CN211890183U - Manipulator system of polishing based on vision guide - Google Patents
Manipulator system of polishing based on vision guide Download PDFInfo
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- CN211890183U CN211890183U CN201922382727.1U CN201922382727U CN211890183U CN 211890183 U CN211890183 U CN 211890183U CN 201922382727 U CN201922382727 U CN 201922382727U CN 211890183 U CN211890183 U CN 211890183U
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- 238000005498 polishing Methods 0.000 title claims abstract description 86
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 61
- 238000003860 storage Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 31
- 238000007664 blowing Methods 0.000 claims description 15
- 239000000428 dust Substances 0.000 claims description 15
- 230000000007 visual effect Effects 0.000 claims description 12
- 238000004140 cleaning Methods 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 abstract description 23
- 239000010949 copper Substances 0.000 abstract description 23
- 241000252254 Catostomidae Species 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000003437 trachea Anatomy 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007494 plate polishing Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model relates to a manipulator system of polishing based on vision guide, manipulator system of polishing based on vision guide includes transfer chain, 3D vision camera and the manipulator of polishing, the transfer chain is used for carrying the positive pole copper, 3D vision camera is used for gathering the burr coordinate of positive pole copper on the transfer chain, the manipulator of polishing is used for polishing the positive pole copper according to the burr coordinate, the transfer chain 3D vision camera with the manipulator of polishing all controls the operation through storage control system. The utility model discloses a manipulator system of polishing based on vision guide can acquire the burr coordinate through the 3D vision camera accuracy, and two side polishing manipulators start to polish according to the burr coordinate for the speed of polishing, the efficiency of polishing and the precision of polishing have effectively been guaranteed in the setting up of two side polishing manipulators and 3D vision camera.
Description
Technical Field
The utility model belongs to the technical field of polish, in particular to manipulator system of polishing based on vision guide.
Background
At present, molten copper smelted in domestic copper smelteries is cast into a mould to form an anode copper plate, and burrs can exist at the edge of the anode copper plate after being demoulded due to the existence of the molten copper edge hanging in the casting process. If the burrs are too high, the anode copper plate and the cathode copper back plate are short-circuited in the electrolytic cell, so that the cathode copper plate cannot be electrolyzed.
Based on the reasons, burrs at the edge of the copper plate need to be processed after the anode copper plate is off-line, the burrs at the edge are manually chiseled off by a hammer in the traditional processing mode, but the removing mode is low in efficiency, and the phenomenon of chiseling leakage also exists. There is therefore a need for a sanding system that improves sanding efficiency.
SUMMERY OF THE UTILITY MODEL
To the problem, the utility model provides a manipulator system of polishing based on vision guide.
A manipulator polishing system based on visual guidance comprises a conveying line, a 3D visual camera and a polishing manipulator;
the conveying line is used for conveying the anode copper plate;
the 3D vision camera is used for collecting the burr coordinates of the anode copper plate on the conveying line;
the polishing manipulator is used for polishing the anode copper plate according to the burr coordinates;
the conveying line, the 3D vision camera and the polishing manipulator are controlled to operate through a storage control system.
Further, the conveying line comprises a multi-section chain conveying section and a roller conveying section,
wherein,
the two ends of the roller way conveying section are respectively provided with a plurality of sections which are sequentially adjacent or one section, the chain conveying section is positioned on one side of the roller way conveying section and corresponds to a vision station, the roller way conveying section corresponds to a polishing station, and the chain conveying section on the other side of the roller way conveying section is used for conveying polished anode copper plates.
Further, the 3D vision camera is positioned above the chain conveying section at the vision station, and the 3D vision camera extends along the conveying direction of the chain conveying section at the vision station;
the 3D vision camera is provided with an X coordinate which is the conveying direction of the chain conveying section, a Y coordinate which is the conveying direction perpendicular to the chain conveying section in a horizontal plane and a Z coordinate which is the direction perpendicular to a plane formed by the X coordinate and the Y coordinate.
