CN114643510A - Self-adaptive polishing device and method - Google Patents
Self-adaptive polishing device and method Download PDFInfo
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- CN114643510A CN114643510A CN202210168823.XA CN202210168823A CN114643510A CN 114643510 A CN114643510 A CN 114643510A CN 202210168823 A CN202210168823 A CN 202210168823A CN 114643510 A CN114643510 A CN 114643510A
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
- B24B55/06—Dust extraction equipment on grinding or polishing machines
- B24B55/08—Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines
Abstract
The invention relates to the field of automatic polishing, in particular to a self-adaptive polishing device and a self-adaptive polishing method. The device comprises a general control system, a robot module, an automatic feeding module, an automatic detection module, a polishing module, a dust treatment module, a polishing room frame, the general control system respectively with the robot module, the automatic feeding module, signal connection is established to the automatic detection module, the robot module is located inside the polishing room frame, the automatic detection module comprises a first detection unit for monitoring the moving position of the automatic feeding module, a second detection unit for aligning the polishing workpiece to identify, a feeding station is arranged in the rotating range of the robot module, a detection station and a polishing station, the automatic feeding module is embedded on the polishing room frame and communicated with the inner side and the outer side of the polishing room, the first detection unit is arranged on the inner side of the polishing room frame and aligns with the automatic feeding module, and the dust treatment module is connected with the polishing module. The invention greatly improves the automation degree and the working efficiency and has wide application range.
Description
Technical Field
The invention relates to the field of automatic polishing, in particular to a self-adaptive polishing device and a self-adaptive polishing method.
Background
In the current automatic industrial production, the size and specification of the product are required to be changed according to the requirements of customers. The need for automation devices is therefore felt in the compatibility of a small diversity of products. In the field of grinding, the requirement that equipment and programs can be automatically selected and automatically adapted to products when specifications are changed is considered.
Present robot equipment of polishing still stops to polish to the product of a section specification, has been unable to satisfy the diversified demand in a small amount of customer production product gradually.
The prior robot polishing equipment mainly has the following defects:
(1) the equipment cannot be compatible with the production of products with various specifications;
(2) when the equipment needs to produce products with other specifications, a long time is needed for adjusting the clamp and reprogramming;
(3) when the products with the same specification have deviation, the polishing program cannot be automatically identified and correspondingly adjusted;
(4) the intelligent automation degree is low.
Disclosure of Invention
The invention provides a self-adaptive polishing device and a self-adaptive polishing method, and aims to overcome the defects of the existing robot polishing equipment.
The invention provides a self-adaptive polishing device, which comprises a master control system, a robot module, an automatic feeding module, an automatic detection module, a polishing module, a dust processing module and a polishing room frame, wherein the master control system is respectively in signal connection with the robot module, the automatic feeding module and the automatic detection module, the robot module is positioned in the polishing room frame, the automatic detection module comprises a first detection unit for monitoring the moving position of the automatic feeding module and a second detection unit for identifying a polished workpiece, a feeding station, a detection station and a polishing station are arranged in the rotating range of the robot module, the automatic feeding module, the second detection unit and the polishing module are respectively and correspondingly arranged on the feeding station, the detection station and the polishing station, the automatic feeding module is embedded in the polishing room frame and communicated with the inner side and the outer side of the polishing room, first detecting element sets up and polishes the room frame inboard and be located and aim at the automatic feeding module, the dust disposal module is connected with the module of polishing.
As a further improvement of the automatic feeding module, the automatic feeding module comprises a feeding support, a feeding sliding table, a feeding cylinder, a feeding sliding rail and product placing frames, wherein the feeding support stretches across the inner side and the outer side of a frame of a polishing room, the feeding sliding rail is arranged on the feeding support, the feeding sliding table is connected onto the feeding sliding rail in a sliding manner, one end of the feeding cylinder is fixedly connected with the feeding support, the other end of the feeding cylinder is fixedly connected with the feeding sliding table, and the product placing frames are connected onto the feeding sliding table.
As a further improvement of the invention, the first detection unit comprises an electric cylinder, a rodless cylinder and a data acquisition camera, the rodless cylinder is connected in the frame of the polishing room, the electric cylinder is connected with and drives the rodless cylinder, the data acquisition camera is fixed on the rodless cylinder, and the data acquisition camera is aligned with the position of the automatic feeding module.
As a further improvement of the invention, the second detection unit comprises a detection support and a blue laser line scanning camera, the detection support is arranged on the detection station, the blue laser line scanning camera is connected above the detection support, and the robot module moves the workpiece to be polished to the position below the blue laser line scanning camera for 3D visual scanning.
