CN112518529A - Industrial robot-based automatic tool edging workstation and edging method - Google Patents
Industrial robot-based automatic tool edging workstation and edging method Download PDFInfo
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- CN112518529A CN112518529A CN202011107544.XA CN202011107544A CN112518529A CN 112518529 A CN112518529 A CN 112518529A CN 202011107544 A CN202011107544 A CN 202011107544A CN 112518529 A CN112518529 A CN 112518529A
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- edging
- sharpening
- polishing
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/002—Machines or devices using grinding or polishing belts; Accessories therefor for grinding edges or bevels
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/004—Machines or devices using grinding or polishing belts; Accessories therefor using abrasive rolled strips
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/008—Machines comprising two or more tools or having several working posts
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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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
- B24B3/00—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools
- B24B3/36—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools of cutting blades
- B24B3/54—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools of cutting blades of hand or table knives
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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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
- B24B53/00—Devices or means for dressing or conditioning abrasive surfaces
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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
- B24B57/00—Devices for feeding, applying, grading or recovering grinding, polishing or lapping agents
- B24B57/04—Devices for feeding, applying, grading or recovering grinding, polishing or lapping agents for feeding of solid grinding, polishing or lapping agents
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses an automatic tool edging workstation and an edging method based on an industrial robot, and relates to an automatic control workstation for tool machining. The automatic tool edging workstation and the edging method based on the industrial robot have the advantages of high edging precision, high production efficiency and long service life. The automatic cutter edging workstation based on the industrial robot comprises an external frame, wherein a feeding and discharging device, the robot, a vision control system, an edging unit, a deburring unit and a polishing and waxing unit are arranged in the external frame, and the feeding and discharging device comprises a conveying platform; the robot is provided with a cutter gripper; the vision control system comprises a high-precision industrial camera, can identify the cutter outline, automatically generates a processing path and carries out position compensation; the sharpening unit comprises a sharpening machine and a self-adjusting sharpening mechanism; the deburring unit is provided with a flannelette belt for deburring a deburring burr; the polishing and waxing unit comprises polishing wheels arranged on two sides of the cutter.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to an automatic cutter edging workstation and an edging method based on an industrial robot.
Background
At present, the knife edge sharpening is carried out by the manual hand-held knife and is polished, and the manual hand-held operation has following three defects: (1) the sharpening quality and efficiency depend on the skill experience and proficiency of workers, and the problems of defective products or poor sharpening consistency are inevitably generated; (2) the long-time single and repeated labor can affect the health of operators, and certain potential safety hazards exist; (3) shortage of skilled workers and increased labor costs. Therefore, the automatic production of the cutter sharpening is imperative.
In recent years, some automatic tool sharpening methods are proposed successively in the market, for example, a tool sharpening system is disclosed in chinese patent publication No. CN109129039A, which combines computer vision to generate a sharpening line and form a robot motion trajectory. Although the sharpening automation is realized, the influence of the abrasion of the sharpening grinding wheel on the precision is not considered, the full automation of the automatic grinding, subsequent deburring and polishing processes of the grinding wheel is not realized, the actual using effect is limited, and the matching of other processes and equipment is also needed.
Disclosure of Invention
The invention aims to provide an industrial robot-based automatic tool edging workstation and an industrial robot-based edging method, which are high in edging precision and production efficiency and long in service life.
The invention provides a scheme of an industrial robot-based automatic cutter edging workstation, which comprises an external frame, wherein a feeding and discharging device, a robot, a vision control system, an edging unit, a deburring unit and a polishing and waxing unit are arranged in the external frame,
the feeding and discharging device comprises a conveying platform, and the conveying platform is used for transferring the cutter;
the robot is provided with a cutter gripper, and the robot drives the cutter gripper to complete the picking work of the cutter;
the vision control system comprises a high-precision industrial camera, can identify the cutter outline, automatically generates a processing path and carries out position compensation;
the sharpening unit comprises a sharpening machine and a self-adjusting sharpening mechanism;
the deburring unit is provided with a flannelette belt for deburring a burr;
the polishing and waxing unit comprises polishing wheels arranged on two sides of the cutter.
