CN219310983U - Processing equipment and processing system - Google Patents

Abstract

The utility model provides processing equipment and a processing system, and relates to the technical field of automatic processing. The processing equipment comprises: the polishing assembly is used for polishing the workpiece positioned at the preset station; the cooperative robot is connected with the polishing assembly; the shooting assembly is arranged on the cooperative robot or the polishing assembly and is used for shooting the mark on the workpiece to obtain mark information; and the controller is connected with the cooperative robot and the shooting assembly, determines a polishing track according to the identification information and controls the cooperative robot to drive the polishing assembly to move along the polishing track.

Description

Processing equipment and processing system

Technical Field

The utility model relates to the technical field of automatic processing, in particular to processing equipment and a processing system.

Background

In the related art, many industries and occasions adopt a manual mode to polish and grind, and work piece polishing and grinding processing is finished by holding a tool by a hand, or work piece polishing and grinding processing is finished on equipment such as a grinding machine by a hand.

However, severe environments with high pollution such as sparks, dust, noise and the like can cause high incidence of occupational diseases of workers, and high-intensity repeated labor is easy to cause safety matters. Meanwhile, the precision and accuracy of manual operation cannot be guaranteed, the polishing effect cannot be guaranteed, and the machining efficiency is low.

Therefore, how to overcome the above technical defects is a technical problem to be solved.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art.

To this end, a first aspect of the utility model proposes a processing apparatus.

A second aspect of the present utility model provides a processing system.

In view of this, a first aspect of the present utility model provides a processing apparatus comprising: the polishing assembly is used for polishing the workpiece positioned at the preset station; the cooperative robot is connected with the polishing assembly; the shooting assembly is arranged on the cooperative robot or the polishing assembly and is used for shooting the mark on the workpiece to obtain mark information; and the controller is connected with the cooperative robot and the shooting assembly, determines a polishing track according to the identification information and controls the cooperative robot to drive the polishing assembly to move along the polishing track.

The present application defines a machining apparatus for performing an automated grinding function of a workpiece. Specifically, the processing equipment comprises a polishing component and a cooperation robot, wherein the polishing component is arranged at the tail end of the cooperation robot, the cooperation robot can drive the polishing component to move relative to a workpiece so as to polish the workpiece staying on a preset station, and the specific polishing component reduces the roughness of the outer surface of the workpiece by polishing the outer surface of the workpiece, so that the polishing requirement of the workpiece is met.

On the basis, the processing equipment further comprises a shooting assembly and a controller, wherein the shooting assembly can be arranged at the tail end of the polishing assembly or the tail end of the cooperative robot, namely, the shooting assembly can synchronously move along with the polishing assembly in the process that the cooperative robot drives the polishing assembly to move. Specifically, the shooting component can shoot the workpiece at the preset station, wherein the surface of the workpiece comprises a mark, the area in the mark belongs to a key processing area on the workpiece, and the shooting component can determine corresponding mark information through the shot image. The controller is connected with the shooting component and the cooperative robot, the shooting component sends the identification information to the controller after determining the identification information, and then the controller plans out a corresponding polishing track according to the identification information so as to drive the polishing component to move along the polishing track by controlling the action of the cooperative robot. The polishing track determined according to the identification information can cover all the identification areas on the workpiece, so that the polishing track moving along the polishing track can accurately finish the polishing requirement of the workpiece, and the problems that polishing degree of the workpiece does not reach standards and partial areas are omitted are avoided.

Therefore, the polishing device has the advantages that the shooting assembly and the controller are arranged, the cooperative robot can drive the polishing assembly to automatically finish polishing operation of a workpiece to be processed, the working procedure of manually controlling the cooperative robot to work or manually controlling the workpiece to act is omitted, automatic polishing operation of the workpiece is realized, workers can be far away from a workpiece polishing area, occupational diseases caused by severe environments with high pollution such as sparks, dust and noise are avoided for a long time, meanwhile, the processing precision and the processing accuracy of the automatic processing device are controllable, the defect that the manual polishing precision is uncontrollable and the polishing degree deviation is large is overcome, the polishing efficiency of the workpiece can be further improved by automatic processing, the mass production requirement of the workpiece is met, and the technical problem existing in the related technology is solved. And then realized optimizing the processing equipment structure, promoted the degree of automation and the intelligent degree of polishing operation, promoted polishing efficiency and polishing precision, ensured that the workman is healthy, promoted production efficiency's technological effect.

Specifically, the mark on the workpiece can be manually marked by a worker before entering the preset station, and the position of the mark area and the size of the mark area can be freely selected by the specific worker according to the preamble processing effect of the workpiece, so that the accurate positioning of the defects on the surface of the workpiece is completed, and the fact that the cooperative robot can drive the polishing assembly to polish all the defects on the workpiece is ensured, so that the yield of the workpiece is improved. Meanwhile, the marks on the workpieces can be automatically identified through the image identification system in the preamble automatic production process, the specific image identification system can conduct flaw location by comparing images of good workpieces with images of current workpieces, and then a user can conduct manual marking on the workpieces by means of identification results output by the image identification system, so that flaw point identification reliability is improved, label missing and label error probability is reduced, and accordingly yield is improved.

