CN212470884U - Intelligent grinding and polishing device for kitchen ware - Google Patents
Intelligent grinding and polishing device for kitchen ware Download PDFInfo
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- CN212470884U CN212470884U CN202020438189.3U CN202020438189U CN212470884U CN 212470884 U CN212470884 U CN 212470884U CN 202020438189 U CN202020438189 U CN 202020438189U CN 212470884 U CN212470884 U CN 212470884U
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Abstract
The utility model mainly relates to an intelligent grinding and polishing device for kitchen ware, which comprises a man-machine interaction unit, wherein the man-machine interaction unit is connected with a central control system and is used for displaying, controlling operation and setting parameters; the central control system is connected with and controls the robot body to move through the controller, and the robot body is provided with a grinding and polishing tool; the robot body is provided with a scanning recognition unit, the robot body drives the scanning recognition unit to move, the scanning recognition unit is in transmission connection with the central control system, the scanning recognition unit comprises a camera and a laser sensor, the central control system shoots and scans a workpiece through the camera and the laser sensor to extract actual accurate position data of the workpiece, and the central control system performs deviation calculation on the actual position data of the workpiece and the 3D model reference data of the workpiece; can carry out automatic polishing, polishing to multiple type kitchen utensils and appliances work piece, application range is wide, and the treatment accuracy is high, has improved work efficiency, still saves the labour.
Description
Technical Field
The utility model relates to a burnishing and polishing device, in particular to intelligence burnishing and polishing device for kitchen utensils and appliances.
Background
The kitchen range hood has various kitchen utensils, such as a range hood, an integrated stove and the like, workpieces in the kitchen industry are small in batch and various, the requirements on the grinding and polishing precision and quality are high, and the conventional grinding, polishing and other processes are basically completed manually; the thickness of a plurality of kitchen ware grinding workpieces is only less than 1mm, the surface smoothness requirement reaches 10 grades, the existing robot system can not meet the requirements of grinding and polishing on precision and surface quality, or the application range is limited, so that the application of automatic grinding and polishing of kitchen ware industrial robots is always a difficult problem.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides an intelligence burnishing and polishing device for kitchen utensils and appliances can carry out automatic grinding, polishing to multiple type of kitchen utensils and appliances work piece, and application range is wide, and the treatment effeciency is high, has improved work efficiency, still saves the labour.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the intelligent grinding and polishing device for the kitchen ware comprises a human-computer interaction unit, wherein the human-computer interaction unit is connected with a central control system and is used for displaying, controlling operation and setting parameters; the central control system is connected with and controls the robot body to move through the controller, and the robot body is provided with a grinding and polishing tool; the robot is characterized in that a scanning recognition unit is arranged on the robot body, the robot body drives the scanning recognition unit to move, the scanning recognition unit is in transmission connection with a central control system, the scanning recognition unit comprises a camera and a laser sensor, the central control system shoots and scans a workpiece through the camera and the laser sensor to extract actual accurate position data of the workpiece, the central control system performs deviation calculation on the actual position data of the workpiece and reference data of a 3D model of the workpiece, the actual track is calculated by combining the deviation data with grinding and polishing reference tracks, and the central control system controls the robot body to realize grinding and polishing according to the actual track data.
The supporting wireless remote controller that is equipped with, wireless remote controller and central control system wireless connection, wireless remote controller can carry out X, Y, Z three direction's removal control to the robot body.
The polishing head of the polishing tool is a force feedback flexible polishing head.
The camera comprises at least one of a 2D camera and a 3D camera.
The robot body is ABB IRB1410, and the controller is IRC 5.
The 2D camera adopts a Basler acA2500-14gm GigE camera and is provided with an ON Semiconductor MT9P031 CMOS photosensitive chip, 14 frames of images per second and 500 ten thousand pixel resolution.
The 3D camera adopts a high-precision laser displacement sensor LJ-G200 of the Kinzhi.
