CN113370035A - Robot burnishing and polishing device - Google Patents
Robot burnishing and polishing device Download PDFInfo
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- CN113370035A CN113370035A CN202110566402.8A CN202110566402A CN113370035A CN 113370035 A CN113370035 A CN 113370035A CN 202110566402 A CN202110566402 A CN 202110566402A CN 113370035 A CN113370035 A CN 113370035A
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- Prior art keywords
- assembly
- robot
- workpiece
- walking
- ground rail
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
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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
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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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
- B24B41/02—Frames; Beds; Carriages
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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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
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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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a robot grinding and polishing device, which comprises: at least one sander; a vision mechanism; a ground rail traveling mechanism; the robot is arranged on the ground rail travelling mechanism, and a replacing mechanism is arranged at the tail end of a manipulator of the robot. According to the invention, the replacement mechanism arranged on the robot is used for replacing the tail end part of the robot so as to replace the grinding machine or the vision mechanism arranged on the robot, and further the vision mechanism or the grinding machine is arranged at the tail end of the manipulator of the robot; the robot is driven by the ground rail travelling mechanism to adjust the position along the length direction of a workpiece to be ground in place and along the vertical direction, so that the robot is combined with the posture change to drive the vision mechanism or the grinding machine to adjust the position along the periphery of the workpiece to be ground, and the position acquisition of the outer surface of the workpiece to be ground or the grinding and polishing of the outer surface of the workpiece to be ground are realized.
Description
Technical Field
The invention relates to the technical field of grinding and polishing, in particular to a robot grinding and polishing device.
Background
For the work piece raw material of polishing, generally need polish and polish after the casting is accomplished to the casting work piece, the work piece raw material of polishing forms casting work piece finished product (work piece finished product) after the processing of polishing, need put in order, arrange, fix a position spare part before using professional equipment to polish, and the in-process of polishing also needs go on unloading. Although the feeding, discharging and finishing processes of the cast workpiece are automated by special machine tools, most of the grinding and polishing processes can still be finished only manually.
However, cast workpieces, especially for wind blades, tend to be relatively complex in structure, heavy in weight, labor intensive and inefficient to polish manually.
Disclosure of Invention
In view of this, the invention provides a robot polishing device, and aims to solve the problems of high labor intensity and low efficiency of polishing of the existing wind energy blade.
The invention provides a robot grinding and polishing device, which comprises: at least one grinding machine for grinding and polishing the outer surface of the workpiece to be ground; the vision mechanism is used for acquiring an image of the outer surface of the workpiece to be polished to acquire the position of the outer surface of the workpiece to be polished, so that the posture track of the robot is adjusted based on the position of the outer surface of the workpiece to be polished; a ground rail traveling mechanism; the robot sets up on the ground rail running gear, and, the manipulator end of robot is equipped with changes the mechanism, it is used for going on to change the mechanism the change of the terminal part of manipulator to make vision mechanism or polisher install extremely the manipulator is terminal, ground rail running gear is used for driving the robot is along waiting to polish work piece length direction and follow the vertical direction go on position control of taking one's place, so that the robot combines the gesture change to drive vision mechanism or polisher and carries out position control along the periphery of waiting to polish the work piece, and then realizes wait to polish the position acquisition of the surface of work piece or wait to polish the burnishing and polishing of the surface of work piece.
Further, above-mentioned robot burnishing and polishing device, ground rail running gear includes: the ground rail assembly is used for guiding a workpiece to be ground in place in the axial direction; the traveling assembly is connected to the ground rail assembly in a position adjustable along the length direction of the ground rail assembly; the walking assembly is connected with a walking driving assembly and is used for driving the walking assembly to adjust the position along the length direction of the ground rail assembly; the supporting base is connected to the walking assembly in a position-adjustable mode along the vertical direction and used for supporting the robot and driving the robot to adjust the position along the vertical direction, the robot is also adjusted along the length direction of the ground rail assembly along with the walking assembly, and therefore the robot can move along the axial direction and the vertical direction of a workpiece to be polished in place; the supporting base is connected with a base driving assembly for driving the supporting base to adjust the position along the vertical direction; the horizontal position sensor is used for detecting the horizontal position of the walking assembly adjusted on the ground rail assembly; the horizontal position sensor is also connected with a walking controller and used for receiving the horizontal position detected by the horizontal position sensor and controlling the walking driving assembly according to the horizontal position so as to control the walking assembly to move forwards, backwards or stop moving; a vertical position sensor for detecting a vertical position of the support base adjusted on the walking assembly; the vertical position sensor is further connected with the walking controller, and the walking controller is further used for receiving the vertical position detected by the vertical position sensor and controlling the base driving assembly according to the vertical position so as to control the support base to move upwards, downwards or stop moving.
Further, according to the robot polishing device, a dust cover is arranged on the ground rail assembly and/or the walking assembly, and the dust cover is of a telescopic structure.
Further, the robot polishing device, the replacing mechanism includes: the at least two auxiliary connecting discs are used for clamping and fixing the vision mechanism or the grinding machine so as to acquire or grind the image of the workpiece to be ground; the main connecting disc is arranged at the tail end of a manipulator of the robot; the auxiliary connecting disc is provided with a connecting assembly used for connecting the visual mechanism or the grinding machine; the auxiliary connecting disc or the connecting assembly is provided with a clamping piece for clamping on the tool magazine; and the locking assembly is arranged on the main connecting disc and used for locking or unlocking the main connecting disc and the auxiliary connecting disc when any one of the auxiliary connecting discs is pressed against the connecting wall surface of the main connecting disc.
Further, in the robot polishing device, an installation column is convexly arranged at the axis position of the main connecting disc, and an installation groove for inserting the installation column is concavely arranged at the axis position of the auxiliary connecting disc; the mounting column is provided with a mounting hole along the radial direction, at least part of the locking assembly is located in the mounting hole, and the locking assembly is connected with the mounting column along the length direction of the mounting hole in an adjustable mode to partially protrude and arrange the mounting hole externally contact the inner side wall of the mounting groove and apply jacking force to the inner side wall of the mounting groove, so that the main connecting disc and the auxiliary connecting disc are locked.
Further, in the robot polishing device, the main connecting disc is provided with an air hole which is communicated with the mounting hole and used for being connected with an air suction and blowing device so as to blow air into the mounting hole to enable the locking assembly to move towards the opening end of the mounting hole until top pressure is applied to the inner side wall of the mounting groove; or, the mounting hole is sucked so that the locking assembly moves away from the opening end of the mounting hole, a gap is reserved between the locking assembly and the inner side wall of the mounting hole, and unlocking between the main connecting disc and the auxiliary connecting disc is achieved.
