CN207900862U - A kind of laser scanning polishing system - Google Patents
A kind of laser scanning polishing system Download PDFInfo
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- CN207900862U CN207900862U CN201820241052.1U CN201820241052U CN207900862U CN 207900862 U CN207900862 U CN 207900862U CN 201820241052 U CN201820241052 U CN 201820241052U CN 207900862 U CN207900862 U CN 207900862U
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- laser scanning
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Abstract
The utility model is related to sanding and polishing technical fields, specifically disclose a kind of laser scanning polishing system, wherein including：Laser scanning grinding device, rotating table device and control device, laser scanning grinding device and rotating table device are connect with control device, laser scanning grinding device includes robot revolute pedestal and the workpiece polishing mechanism that is arranged on robot revolute pedestal, the side of robot revolute pedestal towards the rotating table device is provided with first laser scanning emitter, second laser scans emitter and laser receiver, laser receiver is located between first laser scanning emitter and second laser scanning emitter, rotating table device includes rotary table, rotary table is for fixing multiple parts to be polished, third laser scanning emitter is provided on rotary table.Laser scanning polishing system provided by the utility model has the advantage accurately polished.
Description
Technical field
The utility model is related to sanding and polishing technical field more particularly to a kind of laser scanning polishing systems.
Background technology
Casting grinding polishing mode mainly has manual polishing and machine polishing, and overwhelming majority casting still relies on manually at present
Grinding and buffing is carried out, manual polishing efficiency is low, and labor intensity is big, and seriously polluted, and the dust of generation has greatly worker
Injury, cannot meet production needs, in addition, due to proficiency of workers difference, cause homogeneity of product poor, waste product
Rate is high, and as cost of human resources rises, human resources are reduced, and casting industry is badly in need of replacing artificial make using automation equipment
Industry, but when encountering bump or barrier in machine bruting process, can damage grinding head, and maximum problem is current automatic
Grinding apparatus cannot to the position of casting defect, defect size, degree carry out intelligent recognition, can not to defective position into
Row is accurately positioned polishing, can only carry out overall surface to casting and polish, and this single-casting surface polishing not only wastes work
When, labor and materials, while destroying the dimensional accuracy at the position that need not polish, excessively extra polishing also causes casting material to lose.
In the prior art, 102120307 B of patent CN disclose a kind of industrial robot grinding of view-based access control model information
System and method, 106736946 A of patent CN disclose a kind of robot grinding device, and 106938443 A of CN disclose one
Industrial robot sanding and polishing work station of the kind based on off-line programing.A kind of industrial robot grinding system of view-based access control model information
System be using video camera acquire workpiece image, using computer identify positioning workpiece, by plan online mechanical paw from
Current location is to the movement locus point of crawl position, control machinery paw grabbing workpiece, then according to pre-set grinding
Operating procedure controls abrasive band rotating speed and steering, and workpiece is moved to specified position and posture by control industrial robot, and polishing is thrown
Light workpiece.But the grinding system of this pattern is the position for being suitble to abrasive band using part movement, and it is simple to be only used for plane
Indiscriminate piece surface is integrally polished and is polished, it is important to when casting design of part is complicated and does not fill polishing comprehensively perhaps
Cannot carry out accurately being directed to has abnormal position to carry out automatic identification polishing.A kind of replacement biography is disclosed in robot grinding device
It unites the device of manual polishing, avoids when can be to encountering bump or barrier in bruting process, grinding head will not be damaged
Dress, but without solving the problems, such as that automatic identification needs position of polishing.A kind of industrial robot sanding and polishing based on off-line programing
Work station disclose by off-line programing solution by no means specific aim polish trajectory problem, the disadvantage is that cannot be directed to casting defect be had
For carry out polish, general surface can only be carried out to workpiece and polished, be random when casting has abnormal position, do not have
It is regular when seeking and polishing perhaps no abnormal position not filling it is helpless.
Therefore, how to provide a kind of accurate polishing mode becomes those skilled in the art's technical problem urgently to be resolved hurrily.
Invention content
The utility model aims to solve at least one of the technical problems existing in the prior art, provides a kind of laser scanning and beats
Grinding system, to solve the problems of the prior art.