As a further improvement of the present invention, the polishing module comprises a polishing and grinding integrated machine, the polishing and grinding integrated machine comprises a polishing and grinding frame and an abrasive belt polishing and grinding assembly, the abrasive belt polishing and grinding assembly comprises an abrasive belt cover, an abrasive belt, a tension wheel, a buffer mechanism, a driving wheel and a driving machine, the tension wheel, the buffer mechanism and the driving wheel are connected to the polishing and grinding frame, the buffer mechanism comprises a buffer wheel, a buffer pressure rod and a buffer block, the abrasive belt is attached to the tension wheel, the buffer wheel and the driving wheel, the driving wheel is connected to the driving machine, the polishing and grinding frame is provided with a tension slide rail, the tension wheel is slidably connected to the tension slide rail and adjusts the tightness of the abrasive belt, the buffer wheel is fixed to the buffer block, one end of the buffer pressure rod is connected to the buffer block, the other end of the buffer pressure rod is fixed to the polishing and grinding frame, the abrasive belt cover covers the abrasive belt, the tension wheel, the buffer mechanism and the abrasive belt cover, And a dust suction port is arranged outside the driving wheel and covered with the abrasive belt and is communicated with the dust treatment module.
As a further improvement of the invention, the polishing and grinding integrated machine further comprises a cloth wheel polishing and grinding assembly, the cloth wheel polishing and grinding assembly comprises a polishing cloth wheel, a cloth wheel driving machine and a cloth wheel cover, the polishing cloth wheel is fixed on the polishing and grinding frame, the cloth wheel driving machine is connected with the polishing cloth wheel, the cloth wheel cover is fixed on the polishing and grinding frame, the cloth wheel cover covers one side of the polishing cloth wheel, an air exhaust interface is arranged on the cloth wheel cover, and the air exhaust interface is communicated with the dust processing module.
As a further improvement of the invention, the polishing module further comprises an electric spindle polisher, the electric spindle polisher comprises a polishing support, an electric spindle and a dust collecting hopper, the polishing support is fixed on a polishing station, the electric spindle is fixed above the polishing support, the tail end of the electric spindle is connected with a polishing head or a grinding wheel, the dust collecting hopper is positioned below the electric spindle, and the dust collecting hopper is communicated with the dust processing module.
As a further improvement of the invention, the dust treatment module comprises a capture device, a purification pipeline, a pretreatment device and a purification host, wherein the capture device is connected with the grinding module, the purification channel is communicated with the capture device and the purification host, and the pretreatment device is connected with the purification host.
As a further improvement of the invention, the self-adaptive polishing device further comprises a fixture replacing module, wherein the fixture replacing module comprises a fixture library support, a chuck fixture and a clamping jaw fixture, a plurality of fixture groove positions are arranged on the fixture library support, the chuck fixture and the clamping jaw fixture are placed in the fixture groove positions, the robot module comprises a robot arm, a first chuck is arranged at the wrist part of the robot arm, second chucks are arranged on the chuck fixture and the clamping jaw fixture, and the first chuck and the second chuck are connected in a matched mode.
The invention also provides a self-adaptive polishing method, which comprises the following steps:
s1, feeding: an operator fixes a workpiece to be polished on a product placing frame outside a polishing room, and places the workpiece fixed on the product placing frame on a station of a workpiece warehouse;
s2, feeding: the feeding sliding table drives the finished product placing frame to be pushed to a robot material taking position in the polishing room along the feeding sliding rail, after the feeding sliding table reaches the position, the detection sensor sends out an arrival signal, and the main control system controls the sliding table to stop;
s3, grabbing a workpiece: the workpiece library transmits a workpiece position signal to the master control system, and the master control system controls the robot arm to grab a corresponding workpiece and displace the workpiece according to a set path;
S4.2D image scanning: the robot arm moves the workpiece to a position below the first detection unit for 2D visual identification;
S5.3D image scanning: the robot arm moves the workpiece to a second detection unit for 3D visual identification, and a reference polishing path is compiled by the robot module through an off-line programming method in advance according to a 3D visual scanning planning path; scanning the front side and the back side of a workpiece according to 3D visual scanning to generate a three-dimensional model of a product, acquiring curved surface information of the product, importing the curved surface information into a software system in a point cloud data mode, generating a new polishing path by using a specific algorithm according to deviation data of the workpiece and a standard digital model, and transmitting the new polishing path to a robot;
s6, polishing: the robot module group receives a new polishing path, and clamps the workpiece to polish on various grinding tools in sequence;
s7, blanking: after polishing, the robot places the workpiece on the product placing frame, when the workpiece on the whole feeding sliding table is completely polished, the feeding sliding table slides out, an operator takes down the polished product, and the step S1 is executed again; and the other feeding sliding table provided with the unpolished workpiece enters the robot material taking station, and the step S2 is repeated.
