CN114227434A - Industrial robot-based turbine polishing workstation control system - Google Patents
Industrial robot-based turbine polishing workstation control system Download PDFInfo
- Publication number
- CN114227434A CN114227434A CN202111639138.2A CN202111639138A CN114227434A CN 114227434 A CN114227434 A CN 114227434A CN 202111639138 A CN202111639138 A CN 202111639138A CN 114227434 A CN114227434 A CN 114227434A
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- workstation
- hub
- module
- plc
- polishing
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- 238000005498 polishing Methods 0.000 title claims abstract description 42
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000012546 transfer Methods 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 13
- 238000007664 blowing Methods 0.000 claims description 7
- 238000007667 floating Methods 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims description 2
- 239000000428 dust Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
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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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a turbine grinding workstation control system based on an industrial robot, wherein a manipulator is arranged in a workstation, a grinding module is fixed on the manipulator, a transmission line extends into the workstation from the outside of the workstation and is used for sending a hub to be ground into and out of the workstation, a clamp used for clamping the hub is arranged at the end part of the transmission line in the workstation, a visual identification module used for acquiring hub information is arranged in the workstation, the visual identification module is connected with a PLC (programmable logic controller) and outputs a sensing signal to the PLC, and the PLC is connected with a controller module, the grinding module, the transmission line and the clamp used for outputting a driving signal to the manipulator. The polishing device based on the six-axis manipulator is a control system of a single-station steam turbine polishing workstation, can replace manual polishing, improves polishing efficiency and ensures polishing quality.
Description
Technical Field
The invention relates to the technical field of polishing, in particular to a single-station polishing control system for an automobile hub.
Background
The automobile hub belongs to one of important parts on an automobile, burrs are formed inevitably in the process of machining and producing the automobile hub by a machine tool, and the burrs need to be removed before surface spraying. Manual manual deburring of polishing in the existing market not only operating time is long, and the dust is to workman's harm, and the deburring quality of polishing is inhomogeneous moreover. Therefore, a single-station turbine grinding workstation control system based on a six-axis manipulator needs to be designed to replace manual grinding, and grinding efficiency is improved.
Disclosure of Invention
The invention aims to solve the technical problems of realizing a single-station steam turbine grinding workstation control system based on a six-axis manipulator, and solving the problems of uneven deburring and grinding quality, long manual deburring grinding time and damage of dust to the bodies of workers.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a turbine workstation control system that polishes based on industrial robot, is equipped with the manipulator in the workstation, be fixed with the module of polishing on the manipulator, the transfer chain is extended to in the workstation by the workstation outward for wheel hub that will wait to polish advances and delivers from the workstation, the tip of transfer chain is equipped with the anchor clamps that are used for centre gripping wheel hub in the workstation, be equipped with the visual identification module who acquires wheel hub information in the workstation, visual identification module connects and exports sensing signal to PLC, PLC connects and exports drive signal to the controller module of manipulator, the module of polishing, transfer chain and anchor clamps.
The manipulator is a six-axis manipulator, and the polishing module is a floating polishing spindle module with a floating spindle.
The transfer chain is transmission belt or transfer roller, the side of transfer chain is equipped with two pairs of correlation sensors, the wheel hub of transporting on the transfer chain is gathered to the correlation sensor, the side of the part that the transfer chain is located the workstation outside is equipped with the gas blowing device who blows towards wheel hub.
A man-machine interaction module is fixed on the outer wall of the workstation, the man-machine interaction module is connected with the PLC and used for camera identification registration, work instruction sending, equipment state monitoring and record inquiry.
Workstation equipment seal's casing, the side of casing is equipped with emergency exit, material and imports and exports, be equipped with the inductor of induction door on-off state on the emergency exit, inductor connection and output signal to PLC, the material is imported and exported and is equipped with the sense of security grating, the sense of security grating is connected and output signal to PLC.
The top of casing all is equipped with the alarm lamp, and every side all is equipped with emergency stop switch, every emergency stop switch all connects PLC and is used for inputing emergency stop instruction to PLC, PLC connects and outputs alarm signal and carries out to the alarm lamp.
