CN209811886U - Full-automatic system of polishing based on machine vision - Google Patents
Full-automatic system of polishing based on machine vision Download PDFInfo
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- CN209811886U CN209811886U CN201920572620.0U CN201920572620U CN209811886U CN 209811886 U CN209811886 U CN 209811886U CN 201920572620 U CN201920572620 U CN 201920572620U CN 209811886 U CN209811886 U CN 209811886U
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Abstract
The utility model discloses a the utility model discloses an at first, provided a full-automatic system of polishing based on machine vision, include: the workpiece clamping platform is used for clamping and positioning a workpiece to be polished; the polishing device comprises an industrial robot arranged on one side of the workpiece clamping platform, and a polishing executing device used for polishing the workpiece to be polished is arranged on the industrial robot; the machine vision image system is used for acquiring image data of a surface to be polished of the workpiece to be polished; the upper computer control system establishes a three-dimensional model of the surface to be polished according to the image data of the surface to be polished acquired by the machine vision image system, and obtains a polishing track of the surface to be polished; and the robot control cabinet receives a polishing control instruction from the upper computer control system and controls the industrial robot to execute polishing action according to the polishing track.
Description
Technical Field
The utility model relates to a machine vision, automatic control and the automatic technique of polishing of robot specifically are a full-automatic system of polishing based on machine vision.
Background
In the modern production process, grinding and polishing are common processing procedures. At present, the grinding and polishing work of a plurality of workpieces is manually finished, and the manual grinding has the disadvantages of low efficiency, long grinding period, poor economy, difficulty in keeping consistency of grinding quality and difficulty in subsequent finish machining treatment; moreover, dust in the polishing environment has great harm to human bodies, and meanwhile, the problems of high labor intensity of workers and the like exist, and the factors are not beneficial to effectively improving the production efficiency.
With the application of industrial robot technology in modern production, the application of industrial robot technology in the field of grinding and polishing is increasingly deep. However, the manual teaching period is long, the trajectory planning usually depends more on the experience of operators, and the optimal state is difficult to achieve in the aspects of trajectory optimization and working cycle processing. Especially when the difference of the processed workpieces is large, the molded lines are complex, and the radian changes, frequent teaching is needed, the universality is poor, and the teaching is not beneficial to improving the automation degree of the whole processing due to frequent stopping.
Machine vision plays an increasingly important role in image recognition and localization. The application of machine vision is mainly reflected in the aspects of guiding and positioning, appearance detection, high-precision detection, product traceability and the like. In China, the method is mainly applied to tracking of a welding robot on a welding seam through path planning of an image space and a control method based on the image, is relatively limited in application in the field of robot polishing, and is relatively difficult to popularize due to relatively high requirements of application of related technologies on operators.
Disclosure of Invention
In view of this, the utility model aims at providing a full-automatic system of polishing based on machine vision has that the integrated level is high, the easy operation, convenient high efficiency, economical and practical, intelligent degree are high and polish steady quality and reliable advantage.
In order to achieve the above purpose, the utility model provides a following technical scheme:
a full-automatic system of polishing based on machine vision includes:
the workpiece clamping platform is used for clamping and positioning a workpiece to be polished;
the polishing device comprises an industrial robot arranged on one side of the workpiece clamping platform, and a polishing executing device used for polishing the workpiece to be polished is arranged on the industrial robot;
the machine vision image system is used for acquiring image data of a surface to be polished of the workpiece to be polished;
the upper computer control system establishes a three-dimensional model of the surface to be polished according to the image data of the surface to be polished acquired by the machine vision image system, and obtains a polishing track of the surface to be polished;
and the robot control cabinet receives a polishing control instruction from the upper computer control system and controls the industrial robot to execute polishing action according to the polishing track.
Further, the polishing executing device comprises an electric spindle;
the electric spindle is characterized by further comprising an electric control cabinet, a PLC and a frequency converter used for controlling the electric spindle are arranged in the electric controller, and the PLC controls the electric spindle to act through the frequency converter according to a control instruction of the upper computer control system.
