CN113144573A - Skis grinder system - Google Patents

Skis grinder system Download PDF

Info

Publication number
CN113144573A
CN113144573A CN202110536854.1A CN202110536854A CN113144573A CN 113144573 A CN113144573 A CN 113144573A CN 202110536854 A CN202110536854 A CN 202110536854A CN 113144573 A CN113144573 A CN 113144573A
Authority
CN
China
Prior art keywords
polishing
module
snowboard
detection
grinding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110536854.1A
Other languages
Chinese (zh)
Inventor
谭勇
苏辉南
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Nozoli Machine Tools Technology Co Ltd
Original Assignee
Shanghai Nozoli Machine Tools Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Nozoli Machine Tools Technology Co Ltd filed Critical Shanghai Nozoli Machine Tools Technology Co Ltd
Priority to CN202110536854.1A priority Critical patent/CN113144573A/en
Publication of CN113144573A publication Critical patent/CN113144573A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C11/00—Accessories for skiing or snowboarding
    • A63C11/04—Accessories for skiing or snowboarding for treating skis or snowboards
    • A63C11/06—Edge-sharpeners
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C11/00—Accessories for skiing or snowboarding
    • A63C11/04—Accessories for skiing or snowboarding for treating skis or snowboards
    • A63C11/08—Apparatus for waxing or dewaxing

Landscapes

  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The invention provides a snowboard grinding machine system which comprises a grinding station module, a defect detection module and a waxing and polishing module, wherein the grinding station module, the defect detection module and the waxing and polishing module are sequentially arranged according to the processing sequence of a snowboard; the grinding station module is used for grinding the side edges and the bottom edges of the snow boards; the defect detection module is used for detecting the defects of the polished snow plate; and the waxing and polishing module is used for waxing and polishing the snowboard. Through the station module of polishing, the defect detection module, the operation of polishing is carried out to the snowboard in proper order to waxing polishing module and roughness measurement module, the defect detection operation, waxing polishing operation and roughness measurement operation, and transport the snowboard through first robotic arm, second robotic arm and third robotic arm, help improving the effect of polishing to the snowboard, and degree of mechanization is high, help improving the efficiency of polishing to the snowboard, stability to snowboard processing is high simultaneously.