As the one side of the utility model, a kind of laser scanning polishing system is provided, wherein the laser scanning is beaten
Grinding system includes：Laser scanning grinding device, rotating table device and control device, the laser scanning grinding device and institute
It states rotating table device to connect with the control device, the laser scanning grinding device and the rotating table device
It is disposed adjacent,
The laser scanning grinding device includes robot revolute pedestal and is arranged on the robot revolute pedestal
The side of workpiece polishing mechanism, robot revolute pedestal towards the rotating table device is provided with first laser scanning transmitting
Device, second laser scanning emitter and laser receiver, the laser receiver are located at first laser scanning
Between emitter and second laser scanning emitter,
The rotating table device includes rotary table, and the rotary table multiple waits for polishing zero for fixing
Part is provided with third laser scanning emitter on the rotary table,
The first laser scanning emitter, second laser scanning emitter and third laser scanning emitter are equal
Laser signal can be emitted to each part to be polished, the laser receiver can receive each part reflection to be polished
Laser signal, and the laser signal of each part reflection to be polished is sent to the control device,
The control device can determine that the 3D of part to be polished is real according to the laser signal of each part reflection to be polished
Body, and defect entity will be obtained after the 3D entities of polishing part are compared with parts standard entity, and can be according to scarce
It falls into entity and generates defect polishing control signal, and defect polishing control signal is sent to laser scanning grinding device；
The laser scanning grinding device can according to the defect polish control signal treat polishing part defect into
Row polishing.
Preferably, the rotating table device includes zero coordinate setting ball, the first laser scanning emitter,
Second laser scans emitter and third laser scanning emitter can emit laser to the zero coordinate setting ball
Signal, the laser receiver can receive the laser signal of zero coordinate setting ball reflection, and by the zero
The laser signal of coordinate setting ball reflection is sent to the control device, and the control device can be fixed according to the zero coordinate
The laser signal of position ball reflection determines the zero coordinate of part to be polished.
Preferably, the control device includes defect entity determining module and defect polishing control module, and the defect is real
Body determining module is connect with defect polishing control module,
The defect entity determining module can wait for polishing zero according to the laser signal determination of each part reflection to be polished
The 3D entities of part, and defect entity will be obtained after the 3D entities of polishing part are compared with parts standard entity；
Defect polishing control module can generate defect polishing control signal according to defect entity, and by the defect
Polishing control signal is sent to laser scanning grinding device.
Preferably, the workpiece polishing mechanism includes motor-driven mechanism, articulation mechanism and executing agency, and the motor drives
Motivation structure is connected with the articulation mechanism, and the executing agency connects with the articulation mechanism, the motor driving
Mechanism can drive the movement of the articulation mechanism, the movement of the articulation mechanism that can drive the executing agency
Execute polishing action.
Preferably, the laser scanning polishing system further includes digiverter, the digiverter respectively with
The control device is connected with motor-driven mechanism, and the digiverter can beat the defect that the control device generates
Mill control signal carries out digital-to-analogue conversion and is sent to the motor-driven mechanism.
Preferably, the articulation mechanism includes large arm and forearm, and one end of the large arm is arranged in the robot
It turns round on pedestal, the other end of the large arm is connect with one end of the forearm, the other end of the forearm and the execution machine
Structure connects.
Preferably, the motor-driven mechanism includes that large arm drives servo motor, large arm rotary reducer, forearm driving to watch
Motor, forearm retarder are taken, arm driving motor is executed and executes arm retarder, the large arm driving servo motor and the large arm
Rotary reducer is connect with one end of the large arm, and the large arm driving servo motor and the large arm rotary reducer can drive
The movement of the large arm is moved, the forearm driving servo motor and the forearm retarder are arranged in the large arm and the forearm
Junction, forearm driving servo motor and the forearm retarder can drive the movement of the forearm, the execution
Arm driving motor and the execution arm retarder are arranged the other end in the forearm, the execution arm driving motor and described hold
Row arm retarder can drive the movement of the executing agency.
Preferably, the executing agency includes solenoid electric valve, pressure sensor and grinding head, the solenoid electric valve
One end is connect with the execution arm retarder, and the other end of the solenoid electric valve is connect with pressure sensor, and the pressure passes
Sensor is connect with the grinding head, to institute when the pressure sensor is able to detect that the over range external force that the grinding head is subject to
It states solenoid electric valve and sends out signal, the solenoid electric valve can disconnect the control grinding head when receiving the signal
Circuit.