Further, the polishing mechanical arms are provided with two, and the two polishing mechanical arms are arranged on two sides of the conveying line respectively.
Further, the polishing mechanical arm comprises a mounting seat, a mechanical arm and a polishing mechanism,
wherein,
the mechanical arm is arranged on the mounting seat, the mechanical arm is a six-degree-of-freedom mechanical arm, and the polishing mechanism is arranged at one end of the mechanical arm, which is far away from the mounting seat;
the polishing mechanism comprises a fixing shaft, a rotating shaft and a polishing piece, the fixing shaft is fixedly connected with the mechanical arm, the rotating shaft is rotatably connected with the fixing shaft, and the polishing piece is installed at one end, far away from the fixing shaft, of the rotating shaft.
Furthermore, a U-shaped opening is formed in the mechanical arm, and the fixed shaft is installed in the U-shaped opening.
Further, the roller way conveying section comprises a plurality of conveying rollers, a mounting frame, a conveying belt and a second motor,
wherein,
the plurality of transmission rollers are arranged on the mounting rack and are arranged at intervals;
the conveying belt is used for driving the conveying rollers in the mounting rack to rotate simultaneously, and the conveying belt is located on the inner side of the mounting rack;
the second motor drives the transmission belt to rotate through the driving wheel.
Furthermore, a dust cleaning device is also arranged in the manipulator polishing system based on visual guidance,
the dust cleaning device comprises a sliding frame, an air blowing nozzle, an air cavity and an electric push rod,
wherein,
the sliding frame is of an inverted U shape, two fixing rods and a sliding track are arranged on the sliding frame, the two fixing rods are arranged on two sides of the roller way conveying section, the sliding track of the sliding frame is located above the roller way conveying section, and the sliding track is perpendicular to the conveying direction of the roller way conveying section;
the air cavity is connected to the sliding track in a sliding mode, one side wall of the air cavity is communicated with a pressurizing air conveying pump through the hose, and one side, far away from the hose, of the air cavity is connected with the electric push rod;
the electric push rod is arranged at the top end of the fixed rod at one side far away from the hose;
the air blowing nozzle is communicated with the air cavity, and an air outlet of the air blowing nozzle faces the roller way conveying section;
the air blowing nozzles are arranged in a plurality and are distributed on the side surface of the air cavity at intervals.
Furthermore, a fixing device is also arranged in the manipulator polishing system based on visual guidance, the fixing device comprises a telescopic cylinder, a fixed disc, a vacuum pump, a gas pipe and a sucker,
wherein,
the sucker is arranged between the adjacent transmission rollers of the roller way conveying section and is connected with the vacuum pump through the gas transmission pipe;
the sucking disc is installed on the fixed disk, the fixed disk with telescopic cylinder is connected.
Furthermore, a plurality of suckers are arranged and distributed in a matrix manner, and the area of the matrix formed by the suckers is smaller than that of the anode copper plate;
the gas pipe is communicated with the vacuum pump through a main gas pipe, and a pressure sensor for detecting the suction force of the anode copper plate is arranged on the main gas pipe;
and the main air pipe is provided with an air release valve.
The utility model discloses a manipulator system of polishing based on vision guide can acquire the burr coordinate through the 3D vision camera accuracy, and the side is polished the manipulator and is started according to the burr coordinate and polish for the speed of polishing, the efficiency of polishing and the precision of polishing have effectively been guaranteed in the setting up of two side manipulators and 3D vision camera of polishing. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a robot polishing system based on visual guidance according to the present embodiment;
FIG. 2 shows a schematic diagram of the construction of the conveying section of the chain according to the present embodiment;
fig. 3 shows a side view block diagram of a roller way block according to the present embodiment;
fig. 4 shows a cross-sectional structural view of the roller way block according to the present embodiment;
fig. 5 shows a side view structural view of the grinding robot according to the present embodiment;
fig. 6 shows a schematic top view of a sanding structure according to the present embodiment;
fig. 7 shows a schematic structural view of the dust cleaning apparatus and the fixing apparatus according to the present embodiment.