Furthermore, the polishing executing device also comprises a constant force floating control mechanism for controlling the electric spindle to move along the axial direction of the electric spindle, a displacement sensor for detecting the moving distance of the electric spindle and an attitude sensor for detecting the motion attitude of the electric spindle;
the upper computer control system judges the abrasion condition of the grinding tool arranged on the electric main shaft according to floating displacement data of the electric main shaft, which is detected by the displacement sensor.
Further, the constant force floating control mechanism comprises an outer shaft sleeve sleeved on the electric spindle, two ends of the outer shaft sleeve are respectively in airtight fit with the outer peripheral wall of the electric spindle, a piston ring is arranged in the middle of the electric spindle, the piston ring is in airtight fit with the outer shaft sleeve, two airtight cavities are formed in two sides of the piston ring respectively, and interfaces used for communicating an air source or a hydraulic source are arranged on the two airtight cavities respectively.
Further, the polishing executing device further comprises a connecting support fixedly connected with the outer shaft sleeve, and a connecting flange fixedly connected with the industrial robot is arranged on the connecting support.
Further, an inner shaft sleeve is arranged on the electric spindle outer fixing sleeve, and the outer shaft sleeve is sleeved outside the inner shaft sleeve.
Further, the outer shaft sleeve is coaxial with the electric spindle.
Further, still include the automatic change system of grinding tool, the automatic change system of grinding tool includes fixed mounting and is in the tool rest of industrial robot one side, be equipped with unused grinding tool storehouse and worn and torn grinding tool storehouse on the tool rest, place on the unused grinding tool storehouse and be equipped with a plurality of unused grinding tools, each equal fixed mounting is equipped with the handle of a knife on the unused grinding tool storehouse, the front end tip of electricity main shaft be equipped with handle of a knife complex clamping device.
Further, the industrial robot adopts a six-degree-of-freedom robot.
Further, the machine vision image system comprises an industrial camera and a structural light source, wherein the industrial camera and the structural light source are fixedly installed on a flange installation frame of the industrial robot.
Adopt the utility model discloses full-automatic grinding method of full-automatic grinding system based on machine vision does, including following step:
1) clamping and fixing a workpiece to be polished on the workpiece clamping platform, so that the surface to be polished of the workpiece to be polished faces upwards;
2) acquiring image data of a surface to be polished by using a machine vision image system, and transmitting the image data to an upper computer control system; the machine vision image system adopts a monocular vision mode or a binocular vision mode;
3) the upper computer control system generates a three-dimensional model of the surface to be polished according to image data acquired by the machine vision image system, and generates a polishing track of the surface to be polished and a three-dimensional model of an expected polishing effect of the surface to be polished through the three-dimensional model;
4) the polishing device polishes the surface to be polished according to the polishing track generated by the upper computer control system until the surface to be polished is polished;
5) acquiring image data of the polished surface to be polished again by using a machine vision image system, transmitting the image data to the upper computer control system, generating a polished three-dimensional model of the surface to be polished, and comparing the polished three-dimensional model with the expected polishing effect three-dimensional model;
if the polishing missing area with the effect difference larger than or equal to the set threshold exists, regenerating a correction polishing track for polishing the polishing missing area through the upper computer control system, and repeating the step 4) and the step 5);
and if the polishing missing area with the effect difference larger than the set threshold value does not exist, polishing is finished.
The beneficial effects of the utility model reside in that:
the utility model discloses full-automatic system of polishing based on machine vision, through adopting machine vision image system to gather the image data who treats the face of polishing of waiting to polish the work piece, and with image data transmission to the three-dimensional model of the face of polishing is treated in the production behind the host computer control system, utilize this three-dimensional model to carry out the path planning, obtain the orbit of polishing, and finally utilize industrial robot and the execution device of polishing to polish the face of polishing of waiting to polish the work piece, whole polishing process is full-automatic to be gone on, the integrated level is high, the operation is easy, convenient and high-efficient, economical and practical, the intelligent degree is high and polish steady and reliable advantage of quality.
