CN115533650A - Workpiece surface polishing device based on robot vision - Google Patents

Abstract

The invention discloses a workpiece surface grinding treatment device based on robot vision, which includes a bottom plate, the upper side wall of the bottom plate is fixedly connected with a manipulator and a conveyor, and the head of the manipulator is provided with a rotating shaft. The grinding treatment device can adjust the size of the grinding head according to the grinding requirements when it is necessary to grind the corners of the area to be polished, without changing the grinding head, so that the efficiency of the grinding treatment is higher. At the same time, it can be used during the grinding process , to absorb and collect the generated debris, so as to avoid the debris generated during the grinding process from floating into the air, which is more environmentally friendly, and can also prevent it from adhering to the lens of the visual sensor to ensure its recognition effect, and, It can reciprocally squeeze the debris collected in the collection box, improve the collection capacity of the collection box, reduce the frequency of cleaning the collection box, and make it more convenient to use.

Description

A workpiece surface grinding treatment device based on robot vision

technical field

The invention relates to the technical field of workpiece grinding, in particular to a workpiece surface grinding treatment device based on robot vision.

Background technique

Machine vision is a branch of artificial intelligence that is rapidly developing. Machines are used to replace human eyes for measurement and judgment. The machine vision system converts the ingested target into an image signal through machine vision products, and sends it to a dedicated image processing system. The image system performs various calculations on these signals to extract the characteristics of the target, and then controls the on-site equipment actions according to the results of the discrimination. With the development of science and technology, machine vision systems are used in various types of grinding devices. Compared with traditional grinding devices, grinding devices with machine vision systems can perform real-time detection after the workpiece is polished, replacing traditional manual detection. , not only efficient, but also can improve the pass rate of the workpiece.

However, when the workpiece surface grinding treatment device based on robot vision in the prior art is in use, in order to ensure the speed of grinding, a larger grinding head is usually used at the beginning of grinding, but it is carried out at the corners of the area to be polished. When grinding, it is necessary to replace a smaller grinding head. It is inconvenient to use such a back and forth replacement of the grinding head, which affects the efficiency of grinding. At the same time, when grinding, the debris generated is easy to float into the air, which is not environmentally friendly. It will also adhere to the lens surface of the visual sensor, affecting its recognition effect.

For this reason, we propose a workpiece surface grinding treatment device based on robot vision.

Contents of the invention

The object of the present invention is to provide a workpiece surface grinding treatment device based on robot vision, so as to solve the problems raised in the above-mentioned background technology.

In order to achieve the above object, the present invention provides the following technical solutions: a workpiece surface grinding treatment device based on robot vision, including a base plate, the upper side wall of the base plate is fixedly connected with a manipulator and a conveyor, and the head of the manipulator is provided with a rotating shaft , the upper side wall of the bottom plate is fixedly connected with a U-shaped bracket, and the lower side wall of the bracket is inserted with a visual sensor, the lower end of the rotating shaft is fixedly connected with a grinding head, and the side wall of the rotating shaft is fixedly connected with an outer cover, The outer cover is sleeved on the side wall of the grinding head, and the grinding head includes an inner rod, a middle ring and an outer ring. The upper end of the inner rod is fixed to the lower end of the rotating shaft, and the middle ring is sleeved on the outer wall of the inner rod. The ring is set on the outer wall of the middle ring, and a telescopic mechanism is arranged between the middle ring, the outer ring and the outer cover, and the inner wall of the outer cover is provided with a driving mechanism for driving the middle ring and the outer ring to move, and the lower end of the grinding head Fixedly connected with a plurality of arc-shaped grinding sheets arranged in an array, and each arc-shaped grinding sheet includes an inner grinding sheet, a middle grinding sheet and an outer grinding sheet, the inner grinding sheet is fixedly connected to the lower end of the inner rod, and the middle grinding sheet It is fixedly connected to the lower end of the middle ring, and the outer grinding sheet is fixedly connected to the lower side wall of the outer ring, and the side wall of the outer cover is provided with a collection mechanism for collecting debris generated by grinding.

Preferably, the telescoping mechanism includes a plurality of symmetrically arranged sleeve rods fixedly connected to the upper side walls of the middle ring and the outer ring, and the side walls of each sleeve rod are sleeved with sleeves, and the upper ends of the sleeves are fixed to the top of the outer cover. , and the side wall of each sleeve rod is provided with a first spring.

