CN110434762B - Full-automatic grinding wheel online replacement system based on machine vision - Google Patents
Full-automatic grinding wheel online replacement system based on machine vision Download PDFInfo
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- CN110434762B CN110434762B CN201910616260.4A CN201910616260A CN110434762B CN 110434762 B CN110434762 B CN 110434762B CN 201910616260 A CN201910616260 A CN 201910616260A CN 110434762 B CN110434762 B CN 110434762B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power tools
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a full-automatic grinding wheel online replacement system based on machine vision, which comprises a mechanical arm and a machine vision positioning module, and is characterized in that: the grinding wheel nut and flange dismounting and mounting module, the grinding wheel fixing nut loosening and tightening module, the nut and flange dismounting and mounting moving module and the grinding wheel dismounting and mounting manipulator are also included; the nut flange dismounting and mounting moving module comprises a horizontal moving mechanism and a vertical lifting mechanism, a vertical lifting frame of the vertical lifting mechanism is mounted on a displacement panel of the horizontal moving mechanism, and the grinding wheel fixing nut tightening and loosening module and the nut flange dismounting and mounting module are mounted on a mounting plate of the vertical lifting mechanism; the grinding wheel dismounting manipulator is arranged on the mechanical arm; the fixing nut, the fixing flange and the grinding wheel are quickly disassembled and assembled, so that the grinding wheel replacement efficiency is improved, the time of workers exposed in a high-temperature and high-dust environment is reduced, and the safety of the workers is ensured; the manual operation links are reduced, the labor cost is reduced, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of metal cutting equipment, in particular to a full-automatic grinding wheel online replacing system based on machine vision.
Technical Field
The main equipment of the intelligent unattended cutting system used in the steel plant at present is a large abrasive wheel saw, and a large abrasive wheel (single piece 50kg, diameter 1250 mm) used in the set of cutting system belongs to a consumable part, and is easy to generate a large amount of loss due to high use frequency. In traditional emery wheel change, adopt pure manual mode, because emery wheel weight, diameter are big, change inefficiency, the cost of labor is high, will dismantle or install the emery wheel and need elasticity fixation nut at first, so the fixation nut who uses as large-scale emery wheel is also very big, and manual locking or very hard when loosening to. According to the loss calculation of the grinding wheel on site, the grinding wheel is replaced about every 2 hours, and particularly, the working environment of the system equipment is severe (high temperature and dust), so that the safety of workers cannot be guaranteed.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a full-automatic grinding wheel online replacement system based on machine vision, so that automatic disassembly and assembly of a grinding wheel are realized.
The embodiment of the invention is realized by adopting the following scheme: the utility model provides a full-automatic emery wheel is system of changing on line based on machine vision, including arm and the machine vision orientation module that is used for fixing a position the emery wheel position, its characterized in that: the grinding wheel assembling and disassembling device further comprises a grinding wheel nut flange assembling and disassembling module for assembling and disassembling a fixed nut for fixing a grinding wheel and a fixed flange, a grinding wheel fixed nut loosening and loosening module for loosening and loosening the grinding wheel fixed nut, a nut flange assembling and disassembling moving module for moving the grinding wheel nut flange assembling and disassembling module and the grinding wheel fixed nut loosening and loosening module, and a grinding wheel assembling and disassembling manipulator for assembling and disassembling the grinding wheel; the nut flange dismounting and mounting moving module comprises a horizontal moving mechanism and a vertical lifting mechanism, a vertical lifting frame of the vertical lifting mechanism is mounted on a displacement panel of the horizontal moving mechanism, and the grinding wheel fixing nut tightening and loosening module and the nut flange dismounting and mounting module are mounted on a mounting plate of the vertical lifting mechanism; the grinding wheel disassembling and assembling manipulator comprises an upper disc and a lower disc, a buffer mechanism for protecting a grinding wheel from being damaged by pressure is connected between the upper disc and the lower disc, the lower disc is provided with a plurality of sets of grinding wheel adsorption mechanisms and the machine vision positioning module, and the lower surface of the lower disc is also provided with a contact switch for judging whether the grinding wheel disassembling and assembling manipulator absorbs the grinding wheel; a mechanical arm connecting convex part is arranged at the center of the upper disc and is connected with the mechanical arm; the mechanical arm is arranged in front of the nut flange dismounting and mounting moving module.