Description

Skis grinder system
Technical Field
The invention relates to the technical field of ski processing equipment, in particular to a ski grinding machine system.
Background
Skis are skiing sports equipment and generally comprise mountain boards, cross-country winter and winter two-item boards, jumping stands, free boards, single boards and the like. Generally, the snowboard is composed of a multilayer structure, including an elastic plate, a board core, a glass fiber composite material, a high polymer material bottom board, a metal edge and the like.
The skis need be polished to the skis in the course of working, and the mode of mostly adopting artifical polishing is polished the operation to the skis among the prior art, and it is poor, and is efficient to polish the quality.
Chinese patent with publication No. CN212700471U discloses a snowboard grinding and positioning device, which includes: bearing component, press from both sides tight locating component and fixed subassembly, bearing component includes the workstation, bear boss and a plurality of buffering elasticity strip, press from both sides tight locating component and include first splint, the second splint, first splint driving piece, the second splint driving piece, a plurality of first tight locating part of clamp and a plurality of second press from both sides tight locating part, fixed subassembly includes first sliding plate, the second sliding plate, first slip driving piece and second slip driving piece, first sliding plate slides respectively with the second sliding plate and sets up on bearing the boss, first slip driving piece is connected with first sliding plate, second slip driving piece is connected with the second sliding plate.
The inventor considers that the snowboard grinding equipment in the prior art has poor grinding effect and low grinding efficiency, and has a point to be improved.
Disclosure of Invention
In view of the deficiencies in the prior art, it is an object of the present invention to provide a snowboard grinding machine system.
The snowboard grinding machine system comprises a grinding station module, a defect detection module and a waxing and polishing module, wherein the grinding station module, the defect detection module and the waxing and polishing module are sequentially arranged according to the processing sequence of a snowboard; the grinding station module is used for grinding the side edges and the bottom edges of the snow boards; the defect detection module is used for detecting the defects of the polished snow plate; and the waxing and polishing module is used for waxing and polishing the snowboard.
Preferably, the polishing station module comprises a clamp module, a side blade polishing device and a bottom blade polishing device; the side edge polishing device is used for polishing the side edges of the snow boards installed on the clamp module, and the bottom edge polishing device is used for polishing the bottom edges of the snow boards installed on the clamp device.
Preferably, a first mechanical arm and a second mechanical arm are arranged on the side edge of the clamp module, the side edge polishing device is installed on the first mechanical arm, and the bottom edge polishing device is installed on the second mechanical arm.
Preferably, the defect detection module comprises a supporting device, a visual detection device and a detection clamp device; the detection fixture device is arranged on one side of the supporting device, the visual detection device is arranged on the supporting device in a sliding mode, and the visual detection device is located above the detection fixture device.
Preferably, the waxing and polishing module comprises a second feeding and discharging device, a polishing device and a wax spraying device, wherein the second feeding and discharging device is arranged on one side of the detection clamp device; the feeding and discharging device of the second is used for transferring the snowboards, the polishing device is used for polishing the bottom surfaces of the snowboards, and the wax spraying device is used for spraying wax to the snowboards.
Preferably, one side of the detection fixture device is movably provided with a third mechanical arm, the second feeding and discharging device and the polishing device are both mounted on the third mechanical arm, the third mechanical arm is used for switching the working states of the second feeding and discharging device and the polishing device, and the third mechanical arm does not allow the second feeding and discharging device and the polishing device to simultaneously operate one snowboard.
Preferably, the polishing device further comprises a roughness detection module, wherein the roughness detection module is positioned at the rear side of the waxing and polishing module and comprises a second supporting device, a roughness detection device and a second detection clamp device; the second detection clamp device is arranged on one side of the second supporting device, the roughness detection device is arranged on the second supporting device in a sliding mode, and the roughness detection device is located above the second detection clamp device.
Preferably, one side of roughness detection device is provided with unloading conveying station, one side of the station module of polishing is provided with the material loading station.
Preferably, a snowboard cache station is arranged between the polishing station module and the defect detection module.
Preferably, one side of the defect detection module is provided with a reject station.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the snow plate polishing machine, the snow plate is sequentially subjected to polishing operation, defect detection operation, waxing polishing operation and roughness detection operation through the polishing station module, the defect detection module, the waxing polishing module and the roughness detection module, and the snow plate is transferred through the first mechanical arm, the second mechanical arm and the third mechanical arm, so that the polishing effect on the snow plate is improved, the mechanical degree is high, the polishing efficiency on the snow plate is improved, and the processing stability on the snow plate is high;
2. according to the automatic feeding and discharging device, the first mechanical arm drives the feeding and discharging device and the side blade polishing device, and the second mechanical arm drives the bottom blade polishing device, so that automatic feeding and discharging of a snow board polishing station, polishing of the side blades of the snow board and polishing of the bottom blade of the snow board are achieved, polishing efficiency and polishing precision are improved, and the degree of automation is high;
3. the snow plate is transported by the second feeding and discharging device arranged on the third mechanical arm, the polishing operation is carried out on the snow plate clamped on the mounting clamp by the polishing power head group arranged on the third mechanical arm, and the working states of the second feeding and discharging device and the polishing power head group are switched by the third mechanical arm, so that the convenience of waxing and polishing the snow plate is improved, the waxing and polishing effects are improved, the automation degree is high, and the labor cost is reduced;
4. the roughness detection device slides on the second supporting device through the cooperation of the second supporting device, the roughness detection device and the second detection clamp device, so that the roughness detection device detects the roughness of a plurality of sites of the snowboard clamped on the second detection clamp device, the accuracy of the roughness detection of the snowboard is improved, the efficiency of the roughness detection of the snowboard is improved, and the degree of mechanization is high.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of the overall structure of a snowboard grinding machine system embodying the present invention;
FIG. 2 is a schematic view of the overall structure of a snow board grinding station mechanism embodying the present invention;
FIG. 3 is a schematic view of the overall structure of a fixture module according to the present invention;
FIG. 4 is a schematic view of the front overall structure of a fixture base according to the present invention;
FIG. 5 is a schematic view of the overall structure of the back of the base of the fixture according to the present invention;
FIG. 6 is a schematic view of the overall structure of a loading and unloading apparatus according to the present invention;
FIG. 7 is a schematic diagram of the overall structure of a defect detection module according to the present invention;
FIG. 8 is a schematic view of the overall structure of a driving assembly embodying the present invention;
FIG. 9 is a schematic view of the overall structure of a visual inspection apparatus according to the present invention;
FIG. 10 is a schematic view of the overall structure of the inspection fixture apparatus according to the present invention;
FIG. 11 is a schematic view of the overall structure of a waxing and polishing module according to the invention;
FIG. 12 is a schematic view of the overall structure of a second loading/unloading apparatus according to the present invention;
FIG. 13 is a schematic view of the overall structure of a roughness measurement module according to the present invention;
FIG. 14 is a schematic view of the overall structure of a second driving assembly embodying the present invention;
FIG. 15 is a schematic view of the overall structure of the roughness measurement device according to the present invention;
fig. 16 is a schematic view of the overall structure of the inspection jig device according to the present invention.
Shown in the figure:
Figure BDA0003070041560000041
Figure BDA0003070041560000051
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the snowboard grinding machine system according to the present invention includes a grinding station module 2, a defect detection module 3, a waxing and polishing module 5, and a roughness detection module 4, wherein the grinding station module 2, the defect detection module 3, the waxing and polishing module 5, and the roughness detection module 4 are sequentially disposed according to a processing sequence of a snowboard.
As shown in fig. 2, the polishing station module 2 includes a clamp module 11, a loading and unloading device 202, a side edge polishing device 203, and a bottom edge polishing device 204.
As shown in fig. 3, the jig module 11 includes a dust suction device 101 and a jig base 102, the dust suction device 101 is erected on the floor, the length direction of the dust suction device 101 is the same as the width direction of the grinding machine system production line, and the jig base 102 is horizontally installed on the upper side of the dust suction device 101. The side of the clamp base 102 facing away from the dust suction device 101 is fixedly provided with a positioning suction assembly, a circumferential clamping assembly 104 and a constant force supporting assembly 105.
As shown in fig. 4, the clamp base 102 is a rectangular thin plate structure with certain structural strength, and provides a mounting base for the positioning and suction assembly, the circumferential clamping assembly 104, and the constant force supporting assembly 105. The clamp base 102 is provided with three support frames 1021 through vertical fixed mounting of bolts, the support frames 1021 are fixedly mounted on one side of the clamp base 102 in the length direction at intervals, the height of the three support frames 1021 is gradually increased from the end part of the clamp base 102 to the middle part of the clamp base 102, one support frame 1021 is also fixedly mounted on the other side of the clamp base 102 in the length direction through vertical fixing of bolts, and the four support frames 1021 are located in the middle of the clamp base 102 in the width direction.
