CN114193289A - Equipment and method for continuously feeding and discharging and continuously polishing arc plate for ship - Google Patents
Equipment and method for continuously feeding and discharging and continuously polishing arc plate for ship Download PDFInfo
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- CN114193289A CN114193289A CN202111517552.6A CN202111517552A CN114193289A CN 114193289 A CN114193289 A CN 114193289A CN 202111517552 A CN202111517552 A CN 202111517552A CN 114193289 A CN114193289 A CN 114193289A
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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
- B24B19/26—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads
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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
- B24B41/06—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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses equipment and a method for continuously feeding and discharging and uninterruptedly polishing a marine arc plate, wherein the size and the central coordinate of the arc plate are acquired by a three-dimensional vision device on a feeding and discharging robot, the three-dimensional vision device is guided to grab the arc plate and horizontally place the arc plate on a tool clamp table, then the position of the arc plate is adjusted and fixed by the tool clamp table according to size information, the tool clamp table enters a polishing station and turns the arc plate to be vertical, a linear laser vision sensor on the polishing robot detects the position of a free edge and guides the polishing robot to move according to a track, and a six-dimensional force control device detects the stress of a polishing cutter and finishes pose correction; meanwhile, the feeding and discharging robot and the tool clamp platform on the other side are prepared in the same mode, when the circular arc plate is polished and pushed out, the circular arc plate which is fed on the other side enters a polishing station, the same polishing operation is completed, flexible automatic polishing is achieved, the polishing application range is greatly improved, unmanned and continuous polishing operation is achieved, and the working efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of polishing of marine parts, in particular to equipment and a method for continuously feeding and discharging and uninterruptedly polishing a marine arc plate.
Background
The free edge of the arc plate for the ship mainly refers to the edge angle edge of the arc plate for the ship, which is not connected with other parts and is directly exposed in the internal environment of the cabin. Therefore, in order to avoid premature corrosion and falling of the antirust paint on the free edge of the arc plate and reduce the maintenance cost of the ship, the free edge of the arc plate needs to be subjected to fillet grinding so as to increase the attachment area of the antirust paint. The traditional free edge polishing of the arc plate generally adopts a manual hand-held pneumatic chamfering machine to polish the free edge fillet of the arc plate flatly paved on the ground, and after polishing the free edges of all the arc plates flatly paved, all the arc plates are turned over manually, and the polishing of the other side is continued. The polishing method has the advantages of long overall operation time, low automation degree, high repeated labor intensity, severe operation environment and certain potential safety hazard.
In order to solve various defects of manual polishing of the free edge of the existing arc plate, equipment which has multiple sensing capabilities, can continuously and automatically feed and discharge materials and can continuously polish is required to be designed. Because industrial robot has advantages such as can integrate high, the universalization is strong, the reachability is wide, realizes the perception of going up the unloading with the help of three-dimensional sensor simultaneously, utilizes the accurate guide of the online tracking sensor realization orbit of polishing of high accuracy, coordinates six-dimensional force control sensor to realize the uniformity of the process of polishing. Therefore, the equipment and the control method which have multiple senses, can continuously and automatically feed and discharge and continuously polish the circular arc plate can solve the bottleneck problem in the polishing process of the free edge of the circular arc plate, greatly shorten the polishing preparation time, improve the polishing efficiency and quality, release the labor productivity in severe environment and provide an effective solution for completely replacing manual polishing of the marine circular arc plate.
Some people in China research and obtain certain achievements aiming at the automatic grinding of the marine circular arc plate, but most of people are still in an ideal environment, and the automatic grinding machine is not practically popularized in the field of industrial robots for grinding workpieces, and mainly has the following problems: (1) the method can not be suitable for the conditions of large blanking error, multiple covering specifications, unsmooth grinding surface and the like of the preorder arc plate; (2) the polishing efficiency is low; (3) the grinding equipment is expensive and the maintenance cost is high.
Disclosure of Invention
The invention aims to solve the problems and defects, provides a method and equipment for continuously feeding and discharging and uninterruptedly polishing a circular arc plate for a ship, improves the automation degree of polishing the free edge of the circular arc plate for the ship, and simultaneously improves the production efficiency and the production quality.