The invention relates to a novel automatic cutter edging workstation based on an industrial robot, wherein two clamp fingers are arranged on a cutter gripper, each clamp finger comprises a clamp finger cylinder, an ejector rod, a spring and a hinge block, the clamp finger cylinder drives the ejector rod to control the hinge block to open and close, and a six-dimensional force sensor is arranged at the front end of the cutter gripper.
The invention relates to a novel automatic cutter sharpening workstation based on an industrial robot, wherein a self-adjusting sharpening mechanism is arranged on one side of a sharpening machine and comprises a protective cover, and a transverse adjusting mechanism, a longitudinal adjusting mechanism and a diamond sharpening head are arranged in the protective cover.
The invention relates to a novel automatic cutter edging workstation based on an industrial robot, wherein a transverse adjusting mechanism comprises a motor and a ball screw, the ball screw is arranged on a connecting plate, the motor drives the ball screw to rotate through gear transmission, a diamond edging head is movably connected with the ball screw, the diamond edging head can move in the X-axis direction when the ball screw rotates, a longitudinal adjusting mechanism comprises an adjusting cylinder, a piston rod of the adjusting cylinder is connected with the connecting plate, and the adjusting cylinder drives the connecting plate to move in the Z-axis direction when working so as to finish Z-axis sharpening.
The invention relates to a novel automatic cutter edging workstation based on an industrial robot, wherein a deburring unit comprises a first mounting mechanism, a telescopic mechanism is mounted on the first mounting mechanism and comprises a group of guide rails and a telescopic cylinder, a rack is mounted on the guide rails, a first clamping mechanism and a second clamping mechanism are mounted on the rack, lint tapes for deburring burrs are placed on the two clamping mechanisms, and the second clamping mechanism is connected with a first driving mechanism.
The invention relates to a novel automatic cutter edging workstation based on an industrial robot, wherein a first clamping mechanism is connected with a non-return mechanism, and the non-return mechanism comprises a ratchet wheel, a pawl, a non-return air cylinder and a rubber friction block.
The invention relates to a novel automatic cutter edging workstation based on an industrial robot, wherein a wax conveying mechanism is arranged below a polishing wheel, a polishing unit uses solid wax, the wax conveying mechanism conveys the wax through a floating mechanism, and the floating mechanism and the wax conveying mechanism can quickly replace wax blocks.
The invention relates to a novel automatic tool edging workstation based on an industrial robot, which further comprises a human-computer interaction system, a cleaning system, a safety system and an electrical control system.
The invention relates to a novel automatic tool sharpening workstation based on an industrial robot, wherein the cleaning system comprises an industrial dust collector and a water pump which are arranged inside an external frame.
The invention provides another scheme, and the novel automatic tool sharpening method based on the industrial robot comprises the following steps:
s01, conveying the material tray with the blank cutter placed to a working area by the conveying platform, and positioning;
s02, a cutter gripper of the robot grabs the blank cutter to a photographing area, the vision control system visually recognizes the cutter profile, and automatically generates a grinding path, a deburring path and a polishing path, and performs position compensation;
s03, starting the sharpening machine, wherein the sharpening machine has the function of automatically trimming the grinding disc;
s04, moving the blank cutter to an edging machine by a robot for edging and polishing, and ensuring that the edging pressure is constant through a six-dimensional force sensor to ensure the consistency of the cutting edge;
s05, starting the deburring mechanism, and moving the edged cutter to the deburring mechanism by the robot to deburr;
s06, starting the polishing mechanism, and moving the tool with the burr removed to the polishing and waxing mechanism by the robot for polishing;
and S07, finishing edging, placing the finished cutter in a tray by the robot, and grabbing the next blank cutter for polishing.
The automatic cutter edging workstation based on the industrial robot and the edging method thereof are different from the prior art in that the automatic cutter edging workstation based on the industrial robot automatically generates a unique edging, deburring and polishing path for each cutter through an autonomously developed visual control system and a high-precision industrial camera, so that the edging precision and the applicability are greatly improved.