The positioning adsorption component comprises a first sucker 103, the upper sides of the four support frames 1021 of the first sucker 103 are respectively and fixedly provided with one, and the openings of the four suckers are arranged upwards. The heights of the first suckers 103 on the three support frames 1021 on one side of the length direction of the clamp base 102 are sequentially increased from outside to inside, and the arrangement of the three first suckers 103 is matched with the arc-shaped contour of the tail of the snowboard. The front end and the rear end of the snowboard are adsorbed and fixed by the cooperation of the four first suckers 103, so that the snowboard is installed on the clamp base 102, the positioning effect of the snowboard in the vertical direction is achieved, and the snowboard is positioned in a horizontal coordinate system.
As shown in fig. 4, the circumferential clamping assembly 104 includes three pneumatic clamps 1041 and three second suction cups 1042, the number of the pneumatic clamps 1041 is three at the middle of the clamp base 102 along the length direction of the clamp base 102 at intervals, the three pneumatic clamps 1041 are all located at the middle of the width direction of the clamp base 102, the heights of the three pneumatic clamps 1041 are all slightly higher than the highest first suction cup 103, and the moving directions of the three pneumatic clamps 1041 are all parallel to the width direction of the clamp base 102. After the snow board is adsorbed and fixed by the positioning and adsorbing assembly, the three pneumatic clamps 1041 work and clamp the left side and the right side of the snow board, so that the center line of the coordinate system of the snow board is positioned.
The second suction cups 1042 are fixed to the middle of one side of the pneumatic clamp 1041 along the length direction of the clamp base 102 through bolts and nuts, the mouths of the second suction cups 1042 are arranged upward, and the height of the mouths of the second suction cups 1042 is slightly lower than that of the pneumatic clamp 1041. By means of the second sucking discs 1042 fixedly installed on the pneumatic clamp 1041, the snowboard is clamped by the pneumatic clamp 1041 and simultaneously adsorbed by the second sucking discs 1042, and positioning and strengthening of the snowboard are achieved.
As shown in fig. 4, the constant force supporting assembly 105 includes a supporting cylinder 1051, a third suction cup 1052 and a supporting plate 1053, two supporting cylinders 1051 are installed between any two adjacent pneumatic clamps 1041 at intervals through bolts, and one supporting cylinder 1051 is fixedly installed at one side end of the clamp base 102 where one supporting frame 1021 is installed through bolts. The supporting plates 1053 are arranged on the supporting cylinders 1051 at the end parts of the clamp base 102 in the length direction, and the supporting cylinders 1051 adjacent to the supporting cylinders 1051 are respectively provided with one supporting plate through vertical fixed mounting of bolts, the tops of the two supporting plates 1053 are in contact fit with the snowboard, the upper sides of the supporting plates 1053 at the end parts of the clamp base 102 in the length direction are provided with arc-shaped parts 1054, and the arc-shaped parts 1054 are in contact fit with the front ends of the snowboard.
The third suction cup 1052 is fixedly mounted on the other three supporting cylinders 1051 respectively, and the openings of the three third suction cups 1052 are arranged upwards. After the circumferential clamping assembly 104 clamps the snow plate, the supporting cylinder 1051 is activated, the three third suckers 1052 and the two supporting plates 1053 gradually move upwards under the action of the corresponding supporting cylinders 1051 and contact with the snow plate, and when the upward acting force of the two supporting plates 1053 on the snow plate reaches the rated acting force, the supporting cylinder 1051 stops.
Further, in order to protect the snowboard, the situation that the snowboard is damaged due to the contact with the positioning adsorption assembly, the circumferential clamping assembly 104 and the constant-force supporting assembly 105 is reduced, and the tops of the two supporting plates 1053 are all wrapped with the rounded arc corners made of nylon. In order to further improve the stability of the positioning and adsorbing assembly, the circumferential clamping assembly 104 and the constant force supporting assembly 105 for adsorbing and fixing the snowboard, the first suction cup 103, the second suction cup 1042 and the third suction cup 1052 all adopt a micro-direction guiding and adsorbing structure.
As shown in fig. 3, fig. 4 and fig. 5, the dust collection device 101 includes a dust collection sheet metal frame 1011, the dust collection sheet metal frame 1011 is located at the top of the dust collection device 101, a positioning pin 106 is connected between the clamp base 102 and the dust collection sheet metal frame 1011, the positioning pin 106 sequentially penetrates through a pin hole in the clamp base 102 and a pin hole in the dust collection sheet metal frame 1011 from top to bottom, the positioning pin 106 is in transition fit with the clamp base 102 and the dust collection sheet metal frame 1011 respectively, and one positioning pin 106 is installed at four corners of the clamp base 102 respectively, and the positioning installation of the clamp base 102 and the dust collection sheet metal frame 1011 is realized by means of the four positioning pins 106. The clamp base 102 and the dust collection sheet metal frame 1011 are fixedly connected through the fixing bolts, so that the installation tightness and reliability of the clamp base 102 and the dust collection sheet metal frame 1011 are improved.
As shown in fig. 2 and 6, the first robot arm 205 is fixedly mounted on one side of the dust suction device 101 in the width direction, and the first fixing base 206 is connected between the first robot arm 205 and the floor surface, so that the first robot arm 205 is stably and reliably mounted on one side of the dust suction device 101. The first robot 205 is a six-degree-of-freedom robot, and the first robot 205 can realize automatic operation in six degrees of freedom by a built-in program module.
Both the loading and unloading device 202 and the side edge grinding device 203 are mounted on the first robot arm 205, and the loading and unloading device 202 comprises a bracket 212, an adsorption assembly 222 and a clamping assembly. The bracket 212 is a long-strip-shaped metal structure and has certain structural strength, the bracket 212 is a mounting base of the adsorption assembly 222 and the clamping assembly, and the middle part of the bracket 212 is horizontally and fixedly mounted on a rotating shaft at the tail end of the first mechanical arm 205. The suction assembly 222 includes a fourth suction cup 2221 and a driving cylinder 2222, the cylinder body of the driving cylinder 2222 is fixedly mounted on the lower side wall of the support 212, the piston rod of the driving cylinder 2222 is vertically arranged, and the piston rod of the driving cylinder 2222 moves towards the direction far away from or close to the support 212. The fourth suction cup 2221 is fixedly mounted on the end of the piston rod of the driving cylinder 2222, and the opening of the fourth suction cup 2221 faces away from the bracket 212.
When the first mechanical arm 205 drives the loading and unloading device 202 to work, the driving cylinder 2222 is started to drive the fourth suction cup 2221 to move downwards, and the fourth suction cup 2221 adsorbs the snowboard to be grabbed. In order to improve the stability of the fourth suction cup 2221 in sucking the snowboard. The adsorption component 222 has three groups at the middle part of the bracket 212 at equal intervals, the three groups of adsorption components 222 arranged at intervals work together to adsorb the snowboard to be grabbed, and the adsorption points at three intervals improve the stability and reliability of the adsorption component 222 for adsorbing the snowboard.
The clamping component is a second pneumatic clamp 232, one of the three groups of adsorption components 222 on the lower side wall of the bracket 212 is fixedly mounted on one side of the second pneumatic clamp 232, two of the three groups of adsorption components 222 on the lower side wall of the bracket 212 are fixedly mounted on the other side of the second pneumatic clamp 232 at intervals, and clamping openings of the three second pneumatic clamps 232 are deviated from the bracket 212. After the adsorption component 222 adsorbs the snowboard, the piston rod of the driving cylinder 2222 contracts, the snowboard moves to the clamping openings of the three second pneumatic clamps 232 along with the fourth sucking discs 2221, the three second pneumatic clamps 232 operate simultaneously to clamp the snowboard, and the stability of the loading and unloading device 202 for grabbing the snowboard is improved. In order to reduce the damage caused by the contact between the snowboard and the second pneumatic clamp 232, the contact parts of the three second pneumatic clamps 232 and the snowboard are all coated with a protective block made of nylon.
Further, in order to improve the accuracy that unloader 202 snatchs the snowboard, fixed mounting has inductive switch 242 on the lower lateral wall of support 212, and inductive switch 242 is used for detecting the inductive signal of snowboard, and inductive switch 242 installs five along the length direction interval of support 212 on support 212, and five inductive switch 242 distribute in the both ends and the middle part of support 212 to can detect the signal of the snowboard of different length.
As shown in fig. 2 and 6, the side edge grinding device 203 includes a side edge grinding head 213 and a side edge grinding shaft 223, and the side edge grinding shaft 223 is vertically fixed at the middle of the upper side of the bracket 212. The side edge grinding head 213 is a hard CBN grinding wheel, the side edge grinding head 213 is coaxially and fixedly installed on the side edge grinding shaft 223, and the side edge grinding head 213 is driven by a motor on the first mechanical arm 205, so that the side edge grinding head 213 is driven to rotate to carry out grinding operation.
The rotation of the tail end rotating shaft on the first mechanical arm 205 is controlled by a built-in software module, so that the up-and-down position exchange of the feeding and discharging device 202 and the side blade polishing device 203 is realized, and the switching of two working states of feeding and discharging operation and side blade polishing operation is realized.
As shown in fig. 2, a second robot arm 207 is fixedly installed on the other side of the dust suction device 101 in the width direction, and a second fixing base 208 is connected between the second robot arm 207 and the ground, so that the second robot arm 207 is stably and reliably installed on the side of the dust suction device 101. The second robot 207 is a six-degree-of-freedom robot, and the second robot 207 can perform automatic operation in six degrees of freedom by means of a built-in program module.
The bottom edge grinding device 204 is fixedly installed at the end of the second mechanical arm 207, the bottom edge grinding device 204 comprises a rough grinding head 214, a fine grinding head 224 and a bottom edge grinding shaft 234, and the bottom edge grinding shaft 234 is vertically and rotatably installed at the end of the second mechanical arm 207. The rough grinding heads 214 are used for grinding abrasive paper, the rough grinding heads 214 are coaxially and fixedly installed at the top end of the bottom edge grinding shaft 234, the fine grinding heads 224 are hard CBN grinding wheels, the fine grinding heads 224 are coaxially and fixedly installed at the bottom end of the bottom edge grinding shaft 234, the bottom edge grinding shaft 234 is driven by a motor on the second mechanical arm 207, the bottom edge grinding shaft 234 rotates to drive the rough grinding heads 214 and the fine grinding heads 224 to rotate, and then the second mechanical arm 207 is controlled to move along a specific program track through a program module arranged in the second mechanical arm 207, so that rough grinding and fine grinding of the snow plate base plate installed on the clamp module 11 are achieved.