The utility model discloses full-automatic system of polishing based on machine vision still has following technological effect:
1. the utility model discloses based on current ripe industrial robot to set up constant force floating control mechanism in polishing the final controlling element, utilize PLC controller control electricity main shaft action simultaneously, combine displacement sensor real-time detection polishing tool's wearing and tearing volume simultaneously to in time change polishing tool, combine gesture sensor to detect the motion gesture of electricity main shaft in real time, thereby eliminate the effect of gravity to the power of polishing floating, so that can carry out all-round unsteady constant force polishing, can effectively guarantee the reliability and the security of polishing;
2. the utility model utilizes a machine vision image system to collect the image data of the surface to be polished, and finally generates a polishing track through the operation and processing in an upper computer control system; the workpiece to be polished can be automatically and intelligently polished in a unified standard, and after polishing is finished, detection and control are carried out through a machine vision image system, so that the polishing quality is comprehensively, effectively, stably and reliably ensured;
3. the utility model discloses the orbit of polishing that the follow upper computer control system generated is all automatic going on to the code of controlling industrial robot operation to can adapt different manufacturers' industrial robot, make whole operation process of polishing simple, easy, convenient and high-efficient, can effectively alleviate workman intensity of labour, economic benefits is outstanding, and the practicality is strong.
4. The clamping device matched with the tool handle is arranged at the front end of the electric spindle, the clamping device is matched with a standard BT series tool handle, the abrasion loss data of the polishing tool is detected by using a displacement sensor, and then the abraded polishing tool is automatically put down and the unused polishing tool is installed in the automatic polishing tool replacing system by using an upper computer control system and a robot control cabinet, so that the polishing tool is quickly and automatically replaced;
5. after polishing is finished, the machine vision image system is used for recognizing image data of the surface to be polished again, and a correction polishing track is generated according to a comparison result to correct and polish the surface to be polished, so that the final polishing effect can meet the preset requirement.
Drawings
In order to make the purpose, technical scheme and beneficial effect of the utility model clearer, the utility model provides a following figure explains:
FIG. 1 is a schematic structural diagram of an embodiment of a machine vision-based full-automatic polishing system of the present invention;
FIG. 2 is detail A of FIG. 1;
FIG. 3 is a schematic structural view of a polishing actuator;
fig. 4 is detail B of fig. 3.
Description of reference numerals:
1-a workpiece clamping platform; 2-a tool to be polished; 2 a-the surface to be polished; 3-an industrial robot; 4-polishing the executing device; 5-an industrial camera; 6-an upper computer control system; 7-a robot control cabinet; 8-an electric spindle; 9-an electrical control cabinet; 10-outer shaft sleeve; 11-a piston ring; 12-sealing the cavity; 13-an interface; 14-inner sleeve; 15-a tool holder; 15 a-unused sanding tool library; 15 b-a worn abrading tool magazine; 16-structured light source; 17-a flange mount; 18-a connecting bracket; 19-a connecting flange; 20-grinding tool.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.
As shown in fig. 1, it is the structural schematic diagram of the embodiment of the full-automatic polishing system based on machine vision of the present invention. The full-automatic system of polishing based on machine vision of this embodiment includes:
the workpiece clamping platform 1 is used for clamping and positioning a workpiece 2 to be polished;
the polishing device comprises an industrial robot 3 arranged on one side of the workpiece clamping platform 1, and a polishing executing device 4 used for polishing the workpiece 2 to be polished is arranged on the industrial robot 3;
the machine vision image system is used for acquiring image data of a surface 2a to be polished of the workpiece 2 to be polished;
the upper computer control system 6 is used for establishing a three-dimensional model of the surface 2a to be polished according to the image data of the surface 2a to be polished, which is acquired by the machine vision image system, and obtaining the polishing track of the surface to be polished;
and the robot control cabinet 7 receives a polishing control instruction from the upper computer control system 6, and controls the industrial robot 3 to execute polishing action according to a polishing track.