Further, the robot polishing device further comprises: one end of the tool supporting frame is provided with an opening; the backup pad sets up the inside of instrument support frame, and, be equipped with a plurality of card in the backup pad and establish the structure, be used for right vision mechanism or the polisher carries out the card and firmly supports, in order to realize vision mechanism or the interim depositing of polisher.
Further, above-mentioned robot burnishing and polishing device, the backup pad rotationally sets up in the instrument support frame to drive the solid vision mechanism of card or polisher rotation in the backup pad, so that the vision mechanism or polisher that need change at present rotates to waiting to change the position.
Further, the robot polishing device is provided with a dustproof baffle at the opening for shielding sundries.
Further, the robot polishing device further comprises: and the control mechanism is connected with the vision mechanism and used for receiving the position of the outer surface of the workpiece to be polished, which is acquired by the vision mechanism, and adjusting the posture track of the robot according to the position.
According to the robot polishing device provided by the invention, the replacement mechanism arranged on the robot is used for replacing the tail end part of the robot so as to replace the polisher or the visual mechanism arranged on the robot, and further the visual mechanism or the polisher is arranged at the tail end of the manipulator of the robot; the robot is driven by the ground rail travelling mechanism to adjust the position along the length direction of a workpiece to be ground in place and along the vertical direction, so that the robot is combined with the posture change to drive the vision mechanism or the grinding machine to adjust the position along the periphery of the workpiece to be ground, and further the position of the outer surface of the workpiece to be ground is acquired or the grinding and polishing of the outer surface of the workpiece to be ground are realized, and the problems that the labor intensity of manual grinding and polishing is high and the efficiency is low in the prior art are solved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is an isometric view of a robotic lapping and polishing device provided in accordance with an embodiment of the present invention;
fig. 2 is a schematic partial structural diagram of a robot grinding and polishing device provided in an embodiment of the present invention;
FIG. 3 is a block diagram of a robot polishing device according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a tool library in use according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a tool library according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of another structure of a tool library in use according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of another tool library according to an embodiment of the present invention;
FIG. 8 is a block diagram of a tool library provided by an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a ground rail traveling mechanism according to an embodiment of the present invention;
FIG. 10 is an enlarged view of a portion of FIG. 9;
FIG. 11 is a block diagram of a ground rail traveling mechanism according to an embodiment of the present invention;
FIG. 12 is a block diagram of another structure of a ground rail traveling mechanism according to an embodiment of the present invention;
FIG. 13 is a schematic structural diagram of a replacement mechanism according to an embodiment of the present invention;
FIG. 14 is a schematic structural diagram of a main connection pad provided in an embodiment of the present invention;
fig. 15 is a schematic structural diagram of a secondary connection pad according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1 to 3, preferred structures of a robot sanding and polishing device provided by an embodiment of the invention are shown. As shown, the apparatus comprises: at least one grinding machine 1, a vision mechanism 2, a tool library 3, a ground rail walking mechanism 4, a robot 5, a replacing mechanism 6 and a control mechanism 7; wherein the content of the first and second substances,
each dresser 1 is used to perform grinding and polishing of the outer surface of a workpiece 8 to be dressed. Specifically, in order to facilitate the replacement of the sander, the sander 1 may be provided in plurality, and each sander 1 may be the same sander, so that the sander 1 is replaced when the sander is damaged or the sanding time reaches its effective time limit, thereby ensuring the sanding quality; of course, different grinders can be used to select grinders with different roughness according to the requirements of the grinding process, and a combined type, i.e., a part of the grinders is the same, and another part of the grinders is different. The workpiece 8 to be polished can be a large-scale curved surface part such as an automobile sheet metal part, a wind energy blade or an airplane blade and the like, and can also be other parts, and the workpiece is not limited in the embodiment; the outer surface of the workpiece 8 to be polished may be a curved surface structure or other structures, and this embodiment does not limit the structure at all.
The vision mechanism 2 is used for image acquisition of the outer surface of the workpiece 8 to be polished to acquire the position of the outer surface of the workpiece 8 to be polished, so as to adjust the posture trajectory of the robot 5 for polishing based on the position of the outer surface of the workpiece to be polished. Specifically, the vision mechanism 2 performs photographing, that is, image acquisition, performs position analysis of the outer surface of the workpiece 8 to be ground based on the acquired image, so that the robot adjusts the posture trajectory of the robot 5 based on the position of the outer surface of the workpiece 8 to be ground, switches the sander 1, and performs sanding and polishing of the workpiece 8 to be ground.
The tool magazine 3 is used to store the sander 1 and the vision mechanism 2 so that the robot 5 can replace the sander 1 and the vision mechanism 2 as needed. Specifically, the tool magazine 3 may be disposed on the ground rail traveling mechanism 4, or may be disposed at other positions, which is not limited in this embodiment.
The ground rail travelling mechanism 4 is used for supporting the robot 5 and driving the robot 5 to adjust the position in the axial direction (horizontal direction as shown in fig. 1) and in the vertical direction (relative to the position shown in fig. 1) along the workpiece 8 to be ground in position. Specifically, in order to facilitate polishing of the workpiece 8 to be polished, a support frame (not shown in the figure) can be further arranged for supporting the workpiece 8 to be polished so that the workpiece 8 to be polished is transversely arranged at a position to be polished, namely the length direction of the workpiece 8 to be polished is horizontally arranged, and polishing of the peripheral outer surface of the workpiece 8 to be polished is facilitated. The ground rail traveling mechanism 4 can be arranged along the length direction of the workpiece 8 to be ground in place to drive the robot 5 to perform position adjustment along the length direction of the workpiece 8 to be ground in place and along the vertical direction, namely, the position of the robot 5 along the length direction of the workpiece 8 to be ground in place and the position along the vertical direction are adjusted.