The technical scheme for realizing the purpose of the invention is as follows:
a device for continuously feeding and discharging and continuously polishing arc plates for ships comprises a feeding and discharging robot, a polishing robot, a linear laser vision sensor, a six-dimensional force control device, a polishing device, a tool clamp table, a material tray, an arc plate and a power supply and control device;
the feeding and discharging robot is used for grabbing the arc plates in the material tray and placing the arc plates on the tool fixture table, and grabbing the polished arc plates and placing the material returning tray;
the polishing robot is used for driving the linear laser vision sensor, the six-dimensional force control device and the polishing device to polish the arc plate (8);
the power supply and control device is used for supplying power and controlling each device in the equipment.
The loading and unloading robot comprises a first loading and unloading robot and a second loading and unloading robot, the two robots are the same and are respectively arranged on two sides of the tool clamp platform in the equipment;
the material trays are arranged in four, two of the material trays are arranged on one side of the first feeding and discharging robot, the other two material trays are arranged on one side of the second feeding and discharging robot, one material tray is used for feeding, and the other material tray is used for discharging;
the two feeding and discharging robots respectively comprise a robot body, a power-off adsorption type electromagnet array and a three-dimensional sensor, and the power-off adsorption type electromagnet array and the three-dimensional sensor are arranged on the robot body;
the power-off adsorption type electromagnet array is used for adsorbing the arc plate, and the three-dimensional sensor is used for detecting the three-dimensional size information of the arc plate.
The polishing robot is provided with a linear laser vision sensor, a six-dimensional force control device and a polishing device in sequence;
the line laser vision sensor is used for tracking the track of the free edge of the circular arc plate), and the six-dimensional force control device is used for acquiring the change condition of the contact force between the polishing device and the free edge of the circular arc plate in the polishing process;
the polishing device comprises an electric spindle, a clamping tool and a rotary cutter and is used for polishing the arc plate.
The tool clamp table comprises a first tool clamp table, a second tool clamp table and a base;
the two tool clamp tables have the same structure and are symmetrically arranged on the base;
the first tool clamp table and the second tool clamp table respectively comprise a moving mechanism, a pushing mechanism, a cylinder pressing mechanism, a power-off electromagnet array and a turnover mechanism;
the turnover mechanism is arranged on the moving mechanism, and the pushing mechanism, the cylinder pressing mechanism and the power-off electromagnet array are all connected with the turnover mechanism.
The moving mechanism comprises a servo motor and a speed reducer and is used for controlling the movement of the tool clamp table;
the cylinder pressing mechanism is used for pressing and fixing the arc plate on the tool clamp table;
the pushing mechanism comprises a servo motor, a speed reducer and a guide rail slide block and is used for pushing the arc plate on the tool clamp platform to a specified position;
the power-loss electromagnet array is used for adsorbing the arc plate;
the turnover mechanism is used for turning the horizontally fixed arc plate to the vertical direction integrally.
The automatic tool changing device further comprises a tool changing warehouse which is used for automatically changing the polishing tools on the polishing robot.
The power supply and control device is used for supplying power to the feeding and discharging robot, the polishing robot, the line laser vision sensor, the six-dimensional force control device, the polishing device, the tool clamp platform, the charging tray and the tool changing warehouse and is used for controlling the feeding and discharging robot, the polishing robot to move, the line laser vision sensor to collect, the six-dimensional force control device to collect, the rotating speed and the pressure of the polishing device, the action of the tool clamp platform, the position detection of the charging tray and the tool changing warehouse replacement, and the power supply and the control device are connected with each device or equipment through the Ethernet and the serial port.
A method for continuously feeding and discharging and uninterruptedly polishing a circular arc plate for a ship comprises the following steps:
step 4, guiding the polishing robot to move to the polishing initial position of the arc plate according to the maximum external rectangle size information of the arc plate and the displacement information of the movement of the pushing device;
and 8, after polishing, carrying the polished circular arc plate back to the original position by the tool clamp table, putting the polished circular arc plate into a feeding disc by the feeding and discharging robot, and polishing the circular arc plate on the other side by the polishing robot.