The utility model discloses following beneficial effect has:
1. the intelligent grinding and polishing device for the kitchen ware comprises a human-computer interaction unit, wherein the human-computer interaction unit is connected with a central control system and is used for displaying, controlling operation and setting parameters; the central control system is connected with and controls the robot body to move through the controller, and the robot body is provided with a grinding and polishing tool; the robot body is provided with a scanning recognition unit, the robot body drives the scanning recognition unit to move, the scanning recognition unit is in transmission connection with the central control system, the scanning recognition unit comprises a camera and a laser sensor, and the central control system photographs and scans the workpiece through the camera and the laser sensor to extract actual accurate position data of the workpiece; the central control system performs deviation calculation on the actual position data of the workpiece and the 3D model datum data of the workpiece, calculates an actual track by combining deviation data with grinding and polishing datum tracks, controls the robot body to realize grinding and polishing operations according to the actual track data, can automatically grind and polish various kitchen ware workpieces, is wide in application range and high in processing precision, improves the working efficiency, and saves labor.
2. On the basis of the scheme, the robot is more preferably provided with a wireless remote controller, the wireless remote controller is in wireless connection with a central control system, the wireless remote controller can carry out X, Y, Z movement control in three directions (front and back, left and right and up and down directions) on the robot body, misoperation of workers on a demonstrator possibly can be avoided, operation is simpler and more visual, rapid alignment is realized, and more visual alignment operation is realized through the wireless remote controller.
3. A polishing head of the polishing tool is a force feedback flexible polishing head, and the polishing force is kept consistent through automatic adjustment based on a force feedback principle.
Drawings
FIG. 1 is a diagram of a system control framework of the present invention;
fig. 2 is a flow chart of the present invention.
Reference numbers in the figures: 1. a human-computer interaction unit; 2. a central control system; 3. a controller; 4. a robot body; 5. a scanning recognition unit; 6. and (5) grinding and polishing tools.
Detailed Description
As shown in fig. 1 and 2, the intelligent grinding and polishing device for kitchenware comprises a human-computer interaction unit 1, wherein the human-computer interaction unit 1 is connected with a central control system 2, and the human-computer interaction unit 1 is used for displaying, controlling operation and setting parameters; the central control system 2 is connected with and controls the robot body 4 to move through the controller 3, and the robot body 4 is provided with a grinding and polishing tool 6; the robot body 4 is provided with a scanning recognition unit 5, the robot body 4 drives the scanning recognition unit 5 to move, the scanning recognition unit 5 is in transmission connection with the central control system 2, the scanning recognition unit 5 comprises a camera and a laser sensor, and the central control system 2 photographs and scans a workpiece through the camera and the laser sensor to extract actual accurate position data of the workpiece; the central control system 2 carries out deviation calculation on the actual position data of the workpiece and the 3D model datum data of the workpiece, calculates an actual track by combining deviation data with grinding and polishing datum tracks, controls the robot body 4 to realize grinding and polishing operation according to the actual track data, can automatically grind and polish various kitchen ware workpieces, is wide in application range and high in processing precision, improves the working efficiency and also saves labor force.
On the basis of the scheme, the robot is more preferably provided with a wireless remote controller, the wireless remote controller is wirelessly connected with the central control system 2, the wireless remote controller can carry out X, Y, Z movement control in three directions (front and back, left and right, and up and down directions) on the robot body 4, misoperation of workers on a demonstrator possibly can be avoided, operation is simpler and more visual, rapid alignment is realized, and more visual alignment operation is realized through the wireless remote controller.
A polishing head of the polishing tool is a force feedback flexible polishing head, and the polishing force is kept consistent through automatic adjustment based on a force feedback principle.
The camera includes at least one of a 2D camera and a 3D camera.
The 2D camera adopts a Basler acA2500-14gm GigE camera and is provided with an ON Semiconductor MT9P031 CMOS photosensitive chip, 14 frames of images per second and 500 ten thousand pixel resolution.
The 3D camera adopts a high-precision laser displacement sensor LJ-G200 of the Kinzhi.
The robot body 4 is ABB IRB1410, and the controller 3 is IRC 5.