The robot 5 may further have a terminal floating compensation mechanism (not shown in the figure) at the end of the manipulator, so as to drive components, especially the sander 1, disposed at the end of the manipulator to float in multiple directions, so as to ensure that the sander 1 polishes the outer surface of the workpiece 8 to be polished with a constant polishing force and a constant position when the same position of the outer surface of the workpiece 8 to be polished is polished, and further ensure the constant polishing force at each position of the outer surface of the workpiece 8 to be polished, thereby ensuring the polishing accuracy of the outer surface of the workpiece 8 to be polished. Wherein, terminal floating compensation mechanism can set up between the terminal main connection pad 61 of manipulator and change mechanism 6 to through carrying out position adjustment to main connection pad 61, and then carry out the constant force adjustment of polishing of floating to polisher 1 that vice connection pad 62 is connected, with to orbit error automatic compensation in polishing, make the invariable power of polishing of polisher output. The polishing sensor can be arranged on the polishing machine 1 and used for detecting the polishing force applied to the workpiece 8 to be polished by the polishing machine during polishing, and sending the polishing force to the control mechanism 7, when the polishing force of the control mechanism 7 is smaller than a threshold value, the position of the polishing machine 1 is adjusted by the control terminal floating compensation mechanism, so that the polishing machine 1 applies a constant force to the workpiece 8 to be polished, polishing compensation in positive and negative directions (namely, the polishing compensation in the direction towards the workpiece to be polished and away from the workpiece to be polished) can be carried out, the polishing position and the contact pressure of the polishing robot can be accurately controlled, the clamping phenomenon in the grinding process can be fundamentally solved, the feedback control can be carried out, the profile after polishing is ensured to reach the standard precision requirement of the workpiece, and the problems of polishing inconsistency, excessive polishing or insufficient polishing and the like caused by the size error or the process difference of the workpiece are thoroughly solved.
The control mechanism 7, the ground rail traveling mechanism 4 and the robot 5 are used for determining a position adjusting route for driving the robot 5 to adjust the position and a posture track of the robot 5 by the ground rail traveling mechanism 4 according to a preliminary three-dimensional model of a workpiece to be polished and a position to be put of the workpiece 8 to be polished, and controlling the operation of the ground rail traveling mechanism 4 and the posture change of the manipulator based on the adjusting route of the ground rail traveling mechanism 4 and the posture track of the robot 5, so that the position adjustment of a visual mechanism arranged at the tail end of the manipulator is realized, and the acquisition of the position of the outer surface of the workpiece 7 to be polished is completed. Specifically, in the present embodiment, segmentation may be performed in the length direction and in the vertical direction of the workpiece to be polished in place according to the length and height of the workpiece to be polished 8 in place, so that image acquisition may be performed on the corresponding outer surface of the workpiece to be polished 8 at the stop position of the robot 5 by changing the posture of the manipulator at different stop positions in the length direction and different stop positions in the vertical direction of the workpiece to be polished 8 in place, thereby achieving image acquisition of the entire outer surface of the workpiece to be polished 8. The control mechanism can determine the outer surface model parameters according to the introduced three-dimensional model of the workpiece 8 to be polished, determine and combine the position to be in place of the workpiece 8 to be polished to determine the adjustment route of the ground rail walking mechanism 4, namely different stop positions corresponding to the robot 5 and the posture track of the robot 5 corresponding to each stop position of the robot 5. Wherein the control mechanism 7 is further configured to determine a replacement posture trajectory according to the position of the tool magazine 3, so as to perform a corresponding posture change based on the replacement posture trajectory after image acquisition and/or grinding, so as to perform replacement of the vision mechanism or the grinding machine.
The control mechanism 7 is further connected with the vision mechanism 2, and is configured to receive the position of the outer surface of the workpiece 8 to be polished, which is acquired by the vision mechanism 2, and adjust the posture trajectory of the robot 5 accordingly, and control the operation of the ground rail traveling mechanism 4 and the posture change of the manipulator based on the position adjustment route of the ground rail traveling mechanism 4 and the adjusted posture trajectory of the robot 5, so that the polisher arranged at the tail end of the manipulator performs position adjustment, and polishing of the outer surface of the workpiece 7 to be polished is completed. Specifically, the control mechanism receives the position of the outer surface of the workpiece 8 to be polished, which is acquired by the vision mechanism 2, analyzes and determines an actual three-dimensional model of the workpiece 8 to be polished and an actual outer surface parameter, judges a deviation between the actual outer surface parameter and the outer surface model parameter, and adjusts the posture track of the robot 5 according to the deviation, so that the operation of the ground rail walking mechanism 4 and the posture change of the manipulator are controlled according to the position adjustment route of the ground rail walking mechanism 4 and the posture track of the adjusted robot 5 during polishing, and polishing of the outer surface of the workpiece 7 to be polished are realized.
Referring to fig. 4 to 7, a preferred structure of the tool library provided by the embodiment of the present invention is shown. As shown, the tool library 3 includes: a tool support 31 and a support plate 32; wherein the content of the first and second substances,
an opening 311 is provided at one side of the tool support 31. Specifically, the tool support frame 31 is a hollow shell structure or a box structure with one open end, so that the manipulator of the robot 5 extends into the tool support frame 31 to replace the vision mechanism 2 or the sander 1 arranged in the tool support frame 31.
The support plate 32 is provided inside the tool support frame 31, and is used to clamp the vision mechanism 2 and the sander 1. Specifically, the supporting plate 32 may be disposed inside the tool supporting frame 31, and is used to fix the vision mechanism 2 or the sander 1, so as to fix the vision mechanism 2 or the sander 1, i.e., temporarily store the vision mechanism or the sander 1, and further facilitate the replacement of parts on the end of the manipulator of the robot 5. Preferably, the supporting plate 32 may be provided with a clamping structure 321 for clamping the vision mechanism 2 or the sander 1; in this embodiment, the fastening structure may be an arc groove structure, so that the connecting assembly 63 connected to the vision mechanism 2 or the sander 1 is fastened to the arc groove structure, and the fastening support of each connecting assembly is realized, thereby fixing the vision mechanism 2 or the sander 1; preferably, the opening of the arc groove structure is arranged upward, so that the connecting assembly 63 is clamped and fixed into the arc groove structure from the opening, and the supporting and limiting of the connecting assembly 63 are realized through the supporting plate 32. In the present embodiment, the vision mechanism 2 or the sander 1 and the sub-land 62 of the replacement mechanism 6 are connected by the connection assembly 63 so that they form an integral connection structure, and then the main land 61 of the replacement mechanism 6 provided at the end of the manipulator of the robot 5 is used to replace and connect a different sub-land 62, so that the vision mechanism 2 or the sander 1 is replaced, and further the vision mechanism 2 or the sander 1 is attached to the end of the manipulator and is moved in position along with the end of the manipulator; the auxiliary connecting disc 62 can be clamped and fixed by clamping and fixing the connecting assembly 63, so that the vision mechanism 2 or the grinding machine 1 can be clamped and fixed, namely temporarily stored. The number of the clamping mechanisms is at least two, so that temporary storage of one grinding machine 1 and one vision mechanism 2 can be realized simultaneously, and replacement between the grinding machine 1 and the vision mechanism 2 can be realized, and certainly, the clamping mechanisms can also be multiple, so that temporary storage of the vision mechanism 2 and a plurality of grinding machines 1 can be realized.