As shown in fig. 1 and 7, the defect detection module 3 is fixedly installed on the ground behind the first robot 205, the polishing station module 2 and the defect detection module 3 are arranged at an interval, and a snow plate buffer station 601 is formed between the polishing station module 2 and the defect detection module 3. The snowboard polished by the polishing station module 2 is placed in the snowboard buffer station 601 by controlling the feeding and discharging device 202 through the first mechanical arm 205, so as to facilitate the next process. The defect detection module 3 comprises a supporting device 301, a visual detection device 302 and a detection clamp device 303, wherein the supporting device 301 and the detection clamp device 303 are both erected on the ground, the length direction of the supporting device 301 is the same as the length direction of the production line of the grinding machine system, and the detection clamp device 303 is positioned on one side of the supporting device 301 close to the first mechanical arm 205 in the width direction. The visual inspection device 302 is slidably mounted on the supporting device 301, the sliding direction of the visual inspection device 302 is the same as the length direction of the supporting device 301, and the visual inspection device 302 is located above the inspection fixture device 303.
As shown in fig. 7, the supporting device 301 includes a supporting base 3011 and a moving track 3012, the supporting base 3011 stands on the ground, the moving track 3012 is laid on the top of the supporting base 3011, the length direction of the moving track 3012 is the same as the length direction of the supporting base 3011, and two moving tracks 3012 are laid on the top of the supporting base 3011 at intervals, so as to provide a mounting base for the visual inspection device 302.
As shown in fig. 8 and 9, the vision inspection apparatus 302 includes a vision instrument 3021 and a mounting plate 3022, the mounting plate 3022 is horizontally mounted on the two moving rails 3012 and slidably engages with the two moving rails 3012, respectively, and the two moving rails 3012 allow the mounting plate 3022 to perform a horizontal sliding movement along the length direction thereof. A driving assembly 304 for driving the vision detection device 302 to move on the support base 3011 is installed between the support device 301 and the vision detection device 302, the driving assembly 304 includes a driving motor 3041, a gear 3042 and a rack 3043, the driving motor 3041 is fixedly installed on the installation plate 3022 through a bolt, and an output shaft of the driving motor 3041 is horizontally arranged and extends out of the installation plate 3022. The gear 3042 is coaxially and fixedly installed at an end of an output shaft of the driving motor 3041, the rack 3043 is horizontally and fixedly installed at the top of the supporting base 3011, the rack 3043 is located on one side of the supporting base 3011 away from the detection fixture device 303, the rack 3043 is parallel to the two moving tracks 3012, and the rack 3043 is engaged with the gear 3042.
The driving motor 3041 starts to drive the gear 3042 to rotate, and by means of the engagement between the rack 3043 fixedly mounted on the supporting base 3011 and the gear 3042 mounted at the end of the output shaft of the driving motor 3041, the mounting plate 3022 slides on the two moving tracks 3012 along the length direction of the moving tracks 3012, so that the horizontal sliding movement of the visual inspection device 302 on the supporting device 301 is realized.
An instrument fixing rack 3023 is connected between the visual instrument 3021 and the mounting plate 3022, and the instrument fixing rack 3023 is a metal rack body, has a certain structural strength, and provides a mounting base for the visual instrument 3021. The instrument fixing frame 3023 includes a horizontal portion and a vertical portion, the horizontal portion is integrally formed at both ends of the vertical portion, the horizontal portion located at the upper side extends from the connection with the vertical portion to the side close to the detection jig device 303, and the horizontal portion located at the lower side extends from the connection with the vertical portion to the side away from the detection jig device 303.
The vision instrument 3021 is suspended and fixed to the lower side of the horizontal portion on the upper side by bolts, and the horizontal portion on the lower side is movably mounted on a mounting plate 3022, the mounting plate 3022 allowing the instrument mount 3023 to make a sliding movement thereon. The mounting plate 3022 is horizontally and fixedly mounted with a second driving cylinder 305 through a bolt, the extending and contracting direction of the output shaft of the second driving cylinder 305 is perpendicular to the length direction of the moving track 3012, and the end of the output shaft of the second driving cylinder 305 is fastened and connected with the instrument fixing frame 3023. The second driving cylinder 305 is started, and the driving instrument fixing frame 3023 horizontally slides on the mounting plate 3022 in the direction perpendicular to the moving track 3012, so as to drive the vision instrument 3021 to horizontally slide in the direction perpendicular to the moving track 3012, thereby improving the convenience of adjusting the position of the vision instrument 3021 by a worker.
A solenoid valve 306 is fixedly mounted on the mounting plate 3022, the solenoid valve 306 is electrically connected to the second driving cylinder 305, and the solenoid valve 306 is used for controlling the opening, closing and movement of the second driving cylinder 305.
When the vision instrument 3021 is in operation, the scanner on the vision instrument 3021 scans the snow board fixedly mounted on the detection clamp, and the vision instrument 3021 divides the snow board into three to five regions, preferably four regions, and drives the vision instrument 3021 to move along the length direction of the moving track 3012 by the cooperation of the driving motor 3041, the gear 3042 and the rack 3043, so as to scan the four regions on the snow board one by one. When the scanner on the vision instrument 3021 performs the scanning operation, each area is divided into a plurality of blocks, each block is at an interval of 0.5mm, the intervals are distinguished by lines, the scanner transmits the scanning result to the processing module of the vision instrument 3021 for processing, and the processing module calculates the difference between the minimum value and the maximum value of the lines. And when the difference value between the minimum value and the maximum value of the lines is less than or equal to 0.4mm, the snow board is qualified, when the difference value between the minimum value and the maximum value of the lines is greater than 0.4mm, the snow board is unqualified, and the number of unqualified areas of the snow board is less than 10 and is discontinuous, the snow board is qualified, and when the number of unqualified areas of the snow board is greater than 10 or is continuously adjacent, the snow board is unqualified. Therefore, whether the ground bottom surface of the snowboard is completely ground or not is detected, or whether the bottom surface of the snowboard has defects such as pits and cracks or not is judged.
As shown in fig. 10, the inspection fixture device 303 includes an inspection fixture base 3031, a support suction cup 307, a pneumatic suction assembly 308, and a pneumatic support assembly 309. The detection jig base 3031 stands on one side of the support base 3011 in the width direction, the longitudinal direction of the detection jig base 3031 is parallel to the longitudinal direction of the support base 3011, and the height of the detection jig base 3031 is smaller than the height of the support base 3011. The support suction cup 307, the pneumatic suction assembly 308 and the pneumatic support assembly 309 are all fixedly mounted on the upper sidewall of the detection clamp base 3031.
The supporting suction cup 307 includes a second support frame 3071 and a sixth suction cup 3072, the second support frame 3071 is vertically and fixedly mounted on the upper sidewall of the detection clamp base 3031 by bolts, and seven second support frames 3071 are fixedly mounted on the detection clamp base 3031 at intervals along the length direction of the detection clamp base 3031. The sixth sucking discs 3072 are fixedly mounted on the upper side of any one second supporting frame 3071, and the mouths of the seven sixth sucking discs 3072 are arranged upwards.
Three groups of pneumatic adsorption assemblies 308 are arranged on the detection clamp base 3031 at intervals along the length direction of the detection clamp base 3031, one pneumatic adsorption assembly 308 is positioned on one side of the detection clamp base 3031 in the length direction, and the remaining two pneumatic adsorption assemblies 308 are positioned in the middle of the detection clamp base 3031 and are arranged at adjacent intervals. Three groups of supporting suction cups 307 are arranged between the pneumatic adsorption component 308 positioned on one side of the length direction of the detection clamp base 3031 and the pneumatic adsorption component 308 positioned in the middle of the detection clamp base 3031, and the three groups of pneumatic adsorption components 308 are arranged at intervals with the supporting suction cups 307.
Since the three sets of pneumatic suction assemblies 308 have the same components, structure and installation manner, the following description will be given by taking one set of pneumatic suction assemblies 308 as an example: pneumatic adsorption component 308 includes first cylinder 3081 and fifth sucking disc 3082, and first cylinder 3081 fixed mounting is on the roof of detecting fixture base 3031, and the piston rod of first gas thick stick is vertical setting, and fifth sucking disc 3082 fixed mounting is at the tip of first cylinder 3081 piston rod, and the dish mouth of fifth sucking disc 3082 sets up.
Four sets of the pneumatic support assemblies 309 are arranged on the detection clamp base 3031 at intervals along the length direction of the detection clamp base 3031, and one of the pneumatic support assemblies 309 is fixedly installed at one side end of the detection clamp base 3031 where the pneumatic adsorption assembly 308 is located. The two sets of pneumatic support assemblies 309 are arranged at intervals with the three support suckers 307 close to the pneumatic support assembly 309 at the end of the detection clamp base 3031, the other pneumatic support assembly 309 is arranged between the second support sucker 307 and the third support sucker 307 at the other end of the detection clamp base 3031, and the four pneumatic support assemblies 309 are arranged at intervals with any one of the support suckers 307 and any one of the drive suction assemblies.
Since the four sets of pneumatic support assemblies 309 have the same components, structure and installation, the description will be given by taking the set of pneumatic support assemblies 309 as an example: pneumatic supporting component 309 includes second cylinder 3091 and second backup pad 3092, and second cylinder 3091 fixed mounting is on the top of detecting fixture base 3031, and second cylinder 3091's piston rod is vertical setting, and second backup pad 3092 passes through the upper end of the vertical fixed mounting of bolt at second cylinder 3091 piston rod. In order to reduce the damage of the snowboard caused by the contact of the second support plate 3092 with the snowboard, the upper end of the second support plate 3092 is made of nylon.
When the snow plate is mounted on the detection clamp device 303, the seven sixth suction cups 3072 on the seven supporting suction cups 307 operate to adsorb the snow plate at the same time, then the three first air cylinders 3081 and the four second air cylinders 3091 are started, and the three fifth suction cups 3082 and the four second supporting plates 3092 are driven to move upwards respectively until the three fifth suction cups 3082 adsorb the snow plate, the four second supporting plates 3092 are in contact fit with the snow plate, the mounting is finished, at this time, the seven sixth suction cups 3072 and the three fifth suction cups 3082 have downward acting force on the snow plate, and the four second supporting plates 3092 have upward acting force on the snow plate. The combination of the upward and downward forces stabilizes the snowboard on the test fixture device 303 and causes the length of the snowboard mounted on the test fixture device 303 to be the same direction as the length of the test fixture base 3031, thereby improving the ease of testing the snowboard as the vision instrument 3021 moves along the length of the test fixture base 3031.