The control method based on the control system of the steam turbine polishing workstation comprises the following steps:
step 1, conveying the wheel hub into a workstation by a conveying line, and stopping when the wheel hub is conveyed to a polishing station;
step 2, clamping the hub by a clamp;
step 3, the vision module acquires the wheel hub positioning information;
step 4, the mechanical arm drives the polishing module to walk according to a set track, and simultaneously drives the polishing module to work;
and 5, returning the mechanical arm after polishing is finished, placing the hub to a conveying line by using the clamp, and conveying the hub out by using the conveying line.
In the step 1, in a hub image conveyed by the conveying line, the diameter information of the hub is obtained through the correlation sensor, in the step 3, the plc controls the upper light source to be turned on, the camera shoots, the model and the central hole position of the hub are identified, then the spoke angle is identified through shooting again, and the information of successful identification is sent to the manipulator.
In the step 4, the manipulator can successfully recognize the robot according to the information recognized by the camera to remove the burrs on the hub by driving the grinding spindle, the recognition fails, the hub is not subjected to deburring and grinding, and the next step of processing is carried out outside the conveying workstation.
The safety control method is that if any one of the following conditions is met, the PLC sends a stop signal, all the motion equipment can stop moving immediately, and the alarm gives an alarm at the same time:
1) when the safety door is opened;
2) when the moment of the robot hand is greater than a set value;
3) when the safety grating senses that an object enters;
4) the scram switch is triggered.
According to the single-station steam turbine polishing workstation control system based on the six-axis manipulator, the model, the central position and the hub angle of a hub can be accurately measured through the conveying line and clamp module, the six-axis manipulator and controller module, the floating polishing main shaft module, the visual identification and positioning module, the human-computer interaction module, the PLC control module and the safety module, and then burrs are polished and removed through the floating polishing main shaft clamped at the tail end of the six-axis manipulator. The safety module can prevent the workstation from harming workers during operation. Simultaneously, the system improves the production efficiency of the hub and reduces the labor cost of production.
Drawings
The following is a brief description of the contents of each figure in the description of the present invention:
FIG. 1 is a block diagram of a control system for a single-station steam turbine polishing workstation;
FIG. 2 is a schematic diagram of a control system for a single-station turbine grinding workstation;
FIG. 3 is a flow chart of a single-station turbine grinding workstation control system;
FIG. 4 is a schematic diagram of a safety module in a control system of a single-station steam turbine polishing workstation.
Detailed Description
The following description of the embodiments with reference to the drawings is provided to describe the embodiments of the present invention, and the embodiments of the present invention, such as the shapes and configurations of the components, the mutual positions and connection relationships of the components, the functions and working principles of the components, the manufacturing processes and the operation and use methods, etc., will be further described in detail to help those skilled in the art to more completely, accurately and deeply understand the inventive concept and technical solutions of the present invention.
A control system of a steam turbine grinding workstation based on an industrial robot is provided with a workstation, the workstation is a sealed shell and can protect internal equipment and prevent workers from being injured, as shown in figure 4, the shell forms a main body of a safety module, a safety door and a material inlet and outlet are arranged on the side surface of the shell, when the workstation control system automatically operates, the safety door is opened and a threshold switch (a sensor in a switch state) signal is triggered, a PLC (programmable logic controller) sends a stop signal, all moving equipment can stop moving immediately, personnel safety is protected, robot torque is set, when collision happens when the robot is operated by mistake, a robot and a floating grinding main shaft are prevented from being damaged, safety sensing gratings are arranged at a feed inlet and a discharge outlet to prevent workers from being clamped by a lifting door, the workstation control system is provided with a plurality of emergency stop buttons and is used for stopping all movements when an emergency happens, avoid the terminal instrument of robot rotatory through the reverse rotation instrument coordinate system, produce the damage after preventing cable and trachea winding, be PLC output signal and let the bright red light of alarm lamp and locate the buzzing when triggering safety signal.