Description of the drawings: 1. a conveying line; 11. a chain conveying section; 111. a chain fixing frame; 112. two chain belts; 113. a gear; 114. a first control motor; 114. a chain connecting rod; 12. a roller way conveying section; 121. a transfer roller; 122. a mounting frame; 123. a conveyor belt; 124. a second motor; 125. a driving wheel; 126. a driven wheel; 2. a 3D vision camera; 3. polishing the mechanical arm; 31. a mounting seat; 32. a mechanical arm; 321. a first support arm; 322. a second support arm; 323. a third support arm; 324. a fourth support arm; 33. a polishing mechanism; 331. a fixed shaft; 332. a rotating shaft; 333. grinding the sheets; 4. a dust cleaning device; 41. a carriage; 42. a blowing nozzle; 43. an air cavity; 44. an electric push rod; 45. a hose; 5. a fixing device; 51. A telescopic cylinder; 52. fixing the disc; 53. a vacuum pump; 54. gas transmission pipe, 55, main gas pipe; 56. and (4) sucking discs.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
A manipulator polishing system based on visual guidance comprises a conveying line 1, a 3D visual camera 2 and a polishing manipulator 3 as shown in figure 1.
The conveying line 1 is used for conveying the anode copper plate, the conveying line 1 comprises a multi-section chain conveying section 11 and a roller way conveying section 12, and the two ends of the roller way conveying section 12 are respectively provided with a plurality of sections of chain conveying sections 11 which are adjacent in sequence or one section of chain conveying section. The chain conveying section 11 located on one side of the roller conveying section 12 corresponds to a vision station, the roller conveying section 12 corresponds to a polishing station, the chain conveying section 11 located on the other side of the roller conveying section 12 is used for conveying polished anode copper plates, and the chain conveying section 11 located at the vision station is used for conveying cast anode copper plates and conveying the anode copper plates to the roller conveying section 12. The residual chain conveying section 11 is positioned at the other side of the roller conveying section 12, and the anode copper plate separated from the roller conveying section 12 is conveyed to the next procedure. The chain conveying sections 11 on the same side of the roller conveying section 12 are continuously arranged, namely the interval between the adjacent chain conveying sections 11 is smaller than the width of the anode copper plate, so that the anode copper plate can be continuously conveyed.
The vision station department is provided with 3D vision camera 2, and 3D vision camera 2 is fixed subaerial through the camera frame, and 3D vision camera 2 specifically sets up in the top of chain conveyor segment 11. The 3D vision camera 2 is used for scanning the information of the anode copper plate on the chain conveying section 11, three-dimensionally scanning the copper plate in the copper plate conveying process, acquiring depth information and recording the edge burr coordinates of the anode copper plate.
When the 3D vision camera 2 scans, an X coordinate is set as the conveying direction of the chain conveying section 11, a Y coordinate is set as the direction vertical to the conveying direction in a horizontal plane, and a Z coordinate is set as the direction vertical to a plane formed by the X coordinate and the Y coordinate. The length information of the anode copper plate can be obtained through X coordinate information, the width information of the anode copper plate can be obtained through Y coordinates, and the height information of the anode copper plate can be obtained through Z coordinates. If the copper plate has burrs at the edge, X, Y coordinates and Z coordinates of the burrs are also obtained.
Each chain conveying section 11 includes a chain holder 111, two chain belts 112, a plurality of gears 113, and a first motor 114, as shown in fig. 2. The chain fixing frame 111 is fixed on the ground through chemical bolts, the chain fixing frame 111 is provided with two rows, the number of the chain fixing frame 111 is the same as that of the gears 113, the gears 113 are also provided with two rows, each row of the gears 113 is arranged on one side opposite to the two rows of the chain fixing frame 111, the same chain belt 112 is sleeved on each row of the gears 113, and the two chain belts 112 are connected through the chain connecting rods 114.
