CN113787382A - Polishing method of polishing system and polishing system - Google Patents
Polishing method of polishing system and polishing system Download PDFInfo
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- CN113787382A CN113787382A CN202111048192.XA CN202111048192A CN113787382A CN 113787382 A CN113787382 A CN 113787382A CN 202111048192 A CN202111048192 A CN 202111048192A CN 113787382 A CN113787382 A CN 113787382A
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- polishing
- grinding
- sanding
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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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
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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
Abstract
The invention relates to the technical field of polishing, and discloses a polishing method and a polishing system of a polishing system, wherein the polishing method of the polishing system comprises the following steps: a vision device of the polishing system acquires information of the workpiece so as to acquire a polishing path according to the information of the workpiece; a grinding tool of the grinding system grinds the workpiece along a grinding path, and in the grinding process, a visual device detects the grinding effect of the ground area; if the grinding effect does not meet the requirement, the grinding system plans the grinding path again so as to grind the area of which the grinding effect does not meet the requirement again, and the grinding force corresponding to the grinding effect is matched for grinding when grinding. The polishing method ensures that the polishing effect of the finally polished workpiece is better; the polishing force matched with the polishing effect is used for polishing, and the phenomenon of over-polishing is avoided. The polishing system polishes through the polishing method of the polishing system, and the polishing effect can be guaranteed.
Description
Technical Field
The invention relates to the technical field of polishing, in particular to a polishing method of a polishing system and the polishing system.
Background
Along with the development of intelligent factory, intelligent manufacturing technique, industrial value appears in the research and development and the application of system of polishing, the operation of polishing in traditional panel beating workshop adopts artificial mode to carry out the operation, the personnel polish the operation to the sheet metal component according to the process rules on the operation panel, along with flexible manufacturing, intelligent factory, the application demand and the trade demand of intelligent manufacturing, need implement intellectuality, unmanned upgrading to traditional polishing process to raise the efficiency, realize flexible manufacturing, satisfy the industry demand of modern industry small batch production, single piece production, customization production.
The primary problem of production management is how to improve the production efficiency and ensure the production quality of products in the fields of aircraft manufacturing and automobile manufacturing. The current polishing operation and judgment of the sheet metal part mainly depend on experience and cooperation of operators, so that the bottleneck problem that the production efficiency is limited and improved and the product quality is improved is solved, and the polishing efficiency is limited by the sheet metal size and the labor intensity of workers and is difficult to improve.
The appearance of the intelligent polishing system improves polishing efficiency and polishing quality, but the existing intelligent polishing system usually polishes according to a preset path, the polishing effect of the region where polishing is completed is not detected, and the polishing effect of the region where polishing is completed cannot be guaranteed, so that the polishing method and the polishing system of the polishing system need to be designed urgently to ensure the polishing effect.
Disclosure of Invention
The invention aims to provide a polishing method and a polishing system of a polishing system, and solves the technical problem that the existing polishing system cannot guarantee the polishing effect of a polishing completion area.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a polishing method of a polishing system, which comprises the following steps:
a vision device of the polishing system acquires information of a workpiece so as to acquire a polishing path according to the information of the workpiece;
a grinding tool of the grinding system grinds the workpiece along the grinding path, and the visual device detects the grinding effect of the ground area in the grinding process;
if the grinding effect does not meet the requirement, the grinding system plans the grinding path again so as to grind the area of which the grinding effect does not meet the requirement again, and the grinding force corresponding to the grinding effect is matched for grinding when grinding.
The polishing method of the polishing system comprises the following steps that firstly, a vision system of the polishing system acquires information of a workpiece to obtain a polishing path matched with the workpiece, a polishing tool polishes the workpiece along the polishing path, in the polishing process, a vision device detects the polishing effect of a polished area, when the polishing effect is detected to be not satisfactory, the polishing system plans the polishing path again, and the area with the polishing effect not satisfactory is polished again, so that the polishing effect of the finally polished workpiece is better; the polishing force matched with the polishing effect is used for polishing, and the phenomenon of over-polishing is avoided.