Specifically, taking a workpiece as an example of a vehicle door, after the paint spraying process is finished on the surface of the vehicle door, defects inevitably exist on the surface of the vehicle door, and the subsequent polishing process aims to eliminate the defects on the surface of the vehicle door by polishing the defects. In this regard, before transporting the door to the predetermined station, the user identifies a flaw point on the door by observation and identifies the flaw point by the identification tool, and then moves the door to the predetermined station. After the car door enters a preset station, the shooting component firstly collects images of the paint surface of the car door so as to analyze the number of the marking areas on the car door and corresponding three-dimensional information through the images, and then the controller automatically plans out a polishing track aiming at the car door according to the analyzed result so as to ensure that the polishing component moving along the polishing track can remove all defects.

In addition, the processing equipment provided by the utility model can also have the following additional technical characteristics:

in the above technical solution, the polishing assembly includes: the bracket is connected with the cooperative robot; the polisher is arranged on the bracket; the support is connected with the tail end flange of the cooperative robot.

In the technical scheme, the structure of the polishing assembly is described, the specific polishing assembly comprises a polisher and a support, the polisher is a standard grinder, and a polishing head on the standard grinder can finish the polishing requirement of a substitute processing plane through rotation. The support is fixed at the end of cooperation robot, and the polisher is installed on the support to pass through the support with the accurate location of polisher on cooperation robot.

Compared with the technical scheme that the polishing device is directly connected with the tail end of the cooperative robot, the special support is arranged for the polishing device, so that the positioning accuracy and the positioning reliability of the polishing device are improved, and the possibility that the polishing device is misplaced or even falls off is reduced. Specifically, the polishers of different models are correspondingly provided with brackets of different shapes so as to meet positioning requirements.

Specifically, a flange plate is arranged on the support, a flange connection position is arranged at the tail end of the cooperative robot, and the flange plate is aligned with the flange connection position in the assembly process to finish flange connection so as to fix the support on the cooperative robot. The flange connection has the advantages of convenience in disassembly and assembly and high connection reliability, and is favorable for improving the positioning accuracy of the support and the polisher. Meanwhile, the polisher needs to spray cleaning liquid or high-pressure gas to the workpiece in the working process, so that the cooperative robot has the requirement of arranging a gas path and a liquid path, and the flange connection is beneficial to improving the tightness of the gas path and the liquid path, so that the safety and the reliability of processing equipment are improved.

In any of the above-described aspects, the direction of the tip of the cooperative robot is a first direction, and the direction of the working portion on the polisher is a second direction; the angle between the first direction and the second direction is 90 degrees.

In this aspect, the direction of the distal end of the cooperative robot is a first direction, and the first direction corresponds to the axial direction of the distal-most joint of the cooperative robot. The working part on the polisher is oriented in the second direction, taking the polisher as a standard grinder as an example, the working part is a grinding head, and the orientation of the grinding head is the second direction. On this basis, the contained angle between first direction and the second direction is 90, through setting up this right angle deviation, is favorable to eliminating the processing dead angle of polisher on the one hand, and on the other hand this right angle deviation is favorable to promoting the range of processing of polisher, ensures that the polisher can satisfy the polishing demand of jumbo size work piece.

In any of the above technical solutions, the photographing assembly includes: the shell is connected with the bracket; the camera is arranged in the shell and is connected with the controller.

In this technical scheme, explain shooting the structure of subassembly, specific shooting the subassembly and including casing and camera, casing and leg joint enclose between casing and the support and close including open-ended cavity, and the camera inlays and establishes in the cavity, and the camera's camera lens is relative with the opening.

Through setting up the casing, can play the guard action to the camera, can reduce the piece that splashes in the process of polishing and the grinding fluid get into and damage the probability of camera on the one hand, on the other hand can reduce the probability that the camera was damaged because of noise external impact, and then realize promoting shooting subassembly structural stability, reduce the technological effect of shooting subassembly fault rate.

Specifically, the casing can also wrap up the part surface of sander, and specific cladding scope this application does not do not limit, ensures that the sanding head is not sheltered from can, can also provide the protection to the sander through setting up the casing of wrapping up partial sander, plays equally and reduces sander fault rate, promotes sander job stabilization's technological effect.

In any of the above technical solutions, the processing apparatus further includes: the base, the controller is located in the base, and the cooperation robot is located on the base.

In this technical scheme, processing equipment still includes the base, and the base top is provided with fixed mesa, and the cooperation robot is installed on fixed mesa to support and fix a position the cooperation robot through the base. Wherein, the inside electrical cabinet that is provided with of base, other electrical equipment such as controller set up inside electrical cabinet to hide and protect the electrical structure of processing equipment. Meanwhile, a power supply and an air source are further arranged on the base, the power supply can provide electric energy for the cooperative robot and the polisher, and the air source can provide high-pressure air flow for the polisher so as to assist polishing operation through the high-pressure air flow. Wherein, be provided with switch and knob on controller and/or the base, the user can be through operating switch and knob to control the operating condition of processing equipment.