To prevent dust or polished dust from falling into the vision mechanism 2 or the polishing machine 1 stored in the tool support 31, a dust-proof shield (not shown) is provided at the opening 311 to shield foreign materials from entering the tool support 31. Specifically, one end of the dust-proof shield may be hinged to a first side of the opening 311 of the tool support frame 31, and the other end of the dust-proof shield may be detachably connected to a second side of the opening 311, so as to be opened for replacement when the vision mechanism 2 and the sander 1 are replaced; preferably, the dustproof baffle and the opening 311 can be connected through an opening and closing component to drive the dustproof baffle to be opened and closed, so that the dustproof baffle can be automatically opened and closed; further preferably, the control mechanism is further connected with the opening and closing assembly and used for controlling the opening and closing assembly to operate according to the position change and the posture change of the robot 5 before the grinding machine 1 or the vision mechanism 2 is replaced so as to drive the dustproof baffle to be opened and avoid the dustproof baffle to interfere with the replacement of the tail end part of the manipulator, and after the replacement is completed, the control mechanism controls the opening and closing assembly to operate so as to drive the dustproof baffle to be closed and achieve the dustproof effect.
With continued reference to fig. 4 and 5, in an embodiment of the tool magazine 3 in the present embodiment, the supporting plate 32 may be a square plate structure, which is vertically disposed in the tool supporting frame 31, and the fastening structures 321 are disposed side by side along the length direction of the supporting plate 32, so as to realize bottom supporting and limiting of the plurality of connecting assemblies 63, and further facilitate installation and removal of the connecting assemblies 63 on the supporting plate 32, and further facilitate installation and removal of the vision mechanism 2 and the sander 1, and further facilitate replacement of the vision mechanism 2 and the sander 1 on the robot 5.
With continued reference to fig. 6 to 8, in another embodiment of the tool magazine 3 in the present embodiment, the supporting plate 32 may be a circular plate structure, and is rotatably disposed in the tool supporting frame 31 as a multi-station rotating storage plate to drive the vision mechanism 2 or the sander 1 clamped on the supporting plate 32 to rotate, so that the vision mechanism 2 or the sander 1 to be replaced at present is rotated to a position to be replaced, thereby facilitating the replacement of the vision mechanism 2 or the sander 1. Preferably, a rotating motor 33 may be connected to the support plate 32 to drive the support plate 32 to rotate. Wherein, can be equipped with two at least card firmware 34 on the backup pad 32, this card firmware 34 can set up on the outer wall of backup pad 32 along the circumference of backup pad 32 to, card firmware 34 can be the card firmware board of vertical setting, and its top is equipped with the circular arc groove structure that the opening set up upwards, and it is solid and spacing to establish the card that the structure realized coupling assembling 63 as the card. In the present embodiment, the tool supporting frame 31 may further include a turntable position sensor 35 to detect the supporting plate 32 and obtain the position information of the currently required replacement vision mechanism 2 or the sander 1 on the supporting plate 32; the turntable position sensor 35 is connected with a rotation controller 36, and is used for receiving the position information of the vision mechanism 2 or the grinding machine 1 which needs to be replaced currently, detected by the turntable position sensor 35, determining whether the vision mechanism 2 or the grinding machine 1 which needs to be replaced currently is in a position to be replaced according to the position information of the vision mechanism 2 or the grinding machine 1 which needs to be replaced currently, and acquiring a replacement position result; when the result of the replacement position shows that the vision mechanism 2 or the grinding machine 1 which needs to be replaced currently is not located at the position to be replaced, the support plate 32 is controlled to rotate, so that the support plate 32 drives the vision mechanism 2 or the grinding machine 1 which needs to be replaced currently to rotate to the position to be replaced. Preferably, the rotation controller 36 is also used to rotate the vision mechanism 2 or the sander 1, which is currently required to be replaced, to the position to be replaced, according to the rotation direction and the rotation angle of the support plate 32. Further preferably, the rotation controller 36 is further connected to the rotating motor 33, and is configured to determine a rotation direction and a rotation number of the rotating motor 33 according to the rotation direction and the rotation angle of the supporting plate 32, determine a driving instruction according to the rotation direction and the rotation number of the rotating motor 33, and send the driving instruction to the rotating motor 33, so that the rotating motor 33 rotates according to the driving instruction, and drives the vision mechanism 2 or the sander 1, which needs to be replaced currently, to rotate to the position to be replaced. Further preferably, the rotation controller 36 is further configured to determine a rotation direction and a rotation number of the rotating motor 33 according to the rotation direction and the rotation angle of the supporting plate 32, and determine a driving command according to the rotation direction and the rotation number and send the driving command to the rotating motor 33, so that the rotating motor 33 rotates according to the driving command to drive the supporting plate 32 to rotate to the position to be replaced. Of course, the rotation controller 36 may be provided independently or incorporated into the control mechanism 7, and is not limited in this embodiment.
Referring to fig. 1, 9 to 12, a preferred structure of the ground rail traveling mechanism provided by the embodiment of the invention is shown. As shown, the ground rail traveling mechanism 4 includes: a ground rail assembly 41, a walking assembly 42 and a supporting base 43; wherein the content of the first and second substances,
the ground rail assembly 41 is used for guiding the workpiece 8 to be ground in place in the axial direction. Specifically, the ground rail assembly 41 may be disposed along the axial direction of the workpiece 8 to be ground in place, so as to guide the walking assembly 42 in the axial direction of the workpiece 8 to be ground in place, so that the walking assembly 42 may perform position adjustment along the length direction of the ground rail assembly 41, and further, the walking assembly 42 may perform position adjustment along the axial direction of the workpiece 8 to be ground in place. That is, the ground rail assembly 41 serves as a guide rail in the axial direction of the workpiece 8 to be ground in place to guide the position adjustment of the traveling assembly 42 in the axial direction of the workpiece 8 to be ground in place. Preferably, the top of the ground rail assembly 41 is provided with a groove structure to guide through the protrusions on the two sides, and the groove inside is used as a reserved space for arranging the communication line, and a rack and pinion mechanism can be arranged to reduce the overall occupied space of the device, and the rack and pinion mechanism is arranged in the ground rail assembly 41 and can be protected by a dust cover 49 covered outside the ground rail assembly 41.
