to push the push plate 15 to move, the gas in the gas supplementing box 14 is pushed into the buffer box 17 through the delivery pipe 16, the detection rod 18 is driven to move through the sealing plate 26 until the detection rod 18 is in close contact with the rod 7, and meanwhile, the grinding belt 33 is also in close contact with the rod 7;
s5: after the data processor receives the image information of the contact between the rod 7 and the detection rod 18 and the image information of the contact between the rod 7 and the polishing belt 33, the data processor controls to start the polishing motor 30, the polishing belt 33 moves at a high speed, the rod 7 is polished, and the calculation formula of the data processor controlling to start the polishing motor 30 is as follows:
wherein po represents the probability of the grinding motor 30 being started, and is greater than the threshold value for starting, otherwise, the grinding motor is not started; x is the image information of the bar 7 in contact with the feeler lever 18, y is the image information of the bar 7 in contact with the grinding belt 33, r is the number of blocks of the image division,
characterizing local image feature confidence, and taking value range [0,1 ]]； 
Representing the confidence coefficient of the overall image characteristics, and the value range [0,1 ]]； 
Representing the features extracted using the twin network of contrast loss training,
representing feature extraction from a segmented image; the advantage of adding the formula is that whether the grinding motor 30 is started or not can be automatically controlled, and if the condition of poor contact exists, the grinding motor 30 can be effectively prevented from being started;
s6: the data processor controls the clamping electric push rod 8 to stretch and retract, further controls the supporting ring 5 to lift, and when the supporting ring 5 lifts, the pressure detected by the pressure sensor 28 changes;
s7: the data processor sends a control signal to the pressurizing electric push rod 13, so as to adjust the positions of the detection rod 18 and the polishing belt 33 and the pressure of the polishing belt 33 on the rod 7, and further polish all parts of the rod 7.
The high-speed camera and the pressure sensor 28 are respectively and electrically connected with the data processor, and the data processor is respectively and electrically connected with the pressurization electric push rod 13, the driving motor 3 and the clamping electric push rod 18;
the high-speed camera and the pressure sensor 28 respectively transmit data to the data processor, and the data processor respectively controls the start and stop of the driving motor 3, the action of the pressurization electric push rod 13 and the action of the clamping electric push rod 18.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The deburring equipment for the multiple machine arms comprises a base (1) and is characterized in that a supporting cover (2) and a driving motor (3) are fixedly mounted at the top of the base (1) respectively, the driving motor (3) is located in the supporting cover (2), a mounting frame (4) is fixedly mounted at the top of the supporting cover (2), an output shaft of the driving motor (3) extends to the upper part of the supporting cover (2) and is fixedly provided with a supporting disc, a rod piece (7) is clamped at the top of the supporting disc, a supporting ring (5) is connected onto the mounting frame (4) in a sliding manner and is in transmission connection with the supporting disc (5), a pressurizing electric push rod (13) is fixedly mounted at the top of the supporting ring (5), the pressurizing electric push rod (13) is connected with a buffer box (17) through a pressurizing transmission assembly, and a detection rod (18) is in sliding connection with the inner wall of the buffer, moving arm (20) pass through the robot arm supporting component connect in on support ring (5), the one end fixed mounting of moving arm (20) has the subassembly of polishing, probe rod (18) with moving arm (20) set up respectively in the both sides of member (7), support ring (5) is run through in member (7).
2. The multi-robot-arm deburring equipment according to claim 1, characterized in that a clamping cover (6) is fixedly mounted at the top of the supporting disk, the bottom end of the rod piece (7) extends into the clamping cover (6) and is tightly attached to the inner wall of the clamping cover (6), a clamping electric push rod (8) is fixedly mounted at the top of the mounting rack (4), an output shaft of the clamping electric push rod (8) extends into the mounting rack (4) and is rotatably connected with a positioning plate (9), and the positioning plate (9) is tightly clamped with the top end of the rod piece (7).
3. The multi-robot-arm deburring device according to claim 1, characterized in that two screws (10) are symmetrically and rotatably connected to the inner wall of the top of the mounting frame (4), the two screws (10) both penetrate through the support ring (5) and extend below the support ring (5), the two screws (10) are both in threaded connection with the support ring (5), a transmission gear (11) is fixedly mounted at the bottom end of each screw (10), a toothed ring (12) is fixedly mounted at the top of the support ring, and the two transmission gears (11) are both located in the toothed ring (12) and are both meshed with the toothed ring (12).
4. Multi-robot arm deburring apparatus according to claim 1, characterized in that said booster drive assembly comprises a gas supplementing box (14), a push plate (15), a delivery pipe (16) and a buffer box (17), the top of the support ring (5) is respectively and fixedly provided with an air supplement box (14) and a buffer box (17), one end of the detection rod (18) extends into the buffer box (17) and is in sealed sliding connection with the inner wall of the buffer box (17), the output shaft of the supercharging electric push rod (13) extends into the air supplement box (14) and is fixedly provided with a push plate (15), the push plate (15) is connected with the inner wall of the air supply box (14) in a sealing and sliding way, the inner wall of one side of the air supply box (14) is fixedly provided with a conveying pipe (16), and one end of the conveying pipe (16) extends into the buffer tank (17) and is fixedly connected with the inner wall of one side of the buffer tank (17) in a sealing way.
5. The multi-robot-arm deburring apparatus according to claim 4, wherein a sealing plate (26) is connected to an inner wall of the buffer box (17) in a sealing and sliding manner, a mounting cover (27) is fixedly mounted on the sealing plate (26), one end of the detection rod (18) extends into the mounting cover (27) and is connected with the inner wall of the mounting cover (27) in a sliding manner, a pressure sensor (28) is fixedly mounted on an inner wall of one side of the mounting cover (27), and one end of the detection rod (18) is in movable contact with the pressure sensor (28).