In one embodiment of the invention, each set of grinding wheel adsorption mechanism comprises a sucker, an air filter, an air pressure detector and a vacuum generator, wherein the sucker is connected with the air filter, the air filter is connected with the vacuum generator, and the vacuum generator is connected with the air pressure detector; 6 suckers are annularly arranged on the lower surface of the lower disc by taking the circle center of the lower disc as the center; the air filter, the air pressure detector and the vacuum generator are all arranged on the upper surface of the lower disc; buffer gear includes guiding axle, axle sleeve, buffer spring, spacing top cap, the axle sleeve encircles and installs go up the disc, the axle sleeve endotheca is established the guiding axle, the buffer spring cover is established on the guiding axle, the lower extreme of guiding axle is fixed disc down, the upper end of guiding axle is provided with first bulge loop, the axle sleeve inner wall is provided with the second bulge loop, spacing top cap is fixed the top of axle sleeve.
In one embodiment of the present invention, the horizontal moving mechanism includes a support panel, a guide rail, the displacement panel, a rack, and an installation base, the support panel is installed on the installation base, the guide rail is installed on each of the front and rear side surfaces of the installation base, the rack is installed below the guide rail on the front side surface of the installation base, a first driving motor is installed on the front side of the displacement panel, an output shaft of the first driving motor is connected with a gear, the gear is matched with the rack, and a displacement slider is connected between the displacement panel and the guide rail; the vertical lifting mechanism is installed on the displacement panel and comprises a vertical lifting frame, slide rails are arranged on two adjacent vertical side edges of the right side face of the vertical lifting frame, an installation plate is installed on the slide rails, a lead screw is arranged between the slide rails, a lead screw nut is arranged on the back face of the installation plate, the lead screw is matched with the lead screw nut, limiting slide blocks are arranged on two sides of the back face of the panel of the installation plate and matched with the slide rails, and the lead screw is driven by a second driving motor;
in one embodiment of the invention, the tightness module of the grinding wheel fixing nut comprises the mounting frame, the mounting panels are arranged on the left side and the right side of the mounting frame, the central circular hole is formed in the middle of each mounting panel, the guide sleeve is arranged on each mounting panel around the central circular hole, the guide shafts are arranged in the guide sleeves and sequentially penetrate through the guide sleeves on the left mounting panel and the right mounting panel, the first disc is arranged at the tail of each guide shaft, the second disc is arranged at the front end of each guide shaft, the pneumatic wrench is arranged in the mounting frame, the support column is connected between the tail of the pneumatic wrench shell and the first disc, the support column is also connected between the front end of the pneumatic wrench shell and the second disc, the air cannon sleeve is arranged at the head of the pneumatic wrench, the second circular hole is formed in the middle of the second disc, the air cannon sleeve penetrates through the second round hole to be connected with the main shaft of the pneumatic wrench; the diameter of the central round hole is larger than the outer diameter of the pneumatic wrench, and the pneumatic wrench can penetrate through the central round hole; a first telescopic cylinder is installed in the installation frame, and a push rod of the first telescopic cylinder penetrates through an installation panel on the right side of the installation frame and is fixed on the first disc;
in one embodiment of the invention, a displacement sensor mounting hole is formed in the mounting panel on the left side of the mounting frame on the grinding wheel fixing nut loosening and tightening module, and the displacement sensor penetrates through the mounting hole and is respectively connected with the second disc and the mounting panel on the right side of the mounting frame; six guide sleeves are mounted on each mounting panel, the mounting positions of the guide sleeves on the two mounting panels are the same, the guide shafts are mounted in the guide sleeves, four support columns are arranged at the tail of the pneumatic wrench, and four support columns are arranged at the head of the pneumatic wrench; a round hole is formed in the middle of the first disc, and a fixing panel is installed on the lower side of the installing frame.
In one embodiment of the invention, compared with the grinding wheel fixing nut loosening and tightening module, the grinding wheel nut flange dismounting module is provided with a grinding wheel fixing flange taking-out mechanism on the second disc, the grinding wheel fixing flange taking-out mechanism comprises a third disc, a support rod is connected between the third disc and the second disc, a third round hole is formed in the middle of the third disc, a convex part is arranged on the side edge of the third round hole in a surrounding mode, a plurality of second telescopic cylinders are arranged on the outer ring of the convex part, the support column is not connected between the tail part of the pneumatic wrench shell and the first disc, and the wind cannon sleeve is a permanent magnet; the rest of the modules are the same as the tightness module of the grinding wheel fixing nut.