Preferably, the rotating table device further include rotary table driving motor, rotary table retarder and
Multiple automatic positioning pinched valves, the rotary table driving motor and the rotary table retarder are arranged in the revolution
One end of workbench, the automatic positioning pinched valve are arranged on the rotary table, the rotary table driving motor
The work of the rotary table can be driven with the rotary table retarder, the equal energy of each automatic positioning pinched valve
Enough clamp corresponding part to be polished.
Laser scanning polishing system provided by the utility model is carried out by the image with 3D laser scannings with standardized element
It compares, identifies casting defect, and carry out the programming of polishing track automatically, automation carries out grinding process, is particularly suitable for high-volume
The automobile of production, engineering machinery, the casting simple in structure such as agricultural machinery carry out sanding and polishing, reduce labor intensity, subtract significantly
It polishes less workload, shortens the polishing time, reduce cost, improve the precision and safety of sanding and polishing, while avoiding dust to people
The injury of body, laser scanning polishing system provided by the utility model are mainly used for the sanding and polishing process of casting, have efficiency
Advantage high, with high accuracy.
Description of the drawings
Attached drawing is to be used to provide a further understanding of the present invention, an and part for constitution instruction, and following
Specific implementation mode be used to explain the utility model together, but do not constitute limitations of the present invention.In the accompanying drawings：
Fig. 1 is the structural schematic diagram of laser scanning polishing system provided by the utility model.
Fig. 2 is the positive structure schematic of the specific implementation mode of laser scanning polishing system provided by the utility model.
Fig. 3 is the reverse structure schematic of the specific implementation mode of laser scanning polishing system provided by the utility model.
Fig. 4 is the enlarged structure schematic diagram of workpiece positioning plate provided by the utility model.
Fig. 5 is the concrete structure schematic diagram of automatic positioning pinched valve provided by the utility model.
Fig. 6 is the flow chart of laser scanning polishing process provided by the utility model.
Specific implementation mode
Specific embodiment of the present utility model is described in detail below in conjunction with attached drawing.It should be understood that herein
Described specific implementation mode is only used for describing and explaining the present invention, and is not intended to limit the utility model.
As the first aspect of the utility model, a kind of laser scanning polishing system is provided, wherein such as Fig. 1 and Fig. 2 institutes
Show, the laser scanning polishing system 10 includes：Laser scanning grinding device 110, rotating table device 120 and control device
130, the laser scanning grinding device 110 and the rotating table device 120 are connect with the control device 130, institute
It states laser scanning grinding device 110 and the rotating table device 120 is disposed adjacent,
The laser scanning grinding device 110 includes robot revolute pedestal 1 and is arranged in the robot revolute pedestal 1
On workpiece polishing mechanism, the robot revolute pedestal 1 is provided with first laser towards the side of the rotating table device 120
Scanning emitter 29, second laser scanning emitter 27 and laser receiver 28, the laser receiver 28 are located at
Between the first laser scanning emitter 29 and second laser scanning emitter 27,
The rotating table device 120 includes rotary table, and the rotary table multiple waits polishing for fixing
Part 22 is provided with third laser scanning emitter 20 on the rotary table,
The first laser scanning emitter 29, second laser scanning emitter 27 and third laser scanning transmitting dress
Laser signal can be emitted to each part 22 to be polished by setting 20, and the laser receiver 28, which can receive, each to be waited polishing
The laser signal that part 22 reflects, and the laser signal that each part 22 to be polished reflects is sent to the control device 130,
The control device 130 can determine part 22 to be polished according to the laser signal that each part 22 to be polished reflects
3D entities, and will after polishing part 22 3D entities be compared with parts standard entity after obtain defect entity, Yi Jineng
It is enough that defect polishing control signal is generated according to defect entity, and defect polishing control signal is sent to laser scanning polishing
Device 110；
The laser scanning grinding device 110 can polish according to the defect controls the defect that signal treats polishing part
It polishes.