Through setting up the base can be with the association structure integration as an organic wholes such as collaborative robot, sander, controller, for processing equipment's storage and transport provide convenient condition. Meanwhile, the base can also raise the height of the cooperative robot, so that the cooperative robot can process large-size workpieces.

In any of the above technical solutions, the processing apparatus further includes: the wheel body is rotationally connected with the base and is positioned at the bottom of the base.

In this technical scheme, processing equipment still is provided with the wheel body, and the wheel body is installed in the base bottom, and the wheel body can rotate relative to the base. Through setting up the wheel body in the base bottom, can provide convenient condition for removing processing equipment, make things convenient for the workman to remove processing equipment to processing station, and then realize promoting processing equipment practicality, provide the technological effect of convenient condition for the workman.

Specifically, the processing equipment further comprises a first motor and a driving shaft, the driving shaft is connected with the wheel body, the first motor is used for driving the driving shaft to rotate so as to realize automatic control of the wheel body, and the processing equipment is enabled to have automatic advancing capability, so that the practicability of the processing equipment is further improved.

In any of the above technical solutions, the processing apparatus further includes: and the lifting mechanism is connected with the base and can move relative to the base, and the lifting mechanism is used for adjusting the height of the base.

In this technical scheme, processing equipment still includes elevating system, and elevating system is connected with the base, and elevating system can relative base motion. Specifically, the elevating mechanism includes a first posture and a second posture, when the elevating mechanism is in the first posture, the lower end of the elevating mechanism is higher than the wheel body, the elevating mechanism is separated from the bottom surface, at this time, the base contacts the bottom surface through the wheel body, and the processing equipment can be pushed. When the lifting mechanism is in the second posture, the lower end of the lifting mechanism is lower than the wheel body, the wheel body and the base are lifted by the lifting mechanism, the wheel body is separated from the ground, and at the moment, the processing equipment is positioned at the current position and cannot be pushed.

Through setting up elevating system, on the one hand make processing equipment possess the ability of switching mode of marcing and stay mode to promote processing equipment's practicality, and be favorable to promoting the machining precision. On the other hand, the lifting mechanism can adjust the heights of the base and the cooperative robot, so that the processing equipment can process workpieces with large sizes or at higher positions.

In any of the above technical solutions, the lifting mechanism includes: the supporting leg is connected with the base in a sliding manner and is positioned at the bottom of the base; the driving piece is arranged on the base and connected with the supporting legs, and the driving piece is used for driving the supporting legs to move relative to the base.

In this technical scheme, inject elevating system's structure, concrete elevating system includes supporting legs and driving piece, and the supporting legs is installed in the base bottom, and supporting legs and base sliding connection, and the supporting legs can be in the direction of height of base reciprocating motion. The driving piece is arranged in the base, is connected with the supporting legs and is used for driving the supporting legs to move so as to adjust the extending length of the supporting legs relative to the base. When the processing equipment is required to be moved, the driving piece drives the supporting legs to retract, so that the wheel body can contact the bottom surface, and convenience is provided for pushing the processing equipment to move. When polishing operation is needed, the driving piece drives the supporting legs to extend out so as to prop up the base, so that the wheel body is separated from the ground, and the processing equipment is ensured to be fixed at the processing position.

Specifically, the base bottom is provided with vertical slide, and the supporting legs sets up in the slide, and the driving piece is the cylinder, and the flexible end and the supporting legs of cylinder are connected to drive the supporting legs motion through flexible action, thereby adjust the height of base.

In view of this, a second aspect of the present utility model provides a processing system comprising: the processing apparatus as in any one of the above aspects; and the conveying assembly is used for driving the workpiece to move to a preset station.

In this technical scheme, a processing system is defined, and the processing equipment in any one of the above technical schemes is provided in the processing system, so that the processing system has the advantages of the processing equipment in any one of the above technical schemes, and can achieve the technical effects achieved by the processing equipment in any one of the above technical schemes, so that repetition is avoided, and no further description is provided here.

On this basis, processing system still includes the transportation subassembly, and the transportation subassembly can carry the work piece to predetermined station, thereby make processing equipment can be through shooting the blemish point that the subassembly marked on the work piece surface earlier and fix a position, gather the three-dimensional information of blemish point simultaneously, later drive polishing subassembly through the control of controller cooperation robot and carry out polishing operation, in order to eliminate the blemish point on the work piece.

Through setting up the transportation subassembly, can realize the automatic feeding of work piece, remove the complicated operation of workman's transport work piece by oneself and location work piece from, and then realize promoting machining efficiency, reduce the technological effect of processing human cost.

In any of the above aspects, the transport assembly comprises: automatically guiding the transport vehicle; and the clamp is arranged on the automatic guide transport vehicle and is used for clamping the workpiece.