As shown in fig. 11, the polishing detection module 5 includes a mounting fixture, a second loading and unloading device 501, a polishing device, and a wax spraying device. The mounting fixture is erected on the ground, and the second loading and unloading device 501, the polishing device and the wax spraying device are all mounted on the ground on the side edge of the mounting fixture.
As shown in fig. 11 and 12, a ground rail set 504 is laid on the ground on the side of the supporting device 301 facing away from the detection fixture device 303, the length direction of the ground rail set 504 is parallel to the length direction of the detection fixture device 303, a third robot arm 5041 is movably mounted on the ground rail set 504, and the ground rail set 504 allows the third robot arm 5041 to reciprocate along the length direction of the ground rail set. The third robot arm 5041 is a six degree of freedom robot arm, and the third robot arm 5041 has five joints. Both the second loading and unloading device 501 and the polishing device are fixedly mounted on a rotating shaft at the end of the third robot arm.
The second loading and unloading device 501 includes a second bracket 5011, a second suction element 505, and a second clamping element. The second holder 5011 is a long metal structure and has a certain structural strength, the second holder 5011 is a mounting base for the second adsorption module 505 and the second clamping module, and the middle of the second holder 5011 is horizontally and fixedly mounted on the rotation shaft at the end of the third robot 5041. The second adsorption assembly 505 includes a ninth chuck 5051 and a ninth driving cylinder 5052, the cylinder body of the ninth driving cylinder 5052 is fixedly mounted on the lower side wall of the second bracket 5011, the piston rod of the ninth driving cylinder 5052 is vertically arranged, and the piston rod of the ninth driving cylinder 5052 moves in a direction away from or close to the second bracket 5011. A ninth sucker 5051 is fixedly mounted at the end of the piston rod of the ninth drive cylinder 5052, and the mouth of the ninth sucker 5051 faces away from the second bracket 5011.
The third mechanical arm 5041 controls the rotation shaft at the tail end to rotate so as to switch the second loading and unloading device 501 to a working state, the ninth driving air cylinder 5052 is started, and the ninth sucking disc 5051 is driven to move downwards, so that the ninth sucking disc 5051 adsorbs the snowboard to be grabbed. In order to improve the stability of the ninth suction cup 5051 in sucking the snowboard. The second adsorption component 505 has three groups at the middle part of the second bracket 5011 at equal intervals, the three groups of second adsorption components 505 arranged at intervals jointly operate to adsorb the snowboard to be grabbed, adsorption points are obtained at three intervals, and the stability and reliability of the second adsorption component 505 for adsorbing the snowboard are improved.
The second clamping component is a fourth pneumatic clamp 5012, one of the fourth pneumatic clamp 5012 is fixedly arranged on one side of the three groups of second adsorption components 505 on the lower side wall of the second support 5011, two of the fourth pneumatic clamp 5012 are fixedly arranged on the other side of the three groups of second adsorption components 505 on the lower side wall of the second support 5011 at intervals, and clamping openings of the three fourth pneumatic clamps 5012 are deviated from the second support 5011. After the second adsorption component 505 adsorbs the snowboard, the piston rod of the ninth driving cylinder 5052 contracts, the snowboard moves into the clamping openings of the three fourth pneumatic clamps 5012 along with the ninth sucker 5051, the three fourth pneumatic clamps 5012 work simultaneously to clamp the snowboard, and the stability of the second loading and unloading device 501 for grabbing the snowboard is improved. In order to reduce the damage caused by the contact between the snowboard and the fourth pneumatic clamp 5012, the contact parts of the three fourth pneumatic clamps 5012 and the snowboard are all coated with nylon protective blocks.
Further, in order to improve the accuracy of the second loading and unloading device 501 in grabbing the snow boards, the second inductive switches 5013 are fixedly mounted on the lower side wall of the second support 5011, the second inductive switches 5013 are used for detecting inductive signals of the snow boards, five second inductive switches 5013 are mounted on the second support 5011 at intervals along the length direction of the second support 5011, and the five second inductive switches 5013 are distributed at two ends and the middle of the second support 5011, so that signals of the snow boards with different lengths can be detected.
As shown in fig. 12, the polishing device is a polishing power head set 502, the polishing power head set 502 comprises a rotating shaft 5021 and a polishing wheel 5022, the rotating shaft 5021 is vertically and rotatably mounted in the middle of one side of the second bracket 5011 facing away from the second adsorption assembly 505, and the polishing wheel 5022 is coaxially and tightly mounted at one end of the rotating shaft 5021 far away from the second adsorption assembly 505. The third mechanical arm 5041 controls the rotation of the rotating shaft at the tail end of the third mechanical arm to switch the polishing device to a working state, and the power source on the third mechanical arm drives the rotating shaft 5021 to rotate, so that the polishing wheel 5022 is driven to rotate, and the polishing operation of the polishing wheel 5022 on the snowboard mounted on the detection clamp device 303 is further achieved.
The third robot arm 5041 slides on the ground rail group 504 along the track of the ground rail group 504, and grabs the snow plate stored in the snow plate buffer station 601 through the second vertical feeding device 501, and clamps the snow plate polished by the polishing station module 2 onto the detection clamp device 303, and detects the snow plate by the vision instrument 3021.
A defective station 602 is formed on the ground surface of the side of the ground rail group 504 facing away from the supporting device 301, and the defective product is detected by the vision instrument 3021, and the second loading and unloading device 501 is controlled by the third robot arm 5041 to be grabbed from the detection fixture device 303 and placed in the defective station 602. The qualified product is detected by the vision instrument 3021, and the second loading and unloading device 501 is controlled by the third robot arm 5041 to pick the qualified product from the detection fixture device 303, and the next process is performed.
As shown in fig. 11, a polishing wheel magazine 506 is vertically and fixedly installed on the ground between the polishing station module 2 and the defect detecting module 3, a plurality of polishing wheels 5022 are stored in the polishing wheel magazine 506, the transverse distance between the polishing wheel magazine 506 and the ground rail set 504 is 416mm, and the vertical distance between the polishing wheel magazine 506 and the ground rail set 504 is 866 mm. When the third robot 5041 brings the polishing power head group 502 to the polishing wheel library 506, the polishing wheels 5022 on the polishing power head group 502 can be replaced. The ground between the polishing station module 2 and the defect detection module 3 is also vertically provided with a wax spraying device, the wax spraying device is a wax spraying group 503, the transverse distance between the wax spraying group 503 and the ground rail group 504 is 803mm, and the vertical distance between the wax spraying group 503 and the ground rail group 504 is 1254 mm.
The qualified snowboard is detected by the defect detection module 3, and the second loading and unloading device 501 is controlled by the third mechanical arm 5041 to grab and move to the nozzle of the wax spraying group 503 for wax spraying operation. Then, the third mechanical arm 5041 controls the second loading and unloading device 501 to install the snow boards subjected to wax spraying on the detection fixture device 303, then the third mechanical arm 5041 switches the polishing power head group 502 to a working state and performs polishing operation on the snow boards installed on the detection fixture device 303, and then the third mechanical arm 5041 switches the second loading and unloading device 501 to a working state to grab the snow boards subjected to polishing operation on the detection fixture device 303 and transfer the snow boards to the roughness detection module 4 for roughness detection.
As shown in fig. 1 and 13, the roughness detecting module 4 includes a second supporting device 401, a roughness detecting device 402, and a second detecting jig device 403, both the second supporting device 401 and the second detecting jig device 403 are erected on the ground, and the second detecting jig device 403 is located on one side in the width direction of the second supporting device 401. The roughness detection device 402 is slidably mounted on the second support device 401, the sliding direction of the roughness detection device 402 is the same as the length direction of the second support device 401, and the roughness detection device 402 is located above the second detection clamp device 403.
As shown in fig. 13, the second supporting device 401 includes a second supporting base 4011 and a second moving rail 4012, the second supporting base 4011 stands on the ground, the second moving rail 4012 is laid on the top of the second supporting base 4011, and the length direction of the second moving rail 4012 is the same as the length direction of the second supporting base 4011. Two second moving rails 4012 are laid on the top of the second support base 4011 at intervals, the two second moving rails 4012 are used as an installation base of the roughness detection device 402, and the two second moving rails 4012 have a guiding function, so that the roughness detection device 402 can slide on the second support base 4011 in a reciprocating manner along the length direction of the second support base 4011.
As shown in fig. 14 and 15, the roughness detecting apparatus 402 includes a roughness meter 4021, a second mounting plate 4022, and a roughness terminal box 4023. The second mounting plate 4022 is horizontally mounted above the two second moving rails 4012 at the same time. The second mounting plates 4022 are respectively matched with the two second moving rails 4012 in a sliding manner, and the two second moving rails 4012 allow the second mounting plates 4022 to perform horizontal sliding movement along the length direction of the second mounting plates 4022. A second driving assembly 404 is installed between the second supporting device 401 and the roughness detecting device 402, and the second driving assembly 404 drives the roughness detecting device 402 to move on the second supporting base 4011 along the length direction of the second moving rail 4012.
The second driving assembly 404 includes a second driving motor 4041, a second gear 4042 and a second rack 4043, the body of the second driving motor 4041 is fixedly mounted on the second mounting plate 4022, and the output shaft of the second driving motor 4041 is horizontally disposed and extends out of the second mounting plate 4022. The second gear 4042 is coaxially and fixedly mounted at the end of the output shaft of the second driving motor 4041, the second rack 4043 is horizontally and fixedly mounted at the top of the second supporting base 4011, and the second rack 4043 is located on one side of the second supporting base 4011 far away from the second detection fixture device 403. The length direction of the second rack 4043 is the same direction as the length direction of the two second moving rails 4012, and the second rack 4043 is engaged with the second gear 4042.