Preferably, the drive mechanism includes two symmetrically arranged electromagnets fixedly connected to the top of the housing, and iron blocks are fixedly connected to the upper side walls of the middle ring and the outer ring.

Preferably, the collection mechanism includes a plurality of oblique impeller blades fixedly connected to the inner side wall of the outer cover, and the inner side wall of the outer cover is fixedly connected with an annular cover, and the annular cover is sleeved on the side wall of the grinding head, and the top of the outer cover A collection box is fixedly connected, the side wall of the collection box is fixedly connected with a collection pipe, and the other end of the collection pipe is fixedly inserted on the top of the annular cover, the side wall of the collection box is fixedly connected with an exhaust pipe, and the exhaust pipe One end of the trachea close to the collection box is fixedly connected with a filter screen, the side wall of the collection box is rotatably connected with a cover plate, and the top of the collection box is provided with an extruding mechanism for extruding the collected debris.

Preferably, the extruding mechanism includes a through groove opened on the top of the collection box, and an extruding block is slidably connected in the through groove, a first reset mechanism is arranged between the extruding block and the collecting box, and the top of the outer cover A first pushing mechanism for pushing the extruding block to move is provided.

Preferably, the first reset mechanism includes a first support plate fixedly connected to the side wall of the collection box, and two symmetrically arranged first T-shaped guide rods are inserted into the upper side wall of the first support plate. A connecting block is fixedly connected to the upper end of a T-shaped guide rod, and the connecting block is fixed to the side wall of the extruding block, and a second spring is sheathed on each side wall of the first T-shaped guide rod.

Preferably, the first pushing mechanism includes two symmetrically arranged first moving plates, and a second reset mechanism is provided between each first moving plate and the outer cover, and the upper side wall of the first moving plate is fixedly connected with The second moving plate, and the upper side wall of the second moving plate is provided with a third reset mechanism, the third reset mechanism is connected with a push block, and the push block includes an inclined sliding surface, and the sliding surface is pressed The side walls of the block slide, and the top of the housing is provided with a second pushing mechanism for pushing the first moving plate to move.

Preferably, the second reset mechanism includes a second support plate fixedly connected to the top of the outer cover, and two symmetrically arranged second T-shaped guide rods are inserted into the side wall of the second support plate, and the second T-shaped One end of the guide rod is fixed to the side wall of the first moving plate, and the side wall of each second T-shaped guide rod is sheathed with a fourth spring.

Preferably, the third reset mechanism includes a third support plate fixedly connected to the side wall of the second moving plate, and the side wall of the third support plate is inserted with two symmetrically arranged third T-shaped guide rods, so One end of the third T-shaped guide rod is fixed to the side wall of the push block, and a third spring is sleeved on the side wall of each third T-shaped guide rod.

Preferably, the second pushing mechanism includes two symmetrically arranged moving rods inserted on the top of the outer cover, and the lower end of the moving rod is fixed to the upper end of the sleeve rod, and the side walls of each of the first moving plates are fixedly connected with a plurality of The triangular blocks are arranged in an array, and the side walls of each moving rod are fixedly connected with a fixed plate, and the side walls of the fixed plates are fixedly connected with a push plate, and the push plate slides on the slope of the triangular block.

Compared with prior art, the beneficial effect of the present invention is:

In the present invention, by setting a driving mechanism, etc., when grinding, the workpiece is placed on the conveyor for transportation, and the area of the workpiece to be polished is identified by the visual sensor, and then the rotating shaft is rotated by the manipulator, and the grinding head is driven to rotate synchronously , so as to polish the area of the workpiece to be polished, and when it is necessary to grind the corners of the area to be polished, the size of the grinding head can be adjusted according to the size of the corners, and when it is necessary to adjust, the electromagnet is energized , after the electromagnet is energized, it attracts the iron block, so that the middle ring or the outer ring can move upward. When the outer ring moves upward, it is polished by the inner grinding sheet and the middle grinding sheet. When both the middle ring and the outer ring move upward, only the inner ring The grinding sheet is used for grinding, so that the size of the grinding head can be adjusted according to the requirements of the grinding process, and there is no need to replace the grinding head, so that the efficiency of the grinding process is higher.