Compared with the prior art, the invention has the beneficial effects that:
(1) the technical scheme of the invention solves the problems that the traditional robot teaching and drawing-driven polishing are difficult to adapt to large blanking error, multiple product types and unsmooth polishing surface of a circular arc plate in a shipyard, the linear laser tracking sensor tracks the free edge track by utilizing three-dimensional vision to identify different sizes and centers, the six-dimensional force control device adjusts the contact force of the cutter, the flexible automatic polishing is really realized, and the polishing application range is greatly improved;
(2) the technical scheme of the invention solves the problems of time and labor consumption and low efficiency of the existing manual turning and polishing, realizes the online circulation of the related information of the arc plate by utilizing the cooperation of an industrial robot and various sensing devices, really realizes unmanned and continuous polishing operation, realizes the uninterrupted operation of the polishing robot by configuring two feeding and discharging robots and an automatic tool changing library, and further improves the working efficiency;
(3) according to the technical scheme, the types and the number of the tool fixtures are reduced through integration of various sensors, so that the system is simple and easy to use, the application range is various, and the full coverage of different types of arc plates can be realized through the quick-change robot tool and the modularized tool fixture table.
Drawings
Fig. 1 is a schematic structural diagram of a circular arc plate for a continuous feeding and discharging and uninterrupted polishing ship of the invention.
Fig. 2 is a schematic view of a part of the structure of the grinding robot of the present invention.
Fig. 3 is a schematic view of a part of a work fixture table of the present invention.
FIG. 4 is a schematic structural view of a loading and unloading station according to the present invention.
FIG. 5 is a schematic view of a circular arc plate and a free edge according to the present invention.
Detailed Description
A device for continuously feeding and discharging and uninterruptedly polishing arc plates for ships comprises a feeding and discharging robot 1, a polishing robot 2, a linear laser vision sensor 3, a six-dimensional force control device 4, a polishing device 5, a tool clamp platform 6, a material tray 7, an arc plate 8 and a power supply and control device 10;
the feeding and discharging robot 1 is used for grabbing the arc plates 8 in the material tray 7 and placing the arc plates on the tool fixture table 6, and grabbing the polished arc plates 8 and placing the material returning tray 7;
the polishing robot 2 is used for driving the linear laser vision sensor 3, the six-dimensional force control device 4 and the polishing device 5 to polish the arc plate 8;
the power and control device 10 is used for supplying power and controlling various devices in the equipment.
The loading and unloading robot 1 comprises a first loading and unloading robot 1-1 and a second loading and unloading robot 1-2, the two robots are the same and are respectively arranged on two sides of a tool clamp table 6 in the equipment;
the number of the charging trays 7 is four, two of the charging trays are arranged on one side of the first loading and unloading robot 1-1, and the other two charging trays are arranged on one side of the second loading and unloading robot 1-2, wherein one charging tray is used for loading materials, and the other charging tray is used for unloading materials;
the two loading and unloading robots 1 respectively comprise a robot body, a power-off adsorption type electromagnet array and a three-dimensional sensor 15, and the power-off adsorption type electromagnet array and the three-dimensional sensor 15 are arranged on the robot body;
the power-off adsorption type electromagnet array is used for adsorbing the arc plate 8, and the three-dimensional sensor 15 is used for detecting three-dimensional size information of the arc plate 8.
The tail end of the polishing robot 2 is provided with a linear laser vision sensor 3, a six-dimensional force control device 4 and a polishing device 5 in sequence;
the linear laser vision sensor 3 is used for tracking the track of the free edge of the circular arc plate 8, and the six-dimensional force control device 4 is used for collecting the change condition of the contact force between the polishing device 5 and the free edge of the circular arc plate 8 in the polishing process;
the polishing device 5 comprises an electric spindle, a clamping tool and a rotary cutter and is used for polishing the fillet of the free edge of the arc plate 8.
The tool clamp table 6 comprises a first tool clamp table 6-1, a second tool clamp table 6-2 and a base 6-3;
the two tool clamp tables have the same structure and are symmetrically arranged on the base 6-3 through the gears on the tool clamp tables;
the first tool clamp table 6-1 and the second tool clamp table 6-2 respectively comprise a moving mechanism, a pushing mechanism, a cylinder pressing mechanism, a power-off electromagnet array and a turnover mechanism;
taking the first tool clamp table 6-1 as an example:
the turning mechanism 615 is arranged on the moving mechanism 611, and the pushing mechanism 612, the cylinder pressing mechanism 613 and the power-off electromagnet array are all connected with the turning mechanism 615.