Laser scanning polishing system provided by the utility model is carried out by the image with 3D laser scannings with standardized element
It compares, identifies casting defect, and carry out the programming of polishing track automatically, automation carries out grinding process, is particularly suitable for high-volume
The automobile of production, engineering machinery, the casting simple in structure such as agricultural machinery carry out sanding and polishing, reduce labor intensity, subtract significantly
It polishes less workload, shortens the polishing time, reduce cost, improve the precision and safety of sanding and polishing, while avoiding dust to people
The injury of body, laser scanning polishing system provided by the utility model are mainly used for the sanding and polishing process of casting, have efficiency
Advantage high, with high accuracy.
Specifically, the specific implementation mode as the rotating table device 120, in order to determine part 22 to be polished
Zero coordinate, the rotating table device 120 include zero coordinate setting ball 24, and the first laser scans emitter
29, second laser scanning emitter 27 and third laser scanning emitter 20 can be to the zero coordinate setting balls 24
Emitting laser signal, the laser receiver 28 can receive the laser signal that the zero coordinate setting ball 24 reflects,
And the laser signal that the zero coordinate setting ball 24 reflects is sent to the control device 130,130 energy of the control device
Enough laser signals reflected according to the zero coordinate setting ball 24 determine the zero coordinate of part 22 to be polished.
Specifically, the control device 130 includes defect entity determining module and defect polishing control module, the defect
Entity determining module is connect with defect polishing control module,
The defect entity determining module can determine according to the laser signal that each part 22 to be polished reflects and wait polishing
The 3D entities of part, and defect entity will be obtained after the 3D entities of polishing part are compared with parts standard entity；
Defect polishing control module can generate defect polishing control signal according to defect entity, and by the defect
Polishing control signal is sent to laser scanning grinding device 110.
Specifically, the laser scanning grinding device 110 includes motor-driven mechanism, articulation mechanism and execution machine
Structure, the motor-driven mechanism are connected with the articulation mechanism, and the executing agency connects with the articulation mechanism,
The motor-driven mechanism can drive the movement of the articulation mechanism, the movement of the articulation mechanism that can drive
The executing agency executes polishing action.
Further specifically, in order to realize the digital-to-analogue conversion for control signal of polishing defect, the laser scanning, which is polished, is
System 10 further includes digiverter 140, and the digiverter 140 drives with the control device 130 and motor respectively
Mechanism connects, and the defect polishing that the control device 130 generates can be controlled signal into line number by the digiverter 140
Mould is converted and is sent to the motor-driven mechanism.
Preferably, as shown in Fig. 2, the articulation mechanism includes large arm 4 and forearm 7, one end of the large arm 4 is arranged
On the robot revolute pedestal 1, the other end of the large arm 4 is connect with one end of the forearm 7, the forearm 7 it is another
One end is connect with the executing agency.
Preferably, in order to realize that the large arm, forearm and the work of executing agency, the motor-driven mechanism include large arm
It drives servo motor 2, large arm rotary reducer 3, forearm driving servo motor 5, forearm retarder 6, execute 8 and of arm driving motor
Arm retarder 9 is executed, the large arm driving servo motor 2 and the large arm rotary reducer 3 and one end of the large arm 4 connect
It connects, large arm driving servo motor 2 and the large arm rotary reducer 3 can drive the movement of the large arm 4, the forearm
Driving servo motor 5 and the forearm retarder 6 are arranged in the junction of the large arm 4 and the forearm 7, the forearm driving
Servo motor 5 and the forearm retarder 6 can drive the movement of the forearm 7, the execution arm driving motor 8 and described hold
The other end in the forearm 7 is arranged in row arm retarder 9, and the execution arm driving motor 8 and the execution arm retarder 9 can
Drive the movement of the executing agency.
Specifically, in order to realize sanding operation and protection grinding head, the executing agency includes solenoid electric valve 10, pressure
Sensor 11 and grinding head 12, one end of the solenoid electric valve 10 are connect with the execution arm retarder 9, the Electromagnetic Control
The other end of valve 10 is connect with pressure sensor 11, and the pressure sensor 11 is connect with the grinding head 12, and the pressure passes
Signal is sent out to the solenoid electric valve 10 when sensor 11 is able to detect that the over range external force that the grinding head 12 is subject to, it is described
Solenoid electric valve 10 can disconnect the circuit for controlling the grinding head 12 when receiving the signal.