In the present invention, by setting a collecting mechanism, etc., during the grinding process, the rotation of the rotating shaft drives the synchronous rotation of the grinding head and the outer cover. The debris is absorbed, and enters the collection box after passing through the annular cover and the collection pipe, and is filtered under the action of the filter screen and then falls into the collection box for collection, so as to avoid the debris generated during the grinding process from being scattered into the air Among them, it is more environmentally friendly, and it can prevent it from adhering to the lens of the visual sensor to ensure its recognition effect.

In the present invention, by setting an extruding mechanism, etc., when grinding, when the middle ring or the outer ring moves upward, the sleeve rod moves upward, and at the same time, the first spring is compressed, and at the same time, when the sleeve rod moves upward, the sleeve rod moves upward. The rod moves upwards synchronously. When the moving rod moves upwards, the fixed plate drives the push plate to move synchronously, so that the push plate slides on the slope of the triangular block, thereby pushing the first moving plate to reciprocate. When the first moving plate reciprocates When moving, the second moving plate is driven to reciprocate, and the push block is driven to reciprocate through the third reset mechanism, so that the sliding surface slides on the side wall of the extrusion block, and, under the action of the first reset mechanism, the The extruding block reciprocates up and down along the through groove, thereby reciprocatingly extruding the debris collected in the collection box, improving the collection capacity of the collection box, reducing the cleaning frequency of the collection box, and making it more convenient to use.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention;

Fig. 2 is the three-dimensional structure schematic diagram of outer cover among the present invention;

Fig. 3 is a three-dimensional structural schematic diagram of another perspective of the outer cover in the present invention;

Fig. 4 is the sectional structure schematic diagram of outer cover in the present invention;

Fig. 5 is the structure diagram of telescoping mechanism and driving mechanism in the present invention;

FIG. 6 is a schematic diagram of an enlarged structure at A in FIG. 1;

FIG. 7 is a schematic diagram of an enlarged structure at B in FIG. 2;

FIG. 8 is a schematic diagram of an enlarged structure at point C in FIG. 4 .

Among the figure: 1-base plate; 201-sleeve rod; 202-sleeve; 203-first spring; 301-electromagnet; 302-iron block; 401-impeller blade; 402-ring cover; Collection box; 405-cover plate; 406-exhaust pipe; 407-filter; 501-through slot; 502-extrusion block; 601-first support plate; ; 604-the second spring; 701-the first moving plate; 702-the second moving plate; Three springs; 901-the second support plate; 902-the second T-shaped guide rod; 903-the fourth spring; 1001-triangular block; 1002-fixed plate; -rotating shaft; 1301-inner rod; 1302-middle ring; 1303-outer ring; 1401-inner grinding sheet; 1402-middle grinding sheet; 1403-outer grinding sheet; vision sensor.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figs. 1-8, the present invention provides a technical solution: a workpiece surface grinding treatment device based on robot vision, including a base plate 1, the upper side wall of the base plate 1 is fixedly connected with a manipulator 11 and a conveyor 16, and the manipulator 11 The head is provided with a rotating shaft 12, the upper side wall of the base plate 1 is fixedly connected with a U-shaped bracket 17, and the lower side wall of the bracket 17 is inserted with a visual sensor 18, and the lower end of the rotating shaft 12 is fixedly connected with a grinding head, and the rotating shaft The side wall of 12 is fixedly connected with an outer cover 15, and the outer cover 15 is sleeved on the side wall of the grinding head, and the grinding head includes an inner rod 1301, a middle ring 1302 and an outer ring 1303, the upper end of the inner rod 1301 is fixed to the lower end of the rotating shaft 12, and the middle ring 1302 is sleeved on the outer side wall of the inner rod 1301, the outer ring 1303 is sleeved on the outer side wall of the middle ring 1302, a telescopic mechanism is arranged between the middle ring 1302, the outer ring 1303 and the outer cover 15, and the inner side wall of the outer cover 15 is provided with a drive The driving mechanism for the movement of the middle ring 1302 and the outer ring 1303. The lower end of the grinding head is fixedly connected with a plurality of arc-shaped polishing sheets arranged in an array, and each arc-shaped polishing sheet includes an inner polishing sheet 1401, a middle polishing sheet 1402 and an outer polishing sheet 1403 , the inner polishing sheet 1401 is fixedly connected to the lower end of the inner rod 1301, the middle polishing sheet 1402 is fixedly connected to the lower end of the middle ring 1302, and the outer polishing sheet 1403 is fixedly connected to the lower side wall of the outer ring 1303, and the side wall of the outer cover 15 is provided with a The collection mechanism that collects the debris generated by grinding can adjust the size of the grinding head according to the grinding requirements when it is necessary to grind the corners of the area to be polished, without the need to replace the grinding head, thus making the grinding process more efficient , at the same time, in the grinding process, the generated debris can be absorbed and collected, so that the debris generated during the grinding process can be prevented from floating into the air, which is more environmentally friendly, and can also prevent it from adhering to the lens of the visual sensor 18 In addition, it can reciprocally squeeze the debris collected in the collection box 404, improve the collection capacity of the collection box 404, reduce the cleaning frequency of the collection box 404, and make it more convenient to use.