The moving mechanism 611 comprises a servo motor, a speed reducer and a gear and is used for controlling the movement of the tool clamp tables 6, so that the tool clamp tables 6 on the two sides can alternately go in and out, and uninterrupted polishing operation is realized;
the cylinder pressing mechanism 613 is used for pressing and fixing the arc plate 8 on the tool clamp table 6;
the pushing mechanism 612 comprises a servo motor, a speed reducer, a gear rack and a guide rail slider and is used for pushing the arc plate 8 on the tool clamp table 6 to a specified position;
the power-off electromagnet array is used for adsorbing the arc plates 8 with different sizes;
the turnover mechanism 615 is used for turning over the horizontally fixed circular arc plate 8 integrally to the vertical direction, and the grinding device 5 is convenient to grind the free edge of the circular arc plate 8 on two sides.
Further, the automatic tool changing device also comprises a tool changing magazine 9 which is used for automatically changing the grinding tools on the grinding robot 2.
The power supply and control device 10 is used for supplying power to the feeding and discharging robot 1, the polishing robot 2, the line laser vision sensor 3, the six-dimensional force control device 4, the polishing device 5, the tool clamp table 6, the material disc 7 and the tool changer 9, and is used for controlling the feeding and discharging robot 1, the polishing robot 2 to move, the line laser vision sensor 3 to collect, the six-dimensional force control device 4 to collect, the rotating speed and the pressure of the polishing device 5, the action of the tool clamp table 6, the position detection of the material disc 7 and the tool change of the tool changer 9, and the power supply and control device 10 is connected with each device or equipment through an Ethernet and a serial port.
A method for continuously feeding and discharging and uninterruptedly polishing a circular arc plate for a ship comprises the following steps:
step 4, guiding the polishing robot 2 to move to the polishing initial position of the arc plate 8 according to the maximum external rectangle size information of the arc plate 8 and the displacement information of the movement of the pushing device;
step 5-1, determining the proportion of the polished length of the cutter to the rated polished length of the cutter, if the service life of the cutter is up, entering step 5-2, otherwise, entering step 5-3;
step 5-2, carrying out self-checking on the tool changing magazine 9, and if the tools of the tool changing magazine 9 are used, entering step 5-3, otherwise, entering step 5-4;
step 5-3, stopping the polishing robot 2, prompting by the power supply and control device 10 to add a new tool to the tool changing magazine 9, and finishing tool addition of the tool changing magazine 9;
and 5-4, the polishing robot 2 moves to the tool changing warehouse 9 for tool changing.
6-1, loading a position relation calibration file between the linear laser vision sensor 3 and the polishing device 5 by the power supply and control device 10;
6-2, acquiring an image of the free edge of the arc plate 8 in real time by the line laser vision sensor 3, determining the intersection point coordinate of line laser and the free edge in the image, guiding the polishing robot 2 to adjust the pose of the polishing robot, and ensuring that a polishing cutter in the polishing device 5 is correctly contacted with the free edge of the arc plate 8;
and 6-3, enabling the polishing robot 2 to move forwards at a constant speed according to the coordinates in the step 6-2, enabling the six-dimensional force control device 4 to detect the contact force between the polishing cutter and the arc plate 8 in real time, if the contact force is larger, adding a negative offset on the basis of the track coordinates identified by the online laser vision sensor 3, and when the contact force is smaller, indicating that the cutter is worn, namely adding a positive offset on the basis of the track coordinates identified by the online laser vision sensor 3, so that the maximum utilization of the cutter is ensured.
7, in the working process of the polishing robot 2, the feeding and discharging robot 1 and the tool clamp table 6 on the other side complete feeding work of the arc plate 8 on the other side according to the steps 2-6;
Examples
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without inventive step, are within the scope of the present invention.