As a preferable mode of the polishing method of the polishing system, the acquiring information of the workpiece by the vision device of the polishing system to acquire the polishing path according to the information of the workpiece includes:
and the vision device of the polishing system acquires the position and shape information of the workpiece so as to acquire the polishing path of the polishing tool according to the position and shape information of the workpiece.
The vision device acquires the polishing path of the polishing tool according to the position and the shape information of the workpiece, the acquisition mode is simple and convenient, and the polishing path acquired according to the position and the shape information of the workpiece is polished to achieve a good polishing effect.
As an optimal scheme of the polishing method of the polishing system, in the polishing process, the vision device detects the polishing effect of the polishing completion area in real time to judge whether the polishing effect meets the requirement.
In the polishing process, the visual device detects the polishing effect of the polishing completion area in real time so as to detect the polishing effect in the whole polishing path and accurately feed back the polishing condition of the polishing completion area.
As a preferable scheme of the polishing method of the polishing system, the vision device detects the glossiness of the polishing completion area in real time, compares the detected glossiness with a preset glossiness, and determines that the polishing effect does not meet the requirement if the detected glossiness does not reach the preset glossiness.
The glossiness of the polishing completion area is detected, so that the polishing effect of the polishing completion area can be judged conveniently according to the glossiness, and the judging mode is simple and convenient.
As a preferable scheme of the polishing method of the polishing system, in the polishing process, the vision device detects the glossiness of the region to be polished of the workpiece, so as to match the corresponding polishing force according to the detected glossiness of the region to be polished.
The glossiness of the to-be-polished area of the workpiece is detected through the vision device, so that the corresponding polishing force is matched, and a relatively good polishing effect is obtained.
As a preferable scheme of the polishing method of the polishing system, a corresponding relationship between the glossiness and the polishing force is stored in the polishing system, and the polishing system obtains the corresponding polishing force according to the detected glossiness and the corresponding relationship between the glossiness and the polishing force.
The polishing system is internally provided with a corresponding relation between the glossiness and the polishing force, and the polishing force of the polishing tool is obtained according to the detected glossiness and the polishing force, so that the polishing system is suitable for polishing the current workpiece.
As a preferable scheme of the polishing method of the polishing system, a corresponding relationship between the polishing force and the polishing speed under different glossiness is stored in the polishing system, and the polishing system obtains the polishing force corresponding to the polishing force and obtains the polishing speed corresponding to the polishing force according to the detected glossiness.
According to the glossiness, obtain the grinding force, then under this glossiness, obtain the speed of polishing according to the corresponding relation of grinding force and speed of polishing to polish the work piece according to the parameter that reachs, thereby guarantee the better effect of polishing relatively.
As an optimal scheme of the polishing method of the polishing system, in the polishing process, the force control device of the polishing system detects the polishing force of the polishing tool in real time, compares the polishing force with a preset polishing range, and adjusts the polishing force if the detected polishing force exceeds the preset polishing range.
Through at the in-process of polishing, the size of real-time detection power of polishing to control the power of polishing at predetermineeing the within range of polishing through power accuse device, avoid the power of polishing to produce great unsteady, guarantee the effect of polishing.
The invention also provides a polishing system which is used for polishing by adopting the polishing method and comprises a vision device, a polishing tool, a force control device and a robot.
The polishing system can replan the polishing path according to the polishing effect in the polishing process so as to polish the region of which the polishing effect does not meet the requirement again, and the polishing force corresponding to the region is matched when the region is polished, so that the polishing effect of the workpiece which is polished is better.
As a preferable scheme of the polishing system, a movable vehicle body is arranged at the bottom of the robot.
The bottom of the robot is provided with a movable vehicle body so as to facilitate the movement of the robot.
The invention has the beneficial effects that:
the polishing method of the polishing system comprises the steps that firstly, a vision system of the polishing system acquires information of a workpiece to obtain a polishing path matched with the workpiece, a polishing tool polishes the workpiece along the polishing path, a vision device detects the polishing effect of a polished area in the polishing process, when the polishing effect is detected to be not satisfactory, the polishing system plans the polishing path again, and the area with the polishing effect not satisfactory is polished again, so that the polishing effect of the finally polished workpiece is better; the polishing force matched with the polishing effect is used for polishing, and the phenomenon of over-polishing is avoided.