The second driving motor 4041 is started to drive the second gear 4042 to rotate, and the second mounting plate 4022 horizontally reciprocates in the sliding manner on the second supporting base 4011 along the length direction of the second moving rail 4012 by means of the engagement of the second rack 4043 fixedly mounted on the second supporting base 4011 and the second gear 4042 mounted at the tail end of the output shaft of the second driving motor 4041.
A movement adjusting device 405 is installed between the coarseness gauge 4021 and the second mounting plate 4022, and the movement adjusting device 405 includes a first slide rail 4051, a second slide rail 4052, a third slide rail 4053, a first driving electric cylinder 4054, a second driving electric cylinder 4055, and a third driving electric cylinder 4056. The first slide rail 4051 is horizontally and fixedly mounted on the top wall of the second mounting plate 4022 by a bolt, and the length direction of the first slide rail 4051 is the same as the length direction of the second moving rail 4012. The first driving electric cylinder 4054 is fixedly mounted on the first sliding rail 4051, and the extending and retracting direction of the piston rod of the first driving electric cylinder 4054 is the same as the length direction of the first sliding rail 4051.
The second sliding rail 4052 is slidably mounted on the first sliding rail 4051, the length direction of the second sliding rail 4052 and the length direction of the first sliding rail 4051 are horizontally and vertically arranged, and the first sliding rail 4051 allows the second sliding rail 4052 to slide along the length direction of the first sliding rail 4051. In order to realize the reciprocating motion of the second sliding rail 4052 on the first sliding rail 4051, the bottom of the second sliding rail 4052 is fixedly connected to the end of the piston rod of the first driving electric cylinder 4054, and the first driving electric cylinder 4054 is activated, so as to drive the second sliding rail 4052 to make reciprocating sliding motion on the first sliding rail 4051 along the length direction of the first sliding rail 4051. The second driving electric cylinder 4055 is fixedly mounted on the second sliding rail 4052, and the extending and retracting direction of the piston rod of the second driving electric cylinder 4055 is the same as the length direction of the second sliding rail 4052.
The third slide rail 4053 is slidably mounted on the second slide rail 4052, the length direction of the third slide rail 4053 and the length direction of the first slide rail 4051 are vertically perpendicular, and the second slide rail 4052 allows the third slide rail 4053 to slide along the length direction of the second slide rail 4052. In order to realize the reciprocating motion of the third sliding rail 4053 on the second sliding rail 4052, the bottom of the third sliding rail 4053 is fixedly connected to the end of the piston rod of the second driving electric cylinder 4055, and the second driving electric cylinder 4055 is activated, so as to drive the third sliding rail 4053 to make reciprocating sliding motion on the second sliding rail 4052 along the length direction of the second sliding rail 4052. The third driving electric cylinder 4056 is fixedly mounted on the third sliding rail 4053, and the extending and retracting direction of the piston rod of the third driving electric cylinder 4056 is the same as the length direction of the third sliding rail 4053.
Slidable mounting has second mounting bracket 409 on third slide rail 4053, and second mounting bracket 409 is vertical setting, and the length direction of second mounting bracket 409 and first slide rail 4051's length direction syntropy, and third slide rail 4053 is stretched out to one side of second mounting bracket 409 length direction. The end of the piston rod of the third driving electric cylinder 4056 is fixedly connected to the second mounting bracket 409, and the third driving electric cylinder 4056 is activated to drive the second mounting bracket 409 to perform reciprocating sliding motion along the length direction of the third sliding rail 4053. The coarseness meter 4021 is horizontally and fixedly installed on one side, departing from the third slide rail 4053, of the second installation rack 409 through bolts, the detection end of the coarseness meter 4021 extends out of the second installation rack 409, and one end, extending out of the second installation rack 409, of the coarseness meter 4021 extends into the upper part of the second detection clamp device 403.
Roughness terminal box 4023 fixed mounting is in the middle part of second support base 4011 length direction, and roughness terminal box 4023 passes through the wire and is connected with roughness appearance 4021 electricity, and roughness terminal box 4023 does not interfere the length direction motion of roughness appearance 4021 along second slide rail 4052 on second support base 4011, detects the roughness of the snowboard surface that awaits measuring by the cooperation of roughness appearance 4021 and roughness terminal box 4023, has improved the accuracy of detecting snowboard surface roughness.
As shown in fig. 16, the second inspection jig device 403 includes a second inspection jig base 4031, a second support chuck 406, a second pneumatic suction assembly 407, and a second pneumatic support assembly 408. The second detection jig base 4031 stands on one side in the width direction of the second support base 4011, the longitudinal direction of the second detection jig base 4031 is parallel to the longitudinal direction of the second support base 4011, and the height of the second detection jig base 4031 is smaller than the height of the second support base 4011. The second support chuck 406, the second pneumatic suction assembly 407 and the second pneumatic support assembly 408 are all fixedly mounted on the top wall of the second inspection fixture base 4031.
The second supporting suction cup 406 includes a third supporting frame 4061 and an eighth suction cup 4062, the third supporting frame 4061 is vertically and fixedly mounted on the top of the second detection fixture base 4031 through bolts, and seven third supporting frames 4061 are fixedly mounted on the second detection fixture base 4031 along the length direction of the second detection fixture base 4031 at intervals. The eighth sucking disc 4062 all has one at the upside of arbitrary third support frame 4061 fixed mounting, and the dish mouth of seven eighth sucking discs 4062 all sets up upwards.
Three groups of second pneumatic suction assemblies 407 are disposed on the second inspection jig base 4031 at intervals along the length direction of the second inspection jig base 4031, one of the second pneumatic suction assemblies 407 is located on one side of the second inspection jig base 4031 in the length direction, and the remaining two second pneumatic suction assemblies 407 are located in the middle of the second inspection jig base 4031 and are disposed at adjacent intervals. Three groups of second supporting suction cups 406 are arranged between the second pneumatic adsorption component 407 positioned on one side of the second detection clamp base 4031 in the length direction and the second pneumatic adsorption component 407 positioned in the middle of the second detection clamp base 4031, and the three groups of second pneumatic adsorption components 407 are arranged at intervals with the second supporting suction cups 406.
Since the three sets of second pneumatic adsorption modules 407 have the same components, structures and installation manners, the following description will be given by taking a set of second pneumatic adsorption modules 407 as an example: the second pneumatic suction assembly 407 comprises a third cylinder 4071 and a seventh suction cup 4072, the third cylinder 4071 is fixedly mounted on the top wall of the second detection clamp base 4031, the piston rod of the third cylinder 4071 is vertically arranged, the seventh suction cup 4072 is fixedly mounted at the end of the piston rod of the third cylinder 4071, and the cup opening of the seventh suction cup 4072 is arranged upward.
Four sets of second pneumatic support assemblies 408 are provided on the second inspection jig base 4031 at intervals in the longitudinal direction of the second inspection jig base 4031, and one of the second pneumatic support assemblies 408 is fixedly mounted on one side end portion of the second inspection jig base 4031 where the second pneumatic suction assembly 407 is located. Two of the second pneumatic support assemblies 408 are alternately spaced from three second support suction cups 406 of the second pneumatic support assembly 408 near the end of the second inspection fixture base 4031, another second pneumatic support assembly 408 is disposed between the second support suction cup 406 and the third second support suction cup 406 at the other end of the second inspection fixture base 4031, and the four second pneumatic support assemblies 408 are alternately disposed with any one of the second support suction cups 406 and any one of the second pneumatic suction assemblies 407.
Since the four sets of the second pneumatic support assemblies 408 have the same components, structures and installation manners, the following description will be given by taking the set of the second pneumatic support assemblies 408 as an example: the second pneumatic support assembly 408 includes a fourth cylinder 4081 and a third support plate 4082, the fourth cylinder 4081 is fixedly mounted on the top of the second detection clamp base 4031, the piston rod of the fourth cylinder 4081 is vertically arranged, and the third support plate 4082 is fixedly mounted on the upper end of the piston rod of the fourth cylinder 4081 through the vertical bolt. In order to reduce the damage of the snowboard caused by the contact of the third supporting plate 4082 and the snowboard, the upper end of the third supporting plate 4082 is made of nylon.
When the third mechanical arm 5041 controls the second loading and unloading device 501 to mount the polished snow boards onto the second detection fixture device 403, the seven eighth suckers 4062 on the seven second supporting suckers 406 are operated to adsorb the snow boards at the same time, then the three third air cylinders 4071 and the four fourth air cylinders 4081 are started, and the three seventh suckers 4072 and the four third supporting plates 4082 are respectively driven to move upwards until the three seventh suckers 4072 adsorb the snow boards, and the four third supporting plates 4082 are in contact fit with the snow boards, so that the mounting is finished. At this time, the seven eighth suction cups 4062 and the three seventh suction cups 4072 have a downward force on the snow board, and the four third support plates 4082 have an upward force on the snow board. The snowboard is stably fixed on the second detection clamp device 403 by the cooperation of the upward acting force and the downward acting force, and the length direction of the snowboard mounted on the second detection clamp device 403 is in the same direction as the length direction of the second detection clamp base 4031, so that the convenience of detection of the snowboard when the roughness meter 4021 moves along the length direction of the second detection clamp base 4031 is improved.
The coarseness gauge 4021 moves along the second rail 4052 and coarseness-detects one fifth, two fifths, three fifths, four fifths, and one end of the length of the snowboard mounted on the second inspection jig device 403, respectively. When the roughness detection data is more than Ra0.4um, the skis are judged to be unqualified, unqualified products are controlled by the third mechanical arm 5041 to be grabbed by the second loading and unloading device 501 and are repeatedly waxed and polished, then roughness detection is carried out, and the third mechanical arm 5041 is used for controlling the second loading and unloading device 501 to be grabbed by the unqualified skis which are still judged to be unqualified twice and are manually judged. And when the roughness data is detected to be less than or equal to Ra0.4um, the snowboard is judged to be qualified. The blanking conveying station 603 is fixedly installed on the ground behind the second detection fixture device 403, the second loading and unloading device 501 is controlled by a third mechanical arm 5041 to grab the blanking conveying station 603 when the qualified snow plate is judged, and the snow plate is waited to be manually blanked from the blanking conveying station 603.