The sharpening unit of the invention has the self-dressing function and automatically dresses the grinding wheel which is worn in the using process.
In the flash removing process, the lint tape is rotationally arranged on the die cavity wheel, and the processing of cutting and rubbing the flash by a cutter is carried out. When more waste materials are on the lint tape, the motor rotates for a certain angle to drive the lint tape to rotate to a clean position to continue to remove the drape edge, so that automatic drape edge removing work is realized.
In the polishing process, two sides of the wool polishing wheel are arranged for polishing treatment, the two sides are arranged in a large-distance staggered manner, so that the angle of the cutter can be adjusted to be +/-0-20 degrees in the polishing process, the angle conversion operation with the polishing wheel is realized, and the rotating speed of the polishing wheel can be adjusted to meet the requirements of a workstation.
The automatic tool edging workstation based on the industrial robot realizes automatic processing of three sequences in the processing process, and simultaneously increases the automatic grinding function, thereby prolonging the service life of the edging machine and the whole machine.
The present invention will be further explained with reference to the accompanying drawings in an industrial robot-based automated tool sharpening workstation and a sharpening method.
Drawings
FIG. 1 is a process flow diagram of an industrial robot-based automated tool edging method of the present invention;
FIG. 2 is a schematic structural diagram of an industrial robot-based automated tool sharpening workstation according to the present invention;
FIG. 3 is a schematic structural diagram of a tool gripper in an industrial robot-based automatic tool edging workstation according to the present invention;
FIG. 4 is a schematic structural diagram of a sharpening machine in an industrial robot-based automatic tool sharpening workstation according to the present invention;
fig. 5 is a partially enlarged view of a portion a in fig. 4 (i.e., a structural view of the automatic sharpening mechanism);
FIG. 6 is a schematic structural diagram of a deflashing unit in an industrial robot-based automatic tool edging workstation according to the present invention;
FIG. 7 is a schematic structural diagram of a polishing and waxing unit in an industrial robot-based automatic tool sharpening workstation according to the present invention;
the notation in the figures means: 1-a feed opening; 2-a sharpening machine; 3-a robot; 4-deflashing unit; 5-polishing and waxing unit; 6-feeding port;
21-a mandril; 22-finger clamping cylinder; 23-six-dimensional force sensors; 24-a hinge block;
31-a detachable base; 32-self-adjusting waterproof shield; 33-self-adjusting sharpening mechanism; 34-a longitudinal adjustment mechanism; 35-a lateral adjustment mechanism; 36-diamond grinding head;
41-a first mounting mechanism; 42-a first tensioning mechanism; 43-a first drive mechanism; 44-a non-return mechanism; 45-a follower mechanism; 46-a second clamping mechanism; 47-a first clamping mechanism; 48-a wetting drainage mechanism; 49-a telescoping mechanism;
51-an adjustment mechanism; 52-a second tensioning mechanism; 53-a second mounting mechanism; 54-a second drive mechanism; 55-a polishing wheel; 56-wax feeding mechanism; 57-a floating mechanism; 58-removable shield.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The automatic cutter edging workstation based on the industrial robot comprises an external frame, as shown in figure 2, a feeding and discharging device, a robot 3, a vision control system, an edging unit, a deburring unit 4, a polishing and waxing unit 5, a human-computer interaction system, a cleaning system, a safety system and an electrical control system are arranged in the external frame.
Go up unloader including the conveying platform, and conveying platform both ends are provided with material loading mouth 6 and feed opening 1 respectively, can transport the workbin that is equipped with the cutter on the conveying platform. The standard cutter bin is manually pushed to a specified position for positioning, and after the positioning is completed, the robot 3 performs detection and grabbing work. After finishing sharpening, the robot 3 puts the cutter back to the standard cutter bin again. After the cutter material box is completely led in, the system sends prompt information, and the robot 3 automatically switches to the next standard material box. At this time, the operator replaces the processed work bin to carry out blanking treatment and puts the unprocessed work bin to continue the treatment.