The telescoping mechanism includes a plurality of sleeve rods 201 fixedly connected to the upper side walls of the middle ring 1302 and the outer ring 1303, and the side walls of each sleeve rod 201 are sleeved with sleeves 202, and the upper ends of the sleeves 202 are fixed to the top of the outer cover 15. , and the side wall of each sleeve rod 201 is sleeved with a first spring 203, which guides and resets the movement of the center ring 1302 and the outer ring 1303.

The driving mechanism includes two symmetrically arranged electromagnets 301 fixedly connected to the top of the outer cover 15, and the upper side walls of the middle ring 1302 and the outer ring 1303 are fixedly connected with iron blocks 302. When the size of the grinding head needs to be adjusted, the electromagnets 301 When energized, the electromagnet 301 attracts the iron block 302 after energized, so that the middle ring 1302 or the outer ring 1303 can move upward.

The collection mechanism includes a plurality of obliquely arranged impeller blades 401 fixedly connected to the inner side wall of the outer cover 15, and the inner side wall of the outer cover 15 is fixedly connected with an annular cover 402, and the annular cover 402 is sleeved on the side wall of the grinding head, and the top of the outer cover 15 is fixed A collection box 404 is connected, the side wall of the collection box 404 is fixedly connected with a collection pipe 403, and the other end of the collection pipe 403 is fixedly inserted on the top of the annular cover 402, and the side wall of the collection box 404 is fixedly connected with an exhaust pipe 406, And the end of the exhaust pipe 406 close to the collection box 404 is fixedly connected with a filter screen 407, the side wall of the collection box 404 is connected with a cover plate 405 through hinge rotation, and the top of the collection box 404 is provided with a device for squeezing the collected debris. The extruding mechanism, when grinding, the rotation of the rotating shaft 12 drives the synchronous rotation of the grinding head and the outer cover 15, and when the outer cover 15 rotates, it drives the impeller blades 401 to rotate synchronously, thereby performing the air extraction operation, which can reduce the friction generated during grinding. The debris is absorbed, and enters the collection box 404 after passing through the annular cover 402 and the collection pipe 403, and falls into the collection box 404 after filtering under the action of the filter screen 407 for collection.

The extruding mechanism includes a through groove 501 opened on the top of the collection box 404, and an extrusion block 502 is slidably connected in the through groove 501, a first reset mechanism is arranged between the extrusion block 502 and the collection box 404, and the top of the outer cover 15 A first pushing mechanism for pushing the extruding block 502 to move is provided. When grinding, the extruding block 502 is reciprocated up and down along the channel 501 through the first pushing mechanism, so that the debris collected in the collection box 404 can be removed. Chips are reciprocally squeezed to improve the collection capacity of the collection box 404, reduce the cleaning frequency of the collection box 404, and make the use more convenient.

The first reset mechanism includes a first support plate 601 fixedly connected to the side wall of the collection box 404, and the upper side wall of the first support plate 601 is inserted with two symmetrically arranged first T-shaped guide rods 602, the first T-shaped The upper end of guide rod 602 is fixedly connected with connection block 603, and the side wall of connection block 603 and extrusion block 502 is fixed, and the side wall of each first T-shaped guide rod 602 is provided with second spring 604, to extrusion block 502 The movement plays the role of guiding and resetting.

