CN113681388A - Intelligent workpiece edge and corner polishing system and process - Google Patents
Intelligent workpiece edge and corner polishing system and process Download PDFInfo
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- CN113681388A CN113681388A CN202110927788.0A CN202110927788A CN113681388A CN 113681388 A CN113681388 A CN 113681388A CN 202110927788 A CN202110927788 A CN 202110927788A CN 113681388 A CN113681388 A CN 113681388A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Abstract
The invention discloses an intelligent workpiece edge polishing system and process, wherein the fillet size is uniform, the yield of products is greatly improved, and the production efficiency is greatly improved; the robot comprises a first robot and a second robot, wherein a vision recognition system is arranged on the first robot, the first robot can absorb a workpiece which is not polished to a transfer station from a semi-finished trolley through the vision recognition system, and can absorb the polished workpiece to a finished trolley in order from the transfer station, a manipulator of the second robot can grab the workpiece which is not polished to the transfer station or the semi-finished workpiece which is polished to the turnover station to the polishing station for interval-type rotary polishing, and can grab the polished semi-finished workpiece to the turnover station or grab the workpiece which is polished to the transfer station, the clamping and overturning mechanism of the turnover station can clamp the polished semi-finished workpiece on the turnover station and rotate 180 degrees around a central shaft, a polishing tool is used for positioning and limiting the workpiece when the manipulator clamps and polishes, and a detection station is used for detecting whether the workpiece is polished in place.
Description
Technical Field
The invention discloses an intelligent workpiece edge polishing system and process, and belongs to the technical field of magnetic material processing.
Background
At present, neodymium iron boron permanent magnet material is mostly cubic workpiece, because the edges and corners are sharp, so need polish the processing, the cubic workpiece side that forms the circular arc fillet can be qualified, receives the influence of workman skill proficiency, and the fillet of processing out is difficult unified size, and the rejection rate is higher moreover.
Disclosure of Invention
The invention overcomes the defects in the prior art, provides the intelligent workpiece edge polishing system and the intelligent workpiece edge polishing process, has uniform fillet size, greatly improves the finished product rate of products, and greatly improves the production efficiency.
In order to solve the technical problems, the invention adopts the technical scheme that: an intelligent workpiece edge and corner polishing system comprises a first robot, a second robot, a transfer station, a turnover station, a polishing station and a detection station; the automatic polishing machine comprises a first robot, a second robot, a transfer station, a turnover station, a polishing station and a detection station which are arranged adjacently, wherein a vision recognition system is arranged on the first robot, a sucker is arranged at the tail end of a mechanical arm of the first robot, the first robot can suck a non-polished workpiece from a semi-finished trolley to the transfer station through the vision recognition system and can orderly suck the polished workpiece from the transfer station to a finished trolley, a mechanical arm is arranged at the tail end of the mechanical arm of the second robot, the mechanical arm can grab the non-polished workpiece on the transfer station or the polished semi-finished workpiece on the turnover station to the polishing station for intermittent rotary polishing and grab the polished semi-finished workpiece to the turnover station or grab the polished workpiece to the transfer station, and a clamping turnover mechanism is arranged on the turnover station, the clamping and overturning mechanism can clamp a polished semi-finished workpiece on an overturning station and then rotate 180 degrees around a central shaft, a polishing tool is arranged on the polishing station, the polishing tool is used for positioning and limiting when the workpiece is polished by a mechanical arm clamp, and a camera shooting assembly is arranged on a detection station and used for detecting whether the workpiece is polished in place.
The transfer station is divided into a processing area, a positioning area and a finished product area, the processing area is used for placing workpieces which are not polished and are sucked by the first robot, a push rod is arranged on the processing area, the workpieces which are not polished in the processing area are pushed to the positioning area through the push rod, positioning is carried out through a positioning baffle plate arranged on the positioning area, and the finished product area is used for storing the workpieces which are polished.
The clamping and overturning mechanism of the overturning station comprises a supporting table, a rotating shaft and a holding plate, wherein the rotating shaft is horizontally arranged on the supporting table, the end part of one end of the holding plate is fixedly arranged on the rotating shaft, and the holding plate is matched with a polished semi-finished workpiece to be clamped and driven by power to overturn the rotating shaft to the other side of the supporting table.