After the magazine is placed in the designated position, the tool is picked up by the robot 3. In this embodiment, six industrial robot of XB7 are selected for use to robot 3, and six industrial robot of XB7 have six degrees of freedom, can provide high repeated positioning accuracy, pass through laser sensor detection cutter charging tray whether in place at material loading and unloading position, carry out the cutter by the tongs again and snatch to accomplish three preface processes of presupposing, removing the flash and polishing.
As shown in fig. 3, a tool gripper is mounted on the robot 3, and the robot 3 drives the tool gripper to complete the tool picking operation. Two clamping fingers are arranged on the cutter gripper. The clamping finger comprises a clamping finger cylinder 22, a push rod 21, a spring and a hinge block 24, the push rod 21 is driven by the clamping finger cylinder 22, and the hinge block 24 is controlled to open and close. When the finger clamping cylinder 22 extends out, the ejector rod 21 is driven to jack the upper end of the hinge block 24, the lower end of the hinge block 24 is clamped, and a cutter is grabbed; when the finger clamping cylinder 22 contracts, the ejector rod 21 is driven to be separated from the hinge block 24, the upper end of the hinge block 24 is tensioned by a tension spring, the lower end of the hinge block is opened, and a cutter is put down. The clamping pressure of the hinge block 24 can be controlled by adjusting the stroke of the clamping finger cylinder 22. The front end of the gripper is provided with a six-dimensional force sensor 23 for detecting output force and feeding back a compensation signal so as to accurately control edging pressure and a path. The tool grippers are reasonably arranged, so that the included angle formed by the two side surfaces of the blade and the upper surface of the grinding disc is adjustable within the range of 12-35 degrees.
The vision control system comprises a high-precision industrial camera, after the high-precision industrial camera shoots, the vision control system can identify the cutter contour by detecting the gray value difference between the cutter contour and the background in the image, and then the vision coordinate of the cutter contour in the image is converted into the robot space coordinate, so that the grinding path, the deburring path and the polishing path can be automatically generated, and the position compensation is carried out.
As shown in fig. 4, the sharpening unit includes the sharpener 2 and the self-adjusting sharpening mechanism 33. The edging machine 2 comprises a detachable base 31, a self-adjusting waterproof shield 32 and a grinding wheel grinding disc provided with a grinding tool, wherein the self-adjusting waterproof shield 32 covers the outer side of the grinding wheel grinding disc. The grinding wheel and the grinding disc are worn after being used for a period of time, and a cutter with specified precision requirement cannot be machined, so that the grinding wheel and the grinding disc need to be polished.
The self-adjusting sharpening mechanism 33 is arranged on one side of the edging machine 2 and is used for sharpening a grinding wheel and a grinding disc. As shown in fig. 5, the self-adjusting sharpening mechanism 33 comprises a shield inside which a lateral adjusting mechanism 35, a longitudinal adjusting mechanism 34 and a diamond sharpening head 36 are mounted.
Horizontal guiding mechanism 35 includes motor and ball, and ball installs on the connecting plate, and the motor passes through gear drive and drives ball and rotate, and diamond repaiies bistrique 36 and ball swing joint, and when ball rotated, diamond repaiied bistrique 36 can carry out the motion of X axle direction. And meanwhile, the tool track is limited by the limit of the sensor. The longitudinal adjusting mechanism 34 comprises an adjusting cylinder, a piston rod of the adjusting cylinder is connected with the connecting plate, and the adjusting cylinder drives the connecting plate to move in the Z-axis direction when working, so that Z-axis grinding is completed. After the self-adjusting grinding mechanism 33 is ground, a second grinding process can be performed on the grinding disc by adopting a high-strength stainless steel plate, and the upper surface of the grinding disc is ground by using the high-strength stainless steel plate.
