CN210550070U - Steel rail end face chamfering and polishing device and system based on robot - Google Patents
Steel rail end face chamfering and polishing device and system based on robot Download PDFInfo
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- CN210550070U CN210550070U CN201921352037.5U CN201921352037U CN210550070U CN 210550070 U CN210550070 U CN 210550070U CN 201921352037 U CN201921352037 U CN 201921352037U CN 210550070 U CN210550070 U CN 210550070U
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Abstract
The utility model discloses a rail terminal surface chamfer grinding device based on robot, including rail, support, material mouth, the station of polishing, transport mechanism and climbing mechanism, support one side is equipped with the material mouth, be equipped with transport mechanism and the station of polishing on the support, the station downside of polishing is equipped with climbing mechanism, the station of polishing corresponds position department and is equipped with unsteady grinding tool, be equipped with industrial camera and laser displacement sensor on the unsteady grinding tool, unsteady grinding tool is connected with multi-joint industrial robot through the connecting piece to a rail terminal surface chamfer grinding system based on robot is disclosed, including display, industrial computer, touch-sensitive screen, industrial PLC, sensor, network concentrator, robot controller and grinding device, this utility model discloses through to grinding device's improvement and systematic integration, it is big to have solved rail terminal surface burr manual polishing work volume, The strength is high, and the problems of production errors and poor workpiece grinding consistency are easily caused.
Description
Technical Field
The utility model belongs to the technical field of the robot processing and specifically relates to a rail terminal surface chamfer grinding device and system based on robot.
Background
The burrs on the end faces of the steel rails are polished, and the aim of the work is to remove the residual burrs on the end faces after the steel rails are machined, so that the edges of the end faces are smooth and the subsequent machining is easy to continue. At present, domestic steel rail manufacturers mostly adopt manual hand-held starting and electric grinding tools to finish the process, and the problems that the working strength of manual grinding of burrs on the end faces of steel rails is high, the working environment is severe, the quality consistency of the ground steel rails is poor, the efficiency is low, the surfaces of processed products are rough and uneven and the like are solved. The rail itself has higher weight, hardly guarantees on production line, the transfer chain that its accuracy stops on appointed station, and the commonality is relatively poor when the rail is polished to traditional lathe mode of polishing and robot teaching mode of polishing. And industrial robot is not as nimble as the staff when polishing, adopts robot centre gripping burnishing tool and workpiece surface rigidity contact to cause the unusual loss of burnishing tool easily, perhaps causes the damage to the workpiece surface. The manual polishing workload is large, the efficiency is low, the missing judgment and the error in production are easily caused, and the manual polishing device is exposed in a dust working environment to damage the bodies of workers.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a rail terminal surface chamfer grinding device and system based on robot.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a rail terminal surface chamfer grinding device based on robot, includes rail, support, material mouth, the station of polishing, transport mechanism and climbing mechanism, support one side is equipped with the material mouth, be equipped with transport mechanism and the station of polishing on the support, the station downside of polishing is equipped with climbing mechanism, the station of polishing corresponds position department and is equipped with unsteady grinding tool, unsteady grinding tool is last to be equipped with industrial camera, laser displacement sensor and is connected with multi-joint industrial robot through the connecting piece.
Further, the conveying mechanism comprises a conveyor belt moving from left to right.
Further, the material port comprises a first feeding roller way, a second feeding roller way and a discharging roller way.
Furthermore, a photoelectric sensor is arranged on the jacking mechanism, the photoelectric sensor is designed in an L shape, and the lifting height is fixed and adjustable.
Further, the floating grinding tool comprises a floating mechanism, a spindle and a grinding tool.
Further, the grinding tool is made of single-edge or double-edge hard alloy steel of 60 degrees or 90 degrees.
The utility model provides a rail terminal surface chamfer system of polishing based on robot, includes display, industrial computer, touch-sensitive screen, industry PLC, sensor, network concentrator, robot control ware and grinding device, all through ethernet network communication cable interconnect between network concentrator respectively and industry PLC, touch-sensitive screen, robot control ware, industry camera and the industrial computer.
Further, the photoelectric sensor and the laser displacement sensor are connected with the industrial PLC through signal lines.
Furthermore, the display screen is connected with the industrial personal computer through a VGA line.
Further, the polishing device is connected with the robot controller through a power line and a feedback line.