Further, the sanding actuator 4 of the present embodiment includes an electric spindle 8. The full-automatic grinding system based on machine vision of this embodiment still includes electrical control cabinet 9, is equipped with PLC controller and the converter that is used for controlling electric main shaft 8 in the electrical control cabinet 9, and the PLC controller passes through the action of converter control electric main shaft 8 according to the control command of upper computer control system 6, guarantees reliability and the security of polishing.
Further, as shown in fig. 3, the polishing executing device 4 of the present embodiment further includes a constant force floating control mechanism for controlling the electric spindle 8 to move along the axial direction thereof, a displacement sensor for detecting the moving distance of the electric spindle 8, and an attitude sensor for detecting the moving attitude of the electric spindle 8. The displacement sensors are annularly and uniformly distributed in a plurality of shapes by taking the axis of the electric spindle 8 as the center, and the upper computer control system 6 judges the abrasion condition of the grinding tool arranged on the electric spindle 8 according to the floating displacement data of the electric spindle 8 detected by the displacement sensors. The upper computer control system 6 utilizes the attitude sensor to detect the motion attitude of the polishing tool, thereby eliminating the influence of the gravity on the polishing floating force and being capable of polishing with all-round floating constant force.
Specifically, the constant force floating control mechanism of this embodiment includes outer axle sleeve 10 of suit on electric main shaft 8, airtight cooperation between the both ends of outer axle sleeve 10 and the periphery wall of electric main shaft 8 respectively, and the middle part of electric main shaft 8 is equipped with piston ring 11, airtight cooperation between piston ring 11 and the outer axle sleeve 10 and form two airtight cavities 12 respectively in piston ring 11's both sides, be equipped with the interface 13 that is used for communicateing air supply or hydraulic pressure source on two airtight cavities 12 respectively. Namely, a structure of forming an air cylinder or a hydraulic cylinder between the electric spindle 8 and the outer shaft sleeve 10, and air sources or hydraulic sources with different air pressures introduced from the two ports 13 can drive the electric spindle 8 to move along the axial direction of the electric spindle, and meanwhile, constant grinding force can be output by the electric spindle 8 through the air sources or the hydraulic sources with constant air pressure and constant pressure difference at the two ports 13. Specifically, the polishing executing device 4 of the present embodiment further includes a connecting bracket 18 fixedly connected to the outer sleeve 10, and a connecting flange 19 for fixedly connecting to the industrial robot 3 is disposed on the connecting bracket 18. The electric spindle 8 is fixed with an inner shaft sleeve 14, an outer shaft sleeve 10 is sleeved outside the inner shaft sleeve 14, a piston ring 11 is arranged on the inner shaft sleeve 14, and the outer shaft sleeve 10 is coaxial with the electric spindle 8.
Further, this embodiment is based on full-automatic grinding system of machine vision still includes the automatic change system of grinding tool, the automatic change system of grinding tool includes tool holder 15 of fixed mounting in industrial robot 3 one side, be equipped with unused grinding tool storehouse 15a and worn and torn grinding tool storehouse 15b on tool holder 15, place on the unused grinding tool storehouse 15b and be equipped with a plurality of unused grinding tools, equal fixed mounting is equipped with the handle of a knife on each unused grinding tool, the front end tip of electric main shaft 8 be equipped with handle of a knife complex clamping device. The clamping device matched with the tool handle is arranged at the front end of the electric spindle, the clamping device is matched with a standard BT series tool handle, the abrasion loss data of the polishing tool is detected by using a displacement sensor, and then the abraded polishing tool is automatically put down and the unused polishing tool is installed in the automatic polishing tool replacing system by using an upper computer control system and a robot control cabinet, so that the polishing tool is quickly and automatically replaced;
further, the industrial robot of the embodiment adopts a six-degree-of-freedom robot, the machine vision image system comprises an industrial camera 5 and a structural light source 16, and the industrial camera 5 and the structural light source 16 are fixedly installed on a flange installation frame 17 of the industrial robot.