Specifically, the specific implementation mode as the rotating table device 120, the rotating table device 120
Further include rotary table driving motor 16, rotary table retarder 17 and multiple automatic positioning pinched valves 21, the revolution
Table drive motor 16 and the rotary table retarder 17 are arranged in one end of the rotary table, described automatic fixed
Position pinched valve 21 is arranged on the rotary table, and the rotary table driving motor 16 and the rotary table slow down
Device 17 can drive the work of the rotary table, and each automatic positioning pinched valve 21 can clamp corresponding wait for dozen
Grind part 22.
Shown in Fig. 2 and Fig. 3, driving motor, the retarder of the inside of robot revolute pedestal 1 can drive
At the revolution of pedestal, lifting, the large arm 4 on robot revolute pedestal 1 is driven by large arm driving servo motor 2, with large arm 4
Connected forearm 7 is to complete to drive with forearm retarder 6 by forearm driving servo motor 5.The executing agency being connected with forearm 7
It is driven by executing agency's driving motor 8 and executing agency's retarder 9.Executing agency is by solenoid electric valve 10, pressure sensing
Device 11, grinding head 12 form, and in executing agency part, solenoid electric valve 10, its main function is when grinding head 12 is met suddenly
When to abnormal external force, protective effect is provided, concrete operating principle is：Grinding head 12 is experienced when pressure sensor 11 to transmit suddenly
Over range external force when, it sends a signal to solenoid electric valve 10, and Electromagnetic Control valve coil generates suction after being powered and circuit breaks
It opens, grinding head exits polishing, plays a protective role.Signal is also transmitted to executing agency's revolution driving electricity by pressure sensor 11 simultaneously
Machine 8 drives executing agency to turn round upwards, avoids generating abnormal collision.
Specifically, as shown in Figures 2 and 3, rotary table is slowed down by work table rotation driving motor 16, rotary table
Device 17, right-hand rotation table base 18, rotary table flange 19, third laser scanning emitter 20, automatic positioning clamp
Valve 21, part 22 to be polished, workpiece positioning plate 23, left rotary table pedestal 25, rotary table adjust flange 26, and second swashs
Optical scanning emitter 27, laser receiver 28 and first laser scanning emitter 29 form.The two of workpiece positioning plate 23
End is connect by rotary table flange 19 with left rotary table pedestal 25 and right-hand rotation table base 18 respectively, described to wait for
Polishing part 22 is fixed on by being automatically positioned pinched valve 21 on the workpiece positioning plate 23, and the rotary table adjusts flange
26 are located on the left rotary table pedestal 25, as shown in figure 4, the third laser scanning emitter 20 is located at connection institute
On the rotary table flange 19 for stating workpiece positioning plate 23 and the right-hand rotation table base 18.
Driving motor on wherein work table rotation driving motor 16, with robot revolute pedestal 1 is linkage, and workpiece is fixed
Position plate 23 can be with 360 degree rotation, the clamping and positioning of part 22 to be polished completed by automatic positioning pinched valve 21, as shown in figure 5,
Automatic positioning pinched valve 21 is by automatic positioning clamping device guide sleeve 30, automatic positioning clamping device positioning core axle 31, automatically
Positioning clamping device inner expanding sleeve 32, automatic positioning clamping device connector sleeve 33, automatic positioning clamping device positioning pin 34 are automatic fixed
Position clamping device solenoid valve 35,36 composition of automatic positioning clamping device solenoid valve interface.
Specifically, the course of work of rotary table is as follows：
First part 22 to be polished is mounted on the automatic positioning clamping device positioning core axle 31 of rotary table, it is automatic fixed
Position clamping device solenoid valve 35 is powered, and part 22 to be polished is positioned and is clamped, then to the zero coordinate on rotary table
Position ball 24 carry out co-ordinate zero point positioning, method be open rotary table on third laser scanning emitter 20, first
Laser scanning emitter 29, second laser scan emitter 27 and emit laser to zero coordinate setting ball 24, and laser reaches
After zero coordinate setting ball 24, laser receiver 28 is reached to the light of external reflectance, is obtained after the analysis of control device 130 calculates
The coordinate digital of zero coordinate setting ball 24.After having zero coordinate digital, put as programming zero coordinate with this, to turning round work
The part 22 that needs to be polished on platform carries out coordinate setting number, and the elements of a fix of each part are set relative to zero coordinate
It counts, be processed into fixed numerical value, laser scanning then is carried out to the part that needs are polished, forms 3D entities, scanning is formed
3D material object parts are compared by the Pro-E 3D softwares in control device 130 with standard design entity, identify difference portion
Point（Casting defect）And form new casting flaw entity.