A safety control method can be set based on the safety module, when any one of the following conditions is met, the PLC can send a stop signal, all the motion equipment can stop moving immediately, and meanwhile, the alarm gives an alarm:
1) when the safety door is opened;
2) when the moment of the robot hand is greater than a set value;
3) when the safety grating senses that an object enters;
4) the scram switch is triggered.
The transfer chain is extended to in the workstation by the workstation outward, and the transfer chain is used for sending into the workstation to automobile wheel hub and sees off the workstation, and two pairs of correlation sensors on the transfer chain are according to wheel hub through the time of two pairs of sensors, with the speed formula: s-v-t, the diameter of the hub S1 can be calculated, the distance S2 from the sensor to the center of the clamp is measured, and then the time t1 from the center of the hub to the center of the clamp can be calculated by using the motion formula X-1/2 (v0+ v) t, so that hubs with different diameters can be stopped at the center of the clamp, and the clamp can clamp the hub. After the hub is tightened, the robot enables the manipulator to perform deburring and polishing according to information of visual identification and positioning.
The tip of transfer chain is equipped with the anchor clamps that are used for centre gripping wheel hub in the workstation, and anchor clamps are simple centre gripping rotary mechanism, and the mounting that spreads into from the wheel hub centre bore is used for fixed wheel hub, and rotary driving mechanism is connected to the mounting, like the motor, and automobile wheel hub's spoke shape has repeatability, constitutes first spoke orbit by a spoke or a plurality of spokes, acquires first spoke orbit after, then can obtain all the other spoke routes through rotatory work piece coordinate system. And the working coordinate system is reversely rotated while the workpiece coordinate system is rotated, so that the rotation of a tool at the tail end of the robot can be avoided, and the cable and the air pipe are prevented from being damaged after being wound.
Be equipped with the manipulator in the workstation, be fixed with the module of polishing on the manipulator, the manipulator is six manipulators, can be according to the orbit that generates, and the controller is controlling the manipulator and is carrying out the burring and polish, and the module of polishing is the main shaft module of polishing that floats of main shaft, and the main shaft can float have the compliance, can compensate the spoke deformation of wheel hub in the certain limit and lead to robot path orbit deviation, does not influence the burring effect.
Be equipped with the visual identification module who acquires wheel hub information in the workstation, generally have camera and light combination to constitute, shoot wheel hub's image information, the visual identification module is connected and is exported sensing signal to PLC, and new wheel hub discernment location for the first time needs carry out camera identification information and registers, and after the registration, the camera is shot wheel hub, distinguishable wheel hub model, location wheel hub rotation angle and central point put.
The PLC control module controls the flow of the whole system, the PLC is connected with the controller module, the polishing module, the conveying line and the clamp which output driving signals to the manipulator, for example, the opening and the closing of the conveying line, the opening and the closing of the clamp, camera shooting, a light source and the like, a man-machine interaction module is arranged outside the shell, and the man-machine interaction module is connected with the PLC and used for camera identification registration, work instruction sending, equipment state monitoring and record inquiry.
The conveying line is generally a conveying belt or a conveying roller, and a blowing device for blowing air against the hub is arranged on the side surface of the part of the conveying line outside the workstation, for example, the blowing device is arranged at the initial end outside the conveying line and blows off dust and aluminum scraps remained on the light source. The next sanding cycle may then be performed.