This embodiment is full-automatic system of polishing based on machine vision, through adopting machine vision image system to gather the image data of the face of polishing of treating of the work piece of waiting to polish, and transmit image data to the three-dimensional model of the face of polishing of production behind the host computer control system, utilize this three-dimensional model to carry out the path planning, obtain the orbit of polishing, and finally utilize industrial robot and the executive device that polishes to polish the face of polishing of treating the work piece of polishing, whole polishing process is full-automatic to go on, the integrated level is high, the operation is easy, convenience and high efficiency, economy and practicality, the intelligent degree is high and polish steady and reliable advantage of quality.
The following describes a detailed embodiment of a fully automatic grinding method using the machine vision-based fully automatic grinding system according to the present embodiment.
The full-automatic grinding method based on machine vision comprises the following steps:
1) clamping and fixing a workpiece 2 to be polished on a workpiece clamping platform 1, so that the surface to be polished of the workpiece to be polished faces upwards;
2) collecting image data of a surface to be polished by using a machine vision image system, and transmitting the image data to an upper computer control system 6; specifically, the machine vision image system can adopt a monocular vision mode and also can adopt a binocular vision mode
3) The upper computer control system 6 generates a three-dimensional model of the surface 2a to be polished according to image data acquired by the machine vision image system, and generates a polishing track of the surface to be polished and a three-dimensional model of an expected polishing effect of the surface 2a to be polished through the three-dimensional model;
4) the polishing device polishes the surface 2a to be polished according to the polishing track generated by the upper computer control system until the surface 2a to be polished is polished;
5) acquiring image data of the polished surface 2a to be polished again by using a machine vision image system, transmitting the image data to an upper computer control system 6, generating a polished three-dimensional model of the surface 2a to be polished, and comparing the polished three-dimensional model with a three-dimensional model with an expected polishing effect;
if the polishing missing area with the effect difference larger than or equal to the set threshold exists, regenerating a correction polishing track for polishing the polishing missing area through an upper computer control system, and repeating the step 4 and the step 5;
and if the polishing missing area with the effect difference larger than the set threshold value does not exist, polishing is finished.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutes or changes made by the technical personnel in the technical field on the basis of the utility model are all within the protection scope of the utility model. The protection scope of the present invention is subject to the claims.
Claims (10)
1. The utility model provides a full-automatic system of polishing based on machine vision which characterized in that: the method comprises the following steps:
the workpiece clamping platform (1) is used for clamping and positioning a workpiece (2) to be polished;
the polishing device comprises an industrial robot (3) arranged on one side of the workpiece clamping platform (1), and a polishing executing device (4) used for polishing the workpiece (2) to be polished is arranged on the industrial robot (3);
the machine vision image system is used for acquiring image data of a surface (2a) to be polished of the workpiece (2) to be polished;
the upper computer control system (6) is used for establishing a three-dimensional model of the surface (2a) to be polished according to the image data of the surface (2a) to be polished acquired by the machine vision image system, and obtaining a polishing track of the surface to be polished;
and the robot control cabinet (7) receives a polishing control instruction from the upper computer control system (6) and controls the industrial robot (3) to execute polishing action according to the polishing track.
2. The machine-vision based fully automated sanding system of claim 1 wherein: the grinding execution device (4) comprises an electric spindle (8);
the electric spindle control system is characterized by further comprising an electric control cabinet (9), wherein a PLC (programmable logic controller) and a frequency converter used for controlling the electric spindle (8) are arranged in the electric controller (9), and the PLC controls the electric spindle (8) to act through the frequency converter according to a control instruction of the upper computer control system (6).
3. The machine-vision based fully automated sanding system of claim 2 wherein: the grinding execution device (4) further comprises a constant force floating control mechanism for controlling the electric spindle (8) to move along the axial direction of the electric spindle, a displacement sensor for detecting the moving distance of the electric spindle (8) and an attitude sensor for detecting the motion attitude of the electric spindle (8);
the displacement sensor takes the axis of the electric spindle (8) as the center, the displacement sensor is annularly and uniformly distributed to form a plurality of displacement sensors, and the upper computer control system (6) judges the abrasion condition of the grinding tool arranged on the electric spindle (8) according to the floating displacement data of the electric spindle (8) detected by the displacement sensor.