As shown in fig. 6, the deburring unit 4 includes a first mounting mechanism 41, the first mounting mechanism 41 serves as a base of the deburring unit 4, a telescopic mechanism 49 is mounted on the first mounting mechanism 41, the telescopic mechanism 49 includes a set of guide rails and a telescopic cylinder, a rack is mounted on the guide rails, and the telescopic cylinder can drive the rack on the guide rails to reciprocate during operation. A first clamping mechanism 47 and a second clamping mechanism 46 are arranged on the machine frame, and lint tapes for removing burrs are placed on the two clamping mechanisms. The clamping mechanism comprises a detachable clamping block with two guide pieces, and the cotton flannel belt is placed between the two guide pieces. Detachable design conveniently changes the used cotton flannel strip for first fixture 47 and does not use the cotton flannel strip or changes from second fixture 46 down, and the direction when the cotton flannel strip is released or is twined on second fixture 46 from first fixture 47 can be retrained in the area direction design, prevents the slope, does benefit to the direction. The second clamping mechanism 46 is connected with a first driving mechanism 43, and the first driving mechanism 43 is a stepping motor. The first drive mechanism 43 is adjustable in speed and functions to rotate the second clamping mechanism 46 to wind the used fleece strip onto the second clamping mechanism 46, so that the unused fleece strip is arranged in the deburring working area. The first clamping mechanism 47 is connected with a check mechanism 44, and the check mechanism 44 comprises a ratchet wheel, a pawl, a check cylinder and a rubber friction block. The non-return cylinder drives the pawl to reciprocate, the pawl is matched with the ratchet wheel, and the ratchet wheel and the rotating shaft of the first clamping mechanism 47 rotate synchronously. The rubber friction block is contacted with the side surface of the ratchet wheel. The first tensioning mechanism 42 is arranged above the second clamping mechanism 46, and the first tensioning mechanism 42 comprises a tensioning cylinder and a roller, and the tensioning cylinder drives the bracket on which the roller is arranged to move. The roller is made of polyurethane. The stretching of the piston rod of the tensioning cylinder drives the support and the roller to move, so that the effect of tensioning the cotton flannel belt is achieved. The tensioning force has the effect of floating when receiving external force, avoids strap hard or tear, motor overload. In other embodiments of the present invention, the first tensioning mechanism 42 may also be a spring, a servo motor, a timing belt, or the like that can float in one degree of freedom.
When the lint tape normally works, the piston rod of the non-return cylinder extends out to push the pawl to prop against the ratchet wheel, so that the pawl cannot rotate, the first clamping mechanism 47 cannot rotate, more unused lint tapes cannot be sent out, the lint tapes have holding force under the action of the first driving mechanism 43, and are tensioned under the action of the first tensioning mechanism 42. When the lint belt is worn and replaced, the piston rod of the non-return cylinder retracts to drive the pawl to leave the ratchet wheel, so that the first clamping mechanism 47 can rotate freely, the unused lint belt is sent out under the driving of the first driving mechanism 43, and the deburring operation area is replaced. In the process of the lint tape feeding, the first driving mechanism 43 stops outputting, and the rubber friction block can enable the first clamping mechanism 47 to keep a certain resistance when being tensioned and rebounded, so that excessive lint tapes are not sent out due to too high rotating speed. One side of the first clamping mechanism 47 and the second clamping mechanism 46 is provided with a wetting and draining mechanism 48, the wetting and draining mechanism 48 forms water in a water mist state, the lint tape can be wetted, the deburring efficiency and the cleanliness are improved, and the automatic sewage discharging function is achieved. A driven mechanism 45 is arranged above the first clamping mechanism 47 and the second clamping mechanism 46, and the driven mechanism 45 comprises a pair of polyurethane rollers which play a role in supporting and guiding the lint tape to form a deburring operation area. Driven mechanism 45 also can use rugby type polyurethane gyro wheel simultaneously, plays the effect of strap angle of floating, avoids the rotatory in-process of strap to take place axial skew.