The invention has the beneficial effects that: the intelligent degree is high, can carry out automatic identification to the product of different specifications to automatic planning route, automatic programming program of polishing. And the system has advanced self-diagnosis and alarm functions, and common faults can find the fault reasons according to prompts displayed on a screen. The system has advanced self-diagnosis and alarm functions, and common faults can find fault reasons according to prompts displayed on a screen. The dust absorption and noise reduction function is realized, the whole equipment is provided with a closed abrasive belt cover, and a frame is manufactured by welding carbon steel profiles. The polyurethane sound insulation board is embedded in the middle of the frame, so that the outside noise of the equipment is lower than 70 decibels.
Drawings
FIG. 1 is a front view of the construction of an adaptive sanding apparatus of the present invention;
FIG. 2 is a top view of the construction of an adaptive sanding apparatus of the present invention;
FIG. 3 is a block diagram of an automatic loading module of the present invention;
FIG. 4 is a structural view of a second detecting unit in the present invention;
FIG. 5 is a block diagram of the polishing and grinding machine of the present invention;
FIG. 6 is a structural diagram of the abrasive belt cover sleeved on the other side of the polishing and grinding integrated machine in the invention;
FIG. 7 is a block diagram of the motorized spindle sander of the present invention;
FIG. 8 is a view showing the construction of a jig replacing module according to the present invention;
FIG. 9 is a block diagram of the robot module of the present invention;
fig. 10 is a partially enlarged structural view of the robot module of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
As shown in fig. 1 to 2, the self-adaptive polishing device of the present invention comprises a general control system 1, a robot module 3, an automatic feeding module 4, an automatic detection module 5, a polishing module 6, a dust processing module 7, and a polishing room frame 2, wherein the general control system 1 establishes signal connection with the robot module 3, the automatic feeding module 4, and the automatic detection module 5, respectively, the robot module 3 is located inside the polishing room frame 2, the automatic detection module 5 comprises a first detection unit 51 for monitoring the moving position of the automatic feeding module 4, and a second detection unit 52 for identifying a polishing workpiece, a feeding station, a detection station, and a polishing station are arranged in the rotation range of the robot module 3, the automatic feeding module 4, the second detection unit 52, and the polishing module 6 are respectively and correspondingly arranged on the feeding station, the detection station, and the polishing station, the automatic feeding module 4 is embedded in the polishing room frame 2 and communicated with the inner side and the outer side of the polishing room, the first detection unit 51 is arranged on the inner side of the polishing room frame 2 and is aligned with the automatic feeding module 4, and the dust treatment module 7 is connected with the polishing module 6.
The polishing module 6 is in charge of polishing the product to achieve the required surface effect; the automatic feeding module 4 is responsible for automatically feeding products so as to facilitate the grabbing of the robot module 3; the automatic detection module 5 is responsible for carrying out three-dimensional shape detection on the product, determining the position coordinate and the shape structure of the product and transmitting the obtained information to the robot module 3; the robot module 3 is responsible for analyzing the information transmitted by the automatic detection module 5, automatically programming and planning the walking path of the robot, and finally achieving the purpose of automatically carrying out self-adaptive polishing on the product; dust disposal module 7 is responsible for the dust to the in-process production of polishing, filters the collection, guarantees that the gas of emission does not produce harmful effects to the environment.
As shown in fig. 3, the automatic feeding module 4 is provided with a feeding support 41 and a cylinder transmission mechanism, wherein the cylinder transmission mechanism includes a feeding sliding table 42, a feeding cylinder 43, a feeding sliding rail 44 and a product placing frame 45, the feeding support 41 spans the inner side and the outer side of the polishing room frame 2, the feeding sliding rail 44 is arranged on the feeding support 41, the feeding sliding table 42 is slidably connected to the feeding sliding rail 44, one end of the feeding cylinder 43 is fixedly connected to the feeding support 41, the other end of the feeding cylinder is fixedly connected to the feeding sliding table 42, and the product placing frames 45 are connected to the feeding sliding table 42. An operator places a product workpiece on the product placing frame 45 outside the polishing room, and the feeding cylinder 43 pushes the feeding sliding table 42 to push the product to the robot material taking position.