In this technical scheme, the transportation subassembly includes automated guided transporting vehicle and anchor clamps, and anchor clamps are installed at the automated guided transporting vehicle top, and anchor clamps are used for clamping the work piece. The clamp and the workpiece are driven to synchronously move in the moving process of the automatic guide transport vehicle so as to realize automatic feeding. The structure of the clamp is associated with the shape of the workpiece, the workpieces of different types correspond to the clamps of different shapes, the workpiece is taken as an example of a vehicle door, the clamp supports the vehicle door through a branch structure, a plurality of suckers are arranged on the branch structure, the suckers are adsorbed on the inner surface of the vehicle door, so that the paint surface of the vehicle door is exposed to the outside, and convenience is provided for polishing the paint surface.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, or may be learned by practice of the utility model.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 illustrates one of the structural schematic diagrams of a processing system according to one embodiment of the present utility model;

FIG. 2 illustrates a second schematic diagram of a processing system according to one embodiment of the utility model;

FIG. 3 illustrates a third schematic diagram of a processing system according to one embodiment of the utility model;

FIG. 4 shows one of the structural schematic diagrams of the base according to one embodiment of the utility model;

FIG. 5 shows a second schematic structural view of a base according to an embodiment of the present utility model;

FIG. 6 shows a third schematic structural view of a base according to an embodiment of the present utility model;

FIG. 7 shows one of the schematic structural views of a processing apparatus according to an embodiment of the present utility model;

FIG. 8 shows a second schematic view of the construction of a processing apparatus according to an embodiment of the present utility model;

FIG. 9 shows a third schematic view of the construction of a processing apparatus according to an embodiment of the present utility model;

FIG. 10 shows a fourth schematic structural view of a processing apparatus according to an embodiment of the present utility model;

FIG. 11 shows a fifth schematic structural view of a processing apparatus according to an embodiment of the present utility model;

FIG. 12 shows a schematic structural view of a clamp according to one embodiment of the utility model;

fig. 13 shows a fourth schematic structural view of a processing system according to an embodiment of the present utility model.

Wherein, the correspondence between the reference numerals and the component names in fig. 1 to 13 is:

100 processing equipment, 110 polishing components, 112 supports, 114 polishers, 116 flange plates, 120 cooperative robots, 130 shooting components, 132 shells, 134 cameras, 140 controllers, 150 bases, 152 lifting mechanisms, 1522 supporting feet, 1524 driving parts, 160 wheels, 200 processing systems, 210 conveying components, 212 automatic guiding conveying vehicles, 214 clamps and 300 workpieces.

Detailed Description

In order that the above-recited objects, features and advantages of the present utility model will be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, however, the present utility model may be practiced in other ways than those described herein, and therefore the scope of the present utility model is not limited to the specific embodiments disclosed below.

A processing apparatus and a processing system according to some embodiments of the present utility model are described below with reference to fig. 1 to 13.

As shown in fig. 1, 2 and 3, an embodiment of a first aspect of the present utility model proposes a processing apparatus 100, where the processing apparatus 100 includes: a polishing assembly 110 for polishing the workpiece 300 positioned at a predetermined station; a cooperative robot 120 coupled to the polishing assembly 110; the shooting component 130 is arranged on the cooperative robot 120 or the polishing component 110 and is used for shooting the mark on the workpiece 300 to obtain mark information; the controller 140 is connected with the cooperative robot 120 and the shooting assembly 130, and the controller 140 determines a polishing track according to the identification information and controls the cooperative robot 120 to drive the polishing assembly 110 to move along the polishing track.

The present application defines a machining apparatus 100 for implementing an automated grinding function of a workpiece 300 by the machining apparatus 100. Specifically, the processing apparatus 100 includes a polishing assembly 110 and a cooperative robot 120, the polishing assembly 110 is mounted on an end of the cooperative robot 120, and the cooperative robot 120 can drive the polishing assembly 110 to move relative to the workpiece 300 to perform polishing operation on the workpiece 300 staying at a predetermined station, and the polishing assembly 110 specifically reduces the roughness of the outer surface of the workpiece 300 by polishing the outer surface of the workpiece 300, so as to meet the polishing requirement of the workpiece 300.

On this basis, the processing apparatus 100 further includes a photographing assembly 130 and a controller 140, wherein the photographing assembly 130 can be mounted at the end of the polishing assembly 110 or the cooperative robot 120, that is, the photographing assembly 130 can move synchronously with the polishing assembly 110 during the process that the cooperative robot 120 drives the polishing assembly 110 to move. Specifically, the photographing component 130 can photograph the workpiece 300 at a predetermined station, wherein the surface of the workpiece 300 includes a mark, an area within the mark belongs to a key processing area on the workpiece 300, and the photographing component 130 can determine corresponding mark information through a photographed image. The controller 140 is connected to the photographing assembly 130 and the cooperative robot 120, the photographing assembly 130 transmits the identification information to the controller 140 after determining the identification information, and then the controller 140 plans a corresponding polishing track according to the identification information, so as to drive the polishing assembly 110 to move along the polishing track by controlling the action of the cooperative robot. The polishing track determined according to the identification information can cover all the identification areas on the workpiece 300, so that the polishing track moving along the polishing track can accurately finish the polishing requirement of the workpiece 300, and the problems that the polishing degree of the workpiece 300 does not reach the standard and partial areas are omitted are avoided.