With reference to fig. 1, an apparatus for continuously feeding and discharging and uninterruptedly polishing a circular arc plate for a ship includes a feeding and discharging robot 1, a polishing robot 2, a line laser vision sensor 3, a six-dimensional force control device 4, a polishing device 5, a tool clamp table 6, a material tray 7, a circular arc plate 8, and a power supply and control device 10;
the feeding and discharging robot 1 is used for grabbing the arc plates 8 in the material tray 7 and placing the arc plates on the tool fixture table 6, and grabbing the polished arc plates 8 and placing the material returning tray 7;
with reference to fig. 2, the polishing robot 2 is configured to drive the line laser vision sensor 3, the six-dimensional force control device 4, and the polishing device 5 to polish the arc plate 8;
the power and control device 10 is used for supplying power and controlling various devices in the equipment.
In the figure 1, A and B are two feeding stations of the equipment, and a C area is a grinding station.
The loading and unloading robot 1 comprises a first loading and unloading robot 1-1 and a second loading and unloading robot 1-2, the two robots are the same and are respectively arranged on two sides of a tool clamp table 6 in the equipment;
the number of the charging trays 7 is four, two of the charging trays are arranged on one side of the first loading and unloading robot 1-1, and the other two charging trays are arranged on one side of the second loading and unloading robot 1-2, wherein one charging tray is used for loading materials, and the other charging tray is used for unloading materials;
with reference to fig. 4, each of the two loading and unloading robots 1 includes a robot body, a power-off adsorption type electromagnet array and a three-dimensional sensor 15, and the power-off adsorption type electromagnet array and the three-dimensional sensor 15 are disposed on the robot body;
the robot body in the embodiment adopts a six-joint industrial robot with the load of 300 Kg.
The power-off adsorption type electromagnet array is used for adsorbing the arc plate 8, and the three-dimensional sensor 15 is used for detecting three-dimensional size information of the arc plate 8.
In the embodiment, the polishing robot 2 adopts a six-joint industrial robot with 40Kg of load hung upside down on a portal, and a linear laser vision sensor 3, a six-dimensional force control device 4 and a polishing device 5 are sequentially arranged at the tail end of the polishing robot 2;
the linear laser vision sensor 3 is used for tracking the track of the free edge of the circular arc plate 8, and the six-dimensional force control device 4 is used for collecting the change condition of the contact force between the polishing device 5 and the free edge of the circular arc plate 8 in the polishing process;
the polishing device 5 comprises an electric spindle, a clamping tool and a rotary cutter and is used for polishing the fillet of the free edge of the arc plate 8.
The tool clamp table 6 comprises a first tool clamp table 6-1, a second tool clamp table 6-2 and a base 6-3;
the two tool clamp tables have the same structure and are symmetrically arranged on the base 6-3 through the gears on the tool clamp tables;
the first tool clamp table 6-1 and the second tool clamp table 6-2 respectively comprise a moving mechanism, a pushing mechanism, a cylinder pressing mechanism, a power-off electromagnet array and a turnover mechanism;
with reference to fig. 3, take the first tooling fixture table 6-1 as an example:
the turning mechanism 615 is arranged on the moving mechanism 611, and the pushing mechanism 612, the cylinder pressing mechanism 613 and the power-off electromagnet array are all connected with the turning mechanism 615.
The moving mechanism 611 comprises a servo motor, a speed reducer and a gear and is used for controlling the movement of the tool clamp tables 6, so that the tool clamp tables 6 on the two sides can alternately go in and out, and uninterrupted polishing operation is realized;
the cylinder pressing mechanism 613 is used for pressing and fixing the arc plate 8 on the tool clamp table 6;
the pushing mechanism 612 comprises a servo motor, a speed reducer, a gear rack and a guide rail slider and is used for pushing the arc plate 8 on the tool clamp table 6 to a specified position;
the power-off electromagnet array is used for adsorbing arc plates 8 with different sizes, and the adsorption force of a single power-off electromagnet in the embodiment is larger than 2000N;
the turnover mechanism 615 is used for turning over the horizontally fixed circular arc plate 8 integrally to the vertical direction, and the grinding device 5 is convenient to grind the free edge of the circular arc plate 8 on two sides.
The free edge of the circular arc plate 8 is shown in figure 5.
Further, the automatic tool changing device also comprises a tool changing magazine 9 which is used for automatically changing the grinding tools on the grinding robot 2.