The polishing system provided by the invention can be used for re-planning the polishing path according to the polishing effect in the polishing process so as to re-polish the area with the polishing effect not meeting the requirement, and the polishing effect of the polished workpiece is better due to the matching of the corresponding polishing force during polishing.
Drawings
FIG. 1 is a schematic diagram of a polishing system provided by the present invention;
FIG. 2 is a schematic view of the mobile cart body of the sanding system of the present invention showing the internal structure;
figure 3 is a schematic diagram of the configuration of the grinding table and vision system of the grinding system provided by the present invention.
In the figure:
1. moving the vehicle body; 2. a robot; 3. a force control device; 4. polishing the tool; 5. polishing the operation table; 6. a workpiece; 7. a support frame; 8. a visual component;
11. a vehicle body frame; 12. a drive wheel; 13. and an industrial personal computer.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The embodiment provides a system of polishing, can be applied to the operation of polishing in the aircraft manufacturing field, can realize polishing the high efficiency of sheet metal component, can be applied to the operation process of polishing in other fields with this system of polishing certainly.
In particular, as shown in fig. 1-3, the sanding system includes a vision device, a sanding tool 4, a force control device 3, and a robot 2.
In this embodiment, robot 2 is six arms, and the output of six arms sets up burnisher 4 to the adjustment to the spatial position and the gesture of burnisher 4 is realized, and force control device 3 installs between six arms output and burnisher 4. The polishing system integrates the vision device and the force control device 3 into a whole to form a force control vision intelligent robot for polishing operation.
In order to enable the grinding system to be adaptable to grinding tools 4 of different specifications, the grinding tool 4 is detachably connected with the force control device 3 so as to facilitate the disassembly and replacement of the grinding tool 4.
In order to support the workpiece 6, the polishing system further comprises a polishing workbench 5, the vision device is arranged on the polishing workbench 5, the workpiece 6 is arranged on the polishing workbench 5, and information of the workpiece 6, including but not limited to position and shape information, can be detected through the vision device.
Further, vision device includes support frame 7 and vision subassembly 8, and support frame 7 is installed on the operation platform 5 of polishing, and vision subassembly 8 is installed on support frame 7, and in this embodiment, vision subassembly 8 sets up on support frame 7 along the direction of height removal, and vision subassembly 8 is through height-adjusting to in satisfying different demands. In this embodiment, the visual component 8 is an industrial camera, and has the characteristics of high precision, high definition, good color restoration, low noise and the like.
Optionally, the force control device 3 includes a detection module and a control module, the detection module is configured to detect a normal pressure of the polishing surface of the polishing force and a rotational torque of the polishing head, wherein the normal pressure is used as a main detection value, and implement logic control. The detection module comprises a grinding force sensing submodule and a data acquisition submodule, wherein the grinding force sensing submodule is used for detecting the grinding force, the grinding force mainly reflects the normal pressure of the grinding surface and the rotation torque of the grinding head, the normal pressure is used as a main detection value, and logic control is implemented. The data acquisition submodule is mainly used for acquiring the normal pressure of a polishing surface and the rotating torque value of a polishing head, the input end of the data acquisition submodule is connected with the polishing force sensing submodule, the polishing force sensing submodule is subjected to data processing and supplies power to the polishing force sensing submodule, meanwhile, the output of the polishing force sensing submodule is identified and converted, and digital quantity is formed and transmitted to the control module for operation and feedback control.
The control module compares the detected polishing force with a preset polishing range, and if the detected polishing force is within the preset polishing range, polishing is continued; if the detected grinding force exceeds the preset grinding range, the control module controls and adjusts the grinding force of the grinding tool 4 so that the detected grinding force is in the preset grinding range, and therefore PID control of the grinding force of actual grinding operation and the preset grinding range is achieved.