The synchronous rotation of the two arrays of gears 113 may be by any of the following means:
the gear shaft which is vertical to the chain belt 112 is adopted to connect two gears 113 which are arranged in different rows, so that one gear 113 rotates, and the gear 113 in the other row can be driven by the gear shaft to synchronously rotate. At the moment, the simultaneous transmission of the chains on two sides can be realized only by controlling the operation of one optional gear 113 through the first motor 114, and the first control motor 114 is fixed on the ground through the motor frame.
Two first motors 114 with the same rotating speed can be arranged to respectively control the two rows of gears 113, namely, one gear 113 in one row is selected to be controlled by the first motor 114, one gear 113 in the other row is selected to be controlled by the other first motor 114, and the rotating speeds of the two motors are arranged to be the same, so that the transmission speeds of the two rows of chain belts 112 are the same.
The roller way conveying section 12 is a grinding station section, the roller way conveying section 12 is controlled to run through the second motor 124, the first motor 114 and the second motor 124 are controlled through the PLC control system, the track conveying section and the chain conveying section 11 are automatically started and stopped, and the conveying speed of the track conveying section and the chain conveying section 11 is adjusted according to production requirements.
As shown in fig. 3 and 4, the roller conveyor segment 12 includes a plurality of conveying rollers 121, a mounting frame 122 located at two sides of the conveying rollers 121, a conveying belt 123 for driving the conveying rollers 121 to rotate, and a second motor 124 for controlling the conveying rollers 121 to rotate.
The plurality of transfer rollers 121 are aligned, and a certain gap is provided between the adjacent transfer rollers 121.
The transmission belt 123 is disposed at one side of the plurality of transmission rollers 121, driving wheels 125 are disposed at both ends of the transmission belt 123, the transmission belt 123 is tightened by the driving wheels 125 at both ends, and each driving wheel 125 is controlled to rotate by a second motor 124. Each transmission roller 121 is coaxially connected with a driven wheel 126, the driven wheels 126 are arranged on the inner side of the transmission belt 123 and are tightly attached to the inner side surface of the transmission belt 123, and the driven wheels 126 are distributed between the two driving wheels 125. One of them mounting bracket 122 is located the one side that transmission band 123 kept away from transmission roller 121, realizes supporting action wheel 125 and follow driving wheel 126, and the pivot of transmission roller 121 and the pivot of action wheel 125 all rotate to be connected on the mounting bracket 122 of this side promptly, and this side mounting bracket 122 cover is established in the transmission band 123 outside, protects transmission band 123, and second motor 124 is fixed in the one side that transmission band 123 was kept away from to mounting bracket 122. The other side mounting bracket 122 is disposed adjacent to the conveying belt 123 to support the other end of the rotation shaft of the conveying roller 121.
A certain gap is provided between each of the transfer rollers 121, and each of the transfer rollers 121 is installed on an outer side surface of the transfer belt 123 and is disposed perpendicular to the transfer belt 123.
Be provided with two mechanical hands 3 of polishing at station section department of polishing, two mechanical hands 3 of polishing distribute respectively in roller conveyor's both sides, and mechanical hand 3 of polishing all controls through WCS (storage control system) with 3D vision camera 2, and WCS (storage control system) is connected with the PLC control system of control chain conveying section 11 and roller conveying section 12 transfer rate equally. And the WCS (storage control system) system acquires the transmission distance of the anode copper plate after the anode copper plate is separated from the 3D vision camera 2, and starts the polishing manipulator 3 according to the transmission distance.