The power supply and control device 10 is used for supplying power to the feeding and discharging robot 1, the polishing robot 2, the line laser vision sensor 3, the six-dimensional force control device 4, the polishing device 5, the tool clamp table 6, the material disc 7 and the tool changer 9, and is used for controlling the feeding and discharging robot 1, the polishing robot 2 to move, the line laser vision sensor 3 to collect, the six-dimensional force control device 4 to collect, the rotating speed and the pressure of the polishing device 5, the action of the tool clamp table 6, the position detection of the material disc 7 and the tool change of the tool changer 9, and the power supply and control device 10 is connected with each device or equipment through an Ethernet and a serial port.
A method for continuously feeding and discharging and uninterruptedly polishing a circular arc plate for a ship comprises the following steps:
step 4, guiding the polishing robot 2 to move to the polishing initial position of the arc plate 8 according to the maximum external rectangle size information of the arc plate 8 and the displacement information of the movement of the pushing device;
step 5-1, determining the proportion of the polished length of the cutter to the rated polished length of the cutter, if the service life of the cutter is up, entering step 5-2, otherwise, entering step 5-3;
step 5-2, carrying out self-checking on the tool changing magazine 9, and if the tools of the tool changing magazine 9 are used, entering step 5-3, otherwise, entering step 5-4;
step 5-3, stopping the polishing robot 2, prompting by the power supply and control device 10 to add a new tool to the tool changing magazine 9, and finishing tool addition of the tool changing magazine 9;
and 5-4, the polishing robot 2 moves to the tool changing warehouse 9 for tool changing.
6-1, loading a position relation calibration file between the linear laser vision sensor 3 and the polishing device 5 by the power supply and control device 10;
6-2, acquiring an image of the free edge of the arc plate 8 in real time by the line laser vision sensor 3, determining the intersection point coordinate of line laser and the free edge in the image, guiding the polishing robot 2 to adjust the pose of the polishing robot, and ensuring that a polishing cutter in the polishing device 5 is correctly contacted with the free edge of the arc plate 8;
and 6-3, enabling the polishing robot 2 to move forwards at a constant speed according to the coordinates in the step 6-2, enabling the six-dimensional force control device 4 to detect the contact force between the polishing cutter and the arc plate 8 in real time, if the contact force is larger, adding a negative offset on the basis of the track coordinates identified by the online laser vision sensor 3, and when the contact force is smaller, indicating that the cutter is worn, namely adding a positive offset on the basis of the track coordinates identified by the online laser vision sensor 3, so that the maximum utilization of the cutter is ensured.
7, in the working process of the polishing robot 2, the feeding and discharging robot 1 and the tool clamp table 6 on the other side complete feeding work of the arc plate 8 on the other side according to the steps 2-6;
In conclusion, the technical scheme of the invention solves the problems that the traditional robot teaching and drawing-driven polishing are difficult to adapt to large blanking errors, multiple product types and unsmooth polishing surface of a circular arc plate in a shipyard, the linear laser tracking sensor tracks the free edge track by utilizing three-dimensional vision to identify different sizes and centers, the six-dimensional force control device adjusts the contact force of the cutter, the flexible automatic polishing is really realized, and the polishing application range is greatly improved; the problem of current artifical turn-over and polish consuming time power, inefficiency is solved simultaneously, utilizes industrial robot to cooperate multiple sensing equipment, realizes the online circulation of the relevant information of arc plate, has really realized unmanned, the operation of polishing in succession to through disposing two last unloading robots and automatic tool changing storehouse realization polishing robot's uninterrupted duty, work efficiency obtains further improvement.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention, including any reference to the above-described embodiments. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The equipment for continuously feeding and discharging and uninterruptedly polishing the arc plate for the ship is characterized by comprising a feeding and discharging robot (1), a polishing robot (2), a line laser vision sensor (3), a six-dimensional force control device (4), a polishing device (5), a tool clamp table (6), a material tray (7), the arc plate (8) and a power supply and control device (10);
the feeding and discharging robot (1) is used for grabbing the arc plates (8) in the material tray (7) and placing the arc plates on the tool fixture table (6), and grabbing the polished arc plates (8) and placing the material returning tray (7);
the polishing robot (2) is used for driving the linear laser vision sensor (3), the six-dimensional force control device (4) and the polishing device (5) to polish the arc plate (8);
the power supply and control device (10) is used for supplying power and controlling each device in the equipment.