Therefore, the shooting assembly 130 and the controller 140 are arranged, so that the cooperative robot 120 can drive the polishing assembly 110 to automatically finish the polishing operation of the workpiece 300 to be processed, the working procedure of manually controlling the cooperative robot 120 to work or manually controlling the action of the workpiece 300 is omitted, the automatic polishing operation of the workpiece 300 is realized, workers can be far away from a polishing area of the workpiece 300, occupational diseases caused by severe environments with high pollution such as sparks, dust, noise and the like of the workers are avoided, meanwhile, the processing precision and the processing accuracy of the automatic processing equipment 100 are controllable, the defects that the manual polishing precision is uncontrollable and the polishing degree deviation is large can be overcome, the polishing efficiency of the workpiece 300 can be further improved by automatic processing, the mass production requirement of the workpiece 300 is met, and the technical problems existing in the related technology are solved. And then realized optimizing processing equipment 100 structure, promoted the degree of automation and the intelligent degree of polishing operation, promoted polishing efficiency and polishing precision, ensured that the workman is healthy, promoted production efficiency's technological effect.

Specifically, the mark on the workpiece 300 may be manually marked by a worker before entering the predetermined station, and the specific worker may freely select the position of the mark area and the size of the mark area according to the preamble processing effect of the workpiece 300, thereby completing the accurate positioning of the blemish on the surface of the workpiece 300, and ensuring that the cooperative robot 120 can drive the polishing assembly 110 to polish all blemish on the workpiece 300, so as to improve the yield of the workpiece 300. Meanwhile, the marks on the workpiece 300 can be automatically identified through the image identification system in the preamble automatic production process, the specific image identification system can be used for carrying out flaw location by comparing the images of the good workpiece with the images of the current workpiece 300, and then a user can manually mark the workpiece 300 by means of the identification result output by the image identification system so as to improve the flaw point identification reliability, reduce the missed mark error mark probability and further improve the yield.

Specifically, taking the workpiece 300 as an example of a vehicle door, the surface of the vehicle door inevitably has defects after the paint spraying process is completed, and the subsequent polishing process is to eliminate the defects on the surface of the vehicle door by polishing the defects. In this regard, before transporting the door to the predetermined station, the user identifies a flaw point on the door by observation and identifies the flaw point by the identification tool, and then moves the door to the predetermined station. After the door enters the predetermined station, the photographing assembly 130 firstly collects an image of the paint surface of the door to analyze the number of the marking areas on the door and the corresponding three-dimensional information through the image, and then the controller 140 automatically plans a polishing track for the door according to the analyzed result, so as to ensure that the polishing assembly 110 moving along the polishing track can remove all defects.

As shown in fig. 1, 8 and 9, in the above-described embodiment, the polishing assembly 110 includes: a bracket 112 connected to the cooperative robot 120; a polisher 114 provided on the holder 112; wherein the bracket 112 is flanged to the end of the collaborative robot 120.

In this embodiment, the structure of the polishing assembly 110 is described, and the polishing assembly 110 includes a polisher 114 and a holder 112. The polisher 114 is a standard grinder, and a polishing head on the standard grinder can be rotated to meet the polishing requirements of a substitute work plane. The holder 112 is fixed at the end of the cooperative robot 120, and the polisher 114 is mounted on the holder 112 to precisely position the polisher 114 on the cooperative robot 120 through the holder 112.

Compared with the embodiment of directly connecting the polisher 114 with the end of the cooperative robot 120, the positioning accuracy and positioning reliability of the polisher 114 are improved by providing the polisher 114 with the special bracket 112, and the possibility of dislocation or even falling off of the polisher 114 is reduced. Specifically, the polishers 114 of different models are correspondingly provided with the brackets 112 of different shapes so as to meet the positioning requirements.

Specifically, the support 112 is provided with a flange 116, and the end of the cooperative robot 120 is provided with a flange connection position, and the flange 116 is aligned with the flange connection position in the assembly process to complete flange connection, so as to fix the support 112 on the cooperative robot 120. The flange connection has the advantages of convenience in disassembly and assembly and high connection reliability, and is beneficial to improving the positioning accuracy of the bracket 112 and the polisher 114. Meanwhile, the polisher 114 needs to spray cleaning fluid or high-pressure gas to the workpiece 300 during operation, so that the cooperative robot 120 has a need to arrange a gas path and a liquid path, and the flange connection is beneficial to improving the tightness of the gas path and the liquid path, thereby improving the safety and reliability of the processing apparatus 100.

As shown in fig. 1, in any of the above embodiments, the end of the cooperative robot 120 is oriented in a first direction (shown by arrow a in fig. 1), and the working portion of the polisher 114 is oriented in a second direction (shown by arrow b in fig. 1); the angle between the first direction and the second direction is 90 degrees.

In this embodiment, the orientation of the distal end of the collaborative robot 120 is a first direction that corresponds to the axial direction of the endmost joint of the collaborative robot 120. The working portion of the polisher 114 is oriented in the second direction, and the polisher 114 is a standard polisher, and the working portion is a polishing head, and the polishing head is oriented in the second direction. On the basis, the included angle between the first direction and the second direction is 90 degrees, and by setting the right-angle deviation, the processing dead angle of the polisher 114 is eliminated, and on the other hand, the right-angle deviation is beneficial to improving the processing range of the polisher 114, so that the polisher 114 can meet the polishing requirement of a large-size workpiece 300.