4. The machine-vision based fully automated sanding system of claim 3 wherein: the constant force floating control mechanism comprises an outer shaft sleeve (10) sleeved on an electric spindle (8), two ends of the outer shaft sleeve (10) are respectively in airtight fit with the outer peripheral wall of the electric spindle (8), a piston ring (11) is arranged in the middle of the electric spindle (8), the piston ring (11) is in airtight fit with the outer shaft sleeve (10), two airtight cavities (12) are formed in two sides of the piston ring (11) respectively, and two interfaces (13) used for communicating an air source or a hydraulic source are arranged on the airtight cavities (12) respectively.
5. The machine-vision based fully automated sanding system of claim 4 wherein: the polishing executing device (4) further comprises a connecting support (18) fixedly connected with the outer shaft sleeve (10), and a connecting flange (19) fixedly connected with the industrial robot (3) is arranged on the connecting support (18).
6. The machine-vision based fully automated sanding system of claim 4 wherein: an inner shaft sleeve (14) is fixedly sleeved outside the electric spindle (8), and the outer shaft sleeve (10) is sleeved outside the inner shaft sleeve (14).
7. The machine-vision based fully automated sanding system of claim 4 wherein: the outer shaft sleeve (10) is coaxial with the electric spindle (8).
8. The machine-vision based fully automated grinding system of any of claims 2-7, wherein: still include the automatic change system of grinding tool, the automatic change system of grinding tool includes fixed mounting tool holder (15) of industrial robot (3) one side, be equipped with unused grinding tool storehouse (15a) and worn-out grinding tool storehouse (15b) on tool holder (15), place on unused grinding tool storehouse (15b) and be equipped with a plurality of unused grinding tools, each equal fixed mounting is equipped with the handle of a knife on the unused grinding tool, the front end tip of electricity main shaft (8) be equipped with handle of a knife complex clamping device.
9. The machine-vision based fully automated grinding system of any of claims 2-7, wherein: the industrial robot adopts a six-degree-of-freedom robot.
10. The machine-vision based fully automated grinding system of any of claims 2-7, wherein: the machine vision image system comprises an industrial camera (5) and a structural light source (16), wherein the industrial camera (5) and the structural light source (16) are fixedly installed on a flange installation frame (17) of the industrial robot.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955122A (en) * | 2019-04-23 | 2019-07-02 | 四川工程职业技术学院 | Full-automatic sanding system and full-automatic sanding method based on machine vision |
| CN111774775A (en) * | 2020-06-30 | 2020-10-16 | 中国船舶重工集团公司第七一六研究所 | Three-dimensional vision system for gantry type robot welding of large-scale structural part and control method |
| CN111872796A (en) * | 2020-08-12 | 2020-11-03 | 新兴河北工程技术有限公司 | Automatic polishing equipment for casting pipe bell mouth and using method |
| CN113199487A (en) * | 2021-03-30 | 2021-08-03 | 武汉数字化设计与制造创新中心有限公司 | Grinding and polishing unit pose sensing method, grinding method and grinding and polishing unit |
-
2019
- 2019-04-23 CN CN201920572620.0U patent/CN209811886U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955122A (en) * | 2019-04-23 | 2019-07-02 | 四川工程职业技术学院 | Full-automatic sanding system and full-automatic sanding method based on machine vision |
| CN111774775A (en) * | 2020-06-30 | 2020-10-16 | 中国船舶重工集团公司第七一六研究所 | Three-dimensional vision system for gantry type robot welding of large-scale structural part and control method |
| CN111872796A (en) * | 2020-08-12 | 2020-11-03 | 新兴河北工程技术有限公司 | Automatic polishing equipment for casting pipe bell mouth and using method |
| CN113199487A (en) * | 2021-03-30 | 2021-08-03 | 武汉数字化设计与制造创新中心有限公司 | Grinding and polishing unit pose sensing method, grinding method and grinding and polishing unit |
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