Specifically, the robotic laser scanning polishing course of work is as follows：
Installation UG polishing NC auto programming softwares in host computer, to difference section（Casting defect）Novel entities compile automatically
Journey completes polishing machining path design, sets polishing parameter, speed of polishing, zero coordinate, and will polishing processing program conveying
Robot host computer, computer is given to send out instruction, the space movement of controlled motion controller, wherein grinding head 12 is by big
Revolution of arm driving motor 2, forearm rotary driving motor 5 and executing agency's rotary drive motor 8, workbench driving plus machine 16 link
It completes, the mode of linkage is realized by the computer programming in robot operation bench, executing agency's rotary drive motor
8 drive grinding head rotation, are the rotating power sources of sanding and polishing, and grinding head is polished according to the program finished, and realizes machine
People is to differential section（Casting defect）Polishing and polishing.
It should be noted that as shown in Figures 2 and 3, the control device 130 is mounted on robot manipulation's platform 14
Interior, robot manipulation's platform 14 is connect by DOL Data Output Line 13 with the laser scanning grinding device 110, the robot
Operation console 14 is connect by data feedback line 15 with the rotating table device 120.
Laser scanning polishing system provided by the utility model is carried out by the image with 3D laser scannings with standardized element
It compares, identifies casting defect, and carry out the programming of polishing track automatically, automation carries out grinding process, is particularly suitable for high-volume
The automobile of production, engineering machinery, the casting simple in structure such as agricultural machinery carry out sanding and polishing, reduce labor intensity, subtract significantly
It polishes less workload, shortens the polishing time, reduce cost, improve the precision and safety of sanding and polishing, while avoiding dust to people
The injury of body, laser scanning polishing system provided by the utility model are mainly used for the sanding and polishing process of casting, have efficiency
Advantage high, with high accuracy.
As the second aspect of the utility model, a kind of laser scanning polishing process is provided, wherein as shown in fig. 6, institute
Stating laser scanning polishing process includes：
S110, the laser letter that each part to be polished reflects is obtained by emitting laser signal to each part to be polished
Number；
S120, the 3D entities that part to be polished is determined according to the laser signal of each part reflection to be polished；
S130, defect entity will be obtained after the 3D entities of polishing part are compared with parts standard entity；
S140, defect polishing control signal is generated according to defect entity；
The defect that S150, control signal of being polished according to the defect treat polishing part is polished.
Laser scanning polishing process provided by the utility model is carried out by the image with 3D laser scannings with standardized element
It compares, identifies casting defect, and carry out the programming of polishing track automatically, automation carries out grinding process, is particularly suitable for high-volume
The automobile of production, engineering machinery, the casting simple in structure such as agricultural machinery carry out sanding and polishing, reduce labor intensity, subtract significantly
It polishes less workload, shortens the polishing time, reduce cost, improve the precision and safety of sanding and polishing, while avoiding dust to people
The injury of body, laser scanning polishing process provided by the utility model are mainly used for the sanding and polishing process of casting, have efficiency
Advantage high, with high accuracy.
It should be noted that in order to determine parts standard entity, can emit to the part to be polished of no defect entity
Then laser signal obtains the laser signal of part the to be polished reflection of no defect entity, according to waiting for for no defect entity
The laser signal of polishing part reflection determines the 3D entities of the part to be polished of no defect entity, which is part
Then standards entities store the parts standard entity of acquisition.
It should also be noted that, the specific work process about laser scanning polishing process provided by the utility model can be with
With reference to the description of laser scanning polishing system above, details are not described herein again.
It is understood that embodiment of above is merely to illustrate that the principles of the present invention and uses exemplary
Embodiment, however the utility model is not limited thereto.For those skilled in the art, this is not being departed from
In the case of the spirit and essence of utility model, various changes and modifications can be made therein, these variations and modifications are also considered as this reality
With novel protection domain.