As shown in fig. 5, the polishing robot 3 is a six-degree-of-freedom robot, and can adjust the polishing direction in all directions. The polishing robot 3 includes a mount 31, a robot arm 32, and a polishing mechanism 33. The mounting base 31 is mounted on the ground, the robot arm is disposed on the mounting base 31, and the robot arm 32 is connected by four arms that can rotate mutually, namely a first arm 321, a second arm 322, a third arm 323 and a fourth arm 324.
The first support arm 321 is mounted on the mounting base 31 and can rotate along the axis of the mounting base 31, one end of the first support arm 321, which is far away from the mounting base 31, is hinged to a second support arm 322, and the second support arm 322 can rotate around the hinged position with the first support arm 321. The third arm 323 is hinged to an end of the second arm 322 remote from the first arm 321, and the third arm 323 can rotate around the hinge with the second arm 322. The fourth arm 324 is rotatably connected to an end of the third arm 323 away from the second arm 322, the fourth arm 324 can rotate around its own axis by using a connection surface with the third arm 323 as a support, and a U-shaped opening is formed at an end of the fourth arm 324 away from the third arm 323. By the arrangement of the first arm 321, the second arm 322, the third arm 323, and the fourth arm 324, the robot arm 32 can be rotated, the orientation of the robot arm 32 can be adjusted, and the height or length of the robot arm 32 can be extended, so that the robot arm 32 can perform six-degree-of-freedom motion.
As shown in fig. 6, the grinding mechanism 33 includes: a fixed shaft 331, a rotating shaft 332 and a grinding sheet 333, wherein the fixed shaft 331 is installed in the U-shaped opening, and the fixed shaft 331 is fixedly connected with the fourth arm 324 through a fixing pin. One end of the fixed shaft 331, which is located outside the U-shaped hole, is rotatably connected to the rotating shaft 332, and one end of the rotating shaft, which is away from the fixed shaft 331, is fixed with a polishing sheet 333.
The rotating shaft and the mechanical arm 32 are controlled to operate through a WCS (warehousing control system), and the functions of starting, angle adjustment, rotating speed control and the like of the rotating shaft and the mechanical arm 32 are controlled.
As shown in fig. 7, a dust cleaning device 4 and a fixing device 5 are further arranged in the manipulator polishing system, so that the anode copper plate can be fixed in position in the anode copper plate polishing process, and polishing dust can be cleaned in time.
The dust cleaning device 4 includes a carriage 41, a blowing nozzle 42, an air chamber 43, and an electric push rod 44. The carriage 41 is an inverted U-shaped, two fixing rods of the carriage 41 are distributed on two sides of the roller way conveying section, the sliding track of the carriage 41 is located above the roller way conveying section 12, and the conveying direction of the roller way conveying section 12 is perpendicular to the conveying direction. The air chamber 43 is connected to the sliding track in a sliding manner, and one side wall of the air chamber 43 is communicated with a pressurizing air pump through a hose 45. The pressurized gas transmission pump is used for pumping external gas into the gas transmission pressurization tank, the pressurized gas is sprayed out from the gas blowing nozzle 42, and the polished dust is blown away from the anode copper plate, so that the dust is prevented from interfering the operation of the polishing sheet 333.
One side of the air cavity 43 far away from the hose 45 is connected with an electric push rod 44, the electric push rod 44 is installed at the top end of a fixing rod of one side of the sliding frame 41 far away from the hose 45, and through the arrangement of the electric push rod 44, the air cavity 43 can reciprocate along a sliding guide rail of the sliding frame 41, and the mechanical hands 3 are matched with two sides of the roller conveying section 12 to clean dust instantly.
The air blowing nozzles 42 are arranged in a plurality, the air blowing nozzles 42 are installed on the air cavities 43 and communicated with the air cavities 43, and air outlets of the air blowing nozzles 42 are all arranged towards the roller way transmission section and are respectively arranged towards different directions, so that dust cleaning in the largest area is realized.