The specific process steps are as follows:
(1) importing a 3D design model of a workpiece to be ground and polished into a central control system 2, reading the 3D design model of the workpiece by utilizing an offline programming technology, determining the datum position data of the workpiece, and automatically generating a datum track for grinding and polishing the workpiece by combining with an expert system;
(2) fixing a workpiece by using a clamp, starting a robot body 4 by a central control system 2 through a controller 3, driving a camera and a laser sensor to move above the workpiece by the robot body 4, photographing and scanning the workpiece, obtaining a picture and scanning data of the workpiece through a machine vision technology, transmitting the picture and the scanning data to the central control system 2 for calculation, and obtaining actual and accurate position data of the workpiece;
(3) the central control system 2 performs deviation calculation on the actual accurate position data of the workpiece and the reference workpiece data to obtain deviation data;
(4) then, compensation operation is carried out on the deviation data and the reference tracks of grinding and polishing, and the actual tracks of grinding and polishing are calculated;
(5) the central control system 2 controls the robot body 4 according to the actual track data to drive a grinding and polishing tool 6 to carry out grinding and polishing operation; can carry out automatic polishing, polishing to multiple type kitchen utensils and appliances work piece, application range is wide, and the treatment accuracy is high, has improved work efficiency, still saves the labour.
Claims (7)
1. A intelligence burnishing and polishing device for kitchen utensils and appliances, its characterized in that: the system comprises a man-machine interaction unit, a central control system and a control unit, wherein the man-machine interaction unit is connected with the central control system and is used for displaying, controlling operation and setting parameters; the central control system is connected with and controls the robot body to move through the controller, and the robot body is provided with a grinding and polishing tool; the robot is characterized in that a scanning recognition unit is arranged on the robot body, the robot body drives the scanning recognition unit to move, the scanning recognition unit is in transmission connection with a central control system, the scanning recognition unit comprises a camera and a laser sensor, the central control system shoots and scans a workpiece through the camera and the laser sensor to extract actual accurate position data of the workpiece, the central control system performs deviation calculation on the actual position data of the workpiece and reference data of a 3D model of the workpiece, the actual track is calculated by combining the deviation data with grinding and polishing reference tracks, and the central control system controls the robot body to realize grinding and polishing according to the actual track data.
2. The intelligent grinding and polishing device for the kitchen ware according to claim 1, characterized in that: the wireless remote controller is arranged in a matched mode and is in wireless connection with the central control system, and the wireless remote controller can carry out X, Y, Z movement control on the robot body in three directions.
3. The intelligent grinding and polishing device for the kitchen ware according to claim 1, characterized in that: a force feedback flexible polishing head is selected as a polishing head of the polishing tool.
4. The intelligent grinding and polishing device for the kitchen ware according to claim 1, characterized in that: the camera is one of a 2D camera and a 3D camera.
5. The intelligent grinding and polishing device for the kitchen ware according to claim 1, characterized in that: the robot body is ABB IRB1410, and the controller is IRC 5.
6. The intelligent grinding and polishing device for the kitchen ware according to claim 4, wherein: the 2D camera adopts a Basler acA2500-14gm GigE camera and is provided with an ON Semiconductor MT9P031 CMOS photosensitive chip, 14 frames of images per second and 500 ten thousand pixel resolution.
7. The intelligent grinding and polishing device for the kitchen ware according to claim 4, wherein: the 3D camera adopts a high-precision laser displacement sensor LJ-G200 of the Kinzhi.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020438189.3U CN212470884U (en) | 2020-03-31 | 2020-03-31 | Intelligent grinding and polishing device for kitchen ware |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020438189.3U CN212470884U (en) | 2020-03-31 | 2020-03-31 | Intelligent grinding and polishing device for kitchen ware |
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| Publication Number | Publication Date |
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| CN212470884U true CN212470884U (en) | 2021-02-05 |
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| CN202020438189.3U Active CN212470884U (en) | 2020-03-31 | 2020-03-31 | Intelligent grinding and polishing device for kitchen ware |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654308A (en) * | 2022-05-11 | 2022-06-24 | 上海中车瑞伯德智能系统股份有限公司 | Automatic flexible polishing system and polishing method for welding seams of plate-shaped structural member |
-
2020
- 2020-03-31 CN CN202020438189.3U patent/CN212470884U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654308A (en) * | 2022-05-11 | 2022-06-24 | 上海中车瑞伯德智能系统股份有限公司 | Automatic flexible polishing system and polishing method for welding seams of plate-shaped structural member |
| CN114654308B (en) * | 2022-05-11 | 2024-03-08 | 上海中车瑞伯德智能系统股份有限公司 | Automatic flexible polishing method for welding line of plate-shaped structural member |
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