The polishing station comprises a polishing tool and a grinding wheel, the grinding wheel is driven to rotate through power, the cross section of the polishing tool is a right-angle strip plate, a long hole is formed in the right-angle position of the polishing tool, the two ends of the polishing tool are movably connected to the upper portion of the grinding wheel in the transverse direction, the polishing tool can rotate at a certain angle relative to the connecting portion, the opening of the polishing tool is vertically upward in a normal state, the long hole of the polishing tool is attached to the outer rim of the grinding wheel, and the part, extending out of the long hole, of a workpiece is polished by the grinding wheel.
The structure of the detection station is as follows: the device comprises a support frame, a background plate, a rotary platform and a camera, wherein the background plate, the rotary platform and the camera are sequentially arranged at the top of the support frame, the rotary platform is used for placing a workpiece, the camera can image the workpiece placed on the rotary platform by taking the background plate as a background, a rotary driving mechanism is arranged under the rotary platform to drive the rotary platform, the rotary driving mechanism drives the rotary platform to rotate 90 degrees at each time, the rotary platform rotates four times to complete imaging of four surfaces of the workpiece, a light source frame is arranged on the support frame between the camera and the rotary platform, the light source frame is used for supplementing light for the workpiece on the rotary platform when the camera images, a moving frame is arranged on the support frame, a linear driving mechanism is arranged between the moving frame and the support frame, and the linear driving mechanism can freely move vertically and reciprocally relative to the support frame, the camera and the light source frame are fixedly arranged on the movable frame and can move along with the movable frame to achieve the purpose of adjusting the visual distance between the camera and the workpiece.
The invention relates to an intelligent workpiece edge and corner polishing process, which is implemented according to the following steps:
the first step is as follows: the first robot utilizes a vision recognition system to accurately recognize and position the non-polished workpiece placed on the semi-finished trolley, then the tail end of a mechanical arm of the first robot sucks up the first non-polished workpiece on the semi-finished trolley through a sucking disc, and the first robot returns to the original path to continuously carry the second non-polished workpiece after conveying the first non-polished workpiece to a processing area of a transfer station;
the second step is that: a push rod arranged on the transfer station pushes a first non-polished workpiece in the processing area to a certain determined position of the processing area, namely a positioning area, so that the positioning and clamping are facilitated;
the third step: a second robot grabs a first non-polished workpiece in the transfer station positioning area and places the workpiece on a polishing station for polishing; the second robot finishes polishing the edge of the first non-polished workpiece on the outer side of the holding part of the second robot through pose transformation; meanwhile, the first robot conveys a second unpolished workpiece on the semi-finished trolley to a processing area of the transfer station and returns to the original path to continuously convey the third unpolished workpiece; repeating the action of the second step;
the fourth step: the second robot places the first workpiece polished in the third step on a turning station; then the second robot returns to the positioning area of the transfer station to grab a second non-polished workpiece and places the second non-polished workpiece on the polishing station for polishing; the second robot finishes polishing the edge part of a second non-polished workpiece on the outer side of the holding part of the second robot through pose transformation; meanwhile, the first robot conveys the third unpolished workpiece on the semi-finished trolley to a processing area of a transfer station and repeats the action of the second step, and then returns to the original path to continuously convey the fourth unpolished workpiece; simultaneously turning the station to rotate the first workpiece by 180 degrees;
the fifth step: the second robot places the second workpiece polished in the fourth step on a turning station; then the second robot grabs the first workpiece turned to the mirror surface position in the fourth step to a polishing station to polish the edge part of the workpiece outside the holding part of the second robot, and the turning station turns the second workpiece up and down to the mirror surface position;
and a sixth step: placing the first workpiece polished in the fifth step in a finished product area of the transfer station by the second robot, returning the second robot to the transfer station positioning area to grab a third workpiece which is not polished, and placing the third workpiece in the polishing station for polishing; the second robot finishes polishing the edge of a third non-polished workpiece on the outer side of the holding part of the second robot through pose transformation; meanwhile, the first robot conveys the fourth unpolished workpiece on the semi-finished trolley to the processing area of the transfer station and repeats the action of the second step, then the first robot sucks up the first workpiece in the finished area of the transfer station and orderly places the first workpiece in the finished trolley, and then the first robot returns to the original path to continuously convey the fifth unpolished workpiece;
the seventh step: the second robot places the third workpiece polished in the sixth step on a turning station; then the second robot grabs the second workpiece turned to the mirror surface position in the fifth step to a polishing station to polish the edge part of the workpiece outside the holding part of the second robot, and the turning station turns the third workpiece up and down to the mirror surface position;
eighth step: and repeating the actions of the fifth step and the sixth step to realize continuous processing.