In one embodiment of the invention, the front end and the rear end of the displacement panel of the nut flange dismounting and moving module are provided with limit grooves, and the front side and the rear side of the support panel are positioned in the limit grooves; a control box is arranged on the left side of the mounting base; 3 support frames are arranged below the mounting base, a drag chain mounting rack is arranged at the bottom of the front side surface of the mounting base, and a drag chain is arranged on the drag chain mounting rack; the left part of the front side surface of the vertical lifting frame is also provided with the drag chain mounting rack, and a drag chain is also arranged on the drag chain mounting rack; the second driving motor is installed on the upper portion of the vertical lifting frame, the lead screw and a transmission portion of the second driving motor are located at the top of the lead screw, and the cross section of the sliding rail is T-shaped.
The invention has the beneficial effects that: the invention provides a full-automatic grinding wheel online replacement system based on machine vision, which is used for quickly dismounting and mounting a fixing nut, a fixing flange and a grinding wheel, thereby improving the efficiency of grinding wheel replacement, reducing the time of workers exposed in a high-temperature and high-dust environment and ensuring the safety of the workers; the manual operation links are reduced, the labor cost is reduced, and the production efficiency is improved.
Drawings
FIG. 1 is a schematic structural diagram of a full-automatic grinding wheel online replacing system based on machine vision.
FIG. 2 is a partially enlarged schematic view of a fully automatic grinding wheel online replacement system based on machine vision.
Fig. 3 is a schematic structural view of the grinding wheel mounting and demounting robot.
Fig. 4 is a bottom view of the wheel mounting and demounting robot.
FIG. 5 is a schematic view of the connection relationship among the shaft sleeve, the guide shaft, the buffer spring and the limit top cover of the buffer mechanism of the grinding wheel disassembling and assembling manipulator.
Fig. 6 is a schematic structural diagram of the nut flange dismounting module, and the grinding wheel fixing nut tightening module.
Fig. 7 is a schematic structural view of the nut flange dismounting moving module.
Fig. 8 is a partially enlarged schematic view of the nut flange dismounting moving module.
Fig. 9 is a schematic diagram of a grinding wheel nut flange dismounting module and a grinding wheel fixing nut tightening module mounted on a vertical lifting mechanism of the nut flange dismounting moving module.
Fig. 10 is a schematic structural view of a vertical lifting mechanism of the nut flange dismounting moving module.
Fig. 11 is a schematic diagram of a grinding wheel nut dismounting module and a grinding wheel fixing nut tightening module mounted on a vertical lifting mechanism mounting plate of the nut flange dismounting moving module.
FIG. 12 is a schematic structural view of a grinding wheel fixing nut tightening and loosening module.
Figure 13 is another view of the wheel securing nut tightening module.
Fig. 14 is a schematic view of the connection of the pneumatic wrench of the wheel securing nut tightening/loosening module.
Fig. 15 is a schematic structural view of the grinding wheel nut flange dismounting module.
Figure 16 is another view of the wheel nut flange disassembly module in schematic configuration.