And the fixing device 5 is used for fixing the anode copper plate so as to facilitate the operation of the polishing manipulator 3. The fixing device 5 is arranged at the bottom of the roller conveyor section 12 and is located between the two grinding manipulators 3. The fixing device 5 comprises a telescopic cylinder 51, a fixed disc 52, a vacuum pump 53, a gas pipe 54 and a suction cup 56.
The suckers 56 are arranged in a plurality, the suckers 56 are distributed in a matrix, and the area of the matrix formed by the suckers 56 is smaller than that of the anode copper plate.
The sucking disc 56 sets up between adjacent transmission roller 121, and the initial height of sucking disc 56 is less than the transmission roller 121 top, realizes that the positive pole copper transports when setting for the position, and sucking disc 56 can be with the bottom face contact of positive pole copper, is convenient for adsorb fixed positive pole copper.
Every sucking disc 56 corresponds and sets up a gas-supply pipe 54, and a plurality of gas-supply pipes 54 are linked together with vacuum pump 53 through total trachea 55, be provided with pressure sensor on the total trachea 55 for detect the suction of vacuum pump 53 to the positive pole copper, still be provided with the bleed valve on the total trachea 55, be used for controlling the entering of outside gas and release sucking disc 56 pressure. Specifically, the air pipe 54 is a telescopic hose 45, which ensures that the air pipe 54 normally operates when the suction cup 56 moves up and down.
The side wall of the lower part of each suction cup 56 is provided with a fixed disc 52, the fixed disc 52 is in threaded connection with the lower part of each suction cup 56, the fixed disc 52 is connected with an air cylinder through an expansion link, and the air cylinder is arranged on the ground.
Fixing device 5 starts when the positive pole copper is carried to the point of polishing, promotes the telescopic link through control cylinder and extends certain distance, rises to transport roller 121 between and with the laminating of positive pole copper to sucking disc 56, starts vacuum pump 53 and makes sucking disc 56 adsorb the positive pole copper, and after pressure sensor reached certain threshold value, the adsorption pressure who explains sucking disc 56 reached fixed requirement, starts the procedure of polishing afterwards. After polishing, the control valve is opened to release the pressure of the suction cup 56, then the suction cup 56 is controlled to descend, and the transmission roller 121 is controlled to continue to convey the anode copper plate.
Through the utility model discloses a manipulator system of polishing, get into roller table conveying section 12 before the positive pole copper and acquire the burr coordinate on the positive pole copper in vision station department through 3D vision camera 2. With coordinate information transmission to WCS (storage control system), when the positive pole copper got into the workshop section of polishing, WCS (storage control system) starts fixing device 5 and fixes the positive pole copper, restarts polishing manipulator 3, and polishing manipulator 3 polishes the positive pole copper according to the burr coordinate, starts dust cleaning device 4 simultaneously and clears up the dust of polishing, continues to start 12 transmission polished positive pole copper of roll table transport section after finishing polishing. Whole process of polishing need not artifical the participation, acquires the burr coordinate through 2 accuracies of 3D vision camera, and sets up two side polishing manipulator 3 for the speed of polishing has effectively guaranteed the efficiency of polishing and the precision of polishing.
Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. The mechanical arm polishing system based on the visual guidance is characterized by comprising a conveying line (1), a 3D visual camera (2) and a polishing mechanical arm (3);
wherein,
the conveying line (1) is used for conveying the anode copper plate;
the 3D vision camera (2) is used for collecting the burr coordinates of the anode copper plate on the conveying line (1);
the polishing manipulator (3) is used for polishing the anode copper plate according to the burr coordinate;
the conveying line (1), the 3D vision camera (2) and the polishing manipulator (3) are controlled to operate through a storage control system.