Claims (9)
1. a kind of laser scanning polishing system, which is characterized in that the laser scanning polishing system includes：Laser scanning polishing dress
Set, rotating table device and control device, the laser scanning grinding device and the rotating table device with it is described
Control device connects, and the laser scanning grinding device and the rotating table device are disposed adjacent,
The laser scanning grinding device includes robot revolute pedestal and the polishing that is arranged on the robot revolute pedestal
The side of mechanism, robot revolute pedestal towards the rotating table device is provided with first laser scanning transmitting dress
It sets, second laser scanning emitter and laser receiver, the laser receiver are located at first laser scanning hair
Between injection device and second laser scanning emitter,
The rotating table device includes rotary table, and the rotary table is for fixing multiple parts to be polished, institute
It states and is provided with third laser scanning emitter on rotary table,
The first laser scanning emitter, second laser scanning emitter and third laser scanning emitter can
Emit laser signal to each part to be polished, the laser receiver can receive the laser of each part reflection to be polished
Signal, and the laser signal of each part reflection to be polished is sent to the control device,
The control device can determine the 3D entities of part to be polished according to the laser signal of each part reflection to be polished, and
Defect entity will be obtained after the 3D entities of polishing part are compared with parts standard entity, and can be according to defect entity
Defect polishing control signal is generated, and defect polishing control signal is sent to laser scanning grinding device；
The defect that the laser scanning grinding device can treat polishing part according to defect polishing control signal is beaten
Mill.
2. laser scanning polishing system according to claim 1, which is characterized in that the rotating table device includes zero
Point coordinates positions ball, the first laser scanning emitter, second laser scanning emitter and third laser scanning transmitting
Device can emit laser signal to the zero coordinate setting ball, and the laser receiver can receive the zero
The laser signal of coordinate setting ball reflection, and the laser signal that the zero coordinate setting ball reflects is sent to the control and is filled
It sets, the control device can determine that the zero of part to be polished is sat according to the laser signal that the zero coordinate setting ball reflects
Mark.
3. laser scanning polishing system according to claim 1, which is characterized in that the control device includes defect entity
Determining module and defect polishing control module, the defect entity determining module are connect with defect polishing control module,
The defect entity determining module can determine part to be polished according to the laser signal of each part reflection to be polished
3D entities, and defect entity will be obtained after the 3D entities of polishing part are compared with parts standard entity；
The defect polishing control module can generate defect polishing control signal according to defect entity, and the defect is polished
Control signal is sent to laser scanning grinding device.
4. laser scanning polishing system as claimed in any of claims 1 to 3, which is characterized in that the sander
Structure includes motor-driven mechanism, articulation mechanism and executing agency, the motor-driven mechanism and the articulation mechanism
Connection, the executing agency connect with the articulation mechanism, and the motor-driven mechanism can drive the joint motions
The movement of the movement of mechanism, the articulation mechanism can drive the executing agency to execute polishing action.
5. laser scanning polishing system according to claim 4, which is characterized in that the laser scanning polishing system also wraps
Digiverter is included, the digiverter is connect with the control device and motor-driven mechanism respectively, the digital-to-analogue
The defect polishing control signal that the control device generates can be carried out digital-to-analogue conversion and be sent to the motor by conversion equipment
Driving mechanism.
6. laser scanning polishing system according to claim 4, which is characterized in that the articulation mechanism includes large arm
And forearm, one end of the large arm are arranged on the robot revolute pedestal, the other end of the large arm and the forearm
One end connects, and the other end of the forearm is connect with the executing agency.
7. laser scanning polishing system according to claim 6, which is characterized in that the motor-driven mechanism includes large arm
It drives servo motor, large arm rotary reducer, forearm driving servo motor, forearm retarder, execute arm driving motor and execution
Arm retarder, the large arm driving servo motor and the large arm rotary reducer are connect with one end of the large arm, described big
Arm driving servo motor and the large arm rotary reducer can drive the movement of the large arm, the forearm to drive servo motor
It is arranged in the junction of the large arm and the forearm with the forearm retarder, the forearm driving servo motor and described small
Arm retarder can drive the movement of the forearm, the execution arm driving motor and the execution arm retarder to be arranged described
The other end of forearm, the arm driving motor and the arm retarder that executes of executing can drive the movement of the executing agency.