The first pushing mechanism includes two symmetrically arranged first moving plates 701, and a second reset mechanism is arranged between each first moving plate 701 and the outer cover 15, and the upper side wall of the first moving plate 701 is fixedly connected with a second moving plate. plate 702, and the upper side wall of the second moving plate 702 is provided with a third reset mechanism, the third reset mechanism is connected with a push block 703, and the push block 703 includes a sliding surface 704 arranged obliquely, and the sliding surface 704 is on the extrusion block The side wall of 502 slides, and the top of outer cover 15 is provided with the second pushing mechanism that is used to push the first moving plate 701 to move, when grinding, pushes the first moving plate 701 to reciprocate by the second pushing mechanism, when the second When a moving plate 701 reciprocates, it drives the second moving plate 702 to reciprocate, and drives the pushing block 703 to reciprocate through the third reset mechanism.

The second reset mechanism includes a second support plate 901 fixedly connected to the top of the outer cover 15, and the side wall of the second support plate 901 is inserted with two symmetrically arranged second T-shaped guide rods 902, and the second T-shaped guide rod 902 One end is fixed to the side wall of the first moving plate 701, and the side wall of each second T-shaped guide rod 902 is provided with a fourth spring 903, which guides and resets the movement of the first moving plate 701.

The third resetting mechanism includes a third support plate 801 fixedly connected to the upper side wall of the second moving plate 702, and the side wall of the third support plate 801 is inserted with two third T-shaped guide rods 802 arranged symmetrically. One end of the T-shaped guide rod 802 is fixed to the side wall of the push block 703, and the side wall of each third T-shaped guide rod 802 is provided with a third spring 803 to ensure that there is a soft spring between the second moving plate 702 and the push block 703. connected, so that when the debris in the collection box 404 cannot be squeezed, that is, the extrusion block 502 cannot continue to move downward, at this time, the moving rod 1004 can continue to move up and down, so that the third spring 803 is compressed.

The second push mechanism includes two symmetrically arranged moving rods 1004 inserted on the top of the outer cover 15, and the lower end of the moving rod 1004 is fixed to the upper end of the sleeve rod 201, and the side walls of each first moving plate 701 are fixedly connected with a plurality of arrays. The side walls of each moving rod 1004 are fixedly connected with a fixed plate 1002, and the side walls of the fixed plate 1002 are fixedly connected with a push plate 1003, and the push plate 1003 slides on the slope of the triangular block 1001, and the middle ring 1302 or When the outer ring 1303 moves upward, the sleeve rod 201 moves upward, and at the same time, the first spring 203 is compressed. At the same time, when the sleeve rod 201 moves upward, the moving rod 1004 is pushed to move upward synchronously. , the fixed plate 1002 drives the pushing plate 1003 to move synchronously, so that the pushing plate 1003 slides on the slope of the triangular block 1001 in turn, thereby pushing the first moving plate 701 to move back and forth.

Working principle: when grinding, the workpiece is placed on the conveyor 16 for transportation, and the area to be polished of the workpiece is identified by the visual sensor 18, and then the rotating shaft 12 is rotated by the manipulator 11, and the grinding head is driven to rotate synchronously , so that the area of the workpiece to be polished is polished, and when the corners of the area to be polished need to be polished, the size of the grinding head can be adjusted according to the size of the corners, and when it is necessary to adjust, the electromagnet 301 Power on, electromagnet 301 attracts iron block 302 after electrification, thereby can make middle ring 1302 or outer ring 1303 move upwards, when outer ring 1303 moves upwards, polish by inner grinding sheet 1401 and middle grinding sheet 1402, middle ring 1302 and outer ring 1302 and outer ring 1303 move upwards. When the rings 1303 all move upwards, only the inner grinding sheet 1401 is used for grinding, so that the size of the grinding head can be adjusted according to the needs of the grinding process, and there is no need to replace the grinding head, so that the efficiency of the grinding process is higher;