Has the advantages that:
the utility model provides a rail end face chamfering grinding device and system based on robot, through the improvement to the grinding device and the integration of the system, the problem that the manual grinding workload of the burr on the rail end face is large, the intensity is high, and the production error and the poor grinding consistency of the workpiece are easily caused is solved; meanwhile, the problems that the steel rail cannot be accurately stopped to be polished at a fixed station and the dust environment causes damage to workers are solved.
Drawings
FIG. 1 is a schematic structural view of the polishing device of the present invention;
FIG. 2 is a schematic view of a partial structure of the polishing device of the present invention;
fig. 3 is a schematic view of the connection relationship of the polishing system of the present invention.
In the figure: the device comprises a steel rail 1, a support 2, a material port 3, a material port 31, a first material loading roller way, a second material loading roller way 32, a material unloading roller way 33, a polishing station 4, a conveying mechanism 5, a conveying belt 51, a jacking mechanism 6, a floating polishing tool 7, an industrial camera 8, a connecting piece 9, a multi-joint industrial robot 10, a photoelectric sensor 11, a display 12, an industrial personal computer 13, a touch screen 14, an industrial PLC15, a network concentrator 16, a robot controller 17, a polishing device 18, an Ethernet network communication cable 19, a signal line 20, a VGA line 21 and a laser displacement sensor 22.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
The utility model provides a rail terminal surface chamfer grinding device based on robot, grinding device 18 includes: rail 1, support 2, material mouth 3, the station 4 of polishing, transport mechanism 5 and climbing mechanism 6, 2 one sides of support are equipped with material mouth 3, be equipped with transport mechanism 5 and the station 4 of polishing on the support 2, the station 4 downside of polishing is equipped with climbing mechanism 6, the station 4 of polishing corresponds position department and is equipped with unsteady grinding tool 7, be equipped with industrial camera 8 and laser displacement sensor 22 on the grinding tool 7 of floating, unsteady grinding tool 7 is connected with multi-joint industrial robot 10 through connecting piece 9.
The utility model provides a rail terminal surface chamfering system of polishing based on robot, including display 12, industrial computer 13, touch-sensitive screen 14, industry PLC15, network hub 16, robot controller 17 and grinding device 18, network hub 16 respectively with all through 19 interconnect of ethernet network communication cable between industry PLC15, touch-sensitive screen 14, robot controller 17, the industry camera 8 and the industrial computer 13.
The sensor 11 is connected with an industrial PLC15 through a signal line 20, the display screen 12 is connected with an industrial personal computer 13 through a VGA line 21, and the grinding device 18 is connected with the robot controller 17 through a power line and a feedback line.
The system comprises the following steps when in work:
step 1: the industrial PLC15 obtains a steel rail 1 in-place signal through the photoelectric sensor 11, so that the grinding station 4 where the steel rail 1 is located is obtained through measurement of the laser displacement sensor 22, the grinding device 18 is guided to clamp the industrial camera 8 to the fixed photographing position of the grinding station 4 to obtain a bottom image of the steel rail 1, machine vision software in the industrial personal computer 13 is used for conducting recognition and analysis on the steel rail 1 and calculating the position and the angle of the end face of the steel rail 1 under the spatial coordinate system of the multi-joint industrial robot 10.
Step 2: and (3) guiding the multi-joint industrial robot 10 to clamp the industrial camera 8 to acquire the image of the end face of the steel rail 1 by the machine vision software according to the position of the end face of the steel rail 1 acquired in the step (1), and analyzing the image of the end face by using the machine vision software to acquire the contour information, burrs, inclusions and other information of the end face of the steel rail 1. Thus eliminating the interference of foreign matters, separating out the burr information, calculating the processing track according to the profile data of the end surface of the steel rail 1 and combining the processing point setting of the processing cutter, and dispersing the continuous processing track into discrete points with a specified number of spaces.
And step 3: after the multi-joint industrial robot 10 obtains the discrete point data in the step 2, the clamping floating grinding tool 7 grinds burrs of the end face of the steel rail 1 according to the grinding program setting. The floating grinding tool 7 with the axial and radial compliance functions is attached to the processing surface of the steel rail 1 to finish grinding work.