2. The vision guidance based manipulator grinding system according to claim 1, characterized in that the conveyor line (1) comprises a multi-segment chain conveying segment (11) and a roller conveying segment (12);
the two ends of the roller way conveying section (12) are respectively provided with multiple sections which are sequentially adjacent or one section, the chain conveying section (11) is located on one side of the roller way conveying section (12), the chain conveying section (11) corresponds to a vision station, the roller way conveying section (12) corresponds to a polishing station, and the chain conveying section (11) on the other side of the roller way conveying section (12) is used for conveying anode copper plates after polishing.
3. The vision guidance-based manipulator grinding system according to claim 1 or 2, characterized in that the 3D vision camera (2) is located above a chain conveying section (11) at a vision station, the 3D vision camera (2) being arranged extending along a conveying direction of the chain conveying section (11) at the vision station;
the 3D vision camera (2) is provided with an X coordinate which is the conveying direction of the chain conveying section (11), a Y coordinate which is the conveying direction perpendicular to the chain conveying section (11) in a horizontal plane, and a Z coordinate which is the direction perpendicular to a plane formed by the X coordinate and the Y coordinate.
4. The vision guidance based manipulator grinding system according to claim 1, characterized in that the grinding manipulator (3) is provided in two, and the two grinding manipulators (3) are respectively provided on both sides of the conveyor line (1).
5. The vision guidance based manipulator polishing system according to claim 1, wherein the polishing manipulator (3) comprises a mount (31), a robot arm (32) and a polishing mechanism (33),
wherein,
the mechanical arm (32) is mounted on the mounting seat (31), the mechanical arm (32) is a six-degree-of-freedom mechanical arm, and the grinding mechanism (33) is mounted at one end, away from the mounting seat (31), of the mechanical arm (32);
the grinding mechanism (33) comprises a fixing shaft (331), a rotating shaft (332) and a grinding sheet (333), the fixing shaft (331) is fixedly connected with the mechanical arm (32), the rotating shaft (332) is rotatably connected with the fixing shaft (331), and the grinding sheet (333) is installed at one end, far away from the fixing shaft (331), of the rotating shaft (332).
6. The vision guidance-based manipulator grinding system according to claim 5, wherein the mechanical arm (32) is provided with a U-shaped opening, and the fixed shaft (331) is installed in the U-shaped opening.
7. The vision-guidance-based robot sanding system of claim 2, wherein the roller conveyor section (12) comprises a plurality of transport rollers (121), a mounting frame (122), a conveyor belt (123), and a second motor (124),
wherein,
the plurality of conveying rollers (121) are arranged on the mounting rack (122), and the plurality of conveying rollers (121) are arranged at intervals;
the conveying belt (123) is used for driving a plurality of conveying rollers (121) in the mounting rack (122) to rotate simultaneously, and the conveying belt (123) is located on the inner side of the mounting rack (122);
the second motor (124) drives the conveying belt (123) to rotate through a driving wheel (125).
8. The vision-based mechanical arm polishing system according to claim 2, characterized in that a dust cleaning device (4) is further arranged in the vision-based mechanical arm polishing system, the dust cleaning device (4) comprises a sliding frame (41), a blowing nozzle (42), an air cavity (43) and an electric push rod (44),
wherein,
the sliding frame (41) is of an inverted U shape, two fixing rods and sliding rails are arranged on the sliding frame (41), the two fixing rods are arranged on two sides of the roller conveying section (12), the sliding rails of the sliding frame (41) are located above the roller conveying section (12), and the sliding rails are perpendicular to the conveying direction of the roller conveying section (12);
the air cavity (43) is connected to the sliding track in a sliding mode, one side wall of the air cavity (43) is communicated with a pressurizing air pump through a hose (45), and one side, far away from the hose (45), of the air cavity (43) is connected with the electric push rod (44);
the electric push rod (44) is arranged at the top end of the fixed rod at one side far away from the hose (45);
the air blowing nozzle (42) is communicated with the air cavity (43), and an air outlet of the air blowing nozzle (42) is arranged towards the roller way conveying section (12);
the air blowing nozzles (42) are arranged in a plurality, and the air blowing nozzles (42) are distributed on the side surface of the air cavity (43) at intervals.