The control method based on the control system of the steam turbine polishing workstation comprises the following steps:
step 1, conveying line work sends into the workstation with wheel hub in, stops after wheel hub carries to the station of polishing, and wheel hub gets into the workstation, and through two pairs of sensor information acquisition on the conveying line, PLC control motor operating duration is transported hub accurately and is sent to the anchor clamps center, and anchor clamps carry out the pine twice and press from both sides, ensure to add anchor clamps and step up wheel hub. If the hub with the new model is conveyed, information registration is required to be carried out in advance;
step 2, clamping the hub by a clamp, if the hub is new, after the hub is clamped and fixed by the clamp, registering the model of the hub, the angle and the central position of the spoke for visual identification and positioning, acquiring a deburring path of the spoke, running a program by a robot controller, and generating path tracks of other hubs by rotating a coordinate system program;
step 3, a vision module acquires the positioning information of the wheel hub, a plc controls an upper light source to be turned on, a camera is made to shoot, the model and the center hole position of the wheel hub are identified, a lower light source is turned on after the completion of the shooting, the spoke angle is identified by shooting again, and then the information of successful identification is sent to the robot;
and 4, the robot can drive the grinding spindle to remove burrs on the hub according to the information identified by the camera. If the identification fails, the hub is not deburred and polished, and is conveyed out of the workstation for further processing;
and 5, after polishing is finished, the conveying line sends out the hub, and the tail end of the robot is provided with a blowing device for blowing dust and aluminum scraps remained on the light source. The next sanding cycle may then be performed
The system stops running under the condition that running conditions are not met through safety measures such as a grating and an emergency stop button, so that the system can avoid harm to workers during running and reduce safety accidents; the running time of the motor is controlled through a sensor and a calculation formula on the conveying line, and the hub can be accurately conveyed to the center of the clamp; the method for obtaining the polishing path by rotating the coordinate system can deliver hubs with different diameters to the center of the clamp, and can ensure that the clamp can clamp the hubs; and a path acquisition method. The whole production efficiency can be improved, and the equipment cost is reduced.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (10)
1. The utility model provides a workstation control system that polishes of turbine based on industrial robot which characterized in that: be equipped with the manipulator in the workstation, be fixed with the module of polishing on the manipulator, the transfer chain is extended to in the workstation by the workstation outward for wheel hub that will wait to polish advances and delivers out the workstation, the tip of transfer chain is equipped with the anchor clamps that are used for centre gripping wheel hub in the workstation, be equipped with the visual identification module who acquires wheel hub information in the workstation, visual identification module connects and exports sensing signal to PLC, PLC connects and exports drive signal to the controller module of manipulator, the module of polishing, transfer chain and anchor clamps.
2. The turbine finishing workstation control system of claim 1, wherein: the manipulator is a six-axis manipulator, and the polishing module is a floating polishing spindle module with a floating spindle.
3. The turbine finishing workstation control system of claim 2, wherein: the transfer chain is transmission belt or transfer roller, the side of transfer chain is equipped with two pairs of correlation sensors, the wheel hub of transporting on the transfer chain is gathered to the correlation sensor, the side of the part that the transfer chain is located the workstation outside is equipped with the gas blowing device who blows towards wheel hub.
4. The turbine finishing workstation control system of claim 3, wherein: a man-machine interaction module is fixed on the outer wall of the workstation, the man-machine interaction module is connected with the PLC and used for camera identification registration, work instruction sending, equipment state monitoring and record inquiry.
5. The turbine grinding workstation control system of claim 1, 2, 3 or 4, wherein: workstation equipment seal's casing, the side of casing is equipped with emergency exit, material and imports and exports, be equipped with the inductor of induction door on-off state on the emergency exit, inductor connection and output signal to PLC, the material is imported and exported and is equipped with the sense of security grating, the sense of security grating is connected and output signal to PLC.
6. The turbine finishing workstation control system of claim 5, wherein: the top of casing all is equipped with the alarm lamp, and every side all is equipped with emergency stop switch, every emergency stop switch all connects PLC and is used for inputing emergency stop instruction to PLC, PLC connects and outputs alarm signal and carries out to the alarm lamp.
7. The control method of the control system of the steam turbine grinding workstation based on any one of claims 1 to 6, characterized in that:
step 1, conveying the wheel hub into a workstation by a conveying line, and stopping when the wheel hub is conveyed to a polishing station;
step 2, clamping the hub by a clamp;
step 3, the vision module acquires the wheel hub positioning information;
step 4, the mechanical arm drives the polishing module to walk according to a set track, and simultaneously drives the polishing module to work;
and 5, returning the mechanical arm after polishing is finished, placing the hub to a conveying line by using the clamp, and conveying the hub out by using the conveying line.