2. The equipment for continuously feeding and discharging and uninterruptedly grinding the arc plate for the ship as claimed in claim 1, wherein the feeding and discharging robot (1) comprises a first feeding and discharging robot (1-1) and a second feeding and discharging robot (1-2), the two robots are the same and are respectively arranged on two sides of a tool clamp table (6) in the equipment;
the material trays (7) are arranged in four, two of the material trays are arranged on one side of the first feeding and discharging robot (1-1), and the other two material trays are arranged on one side of the second feeding and discharging robot (1-2), wherein one material tray is used for feeding materials, and the other material tray is used for discharging materials;
the two loading and unloading robots (1) respectively comprise a robot body, a power-off adsorption type electromagnet array and a three-dimensional sensor, and the power-off adsorption type electromagnet array and the three-dimensional sensor (15) are arranged on the robot body;
the power-off adsorption type electromagnet array is used for adsorbing the arc plate (8), and the three-dimensional sensor (15) is used for detecting the three-dimensional size information of the arc plate (8).
3. The equipment for continuously feeding and discharging and uninterruptedly grinding the arc plate for the ship as claimed in claim 1, wherein the grinding robot (2) is provided with a linear laser vision sensor (3), a six-dimensional force control device (4) and a grinding device (5) in sequence;
the linear laser vision sensor (3) is used for tracking the track of the free edge of the circular arc plate (8), and the six-dimensional force control device (4) is used for collecting the change condition of the contact force between the grinding device (5) and the free edge of the circular arc plate (8) in the grinding process;
the polishing device (5) comprises an electric spindle, a clamping tool and a rotary cutter and is used for polishing the arc plate (8).
4. The equipment for continuously feeding and discharging and uninterruptedly grinding the arc plate for the ship as claimed in claim 1, wherein the tooling clamp table (6) comprises a first tooling clamp table (6-1), a second tooling clamp table (6-2) and a base (6-3);
the two tool clamp tables have the same structure and are symmetrically arranged on the base (6-3);
the first tool clamp table (6-1) and the second tool clamp table (6-2) respectively comprise a moving mechanism, a pushing mechanism, a cylinder pressing mechanism, a power-off electromagnet array and a turnover mechanism;
the turnover mechanism is arranged on the moving mechanism, and the pushing mechanism, the cylinder pressing mechanism and the power-off electromagnet array are all connected with the turnover mechanism.
5. The equipment for continuously feeding and discharging and uninterruptedly grinding the arc plate for the ship as claimed in claim 4, wherein the moving mechanism comprises a servo motor and a speed reducer, and is used for controlling the movement of the tool clamp table (6);
the cylinder pressing mechanism is used for pressing and fixing the arc plate (8) on the tool clamp table (6);
the pushing mechanism comprises a servo motor, a speed reducer and a guide rail slide block and is used for pushing the arc plate (8) on the tool clamp table (6) to a specified position;
the power-loss electromagnet array is used for adsorbing the arc plate (8);
the turnover mechanism is used for turning over the horizontally fixed circular arc plate (8) to the vertical direction integrally.
6. The apparatus for continuously feeding and discharging and uninterruptedly grinding the arc plate for the ship as claimed in claim 1, further comprising a tool changer (9) for automatically changing a grinding tool on the grinding robot (2).
7. The apparatus for continuously feeding and discharging and uninterruptedly grinding the arc plate for the ship according to claim 6, it is characterized in that the power supply and control device (10) is used for supplying power to the loading and unloading robot (1), the polishing robot (2), the line laser vision sensor (3), the six-dimensional force control device (4), the polishing device (5), the tool fixture table (6), the material tray (7) and the tool changing warehouse (9), and is used for controlling the movement of the loading and unloading robot (1) and the polishing robot (2), the acquisition of a line laser vision sensor (3), the acquisition of a six-dimensional force control device (4), the rotating speed and the pressure of the polishing device (5), the action of a tool clamp table (6), the position detection of a material tray (7), the replacement of a tool changer (9), the power supply and control device (10) is connected with each device or equipment through Ethernet and serial ports.