The feeding support 41 is welded by high-quality steel plates, and has good supporting rigidity and precision stability. The feeding sliding tables 42 can be arranged in two groups, namely an upper group and a lower group, or in two groups, namely a left group and a right group, and the two groups of feeding sliding tables 42 move back and forth through the feeding cylinders 43 and the feeding sliding rails 44, so that the feeding and the discharging can be exchanged for use. Preferably, 5 mounting stations are arranged on the product placing frame 45 of each feeding sliding table 42, 10 products are placed in total, and the feeding and discharging frequency of workers is reduced as much as possible. The workpiece is placed on the stations through the middle transition piece, the transition piece has 10 different forms, the 10 different forms can be correspondingly provided with 10 different workpieces, each station has universality, the 10 different transition pieces can be arranged and positioned, and when a workpiece is replaced, the workpiece can be accurately arranged and positioned on any station only by replacing the corresponding transition piece.
The two product placing frames 45 can move back and forth on the feeding slide rail 44, and the back and forth movement of the product placing frames 45 is realized by the feeding cylinder 43 and the limiting block. The product placement rack 45 signals the robot by the button box. The product placement frame 45 is designed to be compatible according to the structure and the size of the product, and the single-style product placement frame 45 can be compatible with products of various specifications. If the product structure and the size exceed the compatible range of the material tray, the product placing frame is replaced.
The first detection unit 51 comprises an electric cylinder, a rodless cylinder and a data acquisition camera, the rodless cylinder is connected in the polishing room frame 2, the electric cylinder is connected with and drives the rodless cylinder, the data acquisition camera is fixed on the rodless cylinder, and the data acquisition camera is aligned to the position of the automatic feeding module 4. The first detecting unit 51 is composed of an electric cylinder, a rodless cylinder and a camera. When the material loading slip table will polish room outside frock propelling movement in the room when inboard, first detecting element 51 begins work, carries out data acquisition to overall dimension, the mounted position of work piece through the camera, transmits through PLC and carries out the discernment to work piece model, position for the manipulator. The robot is convenient to position and pick up, and a corresponding polishing program is called.
As shown in fig. 4, the second detecting unit 52 includes a detecting bracket 53 and a blue laser line scanning camera 54, the detecting bracket 53 is disposed on the detecting station, the blue laser line scanning camera 54 is connected above the detecting bracket 53, and the robot module 3 moves the workpiece to be polished to the position below the blue laser line scanning camera 54 for 3D visual scanning. And scanning the standard workpiece by adopting a proprietary blue light technology to create a product 3D model as a detection reference model. And scanning a workpiece to be polished during production to generate a model to be detected. The detection system compares the detection model with the reference model at high precision, and detects the segmentation of the welding seam area to distinguish the area needing to be polished from the area not needing to be polished. And the workpiece is scanned in different areas and at different angles to form a plurality of curved surfaces or planes, so that the polishing condition of the intersecting line position of the surfaces can be effectively identified. The blue laser line scan camera 54 imports the collected point cloud data into a software system, and transmits the deviation data of the workpiece to be polished and the standard digital model to the robot module by adopting a specific algorithm.
As shown in fig. 5 and 6, the polishing module 6 includes a polishing and grinding integrated machine 61, the polishing and grinding integrated machine 61 includes a polishing and grinding frame 610 and an abrasive belt polishing and grinding assembly, the abrasive belt polishing and grinding assembly includes an abrasive belt cover 611, an abrasive belt 612, a tension wheel 613, a buffer mechanism 614, a driving wheel 615, a driving machine 6151 and a driven wheel 616, the tension wheel 613, the buffer mechanism and the driving wheel 615 are connected to the polishing and grinding frame 610, the buffer mechanism 614 includes a buffer wheel 6141, a buffer pressure bar 6142 and a buffer block 6143, the abrasive belt 612 is attached to the tension wheel 613, the buffer wheel 6141, the driving wheel 615 and the driven wheel 616, the driving wheel 615 is connected to the driving machine 6151, the polishing and grinding frame 610 is provided with a tension slide rail 6131, the tension wheel 613 is slidably connected to the tension slide rail 6131 and adjusts the tightness of the abrasive belt 612, the buffer wheel 6141 is fixed to the buffer block 6143, one end of the buffer pressure bar 6142 is connected to the buffer block 6143, the other end is fixed to the polishing and grinding frame 610, the abrasive belt cover 611 covers the abrasive belt 612, the abrasive belt cover, The tension wheel 613, the buffer mechanism 614, the driving wheel 615 and the driven wheel 616 are arranged outside the belt cover 611, and a dust suction port is formed in the belt cover 611 and communicated with the dust treatment module 7.
The polishing and grinding integrated machine 61 further comprises a cloth wheel polishing and grinding assembly, the cloth wheel polishing and grinding assembly comprises a polishing cloth wheel 617, a cloth wheel driving machine 618 and a cloth wheel cover 619, the polishing cloth wheel 617 is fixed on the polishing and grinding frame 610, the cloth wheel driving machine 618 is connected with the polishing cloth wheel 617, the cloth wheel cover 619 is fixed on the polishing and grinding frame 610, the cloth wheel cover 619 covers one side of the polishing cloth wheel 617, an air exhaust interface is arranged on the cloth wheel cover 619, and the air exhaust interface is communicated with the dust processing module 7.
The polishing and grinding integrated machine 61 is provided with two abrasive belts 612 on the upper part of the machine body and two polishing cloth wheels 617 on the lower part of the machine body. The spindle drive of the abrasive belt cloth wheel 617 is synchronous belt drive, the motor is a high-efficiency energy-saving motor, the motor is controlled by frequency conversion, the rotating speed of the polishing cloth wheel is adjustable, and the linear velocity of the abrasive belt is adjustable. An air exhaust hose connector is reserved in the abrasive belt cover 611 and the cloth wheel cover 619.
The abrasive band machine has the following characteristics: a) the belt sander is provided with a force control buffer mechanism 614, when the grinding force path exceeds the set force path, the grinding wheel of the belt sander can move backwards, and the safety of equipment and products is ensured when abnormal conditions occur; b) tensioning belt 612 by means of tensioning wheel 613, driving wheel 615 moving belt 612 at high speed, and under a certain pressure, making belt 612 contact with the surface of the workpiece to realize polishing; c) the abrasive belt machine can be provided with abrasive belt, nylon belt and other consumables, and is determined according to the actual process; d) the abrasive belt machine has set up the dust absorption mouth at the dust fall with the wheel guard 611 on the dust direction of motion, the cloth wheel cover 619 on the polishing cloth wheel 617, makes things convenient for the installation of dust removal pipeline to reach the biggest dust removal effect.
As shown in fig. 7, the polishing module 6 further includes an electric spindle polisher 62, the electric spindle polisher 62 includes a polishing support 621, an electric spindle 622, and a dust collecting hopper 623, the polishing support 621 is fixed on the polishing station, the electric spindle 622 is fixed above the polishing support 621, the end of the electric spindle 622 is connected with a polishing head or a grinding wheel, the dust collecting hopper 623 is located below the electric spindle 622, and the dust collecting hopper 623 is communicated with the dust processing module 7 through a collecting hopper through hole 624 below the dust collecting hopper.
The electric spindle 622 has two types of high and low speeds: the first one is a grinding disc electric main shaft with the rated rotating speed of 3000 r/min and the main shaft power of 3.5Kw, the rotating speed is controlled by a frequency converter and is adjustable, and the electric main shaft 622 is mainly provided with a diamond grinding wheel, brown corundum and other membranes and is used for grinding large-area welding spots, burrs and other rough grinding. The second type is a grinding head electric main shaft with a rated rotating speed of 9000 r/min and a main shaft power of 3.5Kw, the electric main shaft is controlled by a frequency converter, the rotating speed is adjustable, and the electric main shaft is mainly provided with various grinding heads for grinding welding spots and burr parts which are not easy to contact with a grinding wheel sheet. The grinding wheel is made of various materials such as stainless steel, copper, nickel alloy, high-temperature alloy, titanium alloy and aluminum alloy, and the grinding wheel is made of different materials such as diamond, brown fused alumina, aluminum oxide, silicon carbide and the like.
The grinding module 6 is used for removing high points of welding seams of the workpiece and polishing the full profile. The electric spindle polisher 62 is responsible for polishing rough welding seams and joints of large surfaces and flanges, and the polishing and grinding integrated machine 61 is responsible for polishing and burnishing large surfaces and curved surfaces.
The grinding wheel adopts a force control mode, the grinding mechanism 6 adopts a linear guide rail slide block for guiding, and the air cylinder is used for pushing, so that the constancy of the grinding force is ensured by keeping the air pressure constant. The air pressure control is controlled by a proportional control valve PLC, and the driving force of an air cylinder is changed due to the change of the stressed area of different positions of the polishing workpiece, so that the polishing force applied to the unit surface of the workpiece is constant. The over-polishing condition can not occur.
The dust removal processing module 7 adopts a centralized filter cartridge type purifier. The purifier consists of a catching device, a purifying pipeline 71, a pretreatment device and a purifying main machine.
Wherein the catching device: the catching device is directly arranged below or on the side edge of the polishing equipment, is made of metal plates and is a dust catching terminal device. Dust generated in the working process is sucked by the catching device and enters the purifier for purification treatment through the air suction pipeline.
A pretreatment device: a cyclone dust collector is adopted in the scheme, and is mainly used for settling large-particle dust.
The purifier main machine: mainly completes the purification and filtration work of the dust-containing gas. A centrifugal ventilator is arranged in the main machine, so that attraction is generated in the catching device and the pipeline, the dust-containing gas is sucked into the purification main machine, and the purified air is discharged. A back-blowing ash-cleaning system is installed in the main machine, and the surface of the filter element is circularly blown and cleaned by compressed air so as to ensure the filtering precision and the air quantity.
As shown in fig. 8 to 10, the self-adaptive polishing device further includes a fixture replacing module 8, the fixture replacing module 8 includes a fixture library support 81, a chuck fixture 82 and a jaw fixture 83, the fixture library support 81 is provided with a plurality of fixture slots, the chuck fixture 82 and the jaw fixture 83 are placed in the fixture slots, the robot module 3 includes a robot arm 31, a wrist 32 of the robot arm 31 is provided with a first chuck 33, the chuck fixture 82 and the jaw fixture 83 are both provided with a second chuck 84, and the first chuck 33 is connected with the second chuck 84 in a matching manner.
The first and second chucks 33 and 84 are in the form of a male and female type, the first chuck 33 is a male chuck, the second chuck 84 is a female chuck, the male chuck is mounted on the robot, the female chuck skin is mounted on products of different specifications, and the first and second chucks 33 and 84 may be of a chuck structure. When the products of different specifications need to be changed, the robot can be automatically changed, and time consumption and assembly errors caused by manual change are avoided.
The robot arm 31 adopts a pneumatic clamping mode, compatibility is considered during the design of clamping tools, and the same type of workpieces use one clamping tool. The gas circuit design adopts the safety circuit to stop gas suddenly, the work piece can not drop when the power failure, takes place the accident and damages the work piece. The anchor clamps are installed at robot wrist 32, and the connected mode adopts quick change device to connect, can realize quick replacement anchor clamps.
The general control system of the device adopts a profinet bus, and the settable process parameters comprise: the speed of the consumable and the selection of the grinding process can be stored in the formula, and the consumable can be called out as long as the corresponding part number is input. The robot has the function of protecting the working range interval, and the equipment has the functions of fault alarm, production record and the like. The grinding and polishing process has the automatic feeding and discharging function and can be intervened manually. And after polishing and detection are finished, generating a detection report of the critical dimension of the overall dimension of the workpiece. The system realizes automatic control. The touch screen can set the running parameters of the equipment, monitor the running state, record production data, generate a report, record alarm information and copy data out through the mobile hard disk.
The self-adaptive polishing method based on the polishing device comprises the following processes:
1) feeding: after the operator takes the workpiece to be polished, the tool corresponding to the workpiece is arranged outside the polishing room, the unprocessed workpiece is sequentially fixed on the tool corresponding to the product placing frame 45, and then the workpiece fixed on the tool is placed on the station of the workpiece warehouse together.
2) Feeding: the feeding sliding table 42 is pushed to a robot material taking position in the polishing room along the feeding sliding rail 44. After the feeding sliding table 42 reaches the position, the detection sensor device sends out an arrival signal, and the master control system controls the feeding sliding table 42 to stop at the moment.
3) Grabbing a workpiece: before the manipulator snatchs the work piece, the work piece storehouse can convey for total control system signal, and which storehouse position has the work piece to confirm that robot manipulator snatchs which work piece. The manipulator takes the pneumatic triangle chuck to snatch the work piece on the work piece storehouse through the connection on the manipulator, and when snatching the work piece, the chuck sends earlier and loosens the jack catch signal, and system control robot can snatch the work piece this moment, snatch the work piece, and system control clamping jaw centre gripping to send and press from both sides tight signal and give the system, then the manipulator can follow the path of setting for and remove the work piece and carry out next step.
4) The manipulator moves the workpiece to 2D vision to identify the workpiece.
5) And after the 2D identification is finished, the manipulator moves the workpiece to the 3D blue light vision to perform 3D scanning on the workpiece.
6) Planning a path according to the 3D visual scan: the robot system carries out off-line programming method in advance to compile a reference polishing path.
7) The method comprises the steps of scanning the front side and the back side of a workpiece by using a 3D blue light scanning device to generate a three-dimensional model of a product, collecting curved surface information of the product, importing the curved surface information into a software system in a point cloud data mode, generating a new polishing path by using deviation data of the workpiece and a standard digital model by using a specific algorithm, and transmitting the new polishing path to a robot.
8) Polishing: and the robot system receives the new polishing path, and the clamping workpiece is sequentially polished on different grinding tools by combining the product polishing process. The polishing process includes, but is not limited to:
firstly, polishing fillet welds between a main body and a flange by using a customized diamond grinding wheel;
secondly, polishing the welding seam of the large surface of the product by using an abrasive belt to ensure that the lines are smooth;
thirdly, polishing the welding seam of the large surface and the welding seam of the arc surface by using a nylon belt, and removing the trace left by polishing the abrasive belt;
fourthly, polishing the whole workpiece by adopting a polishing cloth wheel to ensure that the surface finish reaches Ra0.8;
polishing the product by a nylon wheel to enable the surface of the product to achieve a matte effect;
sixthly, judging flaws: and after polishing, the robot performs three-dimensional scanning on the workpiece, and judges whether the workpiece has defects or not after scanning. If the defect robot can repair the defect, if the defect robot cannot repair the defect robot, the defect robot is placed at a waste work station, and the defect robot is manually checked and judged.
9) Blanking, namely, a polished workpiece is placed on a tool, and when all products on the whole sliding table are polished, the feeding sliding table 42 slides out. The other feed slide 42 with the unprocessed products enters the robot take-out station. And taking down the polished product by a worker.
The above steps are repeated in this way.
The self-adaptive polishing device and the method can realize automatic identification, automatic programming and self-adaptive polishing of different specifications and sizes of certain products, and can be realized by properly increasing, reducing and adjusting polishing consumables according to different polishing process requirements of different products. The device can be matched with other equipment for use, so that the automation degree and the working efficiency are greatly improved; in addition, the positioning precision is high, the use environments with different requirements can be met, and the application range is wide.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A self-adaptive polishing device is characterized by comprising a master control system, a robot module, an automatic feeding module, an automatic detection module, a polishing module, a dust treatment module and a polishing room frame, wherein the master control system is respectively in signal connection with the robot module, the automatic feeding module and the automatic detection module, the robot module is positioned inside the polishing room frame, the automatic detection module comprises a first detection unit for monitoring the moving position of the automatic feeding module and a second detection unit for identifying a polishing workpiece, a feeding station, a detection station and a polishing station are arranged in the rotation range of the robot module, the automatic feeding module, the second detection unit and the polishing module are respectively and correspondingly arranged on the feeding station, the detection station and the polishing station, the automatic feeding module is embedded on the polishing room frame and communicated with the inner side and the outer side of the polishing room, first detecting element sets up and polishes the inboard automatic feeding module of aiming at of room frame, the dust disposal module is connected with the module of polishing.
2. The self-adaptive grinding device according to claim 1, wherein the automatic feeding module comprises a feeding support, a feeding sliding table, a feeding cylinder, a feeding sliding rail and a product placing frame, the feeding support spans the inner side and the outer side of the grinding room frame, the feeding sliding rail is arranged on the feeding support, the feeding sliding table is connected to the feeding sliding rail in a sliding manner, one end of the feeding cylinder is fixedly connected to the feeding support, the other end of the feeding cylinder is fixedly connected to the feeding sliding table, and the product placing frame is connected to the feeding sliding table in a plurality.
3. The adaptive grinding device according to claim 1, wherein the first detection unit comprises an electric cylinder, a rodless cylinder and a data acquisition camera, the rodless cylinder is connected in the grinding room frame, the electric cylinder is connected with and drives the rodless cylinder, the data acquisition camera is fixed on the rodless cylinder, and the data acquisition camera is aligned with the position of the automatic feeding module.
4. The adaptive grinding device of claim 1, wherein the second detection unit comprises a detection support and a blue laser line scanning camera, the detection support is arranged on a detection station, the blue laser line scanning camera is connected above the detection support, and the robot module moves a workpiece to be ground below the blue laser line scanning camera for 3D visual scanning.
5. The adaptive grinding device according to claim 1, wherein the grinding module comprises a grinding and polishing integrated machine, the grinding and polishing integrated machine comprises a grinding and polishing frame and a grinding and polishing assembly, the grinding and polishing assembly comprises a grinding and polishing belt cover, a grinding belt, a tension wheel, a buffer mechanism, a driving wheel and a driving machine, the tension wheel, the buffer mechanism and the driving wheel are connected to the grinding and polishing frame, the buffer mechanism comprises a buffer wheel, a buffer pressure rod and a buffer block, the grinding belt is attached to the tension wheel, the buffer wheel and the driving wheel, the driving wheel is connected to the driving machine, a tension slide rail is arranged on the grinding and polishing frame, the tension wheel is slidably connected in the tension slide rail and adjusts tightness of the grinding belt, the buffer wheel is fixed to the buffer block, one end of the buffer pressure rod is connected to the buffer block, the other end of the buffer pressure rod is fixed to the grinding and polishing frame, and the grinding belt cover is covered on the grinding and polishing frame, The abrasive belt cover is provided with a dust collection opening which is communicated with the dust treatment module.
6. The adaptive grinding device according to claim 5, wherein the grinding and polishing integrated machine further comprises a cloth wheel grinding and polishing assembly, the cloth wheel grinding and polishing assembly comprises a polishing cloth wheel, a cloth wheel driving machine and a cloth wheel cover, the polishing cloth wheel is fixed on the grinding and polishing frame, the cloth wheel driving machine is connected with the polishing cloth wheel, the cloth wheel cover is fixed on the grinding and polishing frame, the cloth wheel cover covers one side of the polishing cloth wheel, an air exhaust interface is arranged on the cloth wheel cover, and the air exhaust interface is communicated with the dust processing module.
7. The adaptive grinding device according to claim 1, wherein the grinding module further comprises an electric spindle grinding machine, the electric spindle grinding machine comprises a grinding support, an electric spindle and a dust collecting hopper, the grinding support is fixed on a grinding station, the electric spindle is fixed above the grinding support, a grinding head or a grinding wheel is connected to the end of the electric spindle, the dust collecting hopper is located below the electric spindle, and the dust collecting hopper is communicated with the dust processing module.
8. The adaptive grinding device of claim 1, wherein the dust treatment module comprises a capture device, a purification pipeline, a pretreatment device and a purification host, the capture device is connected to the grinding module, the purification channel is communicated with the capture device and the purification host, and the pretreatment device is connected with the purification host.
9. The adaptive grinding device according to claim 1, further comprising a fixture replacing module, wherein the fixture replacing module comprises a fixture library support, a chuck fixture and a clamping jaw fixture, the fixture library support is provided with a plurality of fixture slots, the chuck fixture and the clamping jaw fixture are placed in the fixture slots, the robot module comprises a robot arm, a wrist of the robot arm is provided with a first chuck, the chuck fixture and the clamping jaw fixture are provided with a second chuck, and the first chuck and the second chuck are connected in a matching manner.
10. A self-adaptive polishing method is characterized by comprising the following steps:
s1, feeding: an operator fixes a workpiece to be polished on a product placing frame outside a polishing room, and places the workpieces fixed on the product placing frame on a station of a workpiece warehouse;
s2, feeding: the feeding sliding table drives the finished product placing frame to be pushed to a robot material taking position in the polishing room along the feeding sliding rail, after the feeding sliding table reaches the position, the detection sensor sends out an arrival signal, and the main control system controls the sliding table to stop;
s3, grabbing a workpiece: the workpiece library transmits a workpiece position signal to the master control system, and the master control system controls the robot arm to grab a corresponding workpiece and displace the workpiece according to a set path;
S4.2D image scanning: the robot arm moves the workpiece to a position below the first detection unit for 2D visual identification;
S5.3D image scanning: the robot arm moves the workpiece to a second detection unit for 3D visual identification, and a reference polishing path is compiled by the robot module through an off-line programming method in advance according to a 3D visual scanning planning path; scanning the front side and the back side of a workpiece according to 3D visual scanning to generate a three-dimensional model of a product, acquiring curved surface information of the product, importing the curved surface information into a software system in a point cloud data mode, generating a new polishing path by using a specific algorithm according to deviation data of the workpiece and a standard digital model, and transmitting the new polishing path to a robot;
s6, polishing: the robot module group receives a new polishing path, and clamps the workpiece to polish on various grinding tools in sequence;
s7, blanking: after polishing, the robot places the workpiece on the product placing frame, when the workpiece on the whole feeding sliding table is completely polished, the feeding sliding table slides out, an operator takes down the polished product, and the step S1 is executed again; and the other feeding sliding table provided with the unpolished workpiece enters the robot material taking station, and the step S2 is repeated.
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| CN202210168823.XA CN114643510A (en) | 2022-02-23 | 2022-02-23 | Self-adaptive polishing device and method |
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