Particularly, after the penultimate workpiece is polished, the second robot places the penultimate workpiece in a finished product area of a transfer station, then the second robot arrives at a turnover station to grab the last workpiece for polishing, meanwhile, the first robot sucks the polished penultimate workpiece from the finished product area of the transfer station, and places the penultimate workpiece in a finished product trolley; after the second robot finishes polishing the last workpiece and places the workpiece in a finished product area of the transfer station, the second robot restores the initial position; and (4) sucking the polished last workpiece by the first axis robot from the finished product area of the intermediate station, placing the last workpiece on the finished product trolley, recovering the initial position of the first axis robot, and finishing the whole work flow.
Particularly, in the sixth step, the second robot places the first workpiece polished in the fifth step on the detection station to detect whether the first workpiece is polished in place, specifically, the first workpiece is placed on the rotary platform of the detection station, the camera is controlled to photograph and image the first side surface of the first workpiece, whether four side edges of the first side surface are polished in place is detected, then the rotary platform is controlled to rotate 90 degrees, whether three side edges of the second side surface are polished in place is detected, the rotary platform is continuously controlled to rotate 90 degrees, whether three side edges of the third side surface are polished in place is detected, then the rotary platform is continuously controlled to rotate 90 degrees, whether two side edges of the fourth side surface are polished in place is detected, at this time, the twelve side edges of the first workpiece are completely detected, if any one side edge is found to have an opening or the side edge presents an uneven rule during detection, the first workpiece is a defective workpiece, and then the first robot is grabbed into the waste trolley, otherwise, if the detection is qualified, the first robot is grabbed into the finished trolley.
Compared with the prior art, the invention has the beneficial effects that: according to the three-axis robot, the three-axis robot is provided with the 3D vision recognition system to recognize and position the workpiece, so that the workpiece can be orderly and accurately grabbed; polishing tooling is installed at a polishing station, and the new loosening robot performs fillet polishing through pose change at the tail end, so that intelligent line production of enterprises is realized.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a perspective view of another aspect of the present invention.
Fig. 3 is a top view of the present invention.
Fig. 4 is an enlarged view of a in fig. 1.
Fig. 5 is an enlarged view of B in fig. 3.
Fig. 6 is a first using state diagram of the grinding station in the invention.
Fig. 7 is a second state diagram of the grinding station of the present invention.
Fig. 8 is a schematic structural view of a detection station in the present invention.
In the figure: the robot comprises a first robot 1, a second robot 2, a transfer station 3, a turnover station 4, a polishing station 5, a clamping and turnover mechanism 6, a supporting table 61, a rotating shaft 62, a holding plate 63, a polishing tool 7, a push rod 8, a grinding wheel 9, a detection station 10, a supporting frame 101, a background plate 102, a rotating platform 103, a camera 104, a workpiece 105, a light source frame 106 and a movable frame 107.
Detailed Description
Before the present invention is discussed, it should be noted that the first robot 1, the second robot 2, and the vision recognition system according to the present invention are prior arts, and the present invention is only applied thereto, and the respective power configurations according to the present invention are also prior arts.