At the same time, when grinding, the rotation of the rotating shaft 12 drives the synchronous rotation of the grinding head and the outer cover 15, and when the outer cover 15 rotates, it drives the impeller blades 401 to rotate synchronously, thereby performing an air extraction operation, which can reduce the friction generated during grinding. The debris is absorbed, and enters the collection box 404 after passing through the annular cover 402 and the collection pipe 403, and is filtered under the effect of the filter screen 407 and then falls into the collection box 404 for collection, thereby avoiding grinding. The debris floats into the air, which is more environmentally friendly, and can prevent it from adhering to the lens of the visual sensor 18, ensuring its recognition effect;

And, when grinding, when the middle ring 1302 or the outer ring 1303 moves upward, the sleeve rod 201 moves upward, and at the same time, the first spring 203 is compressed, and at the same time, when the sleeve rod 201 moves upward, the moving rod 1004 is pushed Move upwards synchronously. When the moving rod 1004 moves upwards, the fixed plate 1002 drives the pushing plate 1003 to move synchronously, so that the pushing plate 1003 slides on the slope of the triangular block 1001, thereby pushing the first moving plate 701 to move back and forth. When a moving plate 701 reciprocates, it drives the second moving plate 702 to reciprocate, and the third reset mechanism drives the pushing block 703 to reciprocate, so that the sliding surface 704 slides on the side wall of the extrusion block 502, and, Under the action of the first reset mechanism, the extruding block 502 reciprocates up and down along the through groove 501, thereby reciprocatingly extruding the debris collected in the collection box 404, improving the collection capacity of the collection box 404, and reducing the impact on the collection. The cleaning frequency of the box 404 is more convenient to use;

When the middle ring 1302 or the outer ring 1303 moves downward to reset, the push plate 1003 will slide on the other slope of the triangular block 1001, thereby also pushing the extruding block 502 to move up and down along the channel 501 to reciprocate the collection box 404 The debris collected inside will be squeezed back and forth again to make the extrusion effect better.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (10)

1. The utility model provides a workpiece surface processing apparatus that polishes based on robot vision, includes bottom plate (1), the last lateral wall fixedly connected with manipulator (11) and conveyer (16) of bottom plate (1), and the head of manipulator (11) is provided with pivot (12), its characterized in that: the upper side wall of the bottom plate (1) is fixedly connected with a support (17) which is arranged in a U shape, the lower side wall of the support (17) is inserted with a vision sensor (18), the lower end of the rotating shaft (12) is fixedly connected with a polishing head, the side wall of the rotating shaft (12) is fixedly connected with an outer cover (15), the outer cover (15) is sleeved on the side wall of the polishing head, the polishing head comprises an inner rod (1301), a middle ring (1302) and an outer ring (1303), the upper end of the inner rod (1301) is fixed with the lower end of the rotating shaft (12), the middle ring (1302) is sleeved on the outer side wall of the inner rod (1301), the outer ring (1303) is sleeved on the outer side wall of the middle ring (1302), telescopic mechanisms are arranged between the middle ring (1302), the outer ring (1303) and the outer cover (15), a driving mechanism for driving the middle ring (1302) and the outer ring (1303) to move is arranged on the inner side wall of the outer cover (15), the lower end of the polishing head is fixedly connected with a plurality of arc-shaped polishing sheets which are arranged in arrays, each arc-shaped polishing head comprises an inner polishing sheet (1401), a middle polishing sheet (1402) and an outer polishing sheet (1403) which is fixedly connected with the lower end of the inner polishing sheet (1403) which is fixedly connected with the lower polishing sheet (1403) which is fixed on the middle ring (1403), the side wall of the outer cover (15) is provided with a collecting mechanism for collecting the scraps generated by grinding.

2. The workpiece surface grinding processing device based on the robot vision as claimed in claim 1, characterized in that: telescopic machanism includes loop bar (201) that a plurality of symmetries of lateral wall set up on well (1302) and outer loop (1303) of fixed connection, and the lateral wall cover of each loop bar (201) is equipped with sleeve pipe (202), the upper end of sleeve pipe (202) is fixed with the top of dustcoat (15), and the lateral wall cover of each loop bar (201) is equipped with first spring (203).

3. The workpiece surface grinding processing device based on the robot vision as claimed in claim 1, characterized in that: the driving mechanism comprises two symmetrically arranged electromagnets (301) fixedly connected to the top of the outer cover (15), and iron blocks (302) are fixedly connected to the upper side walls of the middle ring (1302) and the outer ring (1303).