9. The mechanical arm polishing system based on the visual guidance as claimed in claim 2, wherein a fixing device (5) is further arranged in the mechanical arm polishing system based on the visual guidance, the fixing device (5) comprises a telescopic cylinder (51), a fixed disc (52), a vacuum pump (53), a gas pipe (54) and a suction cup (56),
wherein,
the sucker (56) is arranged between the adjacent transmission rollers (121) of the roller way conveying section (12), and the sucker (56) is connected with the vacuum pump (53) through the air conveying pipe (54);
the sucker (56) is arranged on the fixed disc (52), and the fixed disc (52) is connected with the telescopic cylinder (51).
10. The mechanical arm polishing system based on the visual guidance as claimed in claim 9, wherein the suction cups (56) are provided in plurality, the suction cups (56) are distributed in a matrix, and the area of the matrix formed by the suction cups (56) is smaller than that of the anode copper plate;
the gas pipe (54) is communicated with the vacuum pump (53) through a main gas pipe (55), and a pressure sensor for detecting the suction force of the anode copper plate is arranged on the main gas pipe (55);
and the main air pipe (55) is provided with an air release valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922382727.1U CN211890183U (en) | 2019-12-26 | 2019-12-26 | Manipulator system of polishing based on vision guide |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922382727.1U CN211890183U (en) | 2019-12-26 | 2019-12-26 | Manipulator system of polishing based on vision guide |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111037398A (en) * | 2019-12-26 | 2020-04-21 | 安徽科大智能物联技术有限公司 | Manipulator system of polishing based on vision guide |
| CN115161490A (en) * | 2022-08-05 | 2022-10-11 | 王静平 | Crude copper refining production system |
| CN115213762A (en) * | 2022-08-16 | 2022-10-21 | 苏州昊信精密科技有限公司 | Can realize automatic burr polisher of camshaft of continuous material loading |
| CN115302362A (en) * | 2022-08-03 | 2022-11-08 | 民润电子科技(广州)有限公司 | Grinding device with intelligent automatic cleaning function for manufacturing television shell |
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2019
- 2019-12-26 CN CN201922382727.1U patent/CN211890183U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111037398A (en) * | 2019-12-26 | 2020-04-21 | 安徽科大智能物联技术有限公司 | Manipulator system of polishing based on vision guide |
| CN115302362A (en) * | 2022-08-03 | 2022-11-08 | 民润电子科技(广州)有限公司 | Grinding device with intelligent automatic cleaning function for manufacturing television shell |
| CN115161490A (en) * | 2022-08-05 | 2022-10-11 | 王静平 | Crude copper refining production system |
| CN115213762A (en) * | 2022-08-16 | 2022-10-21 | 苏州昊信精密科技有限公司 | Can realize automatic burr polisher of camshaft of continuous material loading |
| CN115213762B (en) * | 2022-08-16 | 2022-12-13 | 苏州昊信精密科技有限公司 | Can realize automatic burr polisher of camshaft of continuous material loading |
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Address after: 230009 No. 5111 Wangjiang West Road, hi tech Zone, Hefei City, Anhui Province Patentee after: HKUST intelligent IOT Technology Co.,Ltd. Address before: 230009 No. 5111 Wangjiang West Road, hi tech Zone, Hefei City, Anhui Province Patentee before: Anhui University of science and technology intelligent IOT Technology Co.,Ltd. Address after: 230009 No. 5111 Wangjiang West Road, hi tech Zone, Hefei City, Anhui Province Patentee after: HKUST intelligent Internet of things Technology Co.,Ltd. Address before: 230009 No. 5111 Wangjiang West Road, hi tech Zone, Hefei City, Anhui Province Patentee before: HKUST intelligent IOT Technology Co.,Ltd. |