As shown in fig. 1 to 8, the invention relates to an intelligent workpiece edge and corner polishing system, which comprises a first robot 1, a second robot 2, a transfer station 3, a turnover station 4, a polishing station 5 and a detection station 10; the automatic polishing machine comprises a first robot 1, a second robot 2, a transfer station 3, an overturning station 4, a polishing station 5 and a detection station 10 which are adjacently distributed, wherein a vision recognition system is arranged on the first robot 1, a sucker is arranged at the tail end of a mechanical arm of the first robot 1, the first robot 1 can suck a non-polished workpiece from a semi-finished trolley to the transfer station 3 through the vision recognition system and can suck the polished workpiece from the transfer station 3 to a finished trolley in order, a mechanical arm is arranged at the tail end of the mechanical arm of the second robot 2, the mechanical arm can grab the non-polished workpiece on the transfer station 3 or the polished semi-finished workpiece on the overturning station 4 to the polishing station 5 for interval rotary polishing, grab the polished semi-finished workpiece to the overturning station 4 or grab the polished workpiece to the transfer station 3, be provided with on the upset station 4 and press from both sides and get tilting mechanism 6, press from both sides and get tilting mechanism and can get the semi-manufactured goods clamp that polishes on the upset station 4 back and rotate 180 around the center pin, be provided with the frock of polishing 7 on the station 5 of polishing, the frock of polishing is used for the manipulator clamp to get the location and spacing when the work piece was polished, be provided with the subassembly of making a video recording on the detection station 10 for whether the detection is polished in place.
The clamping and overturning mechanism of the overturning station 4 comprises a supporting table 61, a rotating shaft 62 and a holding plate 63, wherein the rotating shaft 62 is horizontally arranged on the supporting table 61, the two holding plates 63 are oppositely arranged, one end part of each holding plate 63 is fixedly arranged on the rotating shaft 62, the two holding plates 63 are matched to clamp a polished semi-finished workpiece, and the rotating shaft 62 is driven by power to overturn to the other side of the supporting table 61.
The polishing station 5 comprises a polishing tool 7 and a grinding wheel 9, the grinding wheel 7 is driven by power to rotate, the cross section of the polishing tool 7 is a right-angle long strip plate, a right-angle part of the polishing tool 7 is provided with a long hole, two ends of the polishing tool 7 are movably connected above the grinding wheel 9 in the transverse direction, the polishing tool 7 can rotate at a certain angle relative to the connection part, the opening of the polishing tool 7 is vertically upward in a normal state, the outer wheel edge of the long hole laminating grinding wheel 9 of the polishing tool 7 is arranged, and the part of a workpiece extending out of the long hole is polished by the grinding wheel 9.
The structure of the detection station 10 is as follows: the device comprises a supporting frame 101, a background plate 102, a rotary platform 103 and a camera 104, wherein the background plate 102, the rotary platform 103 and the camera 104 are sequentially arranged at the top of the supporting frame 101, the rotary platform 103 is used for placing a workpiece 105, the camera 104 can image the workpiece 105 placed on the rotary platform 103 by taking the background plate 102 as a background, a rotary driving mechanism is arranged below the rotary platform 103 to drive the rotary platform 103, the rotary driving mechanism drives the rotary platform 103 to rotate 90 degrees at each time, the rotary platform 103 rotates four times to complete imaging of four surfaces of the workpiece 105, a light source frame 106 is arranged on the supporting frame 101 between the camera 104 and the rotary platform 103, the light source frame 106 is used for supplementing light for the workpiece 105 on the rotary platform 103 when the camera 104 images, a moving frame 107 is arranged on the supporting frame 101, and a linear driving mechanism is arranged between the moving frame 107 and the supporting frame 101, the linear driving mechanism drives the moving frame 107 to freely move longitudinally in a reciprocating manner relative to the supporting frame 101, and the camera 104 and the light source frame 106 are fixedly arranged on the moving frame 107 and can move along with the moving frame 107 to achieve the purpose of adjusting the visual distance between the camera 104 and the workpiece 105.
The linear driving mechanism is a ball screw structure driven by a stepping motor.