The traveling unit 42 is disposed on the ground rail unit 41, and the traveling unit 42 is connected to the ground rail unit 41 to be adjustable in position along the length direction (vertical direction as shown in fig. 9) of the ground rail unit 41. Specifically, the walking assembly 42 is slidably connected to the ground rail assembly 41 along the length direction of the ground rail assembly 41 or the bottom of the walking assembly 42 is provided with a roller connected to the ground rail assembly 41 in a rolling manner, so as to adjust the position of the walking assembly 42 along the length direction of the ground rail assembly 41; at the same time, the traveling assembly 42 also serves as a guide rail in the vertical direction to positively guide the position of the support base 43 in the vertical direction. Wherein, the walking assembly 42 can be vertically arranged on the ground rail assembly 41 to realize the guiding of the supporting base 43 in the vertical direction. In order to adjust the position of the traveling assembly 42 along the length direction of the ground rail assembly 41, preferably, a traveling driving assembly 44 is connected to the traveling assembly 42 for driving the traveling assembly 42 to adjust the position along the length direction of the ground rail assembly 41, for example, the traveling assembly 42 can be driven to slide along the length direction of the ground rail assembly 41 or a roller at the bottom of the traveling assembly 42 can be driven to roll, so as to drive the traveling assembly 42 to travel along the length direction of the ground rail assembly 41. Wherein, the tool magazine 3 can be arranged on the walking assembly 42, so that the tool magazine 3 and the robot 5 can walk along the length direction of the ground rail assembly 41 along with the walking assembly 42 synchronously, that is, along the length direction of the ground rail assembly 41, the tool magazine 3 and the robot 5 are located at the same position, so as to facilitate the replacement of the sander 1 or the vision mechanism 2 on the robot 5. In this embodiment, the walking assembly 42 may also be a hollow shell structure for installing and supporting the control mechanism 7 and/or other components such as various controllers. Preferably, the top of the traveling assembly 42 is provided with a groove structure to guide the device through the protrusions on the two sides, and the groove inside the device is used as a reserved space for arranging the communication line, and a rack and pinion mechanism can be arranged to reduce the overall occupied space of the device, and the rack and pinion mechanism is arranged in the traveling assembly 42 and can be protected by a dust cover 49 covered outside the traveling assembly 42.
The supporting base 43 is connected to the traveling assembly 42 in a position-adjustable manner along the vertical direction (relative to the position shown in fig. 9), and is used for supporting the robot 5 and driving the robot 5 to perform position adjustment along the vertical direction, and further enabling the robot 5 to perform position adjustment along the length direction of the ground rail assembly 41 along with the traveling assembly 42, so that the robot 5 can move along the axial direction and the vertical direction of the workpiece 8 to be polished in place, and further enabling the robot 5 to perform integral image acquisition and polishing on the outer surface of the workpiece 8 to be polished by combining with the posture change of the robot 5. Specifically, the supporting base 43 may be slidably connected to the walking assembly 42 along the vertical direction, so as to drive the robot 5 to move along the vertical direction, thereby adjusting the height position of the fixing portion of the robot 5; meanwhile, the supporting base 43 also adjusts the position along the length direction of the ground rail assembly 41 along with the walking assembly 42, and then drives the robot 5 to move along the length direction of the ground rail assembly 41, i.e. the axial direction of the workpiece 8 to be polished, so as to adjust the position of the fixed part of the robot 5 in the horizontal direction, especially the axial direction of the workpiece 8 to be polished. To achieve the position adjustment of the supporting base 43 in the vertical direction, preferably, a base driving assembly 45 is connected to the supporting base 43 for driving the supporting base 43 to perform the position adjustment in the length direction of the walking assembly 42, i.e. in the vertical direction, for example, the supporting base 43 can be driven to slide in the length direction of the supporting base 43.
A horizontal position sensor 46 can be arranged on the ground rail assembly 41 and used for detecting the horizontal position of the walking assembly 42 adjusted on the ground rail assembly 41; the horizontal position sensor 46 is further connected to a traveling controller 48 for receiving the horizontal position detected by the horizontal position sensor 46 and controlling the traveling drive assembly 44 according to the horizontal position, and in particular, controlling the forward driving, the reverse driving or the stopping driving of the traveling drive assembly 44, and further controlling the forward moving, the backward moving or the stopping moving of the traveling assembly 42. Specifically, the walking controller 48 is further configured to control the walking driving assembly 44 to enable the walking assembly 42 to walk along the length direction of the ground rail assembly 41 in a segmented manner and stop at the horizontal segment connection point, so that the robot 5 performs polishing or image acquisition on the horizontal segment corresponding to the workpiece 8 to be polished at the same horizontal position through vertical direction position adjustment and posture change of the robot 5. For example, the axial direction of the workpiece 8 to be polished may be divided into three sections, each section corresponds to a horizontal section connection point on the ground rail assembly 41, that is, three horizontal section connection points may be provided on the ground rail assembly 41, so that the walking assembly 42 gradually stops at each horizontal section connection point, and at this position, the image acquisition and polishing of the corresponding section of the workpiece 8 to be polished are performed in combination with the vertical position of the supporting base 43 and the posture change of the robot 5 itself. The horizontal position sensor 46 may be a plurality of walking position sensors, which correspond to the number of horizontal section connecting points on the section of the workpiece 8 to be ground, i.e., the ground rail assembly 41, one by one, so as to detect whether the walking assembly 42 reaches the corresponding horizontal section connecting point and obtain the walking result. The walking controller 48 is configured to receive walking results detected by the walking position sensors, and when the walking results show that the walking assembly 42 reaches the corresponding horizontal segment connection point, the walking controller 48 controls the walking driving assembly 44 to stop driving, so that the walking assembly 42 stops walking, and further the walking assembly 42 stops at the corresponding horizontal segment connection point. Of course, the walking assemblies 42 may also be multiple and respectively disposed at the connection points of the horizontal sections, and each is provided with a slidable supporting base and a robot, so as to polish and polish the corresponding horizontal section of the workpiece 8 to be polished.