As shown in fig. 7 and 10, in any of the above embodiments, the photographing assembly 130 includes: a housing 132 connected to the bracket 112; the camera 134 is disposed in the housing 132 and connected to the controller 140, wherein a region c in fig. 7 is a shooting region of the camera 134.

In this embodiment, the structure of the shooting assembly 130 is described, the specific shooting assembly 130 includes a housing 132 and a camera 134, the housing 132 is connected with the bracket 112, a cavity including an opening is enclosed between the housing 132 and the bracket 112, the camera 134 is embedded in the cavity, and a lens of the camera 134 is opposite to the opening.

Through setting up casing 132, can play the guard action to camera 134, can reduce the piece that the in-process of polishing splashes and the grinding fluid get into and damage the probability of camera 134 on the one hand, on the other hand can reduce the probability that camera 134 is damaged because of noise external impact, and then realize promoting shooting subassembly 130 structural stability, reduce the technological effect of shooting subassembly 130 fault rate.

Specifically, the casing 132 can also wrap up the part surface of sander, and specific cladding scope this application does not do not limit, ensures that the sanding head is not sheltered from can, can also provide the protection to the sander through setting up the casing 132 of wrap up partial sander, plays equally and reduces sander fault rate, promotes sander job stabilization's technological effect.

As shown in fig. 1, 2 and 4, in any of the above embodiments, the processing apparatus 100 further includes: the base 150, the controller 140 is disposed in the base 150, and the cooperative robot 120 is disposed on the base 150.

In this embodiment, the processing apparatus 100 further includes a base 150, a fixed table top is provided on top of the base 150, and the cooperative robot 120 is mounted on the fixed table top to support and position the cooperative robot 120 through the base 150. Wherein, the electrical cabinet is disposed inside the base 150, and other electrical devices such as the controller 140 are disposed inside the electrical cabinet to hide and protect the electrical structure of the processing device 100. Meanwhile, a power supply and an air source are further arranged on the base 150, the power supply can provide electric energy for the cooperative robot 120 and the polisher 114, and the air source can provide high-pressure air flow for the polisher 114 so as to assist polishing operation through the high-pressure air flow. Wherein the controller 140 and/or the base 150 are provided with switches and knobs, and a user can control the operating state of the processing apparatus 100 by operating the switches and knobs.

The base 150 can integrate the association structures of the cooperative robot 120, the sander, the controller 140 and the like, thereby providing convenience for storage and transportation of the processing apparatus 100. At the same time, the base 150 can also raise the height of the collaborative robot 120, ensuring that the collaborative robot 120 is able to process large-sized workpieces 300.

As shown in fig. 6, in any of the above embodiments, the processing apparatus 100 further includes: the wheel 160 is rotatably connected to the base 150 and is located at the bottom of the base 150.

In this embodiment, the processing apparatus 100 is further provided with a wheel 160, the wheel 160 is mounted at the bottom of the base 150, and the wheel 160 can rotate relative to the base 150. Through setting up wheel body 160 in the base 150 bottom, can provide convenient condition for removing processing equipment 100, make things convenient for the workman to remove processing equipment 100 to the processing station, and then realize promoting processing equipment 100 practicality, provide the technological effect of convenient condition for the workman.

Specifically, the processing apparatus 100 further includes a first motor and a driving shaft, where the driving shaft is connected to the wheel 160, and the first motor is used to drive the driving shaft to rotate, so as to implement automatic control of the wheel 160, and enable the processing apparatus 100 to have an automatic travelling capability, thereby further improving the practicality of the processing apparatus 100.

As shown in fig. 4, 5 and 6, in any of the above embodiments, the processing apparatus 100 further includes: and a lifting mechanism 152 connected to the base 150 and movable relative to the base 150, the lifting mechanism 152 being used to adjust the height of the base 150.

In this embodiment, the processing apparatus 100 further includes a lifting mechanism 152, the lifting mechanism 152 being coupled to the base 150, and the lifting mechanism 152 being movable relative to the base 150. Specifically, the lifting mechanism 152 includes a first posture and a second posture, when the lifting mechanism 152 is in the first posture, the lower end of the lifting mechanism 152 is higher than the wheel 160, the lifting mechanism 152 is separated from the bottom surface, and at this time, the base 150 contacts the bottom surface through the wheel 160, and the processing apparatus 100 can be pushed. When the lifting mechanism 152 is in the second posture, the lower end of the lifting mechanism 152 is lower than the wheel 160, the wheel 160 and the base 150 are lifted by the lifting mechanism 152, the wheel 160 is separated from the ground, and at this time, the processing apparatus 100 is positioned at the current position and cannot be pushed.