The invention relates to an intelligent workpiece edge and corner polishing process, which is implemented according to the following steps:
the first step is as follows: the first robot 1 utilizes a visual recognition system to accurately recognize and position the non-polished workpiece placed on the semi-finished trolley, then the tail end of a mechanical arm of the first robot 1 sucks up the first non-polished workpiece on the semi-finished trolley through a sucking disc, and the first robot 1 conveys the first non-polished workpiece to a processing area of a transfer station 3 and then returns to an original path to continuously convey the second non-polished workpiece;
the second step is that: a push rod arranged on the transfer station 3 pushes a first non-polished workpiece in the processing area to a certain determined position of the processing area, namely a positioning area, so that the positioning and clamping are facilitated;
the third step: the second robot 2 grabs a first non-polished workpiece in the positioning area of the transfer station 3 and places the workpiece on the polishing station 5 for polishing; the second robot 2 finishes grinding the edge of the first non-ground workpiece on the outer side of the holding part of the second robot 2 through pose transformation; meanwhile, the first robot 1 conveys a second unpolished workpiece on the semi-finished trolley to the processing area 3 of the transfer station 3 and then returns to the original path to continuously convey a third unpolished workpiece; repeating the action of the second step;
the fourth step: the second robot 2 places the first workpiece polished in the third step on a turning station 4; then the second robot 2 returns to the positioning area of the transfer station 3 to grab a second non-polished workpiece and places the second non-polished workpiece on the polishing station 5 for polishing; the second robot 2 finishes polishing the edge part of a second non-polished workpiece on the outer side of the holding part of the second robot 2 through pose transformation; meanwhile, the first robot 1 conveys the third unpolished workpiece on the semi-finished trolley to the processing area of the transfer station 3 and repeats the action of the second step, and then returns to the original path to continuously convey the fourth unpolished workpiece; simultaneously, turning the station 4 to rotate the first workpiece by 180 degrees;
the fifth step: the second robot 2 places the second workpiece polished in the fourth step on the turning station 4; then the second robot 2 grabs the first workpiece turned to the mirror surface position in the fourth step to a polishing station 5 for polishing the edge part of the workpiece outside the holding part of the second robot 2, and simultaneously the turning station 4 turns the second workpiece up and down to the mirror surface position;
and a sixth step: the second robot 2 places the first workpiece polished in the fifth step in a finished product area of the transfer station 3, and then the second robot 2 returns to a positioning area of the transfer station 3 to grab a third workpiece which is not polished and places the third workpiece in a polishing station 5 for polishing; the second robot 2 finishes polishing the edge of a third unpolished workpiece on the outer side of the holding part of the second robot 2 through pose transformation; meanwhile, the first robot 1 conveys the fourth unpolished workpiece on the semi-finished trolley to the processing area of the transfer station 3 and repeats the action of the second step, then the first robot 1 sucks up the first workpiece in the finished area of the transfer station 3 and then orderly places the first workpiece in the finished trolley, and then returns to the original path to continuously convey the fifth unpolished workpiece;
the seventh step: the second robot 2 places the third workpiece polished in the sixth step on the turning station 4; then the second robot 2 grabs the second workpiece turned to the mirror surface position in the fifth step to a polishing station 5 to polish the edge part of the workpiece outside the holding part of the second robot 2, and simultaneously a turning station 4 turns the third workpiece up and down to the mirror surface position;
eighth step: and repeating the actions of the fifth step and the sixth step to realize continuous processing.
Preferably, after the penultimate workpiece is polished, the second robot 2 places the penultimate workpiece in a finished product area of the transfer station 3, then the second robot 2 reaches the overturning station 4 to grab the last workpiece for polishing, and simultaneously the first robot 1 sucks up the polished penultimate workpiece from the finished product area of the transfer station 3 and places the penultimate workpiece in a finished product trolley; after the second robot 2 finishes polishing the last workpiece and places the workpiece in a finished product area of the transfer station 3, the second robot 2 restores the initial position; and (3) sucking the polished last workpiece by the first axis robot 1 from the finished product area of the transfer station 3, placing the last workpiece on a finished product trolley, recovering the initial position of the first axis robot 1, and finishing the whole work flow.
Preferably, in the sixth step, the second robot 2 places the first workpiece polished in the fifth step on the detection station 10 to detect whether the first workpiece is polished in place, specifically, the first workpiece is placed on the rotary platform 103 of the detection station 10, the camera 104 is controlled to photograph and image the first side surface of the first workpiece, whether four side edges of the first side surface are polished in place is detected, then the rotary platform 103 is controlled to rotate 90 °, whether three side edges of the second side surface are polished in place is detected by photographing, the rotary platform 103 is continuously controlled to rotate 90 °, whether three side edges of the third side surface are polished in place is detected by photographing, then the rotary platform 103 is continuously controlled to rotate 90 °, whether two side edges of the fourth side surface are polished in place is detected by photographing, and thus, twelve side edges of the first workpiece are all detected, and if any one side edge is found to have an opening or the side edge is found to have an uneven rule during detection, the first workpiece is the first workpiece And the defective goods are grabbed into the waste product trolley by the first robot 1, otherwise, if the defective goods are detected to be qualified, the defective goods are grabbed into the finished product trolley by the first robot 1.