4. The workpiece surface grinding processing device based on the robot vision as claimed in claim 1, characterized in that: the collecting mechanism comprises impeller blades (401) fixedly connected to the inner side wall of an outer cover (15) in a plurality of inclined modes, an annular cover (402) fixedly connected to the inner side wall of the outer cover (15), the annular cover (402) is sleeved on the side wall of a polishing head, a collecting box (404) fixedly connected to the top of the outer cover (15), a collecting pipe (403) fixedly connected to the side wall of the collecting box (404) is inserted into the top of the annular cover (402), an exhaust pipe (406) fixedly connected to the side wall of the collecting box (404) is close to one end of the collecting box (404) and fixedly connected to a filter screen (407), a cover plate (405) is rotatably connected to the side wall of the collecting box (404) through a hinge, and an extruding mechanism used for extruding collected debris is arranged at the top of the collecting box (404).

5. The workpiece surface grinding processing device based on the robot vision as claimed in claim 4, characterized in that: the extrusion mechanism comprises a through groove (501) formed in the top of the collection box (404), an extrusion block (502) is connected in the through groove (501) in a sliding mode, a first reset mechanism is arranged between the extrusion block (502) and the collection box (404), and a first pushing mechanism used for pushing the extrusion block (502) to move is arranged on the top of the outer cover (15).

6. The workpiece surface grinding processing device based on the robot vision as claimed in claim 5, characterized in that: the first reset mechanism comprises a first supporting plate (601) fixedly connected to the side wall of the collecting box (404), two first T-shaped guide rods (602) symmetrically arranged are inserted into the upper side wall of the first supporting plate (601), a connecting block (603) is fixedly connected to the upper end of each first T-shaped guide rod (602), the connecting block (603) is fixed to the side wall of the extrusion block (502), and a second spring (604) is sleeved on the side wall of each first T-shaped guide rod (602).

7. The workpiece surface grinding processing device based on the robot vision as claimed in claim 5, characterized in that: the first pushing mechanism comprises two first moving plates (701) which are symmetrically arranged, a second reset mechanism is arranged between each first moving plate (701) and the outer cover (15), the upper side wall of each first moving plate (701) is fixedly connected with a second moving plate (702), the upper side wall of each second moving plate (702) is provided with a third reset mechanism, each third reset mechanism is connected with a pushing block (703), each pushing block (703) comprises a sliding face (704) which is obliquely arranged, each sliding face (704) slides on the side wall of the extrusion block (502), and the top of the outer cover (15) is provided with a second pushing mechanism used for pushing the first moving plates (701) to move.

8. The workpiece surface grinding processing device based on the robot vision as claimed in claim 7, characterized in that: the second reset mechanism comprises a second supporting plate (901) fixedly connected to the top of the outer cover (15), two second T-shaped guide rods (902) which are symmetrically arranged are inserted into the side wall of the second supporting plate (901), one end of each second T-shaped guide rod (902) is fixed to the side wall of the first moving plate (701), and a fourth spring (903) is sleeved on the side wall of each second T-shaped guide rod (902).

9. The workpiece surface grinding processing device based on the robot vision as claimed in claim 7, characterized in that: the third reset mechanism comprises a third support plate (801) fixedly connected to the upper side wall of the second moving plate (702), two third T-shaped guide rods (802) symmetrically arranged are inserted into the side wall of the third support plate (801), one end of each third T-shaped guide rod (802) is fixed to the side wall of the pushing block (703), and a third spring (803) is sleeved on the side wall of each third T-shaped guide rod (802).

10. The workpiece surface grinding processing device based on the robot vision as claimed in claim 7, characterized in that: the second pushing mechanism comprises two moving rods (1004) which are inserted into the top of the outer cover (15) and symmetrically arranged, the lower ends of the moving rods (1004) are fixed to the upper end of the loop bar (201), the side wall of each first moving plate (701) is fixedly connected with a plurality of triangular blocks (1001) which are arranged in an array mode, the side wall of each moving rod (1004) is fixedly connected with a fixing plate (1002), the side wall of each fixing plate (1002) is fixedly connected with a pushing plate (1003), and the pushing plates (1003) slide on the inclined surfaces of the triangular blocks (1001).

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