Fig. 17 is a schematic structural view of a pneumatic wrench of the grinding wheel nut flange dismounting module.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 17, the present invention provides a full-automatic grinding wheel online replacement system based on machine vision, including a mechanical arm and a machine vision positioning module 44 for positioning the position of a grinding wheel, further including a grinding wheel nut flange dismounting module for dismounting and mounting a fixing nut for fixing the grinding wheel and a fixing flange, a grinding wheel fixing nut tightening module for tightening and loosening the grinding wheel fixing nut, a nut flange dismounting and moving module for moving the grinding wheel nut flange dismounting module and the grinding wheel fixing nut tightening module, and a grinding wheel dismounting and mounting manipulator for dismounting and mounting the grinding wheel; the nut flange dismounting and mounting moving module comprises a horizontal moving mechanism and a vertical lifting mechanism, a vertical lifting frame of the vertical lifting mechanism is arranged on a displacement panel 17 of the horizontal moving mechanism, and the grinding wheel fixing nut tightening and loosening module and the nut flange dismounting and mounting module are arranged on a mounting plate 34 of the vertical lifting mechanism; the grinding wheel dismounting and mounting manipulator comprises an upper disc 37 and a lower disc 38, a buffer mechanism 39 used for protecting a grinding wheel from being damaged by pressure is connected between the upper disc 37 and the lower disc 38, the buffer mechanism plays a role of shock absorption and buffering and avoids damaging the grinding wheel 46 by pressure, the lower disc 38 is provided with a plurality of sets of grinding wheel adsorption mechanisms 40 and the machine vision positioning module 44 and is used for determining the central position of the grinding wheel so as to be convenient for accurately sucking the grinding wheel, and the lower surface of the lower disc 38 is also provided with a contact switch 43 used for judging whether the grinding wheel dismounting and mounting manipulator sucks the grinding wheel or not; it should be noted that the machine vision positioning module 44 is made by the prior art and therefore will not be described in detail herein, and is made by the following model: kirschner manipulator vision system CV-X400; a mechanical arm connecting convex part 42 is arranged at the center of the upper disc 37 and is connected with the mechanical arm 41; the mechanical arm 41 is installed in front of the nut flange dismounting and moving module and used for dismounting and mounting the grinding wheel.
With reference to fig. 1 to 5, in an embodiment of the present invention, each set of grinding wheel adsorption mechanism 40 includes a suction cup 401, an air filter 402, an air pressure detector 403, and a vacuum generator 404, where the suction cup 401 is connected to the air filter 402, the air filter 402 is connected to the vacuum generator 404, and the vacuum generator 404 is connected to the air pressure detector 403 and is connected to the air pressure detector 403 through an air pipe; 6 sucking discs 401 are annularly arranged on the lower surface of the lower disc 38 by taking the circle center of the lower disc 38 as the center; the air filter 402, the air pressure detector 403, and the vacuum generator 404 are all mounted on the upper surface of the lower disk 38; the buffer mechanism 39 comprises a guide shaft 391, a shaft sleeve 392, a buffer spring 393 and a limit top cover 394, wherein the shaft sleeve 392 is mounted around the upper disc 37, the guide shaft 391 is sleeved in the shaft sleeve 392, the buffer spring 393 is sleeved on the guide shaft 391, the lower end of the guide shaft 391 is fixed on the lower disc 38, a first convex ring is arranged at the upper end of the guide shaft 391, a second convex ring is arranged on the inner wall of the shaft sleeve 392, and the limit top cover 394 is fixed at the top of the shaft sleeve 392 and plays a role in limiting, so that the guide shaft 391 moves in a limited range.
With continued reference to fig. 1, 6 to 11, in an embodiment of the present invention, the horizontal moving mechanism includes a supporting panel 16, a guide rail 22, a displacement panel 17, a rack 21, and an installation base 20, the supporting panel 16 is installed on the installation base 20, the guide rail 22 is installed on each of front and rear side surfaces of the installation base 20, the rack 21 is installed below the guide rail 22 on the front side surface of the installation base 20, a first driving motor 18 is installed on the front side of the displacement panel 17, an output shaft of the first driving motor 18 is connected to a gear, the gear is matched with the rack 21, and a displacement slider 24 is connected between the displacement panel 17 and the guide rail 22; for effecting movement in a horizontal direction; vertical hoist mechanism installs on displacement panel 17, vertical hoist mechanism includes vertical lifting frame 19, be provided with slide rail 30 on two adjacent vertical sides of vertical lifting frame 19 right flank, install mounting panel 34 on the slide rail 30, be provided with lead screw 29 between the slide rail 30, the back of mounting panel 34 is provided with screw nut 35, lead screw 29 with screw nut 35 cooperatees, the back both sides of the panel of mounting panel 34 are provided with stop block 33, stop block 33 with the cooperation of slide rail 30, lead screw 29 is driven by second driving motor 28 for realize the motion of vertical direction.