8. laser scanning polishing system according to claim 7, which is characterized in that the executing agency includes Electromagnetic Control
Valve, pressure sensor and grinding head, one end of the solenoid electric valve are connect with the execution arm retarder, the Electromagnetic Control
The other end of valve is connect with pressure sensor, and the pressure sensor is connect with the grinding head, and the pressure sensor can
Signal is sent out to the solenoid electric valve when detecting the over range external force that the grinding head is subject to, the solenoid electric valve can
The circuit for controlling the grinding head is disconnected when receiving the signal.
9. laser scanning polishing system as claimed in any of claims 1 to 3, which is characterized in that the revolution work
Further include rotary table driving motor, rotary table retarder and multiple automatic positioning pinched valves as table apparatus, described time
Revolving worktable driving motor and the rotary table retarder are arranged in one end of the rotary table, the automatic positioning
Pinched valve is arranged on the rotary table, and the rotary table driving motor and the rotary table retarder can
The work of the rotary table is driven, each automatic positioning pinched valve can clamp corresponding part to be polished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820241052.1U CN207900862U (en) | 2018-02-11 | 2018-02-11 | A kind of laser scanning polishing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820241052.1U CN207900862U (en) | 2018-02-11 | 2018-02-11 | A kind of laser scanning polishing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207900862U true CN207900862U (en) | 2018-09-25 |
Family
ID=63560745
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820241052.1U Active CN207900862U (en) | 2018-02-11 | 2018-02-11 | A kind of laser scanning polishing system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161664A (en) * | 2018-02-11 | 2018-06-15 | 鹰普航空零部件（无锡）有限公司 | A kind of laser scanning polishing system and method |
| CN109633609A (en) * | 2019-01-26 | 2019-04-16 | 广东利迅达机器人系统股份有限公司 | A kind of axle housing polishing intelligent laser range-measurement system and its control method |
| CN110253437A (en) * | 2019-05-14 | 2019-09-20 | 重庆市合川区均恒金属加工厂 | A kind of intelligent work piece sanding and polishing detection device |
| CN110625491A (en) * | 2019-08-29 | 2019-12-31 | 中车青岛四方机车车辆股份有限公司 | Polishing apparatus and polishing method |
| CN111571612A (en) * | 2020-05-27 | 2020-08-25 | 无锡中车时代智能装备有限公司 | High-speed rail white car body multi-robot collaborative polishing control method, device and system |
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2018
- 2018-02-11 CN CN201820241052.1U patent/CN207900862U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161664A (en) * | 2018-02-11 | 2018-06-15 | 鹰普航空零部件（无锡）有限公司 | A kind of laser scanning polishing system and method |
| CN108161664B (en) * | 2018-02-11 | 2023-08-22 | 鹰普航空科技有限公司 | Laser scanning polishing system and method |
| CN109633609A (en) * | 2019-01-26 | 2019-04-16 | 广东利迅达机器人系统股份有限公司 | A kind of axle housing polishing intelligent laser range-measurement system and its control method |
| CN110253437A (en) * | 2019-05-14 | 2019-09-20 | 重庆市合川区均恒金属加工厂 | A kind of intelligent work piece sanding and polishing detection device |
| CN110625491A (en) * | 2019-08-29 | 2019-12-31 | 中车青岛四方机车车辆股份有限公司 | Polishing apparatus and polishing method |
| CN111571612A (en) * | 2020-05-27 | 2020-08-25 | 无锡中车时代智能装备有限公司 | High-speed rail white car body multi-robot collaborative polishing control method, device and system |
| CN111571612B (en) * | 2020-05-27 | 2021-07-16 | 无锡中车时代智能装备有限公司 | High-speed rail white car body multi-robot collaborative polishing control method, device and system |
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Address after: 214191 Furong five road, Xishan Economic Development Zone, Wuxi, Jiangsu Province, No. 18 Patentee after: Yingpu Aviation Technology Co., Ltd Address before: 214191 Furong five road, Xishan Economic Development Zone, Wuxi, Jiangsu Province, No. 18 Patentee before: IMPRO AVIATION COMPONENTS (WUXI) Co.,Ltd. |