As shown in fig. 7, the polishing and waxing unit 5 includes a second mounting mechanism 53, and a polishing wheel 55 is disposed on the front side of the second mounting mechanism 53, wherein the polishing wheel 55 is a wool polishing wheel 55 in this embodiment. The polishing wheel 55 is arranged on two sides of the cutter for polishing treatment, and the two sides are arranged in a large-distance staggered manner, so that the angle of the cutter can be adjusted to be +/-0-20 degrees in the polishing process, and the angle conversion operation with the polishing wheel 55 is realized. The power for rotating the polishing wheel 55 is provided by the second driving mechanism 54, and the second driving mechanism 54 is fixed on the second mounting mechanism 53. The second driving mechanism 54 drives the polishing wheel 55 to rotate, and the rotation speed of the polishing wheel 55 is adjustable. A wax feeding mechanism 56 is arranged below the polishing wheel 55, the polishing unit uses solid wax, the wax feeding mechanism 56 feeds the wax through a floating mechanism 57, and the floating mechanism 57 and the wax feeding mechanism 56 can quickly replace wax blocks.
The man-machine interaction system is arranged on one side of the external frame, the programmable control system and the operation interface are arranged right in front of an operator, the conversation function between a person and a workstation is realized, and the operator can master the state information of the workstation through the system.
The cleaning system comprises an industrial dust collector and a water pump which are arranged inside an external frame, dust generated in the machining process enters the industrial dust collector through a waste cover, and liquid such as grinding liquid and water generated by a sharpening grinding disc structure and a burring cotton tape is collected through the water pump and metal dust and dust in the water pump are filtered.
The safety system comprises a safety door lock, all moving mechanisms of the equipment are sealed in the outer frame, the movable door capable of directly contacting the moving mechanisms is additionally provided with the safety door lock, and the equipment stops running once the safety door is opened. And the circuit and the gas circuit of the external frame are respectively wired, so that potential safety hazards are avoided. All the readable dials are exposed, all the emergency stop switches are arranged at the most easily contacted positions, the emergency stop switches are convenient to control by personnel, and the emergency stop switches are further provided with an audible and visual alarm device and have functions of warning and eliminating.
The electric control system is arranged in a safe area and is used for electrically and electrically controlling the equipment in the whole workstation. The electric control system adopts a control system taking a Siemens programmable controller as a core and mainly has the following functions: (1) finishing the coordination control of the workstation equipment; (2) completing the clamping and loosening operation of each cylinder; (3) the air path is kept clean and stable.
As shown in fig. 1, the automatic tool sharpening workstation based on an industrial robot of the invention comprises the following steps in work:
(1) the conveying platform conveys the material tray with the blank cutter to a working area and positions the material tray;
(2) a cutter gripper of the robot 3 grabs a blank cutter to a photographing area, a vision control system visually identifies the cutter profile, a grinding path, a deburring path and a polishing path are automatically generated, and position compensation is carried out;
(3) starting the edging machine 2, wherein the edging machine 2 has the function of automatically finishing the grinding disc;
(4) the robot 3 moves a blank cutter to the edging machine 2 for edging and polishing, and the edging pressure is ensured to be constant through the six-dimensional force sensor 23, so that the consistency of the cutting edge is ensured;
(5) starting the deburring mechanism, and moving the edged cutter to the deburring mechanism by the robot 3 to remove burrs;
(6) starting the polishing mechanism, and moving the tool with the burr removed to the polishing and waxing mechanism by the robot 3 for polishing;
(7) this moment edging is accomplished, and robot 3 places the completion cutter in the charging tray to snatch the next blank cutter and polish.
The automatic cutter edging workstation based on the industrial robot automatically generates a unique edging, deburring and polishing path for each cutter through an autonomously developed visual control system and a high-precision industrial camera. At present, a unified edging path is generally generated in the industry through manual teaching or off-line according to a three-dimensional model, but due to the consistency difference of blank cutters or the error of a gripping position of a gripper, the unified edging path cannot be suitable for all cutters with the same specification and model. The vision control system of the invention can quickly generate a path for each cutter in real time, thereby greatly improving the edging precision and the applicability.