With reference to fig. 12 to 14, in an embodiment of the present invention, the tightness module for a wheel fixing nut includes an installation frame 1, installation panels 101 are disposed on left and right sides of the installation frame 1, a central circular hole is formed in the middle of each of the installation panels 101, guide sleeves 8 are uniformly installed on the installation panels 101 around the central circular hole, guide shafts 5 are installed in the guide sleeves 8, the guide shafts 5 sequentially pass through the guide sleeves 8 on the left and right installation panels 101, a first disc 2 is installed at a tail of each of the guide shafts 5, a second disc 3 is installed at a front end of each of the guide shafts 5, a pneumatic wrench 10 is installed in the installation frame 1, a support column 6 is connected between a tail of an outer shell of the pneumatic wrench 10 and the first disc 2, the support column 6 is also connected to the front end of the outer shell of the pneumatic wrench 10 and the second disc 3, the head of the pneumatic wrench 10 is provided with a wind cannon sleeve 11, the middle part of the second disc 3 is provided with a second round hole, and the wind cannon sleeve 11 passes through the second round hole to be connected with the main shaft of the pneumatic wrench 10; the diameter of the central circular hole is larger than the outer diameter of the pneumatic wrench 10, and the pneumatic wrench 10 can pass through the central circular hole; a first telescopic cylinder 4 is installed in the installation frame 1, and a push rod of the first telescopic cylinder 4 penetrates through an installation panel 101 on the right side of the installation frame 1 and is fixed on the first disc 2;
with reference to fig. 12 to 14, in an embodiment of the present invention, a displacement sensor mounting hole is formed in the mounting panel 101 on the left side of the mounting frame 1 on the grinding wheel fixing nut tightening and loosening module, and the displacement sensor 9 passes through the displacement sensor mounting hole and is respectively connected to the second disc 3 and the mounting panel 101 on the right side of the mounting frame 1, so as to measure a displacement distance of the pneumatic wrench, so as to determine whether a sleeve on the pneumatic wrench is sleeved in a nut; six guide sleeves 8 are mounted on each mounting panel 101, the mounting positions of the guide sleeves 8 on the two mounting panels 101 are the same, the guide shafts 5 are mounted in the guide sleeves 8, four support columns 6 are arranged at the head of the pneumatic wrench 10, four support columns 6 are arranged at the tail of the pneumatic wrench 10, and when the nut is tightened, large torque is needed to ensure uniform stress; the middle part of the first disc 2 is provided with a round hole for providing a connecting channel for connecting an air pipe with the pneumatic wrench, the lower side of the mounting frame 1 is provided with a fixing panel 7, and the grinding wheel fixing nut tightening and loosening module is mounted on the mounting plate 34.
With reference to fig. 12 to 17, in an embodiment of the present invention, in addition to the wheel fastening flange removing mechanism disposed on the second disc 3, the wheel fastening flange removing mechanism includes a third disc 13, a support rod 12 is connected between the third disc 13 and the second disc 3, a third circular hole is disposed in a middle of the third disc 13, a convex portion 15 is disposed around a side edge of the third circular hole, and a plurality of second telescopic cylinders 14 are disposed on an outer ring of the convex portion 15; the supporting column is not connected between the tail of the shell of the pneumatic wrench 10 and the first disc 2, so that the stress is small, unnecessary structures are removed, the weight is reduced, and the wind cannon sleeve 11 is a permanent magnet; the rest of the modules are the same as the tightness module of the grinding wheel fixing nut.
With continued reference to fig. 1, 6 to 11, in an embodiment of the present invention, the front end and the rear end of the displacement panel 17 are provided with a limiting groove 24, and the front side and the rear side of the support panel 16 are located in the limiting groove 24 to prevent the deviation from limiting; a control box 32 is arranged on the left side of the mounting base 20 and used for controlling power supply and controlling the movement of the nut flange dismounting and mounting moving module; 3 support frames 31 are arranged below the mounting base 20, a drag chain mounting rack 25 is arranged at the bottom of the front side surface of the mounting base 20, and a drag chain 26 is arranged on the drag chain mounting rack 25; the tow chain mounting rack 25 is also mounted at the left part of the front side surface of the vertical lifting frame 19, and a tow chain 26 is also arranged on the tow chain mounting rack and is used for mounting related cables, so that the situation that the nut flange dismounting and mounting moving module is in fault shutdown due to cable winding and the grinding wheel cannot be replaced is prevented; second driving motor 28 is installed the upper portion of vertical promotion frame, lead screw 29 with second driving motor 28's transmission portion is located lead screw 29's top does not influence mounting panel 34 and reciprocates, also can play spacing effect, slide rail 30's cross section is T shape, two on the vertical hoist mechanism the T font point portion of slide rail 30 all outwards, because the interior concave part of spacing slider 33 all blocks into the point portion of T shape realizes that the effect of direction also can play the effect of anticreep rail.