Further, in step 1, the photoelectric sensor 11 is connected to the industrial PLC15 through a signal line, and the laser displacement sensor 22 transmits displacement information to the industrial PLC15 through an analog transmission module. The industrial PLC15, the robot controller 17, the industrial camera 8, and the industrial personal computer 13 are connected via an ethernet network communication cable 19, and exchange data via the network hub 16. The opening of the protective cylinder of the industrial camera 8 is controlled by an industrial PLC15, and a pneumatic solenoid valve is driven through an intermediate relay to complete the opening.
Further, in step 1, the industrial camera 8 and the lens are internally calibrated in advance in the machine vision software to eliminate the distortion of the lens and the influence of the perspective effect on the vision recognition measurement; the internal calibration is carried out by adopting a 7 multiplied by 7 black solid circular standard calibration plate, and calibration data is stored in a calibration file for image processing. And (3) carrying out external calibration on the industrial camera 8 coordinate system and the robot space coordinate system in advance in machine vision software, namely converting the pixel coordinates and the pixel values of the steel rail 1 in the camera coordinate system into the space coordinate point position and the space coordinate value of the robot. And actually, teaching the TCP to the characteristic points of the calibration plate through the robot to obtain the space point data of the coordinate system of the robot, acquiring the pixel coordinate data of the calibration plate in the camera coordinate system at the moment through machine vision software, and performing mathematical modeling so as to finish the external calibration work.
Further, in step 1, machine vision software identifies the bottom surface of the steel rail 1, matches the acquired rail bottom image with image modeling performed on the bottom surface of the steel rail 1 in advance, and limits the matching result by the settable image gray scale range, image area range, template image proportion range, image rotation angle range and template identification number. After the bottom of the steel rail 1 is accurately identified, analyzing the matched image, eliminating errors by using selected area measurement and expansion operation to smooth edges, and identifying and marking the straight line of the bottom end face of the rail and the straight lines of the left side and the right side of the rail bottom; acquiring intersection points of the three straight lines, and calculating the pixel position of the midpoint of the end face of the steel rail 1 under a camera coordinate system; and finally, converting the position into the position of the steel rail X, Y and the Rz angle under the robot coordinate system. And simultaneously, the width of the bottom of the steel rail 1 is measured to eliminate the identification error of the abnormal template and the template identification error caused by the abnormal workpiece.
Further, in step 2, the machine vision software converts the X, Y position of the steel rail 1 obtained in step 1 and Rz angle data, and sends the converted data to the robot controller 17, and the multi-joint industrial robot 10 clamps the industrial camera 8 to move to a relative position perpendicular to the end surface of the steel rail 1, and the position uses the middle point of the intersecting straight line of the end surface of the steel rail 1 and the rail bottom, namely the middle point of the end surface of the rail bottom as the center of a circle to establish a robot workpiece coordinate system, and the robot workpiece coordinate system is used as the basis for converting the photographing position of the camera, so that the consistency of the photographing position of each steel rail 1 is maintained, and the spatial positioning error caused by the photographing position of the camera is eliminated.
Further, in the step 2, an end face image of the steel rail 1 is obtained, binarization is carried out to extract a characteristic image of the end face of the steel rail, and errors caused by identification of abnormal workpieces are eliminated by modeling and matching; performing smoothing treatment on the matched qualified characteristic image, removing impurities and eliminating burr influence; and establishing a coordinate system which takes the middle point of the rail bottom as the origin of the coordinate system, takes the leftward direction along the rail bottom as the X + direction, and takes the direction perpendicular to the X direction as the Z + direction.
The image is expanded according to the axial feeding amount of a given machining tool, so that the occupied space of the outward expansion of the image is matched with the axial tool feeding amount, the edge contour line of the expanded image is obtained and is dispersed into a set of points within a specified number range, coordinate values of each point are given according to an X-Z coordinate system, and the coordinate values are written into corresponding array variables of the robot controller 17.
Further, in the step 3, the floating grinding tool 7 is composed of a floating mechanism, an electric drive machining spindle and a grinding cutter, wherein the floating mechanism comprises a four-way axial spring, a four-way axial cylinder and a radial spring, has the automatic aligning capability, can linearly adjust the axial force of the grinding tool by adjusting the gas pressure in the cylinder, and has the axial compliance and the radial compliance so that the cutter can be better attached to the machined surface of the steel rail.
Furthermore, in step 3, the electric drive main shaft supports a remote control mode, has the functions of starting and stopping, forward and reverse rotation switching, various speed regulation modes, rotating speed feedback, load moment feedback, warning and fault output, and sets different grinding processes for steel rails with different brands and hardness.