The knife sharpening in-process mainly through the edging, remove to drape over one's shoulders cutting edge of a knife or a sword, three steps of polishing, at the edging machine emery wheel in the use, can produce wearing and tearing gradually, not only can influence the edging efficiency of polishing, still can influence the edging precision, damage the cutter even. The polishing and edging unit has a self-polishing function, and automatically polishes a grinding wheel which is worn in the using process. The first step is to use a diamond grinding head, so that the grinding wheel can expose the abrasive particle cutting edge again, the blockage of air holes of the grinding wheel is reduced, and the edging efficiency is improved; and a high-strength stainless steel plate is used in the second procedure, so that the surface roughness of the grinding wheel can be reduced, and the edging precision and the surface quality are improved.
In the deburring process, the lint tape is rotationally arranged on a die cavity wheel, a driving wheel is driven by a motor, a floating roller is used for transmission and tensioning lint, and then a cutter is cut on the lint tape to rub and deburr the lint. When more waste materials are left on the lint tape, the motor rotates for a certain angle to drive the lint tape to rotate to a clean position to continue to remove the drape. The flannelette belt of the deburring unit needs to be kept in a wet state in work, and the floating structure is used for avoiding the belt from loosening. When the lint belt is replaced, the cylinder drives the pawl to leave the ratchet wheel, the lint belt driven wheel connected with the ratchet wheel can rotate clockwise under the driving of the driving wheel, and the friction block provides resistance for the ratchet wheel, so that the lint belt is prevented from being wasted and the tension is not enough due to the fact that the driven wheel rotates excessively under the inertia effect; after the replacement, the cylinder drives the pawl to prop against the ratchet wheel, so that the driven wheel does not rotate any more, and the purpose of tensioning the flannelette belt is achieved.
In the polishing process, two sides of the wool polishing wheel are arranged for polishing treatment, the two sides are arranged in a large-distance staggered manner, so that the angle of the cutter can be adjusted to be +/-0-20 degrees in the polishing process, the angle conversion operation with the polishing wheel is realized, and the rotating speed of the polishing wheel can be adjusted to meet the requirements of a workstation. The polishing unit uses solid wax, and the floating mechanism is used for waxing the polishing wheel, and the wax block can be quickly replaced by the floating mechanism. The wax feeding mechanism can detect wax before waxing and automatically compensate the size of the wax block. The second tensioning mechanism can tension the belt, and vibration and abrasion are reduced. The adjusting mechanism automatically adjusts the feeding height after waxing, and avoids wax blocks from being broken. The detachable shield is convenient for collect wax bits, maintains.
The robot tool gripper for gripping the tool can generate larger clamping pressure through a smaller cylinder by using a mode of the ejector rod and the hinge block, and has a self-locking function. If the clamping is carried out by the air cylinder alone, a larger air cylinder is needed, and the stability of the air pressure can have great influence on the clamping pressure. The tongs design of this scheme has following advantage: (1) the cylinder has small volume, saves space and is convenient for adjusting the sharpening angle; (2) the clamping force is big, can the auto-lock, and the reliability is good.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The utility model provides an automatic cutter edging workstation based on industrial robot which characterized in that: comprises an external frame, a feeding and discharging device, a robot, a vision control system, a sharpening unit, a deburring unit and a polishing and waxing unit are arranged in the external frame,
the feeding and discharging device comprises a conveying platform, and the conveying platform is used for transferring the cutter;
the robot is provided with a cutter gripper, and the robot drives the cutter gripper to complete the picking work of the cutter;
the vision control system comprises a high-precision industrial camera, can identify the cutter outline, automatically generates a processing path and carries out position compensation;
the sharpening unit comprises a sharpening machine and a self-adjusting sharpening mechanism;
the deburring unit is provided with a flannelette belt for deburring a burr;
the polishing and waxing unit comprises polishing wheels arranged on two sides of the cutter.
2. The new type of industrial robot based automated tool sharpening workstation of claim 1, characterized by: two clamping fingers are mounted on the cutter gripper, each clamping finger comprises a clamping finger cylinder, an ejector rod, a spring and a hinge block, the clamping finger cylinders drive the ejector rods and control the hinge blocks to open and close, and a six-dimensional force sensor is arranged at the front end of the cutter gripper.