It should be noted that the fixing nut and the gasket are fixed together, the structure of the grinding wheel fixing flange is modified, a convex portion is arranged on the grinding wheel fixing flange and surrounds the center of the grinding wheel fixing flange, a groove is formed in the outer circumferential surface of the convex portion in a surrounding mode, the second telescopic cylinder extends into the groove, a wind cannon sleeve on the pneumatic wrench sucks the fixing nut and rotates, and then the push rod of the first telescopic cylinder retracts backwards to drive the pneumatic wrench to move backwards so as to detach the fixing nut and the grinding wheel fixing flange.
With reference to fig. 1, in an embodiment of the present invention, a dust-proof plate 36 is disposed on the mounting plate above the grinding wheel fixing nut loosening and tightening device and the grinding wheel fixing nut dismounting device.
The invention has the following working modes;
when the grinding wheel is disassembled: the nut flange dismounting and moving module moves the grinding wheel fixing nut loosening and tightening module to the position of the grinding wheel fixing nut. And a first telescopic cylinder of the grinding wheel fixing nut loosening and tightening module works to enable a wind cannon sleeve on the pneumatic wrench to be sleeved on the fixing nut. And the starting wrench on the grinding wheel fixing nut loosening and tightening module works to loosen the grinding wheel fixing nut. And the first telescopic cylinder on the grinding wheel fixing nut loosening and tightening module works to enable the starting wrench to move backwards, so that the wind cannon sleeve is not sleeved on the fixing nut any more, and the nut flange dismounting and moving module works to enable the grinding wheel nut flange dismounting and mounting module to move to the position of the grinding wheel fixing nut. And the first telescopic cylinder on the grinding wheel nut flange dismounting module works, the air gun sleeve on the fixing nut dismounting device is sleeved into the fixing nut, the grinding wheel fixing flange taking-out mechanism on the grinding wheel nut flange dismounting module is aligned to the concave part of the grinding wheel fixing flange, and all the second telescopic cylinders work simultaneously and are clamped into the groove. The first telescopic cylinder of the grinding wheel fixing nut dismounting device works to enable the pneumatic wrench of the fixing nut dismounting device to move backwards, and meanwhile, the pneumatic wrench rotates to unscrew the fixing nut and take out the fixing piece; the nut flange dismounting and mounting moving module moves back to the braking position. The mechanical arm drives the grinding wheel disassembling and assembling mechanical arm to move to the installation position of the grinding wheel, the machine vision positioning module is used for positioning, the function of serving as a reference for adjusting the position of the mechanical arm is achieved, and the mechanical arm can accurately absorb the position of the grinding wheel when moving the grinding wheel disassembling and assembling mechanical arm. The grinding wheel is sucked by the pressure difference between the inside and the outside of the sucker due to the work of a grinding wheel adsorption module vacuum generator on the grinding wheel disassembling and assembling manipulator. The mechanical arm takes out the grinding wheel from the mounting position, the grinding wheel is conveyed to the storage position for placing the waste grinding wheel, the vacuum generator of the grinding wheel adsorption module works, the pressure difference between the inside and the outside of the sucking disc is the same, and the grinding wheel falls into the storage position 46 of the waste grinding wheel.
When the grinding wheel is installed:
the mechanical arm moves to the position, above the new grinding wheel storage position 47, of the grinding wheel dismounting mechanical arm to suck a new grinding wheel, the mechanical arm moves the grinding wheel to the installation position 45, and the grinding wheel dismounting mechanical arm puts down the grinding wheel and moves to a position where subsequent steps are not influenced. The nut flange dismounting and mounting moving module moves the grinding wheel nut dismounting and mounting module on the nut flange dismounting and mounting moving module to the position for mounting the fixed nut and the fixed flange, and the grinding wheel nut dismounting and mounting module pushes the fixed flange into the mounting shaft and simultaneously screws the fixed nut in. The grinding wheel nut flange dismounting and mounting module retreats, the nut flange dismounting and mounting moving module moves the fixing nut loosening and tightening module on the nut flange dismounting and mounting moving module to the position where the fixing nut is installed, and then the fixing nut is sleeved in the nut flange dismounting and mounting moving module to be screwed. The fixed nut loosening and tightening module retreats, and the grinding wheel nut flange dismounting and moving module moves to a position where cutting is not affected.