8. The control method according to claim 7, characterized in that: in the step 1, in a hub image conveyed by the conveying line, the diameter information of the hub is obtained through the correlation sensor, in the step 3, the plc controls the upper light source to be turned on, the camera shoots, the model and the central hole position of the hub are identified, then the spoke angle is identified through shooting again, and the information of successful identification is sent to the manipulator.
9. The control method according to claim 8, characterized in that: in the step 4, the manipulator can successfully recognize the robot according to the information recognized by the camera to remove the burrs on the hub by driving the grinding spindle, the recognition fails, the hub is not subjected to deburring and grinding, and the next step of processing is carried out outside the conveying workstation.
10. The control method according to claim 7, 8 or 9, characterized in that: the safety control method is that if any one of the following conditions is met, the PLC sends a stop signal, all the motion equipment can stop moving immediately, and the alarm gives an alarm at the same time:
1) when the safety door is opened;
2) when the moment of the robot hand is greater than a set value;
3) when the safety grating senses that an object enters;
4) the scram switch is triggered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111639138.2A CN114227434A (en) | 2021-12-29 | 2021-12-29 | Industrial robot-based turbine polishing workstation control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111639138.2A CN114227434A (en) | 2021-12-29 | 2021-12-29 | Industrial robot-based turbine polishing workstation control system |
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| CN114227434A true CN114227434A (en) | 2022-03-25 |
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| CN202111639138.2A Pending CN114227434A (en) | 2021-12-29 | 2021-12-29 | Industrial robot-based turbine polishing workstation control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020142708A1 (en) * | 2001-04-02 | 2002-10-03 | B & C Corporation | Method and apparatus for polishing an aluminum vehicle wheel |
| KR20150062290A (en) * | 2013-11-29 | 2015-06-08 | 승현창 | The wheel automatically inspection system and automatically deburring system |
| CN107378085A (en) * | 2017-08-10 | 2017-11-24 | 中科图灵视控（北京）智能科技有限公司 | One kind is based on machine vision intelligence deburring flexibility automatic processing system |
| CN108381324A (en) * | 2018-04-27 | 2018-08-10 | 无锡市润匡机械设备有限公司 | A kind of wheel hub deburring machine and deburring method |
| CN108692644A (en) * | 2018-03-26 | 2018-10-23 | 华中科技大学 | A kind of complex-curved Three-coordinate measurer and error compensating method |
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| CN110948303A (en) * | 2019-12-19 | 2020-04-03 | 芜湖哈特机器人产业技术研究院有限公司 | Automobile wheel hub system of polishing |
| CN113503823A (en) * | 2021-06-18 | 2021-10-15 | 天津开发区精诺瀚海数据科技有限公司 | Wheel hub recognition device suitable for multi-feature label |
| CN113670224A (en) * | 2021-07-29 | 2021-11-19 | 青岛理工大学 | Full-automatic hub three-dimensional scanning system for intelligent production line of automobile hub |
-
2021
- 2021-12-29 CN CN202111639138.2A patent/CN114227434A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020142708A1 (en) * | 2001-04-02 | 2002-10-03 | B & C Corporation | Method and apparatus for polishing an aluminum vehicle wheel |
| KR20150062290A (en) * | 2013-11-29 | 2015-06-08 | 승현창 | The wheel automatically inspection system and automatically deburring system |
| CN107378085A (en) * | 2017-08-10 | 2017-11-24 | 中科图灵视控（北京）智能科技有限公司 | One kind is based on machine vision intelligence deburring flexibility automatic processing system |
| CN108692644A (en) * | 2018-03-26 | 2018-10-23 | 华中科技大学 | A kind of complex-curved Three-coordinate measurer and error compensating method |
| CN108381324A (en) * | 2018-04-27 | 2018-08-10 | 无锡市润匡机械设备有限公司 | A kind of wheel hub deburring machine and deburring method |
| CN110238733A (en) * | 2019-05-23 | 2019-09-17 | 芜湖舜富精密压铸科技有限公司 | Vision double-station deburring work station |
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Application publication date: 20220325 |