By providing the lifting mechanism 152, on the one hand, the processing apparatus 100 is provided with the capability of switching between the traveling mode and the parking mode, so as to improve the practicability of the processing apparatus 100 and facilitate improving the processing precision. The elevating mechanism 152, on the other hand, can adjust the height of the base 150 and the cooperative robot 120 to ensure that the processing apparatus 100 can process a large-sized or high-positioned workpiece 300.

In any of the above embodiments, the lifting mechanism 152 includes: support legs 1522 slidably coupled to the base 150 and positioned at the bottom of the base 150; the driving member 1524 is disposed on the base 150 and connected to the supporting leg 1522, and the driving member 1524 is configured to drive the supporting leg 1522 to move relative to the base 150.

In this embodiment, the structure of the lifting mechanism 152 is defined, and the lifting mechanism 152 includes a supporting leg 1522 and a driving member 1524, wherein the supporting leg 1522 is mounted on the bottom of the base 150, and the supporting leg 1522 is slidably connected to the base 150, and the supporting leg 1522 is capable of reciprocating in the height direction of the base 150. The driving member 1524 is disposed in the base 150, the driving member 1524 is connected to the supporting leg 1522, and the driving member 1524 is configured to move the supporting leg 1522 to adjust the extension of the supporting leg 1522 relative to the base 150. When the machining apparatus 100 needs to be moved, the driving member 1524 drives the supporting legs 1522 to retract, so that the wheel 160 can contact the bottom surface, thereby providing convenience for pushing the machining apparatus 100 to move. When polishing is required, the driving member 1524 drives the supporting legs 1522 to extend so as to support the base 150, so that the wheel 160 is separated from the ground, and the machining apparatus 100 is ensured to be fixed at the machining position.

Specifically, a vertical slideway is provided at the bottom of the base 150, a supporting leg 1522 is disposed in the slideway, a driving member 1524 is an air cylinder, and a telescopic end of the air cylinder is connected with the supporting leg 1522 to drive the supporting leg 1522 to move through telescopic action, thereby adjusting the height of the base 150.

As shown in fig. 1, 2 and 3, in view of this, a second aspect of the present utility model provides a processing system 200, the processing system 200 comprising: a processing apparatus 100 as in any of the embodiments described above; the transport assembly 210 is configured to drive the workpiece 300 to move to a predetermined station.

In this embodiment, a processing system 200 is defined, and the processing apparatus 100 in any of the embodiments is disposed in the processing system 200, so that the processing system 200 has advantages of the processing apparatus 100 in any of the embodiments, and can achieve technical effects achieved by the processing apparatus 100 in any of the embodiments, and further description is omitted herein to avoid repetition.

On this basis, the processing system 200 further comprises a transporting assembly 210, wherein the transporting assembly 210 can carry the workpiece 300 to convey the workpiece 300 to a predetermined station, so that the processing device 100 can firstly locate the blemish points marked on the surface of the workpiece 300 through the shooting assembly 130, collect three-dimensional information of the blemish points, and then control the cooperative robot 120 to drive the polishing assembly 110 to perform polishing operation through the controller 140, so as to eliminate the blemish points on the workpiece 300.

Through setting up the transportation subassembly 210, can realize the automatic feeding of work piece 300, remove the complicated operation of workman's transport work piece 300 by oneself and location work piece 300 from, and then realize promoting machining efficiency, reduce the technological effect of processing human cost.

As shown in fig. 1, 11 and 12, in any of the above embodiments, the transport assembly 210 includes: an automated guided vehicle 212; the clamp 214 is disposed on the automatic guiding carrier 212, and is used for clamping the workpiece 300.

In this embodiment, the transport assembly 210 includes an automated guided transport cart 212 and a clamp 214, the clamp 214 being mounted on top of the automated guided transport cart 212, the clamp 214 being configured to clamp the workpiece 300. The clamp 214 and the workpiece 300 are driven to synchronously move in the moving process of the automatic guide transport vehicle 212 so as to realize automatic feeding. The structure of the clamp 214 is related to the shape of the workpiece 300, and the workpieces 300 of different types correspond to the clamps 214 of different shapes, taking the workpiece 300 as an example of a vehicle door, the clamp 214 supports the vehicle door through a branch structure, and a plurality of suckers are arranged on the branch structure and are adsorbed on the inner surface of the vehicle door so as to expose the paint surface of the vehicle door to the outside, thereby providing convenience for polishing the paint surface.

As shown in fig. 1 and 11, in one embodiment of the present application, a processing system 200 includes:

the movable base 150, the top of the base 150 is a fixed table board of the cooperative robot 120, a control cabinet and other electrical control equipment of the cooperative robot 120 are arranged in the middle, and the bottom is a caster wheel body 160 and a liftable foot cup supporting structure supporting foot 1522. The base 150 is used to hold the collaborative robot 120 so that a person may push the base 150 to a work site and after the hold position, lower the cup support mechanism into contact with the ground and raise the cup support mechanism so that the collaborative robot 120 may reach the sanding and polishing height. While the base 150 provides a source of air and power, a switch knob to control the cooperative robot 120 and the end work operations, etc.

The cooperative robot 120, the cooperative robot 120 is generally a standard substance, can ensure the safety of man-machine cooperation working conditions, and meets certain load and arm extension requirements.