As shown in fig. 1, a line body protection 604 surrounds the periphery of the production line of the grinding machine system, the line body protection surrounds the polishing station module 2, the defect detection module 3, the waxing and polishing module 4 and the roughness detection module 5, and 604 is in a transparent arrangement, so that a worker can conveniently observe the operation condition of the equipment. A feeding station 605 is formed on one side of the first robot arm 205 departing from the defect detection module 3, the unqualified station 602 is located on the same side as the feeding station 605, and the line body protector 604 is formed with notches at the feeding station 605 and the unqualified station 602 to facilitate the work of the first robot arm 205 and the third robot arm 5041.
Infrared detection switches are installed on the peripheries of the feeding station 605 and the unqualified station 602 and used for detecting that people mistakenly break into the equipment in processing and emergently stop the equipment. The left side and the right side of the wire body protection 604 in the length direction are respectively provided with a center console 606 and a touch screen console 607, so that a worker can conveniently operate equipment in the grinding machine system. The wire body protection 604 on the left side of the unqualified station 602 is also provided with a safety console 608, and the safety console 608 can be used for emergency stop, equipment resetting and equipment starting. Similarly, the touch screen control console 607 is installed at the right side of the loading station and can be used for emergency stop, resetting equipment and starting equipment.
The line body protection is also provided with a water cooling machine 6081, an electric control cabinet 6082 and a robot control cabinet 6083, and the robot control cabinet 6083 is close to the principle of a robot, so that the peripheral operation records of the water cooling machine 6081, the electric control cabinet 6082 and the robot control cabinet 6083 can be observed conveniently. An upper computer screen 6084 is installed at the right front end of the wire body protection 604, and operators or visitors in the aspect know the dynamic state and the production state of the equipment. A feeding frame 609 is arranged outside the line body protection of the feeding station 605, so that feeding is facilitated.
Principle of operation
In operation, the first robot 205 defaults to a standby state, and when the first robot 205 is in the standby state, the loading and unloading device 202 faces downward; starting the first mechanical arm 205, and driving the feeding and discharging device 202 to grab the snow plate by the movement of the first mechanical arm 205; the first mechanical arm 205 moves and drives the loading and unloading device 202 to load the snowboard into the clamp module 11; the first mechanical arm 205 switches the side edge polishing device 203 to a working state, the first mechanical arm 205 drives the side edge polishing device 203 to perform profile modeling side edge grinding on the snowboard mounted on the clamp module 11, and after grinding is finished, the first mechanical arm 205 returns to the original point and keeps a standby state; then the second mechanical arm 207 is started to drive the rough grinding head 214 to grind the bottom surface of the snow plate; the second mechanical arm 207 is started to drive the fine grinding head 224 to perform fine grinding correction on the bottom surface of the snow board after coarse grinding; after the finish grinding is completed, the second robot arm 207 returns to the origin, the first robot arm 205 drives the loading and unloading device 202 to grab the processed snowboard and transfer the snowboard to the snowboard buffer station 601, and then the first robot arm 205 returns to the origin and keeps the standby state. The second loading and unloading device 501 is switched to a working state by utilizing the rotation of a rotating shaft at the tail end of a third mechanical arm 5041, then a ninth driving air cylinder 5052 is started to drive a ninth sucker 5051 to move downwards, so that the ninth sucker 5051 adsorbs a to-be-grabbed snow plate in the snow plate caching station 601, then a piston rod of the ninth driving air cylinder 5052 contracts, the snow plate moves into clamping ports of three fourth pneumatic clamps 5012 along with the ninth sucker 5051, the three fourth pneumatic clamps 5012 work simultaneously to clamp the snow plate, and then the second loading and unloading device 501 installs the snow plate on the detection clamp device 303; the visual detection device 302 detects the defects of the snowboards arranged on the detection clamp device 303, if the detection is unqualified, the second loading and unloading device 501 conveys the snowboards to an unqualified station 602, and if the detection is qualified, the next step is carried out; the second loading and unloading device 501 takes the snowboard off the detection clamp device 303, moves the snowboard to a nozzle of the wax spraying group 503 for wax spraying, and moves the snowboard to the detection clamp device 303 for clamping; the polishing power head set 502 is switched to a working state by rotation of the rotating shaft at the end of the third robot 5041, the polishing power head set 502 is started to polish the snowboard clamped on the detection fixture device 303, and then the third robot 5041 controls the second loading and unloading device 501 to transfer the polished snowboard to the second detection fixture base 4031. The snow plate is firstly installed on the seven second supporting suckers 406, the seven eighth suckers 4062 are simultaneously operated to adsorb the snow plate, then the three third air cylinders 4071 and the four fourth air cylinders 4081 are started, and the three seventh suckers 4072 and the four third supporting plates 4082 are respectively driven to move upwards until the three seventh suckers 4072 adsorb the snow plate, and the four third supporting plates 4082 are in contact fit with the snow plate, so that the installation is finished; a second driving motor 4041 is started again, the second driving motor 4041 drives the roughness detection device 402 through the cooperation of a second gear 4042 and a second rack 4043, and moves from one end of the second support base 4011 to the other end until the roughness meter 4021 moves to a position one fifth of the length of the second support base 4011 and stops; the coarseness gauge 4021 moves downwards along the third slide rail 4053 until the coarseness gauge 4021 senses the bottom of the snowboard; the coarseness gauge 4021 moves backwards along the second slide rail 4052 to realize the coarse groove detection of the snowboard, and after the detection is finished, the coarseness gauge 4021 resets; the coarseness gauge 4021 continues to move, stops and detects at two fifths of the length of the second support base 4011, three fifths of the length of the second support base 4011, four fifths of the length of the second support base 4011 and four other ends of the length of the second support base 4011, when the coarseness detection data is greater than Ra0.4um, the skis are judged to be unqualified, the unqualified products are controlled by the third mechanical arm 5041 to be grabbed by the second loading and unloading device 501 and the waxing and polishing operation is repeated, then coarseness detection is performed, the skis which are still judged to be unqualified are controlled by the third mechanical arm 5041 twice to be grabbed by the second loading and unloading device 501 to be unqualified 601, and manual judgment is performed. And when the roughness data is detected to be less than or equal to Ra0.4um, the snowboard is judged to be qualified.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. A snowboard grinding machine system is characterized by comprising a grinding station module (2), a defect detection module (3) and a waxing and polishing module (5), wherein the grinding station module (2), the defect detection module (3) and the waxing and polishing module (5) are sequentially arranged according to the processing sequence of a snowboard;
the polishing station module (2) is used for polishing the side edges and the bottom edges of the snowboard; the defect detection module (3) is used for detecting the defects of the polished snowboard; and the waxing and polishing module (5) is used for waxing and polishing the snowboard.
2. A ski grinder system, as in claim 1, where the grinding station module (2) includes a clamp module (11), a side edge grinding device (203) and a bottom edge grinding device (204);
the side edge polishing device (203) is used for polishing the side edges of the snow plates installed on the clamp device (11), and the bottom edge polishing device (204) is used for polishing the bottom edges of the snow plates installed on the clamp device (11).
3. A ski grinder system, as in claim 2, where the clamp module (11) is provided on its side with a first robot arm (205) and a second robot arm (207), the side edge grinding device (203) being mounted on the first robot arm and the bottom edge grinding device (204) being mounted on the second robot arm (207).
4. A ski grinding machine system, as in claim 1, characterized by the fact that the defect detection module (3) comprises a support device (301), a vision inspection device (302) and a detection clamp device (303); the detection clamp device (303) is arranged on one side of the supporting device (301), the visual detection device (302) is arranged on the supporting device (301) in a sliding mode, and the visual detection device (302) is located above the detection clamp device (303).
5. A ski grinder system, as in claim 4, where the waxing and polishing module (5) consists of a second loading and unloading device (501), a polishing device and a wax spraying device, the second loading and unloading device (501) is located on one side of the inspection fixture (303);
unloader (501) are used for transporting the snowboard on the second, burnishing device is used for polishing the snowboard bottom surface, spout the wax device and be used for spouting the wax operation to the snowboard.
6. A snowboard grinder system as claimed in claim 5, wherein a third robot arm (5041) is movably arranged at one side of the inspection jig device (303), the second loading and unloading device (501) and the polishing device are both mounted on the third robot arm (5041), the third robot arm (5041) is used for switching the working states of the second loading and unloading device (501) and the polishing device, and the third robot arm (5041) does not allow the second loading and unloading device (501) and the polishing device to work on a snowboard at the same time.
7. A ski grinding machine system, as in claim 1, further comprising a roughness detection module (4), said roughness detection module (4) being located at the rear side of the waxing and polishing module (4), said roughness detection module (4) comprising a second support means (401), a roughness detection means (402) and a second detection clamp means (403); the second detection clamp device (403) is arranged on one side of the second supporting device (401), the roughness detection device (402) is arranged on the second supporting device (401) in a sliding mode, and the roughness detection device (402) is located above the second detection clamp device (403).
8. A ski grinding machine system, as in claim 7, where the roughness tester (402) is provided with a blanking transfer station (603) on one side and the grinding station module is provided with a loading station (605) on one side.
9. A ski grinding machine system, as in claim 1, where a ski buffering station (601) is located between the grinding station module (2) and the defect detection module (3).
10. A ski grinding machine system, as in claim 1, where one side of the defect detection module (3) is provided with a reject station (602).
CN202110536854.1A 2021-05-17 2021-05-17 Skis grinder system Pending CN113144573A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110536854.1A CN113144573A (en) 2021-05-17 2021-05-17 Skis grinder system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110536854.1A CN113144573A (en) 2021-05-17 2021-05-17 Skis grinder system