The above description is only a preferred embodiment of the present invention, and should not be construed as limiting the present invention, and all equivalent variations and modifications made in the claims of the present invention should be covered by the present invention.
Claims (6)
1. Full-automatic online grinding wheel replacing system based on machine vision comprises a mechanical arm and a machine vision positioning module used for positioning the position of a grinding wheel, and is characterized in that: the grinding wheel assembling and disassembling device further comprises a grinding wheel nut flange assembling and disassembling module for assembling and disassembling a fixed nut for fixing a grinding wheel and a fixed flange, a grinding wheel fixed nut loosening and loosening module for loosening and loosening the grinding wheel fixed nut, a nut flange assembling and disassembling moving module for moving the grinding wheel nut flange assembling and disassembling module and the grinding wheel fixed nut loosening and loosening module, and a grinding wheel assembling and disassembling manipulator for assembling and disassembling the grinding wheel; the nut flange dismounting and mounting moving module comprises a horizontal moving mechanism and a vertical lifting mechanism, a vertical lifting frame of the vertical lifting mechanism is mounted on a displacement panel of the horizontal moving mechanism, and the grinding wheel fixing nut tightening and loosening module and the grinding wheel nut flange dismounting and mounting module are mounted on a mounting plate of the vertical lifting mechanism; the grinding wheel disassembling and assembling manipulator comprises an upper disc and a lower disc, a buffer mechanism for protecting a grinding wheel from being damaged by pressure is connected between the upper disc and the lower disc, the lower disc is provided with a plurality of sets of grinding wheel adsorption mechanisms and the machine vision positioning module, and the lower surface of the lower disc is also provided with a contact switch for judging whether the grinding wheel disassembling and assembling manipulator absorbs the grinding wheel; a mechanical arm connecting convex part is arranged at the center of the upper disc and connected with the mechanical arm; the mechanical arm is arranged in front of the nut flange dismounting and mounting moving module; each set of grinding wheel adsorption mechanism comprises a sucker, an air filter, an air pressure detector and a vacuum generator, wherein the sucker is connected with the air filter, the air filter is connected with the vacuum generator, and the vacuum generator is connected with the air pressure detector; 6 suckers are annularly arranged on the lower surface of the lower disc by taking the circle center of the lower disc as the center; the air filter, the air pressure detector and the vacuum generator are all arranged on the upper surface of the lower disc; buffer gear includes guiding axle, axle sleeve, buffer spring, spacing top cap, the axle sleeve encircles and installs go up the disc, the axle sleeve endotheca is established the guiding axle, the buffer spring cover is established on the guiding axle, the lower extreme of guiding axle is fixed disc down, the upper end of guiding axle is provided with first bulge loop, the axle sleeve inner wall is provided with the second bulge loop, spacing top cap is fixed the top of axle sleeve.
2. The machine vision based full-automatic grinding wheel online replacement system of claim 1, wherein: the horizontal moving mechanism comprises a supporting panel, a guide rail, the displacement panel, a rack and an installation base, wherein the supporting panel is installed on the installation base, the guide rail is respectively installed on the front side surface and the rear side surface of the installation base, the rack is installed on the front side surface of the installation base and is positioned below the guide rail, a first driving motor is installed on the front side of the displacement panel, an output shaft of the first driving motor is connected with a gear, the gear is matched with the rack, and a displacement sliding block is connected between the displacement panel and the guide rail; vertical hoist mechanism installs on the displacement panel, vertical hoist mechanism includes vertical lifting frame, be provided with the slide rail on two adjacent vertical sides of vertical lifting frame right flank, install the mounting panel on the slide rail, be provided with the lead screw between the slide rail, the back of mounting panel is provided with screw nut, the lead screw with screw nut cooperatees, the back both sides of the panel of mounting panel are provided with spacing slider, spacing slider with the slide rail cooperation, the lead screw is driven by second driving motor.