As shown in fig. 1, a moving vehicle body 1 is provided at the bottom of the robot 2, and the robot 2 can be moved by the moving vehicle body 1 so as to move to the position of the polishing work table 5 to polish the workpiece 6.
Specifically, as shown in fig. 2, the moving vehicle body 1 includes a vehicle body frame 11, a driving wheel 12 and an industrial personal computer 13, the vehicle body frame 11 plays a role of bearing and supporting, a six-axis mechanical arm is mounted on the vehicle body frame 11, the driving wheel 12 is mounted at the bottom of the vehicle body frame 11 so as to facilitate the movement of the vehicle body frame 11, the industrial personal computer 13 is arranged inside the vehicle body frame 11, and the vision system, the force control device 3 and the grinding tool 4 are electrically connected with the industrial personal computer 13 of the moving vehicle body 1.
The embodiment also provides a polishing method of the polishing system, which comprises the following steps:
and S1, the vision device of the grinding system acquires the information of the workpiece 6 so as to acquire the grinding path according to the information of the workpiece 6.
In this embodiment, the vision device of the polishing system acquires information about the workpiece 6, and the position and shape information about the workpiece 6 are acquired, so that the polishing path of the polishing tool 4 is acquired according to the position and shape information about the workpiece 6, the acquisition mode is simple and convenient, and the polishing is performed according to the polishing path acquired according to the position and shape information about the workpiece 6, so that the polishing effect is good.
The movable vehicle body 1 drives the polishing tool 4 to move to the position of the workpiece 6 according to the position information of the workpiece 6, and the polishing is ready to be performed.
And S2, grinding the workpiece 6 by the grinding tool 4 of the grinding system along the grinding path, and detecting the grinding effect of the ground area by the vision device in the grinding process.
In the process of polishing, the force control device 3 of the polishing system detects the polishing force of the polishing tool 4 in real time, compares the polishing force with a preset polishing range, and adjusts the polishing force if the detected polishing force exceeds the preset polishing range so as to enable the detected polishing force to be located in the preset polishing range.
Through at the in-process of polishing, the size of real-time detection power of polishing to control the power of polishing at predetermineeing the within range of polishing through power accuse device 3, avoid the power of polishing to produce great unsteady, guarantee the effect of polishing.
In the polishing process, the visual device detects the glossiness of the to-be-polished area of the workpiece 6 so as to match the corresponding polishing force according to the detected glossiness of the to-be-polished area, and therefore a relatively good polishing effect is obtained.
S3, if the grinding effect does not meet the requirement, the grinding system replans the grinding path to grind the area of which the grinding effect does not meet the requirement again, and the grinding force corresponding to the grinding effect is matched to grind when grinding.
If the polishing effect meets the requirement, the polishing tool 4 is installed with a polishing path to continue polishing, and the polishing path does not need to be planned again.
In the polishing process, the visual device detects the polishing effect of the polishing completion area in real time to judge whether the polishing effect meets the requirements or not, so that the whole polishing path is detected, and the polishing condition of the polishing completion area is fed back more accurately.
Specifically, in this embodiment, the vision device detects the glossiness of the polishing completion area in real time, compares the detected glossiness with the preset glossiness, and determines that the polishing effect does not meet the requirement if the detected glossiness does not reach the preset glossiness. The glossiness of the polishing completion area is detected, so that the polishing effect of the polishing completion area can be judged conveniently according to the glossiness, and the judging mode is simple and convenient.
The polishing system stores the corresponding relation between the glossiness and the polishing force, and obtains the corresponding polishing force according to the detected glossiness and the corresponding relation between the glossiness and the polishing force.
The polishing system is internally provided with a corresponding relation between the glossiness and the polishing force, and the polishing force of the polishing tool 4 is obtained according to the detected glossiness and the polishing force, so that the polishing system is suitable for polishing the current workpiece 6.
The polishing system is internally stored with the corresponding relation between the polishing force and the polishing speed under different glossiness, and the polishing system obtains the polishing speed corresponding to the polishing force while obtaining the corresponding polishing force according to the detected glossiness.