A vertical position sensor 47 can be arranged on the walking drive assembly 44 and used for detecting the vertical position of the support base 43 adjusted on the walking assembly 42; the walking controller 46 is further connected with a vertical position sensor 47, and is configured to receive the vertical position detected by the vertical position sensor 47, and control the base driving assembly 45 according to the vertical position, in particular control the forward driving, the reverse driving, or the stop driving of the base driving assembly 45, and further control the upward movement, the downward movement, or the stop movement of the support base 43. Specifically, the walking controller 48 is further configured to control the base driving assembly 45, so that the supporting base 43 can walk along the length direction of the walking assembly 42 in a segmented manner and stop at the vertical segment connection point, so that the robot 5 stops at the same vertical position and the same horizontal position, and the posture change of the robot 5 is combined to perform polishing or image acquisition on the corresponding vertical segment at the same horizontal position of the workpiece 8 to be polished. For example, the workpiece 8 to be polished can be divided into three sections in the vertical direction, each section corresponds the vertical section connecting point on the walking assembly 42, namely, three vertical section connecting points can be arranged on the walking assembly 42, so that the supporting base 43 gradually stops at each vertical section connecting point, the posture change of the robot 5 is combined at the position to acquire and polish the image of the same horizontal section and the same vertical corresponding section on the workpiece 8 to be polished, of course, for the same vertical section connecting point on the same walking assembly 42, the walking assembly 42 can be controlled by the walking driving assembly 44 to drive the robot 5 to walk to the next horizontal section connecting point, so as to acquire and polish the image of the vertical corresponding section on the next horizontal section of the workpiece 8 to be polished. The vertical position sensor 47 may be a plurality of base-in-place sensors, which correspond to the number of vertical section connection points on the walking assembly 42, which are vertically divided sections of the workpiece 8 to be ground, one to one, so as to detect whether the support base 43 reaches the corresponding vertical section connection point, and obtain a base movement result. The walking controller 48 is configured to receive the base movement results detected by the base-in-place sensors, and when the base movement results show that the supporting base 43 reaches the corresponding vertical section connection point, the walking controller 48 controls the base driving assembly 45 to stop moving, so that the supporting base 43 stops moving, and further the supporting base 43 stops at the corresponding vertical section connection point.
With continued reference to fig. 9-10, dust covers 49 are provided on the ground rail assembly 41 and/or the traveling assembly 42 to prevent dust or grinding dust from falling onto the ground rail assembly 41 and/or the traveling assembly 42 and thus from clogging the traveling assembly 42 and/or adjusting the position of the support base 43. Specifically, the dust cover 49 can prevent dust or grinding dust from falling off the ground rail assembly 41 and/or the traveling assembly 42, and particularly, prevent dust or grinding dust from falling off the guide rails of the ground rail assembly 41 and/or the traveling assembly 42, so as to prevent the dust or grinding dust from blocking the traveling assembly 42 and/or the supporting base 43, and at the same time, prevent dust or grinding dust from falling off the traveling drive assembly 44 and/or the base drive assembly 45 from being embedded on the transmission members of the ground rail assembly 41 and/or the traveling assembly 42, so as to prevent the dust or grinding dust from interfering with the movement of the traveling drive assembly 44 and/or the base drive assembly 45. In this embodiment, two dust covers 49 may be provided on the ground rail assembly 41, which are respectively provided at two sides of the walking assembly 42 to cover the ground rail assemblies 41 at two sides of the walking assembly 42, and each dust cover 49 is of a telescopic structure to extend and retract along the movement of the walking assembly 42 along the length direction of the ground rail assembly 41; the number of the dust covers 49 on the walking assembly 42 is two, which are respectively disposed on two sides of the supporting base 43 to cover the walking assembly 42 on two sides of the supporting base 43, and each section of the dust cover 49 is of a telescopic structure to extend and retract along with the movement of the supporting base 43 along the length direction of the walking assembly 42.
With continued reference to fig. 9-10, the support base 43 may be an L-shaped structure or an inverted L-shaped structure, and a first connecting plate thereof is slidably connected to the guide rail of the traveling assembly 42, and a second connecting plate thereof is used for supporting the robot 5, so that a fixing portion of the robot 5 is fixed to the second connecting plate by a bolt or the like.
In this embodiment, the travel drive assembly 44 and/or the base drive assembly 45 each include: a drive motor and a transmission member; wherein, the power input end of the transmission member is connected with the driving motor, and is used for converting the rotation of the driving motor into the reciprocating linear motion of the walking component 42 along the length direction of the ground rail component 41 or the reciprocating linear motion of the supporting base 43 along the length direction of the walking component 42. In particular, the transmission may be a rack and pinion mechanism or a ball screw mechanism. In this embodiment, a rack and pinion mechanism is taken as an example for explanation, the driving motor of the walking driving assembly 44 may be disposed on the walking assembly 42, and a gear of the rack and pinion mechanism is connected to the driving motor of the walking driving assembly 44 so as to rotate with the driving motor of the walking driving assembly 44; the rack of the rack and pinion mechanism is disposed on the travel driving assembly 44 to drive the travel assembly 42 to reciprocate linearly along the length direction of the rack. Wherein, the rack and pinion mechanism can be arranged in the groove of the ground rail assembly 41, so as to save space and protect the dust cover 49 arranged at the groove opening of the ground rail assembly 41. The base drive assembly 45 may be constructed the same as the travel drive assembly 44 and the references between the two may be referenced.
Referring to fig. 13 to 15, a preferred structure of the replacement mechanism provided by the embodiment of the present invention is shown. As shown, the replacement mechanism 6 includes: a main land 61 and at least two sub lands 62; wherein the content of the first and second substances,
at least two sub-lands 62 are used to clamp the vision mechanism 2 or the polisher 1 for image acquisition or polishing of the workpiece 8 to be polished. Specifically, there may be at least two sub-lands 62, one of the sub-lands 62 having the vision mechanism 2 fastened thereto, and the other sub-land 62 having the sander 1 fastened thereto. In order to facilitate mounting of the vision mechanism 2 or the sander 1 on the sub-land 62, it is preferable that the sub-land 62 is provided with a connection assembly 63 for connecting the vision mechanism 2 or the sander 1, and further, the vision mechanism 2 or the sander 1 is mounted on the sub-land 62, and further, by replacing the sub-land 62 connected on the main land 61, that is, by replacing a different sub-land 62, replacement of the vision mechanism 2 or the sander 1 connected on the main land 61; the connection unit 63 has one end connected to the sub-land 62 and the other end connected to the vision mechanism 2 or the sander 1. Preferably, the connection assembly 63 and the sub-land 62 are detachably connected to each other, so that the connection assembly 63 connected to the sub-land 62 can be replaced, and when the sander 1 used in the connection assembly 63 is damaged, the connection assembly 63 connected to the sub-land 62 and provided with other qualified sanders can be replaced, thereby prolonging the service life of the sub-land 62.
The main connection pad 61 is provided on the hand end of the robot 5. Specifically, the main connection pad 61 may be disposed at the end of a manipulator of the robot 5, so as to adjust the position of the main connection pad 61 through the posture change of the robot 5, and then drive the main connection pad 61 to move to the tool magazine 3, so as to replace the auxiliary connection pad 62, and further enable the vision mechanism 2 or the sander 1 on the replaced auxiliary connection pad 62 to move therewith.