3. The machine vision based full-automatic grinding wheel online replacement system of claim 1, wherein: the tightness module of the grinding wheel fixing nut comprises a mounting frame, mounting panels are arranged on the left side and the right side of the mounting frame, the middle part of the mounting panel is provided with a central round hole, the mounting panel is provided with a guide sleeve around the central round hole, a guide shaft is arranged in the guide sleeve, the guide shaft sequentially passes through the guide sleeves on the left side and the right side mounting panels, a first disc is arranged at the tail part of the guide shaft, a second disc is arranged at the front end of the guide shaft, a pneumatic wrench is arranged in the mounting frame, a support pillar is connected between the tail part of the shell of the pneumatic wrench and the first disc, the front end of the pneumatic wrench shell and the second disc are connected with the supporting column in the same way, the head part of the pneumatic wrench is provided with a wind cannon sleeve, a second round hole is formed in the middle of the second disc, and the air cannon sleeve penetrates through the second round hole to be connected with the air wrench main shaft; the diameter of the central round hole is larger than the outer diameter of the pneumatic wrench, and the pneumatic wrench can penetrate through the central round hole; a first telescopic cylinder is installed in the installation frame, and a push rod of the first telescopic cylinder penetrates through an installation panel on the right side of the installation frame and is fixed on the first disc.
4. The machine vision based full-automatic grinding wheel online replacement system of claim 3, wherein: a displacement sensor mounting hole is formed in the mounting panel on the left side of the mounting frame on the grinding wheel fixing nut loosening and tightening module, and a displacement sensor penetrates through the displacement sensor mounting hole to be connected with the second disc and the mounting panel on the right side of the mounting frame respectively; six guide sleeves are mounted on each mounting panel, the mounting positions of the guide sleeves on the two mounting panels are the same, the guide shafts are mounted in the guide sleeves, four support columns are arranged at the tail of the pneumatic wrench, and four support columns are arranged at the head of the pneumatic wrench; a round hole is formed in the middle of the first disc, and a fixing panel is installed on the lower side of the installing frame.
5. The machine vision based full-automatic grinding wheel online replacement system according to claim 3 or 4, characterized in that: compared with the grinding wheel fixing nut loosening and tightening module, the grinding wheel nut flange dismounting module is the same as the grinding wheel fixing nut loosening and tightening module except that a grinding wheel fixing flange taking-out mechanism is arranged on the second disc; the grinding wheel fixing flange taking-out mechanism comprises a third disc, a supporting rod is connected between the third disc and the second disc, a third round hole is formed in the middle of the third disc, a convex portion is arranged on the side edge of the third round hole in a surrounding mode, a plurality of second telescopic cylinders are arranged on the outer ring of the convex portion, the tail portion of the pneumatic wrench shell is not connected with the supporting column between the first disc, and the air cannon sleeve is a permanent magnet.
6. The machine vision based full-automatic grinding wheel online replacement system of claim 2, wherein: the front end and the rear end of the displacement panel of the nut flange dismounting and moving module are provided with limit grooves, and the front side and the rear side of the support panel are positioned in the limit grooves; a control box is arranged on the left side of the mounting base; 3 support frames are arranged below the mounting base, a drag chain mounting rack is arranged at the bottom of the front side surface of the mounting base, and a drag chain is arranged on the drag chain mounting rack; the left part of the front side surface of the vertical lifting frame is also provided with the tow chain mounting rack, and a tow chain is also arranged on the tow chain mounting rack of the vertical lifting frame; the second driving motor is installed on the upper portion of the vertical lifting frame, the lead screw and a transmission portion of the second driving motor are located at the top of the lead screw, and the cross section of the sliding rail is T-shaped.
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| CN113858014B (en) * | 2021-10-22 | 2022-08-09 | 深圳市二砂深联有限公司 | Special resin grinding wheel for automatic mechanical arm cutting and operation method thereof |
| CN117161846B (en) * | 2023-11-01 | 2024-02-09 | 宿迁市青木智能科技有限公司 | Blade grinding machine |
| CN118106883A (en) * | 2024-04-30 | 2024-05-31 | 江苏博诚金属制品有限公司 | Nut flange disassembling and assembling machine |
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