8. The method for continuously feeding and discharging and uninterruptedly grinding the arc plate for the ship according to any one of claims 1 to 7, wherein the method comprises the following steps:
step 1, a power supply and control device (10) controls two feeding and discharging robots (1) to respectively move to the positions above the charging trays (7) on the respective sides, a three-dimensional sensor (151) is used for collecting images of circular arc plates (8) in the charging trays (7) for feeding, and the maximum external rectangle size and the center coordinate of the circular arc plate (8) on the uppermost layer are obtained;
step 2, the feeding and discharging robot (1) on one side controls the local power loss of the power loss type electromagnet array through the maximum external rectangle size and the center coordinate, the feeding and discharging robot (1) is close to the arc plate (8) and adsorbs the arc plate (8), and the feeding and discharging robot (1) carries the adsorbed arc plate (8) to the tool clamp table (6) on the side and horizontally places the arc plate;
step 3, a pushing device on the work fixture table (6) at the side pushes the arc plate (8) to a position where the free edge of the arc plate does not interfere with the work fixture table (6) at the side, a cylinder pressing device and a power-off electromagnet array within the size range of the arc plate work to fix the arc plate (8) on the work fixture table (6) at the side, the turnover mechanism drives the arc plate (8) to turn over at the moment to a vertical position, and a moving mechanism moves the work fixture table (6) at the side to a corresponding polishing position;
step 4, guiding the polishing robot (2) to move to the polishing initial position of the arc plate (8) according to the maximum external rectangle size information of the arc plate (8) and the displacement information of the movement of the pushing device;
step 5, the polishing robot (2) performs cutter self-inspection;
step 6, the polishing robot (2) utilizes the linear laser vision sensor (3), the six-dimensional force control device (4) and the polishing device (5) to realize accurate fillet polishing of the free edge of the circular arc plate (8) and record of polishing distance;
7, in the working process of the polishing robot (2), the feeding and discharging robot (1) and the tool clamp table (6) on the other side complete feeding work of the arc plate (8) on the other side according to the steps 2-6;
step 8, after polishing, the arc plates (8) which are polished are carried back to the original position by the tool clamp platform (6), the feeding and discharging robot (1) puts the arc plates into a feeding disc (7) for feeding, and the polishing robot (2) polishes the arc plates (8) on the other side.
9. The method for continuously feeding and discharging and uninterruptedly grinding the arc plate for the ship as claimed in claim 8, wherein the self-checking of the cutter in the step 5 specifically comprises the following steps:
step 5-1, determining the proportion of the polished length of the cutter to the rated polished length of the cutter, if the service life of the cutter is up, entering step 5-2, otherwise, entering step 5-3;
step 5-2, carrying out self-checking on the tool changer (9), and entering step 5-3 if the tools of the tool changer (9) are used, or entering step 5-4;
5-3, stopping the polishing robot (2), prompting by the power supply and control device (10) to add a new tool into the tool changing magazine (9), and finishing tool addition of the tool changing magazine (9);
and 5-4, the polishing robot (2) moves to a tool changing warehouse (9) for tool changing.
10. The method for continuously feeding and discharging and uninterruptedly grinding the arc plate for the ship as claimed in claim 8, wherein the grinding in the step 6 specifically comprises the following steps:
step 6-1, loading a position relation calibration file between the linear laser vision sensor (3) and the polishing device (5) by the power supply and control device (10);
6-2, acquiring a free edge image of the arc plate (8) in real time by using a line laser vision sensor (3), determining the intersection point coordinate of line laser and the free edge in the image, guiding the polishing robot (2) to adjust the pose of the polishing robot, and ensuring that a polishing cutter in the polishing device (5) is correctly contacted with the free edge of the arc plate (8);
and 6-3, enabling the polishing robot (2) to move forwards at a constant speed according to the coordinates in the step 6-2, enabling the six-dimensional force control device (4) to detect the contact force between the polishing cutter and the arc plate (8) in real time, if the contact force is larger, adding a negative offset on the basis of the track coordinate identified by the online laser vision sensor (3), and if the contact force is smaller, indicating that the cutter is worn, namely adding a positive offset on the basis of the track coordinate identified by the online laser vision sensor (3), so that the maximum utilization of the cutter is ensured.
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