Particularly, by establishing a side database, the shot photos are automatically compared with the database, and the efficiency of manual detection is greatly improved.
The invention is further illustrated below with reference to specific examples, which are carried out according to the following steps:
1. the visual recognition system carries out accurate recognition including quantity, plane coordinates and height values on the workpieces on the trolley;
2. the tail end of a mechanical arm of the three-axis robot sucks up a first workpiece through a sucking disc and conveys the first workpiece to a transfer station position 1;
3. a transfer station is provided with a push rod to push the workpiece to a certain position;
4. the new loosening robot grabs a workpiece and places the workpiece on a polishing station for polishing; meanwhile, the three-axis robot returns to the original path to continuously carry the second workpiece to the transfer station position 1;
5. the new loosening robot finishes polishing 6 edges through pose transformation;
7. the new loosening robot places the workpiece at the turnover station position 1;
8. the new loosening robot returns to the transfer table to grab a second workpiece, and simultaneously the turning station turns the first workpiece up and down to the position 2; the three-axis robot returns to the original path to carry a third workpiece to a transfer station position 1;
9. the new loosening robot polishes six edges of a second workpiece;
10. the new loosening robot places a second workpiece at the position 1 of the overturning platform;
11. the new loosening robot grabs a first workpiece and grinds the other six edges;
12. after the first workpiece is polished, placing the transfer station position 2, and then grabbing a third workpiece for polishing;
13. the three-axis robot sucks the polished workpiece from the middle transfer station position 2, positions the trolley through visual identification, and places the workpiece in the trolley in order;
14. the three-axis robot carries a fourth workpiece;
and so on.
After the penultimate workpiece is polished, the new loosening robot places the workpiece at the position 2 of the transfer table, the workpiece is grabbed and polished when the new loosening robot reaches the position 2 of the overturning table, and meanwhile, the three-axis robot sucks up the polished workpiece from the position 2 of the transfer table and places the workpiece on the trolley; and after finishing polishing the last workpiece, the new loosening robot is placed at the middle rotating table position 2 and restores to the initial position. The three-axis robot places the workpiece on the trolley, the initial position is recovered, and the whole working process is finished.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (8)
1. An intelligent workpiece edge and corner polishing system is characterized by comprising a first robot (1), a second robot (2), a transfer station (3), a turnover station (4), a polishing station (5) and a detection station (10); the robot comprises a first robot (1), a second robot (2), a transfer station (3), an overturning station (4), a polishing station (5) and a detection station (10) which are adjacently distributed, wherein a visual identification system is arranged on the first robot (1), a sucker is arranged at the tail end of a mechanical arm of the first robot (1), the first robot (1) can absorb a workpiece which is not polished to the transfer station (3) from a semi-finished trolley through the visual identification system and can absorb the polished workpiece to the finished trolley from the transfer station (3), a mechanical arm is arranged at the tail end of the mechanical arm of the second robot (2), the mechanical arm can grab the workpiece which is not polished to the transfer station (3) or the semi-finished workpiece polished to the overturning station (4) to the polishing station (5) for intermittent rotation polishing, and can grab the polished semi-finished workpiece to the overturning station (4) or grab the workpiece to the transfer station (10) Station (3), it gets tilting mechanism (6) to be provided with on upset station (4), it can get the semi-manufactured goods clamp of polishing on upset station (4) and get the back and rotate 180 around the center pin to get tilting mechanism to press from both sides, be provided with frock of polishing (7) on station (5) of polishing, the frock of polishing is used for the manipulator clamp to get the work piece location and spacing when polishing, be provided with the subassembly of making a video recording on detection station (10) for whether the detection is polished and targets in place.
2. The intelligent workpiece corner polishing system according to claim 1, wherein the transfer station (3) is divided into a processing area, a positioning area and a finished product area, the processing area is used for placing the non-polished workpieces sucked by the first robot (1), a push rod (8) is arranged on the processing area, the non-polished workpieces in the processing area are pushed to the positioning area through the push rod, positioning is carried out through a positioning baffle arranged on the positioning area, and the finished product area is used for storing the polished workpieces.