Publications (1)

Publication Number Publication Date
CN113144573A true CN113144573A (en) 2021-07-23

Family

ID=76876420

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110536854.1A Pending CN113144573A (en) 2021-05-17 2021-05-17 Skis grinder system

Country Status (1)

Country Link
CN (1) CN113144573A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113696052A (en) * 2021-08-31 2021-11-26 佛山市南海区广工大数控装备协同创新研究院 Intelligent flexible self-cleaning polishing robot device
CN116441132A (en) * 2023-04-18 2023-07-18 河北省体育科学研究所(河北省体育局反兴奋剂服务中心) Snowboard waxing machine

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113696052A (en) * 2021-08-31 2021-11-26 佛山市南海区广工大数控装备协同创新研究院 Intelligent flexible self-cleaning polishing robot device
CN116441132A (en) * 2023-04-18 2023-07-18 河北省体育科学研究所(河北省体育局反兴奋剂服务中心) Snowboard waxing machine

Similar Documents

Publication Publication Date Title
CN113144573A (en) Skis grinder system
CN113426701B (en) Chip detection sorting equipment
CN214817610U (en) Waxing and polishing module
CN110444366A (en) Magnetic material automatic magnetism-charging and detection tubulature all-in-one machine
CN108507518A (en) A kind of lithium battery inspection equipment
CN108775887A (en) A kind of detection method of lithium battery
CN108598592A (en) Lithium battery examines equipment
CN100478134C (en) Full automatic minitype flash memory card smoothing machine
CN108387276A (en) Lithium battery checking equipment
CN111422041A (en) Automobile glass accessory bonding equipment
CN115980072A (en) Multi-station five-degree-of-freedom automatic detection device
CN111957604A (en) Card holds in palm detection balance device
CN214808345U (en) Skis grinder system
CN214843133U (en) Roughness detection module
CN215147410U (en) Snowboard grinding station mechanism
CN214723558U (en) Detection device
CN214844868U (en) Defect detection module
CN108767285A (en) A kind of quadrate lithium battery checking machine
CN113118884A (en) Snowboard grinding station mechanism and grinding method
CN113118957B (en) Waxing and polishing module and working method
CN110125773A (en) A kind of PCB polisher lapper
CN108759750A (en) New energy cell inspection equipment
CN212349533U (en) Card tray detection placing device
CN211426329U (en) Automatic production line of OLED/LCD display screen
CN220177566U (en) Chip appearance detection and classification rejecting equipment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination