CN114952509A - Automatic polishing detection workstation for complex special-shaped workpiece based on industrial robot and control method - Google Patents
Automatic polishing detection workstation for complex special-shaped workpiece based on industrial robot and control method Download PDFInfo
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- CN114952509A CN114952509A CN202210479064.9A CN202210479064A CN114952509A CN 114952509 A CN114952509 A CN 114952509A CN 202210479064 A CN202210479064 A CN 202210479064A CN 114952509 A CN114952509 A CN 114952509A
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- 238000005498 polishing Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 title claims description 5
- 238000007664 blowing Methods 0.000 claims abstract description 30
- 238000003754 machining Methods 0.000 claims abstract description 9
- 230000002950 deficient Effects 0.000 claims abstract description 7
- 238000007689 inspection Methods 0.000 claims description 2
- 206010066054 Dysmorphism Diseases 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
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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
- 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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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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
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Manipulator (AREA)
Abstract
The invention provides an industrial robot-based automatic grinding and detecting workstation for a complex special-shaped workpiece and a control method. The work station provided by the invention comprises an industrial robot, an electric main shaft, an industrial intelligent camera and an auxiliary tool clamp, and realizes the research on the operation control method of the equipment in the whole process of storing, identifying, processing, blowing scraps, detecting and storing complex different-shaped workpieces. According to the invention, an industrial robot is used as a lower computer, an electric spindle is used as a processing power source, and an industrial camera is used for identifying the initial position of a workpiece and distinguishing whether the processed workpiece is defective or not. And other tool fixtures on the tool table are used for switching among various machining processes and clamping workpieces to change position angles. According to the invention, automatic polishing operation is realized on complex different-shaped workpieces through automatic equipment such as a PLC (programmable logic controller), an industrial camera and an industrial robot, manual work is reduced to participate in the processing process, further harm to a human body in the processing operation process is reduced, and the operation efficiency and the standardization degree are improved.
Description
The technical field is as follows:
the invention belongs to the technical field of processing and detection in the field of industrial part processing and polishing.
Background
The invention is based on industrial robot technology, electric spindle technology, hydropneumatic technology and industrial intelligent camera technology. Most of the prior industrial robot grinding schemes are fixed-position grinding processing or separate independent workstations for processing, detecting and identifying.
Disclosure of Invention
The industrial robot tool hand changes different postures so as to realize the processing function of the electric main shaft or the sucking disc grabbing function, and the tool table has the functions of stacking, scrap blowing, part clamping, part rotation driving and intelligent camera identification and detection.
A complex special-shaped workpiece grinding and detecting industrial robot workstation comprises an industrial robot (1), a grinding motor spindle (2), a workpiece detecting camera (3) and a workpiece warehouse (4).
The tool hand of the industrial robot of the workstation is mainly characterized in that a sixth shaft flange plate (5) of the industrial robot (1) is connected with an electric spindle support (6), and an electric spindle motor (2) is fixed through the electric spindle support (6). The electric spindle can be used for polishing workpieces by replacing a polishing tool bit (7) connected with an output shaft at the tail end of the electric spindle according to different workpieces.
A slide rail (16) is arranged above the tool table and driven by a rodless cylinder (17), and the rodless cylinder (17) is fixed on the tool table (23) by a fixing support (19) and can drive the workpiece clamping device to move linearly along the mounting direction. The connecting plate A (14) is connected with a sliding block (15) of the sliding rail (16) and a sliding block (18) of the rodless cylinder (17) through bolts, so that the swing cylinder (13) and parts above the swing cylinder move linearly along with the swinging of the rodless cylinder sliding block (18) in the rodless cylinder (17). A swing cylinder (13) is arranged above the connecting plate A (14), and the upper part of the swing cylinder can be switched to rotate clockwise and anticlockwise under the change of a pneumatic control mode. A connecting plate B (12) above the swing cylinder (13) is used for connecting the pneumatic finger (11) with the swing cylinder (13), and the swing cylinder (13) is connected with the pneumatic finger (11) through the connecting plate B (12) by using a bolt. So that the swing cylinder (13) drives the workpiece grabbed above the pneumatic finger (11) to rotate. The clamping jaw (10) is arranged at the tail end of a pneumatic finger (11) to realize the grabbing and clamping of the ground workpiece (9).
The industrial intelligent camera (3) is installed above the camera support (8), the camera support (8) is installed at one end of the sliding rail (16) and the rodless cylinder (17), and the workpiece is polished by adopting a fixed position to be identified and detected. And meanwhile, the device is far away from a machining area, so that the industrial robot is prevented from colliding with the device.
The scrap blowing device is characterized in that a scrap blowing nozzle (20) is arranged above a scrap blowing nozzle support (21), and the air inlet end of the scrap blowing nozzle (20) is connected with compressed air and controlled by an electromagnetic valve. The workstation chip blowing device mainly prevents chips above a polished workpiece from influencing an identification result due to residual chips or preventing the chips from entering a vacuum generator to cause blockage when the chips are grabbed by a suction cup.
The processed workpiece warehouse (4) is mainly characterized in that a warehouse framework is arranged above a tooling table top (23). For storing the workpiece (22) to be processed. Blank workpieces, finished workpieces and defective workpieces can be placed above the processing workpiece warehouse (4) respectively.
Drawings
FIG. 1 shows a complex irregular workpiece polishing and detecting industrial robot workstation
FIG. 2 is a tool hand of an industrial robot of the workstation
FIG. 3 is a partial view of a specific structure
FIG. 4 is a second partial view of the specific structure
Detailed Description
The system operation step:
the workstation executes item a: workpiece polishing
Step A1: the industrial robot (1) returns to a safe position, the workpiece clamping device is driven to move to the side of the workpiece warehouse through the rodless cylinder (17), namely, the workpiece warehouse is at an initial position, the rotating angle of the swinging cylinder (13) is 0 degree, and the clamping jaw (10) above the pneumatic finger (11) cylinder is opened.
Step A2: a workpiece (22) to be polished is placed from a workpiece warehouse (4) to the upper part of the workpiece clamping device through a mechanical device, and the workpiece (22) is clamped by using a clamping jaw (10) of a pneumatic finger (11).
Step A3: the rodless cylinder (17) drives the workpiece clamping device to linearly move to the industrial intelligent camera (3) side along the sliding rail (16) to identify the position of the workpiece, and position coordinate information is transmitted to the industrial robot system.
Step A4: the rodless cylinder (17) drives the workpiece clamping device to linearly move to a machining area along the sliding rail (16), and the electric spindle (2) is opened.
Step A5: the industrial robot (1) and the swing cylinder (13) swing according to the preset running position and swing angle according to the processing program, and the electric spindle end processing tool bit (7) polishes the workpiece.
Step A6: after the machining is finished, the industrial robot (1) runs to a safe position, and the electric spindle (2) stops. The oscillating cylinder (13) rotates back to the 0 degree position.
The workstation executes item B: scrap blowing device for workpiece
Step B1: the industrial robot keeps a safe position and the motorized spindle (1) keeps stopped. The pneumatic finger (11) clamps the workpiece (22) to be processed through the end clamping jaw (10).
Step B2: the rodless cylinder (17) drives the workpiece clamping device to move linearly along the slide rail (16) to a chip blowing area, namely below the chip blowing device (20).
Step B3: and opening the chip blowing device to control the electromagnetic valve so that the chip blowing device (20) blows air.
Step B4: the oscillating cylinder (13) rotates for one circle at a constant speed, so that the workpiece blows chips for one circle.
Step B5: the oscillating cylinder (13) returns to the 0-degree position after rotating for one circle, the chip blowing device (20) controls the electromagnetic valve to be closed, and the chip blowing device (20) stops blowing air.
The workstation executes item C: workpiece inspection
Step C1: the industrial robot (1) keeps a safe position and the electric spindle (2) keeps stopped. The pneumatic finger (11) clamps the workpiece to be processed through the tail end clamping jaw (10).
Step C2: the rodless cylinder (17) drives the workpiece clamping device to linearly move to the identification area of the industrial intelligent camera (3) along the sliding rail (16), namely the lower part of the industrial camera at the leftmost end of the sliding rail (16)
Step C3: the swing cylinder (13) is adjusted to a 0-degree position.
Step C4: the industrial intelligent camera (3) photographs and identifies the workpieces, and distinguishes finished products, defective products and reworked workpieces according to comparison with qualified workpieces.
Step C5: if the workpieces are finished products or defective products, the rodless cylinder (17) is driven to move to the side of the workpiece warehouse (4), and the workpieces are placed to the corresponding position of the workpiece warehouse (4) through a mechanical device. If the workpiece is a reworked workpiece, the steps A1-A6 are repeated.
And finishing all polishing work.
The workstation has the functions that:
the industrial robot workstation can realize grabbing and clamping by replacing the clamping jaw at the tail end of the pneumatic finger according to different workpiece shapes, and realizes the rotation driving of a polished workpiece through the swing cylinder. The workpiece clamping rotary platform is driven by the rodless cylinder to move along the transverse linear direction of the tool table along the sliding rail, the industrial robot can be automatically polished at multiple angles at a position close to a workpiece warehouse, and the workpiece is subjected to feeding and discharging operations. And moving the workpiece to the lower part of the chip blowing device to blow chips on the workpiece. The outline of the workpiece can be identified on the camera side, whether the workpiece is qualified or not is judged, and whether the workpiece needs to be re-processed or is listed as a defective workpiece or not is judged.
This workstation advantage:
the conventional common polishing workpieces mainly comprise a mobile phone rear shell, an automobile rearview mirror lens and various artworks, and any polishing operation is accompanied by certain dust pollution and causes harm to human health. The workstation can realize seven-degree-of-freedom multi-angle polishing machining operation by adopting the six-degree-of-freedom industrial robot and the oscillating cylinder. Meanwhile, the chip blowing device can automatically remove residual chips on the surface of the workpiece. The industrial intelligent camera identifies and detects the machined workpiece after scrap blowing, and can identify the position of the initial blank workpiece. The automation, the intellectualization and the standardization of the polishing processing are improved. The whole operation efficiency is obviously improved.
Claims (4)
1. The utility model provides a complicated dysmorphism work piece is polished and is detected industrial robot workstation which characterized in that: the device comprises an industrial robot (1), a grinding motor spindle (2), a workpiece detection camera (3) and a workpiece warehouse (4);
a tool hand of the industrial robot is connected with an electric spindle support (6) through a sixth shaft flange (5) of the industrial robot, and an electric spindle motor (2) is fixed through the electric spindle support (6);
the electric spindle is used for polishing workpieces by replacing polishing tool bits (7) connected with an output shaft at the tail end of the electric spindle according to different workpieces;
a slide rail (16) is arranged above the tool table and driven by a rodless cylinder (17), the rodless cylinder (17) is fixed on the tool table (23) by a fixing support (19) and can drive the workpiece clamping device to linearly move along the mounting direction; the connecting plate A (14) is connected with a sliding block (15) of the sliding rail (16) and a sliding block (18) of the rodless cylinder (17) through bolts, so that the swing cylinder (13) and parts above the swing cylinder move linearly along with the swinging of the rodless cylinder sliding block (18) in the rodless cylinder (17); a swing cylinder (13) is arranged above the connecting plate A (14) to realize that the upper part of the swing cylinder is switched to rotate clockwise and anticlockwise under the change of a pneumatic control mode;
a connecting plate B (12) above the swing cylinder (13) is used for connecting the pneumatic finger (11) with the swing cylinder (13); the swing cylinder (13) drives the workpiece grabbed above the pneumatic finger (11) to rotate; the clamping jaw (10) is arranged at the tail end of a pneumatic finger (11), and the clamping jaw (10) grabs and clamps a polished workpiece (9);
the industrial intelligent camera (3) is arranged above the camera support (8), the camera support (8) is arranged at one end of the sliding rail (16) and one end of the rodless cylinder (17), and the grinding workpiece is identified and detected by adopting a fixed position; meanwhile, the device is far away from a machining area, so that the industrial robot is prevented from colliding with the device;
the chip blowing device is characterized in that a chip blowing nozzle (20) is arranged above a chip blowing nozzle support (21), and the air inlet end of the chip blowing nozzle (20) is connected with compressed air and controlled by an electromagnetic valve;
and the processed workpiece warehouse (4) is used for installing the warehouse framework above the tooling table top (23).
2. The method for detecting the industrial robot workstation by grinding the complex special-shaped workpiece as claimed in claim 1 is applied, and is characterized in that:
the system operation step:
the workstation executes item a: workpiece polishing
Step A1: the industrial robot (1) returns to a safe position, the workpiece clamping device is driven to move to the side of a workpiece warehouse through a rodless cylinder (17), namely an initial position, the rotating angle of the swinging cylinder (13) is 0 degree, and a clamping jaw (10) above the pneumatic finger (11) cylinder is opened;
step A2: a workpiece (22) to be polished is placed above the workpiece clamping device from a workpiece warehouse (4) through a mechanical device, and the workpiece (22) is clamped by using a clamping jaw (10) of a pneumatic finger (11);
step A3: the rodless cylinder (17) drives the workpiece clamping device to linearly move to the industrial intelligent camera (3) side along the sliding rail (16) to identify the position of the workpiece, and position coordinate information is transmitted to the industrial robot system;
step A4: the rodless cylinder (17) drives the workpiece clamping device to linearly move to a machining area along the sliding rail (16), and the electric spindle (2) is started;
step A5: the industrial robot (1) and the swing cylinder (13) swing according to a running position and a swing angle which are preset according to a machining program, and the electric spindle end machining tool bit (7) polishes a workpiece;
step A6: after the machining is finished, the industrial robot (1) runs to a safe position, and the electric spindle (2) stops; the oscillating cylinder (13) rotates back to the 0 degree position.
3. The method for grinding and detecting the industrial robot workstation by using the complex special-shaped workpiece as claimed in claim 1 is characterized in that:
the workstation executes item B: scrap blowing device for workpiece
Step B1: the industrial robot keeps a safe position, and the electric spindle (2) keeps stopping; a pneumatic finger (11) clamps a workpiece (22) to be processed through a tail end clamping jaw (10);
step B2: the rodless cylinder (17) drives the workpiece clamping device to linearly move to a chip blowing area along the slide rail (16), namely below the chip blowing device (20);
step B3: opening the chip blowing device to control the electromagnetic valve so that the chip blowing device (20) blows air;
step B4: the oscillating cylinder (13) rotates for one circle at a constant speed, so that the workpiece blows chips for one circle;
step B5: the oscillating cylinder (13) returns to the 0-degree position after rotating for one circle, the chip blowing device (20) controls the electromagnetic valve to be closed, and the chip blowing device (20) stops blowing air.
4. The method for detecting the industrial robot workstation by grinding the complex special-shaped workpiece as claimed in claim 1 is applied, and is characterized in that:
the workstation executes item C: workpiece inspection
Step C1: the industrial robot (1) keeps a safe position, and the electric spindle (2) keeps stopping; a pneumatic finger (11) clamps a workpiece to be processed through a tail end clamping jaw (10);
step C2: the rodless cylinder (17) drives the workpiece clamping device to linearly move to the identification area of the industrial intelligent camera (3) along the sliding rail (16), namely below the industrial camera at the leftmost end of the sliding rail (16);
step C3: the swing cylinder (13) is adjusted to a 0-degree position;
step C4: the industrial intelligent camera (3) photographs and identifies the workpieces, distinguishes finished products and defective products according to the comparison with qualified workpieces, and re-processes the workpieces;
step C5: if the workpieces are finished products or defective products, the rodless cylinder (17) drives the workpieces to move to the side of the workpiece warehouse (4), and the workpieces are placed to the corresponding position of the workpiece warehouse (4) by a mechanical device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210479064.9A CN114952509A (en) | 2022-05-05 | 2022-05-05 | Automatic polishing detection workstation for complex special-shaped workpiece based on industrial robot and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210479064.9A CN114952509A (en) | 2022-05-05 | 2022-05-05 | Automatic polishing detection workstation for complex special-shaped workpiece based on industrial robot and control method |
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| Publication Number | Publication Date |
|---|---|
| CN114952509A true CN114952509A (en) | 2022-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210479064.9A Pending CN114952509A (en) | 2022-05-05 | 2022-05-05 | Automatic polishing detection workstation for complex special-shaped workpiece based on industrial robot and control method |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012091670A1 (en) * | 2010-12-30 | 2012-07-05 | Wanner Anders | Force controlled grinding robot system |
| CN107553329A (en) * | 2017-10-25 | 2018-01-09 | 天津通卓机器人有限公司 | A kind of milling robot |
| CN107598724A (en) * | 2017-08-21 | 2018-01-19 | 常熟理工学院 | Glass mold polishing robot based on parallel institution |
| CN210550059U (en) * | 2019-07-19 | 2020-05-19 | 河北昂泰机器人科技有限公司 | Metal workpiece deburring workstation |
| CN112894377A (en) * | 2021-01-15 | 2021-06-04 | 廊坊市亿创科技有限公司 | Flexible polishing system of robot with instrument automatic switch-over function |
| CN113523820A (en) * | 2021-06-25 | 2021-10-22 | 浙江中科仪器有限公司 | Processing method of intelligent manufacturing assembly line |
| CN215658949U (en) * | 2021-06-25 | 2022-01-28 | 浙江中科仪器有限公司 | Intelligent manufacturing assembly line |
-
2022
- 2022-05-05 CN CN202210479064.9A patent/CN114952509A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012091670A1 (en) * | 2010-12-30 | 2012-07-05 | Wanner Anders | Force controlled grinding robot system |
| CN107598724A (en) * | 2017-08-21 | 2018-01-19 | 常熟理工学院 | Glass mold polishing robot based on parallel institution |
| CN107553329A (en) * | 2017-10-25 | 2018-01-09 | 天津通卓机器人有限公司 | A kind of milling robot |
| CN210550059U (en) * | 2019-07-19 | 2020-05-19 | 河北昂泰机器人科技有限公司 | Metal workpiece deburring workstation |
| CN112894377A (en) * | 2021-01-15 | 2021-06-04 | 廊坊市亿创科技有限公司 | Flexible polishing system of robot with instrument automatic switch-over function |
| CN113523820A (en) * | 2021-06-25 | 2021-10-22 | 浙江中科仪器有限公司 | Processing method of intelligent manufacturing assembly line |
| CN215658949U (en) * | 2021-06-25 | 2022-01-28 | 浙江中科仪器有限公司 | Intelligent manufacturing assembly line |
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