3. The intelligent workpiece corner polishing system according to claim 1, wherein the clamping and turning mechanism of the turning station (4) comprises a support table (61), a rotating shaft (62) and a holding plate (63), the rotating shaft (62) is horizontally arranged on the support table (61), one end of each of the two holding plates (63) which are arranged oppositely is fixedly arranged on the rotating shaft (62), the two holding plates (63) are matched to clamp a polished semi-finished workpiece, and the rotating shaft (62) is driven by power to turn to the other side of the support table (61).
4. The intelligent workpiece corner polishing system according to claim 1, wherein the polishing station (5) comprises a polishing tool (7) and a grinding wheel (9), the grinding wheel (7) is driven to rotate by power, the cross section of the polishing tool (7) is a right-angle long strip plate, a long hole is formed in the right-angle position of the polishing tool (7), two ends of the polishing tool (7) are transversely movably connected above the grinding wheel (9), the polishing tool (7) can rotate at a certain angle relative to the connection position, the opening of the polishing tool (7) is vertically upward in a normal state, the long hole of the polishing tool (7) is attached to the outer rim of the grinding wheel (9), and a part of a workpiece extending out of the long hole is polished by the grinding wheel (9).
5. An intelligent workpiece corner grinding system as claimed in claim 1, wherein the detection station (10) is configured to: the device comprises a support frame (101), a background plate (102), a rotary platform (103) and a camera (104), wherein the background plate (102), the rotary platform (103) and the camera (104) are sequentially arranged at the top of the support frame (101), the rotary platform (103) is used for placing a workpiece (105), the camera (104) can use the background plate (102) as a background to image the workpiece (105) placed on the rotary platform (103), a rotary driving mechanism is arranged under the rotary platform (103) to drive the rotary platform (103), the rotary driving mechanism drives the rotary platform (103) to rotate 90 degrees at each time, the rotary platform (103) rotates four times to complete imaging of four surfaces of the workpiece (105), a light source frame (106) is arranged on the support frame (101) between the camera (104) and the rotary platform (103), and the light source frame (106) is used for supplementing the workpiece (105) on the rotary platform (103) when the camera (104) images, be provided with on support frame (101) and remove frame (107), be provided with linear drive mechanism between removal frame (107) and support frame (101), linear drive mechanism drive removes frame (107) can be relative support frame (101) vertical reciprocating free movement, camera (104) and light source frame (106) are fixed to be set up and are removing frame (107), and can remove along with removing frame (107) and reach the purpose of adjustment camera (104) and work piece (105) stadia.
6. An intelligent workpiece corner grinding process as claimed in claim 1, which is carried out by the following steps:
the first step is as follows: the method comprises the following steps that a first robot (1) utilizes a visual recognition system to accurately recognize and position non-polished workpieces placed on a semi-finished trolley, then the tail end of a mechanical arm of the first robot (1) sucks up the first non-polished workpiece on the semi-finished trolley through a sucker, and the first robot (1) conveys the first non-polished workpiece to a processing area of a transfer station (3) and then returns to an original path to continuously convey the second non-polished workpiece;
the second step is that: a push rod arranged on the transfer station (3) pushes a first non-polished workpiece in the processing area to a certain determined position of the processing area, namely a positioning area, so that the workpiece is conveniently positioned and clamped;
the third step: the second robot (2) grabs a first non-polished workpiece in the positioning area of the transfer station (3) and places the workpiece on the polishing station (5) for polishing; the second robot (2) finishes grinding the edge of a first non-ground workpiece on the outer side of a holding part of the second robot (2) through pose transformation; meanwhile, the first robot (1) conveys a second unpolished workpiece on the semi-finished trolley to a processing area (3) of the transfer station (3) and then returns to the original path to continuously convey a third unpolished workpiece; repeating the action of the second step;
the fourth step: the second robot (2) places the first workpiece polished in the third step on a turnover station (4); then the second robot (2) returns to the positioning area of the transfer station (3) to grab a second non-polished workpiece and places the second non-polished workpiece on the polishing station (5) for polishing; the second robot (2) finishes polishing the edge part of a second non-polished workpiece on the outer side of the holding part of the second robot (2) through pose transformation; meanwhile, the first robot (1) conveys a third unpolished workpiece on the semi-finished trolley to a processing area of the transfer station (3), repeats the action of the second step, and then returns to the original path to continuously convey a fourth unpolished workpiece; simultaneously, turning the station (4) to rotate the first workpiece for 180 degrees;