6. The multi-robot-arm deburring device according to claim 1, characterized in that the robot arm supporting assembly comprises a limiting box (19), a sliding plate (36) and a return spring (25), the limiting box (19) is fixedly mounted at the top of the supporting ring (5), the other ends of the plurality of moving arms (20) extend to the limiting box (19) and are fixedly mounted with the sliding plate (36), the sliding plate (36) is slidably connected with the inner wall of the limiting box (19), the return spring (25) located in the limiting box (19) is sleeved on the moving arms (20), and two ends of the return spring (25) are respectively fixedly connected with the inner wall of one side of the limiting box (19) and one side of the sliding plate (36).
7. The de-burring apparatus for a multi-robot arm as claimed in claim 1, characterized in that one side of one of the moving arms (20) and one side of the feeler lever (18) are both fixedly mounted with a moving rack (22), and the top of the support ring (5) is rotatably connected with a rotating gear (23), the two moving racks (22) being respectively located on both sides of the rotating gear (23) and both engaging with the rotating gear (23).
8. The multi-robot-arm deburring apparatus of claim 1, wherein the grinding assembly comprises a robot arm support frame (24) fixedly mounted on one end of the moving arm (20), and support shafts (34) are rotatably connected to both sides of the robot arm support frame (24), the right end of the left support shaft (34) penetrates through the robot arm support frame (24) to be fixedly connected with the first support plate (29), and the left end of the right support shaft (34) penetrates through the robot arm support frame (24) to be fixedly connected with the second support plate (37);
the top of the first supporting plate (29) is rotatably connected with a rotating shaft (31), and the top of the second supporting plate (37) is fixedly provided with a grinding motor (30);
the output shaft of the grinding motor (30) and the top end of the rotating shaft (31) are fixedly provided with driving rollers (32), and the two driving rollers (32) are sleeved with the same grinding belt (33);
a torsion spring (35) is sleeved on the supporting shaft (34), and two ends of the torsion spring (35) are fixed to the outer surface of the machine arm supporting frame (24) and the outer end of the supporting shaft (34) respectively.
9. A multi-robot deburring method comprising the multi-robot deburring apparatus as claimed in claim 1, further comprising the steps of:
s1: firstly, a rod piece (7) to be polished is inserted into a clamping cover (6);
s2: a high-speed camera on the inner side of the mounting rack (4) captures image information containing shape and position information of a rod piece (7) to be polished and sends the image information to a data processor;
s3: the data processor controls the starting of the clamping electric push rod (8) to drive the positioning plate (9) to move downwards until the positioning plate (9) is tightly clamped with the top of the rod piece (7), so that the rod piece (7) is stably positioned;
s4: after the data processor receives image information of a rod piece (7) with accurate positioning, the data processor controls to start a pressurizing electric push rod (13) to push a push plate (15) to move, gas in a gas supplementing box (14) is pushed into a buffer box (17) through a conveying pipe (16), a detection rod (18) is driven to move through a sealing plate (26) until the detection rod (18) is in close contact with the rod piece (7), and meanwhile, a grinding belt (33) is also in close contact with the rod piece (7);
s5: after the data processor receives the image information of the contact between the rod piece (7) and the detection rod (18) and the image information of the contact between the rod piece (7) and the grinding belt (33), the data processor controls and starts the grinding motor (30), the grinding belt (33) moves at a high speed, the rod piece (7) is ground, and the calculation formula of the data processor for controlling and starting the grinding motor (30) is as follows:
wherein po represents the probability of starting the grinding motor (30), and is more than a threshold value, otherwise, the grinding motor is not started; x is the image information of the rod member (7) in contact with the detection rod (18), y is the image information of the rod member (7) in contact with the polishing belt (33), r is the number of blocks into which the image is divided,
characterizing local image feature confidence, and taking value range [0,1 ]]； 
Representing the confidence coefficient of the overall image characteristics, and the value range [0,1 ]]； 
Representing the features extracted using the twin network of contrast loss training,
representing feature extraction from a segmented image;
s6: the data processor controls the clamping electric push rod (8) to stretch and retract, further controls the supporting ring (5) to move up and down, and when the supporting ring (5) moves up and down, the pressure detected by the pressure sensor (28) changes;
s7: the data processor sends a control signal to the pressurizing electric push rod (13), so that the positions of the detection rod (18) and the polishing belt (33) and the pressure of the polishing belt (33) on the rod piece (7) are adjusted, and the rod piece (7) is polished everywhere.
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| CN114012590A (en) * | 2021-10-26 | 2022-02-08 | 桂传军 | Ceramic polishing machine based on energy conservation and environmental protection |
| CN114227435A (en) * | 2021-12-31 | 2022-03-25 | 南京天虹机械有限公司 | Automatic integral type scaffold frame metal fitting lateral part burring device that punches a hole |
| CN115229627A (en) * | 2022-09-23 | 2022-10-25 | 张家港海岸钛业有限公司 | Titanium alloy rod burnishing device with dust removal function |
| CN114227435B (en) * | 2021-12-31 | 2024-04-26 | 南京天虹机械有限公司 | Automatic integrated type scaffold metal fitting lateral part burring device that punches a hole |
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| CN114227435B (en) * | 2021-12-31 | 2024-04-26 | 南京天虹机械有限公司 | Automatic integrated type scaffold metal fitting lateral part burring device that punches a hole |
| CN115229627A (en) * | 2022-09-23 | 2022-10-25 | 张家港海岸钛业有限公司 | Titanium alloy rod burnishing device with dust removal function |
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