According to the glossiness, obtain the grinding force, then under this glossiness, obtain the speed of polishing according to the corresponding relation of grinding force and speed of polishing to polish work piece 6 according to the parameter that reachs, thereby guarantee the relatively better effect of polishing.
The grinding force can also consider the grinding operation control of force feedback control of grinding operation according to the gluing property of the surface of the metal plate to be ground and the physical property of the metal plate material, and the grinding operation control of path planning is realized by using a machine vision technology to realize area identification with a grinding area as a boundary condition. Therefore, when the grinding force is considered, the metal plate surface gluing property, the material property of the metal plate material and the like can be considered, so that accurate grinding is realized for the metal plate.
The polishing method of the polishing system comprises the steps that firstly, a vision system of the polishing system acquires information of a workpiece 6 to obtain a polishing path matched with the workpiece 6, a polishing tool 4 polishes the workpiece 6 along the polishing path, a vision device detects the polishing effect of a polished area in the polishing process, when the polishing effect is detected to be not satisfactory, the polishing system plans the polishing path again, and the area with the polishing effect not satisfactory is polished again, so that the polishing effect of the finally polished workpiece 6 is better; the polishing force matched with the polishing effect is used for polishing, and the phenomenon of over-polishing is avoided.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A method of polishing in a polishing system, comprising the steps of:
a vision device of the grinding system acquires information of a workpiece (6) so as to acquire a grinding path according to the information of the workpiece (6);
a grinding tool (4) of the grinding system grinds the workpiece (6) along the grinding path, and the visual device detects the grinding effect of the ground area in the grinding process;
if the grinding effect does not meet the requirement, the grinding system plans the grinding path again so as to grind the area of which the grinding effect does not meet the requirement again, and the grinding force corresponding to the grinding effect is matched for grinding when grinding.
2. The method of claim 1, wherein the step of the vision device of the polishing system acquiring information of the workpiece (6) to acquire the polishing path according to the information of the workpiece (6) comprises:
the vision device of the polishing system acquires the position and shape information of the workpiece (6) so as to acquire the polishing path of the polishing tool (4) according to the position and shape information of the workpiece (6).
3. The polishing method of a polishing system as claimed in claim 1, wherein the vision device detects the polishing effect of the polishing-completed region in real time during the polishing process to determine whether the polishing effect satisfies the requirements.
4. The polishing method of a polishing system according to claim 3, wherein the vision device detects the glossiness of the polishing-completed region in real time, compares the detected glossiness with a preset glossiness, and determines that the polishing effect does not satisfy the requirement if the detected glossiness does not reach the preset glossiness.
5. The sanding method of a sanding system according to claim 1 characterized in that during sanding the vision device detects the gloss of the area to be sanded of the workpiece (6) to match the corresponding sanding force according to the detected gloss of the area to be sanded.
6. The sanding method of a sanding system according to any one of claims 1-5, characterized in that a gloss level to sanding force correspondence is stored in the sanding system, and the sanding system derives the corresponding sanding force from the detected gloss level and the gloss level to sanding force correspondence.
7. The method of claim 6, wherein the polishing system stores therein a relationship between polishing force and polishing speed at different gloss levels, and the polishing system derives the polishing force and the polishing speed corresponding to the polishing force according to the detected gloss level.
8. The sanding method of a sanding system according to any one of claims 1-5 characterized in that during sanding, the force control device (3) of the sanding system detects the sanding force of the sanding tool (4) in real time and compares it with a preset sanding range and adjusts it if the detected sanding force exceeds the preset sanding range.
9. A sanding system characterized by a vision device, a sanding tool (4), a force control device (3) and a robot (2).
10. A sanding system according to claim 9, characterized in that the bottom of the robot (2) is provided with a mobile car body (1).
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| CN202111048192.XA CN113787382A (en) | 2021-09-08 | 2021-09-08 | Polishing method of polishing system and polishing system |
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| CN202111048192.XA CN113787382A (en) | 2021-09-08 | 2021-09-08 | Polishing method of polishing system and polishing system |
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Application publication date: 20211214 |