the fifth step: the second robot (2) places the second workpiece polished in the fourth step on a turning station (4); then the second robot (2) grabs the first workpiece turned to the mirror surface position in the fourth step to a polishing station (5) to polish the edge part of the workpiece outside the holding part of the second robot (2), and simultaneously the turning station (4) turns the second workpiece to the mirror surface position up and down;
and a sixth step: the second robot (2) places the first workpiece polished in the fifth step in a finished product area of the transfer station (3), then the second robot (2) returns to a positioning area of the transfer station (3) to grab a third workpiece which is not polished, and places the third workpiece in the polishing station (5) for polishing; the second robot (2) finishes polishing the edge part of a third non-polished workpiece on the outer side of the holding part of the second robot (2) through pose transformation; meanwhile, the first robot (1) conveys a fourth unpolished workpiece on the semi-finished trolley to a processing area of the transfer station (3) and repeats the action of the second step, then the first robot (1) sucks up the first workpiece in the finished area of the transfer station (3), then the first workpiece is orderly placed in the finished trolley, and then the first robot returns to the original path to continuously convey the fifth unpolished workpiece;
the seventh step: the second robot (2) places the third workpiece polished in the sixth step on a turnover station (4); then the second robot (2) grabs the second workpiece turned to the mirror surface position in the fifth step to a polishing station (5) to polish the edge part of the workpiece outside the holding part of the second robot (2), and simultaneously the turning station (4) turns the third workpiece up and down to the mirror surface position;
eighth step: and repeating the actions of the fifth step and the sixth step to realize continuous processing.
7. An intelligent workpiece corner grinding process according to claim 6, characterized in that after the penultimate workpiece is ground, the second robot (2) places the penultimate workpiece in the finished product area of the transfer station (3), then the second robot (2) arrives at the turnover station (4) to grab the last workpiece for grinding, and meanwhile, the first robot (1) sucks up the ground penultimate workpiece from the finished product area of the transfer station (3) and places the penultimate workpiece in the finished product trolley; after the second robot (2) finishes polishing the last workpiece and then places the workpiece in a finished product area of the transfer station (3), the second robot (2) restores to the initial position; and (3) sucking the polished last workpiece by the first axis robot (1) from the finished product area of the transfer station (3), placing the last workpiece on a finished product trolley, recovering the initial position of the first axis robot (1), and finishing the whole work flow.
8. The intelligent workpiece corner grinding process according to claim 6, wherein in the sixth step, the second robot (2) places the first workpiece ground in the fifth step on the detection station (10) to detect whether the first workpiece is ground in place, specifically, the first workpiece is placed on the rotary platform (103) of the detection station (10), the camera (104) is controlled to photograph and image the first side surface of the first workpiece, whether four side edges of the first side surface are ground in place is detected, then the rotary platform (103) is controlled to rotate 90 degrees, whether three side edges of the second side surface are ground in place is detected by photographing, the rotary platform (103) is continuously controlled to rotate 90 degrees, whether three side edges of the third side surface are ground in place is detected by photographing, the rotary platform (103) is continuously controlled to rotate 90 degrees, and whether two side edges of the fourth side surface are ground in place is detected by photographing, so far, twelve sides of the first workpiece are completely detected, if any one side is found to have a gap or the side presents uneven edge rules through photographing during detection, the first workpiece is a defective product, and the first robot (1) is used for grabbing the defective product into a waste product trolley, otherwise, if the detection is qualified, the first robot (1) is used for grabbing the defective product trolley.
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| CN202110927788.0A CN113681388A (en) | 2021-08-13 | 2021-08-13 | Intelligent workpiece edge and corner polishing system and process |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117161875A (en) * | 2023-10-31 | 2023-12-05 | 四川省卓辰精密机械制造有限公司 | Valve block edge chamfering equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117161875A (en) * | 2023-10-31 | 2023-12-05 | 四川省卓辰精密机械制造有限公司 | Valve block edge chamfering equipment |
| CN117161875B (en) * | 2023-10-31 | 2024-01-23 | 四川省卓辰精密机械制造有限公司 | Valve block edge chamfering equipment |
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