The main land 61 is provided with a locking assembly 65 for locking the main land 61 and the sub land 62 when any one of the sub lands 62 is pressed against a connecting wall surface (a right wall surface as shown in fig. 13) of the main land 61. Specifically, the locking assemblies 65 may be a plurality of and may be uniformly arranged at intervals along the circumferential direction of the main connecting disc 61, so that the main connecting disc 61 and the auxiliary connecting disc 62 pressed against the main connecting disc 61 may be connected by one or more locking assemblies 65, and locking between the main connecting disc 61 and the auxiliary connecting disc 62 is achieved. Meanwhile, the locking assembly 65 can also unlock the main connecting disc 61 and the auxiliary connecting disc 62 to connect the main connecting disc 61 with other auxiliary connecting discs 62, so that the auxiliary connecting discs 62 can be replaced to replace different or same polishing machines 1, and the visual mechanism 2 can be replaced with the polishing machine 1 to polish and polish or replace the visual mechanism 2 to collect images.
The sub-land 62 or the connecting assembly 63 may be provided with a retaining member 64 for retaining on the tool magazine 3 to store the sub-land 62 and the vision mechanism 2 or the sander 1 provided on the sub-land 62. Specifically, the fastening member 64 may be disposed on a side (right side as shown in fig. 13) of the connecting assembly 63 away from the sub-connecting disc 62, and the fastening member 64 is provided with a limiting groove 641 for fastening and limiting to the supporting plate 32 of the tool magazine 3, that is, the bottom wall of the limiting groove 641 is supported to the fastening structure 321, and the side walls of the limiting groove 641 are used for limiting two sides of the supporting plate 32, so that the limiting groove 641 is fastened and limited to the supporting plate 32. The fastening member 64 may be fixedly connected to the sub-connection pad 62 by screws penetrating through the fastening member 64 and the connection assembly, or may be connected by other connection methods.
Referring to fig. 14, a schematic structural diagram of a main land provided in an embodiment of the present invention is shown. As shown in the figure, the axis of the main connecting disc 61 is provided with a plurality of mounting posts 611 in a protruding manner, and the number of the mounting posts 611 may be multiple; the main connecting disc 61 can also be provided with a guiding and positioning structure 612 for guiding and positioning the approaching movement of the auxiliary connecting disc 62 so as to enable the auxiliary connecting disc 62 to be pressed against the connecting wall surface of the main connecting disc 61, the auxiliary connecting disc 62 and the main connecting disc 61 are coaxially arranged and relative rotation between the auxiliary connecting disc 62 and the main connecting disc 61 is avoided, and further the auxiliary connecting disc 62 is mounted at the relative mounting position between the main connecting disc 61, and further the grinding machine 1 or the vision mechanism 2 is mounted at the relative mounting position of the tail end of the manipulator, and further grinding or image acquisition is realized through the grinding machine 1 or the vision mechanism 2. The mounting column 611 may be a frustum-shaped structure to guide the mounting of the secondary connecting disc 62; of course, other structures are possible, and no limitation is made in this embodiment.
Referring to fig. 15, a schematic structural diagram of a secondary connection pad provided in an embodiment of the present invention is shown. As shown in the figure, the axis position of the auxiliary connecting disc 62 is concavely provided with a mounting groove (not shown in the figure), so that the mounting column 611 is inserted into the mounting groove to ensure the axial positioning of the main connecting disc 61 and the auxiliary connecting disc 62, i.e. to ensure the coaxial arrangement between the main connecting disc 61 and the auxiliary connecting disc 62; the locking assemblies 65 on the mounting posts 611 can be arranged along the radial direction of the mounting posts 611, so that the locking between the main connecting disc 61 and the auxiliary connecting disc 62 is realized by applying a pressing force to the inner side walls of the mounting slots through the locking assemblies 65.
In this embodiment, the mounting post 611 is provided with a mounting hole along the radial direction thereof, and the locking assembly 65 is at least partially connected in the mounting hole in a position-adjustable manner along the length direction of the mounting hole; the mounting hole can be communicated with an air hole 613 for connecting with an air suction and blowing device so as to blow air into the mounting hole to enable the locking assembly 65 to move towards the opening end of the mounting hole until the locking assembly 65 is partially arranged outside the mounting hole in a protruding mode to contact the inner side wall of the mounting groove and apply top pressure to the inner side wall of the mounting groove; or, inhale the mounting hole and make locking Assembly 65 keep away from the open end of mounting hole and remove, and then make and have the clearance between locking Assembly 65 and the inside wall of mounting groove. Preferably, the locking assembly 65 is a ball structure, and the inner side wall of the mounting groove is provided with a jacking groove which is matched with the outer surface of the ball structure, so that the ball structure is completely attached to the clamping structure, the contact area between the ball structure and the clamping structure is increased, and the jacking force applied to the inner side wall of the mounting groove by the locking assembly 65 is further increased. The jacking groove can be an arc spherical structure matched with the balls or an arc cylindrical surface matched with the balls and arranged along the axial direction of the auxiliary connecting disc 62; the arc-shaped spherical structure can further limit the position between the ball and the mounting groove.
With continued reference to fig. 13, the connection assembly 63 includes: a first connecting plate 631 and a second connecting plate 632; the first connecting plate 631 and the second connecting plate 6321 are disposed at an included angle, the first connecting plate 631 is used for being connected to the auxiliary connecting disc 62, and the second connecting plate 632 is used for fixing the polisher 1 or the vision mechanism 2 in a clamped manner, so that interference between the polisher 1 or the vision mechanism 2 and the auxiliary connecting disc 62 can be avoided by disposing the second connecting plate 632 at an included angle, and the clamping member 64 can be moved away, so that the clamping member 64 is clamped to the supporting plate 32.
In the present embodiment, each part, such as the polisher 1, the vision mechanism 2, the tool magazine 3, the ground rail traveling mechanism 4, the robot 5, and the replacing mechanism 6, may be provided in two sets, respectively, on both sides of the workpiece 8 to be polished, so as to respectively perform image acquisition or polishing on both outer surfaces of the workpiece 8 to be polished.