3. The new type of industrial robot based automated tool sharpening workstation of claim 1, characterized by: the self-adjusting sharpening mechanism is arranged on one side of the sharpening machine and comprises a protective cover, and a transverse adjusting mechanism, a longitudinal adjusting mechanism and a diamond sharpening head are arranged in the protective cover.
4. A novel industrial robot based automated tool sharpening workstation according to claim 3, characterized in that: the transverse adjusting mechanism comprises a motor and a ball screw, the ball screw is mounted on the connecting plate, the motor drives the ball screw to rotate through gear transmission, the diamond grinding head is movably connected with the ball screw, when the ball screw rotates, the diamond grinding head can move in the X-axis direction, the longitudinal adjusting mechanism comprises an adjusting cylinder, a piston rod of the adjusting cylinder is connected with the connecting plate, and the adjusting cylinder drives the connecting plate to move in the Z-axis direction during working to finish Z-axis grinding.
5. The new type of industrial robot based automated tool sharpening workstation of claim 1, characterized by: remove to drape over one's shoulders cutting edge of a knife or a sword unit and include first installation mechanism, install telescopic machanism on the first installation mechanism, telescopic machanism includes a set of guide rail and telescopic cylinder, installs the frame on the guide rail, and first fixture of frame installation and second fixture have been placed on two fixtures and have been used for the burring to drape over one's shoulders the flannel area of cutting over one's shoulders the cutting edge of a knife or a sword, and second fixture is connected with first actuating mechanism.
6. The new type of industrial robot based automated tool sharpening workstation of claim 5, characterized in that: the first clamping mechanism is connected with a non-return mechanism, and the non-return mechanism comprises a ratchet wheel, a pawl, a non-return air cylinder and a rubber friction block.
7. The new type of industrial robot based automated tool sharpening workstation of claim 1, characterized by: polishing wheel below is provided with send wax mechanism, and the polishing unit uses solid wax, send wax mechanism to send wax through floating machanism and send wax stone quick replacement with sending wax mechanism.
8. The new type of industrial robot based automated tool sharpening workstation of claim 1, characterized by: the system also comprises a human-computer interaction system, a cleaning system, a safety system and an electric control system.
9. The new type of industrial robot based automated tool sharpening workstation of claim 8, characterized by: the cleaning system includes an industrial vacuum cleaner and a water pump disposed inside an outer frame.
10. A novel automatic tool edging method based on an industrial robot is characterized in that: the method comprises the following steps:
s01, conveying the material tray with the blank cutter placed to a working area by the conveying platform, and positioning;
s02, a cutter gripper of the robot grabs the blank cutter to a photographing area, the vision control system visually recognizes the cutter profile, and automatically generates a grinding path, a deburring path and a polishing path, and performs position compensation;
s03, starting the sharpening machine, wherein the sharpening machine has the function of automatically trimming the grinding disc;
s04, moving the blank cutter to an edging machine by a robot for edging and polishing, and ensuring that the edging pressure is constant through a six-dimensional force sensor to ensure the consistency of the cutting edge;
s05, starting the deburring mechanism, and moving the edged cutter to the deburring mechanism by the robot to deburr;
s06, starting the polishing mechanism, and moving the tool with the burr removed to the polishing and waxing mechanism by the robot for polishing;
and S07, finishing edging, placing the finished cutter in a tray by the robot, and grabbing the next blank cutter for polishing.
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| CN113814796A (en) * | 2021-10-14 | 2021-12-21 | 江苏集萃精凯高端装备技术有限公司 | Ultra-precision machining system |
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| CN112518529B (en) | 2023-01-10 |
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Effective date of registration: 20221130 Address after: 215123 1-a1f, creative industry park, No. 328, Xinghu street, Suzhou Industrial Park, Suzhou City, Jiangsu Province Applicant after: SUZHOU KONUO ROBOT Co.,Ltd. Address before: No. b801-004, 8th floor, Xueyan complex building, Tsinghua University, Haidian District, Beijing 100084 Applicant before: ROKAE, Inc. |
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