Camera 134 (typically a 3D camera, which may include a light source), camera 134 captures a door of the vehicle with the object being painted and with the flaw located, and after the flaw mark is manually made by the preamble station, camera 134 captures a door image to locate the flaw location (including depth information), coordinate information is calculated by a processing unit of camera 134 and sent to controller 140, and a polishing track is planned by the robot to finish the polishing operation of the flaw.

Polishing assembly 110 (comprising a polishing standard mill, bracket 112, attachment flange, and protective housing 132): the polishing assembly 110 is used for actually performing the defect polishing operation, and is designed to be easily used in cooperation with the posture of the cooperative robot 120, and the mill orientation is designed to be offset by 90 ° relative to the robot end orientation, and is realized by the design of the fixed support 112. In particular, polishing produces a slurry that needs to be protected from the camera 134 by the housing 132.

The automatic guiding transport vehicle 212, the automatic guiding transport vehicle 212 is used for fixing and moving the vehicle door, the automatic guiding transport vehicle 212 is in an autonomous navigation mode, and a movement instruction can be provided by an upper computer to finish the migration among a plurality of stations. The door securing clip 214 is secured directly to the load platform at the top of the automated guided vehicle 212. The inside of the door work piece 300 on the production line is limited and fixed by a mechanism on the clamp 214 (the clamping position can be adjusted by using a designed floating locking structure, and a standard clamp or a sucker is used for fixing), and the door paint faces outwards.

As shown in fig. 13, the process flow of the processing system 200 is as follows:

the AGV (automated guided vehicle 212) brings the door from the door placement area (area d in FIG. 13) into the manual inspection station (area e in FIG. 13).

And (5) manually detecting the flaws of the vehicle door and marking the flaw points.

The AGV trolley enters the polishing station (zone f in FIG. 13), the cooperative robot 120 approaches the door, the camera 134 photographs the body, identifies the flaw point, and sends the location to the controller 140.

The cooperative robot 120 automatically generates a polishing track based on the flaw point position data provided by the camera 134, and polishes the flaw point and its surroundings.

After finishing the polishing, the AGV trolley returns to the door placing area.

It is to be understood that in the claims, specification and drawings of the present utility model, the term "plurality" means two or more, and unless otherwise explicitly defined, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present utility model and making the description process easier, and not for the purpose of indicating or implying that the apparatus or element in question must have the particular orientation described, be constructed and operated in the particular orientation, so that these descriptions should not be construed as limiting the present utility model; the terms "connected," "mounted," "secured," and the like are to be construed broadly, and may be, for example, a fixed connection between a plurality of objects, a removable connection between a plurality of objects, or an integral connection; the objects may be directly connected to each other or indirectly connected to each other through an intermediate medium. The specific meaning of the terms in the present utility model can be understood in detail from the above data by those of ordinary skill in the art.

In the claims, specification, and drawings of the present utility model, the descriptions of terms "one embodiment," "some embodiments," "particular embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In the claims, specification and drawings of the present utility model, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A processing apparatus, comprising:

the polishing assembly is used for polishing the workpiece positioned at the preset station;

a cooperative robot coupled to the polishing assembly;

the shooting assembly is arranged on the cooperative robot or the polishing assembly and is used for shooting the mark on the workpiece to obtain mark information;

and the controller is connected with the cooperative robot and the shooting assembly, determines a polishing track according to the identification information and controls the cooperative robot to drive the polishing assembly to move along the polishing track.

2. The processing apparatus of claim 1, wherein the polishing assembly comprises:

the bracket is connected with the cooperative robot;

the polisher is arranged on the bracket;

the support is connected with the tail end flange of the cooperative robot.

3. The processing apparatus according to claim 2, wherein,

the direction of the tail end of the cooperative robot is a first direction, and the direction of the working part on the polisher is a second direction;

the included angle between the first direction and the second direction is 90 degrees.

4. The processing apparatus of claim 2, wherein the photographing assembly comprises:

the shell is connected with the bracket;

and the camera is arranged in the shell and is connected with the controller.

5. The processing apparatus according to any one of claims 1 to 4, further comprising:

the base, the controller is located in the base, the cooperation robot is located on the base.

6. The processing apparatus according to claim 5, further comprising:

the wheel body is rotationally connected with the base and is positioned at the bottom of the base.

7. The processing apparatus according to claim 5, further comprising:

and the lifting mechanism is connected with the base and can move relative to the base, and the lifting mechanism is used for adjusting the height of the base.

8. The processing apparatus of claim 7, wherein the lifting mechanism comprises:

the supporting leg is connected with the base in a sliding manner and is positioned at the bottom of the base;

the driving piece is arranged on the base and connected with the supporting legs, and the driving piece is used for driving the supporting legs to move relative to the base.

9. A processing system, comprising:

the processing apparatus according to any one of claims 1 to 8;

and the conveying assembly is used for driving the workpiece to move to the preset station.

10. The processing system of claim 9, wherein the transport assembly comprises:

automatically guiding the transport vehicle;

and the clamp is arranged on the automatic guide transport vehicle and is used for clamping the workpiece.

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