In summary, in the robot polishing device provided in this embodiment, the replacement mechanism provided on the robot 5 is used to replace the end part of the robot 5, so as to replace the polisher 1 or the vision mechanism 2 mounted on the robot 5, and further mount the vision mechanism 2 or the polisher 1 on the end of the manipulator of the robot 5; the robot 5 is driven by the ground rail travelling mechanism 4 to adjust the position along the length direction of the workpiece to be ground 8 in place and along the vertical direction, so that the robot is combined with the posture change to drive the vision mechanism 2 or the grinding machine 1 to adjust the position along the periphery of the workpiece to be ground 8, and then the position of the outer surface of the workpiece to be ground 8 is acquired or the grinding and polishing of the outer surface of the workpiece to be ground 8 are realized.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A robot sanding polishing device, characterized by comprising:
at least one grinding machine for grinding and polishing the outer surface of the workpiece to be ground;
the vision mechanism is used for acquiring an image of the outer surface of the workpiece to be polished to acquire the position of the outer surface of the workpiece to be polished, so that the posture track of the robot is adjusted based on the position of the outer surface of the workpiece to be polished;
a ground rail traveling mechanism;
the robot sets up on the ground rail running gear, and, the manipulator end of robot is equipped with changes the mechanism, it is used for going on to change the mechanism the change of the terminal part of manipulator to make vision mechanism or polisher install extremely the manipulator is terminal, ground rail running gear is used for driving the robot is along waiting to polish work piece length direction and follow the vertical direction go on position control of taking one's place, so that the robot combines the gesture change to drive vision mechanism or polisher and carries out position control along the periphery of waiting to polish the work piece, and then realizes wait to polish the position acquisition of the surface of work piece or wait to polish the burnishing and polishing of the surface of work piece.
2. The robotic sanding polishing device of claim 1 wherein the ground rail travel mechanism comprises:
the ground rail assembly is used for guiding a workpiece to be ground in place in the axial direction;
the traveling assembly is connected to the ground rail assembly in a position adjustable along the length direction of the ground rail assembly; the walking assembly is connected with a walking driving assembly and is used for driving the walking assembly to adjust the position along the length direction of the ground rail assembly;
the supporting base is connected to the walking assembly in a position-adjustable mode along the vertical direction and used for supporting the robot and driving the robot to adjust the position along the vertical direction, the robot is also adjusted along the length direction of the ground rail assembly along with the walking assembly, and therefore the robot can move along the axial direction and the vertical direction of a workpiece to be polished in place; the supporting base is connected with a base driving assembly for driving the supporting base to adjust the position along the vertical direction;
the horizontal position sensor is used for detecting the horizontal position of the walking assembly adjusted on the ground rail assembly; the horizontal position sensor is also connected with a walking controller and used for receiving the horizontal position detected by the horizontal position sensor and controlling the walking driving assembly according to the horizontal position so as to control the walking assembly to move forwards, backwards or stop moving;
a vertical position sensor for detecting a vertical position of the support base adjusted on the walking assembly; the vertical position sensor is further connected with the walking controller, and the walking controller is further used for receiving the vertical position detected by the vertical position sensor and controlling the base driving assembly according to the vertical position so as to control the support base to move upwards, downwards or stop moving.
3. The robotic sanding polishing device of claim 2,
and the ground rail assembly and/or the walking assembly are/is provided with a dust cover, and the dust cover is of a telescopic structure.
4. The robotic sanding polishing device of any one of claims 1-3 wherein the replacement mechanism comprises:
the at least two auxiliary connecting discs are used for clamping and fixing the vision mechanism or the grinding machine so as to acquire or grind the image of the workpiece to be ground;
the main connecting disc is arranged at the tail end of a manipulator of the robot; the auxiliary connecting disc is provided with a connecting assembly used for connecting the visual mechanism or the grinding machine; the auxiliary connecting disc or the connecting assembly is provided with a clamping piece for clamping on the tool magazine;
and the locking assembly is arranged on the main connecting disc and used for locking or unlocking the main connecting disc and the auxiliary connecting disc when any one of the auxiliary connecting discs is pressed against the connecting wall surface of the main connecting disc.
5. The robotic sanding polishing device of claim 4,
the axis position of the main connecting disc is convexly provided with a mounting column, and the axis position of the auxiliary connecting disc is concavely provided with a mounting groove for inserting the mounting column;
the mounting column is provided with a mounting hole along the radial direction, at least part of the locking assembly is located in the mounting hole, and the locking assembly is connected with the mounting column along the length direction of the mounting hole in an adjustable mode to partially protrude and arrange the mounting hole externally contact the inner side wall of the mounting groove and apply jacking force to the inner side wall of the mounting groove, so that the main connecting disc and the auxiliary connecting disc are locked.
6. The robotic lapping and polishing device of claim 5,
the main connecting disc is provided with an air hole which is communicated with the mounting hole and is used for being connected with an air suction and blowing device so as to blow air into the mounting hole to enable the locking assembly to move towards the opening end of the mounting hole until top pressure is applied to the inner side wall of the mounting groove; or, the mounting hole is sucked so that the locking assembly moves away from the opening end of the mounting hole, a gap is reserved between the locking assembly and the inner side wall of the mounting hole, and unlocking between the main connecting disc and the auxiliary connecting disc is achieved.
7. The robot sanding polishing device according to any one of claims 1 to 3, further comprising:
one end of the tool supporting frame is provided with an opening;
the backup pad sets up the inside of instrument support frame, and, be equipped with a plurality of card in the backup pad and establish the structure, be used for right vision mechanism or the polisher carries out the card and firmly supports, in order to realize vision mechanism or the interim depositing of polisher.
8. The robotic sanding polishing device of claim 7,
the backup pad rotationally sets up in the instrument support frame to drive the solid vision mechanism of card or polisher rotation in the backup pad, so that the vision mechanism or polisher that need change at present rotates to waiting to change the position.
9. The robotic sanding polishing device of claim 7,
the opening part is provided with a dustproof baffle for shielding sundries.
10. The robot sanding polishing device according to any one of claims 1 to 3, further comprising:
and the control mechanism is connected with the vision mechanism and used for receiving the position of the outer surface of the workpiece to be polished, which is acquired by the vision mechanism, and adjusting the posture track of the robot according to the position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110566402.8A CN113370035A (en) | 2021-05-24 | 2021-05-24 | Robot burnishing and polishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110566402.8A CN113370035A (en) | 2021-05-24 | 2021-05-24 | Robot burnishing and polishing device |
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| CN113370035A true CN113370035A (en) | 2021-09-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110566402.8A Pending CN113370035A (en) | 2021-05-24 | 2021-05-24 | Robot burnishing and polishing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116728270A (en) * | 2023-08-11 | 2023-09-12 | 连云港锐峰木业有限公司 | Solid wood cylinder polishing machine for furniture processing |
-
2021
- 2021-05-24 CN CN202110566402.8A patent/CN113370035A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116728270A (en) * | 2023-08-11 | 2023-09-12 | 连云港锐峰木业有限公司 | Solid wood cylinder polishing machine for furniture processing |
| CN116728270B (en) * | 2023-08-11 | 2023-11-10 | 连云港锐峰木业有限公司 | Solid wood cylinder polishing machine for furniture processing |
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