To the limitation of the protection scope of the present invention, it should be understood by those skilled in the art that, on the basis of the technical solution of the present invention, various modifications or deformations that can be made by those skilled in the art without creative efforts are still within the protection scope of the present invention.
Claims (10)
1. The utility model provides a rail terminal surface chamfer grinding device based on robot which characterized in that: the grinding device (18) comprises: rail (1), support (2), material mouth (3), the station (4) of polishing, transport mechanism (5) and climbing mechanism (6), support (2) one side is equipped with material mouth (3), be equipped with transport mechanism (5) and the station (4) of polishing on support (2), the station (4) downside of polishing is equipped with climbing mechanism (6), the station (4) of polishing corresponds position department and is equipped with unsteady burnisher (7), be equipped with industrial camera (8) and laser displacement sensor (22) on the burnisher (7) of floating, unsteady burnisher (7) are connected with multi-joint industrial robot (10) through connecting piece (9).
2. The robot-based rail end chamfer grinding device of claim 1, wherein: the conveying mechanism (5) comprises a conveying belt (51) moving from left to right.
3. A robot-based rail end chamfer grinding device according to claim 1 or 2, wherein: the material port (3) comprises a first feeding roller way (31), a second feeding roller way (32) and a discharging roller way (33).
4. The robot-based rail end chamfer grinding device of claim 3, wherein: a photoelectric sensor (11) is arranged on the jacking mechanism (6), the photoelectric sensor (11) is designed in an L shape, and the lifting height is fixed and adjustable.
5. The robot-based rail end chamfer grinding device of claim 4, wherein: the floating grinding tool (7) comprises a floating mechanism, a main shaft and a grinding cutter.
6. The robot-based rail end chamfer grinding device of claim 5, wherein: the grinding cutter is made of single-edge or double-edge hard alloy steel with the angle of 60 degrees or 90 degrees.
7. The utility model provides a rail terminal surface chamfer system of polishing based on robot which characterized in that: including display (12), industrial computer (13), touch-sensitive screen (14), industry PLC (15), network concentrator (16), robot controller (17) and according to claim 6 grinding device (18), all through ethernet network communication cable (19) interconnect between network concentrator (16) respectively and touch-sensitive screen (14), industry PLC (15), robot controller (17), industry camera (8) and industrial computer (13).
8. The robot-based rail end chamfer grinding system of claim 7, wherein: the photoelectric sensor (11) and the laser displacement sensor (22) are connected with the industrial PLC (15) through a signal line (20).
9. A robot-based rail end chamfer grinding system as defined in claim 8, wherein: the display (12) is connected with the industrial personal computer (13) through a VGA (video graphics array) line (21).
10. A robot-based rail end chamfer grinding system as defined in claim 9, wherein: the polishing device (18) is connected with the robot controller (17) through a power line and a feedback line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921352037.5U CN210550070U (en) | 2019-08-20 | 2019-08-20 | Steel rail end face chamfering and polishing device and system based on robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921352037.5U CN210550070U (en) | 2019-08-20 | 2019-08-20 | Steel rail end face chamfering and polishing device and system based on robot |
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| CN210550070U true CN210550070U (en) | 2020-05-19 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112296446A (en) * | 2020-09-28 | 2021-02-02 | 太原科技大学 | Bar chamfering robot system and method |
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
| CN114310539A (en) * | 2020-10-12 | 2022-04-12 | 太原科技大学 | Bar chamfering robot system and method |
| CN116985143A (en) * | 2023-09-26 | 2023-11-03 | 山东省智能机器人应用技术研究院 | Polishing track generation system of polishing robot |
-
2019
- 2019-08-20 CN CN201921352037.5U patent/CN210550070U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112296446A (en) * | 2020-09-28 | 2021-02-02 | 太原科技大学 | Bar chamfering robot system and method |
| CN114310539A (en) * | 2020-10-12 | 2022-04-12 | 太原科技大学 | Bar chamfering robot system and method |
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
| CN116985143A (en) * | 2023-09-26 | 2023-11-03 | 山东省智能机器人应用技术研究院 | Polishing track generation system of polishing robot |
| CN116985143B (en) * | 2023-09-26 | 2024-01-09 | 山东省智能机器人应用技术研究院 | Polishing track generation system of polishing robot |
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